DMP-ICM20948/src/HAL_impl.c

#include "HAL_impl.h"

// Funkcia na nastavenie CS pinu
static inline void CS_Select(void) {
    HAL_GPIO_WritePin(CHIP_SELECT_PORT, CHIP_SELECT_PIN, GPIO_PIN_RESET);
}

static inline void CS_Deselect(void) {
    HAL_GPIO_WritePin(CHIP_SELECT_PORT, CHIP_SELECT_PIN, GPIO_PIN_SET);
}


/*---------------------------------------------------------------------*/
/*                                SPI                                  */
/*---------------------------------------------------------------------*/

void initiliaze_SPI(void)
{
    CS_Deselect();
    uint8_t dummy = 0x00;
    HAL_SPI_Transmit(&SPI_INSTANCE, &dummy, 1, HAL_MAX_DELAY);
}


int spi_master_read_register(uint8_t reg, uint8_t* rbuffer, uint32_t rlen)
{
#ifdef HAL_SPI_MODULE_ENABLED

	uint8_t dummy = 0x00;
	uint8_t status = HAL_SPI_Transmit(&SPI_INSTANCE, &dummy, 1, HAL_MAX_DELAY);
	if (status != HAL_OK) return status;

	CS_Select();

    // 3. Adresovanie registra
    uint8_t cmd = (reg & 0x7F) | 0x80;
    status = HAL_SPI_Transmit(&SPI_INSTANCE, &cmd, 1, HAL_MAX_DELAY);

    // 4. Čítanie dát
    for (uint32_t indi = 0; indi < rlen; indi++) {
        uint8_t rx = 0x00;
        status = HAL_SPI_TransmitReceive(&SPI_INSTANCE, &rx, &rbuffer[indi], 1, HAL_MAX_DELAY);
        if (status != HAL_OK) {
            CS_Deselect();
            return status;
        }
    }

    // 5. Chip select HIGH
    CS_Deselect();

#endif // HAL_SPI_MODULE_ENABLED

    return 0;
}

int spi_master_write_register(uint8_t reg, const uint8_t* wbuffer, uint32_t wlen)
{

#ifdef HAL_SPI_MODULE_ENABLED

	HAL_StatusTypeDef status;
	uint8_t dummy = 0x00;
	uint8_t addr  = (reg & 0x7F) | 0x00;

	// 1. Dummy transfer (pôvodne SPI.transfer(0x00) mimo transakcie)
	status = HAL_SPI_Transmit(&SPI_INSTANCE, &dummy, 1, HAL_MAX_DELAY);
	if (status != HAL_OK) return -1;

	// 2. Chip Select LOW
	CS_Select();

	// 3. Odoslanie adresy registra
	status = HAL_SPI_Transmit(&SPI_INSTANCE, &addr, 1, HAL_MAX_DELAY);
	if (status != HAL_OK) {
		CS_Deselect();
		return -2;
	}

	// 4. Odoslanie všetkých dát
	if (wlen > 0) {
		status = HAL_SPI_Transmit(&SPI_INSTANCE, (uint8_t*)wbuffer, wlen, HAL_MAX_DELAY);
		if (status != HAL_OK) {
			CS_Deselect();
			return -3;
		}
	}

	// 5. Chip Select HIGH
	CS_Deselect();

#endif // HAL_SPI_MODULE_ENABLED

	return 0;
}

/*---------------------------------------------------------------------*/
/*                                I2C                                  */
/*---------------------------------------------------------------------*/

void initiliaze_I2C(void)
{
#ifdef HAL_I2C_MODULE_ENABLED
	I2C_Address = I2C_ADDRESS;
#endif
}



int i2c_master_write_register(uint8_t address, uint8_t reg, uint32_t len, const uint8_t *data)
{

#ifdef HAL_I2C_MODULE_ENABLED

	HAL_StatusTypeDef status = HAL_I2C_Mem_Write(
        &I2C_INSTANCE,
        (address << 1),       // STM32 expects 8-bit address
        reg,                  // Register address
        I2C_MEMADD_SIZE_8BIT, // Register size
        (uint8_t *)data,
        len,
        HAL_MAX_DELAY
    );

    if (status != HAL_OK)
    {

        return -1;
    }

#endif // HAL_I2C_MODULE_ENABLED

    return 0;
}

int i2c_master_read_register(uint8_t address, uint8_t reg, uint32_t len, uint8_t *buff)
{

#ifdef HAL_I2C_MODULE_ENABLED

    HAL_StatusTypeDef status = HAL_I2C_Mem_Read(
        &I2C_INSTANCE,
        (address << 1),       // STM32 expects 8-bit address
        reg,                  // Register address
        I2C_MEMADD_SIZE_8BIT, // Register size
        buff,
        len,
        HAL_MAX_DELAY
    );

    if (status != HAL_OK)
    {
        return -1;
    }

#endif // HAL_I2C_MODULE_ENABLED

    return 0;
}