/* Sample SPI Example Program to read the Device ID of the ADXL345 on the

* SPI bus. Written by Derek Molloy (derekmolloy.ie) for the book Exploring
* Beaglebone.
*
* To read to the ADXL345 the leading bit of the address must be
* high. The Device ID of the ADXL345 is 0xE5, which is 229 in decimal, so
* this should be the value returned. This code is based on the code at:
* https://www.kernel.org/doc/Documentation/spi/
*
* Modified for 3-wire communication
*/
#include<stdio.h>
#include<fcntl.h>
#include<string.h>
#include<stdint.h>
#include<unistd.h>
#include<sys/ioctl.h>
#include<linux/spi/spidev.h>
// You need to correctly identify the SPI device bus and number
static const char *device = "/dev/spidev1.0";
int main(){
unsigned char send[4], receive[4];
send[0]= 0x80; //going to write to the dataformat register
send[1]= 0x40; //turning 3-wire on on the sensor 0x01000000
send[2]= 0x80;
//send[3]= (0x80+0x00); //want to read address 0x00 on the ADXL345
uint8_t mode=3, bits=8;
uint32_t speed=1000000;
int file;
struct spi_ioc_transfer transfer = {
.tx_buf = (unsigned long) send,
.rx_buf = (unsigned long) receive,
.len = 2,
.delay_usecs = 1,
.cs_change = 1
};
if ((file = open(device, O_RDWR))<0){
perror("SPI: Can't open device.");
return -1;
}
if (ioctl(file, SPI_IOC_WR_MODE, &mode)==-1){
perror("SPI: Can't set SPI mode.");
return -1;
}
if (ioctl(file, SPI_IOC_RD_MODE, &mode)==-1){
perror("SPI: Can't get SPI mode.");
return -1;
}
if (ioctl(file, SPI_IOC_WR_BITS_PER_WORD, &bits)==-1){
perror("SPI: Can't set bits per word.");
return -1;
}
if (ioctl(file, SPI_IOC_RD_BITS_PER_WORD, &bits)==-1){
perror("SPI: Can't get bits per word.");
return -1;
}
 if (ioctl(file, SPI_IOC_WR_MAX_SPEED_HZ, &speed)==-1){
perror("SPI: Can't set max speed HZ");
return -1;
}
if (ioctl(file, SPI_IOC_RD_MAX_SPEED_HZ, &speed)==-1){
perror("SPI: Can't get max speed HZ.");
return -1;
}
mode = mode|= SPI_3WIRE;
printf("spi mode: 0x%x\n", mode);
printf("bits per word: %d\n", bits);
printf("max speed: %d Hz (%d KHz)\n", speed, speed/1000);
if (ioctl(file, SPI_IOC_MESSAGE(1), &transfer)<0){
perror("Failed to send SPI message");
return -1;
}
printf("Return value: %d\n",receive[3]);
close(file);
return 0;
}