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#![no_std]
mod conf;
mod register;
use core::fmt::Debug;
use embedded_hal as hal;
use hal::blocking::spi;
use hal::digital::v2::OutputPin;
pub use accelerometer::{Accelerometer, Error, I32x3};
pub use conf::*;
use register::Register;
const SPI_READ: u8 = 0x01;
const SPI_WRITE: u8 = 0x00;
const EXPECTED_DEVICE_ID: u8 = 0xED;
pub struct Adxl355<SPI, CS> {
spi: SPI,
cs: CS,
odr: ODR_LPF,
hpf: HPF_CORNER,
range: Range
}
impl<SPI, CS, E> Adxl355<SPI, CS>
where
SPI: spi::Transfer<u8, Error=E> + spi::Write<u8, Error=E>,
CS: OutputPin<Error = ()>,
{
pub fn default(spi:SPI, cs:CS) -> Result<Self, E> {
Adxl355::new(spi, cs, &Config::new())
}
pub fn new(spi:SPI, cs:CS, config: &Config) -> Result<Self, E> {
let mut adxl355 = Adxl355 {
spi,
cs,
odr: config.odr.unwrap_or_default(),
hpf: config.hpf.unwrap_or_default(),
range: config.range.unwrap_or_default()
};
let id = adxl355.get_device_id();
if id != EXPECTED_DEVICE_ID {
}
adxl355.write_reg(Register::FILTER.addr(), (adxl355.hpf.val() << 4) | adxl355.odr.val());
adxl355.write_reg(Register::RANGE.addr(), adxl355.range.val());
Ok(adxl355)
}
pub fn start(&mut self) {
self.write_reg(Register::POWER_CTL.addr(), 0);
}
pub fn read_temp(&mut self) -> u16 {
let mut bytes = [(Register::TEMP2.addr() << 1) | SPI_READ, 0, 0];
self.read(&mut bytes);
let temp_h = ((bytes[1] & 0x0F) as u16) << 8;
let temp_l = (bytes[2] as u16) & 0x00FF;
temp_h | temp_l
}
pub fn get_device_id(&mut self) -> u8 {
let reg = Register::DEVID.addr();
let mut output = [1u8];
self.read_reg(reg, &mut output);
output[0]
}
fn write_reg(&mut self, reg: u8, value: u8) {
let mut bytes = [(reg << 1) | SPI_WRITE, value];
self.cs.set_low().unwrap();
self.spi.write(&mut bytes).ok();
self.cs.set_high().unwrap();
}
fn read_reg(&mut self, reg: u8, buffer: &mut [u8]) {
let mut bytes = [(reg << 1) | SPI_READ, 0];
self.cs.set_low().unwrap();
self.spi.transfer(&mut bytes).ok();
self.cs.set_high().unwrap();
buffer[0] = bytes[1];
}
fn read(&mut self, bytes: &mut [u8]) {
self.cs.set_low().unwrap();
self.spi.transfer(bytes).ok();
self.cs.set_high().unwrap();
}
}
impl<SPI, CS, E> Accelerometer<I32x3> for Adxl355<SPI, CS>
where
SPI: spi::Transfer<u8, Error=E> + spi::Write<u8, Error=E>,
CS: OutputPin<Error = ()>,
E: Debug
{
type Error = Error<E>;
fn acceleration(&mut self) -> Result<I32x3, Error<E>> {
let mut bytes = [0u8; 9+1];
bytes[0] = (Register::XDATA3.addr() << 1) | SPI_READ;
self.read(&mut bytes);
let x = ((((bytes[1] as i32) << 24) | ((bytes[2] as i32) << 16) | ((bytes[3] & 0xF0) as i32) << 8)) >> 12;
let y = ((((bytes[4] as i32) << 24) | ((bytes[5] as i32) << 16) | ((bytes[6] & 0xF0) as i32) << 8)) >> 12;
let z = ((((bytes[7] as i32) << 24) | ((bytes[8] as i32) << 16) | ((bytes[9] & 0xF0) as i32) << 8)) >> 12;
Ok(I32x3::new(x, y, z))
}
}