Gyro fixes and tests, expose all types

.github/workflows/build.yaml

@@ -50,7 +50,7 @@ jobs:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
         with:
-          targets: x86_64-unknown-linux-gnu
+          targets: x86_64-unknown-linux-gnu,thumbv7em-none-eabihf
           components: rustfmt
 
       - run: cargo doc
@@ -65,7 +65,7 @@ jobs:
       - uses: dtolnay/rust-toolchain@master
         with:
           toolchain: 1.75.0
-          targets: x86_64-unknown-linux-gnu
+          targets: x86_64-unknown-linux-gnu,thumbv7em-none-eabihf
           components: clippy
 
       - run: cargo clippy --all-targets
@@ -76,7 +76,7 @@ jobs:
     strategy:
       matrix:
         rust: [stable]
-        TARGET: [x86_64-unknown-linux-gnu, x86_64-unknown-linux-musl]
+        TARGET: [thumbv7em-none-eabihf]
 
     steps:
       - uses: actions/checkout@v4
@@ -101,6 +101,8 @@ jobs:
 
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
+        with:
+          targets: x86_64-unknown-linux-gnu,thumbv7em-none-eabihf
 
       - name: Run cargo-tarpaulin
         run: cargo tarpaulin --out Lcov -- --test-threads 1

examples/stm32f411.rs

@@ -27,16 +27,7 @@ fn main() -> ! {
     // initialize the sensor
     let mut sensor = Bmi088::new_with_i2c(i2c1, false, false);
 
-    // choose accelerometer or gyroscope test.
-    let acc_test = true;
-
-    while acc_test {
-        // TEST: Power on reset
-        // --------------------
-        info!("Reset...");
-        sensor.soft_reset().unwrap();
-        cortex_m::asm::delay(500_000);
-
+    loop {
         // TEST: successful read of chip ID
         // --------------------------------
         info!("Reading chip ID");
@@ -125,9 +116,44 @@ fn main() -> ! {
         let status = sensor.acc_status().unwrap();
         debug!("Status register: status={:?}", status);
 
-        info!("END TEST-----------------------------");
+        info!("Chip ID");
+        let id = sensor.gyro_chipid().unwrap();
+        debug!("Chip ID: {:x}", id);
+
+        info!("Bandwidth");
+        let bw = bmi088::GyroBandwidth::Hz32;
+        sensor.gyro_bandwidth_write(bw).unwrap();
+        let readback_bw = sensor.gyro_bandwidth_read().unwrap();
+        assert!(bw == readback_bw);
+
+        info!("Range");
+        let range = bmi088::GyroRange::Dps2000;
+        sensor.gyro_range_write(range).unwrap();
+        let readback_range = sensor.gyro_range_read().unwrap();
+        assert!(range == readback_range);
+
+        info!("Power mode");
+        let power = bmi088::GyroPowerMode::Normal;
+        sensor.gyro_power_mode_write(power).unwrap();
+        let readback_power = sensor.gyro_power_mode_read().unwrap();
+        assert!(power == readback_power);
+
+        info!("Data ready interrupt mapping");
+        let pin_active = bmi088::PinActive::ActiveHigh;
+        let pin_behavior = bmi088::PinBehavior::PushPull;
+
+        sensor
+            .gyro_conf_int3_write(pin_active, pin_behavior)
+            .unwrap();
+        let (rb_active, rb_beh) = sensor.gyro_conf_int3_read().unwrap();
+        assert!(pin_active == rb_active);
+        assert!(pin_behavior == rb_beh);
 
-        cortex_m::asm::delay(500_000);
+        info!("Reading gyroscope data");
+        let values = sensor.gyro_read_rate().unwrap();
+        debug!(
+            "Gyroscope data: [{:?} {:?} {:?}]",
+            values.x, values.y, values.z
+        );
     }
-    panic!();
 }

src/lib.rs

@@ -20,7 +20,8 @@ mod types;
 pub use crate::interface::Addr;
 pub use crate::types::{
     AccBandwidth, AccConf, AccDataRate, AccPowerConf, AccPowerEnable, AccRange,
-    AccelerometerConfig, ErrCode, Error, Sensor3DData,
+    AccelerometerConfig, ErrCode, Error, GyroBandwidth, GyroDrdyMap, GyroPowerMode, GyroRange,
+    IntConfiguration, IntPin, PinActive, PinBehavior, Sensor3DData,
 };
 
 /// BMI088 device object.

src/sensor.rs

@@ -529,7 +529,9 @@ where
     pub fn gyro_bandwidth_read(&mut self) -> Result<GyroBandwidth, Error<CommE>> {
         let reg = GyroRegisters::GYRO_BANDWIDTH as u8;
         let data = self.iface.read_register_gyro(reg)?;
-        let bw = GyroBandwidth::try_from(data).map_err(|_| Error::InvalidInputData)?;
+        // Note: bit #7 is read-only and always ‚1‘, but has no function and can safely be ignored.
+        let data_masked = data & 0b0111_1111;
+        let bw = GyroBandwidth::try_from(data_masked).map_err(|_| Error::InvalidInputData)?;
         Ok(bw)
     }
 

src/types.rs

@@ -203,13 +203,16 @@ pub struct AccelerometerConfig {
     pub acc_range: AccRange,
 }
 
+/// Input pin configuration
 #[derive(Debug, Clone, Copy, PartialEq)]
 pub enum IntPin {
     /// Input
     Input = 0b0001_0000,
     /// Output
     Output = 0b0000_1000,
 }
+
+/// Pin behavior configuration
 #[derive(Debug, Clone, Copy, PartialEq)]
 pub enum PinBehavior {
     /// Push-pull
@@ -218,13 +221,16 @@ pub enum PinBehavior {
     OpenDrain = 0b0000_0100,
 }
 
+/// Pin active configuration
 #[derive(Debug, Clone, Copy, PartialEq)]
 pub enum PinActive {
     /// Active high
     ActiveHigh = 0b0000_0000,
     /// Active low
     ActiveLow = 0b0000_0010,
 }
+
+/// Struct to hold the configuration of an input pin
 #[derive(Debug, Clone, Copy, PartialEq)]
 pub struct IntConfiguration {
     /// Input or output
@@ -310,6 +316,7 @@ pub enum AccDrdyMap {
     Int1Int2 = 0b0100_0100,
 }
 
+/// Gyroscope range configuration
 #[derive(Debug, Clone, Copy, PartialEq)]
 pub enum GyroRange {
     /// ±2000°/s
@@ -339,6 +346,7 @@ impl TryFrom<u8> for GyroRange {
     }
 }
 
+/// Gyroscope bandwidth configuration
 #[derive(Debug, Clone, Copy, PartialEq)]
 pub enum GyroBandwidth {
     /// 532 Hz, ODR 2000 Hz
@@ -377,6 +385,7 @@ impl TryFrom<u8> for GyroBandwidth {
     }
 }
 
+/// Gyroscope power mode
 #[derive(Debug, Clone, Copy, PartialEq)]
 pub enum GyroPowerMode {
     /// Normal mode
@@ -400,6 +409,7 @@ impl TryFrom<u8> for GyroPowerMode {
     }
 }
 
+/// Gyroscope data ready interrupt mapping
 #[derive(Debug, Clone, Copy, PartialEq)]
 pub enum GyroDrdyMap {
     /// Map data ready to neither pin