From 3cf2173433000fb8d5bd8dfbce7a3101b272d6b0 Mon Sep 17 00:00:00 2001
From: Dario <dario.vandenboom@mailbox.org>
Date: Tue, 23 May 2023 21:05:31 +0100
Subject: [PATCH] Added fixes to the SPI implementation, removed debugging

---
 include/sta/raspi/gpio_pin.hpp | 10 ++++----
 src/raspi/spi.cpp              | 42 +++++++++++++++++++++++-----------
 2 files changed, 34 insertions(+), 18 deletions(-)

diff --git a/include/sta/raspi/gpio_pin.hpp b/include/sta/raspi/gpio_pin.hpp
index 6f64fc7..2e5e456 100644
--- a/include/sta/raspi/gpio_pin.hpp
+++ b/include/sta/raspi/gpio_pin.hpp
@@ -15,14 +15,14 @@
 
 namespace sta 
 {
+    enum class GpioMode {
+        GPIO_OUTPUT,
+        GPIO_INPUT
+    };
+
     class RaspiGpioPin : public GpioPin
     {
     public: 
-        enum class GpioMode {
-            GPIO_OUTPUT,
-            GPIO_INPUT
-        };
-
         /**
          * @param pin   Pin index
          * @param mode  The mode of the GPIO pin. Either INPUT or OUTPUT
diff --git a/src/raspi/spi.cpp b/src/raspi/spi.cpp
index 1b60e6b..0d9d92f 100644
--- a/src/raspi/spi.cpp
+++ b/src/raspi/spi.cpp
@@ -68,8 +68,15 @@ namespace sta
         spi_message[0].tx_buf = (unsigned long)&value;
         spi_message[0].len = 1;
 
+        // For some reasons, this line makes the SPI interface work for the BMP388.
+        spi_message[0].cs_change = 1;
+
         int result = ioctl(spifd_, SPI_IOC_MESSAGE(1), spi_message);
 
+        if (result < 0) {
+            printf("Sending failed with error '%s'! \n", strerror(errno));
+        } 
+
         STA_DEBUG_IOCTL_SEND(result);
     }
 
@@ -83,6 +90,7 @@ namespace sta
         memset(spi_message, 0, sizeof(spi_message));
         spi_message[0].tx_buf = (unsigned long)&value;
         spi_message[0].len = 1;
+        spi_message[0].cs_change = 1;
 
         int result = ioctl(spifd_, SPI_IOC_MESSAGE(1), spi_message);
 
@@ -102,14 +110,12 @@ namespace sta
         spi_message[0].tx_buf = (unsigned long)buffer;
         spi_message[0].len = size;
 
-        printf("Sending ");
-        for (int i = 0; i < size; i++) {
-            printf("%x, ", buffer[i]);
-        }
-        printf("\n");
-
         int result = ioctl(spifd_, SPI_IOC_MESSAGE(1), spi_message);
 
+        if (result < 0) {
+            printf("Sending failed with error '%s'! \n", strerror(errno));
+        } 
+
         STA_DEBUG_IOCTL_SEND(result);
     }
 
@@ -131,7 +137,7 @@ namespace sta
 
         int result = ioctl(spifd_, SPI_IOC_MESSAGE(1), spi_message);
 
-        if (result == -1) {
+        if (result < 0) {
             printf("Sending failed with error '%s'! \n", strerror(errno));
         } 
 
@@ -154,12 +160,6 @@ namespace sta
 
         int result = ioctl(spifd_, SPI_IOC_MESSAGE(1), spi_message);
 
-        printf("Receiving ");
-        for (int i = 0; i < size; i++) {
-            printf("%x, ", buffer[i]);
-        }
-        printf("\n");
-
         STA_DEBUG_IOCTL_SEND(result);
     }
 
@@ -226,18 +226,34 @@ namespace sta
         int result = ioctl(spifd_, SPI_IOC_WR_MODE, &mode_);
         STA_DEBUG_IOCTL_WRITE(result);
 
+        if (result < 0) {
+            printf("Update mode failed with error '%s'! \n", strerror(errno));
+        } 
+
         // Set the word size. According to the documentation "the value zero signifies eight bits".
         result = ioctl(spifd_, SPI_IOC_WR_BITS_PER_WORD, &dataSize_);
         STA_DEBUG_IOCTL_WRITE(result);
 
+        if (result < 0) {
+            printf("Update dataSize failed with error '%s'! \n", strerror(errno));
+        } 
+
         // Set the bit order. According to the documentation zero means MSB first, everything else means LSB first.
         result = ioctl(spifd_, SPI_IOC_WR_LSB_FIRST, &bitOrder_);
         STA_DEBUG_IOCTL_WRITE(result);
 
+        if (result < 0) {
+            printf("Update endianness failed with error '%s'! \n", strerror(errno));
+        } 
+
         // Set the maximum clock speed.
         result = ioctl(spifd_, SPI_IOC_WR_MAX_SPEED_HZ, &clkSpeed_);
         STA_DEBUG_IOCTL_WRITE(result);
 
+        if (result < 0) {
+            printf("Update clock speed failed with error '%s'! \n", strerror(errno));
+        } 
+
         #if defined(DEBUG)
             uint8_t r_mode = 0;
             get_setting(SPI_IOC_RD_MODE, &r_mode);