//! I2C/SPI interfaces use crate::{private, Error, DEVICE_ADDRESS}; use embedded_hal::{i2c, spi}; /// I2C interface #[derive(Debug, Default)] pub struct I2cInterface<I2C> { pub(crate) i2c: I2C, } /// SPI interface #[derive(Debug, Default)] pub struct SpiInterface<SPI> { pub(crate) spi: SPI, } /// Write data pub trait WriteData: private::Sealed { /// Error type type Error; /// Write to an u8 register fn write_register(&mut self, register: u8, data: u8) -> Result<(), Self::Error>; /// Write data. The first element corresponds to the starting address. fn write_data(&mut self, payload: &mut [u8]) -> Result<(), Self::Error>; } impl<I2C, E> WriteData for I2cInterface<I2C> where I2C: i2c::I2c<Error = E>, { type Error = Error<E>; fn write_register(&mut self, register: u8, data: u8) -> Result<(), Self::Error> { let payload: [u8; 2] = [register, data]; self.i2c .write(DEVICE_ADDRESS, &payload) .map_err(Error::Comm) } fn write_data(&mut self, payload: &mut [u8]) -> Result<(), Self::Error> { self.i2c.write(DEVICE_ADDRESS, payload).map_err(Error::Comm) } } impl<SPI, E> WriteData for SpiInterface<SPI> where SPI: spi::SpiDevice<u8, Error = E>, { type Error = Error<E>; fn write_register(&mut self, register: u8, data: u8) -> Result<(), Self::Error> { let payload: [u8; 2] = [register + 0x80, data]; self.spi.write(&payload).map_err(Error::Comm) } fn write_data(&mut self, payload: &mut [u8]) -> Result<(), Self::Error> { payload[0] += 0x80; self.spi.write(payload).map_err(Error::Comm) } } /// Read data pub trait ReadData: private::Sealed { /// Error type type Error; /// Read an u8 register fn read_register(&mut self, register: u8) -> Result<u8, Self::Error>; /// Read some data. The first element corresponds to the starting address. fn read_data(&mut self, payload: &mut [u8]) -> Result<(), Self::Error>; } impl<I2C, E> ReadData for I2cInterface<I2C> where I2C: i2c::I2c<Error = E>, { type Error = Error<E>; fn read_register(&mut self, register: u8) -> Result<u8, Self::Error> { let mut data = [0]; self.i2c .write_read(DEVICE_ADDRESS, &[register], &mut data) .map_err(Error::Comm) .and(Ok(data[0])) } fn read_data(&mut self, payload: &mut [u8]) -> Result<(), Self::Error> { let len = payload.len(); self.i2c .write_read(DEVICE_ADDRESS, &[payload[0]], &mut payload[1..len]) .map_err(Error::Comm) } } impl<SPI, E> ReadData for SpiInterface<SPI> where SPI: spi::SpiDevice<u8, Error = E>, { type Error = Error<E>; fn read_register(&mut self, register: u8) -> Result<u8, Self::Error> { let mut data = [register, 0]; let result = self.spi.transfer_in_place(&mut data).map_err(Error::Comm); result.and(Ok(data[1])) } fn read_data(&mut self, payload: &mut [u8]) -> Result<(), Self::Error> { self.spi.transfer_in_place(payload).map_err(Error::Comm) } }