ank/adis1647x
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switch fast read to twos complement, as every 32bit number

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appears to be twos complement
This commit is contained in:
Andy Killorin 2025-03-14 17:01:00 -04:00
parent dda1e4cf28
commit 02b3a9a87c
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 7 additions and 6 deletions
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13
src/lib.rs
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@ -1,6 +1,7 @@
#![no_std] #![no_std]
use embassy_embedded_hal::adapter::BlockingAsync; use embassy_embedded_hal::adapter::BlockingAsync;
use embedded_hal_async::spi::{SpiBus, SpiDevice}; use embedded_hal_async::spi::{SpiBus, SpiDevice};
use registers::*;
#[cfg(feature = "ADIS1647x-1")] #[cfg(feature = "ADIS1647x-1")]
const DELTA_ANGLE_RANGE: f32 = 360.; const DELTA_ANGLE_RANGE: f32 = 360.;
@ -51,8 +52,8 @@ impl<T: SpiBus> ADIS16475<T> {
Ok(()) Ok(())
} }
/// efficiently reads multiple u32s by pipelining the spi bus /// efficiently reads multiple i32s by pipelining the spi bus
async fn read_u32_multi<const N: usize>(&mut self, addr: [u8;N]) -> Result<[u32;N], T::Error> { async fn read_i32_multi<const N: usize>(&mut self, addr: [u8;N]) -> Result<[i32;N], T::Error> {
let read = |addr :u8| [(addr & 0x7F), 0]; let read = |addr :u8| [(addr & 0x7F), 0];
// first address // first address
@ -60,7 +61,7 @@ impl<T: SpiBus> ADIS16475<T> {
let mut responses = [0; N]; let mut responses = [0; N];
let mut partial: [u16;2] = [0;2]; let mut partial: [i16;2] = [0;2];
let mut partial_idx = 0; let mut partial_idx = 0;
let mut buf: [u8;2] = [0;2]; let mut buf: [u8;2] = [0;2];
@ -69,19 +70,19 @@ impl<T: SpiBus> ADIS16475<T> {
let addr = addr[i/2] + (i as u8 % 2) * 2; let addr = addr[i/2] + (i as u8 % 2) * 2;
self.bus.transfer(&mut buf, &read(addr)).await?; self.bus.transfer(&mut buf, &read(addr)).await?;
partial[partial_idx] = u16::from_be_bytes(buf); partial[partial_idx] = i16::from_be_bytes(buf);
partial_idx += 1; partial_idx += 1;
if partial_idx == 2 { if partial_idx == 2 {
partial_idx = 0; partial_idx = 0;
responses[i/2 -1] = (partial[1] as u32) << 16 + partial[0] as u32; responses[i/2 -1] = (partial[1] as i32) << 16 + partial[0] as i32;
} }
} }
// last address // last address
self.bus.read(&mut buf).await.unwrap(); self.bus.read(&mut buf).await.unwrap();
responses[addr.len() - 1] = partial[0] as u32 + (u16::from_be_bytes(buf) as u32) << 16; responses[addr.len() - 1] = partial[0] as i32 + (i16::from_be_bytes(buf) as i32) << 16;
Ok(responses) Ok(responses)
} }