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//! Platform-agnostic KXTJ3-1057 accelerometer driver which uses I²C via
//! [embedded-hal]. This driver implements the [`Accelerometer`][acc-trait]
//! and [`RawAccelerometer`][raw-trait] traits from the [accelerometer] crate.
//!
//! [embedded-hal]: https://docs.rs/embedded-hal
//! [accelerometer]: https://docs.rs/accelerometer
//! [acc-trait]: https://docs.rs/accelerometer/latest/accelerometer/trait.Accelerometer.html
//! [raw-trait]: https://docs.rs/accelerometer/latest/accelerometer/trait.RawAccelerometer.html
//!
#![no_std]
pub use accelerometer;
use accelerometer::error::Error as AccelerometerError;
use accelerometer::vector::{F32x3, I16x3};
use accelerometer::{Accelerometer, RawAccelerometer};
use embedded_hal::i2c::I2c;
pub mod config;
pub mod register;
use config::*;
use register::*;
use register::{DataRate, Mode, Range, Register, SlaveAddr};
/// Accelerometer errors, generic around another error type `E` representing
/// an (optional) cause of this error.
#[derive(Debug)]
pub enum Error<BusError, PinError> {
/// I²C bus error
Bus(BusError),
Pin(PinError),
/// Invalid Axis and direction
InvalidAxis,
/// Invalid data rate selection
InvalidDataRate,
/// Invalid acceleration range selection
InvalidRange,
/// Invalid operating mode selection
InvalidMode,
/// Attempted to write to a read-only register
WriteToReadOnly,
/// Invalid address provided
WrongAddress,
}
/// `KXTJ3-1057` driver.
pub struct Kxtj3<I2C> {
/// Underlying I²C device
i2c: I2C,
/// Current I²C slave address
address: u8,
}
impl<I2C, E> Kxtj3<I2C>
where
I2C: I2c<Error = E>,
{
/// Create a new KXTJ3-1057 driver from the given I2C peripheral.
/// Default is Hz_400.
/// An example using the [esp_idf_hal](https://esp-rs.github.io/esp-idf-hal/esp_idf_hal):
///
/// use esp_idf_svc::hal::{delay::FreeRtos, i2c::*, prelude::Peripherals, units::Hertz};
/// use kxtj3_1057::{register::SlaveAddr, Kxtj3};
///
/// let peripherals = Peripherals::take().unwrap();
/// let i2c = peripherals.i2c0;
/// let sda = peripherals.pins.gpio10;
/// let scl = peripherals.pins.gpio8;
/// let config = I2cConfig::new().baudrate(Hertz(400_000)).scl_enable_pullup(true).sda_enable_pullup(true);
/// let i2c = I2cDriver::new(i2c, sda, scl, &config).unwrap();
/// let mut kxtj3 = Kxtj3::new(i2c, SlaveAddr::Default).unwrap();
pub fn new(i2c: I2C, address: SlaveAddr) -> Result<Self, Error<E, core::convert::Infallible>> {
Self::new_with_config(i2c, address, Configuration::default())
}
pub fn new_with_config(
i2c: I2C,
address: SlaveAddr,
config: Configuration,
) -> Result<Self, Error<E, core::convert::Infallible>> {
let mut kxtj3 = Kxtj3 {
i2c,
address: address.addr(),
};
kxtj3.configure(config)?;
Ok(kxtj3)
}
/// Configures the device
pub fn configure(
&mut self,
conf: Configuration,
) -> Result<(), Error<E, core::convert::Infallible>> {
if self.get_device_id()? != DEVICE_ID {
return Err(Error::WrongAddress);
}
self.enable_standby_mode()?;
self.set_mode(conf.mode)?;
self.set_range(conf.range)?;
self.set_datarate(conf.datarate)?;
if conf.enable_new_acceleration_interrupt {
self.enable_new_accelration_interrupt()?;
}
if let Some(md_conf) = conf.motion_detection {
self.enable_motion_detection()?;
self.set_motion_detection_datarate(md_conf.datarate)?;
self.set_motion_detection_latch_mode(md_conf.latch_mode)?;
self.set_motion_detection_na_counter(md_conf.non_activity_counter)?;
self.set_motion_detection_wakeup_counter(md_conf.wakeup_counter)?;
self.set_motion_detection_threshold(md_conf.wakeup_threshold)?;
self.enable_motion_detection_axes(
md_conf.enable_x_negative,
md_conf.enable_x_positive,
md_conf.enable_y_negative,
md_conf.enable_y_positive,
md_conf.enable_z_negative,
md_conf.enable_z_positive,
)?;
if let Some(ip_conf) = md_conf.interrupt_pin {
self.set_motion_detection_interrupt_pin_polarity(ip_conf.polarity)?;
self.set_motion_detection_interrupt_pin_response(ip_conf.response)?;
}
}
self.disable_standby_mode()
}
/// Writes a byte to the given register.
fn write_register(
&mut self,
register: Register,
value: u8,
) -> Result<(), Error<E, core::convert::Infallible>> {
if register.read_only() {
return Err(Error::WriteToReadOnly);
}
self.i2c
.write(self.address, &[register.addr(), value])
.map_err(Error::Bus)
}
/// Reads a byte from the given register.
fn read_register(
&mut self,
register: Register,
) -> Result<u8, Error<E, core::convert::Infallible>> {
let mut data = [0];
self.i2c
.write_read(self.address, &[register.addr()], &mut data)
.map_err(Error::Bus)
.and(Ok(data[0]))
}
/// `WHO_AM_I` register.
pub fn get_device_id(&mut self) -> Result<u8, Error<E, core::convert::Infallible>> {
self.read_register(Register::WHOAMI)
}
/// Enable stand-by mode .
/// `CTRL_REG1`: `PC1` bit.
pub fn enable_standby_mode(&mut self) -> Result<(), Error<E, core::convert::Infallible>> {
self.register_clear_bits(Register::CTRL1, PC1_EN)
}
/// Disable stand-by mode .
/// `CTRL_REG1`: `PC1` bit.
pub fn disable_standby_mode(&mut self) -> Result<(), Error<E, core::convert::Infallible>> {
self.register_set_bits(Register::CTRL1, PC1_EN)
}
/// Controls the operating mode of the KXTJ3 .
/// `CTRL_REG1`: `RES` bit.
/// Before using this function, the device must be in standby mode.
pub fn set_mode(&mut self, mode: Mode) -> Result<(), Error<E, core::convert::Infallible>> {
match mode {
Mode::LowPower => {
self.register_clear_bits(Register::CTRL1, RES_EN)?;
}
Mode::HighResolution => {
self.register_set_bits(Register::CTRL1, RES_EN)?;
}
_ => {
return Err(Error::InvalidMode);
}
}
Ok(())
}
/// Reads the current operating mode.
pub fn get_mode(&mut self) -> Result<Mode, Error<E, core::convert::Infallible>> {
let ctrl1 = self.read_register(Register::CTRL1)?;
let is_pc1_set = (ctrl1 >> 7) & 0x01 != 0;
let is_res_set = (ctrl1 >> 6) & 0x01 != 0;
let mode = match (is_pc1_set, is_res_set) {
(false, _) => Mode::Standby,
(true, false) => Mode::LowPower,
(true, true) => Mode::HighResolution,
};
Ok(mode)
}
/// Data rate selection.
///
/// Before using this function, the device must be in standby mode.
pub fn set_datarate(
&mut self,
datarate: DataRate,
) -> Result<(), Error<E, core::convert::Infallible>> {
self.modify_register(Register::DATA_CTRL, |mut data_ctrl| {
// Mask off highest 4 bits
data_ctrl &= !ODR_MASK;
// Write in lowest 4 bits
data_ctrl |= datarate.bits();
data_ctrl
})
}
/// Reads the current data selection rate.
pub fn get_datarate(&mut self) -> Result<DataRate, Error<E, core::convert::Infallible>> {
let data_ctrl = self.read_register(Register::DATA_CTRL)?;
let odr = data_ctrl & 0x0F;
DataRate::try_from(odr).map_err(|_| Error::InvalidDataRate)
}
/// Sets the acceleration Range.
///
/// Before using this function, the device must be in standby mode.
pub fn set_range(&mut self, range: Range) -> Result<(), Error<E, core::convert::Infallible>> {
self.modify_register(Register::CTRL1, |mut ctrl1| {
ctrl1 &= !GSEL_MASK;
ctrl1 |= range.bits() << 2;
ctrl1
})
}
/// Reads the acceleration Range
pub fn get_range(&mut self) -> Result<Range, Error<E, core::convert::Infallible>> {
let ctrl1 = self.read_register(Register::CTRL1)?;
let gsel = (ctrl1 >> 2) & 0x07;
Range::try_from(gsel).map_err(|_| Error::InvalidRange)
}
/// Reads from the registers for each of the 3 axes.
fn read_accel_bytes(&mut self) -> Result<[u8; 6], Error<E, core::convert::Infallible>> {
let mut data = [0u8; 6];
self.i2c
.write_read(self.address, &[Register::XOUT_L.addr() | 0x80], &mut data)
.map_err(Error::Bus)
.and(Ok(data))
}
/// Enables the reporting of the availability of new acceleration data as an interrupt.
///
/// Before using this function, the device must be in standby mode.
pub fn enable_new_accelration_interrupt(
&mut self,
) -> Result<(), Error<E, core::convert::Infallible>> {
self.register_set_bits(Register::CTRL1, DRDYE_EN)
}
/// Enables the Wake-Up (motion detect) function.
///
/// Before using this function, the device must be in standby mode.
pub fn enable_motion_detection(&mut self) -> Result<(), Error<E, core::convert::Infallible>> {
self.register_set_bits(Register::CTRL1, WUFE_EN)
}
/// Enables the physical interrupt pin (INT).
///
/// Before using this function, the device must be in standby mode.
pub fn enable_motion_detection_physical_interrupt_pin(
&mut self,
) -> Result<(), Error<E, core::convert::Infallible>> {
self.register_set_bits(Register::INT_CTRL1, IEN_EN)
}
/// Sets the polarity of the physical interrupt pin
///
/// Before using this function, the device must be in standby mode.
pub fn set_motion_detection_interrupt_pin_polarity(
&mut self,
polarity: InterruptPinPolarity,
) -> Result<(), Error<E, core::convert::Infallible>> {
match polarity {
InterruptPinPolarity::ActiveHigh => self.register_set_bits(Register::INT_CTRL1, IEA_EN),
InterruptPinPolarity::ActiveLow => {
self.register_clear_bits(Register::INT_CTRL1, IEA_EN)
}
}
}
/// Sets the response of the physical interrupt pin.
///
/// Before using this function, the device must be in standby mode.
pub fn set_motion_detection_interrupt_pin_response(
&mut self,
response: InterruptPinResponse,
) -> Result<(), Error<E, core::convert::Infallible>> {
match response {
InterruptPinResponse::Latched => self.register_clear_bits(Register::INT_CTRL1, IEL_EN),
InterruptPinResponse::Pulsed => self.register_set_bits(Register::INT_CTRL1, IEL_EN),
}
}
/// Sets the Output Data Rate for the motion detection function
///
/// Before using this function, the device must be in standby mode.
pub fn set_motion_detection_datarate(
&mut self,
datarate: MotionDetectionDataRate,
) -> Result<(), Error<E, core::convert::Infallible>> {
self.modify_register(Register::CTRL2, |mut ctrl2| {
ctrl2 &= !ODRW_MASK;
ctrl2 |= datarate.bits();
ctrl2
})
}
/// Reads the current data selection rate the motion detection function.
pub fn get_motion_detection_datarate(
&mut self,
) -> Result<MotionDetectionDataRate, Error<E, core::convert::Infallible>> {
let data_ctrl = self.read_register(Register::CTRL2)?;
let odr = data_ctrl & 0x07;
MotionDetectionDataRate::try_from(odr).map_err(|_| Error::InvalidDataRate)
}
/// Sets the motion detection latch mode.
///
/// Before using this function, the device must be in standby mode.
pub fn set_motion_detection_latch_mode(
&mut self,
latch_mode: MotionDetectionLatchMode,
) -> Result<(), Error<E, core::convert::Infallible>> {
self.modify_register(Register::INT_CTRL2, |mut int_ctrl2| {
int_ctrl2 &= !ULMODE_EN;
int_ctrl2 |= latch_mode.bits() << 7;
int_ctrl2
})
}
/// Sets the time motion must be present before a wake-up interrupt is set.
///
/// `WAKEUP_COUNTER (counts) = Wake-Up Delay Time (sec) x Wake-Up Function ODR (Hz)`
///
/// Before using this function, the device must be in standby mode.
pub fn set_motion_detection_wakeup_counter(
&mut self,
wakeup_counter: u8,
) -> Result<(), Error<E, core::convert::Infallible>> {
self.write_register(Register::WAKEUP_COUNTER, wakeup_counter)
}
/// Sets the non-activity time required before another wake-up interrupt can be set.
///
/// `NA_COUNTER (counts) = Non-Activity Time (sec) x Wake-Up Function ODR (Hz)`
///
/// Before using this function, the device must be in standby mode.
pub fn set_motion_detection_na_counter(
&mut self,
na_counter: u8,
) -> Result<(), Error<E, core::convert::Infallible>> {
self.write_register(Register::NA_COUNTER, na_counter)
}
/// Sets the threshold for motion detection interrupt is set.
///
/// `WAKEUP_THRESHOLD (counts) = Desired Threshold (g) x 256 (counts/g)`
///
/// Before using this function, the device must be in standby mode.
pub fn set_motion_detection_threshold(
&mut self,
desired_threshold: u8,
) -> Result<(), Error<E, core::convert::Infallible>> {
let upper_8_bits = (desired_threshold >> 4) as u8;
let lower_8_bits = (desired_threshold << 4) as u8;
self.write_register(Register::WAKEUP_THRESHOLD_H, upper_8_bits)?;
self.write_register(Register::WAKEUP_THRESHOLD_L, lower_8_bits)
}
/// Reports the axis and direction of detected motion.
pub fn get_motion_detection_axis(
&mut self,
) -> Result<MotionDetectionAxis, Error<E, core::convert::Infallible>> {
let int_src2 = self.read_register(Register::INT_SOURCE2)?;
MotionDetectionAxis::try_from(int_src2).map_err(|_| Error::InvalidAxis)
}
///Indicates Wake-up has occurred or not.
pub fn is_motion_detected(&mut self) -> Result<bool, Error<E, core::convert::Infallible>> {
let int_src1 = self.read_register(Register::INT_SOURCE1)?;
let wufs = (int_src1 >> 1) & 0x01 != 0;
Ok(wufs)
}
/// Indicates that new acceleration data (0x06 to 0x0B) is available or not .
pub fn is_acceleration_data_ready(
&mut self,
) -> Result<bool, Error<E, core::convert::Infallible>> {
let int_src1 = self.read_register(Register::INT_SOURCE1)?;
let drdy = (int_src1 >> 4) & 0x01 != 0;
Ok(drdy)
}
/// Sets which axes and directions of detected motion can cause an interrupt.
///
/// Before using this function, the device must be in standby mode.
pub fn enable_motion_detection_axes(
&mut self,
x_negative: bool,
x_positive: bool,
y_negative: bool,
y_positive: bool,
z_negative: bool,
z_positive: bool,
) -> Result<(), Error<E, core::convert::Infallible>> {
self.modify_register(Register::INT_CTRL2, |mut int_ctrl2| {
int_ctrl2 &= !WUE_MASK;
int_ctrl2 |= if x_negative {
MotionDetectionAxis::X_Negative.bits()
} else {
0
};
int_ctrl2 |= if x_positive {
MotionDetectionAxis::X_Positive.bits()
} else {
0
};
int_ctrl2 |= if y_negative {
MotionDetectionAxis::Y_Negative.bits()
} else {
0
};
int_ctrl2 |= if y_positive {
MotionDetectionAxis::Y_Positive.bits()
} else {
0
};
int_ctrl2 |= if z_negative {
MotionDetectionAxis::Z_Negative.bits()
} else {
0
};
int_ctrl2 |= if z_positive {
MotionDetectionAxis::Z_Positive.bits()
} else {
0
};
int_ctrl2
})
}
/// Clears Latched interrupt source information (INT_SOURCE1 and INT_SOURCE2).
/// Changes physical interrupt latched pin (INT) to inactive state.
pub fn clear_motion_detection_lathced_info(
&mut self,
) -> Result<(), Error<E, core::convert::Infallible>> {
self.read_register(Register::INT_REL)?;
Ok(())
}
/// Modify a register's value. Read the current value of the register,
/// update the value with the provided function, and set the register to
/// the return value.
fn modify_register<F>(
&mut self,
register: Register,
f: F,
) -> Result<(), Error<E, core::convert::Infallible>>
where
F: FnOnce(u8) -> u8,
{
let value = self.read_register(register)?;
self.write_register(register, f(value))
}
/// Clear the given bits in the given register. For example:
///
/// kxtj3.register_clear_bits(0b0110)
///
/// This call clears (sets to 0) the bits at index 1 and 2. Other bits of the register are not touched.
pub fn register_clear_bits(
&mut self,
reg: Register,
bits: u8,
) -> Result<(), Error<E, core::convert::Infallible>> {
self.modify_register(reg, |v| v & !bits)
}
/// Set the given bits in the given register. For example:
///
/// kxtj3.register_set_bits(0b0110)
///
/// This call sets to 1 the bits at index 1 and 2. Other bits of the register are not touched.
pub fn register_set_bits(
&mut self,
reg: Register,
bits: u8,
) -> Result<(), Error<E, core::convert::Infallible>> {
self.modify_register(reg, |v| v | bits)
}
}
impl<I2C, E> RawAccelerometer<I16x3> for Kxtj3<I2C>
where
I2C: I2c<Error = E>,
E: core::fmt::Debug,
{
type Error = Error<E, core::convert::Infallible>;
fn accel_raw(&mut self) -> Result<I16x3, AccelerometerError<Self::Error>> {
let accel_bytes = self.read_accel_bytes()?;
let x = i16::from_le_bytes(accel_bytes[0..2].try_into().unwrap());
let y = i16::from_le_bytes(accel_bytes[2..4].try_into().unwrap());
let z = i16::from_le_bytes(accel_bytes[4..6].try_into().unwrap());
Ok(I16x3::new(x, y, z))
}
}
impl<I2C, E> Accelerometer for Kxtj3<I2C>
where
I2C: I2c<Error = E>,
E: core::fmt::Debug,
{
type Error = Error<E, core::convert::Infallible>;
/// Get normalized ±g reading from the accelerometer.
fn accel_norm(&mut self) -> Result<F32x3, AccelerometerError<Self::Error>> {
let mode = self.get_mode()?;
let range = self.get_range()?;
// See "Mechanical Specifications" in the datasheet to find the values below.
// Depending on which Mode we are operating in, the data has different
// resolution. Using this knowledge, we determine how many bits the
// data needs to be shifted. This is necessary because the raw data
// is in left-justified two's complement and we would like for it to be
// right-justified instead.
let (scale, shift) = match (mode, range) {
// High Resolution mode - 14-bit data output
(Mode::HighResolution, Range::G8_14Bit) => (0.001, 2),
(Mode::HighResolution, Range::G16_14Bit) => (0.002, 2),
// High Resolution mode-12 bit data output
(Mode::HighResolution, Range::G2) => (0.001, 4),
(Mode::HighResolution, Range::G4) => (0.002, 4),
(Mode::HighResolution, Range::G8) => (0.004, 4),
(Mode::HighResolution, Range::G16_1)
| (Mode::HighResolution, Range::G16_2)
| (Mode::HighResolution, Range::G16_3) => (0.008, 4),
// Low power mode
(Mode::LowPower, Range::G2) => (0.015, 8),
(Mode::LowPower, Range::G4) => (0.031, 8),
(Mode::LowPower, Range::G8) => (0.062, 8),
(Mode::LowPower, Range::G16_1)
| (Mode::LowPower, Range::G16_2)
| (Mode::LowPower, Range::G16_3) => (0.125, 8),
_ => (0.0, 0),
};
let acc_raw = self.accel_raw()?;
let x = (acc_raw.x >> shift) as f32 * scale;
let y = (acc_raw.y >> shift) as f32 * scale;
let z = (acc_raw.z >> shift) as f32 * scale;
Ok(F32x3::new(x, y, z))
}
/// Get the sample rate of the accelerometer data.
fn sample_rate(&mut self) -> Result<f32, AccelerometerError<Self::Error>> {
Ok(self.get_datarate()?.sample_rate())
}
}