PollInput implementation

peripheral-components/ads1256/node/src/standard_multiplexer/sync/poll.rs

@@ -1,11 +1,12 @@
 use ads1256::{
-    AdControl, Ads1256, BlockingDelay, DataRate, Multiplexer, OutputPin, SpiBus, Status, Wait,
+    AdControl, Ads1256, BlockingDelay, DataRate, Gain, Multiplexer, OutputPin, SpiBus, Status, Wait,
 };
 use core::ops::DerefMut;
 use embassy_sync::blocking_mutex::raw::RawMutex;
 use embassy_sync::mutex::Mutex;
 use node_poll_variants::PollVariants;
 use physical_node::transducer::input::Poll;
+use physical_node::CriticalError;
 use uom::si::f32;
 
 #[derive(PollVariants)]
@@ -36,8 +37,9 @@ where
 {
     type Value = f32::ElectricPotential;
 
-    async fn poll(&self) -> Self::Value {
-        self.ads1256
+    async fn poll(&self) -> Result<Self::Value, CriticalError> {
+        let result = self
+            .ads1256
             .lock()
             .await
             .deref_mut()
@@ -49,13 +51,20 @@ where
                 self.input_mod.data_rate(),
                 true,
             )
-            .await
+            .await;
+
+        match result {
+            Ok(conversion) => Ok(conversion.to_voltage(self.input_mod.gain())),
+            Err(_) => Err(CriticalError::Communication),
+        }
     }
 }
 
-pub trait ModInput {
+pub trait ModInput: Copy {
     fn multiplexer(self) -> Multiplexer;
 
+    fn gain(self) -> Gain;
+
     fn status(self) -> Option<Status>;
 
     fn ad_control(self) -> Option<AdControl>;
@@ -64,8 +73,12 @@ pub trait ModInput {
 }
 
 /// buffer
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInStatus {
     pub multiplexer: Multiplexer,
+    /// Only used for converting to voltage, this value must match what is set on the ADS1256, it
+    /// will not *be* set unlike the other fields.
+    pub gain: Gain,
     pub status: Status,
 }
 
@@ -75,6 +88,11 @@ impl ModInput for ModInStatus {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.gain
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         Some(self.status)
@@ -92,6 +110,7 @@ impl ModInput for ModInStatus {
 }
 
 /// gain
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInAdControl {
     pub multiplexer: Multiplexer,
     pub ad_control: AdControl,
@@ -103,6 +122,11 @@ impl ModInput for ModInAdControl {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.ad_control.gain()
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         None
@@ -120,8 +144,12 @@ impl ModInput for ModInAdControl {
 }
 
 /// data rate
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInDataRate {
     pub multiplexer: Multiplexer,
+    /// Only used for converting to voltage, this value must match what is set on the ADS1256, it
+    /// will not *be* set unlike the other fields.
+    pub gain: Gain,
     pub data_rate: DataRate,
 }
 
@@ -131,6 +159,11 @@ impl ModInput for ModInDataRate {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.gain
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         None
@@ -148,6 +181,7 @@ impl ModInput for ModInDataRate {
 }
 
 /// buffer, gain
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInStatAdc {
     pub multiplexer: Multiplexer,
     pub status: Status,
@@ -160,6 +194,11 @@ impl ModInput for ModInStatAdc {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.ad_control.gain()
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         Some(self.status)
@@ -177,8 +216,12 @@ impl ModInput for ModInStatAdc {
 }
 
 /// buffer, data rate
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInStatDrate {
     pub multiplexer: Multiplexer,
+    /// Only used for converting to voltage, this value must match what is set on the ADS1256, it
+    /// will not *be* set unlike the other fields.
+    pub gain: Gain,
     pub status: Status,
     pub data_rate: DataRate,
 }
@@ -189,6 +232,11 @@ impl ModInput for ModInStatDrate {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.gain
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         Some(self.status)
@@ -206,6 +254,7 @@ impl ModInput for ModInStatDrate {
 }
 
 // gain, data rate
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInAdcDrate {
     pub multiplexer: Multiplexer,
     pub ad_control: AdControl,
@@ -218,6 +267,11 @@ impl ModInput for ModInAdcDrate {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.ad_control.gain()
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         None
@@ -235,6 +289,7 @@ impl ModInput for ModInAdcDrate {
 }
 
 /// buffer, gain, data rate
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInAll {
     pub multiplexer: Multiplexer,
     pub status: Status,
@@ -248,6 +303,11 @@ impl ModInput for ModInAll {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.ad_control.gain()
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         Some(self.status)