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// MIT License
//
// Copyright © 2022-2023, 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 SPI driver for the device.
use crate::{
Adxl345, Adxl345AccExtract, Adxl345Init, Adxl345Reader, Adxl345Writer, AdxlError, AdxlResult,
Result,
};
use embedded_hal::spi::SpiDevice;
/// SPI driver structure for the device.
#[derive(Debug)]
pub struct Device<B> {
/// Any bus object implementing the `embedded_hal` `SpiDevice` traits.
bus: B,
/// true: SPI 3-wire mode; false: SPI 4-wire mode.
three_wire: bool,
}
impl<B> Device<B>
where
B: SpiDevice,
{
/// Constructor.
///
/// ## Arguments
/// * `bus` - Any bus object implementing the `embedded_hal` `SpiDevice` traits.
/// * `three_wire` - true: SPI 3-wire mode; false: SPI 4-wire mode.
pub fn new(bus: B, three_wire: bool) -> AdxlResult<Self> {
let mut device = Device { bus, three_wire };
device.init()?;
Ok(device)
}
}
impl<B> Adxl345 for Device<B> where B: SpiDevice {}
impl<B> Adxl345Init for Device<B> where B: SpiDevice {}
impl<B> Adxl345AccExtract for Device<B> where B: SpiDevice {}
impl<B> Adxl345Reader for Device<B>
where
B: SpiDevice,
{
fn access(&mut self, register: u8) -> AdxlResult<u8> {
let mut read_buf = [0u8, 0u8];
debug_assert!(register <= 0x7F);
let write_buf = [(register & 0x7Fu8) | 0x80u8, 0u8];
if self.bus.transfer(&mut read_buf, &write_buf).is_err() {
return Err(AdxlError::Spi());
}
Ok(read_buf[1])
}
fn acceleration(&mut self) -> AdxlResult<(i16, i16, i16)> {
let register = 0x32;
let mut read_buf = [0u8; 7];
debug_assert!(register <= 0x7F);
let write_buf = [
(register & 0x7Fu8) | 0x80u8 | 0x40u8,
0u8,
0u8,
0u8,
0u8,
0u8,
0u8,
];
if self.bus.transfer(&mut read_buf, &write_buf).is_err() {
return Err(AdxlError::Spi());
}
Ok(self.extract_acceleration(&read_buf[1..7]))
}
}
impl<B> Adxl345Writer for Device<B>
where
B: SpiDevice,
{
fn command(&mut self, register: u8, byte: u8) -> Result {
debug_assert!(register <= 0x7F);
let write_buf = [(register & 0x7Fu8), byte];
if self.bus.write(&write_buf).is_err() {
return Err(AdxlError::Spi());
}
Ok(())
}
fn init(&mut self) -> Result {
self.init_registers(self.three_wire)
}
}
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