esp-hal/esp32h2-hal/examples/embassy_i2c.rs

//! Embassy I2C
//!
//! Folowing pins are used:
//! SDA    GPIO1
//! SCL    GPIO2
//!
//! Depending on your target and the board you are using you have to change the
//! pins.
//!
//! This is an example of running the embassy executor with IC2. It uses an
//! LIS3DH to get accelerometer data.

#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]

use embassy_executor::Spawner;
use embassy_time::{Duration, Timer};
use esp32h2_hal::{
    clock::ClockControl,
    embassy,
    i2c::I2C,
    peripherals::Peripherals,
    prelude::*,
    IO,
};
use esp_backtrace as _;
use lis3dh_async::{Lis3dh, Range, SlaveAddr};

#[main]
async fn main(_spawner: Spawner) {
    let peripherals = Peripherals::take();
    let system = peripherals.SYSTEM.split();
    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();

    #[cfg(feature = "embassy-time-systick")]
    embassy::init(
        &clocks,
        esp32h2_hal::systimer::SystemTimer::new(peripherals.SYSTIMER),
    );

    #[cfg(feature = "embassy-time-timg0")]
    {
        let timer_group0 = esp32h2_hal::timer::TimerGroup::new(peripherals.TIMG0, &clocks);
        embassy::init(&clocks, timer_group0);
    }

    let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);

    let i2c0 = I2C::new(
        peripherals.I2C0,
        io.pins.gpio1,
        io.pins.gpio2,
        400u32.kHz(),
        &clocks,
    );

    let mut lis3dh = Lis3dh::new_i2c(i2c0, SlaveAddr::Alternate).await.unwrap();
    lis3dh.set_range(Range::G8).await.unwrap();

    loop {
        let norm = lis3dh.accel_norm().await.unwrap();
        esp_println::println!("X: {:+.5}  Y: {:+.5}  Z: {:+.5}", norm.x, norm.y, norm.z);

        Timer::after(Duration::from_millis(100)).await;
    }
}