Add: Get pwm enable

benches/bench.rs

@@ -29,7 +29,8 @@ fn navigator_benchmark(c: &mut Criterion) {
     bench!(read_all());
 
     // Benchmark Outputs
-    bench!(pwm_enable(false));
+    bench!(set_pwm_enable(false));
+    bench!(get_pwm_enable());
     bench!(set_pwm_channel_value(PwmChannel::Ch1, 100));
     bench!(set_pwm_freq_hz(60.0));
     bench!(set_pwm_freq_prescale(100));

src/lib.rs

@@ -395,7 +395,7 @@ impl Navigator {
             .expect("Error : Error on magnetometer during self-test")
     }
 
-    /// Sets the PWM IC to be enabled through firmware and OE_pin.
+    /// Sets the PWM IC to be enabled through OE_pin.
     ///
     /// # Arguments
     ///
@@ -404,14 +404,41 @@ impl Navigator {
     /// # Examples
     ///
     /// Please check [`set_pwm_channel_value`](struct.Navigator.html#method.set_pwm_channel_value).
-    pub fn pwm_enable(&mut self, state: bool) {
+    pub fn set_pwm_enable(&mut self, state: bool) {
         if state {
             self.pwm.oe_pin.set_direction(Direction::Low).unwrap();
         } else {
             self.pwm.oe_pin.set_direction(Direction::High).unwrap();
         }
     }
 
+    /// Get the PWM IC enabling value through OE_pin.
+    ///
+    /// # Examples
+    ///
+    /// ```no_run
+    /// use navigator_rs::{Navigator};
+    /// use std::thread::sleep;
+    /// use std::time::Duration;
+    ///
+    /// let mut nav = Navigator::new();
+    ///
+    /// nav.init();
+    /// loop {
+    ///     let previous = nav.get_pwm_enable();
+    ///     println!("Enable pin logic value is {previous}.");
+    ///
+    ///     nav.set_pwm_enable(!previous);
+    ///
+    ///     println!("Enable pin logic value is {}.", nav.get_pwm_enable());
+    ///
+    ///     sleep(Duration::from_millis(1000));
+    /// }
+    /// ```
+    pub fn get_pwm_enable(&mut self) -> bool {
+        self.pwm.oe_pin.get_value().expect("Error: Get PWM value") == 1
+    }
+
     /// Sets the Duty Cycle (high value time) of selected channel.
     ///
     /// On PCA9685, this function sets the `OFF` counter and uses ON value as 0.
@@ -427,7 +454,7 @@ impl Navigator {
     /// let mut nav = Navigator::new();
     ///
     /// nav.init();
-    /// nav.pwm_enable(true);
+    /// nav.set_pwm_enable(true);
     ///
     /// nav.set_pwm_freq_prescale(99); // sets the pwm frequency to 60 Hz
     /// nav.set_pwm_channel_value(PwmChannel::Ch1, 2048); // sets the duty cycle to 50%
@@ -453,7 +480,7 @@ impl Navigator {
     /// let mut nav = Navigator::new();
     ///
     /// nav.init();
-    /// nav.pwm_enable(true);
+    /// nav.set_pwm_enable(true);
     /// nav.set_pwm_freq_prescale(99); // sets the pwm frequency to 60 Hz
     ///
     /// let channels: [PwmChannel; 3] = [PwmChannel::Ch1, PwmChannel::Ch1, PwmChannel::Ch2];
@@ -482,7 +509,7 @@ impl Navigator {
     /// let mut nav = Navigator::new();
     ///
     /// nav.init();
-    /// nav.pwm_enable(true);
+    /// nav.set_pwm_enable(true);
     /// nav.set_pwm_freq_prescale(99); // sets the pwm frequency to 60 Hz
     ///
     /// let channels: [PwmChannel; 3] = [PwmChannel::Ch1, PwmChannel::Ch1, PwmChannel::Ch2];
@@ -531,7 +558,7 @@ impl Navigator {
     /// let mut nav = Navigator::new();
     ///
     /// nav.init();
-    /// nav.pwm_enable(true);
+    /// nav.set_pwm_enable(true);
     ///
     /// nav.set_pwm_freq_prescale(99); // sets the pwm frequency to 60 Hz
     ///
@@ -563,7 +590,7 @@ impl Navigator {
     /// let mut nav = Navigator::new();
     ///
     /// nav.init();
-    /// nav.pwm_enable(true);
+    /// nav.set_pwm_enable(true);
     ///
     /// let mut i: f32 = 10.0;
     ///