esp-hal/esp32s2-hal/examples/embassy_i2c.rs

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

use embassy_executor::Executor;
use embassy_time::{Duration, Timer};
use esp32s2_hal::{
    clock::ClockControl,
    embassy,
    i2c::I2C,
    peripherals::{Interrupt, Peripherals, I2C0},
    prelude::*,
    timer::TimerGroup,
    Priority,
    Rtc,
    IO,
};
use esp_backtrace as _;
use lis3dh_async::{Lis3dh, Range, SlaveAddr};
use static_cell::StaticCell;

#[embassy_executor::task]
async fn run(i2c: I2C<'static, I2C0>) {
    let mut lis3dh = Lis3dh::new_i2c(i2c, 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;
    }
}

static EXECUTOR: StaticCell<Executor> = StaticCell::new();

#[entry]
fn main() -> ! {
    let peripherals = Peripherals::take();
    let mut system = peripherals.SYSTEM.split();
    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();

    let timer_group0 = TimerGroup::new(
        peripherals.TIMG0,
        &clocks,
        &mut system.peripheral_clock_control,
    );
    let mut wdt = timer_group0.wdt;
    let mut rtc = Rtc::new(peripherals.RTC_CNTL);

    // Disable watchdog timer
    wdt.disable();
    rtc.rwdt.disable();

    #[cfg(feature = "embassy-time-timg0")]
    embassy::init(&clocks, timer_group0.timer0);

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

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

    esp32s2_hal::interrupt::enable(Interrupt::I2C_EXT0, Priority::Priority1).unwrap();

    let executor = EXECUTOR.init(Executor::new());
    executor.run(|spawner| {
        spawner.spawn(run(i2c0)).ok();
    });
}