embox

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/**
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 * @file
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 * @brief
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 *
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 * @date 21.04.2023
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 * @author Andrew Bursian
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 */
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#include <stdint.h>
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#include <framework/mod/options.h>
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#include <util/log.h>
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#include <drivers/spi.h>
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#include "lsm6dsl.h"
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#include "lsm6dsl_transfer.h"
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#define LSM6DSL_SPI_BUS   OPTION_GET(NUMBER, spi_bus)
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#define LSM6DSL_SPI_READ   0x80
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#define LSM6DSL_SPI_WRITE  0x00
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struct lsm6dsl_dev {
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	int spi_bus;
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	struct spi_device *spi_dev;
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};
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struct lsm6dsl_dev lsm6dsl_dev0 = {
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	.spi_bus  = LSM6DSL_SPI_BUS,
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};
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int lsm6dsl_readb(struct lsm6dsl_dev *dev, int offset, uint8_t *ret) {
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	uint8_t in[2];
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	uint8_t out[2];
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	in[0] = offset | LSM6DSL_SPI_READ;
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	in[1] = 0;
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	if (spi_transfer(dev->spi_dev, in, out, 2) < 0) {
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		log_debug("failed");
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		return -1;
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	}
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	*ret = out[1];
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	return 0;
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}
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int lsm6dsl_writeb(struct lsm6dsl_dev *dev,
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	    int offset, uint8_t val) {
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	uint8_t in[2];
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	uint8_t out[2];
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	in[0] = offset | LSM6DSL_SPI_WRITE;
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	in[1] = val;
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	if (spi_transfer(dev->spi_dev, in, out, 2) < 0) {
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		log_debug("failed");
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		return -1;
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	}
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	return 0;
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}
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int lsm6dsl_hw_init(struct lsm6dsl_dev *dev) {
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	dev->spi_dev = spi_dev_by_id(dev->spi_bus);
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	if (!dev->spi_dev) {
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		return -1;
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	}
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	spi_set_master_mode(dev->spi_dev);
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	spi_select(dev->spi_dev, 0);
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	dev->spi_dev->flags |= SPI_CS_ACTIVE;
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	dev->spi_dev->flags |= SPI_CS_INACTIVE;
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	return 0;
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}
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