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#![deny(missing_docs)]
#![deny(warnings)]
#![feature(unsize)]
#![no_std]
extern crate cast;
extern crate embedded_hal as hal;
use core::marker::Unsize;
use core::mem;
use cast::u16;
use hal::blocking::i2c::{Write, WriteRead};
mod accel;
mod mag;
pub struct Lsm303dlhc<I2C> {
i2c: I2C,
}
impl<I2C, E> Lsm303dlhc<I2C>
where
I2C: WriteRead<Error = E> + Write<Error = E>,
{
pub fn new(i2c: I2C) -> Result<Self, E> {
let mut lsm303dlhc = Lsm303dlhc { i2c };
lsm303dlhc.write_accel_register(accel::Register::CTRL_REG1_A, 0b0111_0_111)?;
lsm303dlhc.write_mag_register(mag::Register::MR_REG_M, 0b00)?;
lsm303dlhc.write_mag_register(mag::Register::CRA_REG_M, 0b0001000 | (1 << 7))?;
Ok(lsm303dlhc)
}
pub fn accel(&mut self) -> Result<I16x3, E> {
let buffer: [u8; 6] = self.read_accel_registers(accel::Register::OUT_X_L_A)?;
Ok(I16x3 {
x: (u16(buffer[0]) + (u16(buffer[1]) << 8)) as i16,
y: (u16(buffer[2]) + (u16(buffer[3]) << 8)) as i16,
z: (u16(buffer[4]) + (u16(buffer[5]) << 8)) as i16,
})
}
pub fn mag(&mut self) -> Result<I16x3, E> {
let buffer: [u8; 6] = self.read_mag_registers(mag::Register::OUT_X_H_M)?;
Ok(I16x3 {
x: (u16(buffer[1]) + (u16(buffer[0]) << 8)) as i16,
y: (u16(buffer[5]) + (u16(buffer[4]) << 8)) as i16,
z: (u16(buffer[3]) + (u16(buffer[2]) << 8)) as i16,
})
}
pub fn temp(&mut self) -> Result<i16, E> {
let temp_out_l = self.read_mag_register(mag::Register::TEMP_OUT_L_M)?;
let temp_out_h = self.read_mag_register(mag::Register::TEMP_OUT_H_M)?;
Ok(((u16(temp_out_l) + (u16(temp_out_h) << 8)) as i16) >> 4)
}
pub fn set_accel_sensitivity(&mut self, sensitivity: Sensitivity) -> Result<(), E> {
self.modify_accel_register(accel::Register::CTRL_REG4_A, |r| {
r & !(0b11 << 4) | (sensitivity.value() << 4)
})
}
fn modify_accel_register<F>(&mut self, reg: accel::Register, f: F) -> Result<(), E>
where
F: FnOnce(u8) -> u8,
{
let r = self.read_accel_register(reg)?;
self.write_accel_register(reg, f(r))?;
Ok(())
}
fn read_accel_registers<B>(&mut self, reg: accel::Register) -> Result<B, E>
where
B: Unsize<[u8]>,
{
let mut buffer: B = unsafe { mem::uninitialized() };
{
let buffer: &mut [u8] = &mut buffer;
const MULTI: u8 = 1 << 7;
self.i2c
.write_read(accel::ADDRESS, &[reg.addr() | MULTI], buffer)?;
}
Ok(buffer)
}
fn read_accel_register(&mut self, reg: accel::Register) -> Result<u8, E> {
self.read_accel_registers::<[u8; 1]>(reg).map(|b| b[0])
}
fn read_mag_register(&mut self, reg: mag::Register) -> Result<u8, E> {
let buffer: [u8; 1] = self.read_mag_registers(reg)?;
Ok(buffer[0])
}
fn read_mag_registers<B>(&mut self, reg: mag::Register) -> Result<B, E>
where
B: Unsize<[u8]>,
{
let mut buffer: B = unsafe { mem::uninitialized() };
{
let buffer: &mut [u8] = &mut buffer;
self.i2c.write_read(mag::ADDRESS, &[reg.addr()], buffer)?;
}
Ok(buffer)
}
fn write_accel_register(&mut self, reg: accel::Register, byte: u8) -> Result<(), E> {
self.i2c.write(accel::ADDRESS, &[reg.addr(), byte])
}
fn write_mag_register(&mut self, reg: mag::Register, byte: u8) -> Result<(), E> {
self.i2c.write(mag::ADDRESS, &[reg.addr(), byte])
}
}
#[derive(Debug)]
pub struct I16x3 {
pub x: i16,
pub y: i16,
pub z: i16,
}
#[derive(Clone, Copy)]
pub enum Sensitivity {
G1,
G2,
G4,
G12,
}
impl Sensitivity {
fn value(&self) -> u8 {
*self as u8
}
}