icm426xx 0.2.3

Rust driver for the ICM426xx family of IMUs
Documentation 
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use embedded_hal_async::spi::SpiDevice;

use crate::{register_bank::Register, Ready, ICM42688};

impl<SPI> ICM42688<SPI, Ready>
where
    SPI: SpiDevice,
{
    #[cfg(feature = "async")]
    pub async fn reset_fifo(&mut self) {
        let mut bank0 = self.ll.bank::<0>();
        bank0
            .signal_path_reset()
            .async_modify(|_, w| w.fifo_flush(1))
            .await
            .unwrap();
    }

    #[cfg(feature = "async")]
    pub async fn read_fifo_count(&mut self) -> u16 {
        let mut bank0 = self.ll.bank::<0>();
        let count_h = bank0
            .fifo_counth()
            .async_read()
            .await
            .unwrap()
            .fifo_count_15_8();
        let count_l = bank0
            .fifo_countl()
            .async_read()
            .await
            .unwrap()
            .fifo_count_7_0();
        ((count_h as u16) << 8) | count_l as u16
    }

    /// Read data from the FIFO
    ///
    /// NOTE: Only the 4-byte packet mode is supported
    ///
    /// Buffer must hold at least
    #[cfg(feature = "async")]
    pub async fn read_fifo(&mut self, buffer: &mut [u32]) -> Result<usize, ()> {
        /// We read INT_STATUS, FIFO_COUNT_H, FIFO_COUNT_L, and then the data in one go
        const INT_STATUS_ADDR: u8 = crate::register_bank::bank0::INT_STATUS::ID;

        let buffer = bytemuck::cast_slice_mut::<u32, u8>(buffer);

        buffer[0] = INT_STATUS_ADDR | 0x80; // Read bit set

        self.ll
            .bus
            .transfer_in_place(buffer)
            .await
            .map_err(|_| ())?;

        // Buffer now contains [0, INT_STATUS, FIFO_COUNT_H, FIFO_COUNT_L, DATA, DATA, ...]
        // We need to check the FIFO_COUNT and then return the number of samples read
        let fifo_count = ((buffer[2] as u16) << 8) | (buffer[3] as u16);

        Ok(fifo_count as usize / 20)
    }

    /// Direct low level access to the underlying peripheral
    pub fn ll(&mut self) -> &mut crate::ll::ICM42688<SPI> {
        &mut self.ll
    }

    pub fn release(self) -> SPI {
        self.ll.release()
    }
}