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// MIT License
//
// Copyright 2023-2024 Michael Büsch <m@bues.ch>
// Copyright © 2020-present, Michael Cummings <mgcummings@yahoo.com>.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//! Contains the I²C driver for the device.
use crate::{
Adxl345, Adxl345AccExtract, Adxl345Init, Adxl345Reader, Adxl345Writer, AdxlError, AdxlResult,
Result,
};
use embedded_hal::i2c::{I2c, SevenBitAddress};
/// I²C driver structure for the device.
#[derive(Debug)]
pub struct Device<B> {
/// Any bus object implementing the `embedded_hal` `I2c` trait.
bus: B,
/// The 7 bit address of the device.
address: SevenBitAddress,
}
impl<B: I2c> Device<B> {
/// Constructor with default slave address `0x53`.
///
/// ## Arguments
/// * `bus` - Any object implementing the `embedded_hal` `I2c` trait.
pub fn new(bus: B) -> AdxlResult<Self> {
Self::with_address(bus, 0x53)
}
/// Constructor with explicit slave address.
///
/// The device only has two addresses `0x53` or `0x1d` depending on the low or
/// high logic level on the `ALT ADDRESS` pin.
///
/// ## Arguments
/// * `bus` - Any object implementing the `embedded_hal` `I2c` trait.
/// * `address` - Address of ADXL345 device.
pub fn with_address(bus: B, address: u8) -> AdxlResult<Self> {
let mut device = Device { bus, address };
device.init()?;
Ok(device)
}
}
impl<B: I2c> Adxl345 for Device<B> {}
impl<B: I2c> Adxl345Init for Device<B> {}
impl<B: I2c> Adxl345AccExtract for Device<B> {}
impl<B: I2c> Adxl345Reader for Device<B> {
fn access(&mut self, register: u8) -> AdxlResult<u8> {
let mut buf = [0u8; 1];
if self
.bus
.write_read(self.address, &[register], &mut buf)
.is_err()
{
return Err(AdxlError::I2c());
}
Ok(buf[0])
}
fn acceleration(&mut self) -> AdxlResult<(i16, i16, i16)> {
let register = 0x32;
let mut buf = [0u8; 6];
if self
.bus
.write_read(self.address, &[register], &mut buf)
.is_err()
{
return Err(AdxlError::I2c());
}
Ok(self.extract_acceleration(&buf))
}
}
impl<B: I2c> Adxl345Writer for Device<B> {
fn command(&mut self, register: u8, byte: u8) -> Result {
if self.bus.write(self.address, &[register, byte]).is_err() {
return Err(AdxlError::I2c());
}
Ok(())
}
fn init(&mut self) -> Result {
self.init_registers(false)
}
}
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