/*
 * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: CC0
 *
 * MPU9250 SPI Sensor C++ Example
 *
 * This example code is in the Public Domain (or CC0 licensed, at your option.)
 *
 * Unless required by applicable law or agreed to in writing, this
 * software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
 * CONDITIONS OF ANY KIND, either express or implied.
*/

#include <iostream>
#include "spi_host_cxx.hpp"

using namespace std;
using namespace idf;

static const GPIONum NSS(23);
static const uint8_t READ_FLAG = 0x80;
static const uint8_t MPU9250_WHO_AM_I_REG_ADDR = 0x75;

extern "C" void app_main(void)
{
    try {

        SPIMaster master(SPINum(2),
                MOSI(25),
                MISO(26),
                SCLK(27));

        shared_ptr<SPIDevice> spi_dev = master.create_dev(CS(NSS.get_num()), Frequency::MHz(1));

        vector<uint8_t> write_data = {MPU9250_WHO_AM_I_REG_ADDR | READ_FLAG, 0x00};
        vector<uint8_t> result = spi_dev->transfer(write_data).get();

        cout << "Result of WHO_AM_I register: 0x";
        printf("%02X", result[1]);
        cout << endl;

        this_thread::sleep_for(std::chrono::seconds(2));

    } catch (const SPIException &e) {
        cout << "Couldn't read SPI!" << endl;
    }
}