tinygo-org/drivers
1
0
Fork 0
mirror of https://github.com/tinygo-org/drivers.git synced 2026-08-11 02:13:42 +00:00
Code Issues Packages Projects Releases 10 Wiki Activity

lsmXXX: unified, error handling, memory management

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
lsm9ds1/lsm9ds1.go
+29 -34
View File
@@ -28,8 +28,7 @@ type Device struct {
accelMultiplier int32
gyroMultiplier int32
magMultiplier int32
dataBufferSix []uint8
dataBufferTwo []uint8
buf [6]uint8
}
// Configuration for LSM9DS1 device.
@@ -50,11 +49,9 @@ var errNotConnected = errors.New("lsm9ds1: failed to communicate with either ace
// This function only creates the Device object, it does not touch the device.
func New(bus drivers.I2C) *Device {
return &Device{
bus: bus,
AccelAddress: ACCEL_ADDRESS,
MagAddress: MAG_ADDRESS,
dataBufferSix: make([]uint8, 6),
dataBufferTwo: make([]uint8, 2),
bus: bus,
AccelAddress: ACCEL_ADDRESS,
MagAddress: MAG_ADDRESS,
}
}
@@ -63,17 +60,11 @@ func New(bus drivers.I2C) *Device {
// In a rare case of an I2C bus issue, it can also return an error.
// Case of boolean false and error nil means I2C is up,
// but "who am I" responses have unexpected values.
func (d *Device) Connected() (connected bool, err error) {
data1, data2 := []byte{0}, []byte{0}
err = d.bus.ReadRegister(d.AccelAddress, WHO_AM_I, data1)
if err != nil {
return false, err
}
err = d.bus.ReadRegister(d.MagAddress, WHO_AM_I_M, data2)
if err != nil {
return false, err
}
return data1[0] == 0x68 && data2[0] == 0x3D, nil
func (d *Device) Connected() bool {
data1, data2 := d.buf[:1], d.buf[1:2]
d.bus.ReadRegister(d.AccelAddress, WHO_AM_I, data1)
d.bus.ReadRegister(d.MagAddress, WHO_AM_I_M, data2)
return data1[0] == 0x68 && data2[0] == 0x3D
}
// ReadAcceleration reads the current acceleration from the device and returns
@@ -81,13 +72,14 @@ func (d *Device) Connected() (connected bool, err error) {
// 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) {
err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_X_L_XL, d.dataBufferSix)
data := d.buf[:6]
err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_X_L_XL, data)
if err != nil {
return
}
x = int32(int16((uint16(d.dataBufferSix[1])<<8)|uint16(d.dataBufferSix[0]))) * d.accelMultiplier
y = int32(int16((uint16(d.dataBufferSix[3])<<8)|uint16(d.dataBufferSix[2]))) * d.accelMultiplier
z = int32(int16((uint16(d.dataBufferSix[5])<<8)|uint16(d.dataBufferSix[4]))) * d.accelMultiplier
x = int32(int16((uint16(data[1])<<8)|uint16(data[0]))) * d.accelMultiplier
y = int32(int16((uint16(data[3])<<8)|uint16(data[2]))) * d.accelMultiplier
z = int32(int16((uint16(data[5])<<8)|uint16(data[4]))) * d.accelMultiplier
return
}
@@ -96,38 +88,41 @@ 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) {
err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_X_L_G, d.dataBufferSix)
data := d.buf[:6]
err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_X_L_G, data)
if err != nil {
return
}
x = int32(int16((uint16(d.dataBufferSix[1])<<8)|uint16(d.dataBufferSix[0]))) * d.gyroMultiplier
y = int32(int16((uint16(d.dataBufferSix[3])<<8)|uint16(d.dataBufferSix[2]))) * d.gyroMultiplier
z = int32(int16((uint16(d.dataBufferSix[5])<<8)|uint16(d.dataBufferSix[4]))) * d.gyroMultiplier
x = int32(int16((uint16(data[1])<<8)|uint16(data[0]))) * d.gyroMultiplier
y = int32(int16((uint16(data[3])<<8)|uint16(data[2]))) * d.gyroMultiplier
z = int32(int16((uint16(data[5])<<8)|uint16(data[4]))) * d.gyroMultiplier
return
}
// ReadMagneticField reads the current magnetic field from the device and returns
// it in nT (nanotesla). 1 G (gauss) = 100_000 nT (nanotesla).
func (d *Device) ReadMagneticField() (x, y, z int32, err error) {
err = d.bus.ReadRegister(uint8(d.MagAddress), OUT_X_L_M, d.dataBufferSix)
data := d.buf[:6]
err = d.bus.ReadRegister(uint8(d.MagAddress), OUT_X_L_M, data)
if err != nil {
return
}
x = int32(int16((int16(d.dataBufferSix[1])<<8)|int16(d.dataBufferSix[0]))) * d.magMultiplier
y = int32(int16((int16(d.dataBufferSix[3])<<8)|int16(d.dataBufferSix[2]))) * d.magMultiplier
z = int32(int16((int16(d.dataBufferSix[5])<<8)|int16(d.dataBufferSix[4]))) * d.magMultiplier
x = int32(int16((int16(data[1])<<8)|int16(data[0]))) * d.magMultiplier
y = int32(int16((int16(data[3])<<8)|int16(data[2]))) * d.magMultiplier
z = int32(int16((int16(data[5])<<8)|int16(data[4]))) * d.magMultiplier
return
}
// ReadTemperature returns the temperature in Celsius milli degrees (°C/1000)
func (d *Device) ReadTemperature() (t int32, err error) {
err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_TEMP_L, d.dataBufferTwo)
data := d.buf[:2]
err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_TEMP_L, data)
if err != nil {
return
}
// From "Table 5. Temperature sensor characteristics"
// temp = value/16 + 25
t = 25000 + (int32(int16((int16(d.dataBufferTwo[1])<<8)|int16(d.dataBufferTwo[0])))*125)/2
t = 25000 + (int32(int16((int16(data[1])<<8)|int16(data[0])))*125)/2
return
}
@@ -138,7 +133,7 @@ func (d *Device) ReadTemperature() (t int32, err error) {
func (d *Device) doConfigure(cfg Configuration) (err error) {
// Verify unit communication
if con, err := d.Connected(); !con || err != nil {
if !d.Connected() {
return errNotConnected
}
@@ -172,7 +167,7 @@ func (d *Device) doConfigure(cfg Configuration) (err error) {
d.magMultiplier = 58
}
data := make([]byte, 1)
data := d.buf[:1]
// Configure accelerometer
// Sample rate & measurement range
lsm9ds1/lsm9ds1_nano_33_ble.go
+1 -1
View File
@@ -19,7 +19,7 @@ func (d *Device) Configure(cfg Configuration) error {
machine.I2C_PULLUP.Configure(machine.PinConfig{Mode: machine.PinOutput})
machine.I2C_PULLUP.High()
// Wait a moment
time.Sleep(10 * time.Millisecond)
time.Sleep(100 * time.Millisecond)
// Common initialisation code
return d.doConfigure(cfg)
}