use crate::{private, BitFlags, Error};
use embedded_hal::{
blocking::{i2c, spi},
digital::v2::OutputPin,
};
pub(crate) const ACCEL_ADDR: u8 = 0b0011001;
pub(crate) const MAG_ADDR: u8 = 0b0011110;
#[derive(Debug)]
pub struct I2cInterface<I2C> {
pub(crate) i2c: I2C,
}
#[derive(Debug)]
pub struct SpiInterface<SPI, CSXL, CSMAG> {
pub(crate) spi: SPI,
pub(crate) cs_xl: CSXL,
pub(crate) cs_mag: CSMAG,
}
pub trait WriteData: private::Sealed {
type Error;
fn write_accel_register(&mut self, register: u8, data: u8) -> Result<(), Self::Error>;
fn write_mag_register(&mut self, register: u8, data: u8) -> Result<(), Self::Error>;
}
impl<I2C, E> WriteData for I2cInterface<I2C>
where
I2C: i2c::Write<Error = E>,
{
type Error = Error<E, ()>;
fn write_accel_register(&mut self, register: u8, data: u8) -> Result<(), Self::Error> {
let payload: [u8; 2] = [register, data];
self.i2c.write(ACCEL_ADDR, &payload).map_err(Error::Comm)
}
fn write_mag_register(&mut self, register: u8, data: u8) -> Result<(), Self::Error> {
let payload: [u8; 2] = [register, data];
self.i2c.write(MAG_ADDR, &payload).map_err(Error::Comm)
}
}
impl<SPI, CSXL, CSMAG, CommE, PinE> WriteData for SpiInterface<SPI, CSXL, CSMAG>
where
SPI: spi::Write<u8, Error = CommE>,
CSXL: OutputPin<Error = PinE>,
CSMAG: OutputPin<Error = PinE>,
{
type Error = Error<CommE, PinE>;
fn write_accel_register(&mut self, register: u8, data: u8) -> Result<(), Self::Error> {
self.cs_xl.set_low().map_err(Error::Pin)?;
let payload: [u8; 2] = [register, data];
let result = self.spi.write(&payload).map_err(Error::Comm);
self.cs_xl.set_high().map_err(Error::Pin)?;
result
}
fn write_mag_register(&mut self, register: u8, data: u8) -> Result<(), Self::Error> {
self.cs_mag.set_low().map_err(Error::Pin)?;
let payload: [u8; 2] = [register, data];
let result = self.spi.write(&payload).map_err(Error::Comm);
self.cs_mag.set_high().map_err(Error::Pin)?;
result
}
}
pub trait ReadData: private::Sealed {
type Error;
fn read_accel_register(&mut self, register: u8) -> Result<u8, Self::Error>;
fn read_mag_register(&mut self, register: u8) -> Result<u8, Self::Error>;
fn read_accel_3_double_registers(
&mut self,
register: u8,
) -> Result<(u16, u16, u16), Self::Error>;
}
impl<I2C, E> ReadData for I2cInterface<I2C>
where
I2C: i2c::WriteRead<Error = E>,
{
type Error = Error<E, ()>;
fn read_accel_register(&mut self, register: u8) -> Result<u8, Self::Error> {
self.read_register(ACCEL_ADDR, register)
}
fn read_mag_register(&mut self, register: u8) -> Result<u8, Self::Error> {
self.read_register(MAG_ADDR, register)
}
fn read_accel_3_double_registers(
&mut self,
register: u8,
) -> Result<(u16, u16, u16), Self::Error> {
self.read_3_double_registers(ACCEL_ADDR, register)
}
}
impl<I2C, E> I2cInterface<I2C>
where
I2C: i2c::WriteRead<Error = E>,
{
fn read_register(&mut self, address: u8, register: u8) -> Result<u8, Error<E, ()>> {
let mut data = [0];
self.i2c
.write_read(address, &[register], &mut data)
.map_err(Error::Comm)
.and(Ok(data[0]))
}
fn read_3_double_registers(
&mut self,
address: u8,
start: u8,
) -> Result<(u16, u16, u16), Error<E, ()>> {
let mut data = [0; 6];
self.i2c
.write_read(address, &[start | 0x80], &mut data)
.map_err(Error::Comm)?;
Ok((
u16::from(data[0]) | (u16::from(data[1]) << 8),
u16::from(data[2]) | (u16::from(data[3]) << 8),
u16::from(data[4]) | (u16::from(data[5]) << 8),
))
}
}
impl<SPI, CSXL, CSMAG, CommE, PinE> ReadData for SpiInterface<SPI, CSXL, CSMAG>
where
SPI: spi::Transfer<u8, Error = CommE>,
CSXL: OutputPin<Error = PinE>,
CSMAG: OutputPin<Error = PinE>,
{
type Error = Error<CommE, PinE>;
fn read_accel_register(&mut self, register: u8) -> Result<u8, Self::Error> {
self.cs_xl.set_low().map_err(Error::Pin)?;
let result = self.read_register(register);
self.cs_xl.set_high().map_err(Error::Pin)?;
result
}
fn read_mag_register(&mut self, register: u8) -> Result<u8, Self::Error> {
self.cs_mag.set_low().map_err(Error::Pin)?;
let result = self.read_register(register);
self.cs_mag.set_high().map_err(Error::Pin)?;
result
}
fn read_accel_3_double_registers(
&mut self,
register: u8,
) -> Result<(u16, u16, u16), Self::Error> {
self.cs_xl.set_low().map_err(Error::Pin)?;
let result = self.read_3_double_registers(register);
self.cs_xl.set_high().map_err(Error::Pin)?;
result
}
}
impl<SPI, CSXL, CSMAG, CommE, PinE> SpiInterface<SPI, CSXL, CSMAG>
where
SPI: spi::Transfer<u8, Error = CommE>,
CSXL: OutputPin<Error = PinE>,
CSMAG: OutputPin<Error = PinE>,
{
fn read_register(&mut self, register: u8) -> Result<u8, Error<CommE, PinE>> {
let mut data = [BitFlags::SPI_RW | register, 0];
let value = self.spi.transfer(&mut data).map_err(Error::Comm)?;
Ok(value[1])
}
fn read_3_double_registers(
&mut self,
register: u8,
) -> Result<(u16, u16, u16), Error<CommE, PinE>> {
let mut data = [
BitFlags::SPI_RW | BitFlags::SPI_MS | register,
0,
0,
0,
0,
0,
0,
];
let value = self.spi.transfer(&mut data).map_err(Error::Comm)?;
Ok((
u16::from(value[1]) | (u16::from(value[2]) << 8),
u16::from(value[3]) | (u16::from(value[4]) << 8),
u16::from(value[5]) | (u16::from(value[6]) << 8),
))
}
}