Crate lh_adxl345 

Adxl 345 Accelerometer Driver

Using embedded-hal Supports I2C / SPI communications though a RegisterBus Trait

Reference: https://www.analog.com/media/en/technical-documentation/data-sheets/adxl345.pdf

Example I2C:

 
use lh_adxl345 as adxl;
...

// RP2040 Hal Boilerplate
...

// Setting I2C Pins
let sda_pin: gpio::Pin<_, gpio::FunctionI2c, _> = pins.gpio4.reconfigure();
let scl_pin: gpio::Pin<_, gpio::FunctionI2c, _> = pins.gpio5.reconfigure();

// HAL I2C0 Init
let i2c = hal::I2C::i2c0(
    pac.I2C0,
    sda_pin,
    scl_pin,
    400.kHz(),
    &mut pac.RESETS,
    &clocks.system_clock,
);

// Adxl Bus
let adxlbus = adxl::AdxlBusI2c {
    i2c:  i2c,
    addr: adxl::reg::ADXL_ADDR,
};

// Adxl Device
let mut adxl = adxl::Adxl345::new(adxlbus);

// Adxl Init
if let Err(e) = adxl.init_defaults() {
    println!("Init Err: {}", e);
    return;
}

// Adxl Calibrate
println!("\n Running Calibration ...");
match adxl.calibrate_axis_offsets() {
    Ok((x,y,z)) => {
        println!("Calibration values | X: {x} | Y: {y} | Z: {z} |\n");
    }
    Err(e) => {
        println!("Err: {}", e);
    }
}

// Read Axis in m/s^2
match adxl.read_axis() {
    Ok((x, y, z)) => println!("Axis | X: {x:6.3} | Y: {y:6.3} | Z: {z:6.3} |"),
    Err(e) => println!("Err: {}", e),
}

// Read Axis in raw LSB units
match adxl.read_axis_lsb_units() {
    Ok((x, y, z)) => println!("Axis | X: {x:6} | Y: {y:6} | Z: {z:6} |"),
    Err(e) => println!("Err: {}", e),
}

Example SPI Setup:

 
use lh_adxl345 as adxl;
...

// RP2040 Hal Boilerplate
...

// ADXL Four wire SPI wiring:
// SCL >> CLK
// SDA >> MOSI
// SDO >> MISO
// CS  >> GPIO | Note: For power-up in SPI Mode, the ADXL CS Pin needs to be pulled to GND with a resistor.

// SPI Pins
let spi_mosi = pins.gpio19.into_function::<hal::gpio::FunctionSpi>();
let spi_miso = pins.gpio16.into_function::<hal::gpio::FunctionSpi>();
let spi_sclk = pins.gpio18.into_function::<hal::gpio::FunctionSpi>();
let spi_cs   = pins.gpio17.into_push_pull_output_in_state(gpio::PinState::High);

// HAL SPI Bus Init
let spi = hal::spi::Spi::<_, _, _, 8>::new(pac.SPI0, (spi_mosi, spi_miso, spi_sclk));
let spi = spi.init(
    &mut pac.RESETS,
    clocks.peripheral_clock.freq(),
    2.MHz(),
    embedded_hal::spi::MODE_3,
);

// SPI Adxl Bus
let adxlbus = adxl::AdxlBusSpi {
    spi:    spi,
    spi_cs: spi_cs,
};

// Adxl Device
let mut adxl = adxl::Adxl345::new(adxlbus);

...

Modules

reg

ADXL 345 registry mapping

Structs

Adxl345

AdxlBusI2c

AdxlBusSpi

IntSource

Interrupt Source

Enums

Error

ErrorReg

FifoMode

Fifo Mode

Justify

Justify

Range

Range Bits

Rate

Data Rate

Res

Resolution

Unit

Unit Scale Factor

Wakeup

Wakeup Bits

Constants

G

Gravity m/s^2

MAX_BUF_LEN

Temp write buffer for appending reg addr.

Traits

RegisterBus

Transport-agnostic bus trait This trait needs to be implemented for the SPI, I2C bus used

Type Aliases

AdxlResult