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lsm6ds3tr: avoid unnecessary heap allocations (#766)

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* lsm6ds3tr: avoid unnecessary heap allocations
* lsm6ds3tr: use helper functions, for readability
* lsm6ds3tr: return slice of the internal buffer on readBytes
This commit is contained in:
Yurii Soldak
2025-06-25 10:03:41 +02:00
committed by deadprogram
parent 7de0a0814e
commit 0304d30b78
1 changed files with 35 additions and 24 deletions
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lsm6ds3tr/lsm6ds3tr.go
+35 -24
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@@ -8,7 +8,6 @@ import (
"errors"
"tinygo.org/x/drivers"
"tinygo.org/x/drivers/internal/legacy"
)
type AccelRange uint8
@@ -26,7 +25,7 @@ type Device struct {
accelSampleRate AccelSampleRate
gyroRange GyroRange
gyroSampleRate GyroSampleRate
buf [6]uint8
buf [7]uint8 // up to 6 bytes for read + 1 byte for the register address
}
// Configuration for LSM6DS3TR device.
@@ -84,30 +83,20 @@ func (d *Device) doConfigure(cfg Configuration) (err error) {
d.gyroSampleRate = GYRO_SR_104
}
data := d.buf[:1]
// Configure accelerometer
data[0] = uint8(d.accelRange) | uint8(d.accelSampleRate)
err = legacy.WriteRegister(d.bus, uint8(d.Address), CTRL1_XL, data)
err = d.writeByte(CTRL1_XL, uint8(d.accelRange)|uint8(d.accelSampleRate))
if err != nil {
return
}
// Set ODR bit
err = legacy.ReadRegister(d.bus, uint8(d.Address), CTRL4_C, data)
if err != nil {
return
}
data[0] = data[0] &^ BW_SCAL_ODR_ENABLED
data[0] |= BW_SCAL_ODR_ENABLED
err = legacy.WriteRegister(d.bus, uint8(d.Address), CTRL4_C, data)
// Enable ODR scaling
err = d.setBits(CTRL4_C, BW_SCAL_ODR_ENABLED)
if err != nil {
return
}
// Configure gyroscope
data[0] = uint8(d.gyroRange) | uint8(d.gyroSampleRate)
err = legacy.WriteRegister(d.bus, uint8(d.Address), CTRL2_G, data)
err = d.writeByte(CTRL2_G, uint8(d.gyroRange)|uint8(d.gyroSampleRate))
if err != nil {
return
}
@@ -118,8 +107,10 @@ func (d *Device) doConfigure(cfg Configuration) (err error) {
// Connected returns whether a LSM6DS3TR has been found.
// It does a "who am I" request and checks the response.
func (d *Device) Connected() bool {
data := d.buf[:1]
legacy.ReadRegister(d.bus, uint8(d.Address), WHO_AM_I, data)
data, err := d.readBytes(WHO_AM_I, 1)
if err != nil {
return false
}
return data[0] == 0x6A
}
@@ -128,8 +119,7 @@ func (d *Device) Connected() bool {
// and the sensor is not moving the returned value will be around 1000000 or
// -1000000.
func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
data := d.buf[:6]
err = legacy.ReadRegister(d.bus, uint8(d.Address), OUTX_L_XL, data)
data, err := d.readBytes(OUTX_L_XL, 6)
if err != nil {
return
}
@@ -153,8 +143,7 @@ func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
// rotation along one axis and while doing so integrate all values over time,
// you would get a value close to 360000000.
func (d *Device) ReadRotation() (x, y, z int32, err error) {
data := d.buf[:6]
err = legacy.ReadRegister(d.bus, uint8(d.Address), OUTX_L_G, data)
data, err := d.readBytes(OUTX_L_G, 6)
if err != nil {
return
}
@@ -177,8 +166,7 @@ func (d *Device) ReadRotation() (x, y, z int32, err error) {
// ReadTemperature returns the temperature in celsius milli degrees (°C/1000)
func (d *Device) ReadTemperature() (t int32, err error) {
data := d.buf[:2]
err = legacy.ReadRegister(d.bus, uint8(d.Address), OUT_TEMP_L, data)
data, err := d.readBytes(OUT_TEMP_L, 2)
if err != nil {
return
}
@@ -187,3 +175,26 @@ func (d *Device) ReadTemperature() (t int32, err error) {
t = 25000 + (int32(int16((int16(data[1])<<8)|int16(data[0])))*125)/32
return
}
func (d *Device) readBytes(reg, size uint8) ([]byte, error) {
d.buf[0] = reg
err := d.bus.Tx(d.Address, d.buf[0:1], d.buf[1:size+1])
if err != nil {
return nil, err
}
return d.buf[1 : size+1], nil
}
func (d *Device) writeByte(reg, value uint8) error {
d.buf[0] = reg
d.buf[1] = value
return d.bus.Tx(d.Address, d.buf[0:2], nil)
}
func (d *Device) setBits(reg, bits uint8) error {
data, err := d.readBytes(reg, 1)
if err != nil {
return err
}
return d.writeByte(reg, (data[0]&^bits)|bits)
}