Diff: lis3mdl_class.h

Revision:

4:00493226e59f

Parent:

3:a35a16f3da39

--- a/lis3mdl_class.h	Mon Oct 02 09:28:58 2017 +0200
+++ b/lis3mdl_class.h	Fri Oct 06 11:48:36 2017 +0000
@@ -45,21 +45,21 @@
 #include "MagneticSensor.h"
 #include <assert.h>
 
+
 /* Classes -------------------------------------------------------------------*/
 /** Class representing a LIS3MDL sensor component
  */
 class LIS3MDL : public MagneticSensor {
  public:
-     enum SPI_type_t {SPI3W, SPI4W};  
-//    LIS3MDL(SPI *spi, PinName cs_pin, PinName int_pin=NC, SPI_type_t spi_type=SPI4W);     
-//    LIS3MDL(DevI2C *i2c, uint8_t address=LPS22HB_ADDRESS_HIGH, PinName int_pin=NC);
- 
+    enum SPI_type_t {SPI3W, SPI4W};    
+    
+    LIS3MDL(SPI *spi, PinName cs_pin, PinName int_pin=NC, SPI_type_t spi_type=SPI4W);
+        
 	/** Constructor
 	 * @param[in] i2c device I2C to be used for communication
-	 */
- //   LIS3MDL(DevI2C *i2c) : MagneticSensor(), dev_i2c(i2c) {
-        LIS3MDL(DevI2C *i2c) : dev_i2c(i2c) {
-	}
+	 */    
+	 
+    LIS3MDL(DevI2C *i2c, uint8_t address=LIS3MDL_M_MEMS_ADDRESS_HIGH, PinName int_pin=NC);
 	
 	/** Destructor
 	 */
@@ -88,6 +88,7 @@
 	MAGNETO_StatusTypeDef LIS3MDL_Read_M_ID(uint8_t *m_id);
 	MAGNETO_StatusTypeDef LIS3MDL_M_GetAxes(int32_t *pData);
 	MAGNETO_StatusTypeDef LIS3MDL_M_GetAxesRaw(int16_t *pData);
+	MAGNETO_StatusTypeDef LIS3MDL_Set_SpiInterface (void *handle, LIS3MDL_SPIMode_t spimode);
 
 	/**
 	 * @brief  Configures LIS3MDL interrupt lines for NUCLEO boards
@@ -117,8 +118,27 @@
 	MAGNETO_StatusTypeDef LIS3MDL_IO_Read(uint8_t* pBuffer, 
 					      uint8_t RegisterAddr, uint16_t NumByteToRead)
 	{
-		int ret = dev_i2c->i2c_read(pBuffer,
-					   LIS3MDL_M_MEMS_ADDRESS,
+        if (_dev_spi) {
+        /* Write Reg Address */
+            _dev_spi->lock();
+            _cs_pin = 0;           
+            if (_spi_type == SPI4W) {            
+                _dev_spi->write(RegisterAddr | 0x80);
+                for (int i=0; i<NumByteToRead; i++) {
+                    *(pBuffer+i) = _dev_spi->write(0x00);
+                }
+            } else if (_spi_type == SPI3W){
+                /* Write RD Reg Address with RD bit*/
+                uint8_t TxByte = RegisterAddr | 0x80;    
+                _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead);
+            }            
+            _cs_pin = 1;
+            _dev_spi->unlock(); 
+            return MAGNETO_OK;
+        }            		
+        if (!_dev_i2c) return MAGNETO_ERROR;			
+		int ret = _dev_i2c->i2c_read(pBuffer,
+					   _address,
 					   RegisterAddr,
 					   NumByteToRead);
 		if(ret != 0) {
@@ -138,10 +158,19 @@
 	MAGNETO_StatusTypeDef LIS3MDL_IO_Write(uint8_t* pBuffer, 
 					       uint8_t RegisterAddr, uint16_t NumByteToWrite)
 	{
-		int ret = dev_i2c->i2c_write(pBuffer,
-					    LIS3MDL_M_MEMS_ADDRESS,
-					    RegisterAddr,
-					    NumByteToWrite);
+		
+        if (_dev_spi) { 
+            _dev_spi->lock();
+            _cs_pin = 0;
+            int data = _dev_spi->write(RegisterAddr);                    
+            _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0);                     
+            _cs_pin = 1;                    
+            _dev_spi->unlock();
+            return MAGNETO_OK;                    
+        }        
+		
+        if (!_dev_i2c) return MAGNETO_ERROR;	
+		int ret = _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
 		if(ret != 0) {
 			return MAGNETO_ERROR;
 		}
@@ -150,7 +179,12 @@
 	
 	/*** Instance Variables ***/
 	/* IO Device */
-	DevI2C *dev_i2c;
+	DevI2C *_dev_i2c;
+	SPI    *_dev_spi;
+    uint8_t _address;	
+    DigitalOut  _cs_pin; 
+    InterruptIn _int_pin;    
+    SPI_type_t _spi_type;        
 };
 
 #endif // __LIS3MDL_CLASS_H