some interrupt configs can be read back, interrupt config fixes

rland93 · Apr 29, 2024 · d24bcb9 · d24bcb9
1 parent 3747a8f
commit d24bcb9
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Showing 2 changed files with 58 additions and 7 deletions.
diff --git a/src/sensor.rs b/src/sensor.rs
@@ -383,7 +383,7 @@ where
         Ok((reg & 0b1000_0000) != 0)
     }
 
-    /// Configure INT1 pin.
+    /// Write INT1 pin configuration
     ///
     /// # Arguments
     ///
@@ -394,14 +394,27 @@ where
     /// - `Ok(())`: Write success
     /// - `Err(Error<CommE>)`: Write failure
     ///
-    pub fn int1_io_conf(&mut self, conf: IntConfiguration) -> Result<(), Error<CommE>> {
+    pub fn int1_io_conf_write(&mut self, conf: IntConfiguration) -> Result<(), Error<CommE>> {
         let reg = AccRegisters::INT1_IO_CONF as u8;
         let set = conf.into();
         let mut data = [reg, set];
         self.iface.write_data_acc(&mut data)?;
         Ok(())
     }
 
+    /// Read configuration of INT1 pin.
+    ///
+    /// # Returns
+    ///
+    /// - `Ok(IntConfiguration)`: Interrupt configuration
+    /// - `Err(Error<CommE>)`: Write failure
+    ///
+    pub fn int1_io_conf_read(&mut self) -> Result<IntConfiguration, Error<CommE>> {
+        let reg = AccRegisters::INT1_IO_CONF as u8;
+        let data = self.iface.read_register_acc(reg)?;
+        Ok(IntConfiguration::from(data))
+    }
+
     /// Configure INT2 pin.
     ///
     /// # Arguments
@@ -413,15 +426,28 @@ where
     /// - `Ok(())`: Write success
     /// - `Err(Error<CommE>)`: Write failure
     ///
-    pub fn int2_io_conf(&mut self, conf: IntConfiguration) -> Result<(), Error<CommE>> {
+    pub fn int2_io_conf_write(&mut self, conf: IntConfiguration) -> Result<(), Error<CommE>> {
         let reg = AccRegisters::INT2_IO_CONF as u8;
         let set = conf.into();
         let mut data = [reg, set];
         self.iface.write_data_acc(&mut data)?;
         Ok(())
     }
 
-    /// Map data ready interrupt to output pin INT1 and/or INT2. (0x58)
+    /// Read configuration of INT2 pin.
+    ///
+    /// # Returns
+    ///
+    /// - `Ok(IntConfiguration)`: Interrupt configuration
+    /// - `Err(Error<CommE>)`: Write failure
+    ///
+    pub fn int2_io_conf_read(&mut self) -> Result<IntConfiguration, Error<CommE>> {
+        let reg = AccRegisters::INT2_IO_CONF as u8;
+        let data = self.iface.read_register_acc(reg)?;
+        Ok(IntConfiguration::from(data))
+    }
+
+    /// Write Map data ready interrupt to output pin INT1 and/or INT2. (0x58)
     ///
     /// # Arguments
     ///
@@ -432,14 +458,27 @@ where
     /// - `Ok(())`: Write success
     /// - `Err(Error<CommE>)`: Write failure
     ///
-    pub fn acc_map_drdy(&mut self, map: AccDrdyMap) -> Result<(), Error<CommE>> {
+    pub fn acc_map_drdy_write(&mut self, map: AccDrdyMap) -> Result<(), Error<CommE>> {
         let reg = AccRegisters::INT1_INT2_MAP_DATA as u8;
         let set = map as u8;
         let mut data = [reg, set];
         self.iface.write_data_acc(&mut data)?;
         Ok(())
     }
 
+    /// Read Map data ready interrupt to output pin INT1 and/or INT2. (0x58)
+    ///
+    /// # Returns
+    ///
+    /// - `Ok(AccDrdyMap)`: The interrupt configuration
+    /// - `Err(Error<CommE>)`: Read failure
+    ///
+    pub fn acc_map_drdy_read(&mut self) -> Result<AccDrdyMap, Error<CommE>> {
+        let reg = AccRegisters::INT1_INT2_MAP_DATA as u8;
+        let data = self.iface.read_register_acc(reg)?;
+        Ok(AccDrdyMap::from(data))
+    }
+
     /*     GYRO REGISTERS      */
 
     /// Read the gyro chip ID (0x00)

diff --git a/src/types.rs b/src/types.rs
@@ -271,7 +271,7 @@ impl From<&IntConfiguration> for u8 {
         let mut value = 0;
         match item.int_pin {
             IntPin::Input => value |= 0b0001_0000,
-            IntPin::Output => value |= 0b0000_0000,
+            IntPin::Output => value |= 0b0000_1000,
         }
         match item.int_od {
             PinBehavior::PushPull => value |= 0b0000_0000,
@@ -290,7 +290,7 @@ impl From<IntConfiguration> for u8 {
         let mut value = 0;
         match val.int_pin {
             IntPin::Input => value |= 0b0001_0000,
-            IntPin::Output => value |= 0b0000_0000,
+            IntPin::Output => value |= 0b0000_1000,
         }
         match val.int_od {
             PinBehavior::PushPull => value |= 0b0000_0000,
@@ -317,6 +317,18 @@ pub enum AccDrdyMap {
     Int1Int2 = 0b0100_0100,
 }
 
+impl From<u8> for AccDrdyMap {
+    fn from(item: u8) -> Self {
+        match item {
+            0b0000_0000 => AccDrdyMap::None,
+            0b0000_0100 => AccDrdyMap::Int1,
+            0b0100_0000 => AccDrdyMap::Int2,
+            0b0100_0100 => AccDrdyMap::Int1Int2,
+            _ => AccDrdyMap::None,
+        }
+    }
+}
+
 /// Gyroscope range configuration
 #[derive(Debug, Clone, Copy, PartialEq)]
 pub enum GyroRange {