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No commits in common. "82105eecb9000b0b5de915c043f25fde3a206e7a" and "d30012746c3e99a915ae6f85e6305802cb8928a3" have entirely different histories.
82105eecb9
...
d30012746c
4 changed files with 23 additions and 155 deletions
97
Cargo.lock
generated
97
Cargo.lock
generated
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@ -9,7 +9,6 @@ dependencies = [
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"embassy-embedded-hal",
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"embedded-hal 1.0.0",
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"embedded-hal-async",
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"maybe-async-cfg",
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"nalgebra",
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]
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@ -28,12 +27,6 @@ version = "1.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
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[[package]]
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name = "bitflags"
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version = "2.9.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5c8214115b7bf84099f1309324e63141d4c5d7cc26862f97a0a857dbefe165bd"
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[[package]]
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name = "bytemuck"
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version = "1.22.0"
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@ -234,30 +227,6 @@ version = "0.4.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b4ce301924b7887e9d637144fdade93f9dfff9b60981d4ac161db09720d39aa5"
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[[package]]
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name = "manyhow"
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version = "0.11.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b33efb3ca6d3b07393750d4030418d594ab1139cee518f0dc88db70fec873587"
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dependencies = [
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"manyhow-macros",
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"proc-macro2",
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"quote",
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"syn 1.0.109",
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"syn 2.0.100",
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]
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[[package]]
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name = "manyhow-macros"
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version = "0.11.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "46fce34d199b78b6e6073abf984c9cf5fd3e9330145a93ee0738a7443e371495"
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dependencies = [
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"proc-macro-utils",
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"proc-macro2",
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"quote",
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]
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[[package]]
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name = "matrixmultiply"
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version = "0.3.9"
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@ -268,25 +237,6 @@ dependencies = [
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"rawpointer",
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]
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[[package]]
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name = "maybe-async-cfg"
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version = "0.2.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8dbfaa67a76e2623580df07d6bb5e7956c0a4bae4b418314083a9c619bd66627"
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dependencies = [
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"manyhow",
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"proc-macro2",
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"pulldown-cmark",
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"quote",
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"syn 1.0.109",
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]
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[[package]]
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name = "memchr"
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version = "2.7.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
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[[package]]
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name = "nalgebra"
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version = "0.31.4"
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@ -311,7 +261,7 @@ checksum = "01fcc0b8149b4632adc89ac3b7b31a12fb6099a0317a4eb2ebff574ef7de7218"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn 1.0.109",
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"syn",
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]
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[[package]]
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@ -384,17 +334,6 @@ version = "0.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
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[[package]]
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name = "proc-macro-utils"
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version = "0.10.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "eeaf08a13de400bc215877b5bdc088f241b12eb42f0a548d3390dc1c56bb7071"
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dependencies = [
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"proc-macro2",
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"quote",
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"smallvec",
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]
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[[package]]
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name = "proc-macro2"
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version = "1.0.94"
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@ -404,17 +343,6 @@ dependencies = [
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"unicode-ident",
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]
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[[package]]
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name = "pulldown-cmark"
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version = "0.11.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "679341d22c78c6c649893cbd6c3278dcbe9fc4faa62fea3a9296ae2b50c14625"
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dependencies = [
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"bitflags",
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"memchr",
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"unicase",
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]
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[[package]]
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name = "quote"
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version = "1.0.39"
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@ -452,12 +380,6 @@ dependencies = [
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"wide",
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]
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[[package]]
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name = "smallvec"
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version = "1.14.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7fcf8323ef1faaee30a44a340193b1ac6814fd9b7b4e88e9d4519a3e4abe1cfd"
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[[package]]
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name = "stable_deref_trait"
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version = "1.2.0"
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@ -475,29 +397,12 @@ dependencies = [
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"unicode-ident",
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]
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[[package]]
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name = "syn"
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version = "2.0.100"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b09a44accad81e1ba1cd74a32461ba89dee89095ba17b32f5d03683b1b1fc2a0"
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dependencies = [
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"proc-macro2",
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"quote",
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"unicode-ident",
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]
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[[package]]
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name = "typenum"
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version = "1.18.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "1dccffe3ce07af9386bfd29e80c0ab1a8205a2fc34e4bcd40364df902cfa8f3f"
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[[package]]
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name = "unicase"
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version = "2.8.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "75b844d17643ee918803943289730bec8aac480150456169e647ed0b576ba539"
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[[package]]
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name = "unicode-ident"
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version = "1.0.18"
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@ -8,9 +8,3 @@ embedded-hal = "1.0.0"
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embedded-hal-async = "1.0.0"
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embassy-embedded-hal = {version = "0.3.0", git="https://github.com/embassy-rs/embassy", rev = "c39076724f052fed6781b056bb79c9fa576b87a3"}
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nalgebra = "0.31.4"
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maybe-async-cfg = "0.2"
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[features]
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default = ["sync"]
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sync = []
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async = []
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19
readme.md
19
readme.md
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@ -1,29 +1,21 @@
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# `adis1647x`
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no_std driver for the Analog Devices [adis1647](https://www.mouser.com/new/analog-devices/adi-adis1647-imus/) family of IMUs. Currently only the adis16475 is supported
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no_std driver for the Analog Devices [adis1647](https://www.mouser.com/new/analog-devices/adi-adis1647-imus/) family of IMUs. Currently only the adis16475 is implemented.
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### Usage
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You need an embedded_hal or embedded_hal_async spi driver and delay implementation
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```toml
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# async
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adis1647x = { git = "https://git.ank.dev/ank/adis1647x", default-features = false, features = ["async"]
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# sync
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adis1647x = { git = "https://git.ank.dev/ank/adis1647x" }
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```
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You need an embedded_hal_async spi driver
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```rust
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use adis1647x::*;
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use adis1647x::delta::*;
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async fn main() -> Result<(), SomeSpiError> {
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let bus = some_spi();
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let delay = some_delay();
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let imu = ADIS1647Async::new(bus, delay).await?;
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let imu = ADIS1647X::new(bus).await?;
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let mut angle: DeltaAngle = Default::default();
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@ -36,5 +28,4 @@ async fn main() -> Result<(), SomeSpiError> {
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println!("yaw: {} degrees", angle.angles().y);
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}
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}
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```
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56
src/lib.rs
56
src/lib.rs
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@ -1,12 +1,6 @@
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#![no_std]
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use delta::{DeltaAngle, DeltaVelocity};
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#[cfg(feature = "async")]
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use embedded_hal_async::{delay::DelayNs as DelayNsAsync, spi::SpiDevice as SpiDeviceAsync};
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#[cfg(feature = "sync")]
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use embedded_hal::{delay::DelayNs as DelayNsSync, spi::SpiDevice as SpiDeviceSync};
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use embedded_hal_async::spi::SpiDevice;
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use nalgebra::Vector3;
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use registers::*;
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@ -51,51 +45,38 @@ impl Model {
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}
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}
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/// microseconds between requests
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const STALL_TIME: u32 = 16;
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#[maybe_async_cfg::maybe(
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idents(DelayNs, SpiDevice),
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sync(feature="sync"),
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async(feature="async")
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)]
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pub struct ADIS1647<T, D> where T: SpiDevice, D: DelayNs {
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pub struct ADIS1647X<T> where T: SpiDevice {
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bus: T,
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model: Model,
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delay: D,
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model: Model
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}
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#[maybe_async_cfg::maybe(
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idents(DelayNs, SpiDevice),
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sync(feature="sync"),
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async(feature="async")
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)]
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impl<T: SpiDevice, D: DelayNs> ADIS1647<T, D> {
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pub async fn new(bus: T, delay: D) -> Result<Self, T::Error> {
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let mut query_imu = Self { bus, model: Model::ADIS16475_1, delay };
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impl<T: SpiDevice> ADIS1647X<T> {
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pub async fn new(bus: T) -> Result<Self, T::Error> {
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//let bus = BlockingAsync::new(bus);
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let mut query_imu = Self { bus, model: Model::ADIS16475_1 };
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let range = query_imu.read_u16(RANG_MDL).await?;
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let model = Model::detect(range);
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Ok(Self::with_model(query_imu.bus, model, query_imu.delay))
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Ok(Self::with_model(query_imu.take_bus(), model))
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}
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fn take_bus(self) -> T {
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self.bus
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}
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/// use a known model instead of detecting it
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pub fn with_model(bus: T, model: Model, delay: D) -> Self {
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Self { bus, model, delay }
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}
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async fn stall(&mut self) {
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self.delay.delay_us(STALL_TIME).await;
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pub fn with_model(bus: T, model: Model) -> Self {
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//let bus = BlockingAsync::new(bus);
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Self { bus, model }
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}
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pub async fn read_u16(&mut self, addr: u8) -> Result<u16, T::Error> {
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let request = [addr & 0x7F, 0];
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self.bus.write(&request).await?;
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self.stall().await;
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let mut dat = [0;2];
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self.bus.read(&mut dat).await?;
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self.stall().await;
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Ok(u16::from_be_bytes(dat))
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}
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@ -103,7 +84,6 @@ impl<T: SpiDevice, D: DelayNs> ADIS1647<T, D> {
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pub async fn write_u8(&mut self, addr: u8, data: u8) -> Result<(), T::Error> {
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let request = [addr | 0x80, data];
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self.bus.write(&request).await?;
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self.stall().await;
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Ok(())
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}
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@ -116,6 +96,7 @@ impl<T: SpiDevice, D: DelayNs> ADIS1647<T, D> {
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pub async fn write_u16(&mut self, addr: u8, data: u16) -> Result<(), T::Error> {
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let data = u16::to_le_bytes(data);
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// TODO: do some soul searching
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self.write_u8(addr, data[0]).await?; // lower byte
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self.write_u8(addr+1, data[1]).await?; // higher byte
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Ok(())
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@ -127,7 +108,6 @@ impl<T: SpiDevice, D: DelayNs> ADIS1647<T, D> {
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// first address
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self.bus.write(&read(addr[0])).await?;
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self.stall().await;
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let mut responses = [0; N];
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@ -139,7 +119,6 @@ impl<T: SpiDevice, D: DelayNs> ADIS1647<T, D> {
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for i in 1..(addr.len()*2) {
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let addr = addr[i/2] + (i as u8 % 2) * 2;
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self.bus.transfer(&mut buf, &read(addr)).await?;
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self.stall().await;
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partial[partial_idx] = i16::from_be_bytes(buf);
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partial_idx += 1;
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@ -153,7 +132,6 @@ impl<T: SpiDevice, D: DelayNs> ADIS1647<T, D> {
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// last address
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self.bus.read(&mut buf).await.unwrap();
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self.stall().await;
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responses[addr.len() - 1] = partial[0] as i32 + (i16::from_be_bytes(buf) as i32) << 16;
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Ok(responses)
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Loading…
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