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// MIT License
//
// Copyright © 2022, 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 rppal::spi::{Bus, Mode, SlaveSelect, Spi};
use crate::{Adxl345, Adxl345Init, Adxl345Reader, Adxl345Writer, AdxlError, AdxlResult, Result};
/// SPI driver structure for the device.
#[derive(Debug)]
pub struct Device {
/// Holds the bus interface from the [RPPAL SPI] peripheral.
///
/// [RPPAL SPI]: https://docs.golemparts.com/rppal/0.13.1/rppal/spi/index.html
bus: Spi,
/// true: SPI 3-wire mode; false: SPI 4-wire mode.
three_wire: bool,
}
impl Device {
/// Constructor with default bus parameters.
///
/// bus = 0; slave_select = 0; clock_speed = 1 MHz; 4-wire-SPI.
pub fn new() -> AdxlResult<Self> {
Self::with_bus(0, 0, 1_000_000, false)
}
/// Constructor with bus index and slave-select index.
///
/// ## Arguments
/// * `bus` - SPI bus index (0-2).
/// * `slave_select` - SPI slave-select index (0-2).
/// * `clock_speed` - SPI clock speed in Hz.
/// * `three_wire` - true: SPI 3-wire mode; false: SPI 4-wire mode.
pub fn with_bus(
bus: u8,
slave_select: u8,
clock_speed: u32,
three_wire: bool,
) -> AdxlResult<Self> {
let bus = match bus {
0 => Bus::Spi0,
1 => Bus::Spi1,
2 => Bus::Spi2,
/*
3 => Bus::Spi3,
4 => Bus::Spi4,
5 => Bus::Spi5,
6 => Bus::Spi6,
*/
_ => return Err(AdxlError::InvalidBusParams),
};
let slave_select = match slave_select {
0 => SlaveSelect::Ss0,
1 => SlaveSelect::Ss1,
2 => SlaveSelect::Ss2,
/*
3 => SlaveSelect::Ss3,
4 => SlaveSelect::Ss4,
5 => SlaveSelect::Ss5,
6 => SlaveSelect::Ss6,
7 => SlaveSelect::Ss7,
8 => SlaveSelect::Ss8,
9 => SlaveSelect::Ss9,
10 => SlaveSelect::Ss10,
11 => SlaveSelect::Ss11,
12 => SlaveSelect::Ss12,
13 => SlaveSelect::Ss13,
14 => SlaveSelect::Ss14,
15 => SlaveSelect::Ss15,
*/
_ => return Err(AdxlError::InvalidBusParams),
};
let mut device = Device {
bus: Spi::new(bus, slave_select, clock_speed, Mode::Mode3)?,
three_wire,
};
device.init()?;
Ok(device)
}
}
impl Adxl345 for Device {}
impl Adxl345Init for Device {}
impl Adxl345Reader for Device {
fn access(&self, register: u8) -> AdxlResult<u8> {
let mut read_buf = [0u8, 0u8];
debug_assert!(register <= 0x7F);
let write_buf = [(register & 0x7Fu8) | 0x80u8, 0u8];
self.bus.transfer(&mut read_buf, &write_buf)?;
Ok(read_buf[1])
}
fn acceleration(&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,
];
self.bus.transfer(&mut read_buf, &write_buf)?;
Ok((
i16::from_le_bytes([read_buf[1], read_buf[2]]),
i16::from_le_bytes([read_buf[3], read_buf[4]]),
i16::from_le_bytes([read_buf[5], read_buf[6]]),
))
}
}
impl Adxl345Writer for Device {
fn command(&mut self, register: u8, byte: u8) -> Result {
debug_assert!(register <= 0x7F);
let write_buf = [(register & 0x7Fu8), byte];
self.bus.write(&write_buf)?;
Ok(())
}
fn init(&mut self) -> Result {
self.init_registers(self.three_wire)
}
}
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