void CEnc28J60::writeOp(uint8_t op, uint8_t address, uint8_t data)
{
uint8_t dat = 0;
ENC28J60_CSL();
// issue write command
dat = op | (address & ADDR_MASK);
spi_read_write(dat);
// write data
dat = data;
spi_read_write(dat);
ENC28J60_CSH();
}
void CEnc28J60::writeBuffer(uint8_t* data,uint32_t len)
{
ENC28J60_CSL();
// issue write command
spi_read_write(ENC28J60_WRITE_BUF_MEM);
while(len)
{
len--;
spi_read_write(*data);
data++;
}
ENC28J60_CSH();
}
void CEnc28J60::readBuffer(uint8_t* data,uint32_t len)
{
ENC28J60_CSL();
// issue read command
spi_read_write(ENC28J60_READ_BUF_MEM);
while(len)
{
len--;
// read data
*data = (uint8_t)spi_read_write(0);
data++;
}
*data='\0';
ENC28J60_CSH();
}
uint8_t CEnc28J60::readOp(uint8_t op, uint8_t address)
{
uint8_t dat = 0;
ENC28J60_CSL();
dat = op | (address & ADDR_MASK);
spi_read_write(dat);
dat = spi_read_write(0xFF);
// do dummy read if needed (for mac and mii, see datasheet page 29)
if(address & 0x80)
{
dat = spi_read_write(0xFF);
}
// release CS
ENC28J60_CSH();
return dat;
}
int stm_calibration_cmd(void)
{
uint16_t hub_status;
int id_chk_cnt = 0;
int cal_try_cnt = 0;
uint16_t gyrocal_bit = 1<<SPI_APIF_HUB_GYRCAL;
int16_t gyro_offset[3];
int8_t accel_offset[3];
uint8_t tx_buffer[10]={0,};
uint8_t rx_buffer[10]={0,};
printk("STM %s(%d)\n",__func__,__LINE__);
usleep(120000);
do{
spi_read_write(SPI_APIF_REG_HUBID|0x80,tx_buffer, rx_buffer, 3);
} while (rx_buffer[2] != HUB_ID && ++id_chk_cnt < HUB_ID_TRY_CNT);
printk("STM Device ID : %x, cnt : %d \n", rx_buffer[2], id_chk_cnt);
spi_read_write(SPI_APIF_REG_FACTORYCAL,tx_buffer, rx_buffer, 2);
usleep(900000);
do {
spi_read_write(SPI_APIF_REG_HUBSTAT|0x80,tx_buffer, rx_buffer, 4);
memcpy(&hub_status, rx_buffer+2, 2);
usleep(10000);
} while (++cal_try_cnt < HUB_ID_TRY_CNT && ((hub_status & gyrocal_bit) == 0));
if ( hub_status & gyrocal_bit) {
spi_read_write(SPI_APIF_REG_GYROCALVALUE|0x80,tx_buffer, rx_buffer, 8);
memcpy(gyro_offset, rx_buffer+2, 6);
spi_read_write(SPI_APIF_REG_ACCELCALVALUE|0x80,tx_buffer, rx_buffer, 8);
memcpy(accel_offset, rx_buffer+2, 3);
printk("STM Gryoscope calibrated at %dth attempt, gyro offset : (%d,%d,%d), accel offset : (%d,%d,%d)\n", cal_try_cnt, gyro_offset[0], gyro_offset[1], gyro_offset[2], accel_offset[0], accel_offset[1], accel_offset[2]);
} else {
printk("STM Gryoscope calibration failed \n");
return STM_NOK;
}
printk( "STM calibration cmd send.\n");
return STM_OK;
}
