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Code Issues Packages Projects Releases 10 Wiki Activity

lsmXXX: unified, error handling, memory management

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This commit is contained in:
Yurii Soldak
2022-01-29 01:15:16 +01:00
committed by Ron Evans
parent b3c0315a09
commit 45dce188f5
9 changed files with 292 additions and 170 deletions
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examples/lsm6dsox/main.go
+10 -4
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@@ -26,12 +26,18 @@ func main() {
machine.I2C0.Configure(machine.I2CConfig{})
device := lsm6dsox.New(machine.I2C0)
device.Configure(lsm6dsox.Configuration{
err := device.Configure(lsm6dsox.Configuration{
AccelRange: lsm6dsox.ACCEL_2G,
AccelSampleRate: lsm6dsox.ACCEL_SR_104,
GyroRange: lsm6dsox.GYRO_250DPS,
GyroSampleRate: lsm6dsox.GYRO_SR_104,
})
if err != nil {
for {
println("Failed to configure", err.Error())
time.Sleep(time.Second)
}
}
for {
@@ -46,8 +52,8 @@ func main() {
calibrateGyro(device)
}
ax, ay, az := device.ReadAcceleration()
gx, gy, gz := device.ReadRotation()
ax, ay, az, _ := device.ReadAcceleration()
gx, gy, gz, _ := device.ReadRotation()
t, _ := device.ReadTemperature()
if PLOTTER {
@@ -64,7 +70,7 @@ func main() {
func calibrateGyro(device *lsm6dsox.Device) {
for i := 0; i < 100; i++ {
gx, gy, gz := device.ReadRotation()
gx, gy, gz, _ := device.ReadRotation()
cal[0] += float32(gx) / 1000000
cal[1] += float32(gy) / 1000000
cal[2] += float32(gz) / 1000000