3 files changed, 61 insertions(+), 0 deletions(-)

A i2c/types.ha
A sensors/ADXL345/ADXL345.ha
A sensors/ADXL345/types.ha

@@ 0,0 1,1 @@
+export def I2C_SLAVE: u64	= 0x0703;

@@ 0,0 1,41 @@
+use fmt;
+use fs;
+use i2c;
+use i2c::smbus;
+use io;
+use os;
+use rt;
+
+export fn new(bus: int) (ADXL345 | fs::error | rt::errno) = {
+	const path = fmt::asprintf("/dev/i2c-{}", bus);
+	defer free(path);
+	const file = os::open(path, fs::flags::RDONLY)?;
+	rt::ioctl(file, i2c::I2C_SLAVE, 0x53)?;
+	return alloc(ADXL345_impl {
+		file = file,
+	});
+};
+
+export fn init(sensor: ADXL345) (void | rt::errno) = {
+	i2c::smbus::write_byte_data(sensor.file, REG_POWER_CTL, POWER_CTL_MEASURE)?;
+	i2c::smbus::write_byte_data(sensor.file, REG_DATA_FORMAT, DATA_FORMAT_FULL_RES)?;
+};
+
+fn read_data(sensor: ADXL345, reg: u8) (f64 | rt::errno) = {
+	const raw = i2c::smbus::read_word_data(sensor.file, reg)?;
+	const raw = raw: i16;
+	return raw: f64 * SCALE_FACTOR_FULL_RES;
+};
+
+export fn read(sensor: ADXL345) ((f64, f64, f64) | rt::errno) = {
+	return (
+		read_data(sensor, REG_DATAX0)?,
+		read_data(sensor, REG_DATAY0)?,
+		read_data(sensor, REG_DATAZ0)?,
+	);
+};
+
+export fn destroy(sensor: ADXL345) void = {
+	io::close(sensor.file)!;
+	free(sensor);
+};

@@ 0,0 1,19 @@
+use io;
+
+export type ADXL345_impl = struct {
+	file: io::file,
+};
+
+export type ADXL345 = *ADXL345_impl;
+
+def REG_POWER_CTL: u8	= 0x2d;
+def POWER_CTL_MEASURE: u8	= 1 << 3;
+
+def REG_DATA_FORMAT: u8	= 0x31;
+def DATA_FORMAT_FULL_RES: u8	= 1 << 3;
+
+def SCALE_FACTOR_FULL_RES: f64	= 1.0f64 / 256f64;
+
+def REG_DATAX0: u8	= 0x32;
+def REG_DATAY0: u8	= 0x34;
+def REG_DATAZ0: u8	= 0x36;