added sync support

Cargo.lock

@@ -9,6 +9,7 @@ dependencies = [
  "embassy-embedded-hal",
  "embedded-hal 1.0.0",
  "embedded-hal-async",
+ "maybe-async-cfg",
  "nalgebra",
 ]
 
@@ -27,6 +28,12 @@ version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 
+[[package]]
+name = "bitflags"
+version = "2.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5c8214115b7bf84099f1309324e63141d4c5d7cc26862f97a0a857dbefe165bd"
+
 [[package]]
 name = "bytemuck"
 version = "1.22.0"
@@ -227,6 +234,30 @@ version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b4ce301924b7887e9d637144fdade93f9dfff9b60981d4ac161db09720d39aa5"
 
+[[package]]
+name = "manyhow"
+version = "0.11.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b33efb3ca6d3b07393750d4030418d594ab1139cee518f0dc88db70fec873587"
+dependencies = [
+ "manyhow-macros",
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+ "syn 2.0.100",
+]
+
+[[package]]
+name = "manyhow-macros"
+version = "0.11.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46fce34d199b78b6e6073abf984c9cf5fd3e9330145a93ee0738a7443e371495"
+dependencies = [
+ "proc-macro-utils",
+ "proc-macro2",
+ "quote",
+]
+
 [[package]]
 name = "matrixmultiply"
 version = "0.3.9"
@@ -237,6 +268,25 @@ dependencies = [
  "rawpointer",
 ]
 
+[[package]]
+name = "maybe-async-cfg"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8dbfaa67a76e2623580df07d6bb5e7956c0a4bae4b418314083a9c619bd66627"
+dependencies = [
+ "manyhow",
+ "proc-macro2",
+ "pulldown-cmark",
+ "quote",
+ "syn 1.0.109",
+]
+
+[[package]]
+name = "memchr"
+version = "2.7.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
+
 [[package]]
 name = "nalgebra"
 version = "0.31.4"
@@ -261,7 +311,7 @@ checksum = "01fcc0b8149b4632adc89ac3b7b31a12fb6099a0317a4eb2ebff574ef7de7218"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
@@ -334,6 +384,17 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
+[[package]]
+name = "proc-macro-utils"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eeaf08a13de400bc215877b5bdc088f241b12eb42f0a548d3390dc1c56bb7071"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "smallvec",
+]
+
 [[package]]
 name = "proc-macro2"
 version = "1.0.94"
@@ -343,6 +404,17 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "pulldown-cmark"
+version = "0.11.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "679341d22c78c6c649893cbd6c3278dcbe9fc4faa62fea3a9296ae2b50c14625"
+dependencies = [
+ "bitflags",
+ "memchr",
+ "unicase",
+]
+
 [[package]]
 name = "quote"
 version = "1.0.39"
@@ -380,6 +452,12 @@ dependencies = [
  "wide",
 ]
 
+[[package]]
+name = "smallvec"
+version = "1.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7fcf8323ef1faaee30a44a340193b1ac6814fd9b7b4e88e9d4519a3e4abe1cfd"
+
 [[package]]
 name = "stable_deref_trait"
 version = "1.2.0"
@@ -397,12 +475,29 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "syn"
+version = "2.0.100"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b09a44accad81e1ba1cd74a32461ba89dee89095ba17b32f5d03683b1b1fc2a0"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
 [[package]]
 name = "typenum"
 version = "1.18.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1dccffe3ce07af9386bfd29e80c0ab1a8205a2fc34e4bcd40364df902cfa8f3f"
 
+[[package]]
+name = "unicase"
+version = "2.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75b844d17643ee918803943289730bec8aac480150456169e647ed0b576ba539"
+
 [[package]]
 name = "unicode-ident"
 version = "1.0.18"

Cargo.toml

@@ -8,3 +8,9 @@ embedded-hal = "1.0.0"
 embedded-hal-async = "1.0.0"
 embassy-embedded-hal = {version = "0.3.0", git="https://github.com/embassy-rs/embassy", rev = "c39076724f052fed6781b056bb79c9fa576b87a3"}
 nalgebra = "0.31.4"
+maybe-async-cfg = "0.2"
+
+[features]
+default = ["sync"]
+sync = []
+async = []

readme.md

@@ -1,21 +1,29 @@
 # `adis1647x`
 
-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.
+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
-
 
 ### Usage
 
-You need an embedded_hal_async spi driver
+You need an embedded_hal or embedded_hal_async spi driver and delay implementation
+
+```toml
+# async
+adis1647x = { git = "https://git.ank.dev/ank/adis1647x", default-features = false, features = ["async"]
+
+# sync
+adis1647x = { git = "https://git.ank.dev/ank/adis1647x" }
+
+```
 
 ```rust
-
 use adis1647x::*;
 use adis1647x::delta::*;
 
 async fn main() -> Result<(), SomeSpiError> {
     let bus = some_spi();
+    let delay = some_delay();
     
-    let imu = ADIS1647X::new(bus).await?;
+    let imu = ADIS1647Async::new(bus, delay).await?;
     
     let mut angle: DeltaAngle = Default::default();
     
@@ -28,4 +36,5 @@ async fn main() -> Result<(), SomeSpiError> {
         
         println!("yaw: {} degrees", angle.angles().y);
     }
+}
 ```

src/lib.rs

@@ -1,6 +1,12 @@
 #![no_std]
 use delta::{DeltaAngle, DeltaVelocity};
-use embedded_hal_async::spi::SpiDevice;
+
+#[cfg(feature = "async")]
+use embedded_hal_async::{delay::DelayNs as DelayNsAsync, spi::SpiDevice as SpiDeviceAsync};
+
+#[cfg(feature = "sync")]
+use embedded_hal::{delay::DelayNs as DelayNsSync, spi::SpiDevice as SpiDeviceSync};
+
 use nalgebra::Vector3;
 use registers::*;
 
@@ -45,38 +51,51 @@ impl Model {
     }
 }
 
-pub struct ADIS1647X<T> where T: SpiDevice {
+/// microseconds between requests
+const STALL_TIME: u32 = 16;
+
+#[maybe_async_cfg::maybe(
+    idents(DelayNs, SpiDevice),
+    sync(feature="sync"),
+    async(feature="async")
+)]
+pub struct ADIS1647<T, D> where T: SpiDevice, D: DelayNs {
     bus: T,
-    model: Model
+    model: Model,
+    delay: D,
 }
 
-impl<T: SpiDevice> ADIS1647X<T> {
+#[maybe_async_cfg::maybe(
-    pub async fn new(bus: T) -> Result<Self, T::Error> {
+    idents(DelayNs, SpiDevice),
-        //let bus = BlockingAsync::new(bus);
+    sync(feature="sync"),
-
+    async(feature="async")
-        let mut query_imu = Self { bus, model: Model::ADIS16475_1 };
+)]
+impl<T: SpiDevice, D: DelayNs> ADIS1647<T, D> {
+    pub async fn new(bus: T, delay: D) -> Result<Self, T::Error> {
+        let mut query_imu = Self { bus, model: Model::ADIS16475_1, delay };
         let range = query_imu.read_u16(RANG_MDL).await?;
 
         let model = Model::detect(range);
         
-        Ok(Self::with_model(query_imu.take_bus(), model))
+        Ok(Self::with_model(query_imu.bus, model, query_imu.delay))
-    }
-
-    fn take_bus(self) -> T {
-        self.bus
     }
 
     /// use a known model instead of detecting it
-    pub fn with_model(bus: T, model: Model) -> Self {
+    pub fn with_model(bus: T, model: Model, delay: D) -> Self {
-        //let bus = BlockingAsync::new(bus);
+        Self { bus, model, delay }
-        Self { bus, model }
+    }
+
+    async fn stall(&mut self) {
+        self.delay.delay_us(STALL_TIME).await;
     }
 
     pub async fn read_u16(&mut self, addr: u8) -> Result<u16, T::Error> {
         let request = [addr & 0x7F, 0];
         self.bus.write(&request).await?;
+        self.stall().await;
         let mut dat = [0;2];
         self.bus.read(&mut dat).await?;
+        self.stall().await;
 
         Ok(u16::from_be_bytes(dat))
     }
@@ -84,6 +103,7 @@ impl<T: SpiDevice> ADIS1647X<T> {
     pub async fn write_u8(&mut self, addr: u8, data: u8) -> Result<(), T::Error> {
         let request = [addr | 0x80, data];
         self.bus.write(&request).await?;
+        self.stall().await;
 
         Ok(())
     }
@@ -96,7 +116,6 @@ impl<T: SpiDevice> ADIS1647X<T> {
 
     pub async fn write_u16(&mut self, addr: u8, data: u16) -> Result<(), T::Error> {
         let data = u16::to_le_bytes(data);
-        // TODO: do some soul searching
         self.write_u8(addr, data[0]).await?; // lower byte
         self.write_u8(addr+1, data[1]).await?; // higher byte
         Ok(())
@@ -108,6 +127,7 @@ impl<T: SpiDevice> ADIS1647X<T> {
 
         // first address
         self.bus.write(&read(addr[0])).await?;
+        self.stall().await;
 
         let mut responses = [0; N];
 
@@ -119,6 +139,7 @@ impl<T: SpiDevice> ADIS1647X<T> {
         for i in 1..(addr.len()*2) {
             let addr = addr[i/2] + (i as u8 % 2) * 2;
             self.bus.transfer(&mut buf, &read(addr)).await?;
+            self.stall().await;
 
             partial[partial_idx] = i16::from_be_bytes(buf);
             partial_idx += 1;
@@ -132,6 +153,7 @@ impl<T: SpiDevice> ADIS1647X<T> {
 
         // last address
         self.bus.read(&mut buf).await.unwrap();
+        self.stall().await;
         responses[addr.len() - 1] = partial[0] as i32 + (i16::from_be_bytes(buf) as i32) << 16;
 
         Ok(responses)