100 lines
3.1 KiB
C++
100 lines
3.1 KiB
C++
/*
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SPIDev driver code is placed under the BSD license.
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Written by Mikhail Avkhimenia (mikhail.avkhimenia@emlid.com)
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Copyright (c) 2014, Emlid Limited
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Emlid Limited nor the names of its contributors
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may be used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef _SPIDEV_H_
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#define _SPIDEV_H_
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//#define _XOPEN_SOURCE 600
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include <linux/types.h>
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#include <linux/spi/spidev.h>
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#include <sys/socket.h>
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#include <netdb.h>
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#include <cstdlib>
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#include <cstring>
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#include <cstdio>
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class SPIdev {
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public:
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SPIdev()
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{
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}
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static int transfer(const char *spidev,
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unsigned char *tx,
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unsigned char *rx,
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unsigned int length,
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unsigned int speed_hz = 1000000,
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unsigned char bits_per_word = 8,
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unsigned short delay_usecs = 0)
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{
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spi_ioc_transfer spi_transfer;
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memset(&spi_transfer, 0, sizeof(spi_ioc_transfer));
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spi_transfer.tx_buf = (unsigned long)tx;
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spi_transfer.rx_buf = (unsigned long)rx;
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spi_transfer.len = length;
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spi_transfer.speed_hz = speed_hz;
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spi_transfer.bits_per_word = bits_per_word;
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spi_transfer.delay_usecs = delay_usecs;
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int spi_fd = ::open(spidev, O_RDWR);
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if (spi_fd < 0 ) {
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printf("Error: Can not open SPI device\n");
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return -1;
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}
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int status = ioctl(spi_fd, SPI_IOC_MESSAGE(1), &spi_transfer);
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::close(spi_fd);
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// Debug information
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/*
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printf("Tx: ");
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for (int i = 0; i < length; i++)
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printf("%x ", tx[i]);
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printf("\n");
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printf("Rx: ");
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for (int i = 0; i < length; i++)
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printf("%x ", rx[i]);
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printf("\n");
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*/
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return status;
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}
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};
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#endif //_SPIDEV_H_
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