hmc5983 0.1.3

HMC5983 magnetometer driver for embedded hal
Documentation 
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/*
Copyright (c) 2020 Todd Stellanova
LICENSE: BSD3 (see LICENSE file)
*/

use crate::interface::SensorInterface;
use crate::Error;
use embedded_hal as hal;

// #[cfg(feature = "rttdebug")]
// use panic_rtt_core::rprintln;

const I2C_ADDRESS: u8 = 0x1E;

pub struct I2cInterface<I2C> {
    i2c_port: I2C,
}

impl<I2C> I2cInterface<I2C> {
    pub fn new(i2c_port: I2C) -> Self {
        Self { i2c_port }
    }
}

impl<I2C, CommE> SensorInterface for I2cInterface<I2C>
where
    I2C: hal::blocking::i2c::Write<Error = CommE>
        + hal::blocking::i2c::Read<Error = CommE>
        + hal::blocking::i2c::WriteRead<Error = CommE>,
    CommE: core::fmt::Debug,
{
    type InterfaceError = crate::Error<CommE, ()>;

    fn write_reg(
        &mut self,
        reg: u8,
        val: u8,
    ) -> Result<(), Self::InterfaceError> {
        let write_buf = [reg, val];

        // #[cfg(feature = "rttdebug")]
        // rprintln!("write: {:?}",&write_buf);

        self.i2c_port
            .write(I2C_ADDRESS, &write_buf)
            .map_err(Error::Comm)?;
        Ok(())
    }

    fn read_block(
        &mut self,
        reg: u8,
        recv_buf: &mut [u8],
    ) -> Result<(), Self::InterfaceError> {
        // #[cfg(feature = "rttdebug")]
        // rprintln!("read_block: 0x{:0x} [{}]", reg, recv_buf.len());

        let cmd_buf = [reg];
        self.i2c_port
            .write_read(I2C_ADDRESS, &cmd_buf, recv_buf)
            .map_err(Error::Comm)?;

        // #[cfg(feature = "rttdebug")]
        // rprintln!("recv_buf: {:?}", &recv_buf);
        Ok(())
    }
}