lsmXXX: unified, error handling, memory management

examples/lsm303agr/main.go

@@ -13,7 +13,13 @@ func main() {
 	machine.I2C0.Configure(machine.I2CConfig{})
 
 	sensor := lsm303agr.New(machine.I2C0)
-	sensor.Configure(lsm303agr.Configuration{}) //default settings
+	err := sensor.Configure(lsm303agr.Configuration{}) //default settings
+	if err != nil {
+		for {
+			println("Failed to configure", err.Error())
+			time.Sleep(time.Second)
+		}
+	}
 
 	// you can specify the following options to adjust accuracy, sensor range or save power.
 	// see https://github.com/tinygo-org/drivers/blob/release/lsm303agr/registers.go for details:
@@ -28,22 +34,24 @@ func main() {
 		})
 	*/
 
-	if !sensor.Connected() {
-		println("LSM303AGR/MAG not connected!")
-		return
-	}
-
 	for {
+
+		if !sensor.Connected() {
+			println("LSM303AGR/MAG not connected!")
+			time.Sleep(time.Second)
+			continue
+		}
+
 		// accel_x, accel_y, accel_z := sensor.ReadAcceleration()
 		// println("ACCEL_X:", accel_x/100000, " ACCEL_Y:", accel_y/100000, " ACCEL_Z:", accel_z/100000)
 
 		// mag_x, mag_y, mag_z := sensor.ReadMagneticField()
 		// println("MAG_X:", mag_x/100000, " MAG_Y:", mag_y/100000, " MAG_Z:", mag_z/100000)
 
-		pitch, roll := sensor.ReadPitchRoll()
+		pitch, roll, _ := sensor.ReadPitchRoll()
 		println("Pitch:", float32(pitch)/100000, " Roll:", float32(roll)/100000)
 
-		heading := sensor.ReadCompass()
+		heading, _ := sensor.ReadCompass()
 		println("Heading:", float32(heading)/100000, "degrees")
 
 		temp, _ := sensor.ReadTemperature()

examples/lsm6ds3/main.go

@@ -12,16 +12,23 @@ func main() {
 	machine.I2C0.Configure(machine.I2CConfig{})
 
 	accel := lsm6ds3.New(machine.I2C0)
-	accel.Configure(lsm6ds3.Configuration{})
+	err := accel.Configure(lsm6ds3.Configuration{})
-	if !accel.Connected() {
+	if err != nil {
-		println("LSM6DS3 not connected")
+		for {
-		return
+			println("Failed to configure", err.Error())
+			time.Sleep(time.Second)
+		}
 	}
 
 	for {
-		x, y, z := accel.ReadAcceleration()
+		if !accel.Connected() {
+			println("LSM6DS3 not connected")
+			time.Sleep(time.Second)
+			continue
+		}
+		x, y, z, _ := accel.ReadAcceleration()
 		println("Acceleration:", float32(x)/1000000, float32(y)/1000000, float32(z)/1000000)
-		x, y, z = accel.ReadRotation()
+		x, y, z, _ = accel.ReadRotation()
 		println("Gyroscope:", float32(x)/1000000, float32(y)/1000000, float32(z)/1000000)
 		x, _ = accel.ReadTemperature()
 		println("Degrees C", float32(x)/1000, "\n\n")

examples/lsm6dsox/main.go

@@ -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()
+		ax, ay, az, _ := device.ReadAcceleration()
-		gx, gy, gz := device.ReadRotation()
+		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

examples/lsm9ds1/main.go

@@ -41,7 +41,7 @@ func main() {
 
 	for {
 
-		if con, err := device.Connected(); !con || err != nil {
+		if !device.Connected() {
 			println("LSM9DS1 not connected")
 			time.Sleep(time.Second)
 			continue

lsm303agr/lsm303agr.go

@@ -6,6 +6,7 @@
 package lsm303agr // import "tinygo.org/x/drivers/lsm303agr"
 
 import (
+	"errors"
 	"math"
 
 	"tinygo.org/x/drivers"
@@ -22,6 +23,7 @@ type Device struct {
 	MagPowerMode   uint8
 	MagSystemMode  uint8
 	MagDataRate    uint8
+	buf            [6]uint8
 }
 
 // Configuration for LSM303AGR device.
@@ -34,12 +36,17 @@ type Configuration struct {
 	MagDataRate    uint8
 }
 
-// New creates a new LSM303AGR connection. The I2C bus must already be
+var errNotConnected = errors.New("lsm303agr: failed to communicate with either acel or magnet sensor")
-// configured.
+
+// New creates a new LSM303AGR connection. The I2C bus must already be configured.
 //
 // This function only creates the Device object, it does not touch the device.
-func New(bus drivers.I2C) Device {
+func New(bus drivers.I2C) *Device {
-	return Device{bus: bus, AccelAddress: ACCEL_ADDRESS, MagAddress: MAG_ADDRESS}
+	return &Device{
+		bus:          bus,
+		AccelAddress: ACCEL_ADDRESS,
+		MagAddress:   MAG_ADDRESS,
+	}
 }
 
 // Connected returns whether both sensor on LSM303AGR has been found.
@@ -52,7 +59,12 @@ func (d *Device) Connected() bool {
 }
 
 // Configure sets up the LSM303AGR device for communication.
-func (d *Device) Configure(cfg Configuration) {
+func (d *Device) Configure(cfg Configuration) (err error) {
+
+	// Verify unit communication
+	if !d.Connected() {
+		return errNotConnected
+	}
 
 	if cfg.AccelDataRate != 0 {
 		d.AccelDataRate = cfg.AccelDataRate
@@ -90,36 +102,46 @@ func (d *Device) Configure(cfg Configuration) {
 		d.MagSystemMode = MAG_SYSTEM_CONTINUOUS
 	}
 
-	cmd := []byte{0}
+	data := d.buf[:1]
 
-	cmd[0] = byte(d.AccelDataRate<<4 | d.AccelPowerMode | 0x07)
+	data[0] = byte(d.AccelDataRate<<4 | d.AccelPowerMode | 0x07)
-	d.bus.WriteRegister(uint8(d.AccelAddress), ACCEL_CTRL_REG1_A, cmd)
+	err = d.bus.WriteRegister(uint8(d.AccelAddress), ACCEL_CTRL_REG1_A, data)
+	if err != nil {
+		return
+	}
 
-	cmd[0] = byte(0x80 | d.AccelRange<<4)
+	data[0] = byte(0x80 | d.AccelRange<<4)
-	d.bus.WriteRegister(uint8(d.AccelAddress), ACCEL_CTRL_REG4_A, cmd)
+	err = d.bus.WriteRegister(uint8(d.AccelAddress), ACCEL_CTRL_REG4_A, data)
+	if err != nil {
+		return
+	}
 
-	cmd[0] = byte(0xC0)
+	data[0] = byte(0xC0)
-	d.bus.WriteRegister(uint8(d.AccelAddress), TEMP_CFG_REG_A, cmd)
+	err = d.bus.WriteRegister(uint8(d.AccelAddress), TEMP_CFG_REG_A, data)
+	if err != nil {
+		return
+	}
 
 	// Temperature compensation is on for magnetic sensor
-	cmd[0] = byte(0x80 | d.MagPowerMode<<4 | d.MagDataRate<<2 | d.MagSystemMode)
+	data[0] = byte(0x80 | d.MagPowerMode<<4 | d.MagDataRate<<2 | d.MagSystemMode)
-	d.bus.WriteRegister(uint8(d.MagAddress), MAG_MR_REG_M, cmd)
+	err = d.bus.WriteRegister(uint8(d.MagAddress), MAG_MR_REG_M, data)
+	if err != nil {
+		return
+	}
 
+	return nil
 }
 
 // ReadAcceleration reads the current acceleration from the device and returns
 // it in µg (micro-gravity). When one of the axes is pointing straight to Earth
 // and the sensor is not moving the returned value will be around 1000000 or
 // -1000000.
-func (d *Device) ReadAcceleration() (x int32, y int32, z int32) {
+func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
-
+	data := d.buf[:6]
-	data1, data2, data3, data4, data5, data6 := []byte{0}, []byte{0}, []byte{0}, []byte{0}, []byte{0}, []byte{0}
+	err = d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_X_L_A, data)
-	d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_X_H_A, data1)
+	if err != nil {
-	d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_X_L_A, data2)
+		return
-	d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_Y_H_A, data3)
+	}
-	d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_Y_L_A, data4)
-	d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_Z_H_A, data5)
-	d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_Z_L_A, data6)
 
 	rangeFactor := int16(0)
 	switch d.AccelRange {
@@ -133,18 +155,21 @@ func (d *Device) ReadAcceleration() (x int32, y int32, z int32) {
 		rangeFactor = 12 // the readings in 16G are a bit lower
 	}
 
-	x = int32(int32(int16((uint16(data1[0])<<8|uint16(data2[0])))>>4*rangeFactor) * 1000000 / 1024)
+	x = int32(int32(int16((uint16(data[1])<<8|uint16(data[0])))>>4*rangeFactor) * 1000000 / 1024)
-	y = int32(int32(int16((uint16(data3[0])<<8|uint16(data4[0])))>>4*rangeFactor) * 1000000 / 1024)
+	y = int32(int32(int16((uint16(data[3])<<8|uint16(data[2])))>>4*rangeFactor) * 1000000 / 1024)
-	z = int32(int32(int16((uint16(data5[0])<<8|uint16(data6[0])))>>4*rangeFactor) * 1000000 / 1024)
+	z = int32(int32(int16((uint16(data[5])<<8|uint16(data[4])))>>4*rangeFactor) * 1000000 / 1024)
 	return
 }
 
 // ReadPitchRoll reads the current pitch and roll angles from the device and
 // returns it in micro-degrees. When the z axis is pointing straight to Earth
 // the returned values of pitch and roll would be zero.
-func (d *Device) ReadPitchRoll() (pitch int32, roll int32) {
+func (d *Device) ReadPitchRoll() (pitch, roll int32, err error) {
 
-	x, y, z := d.ReadAcceleration()
+	x, y, z, err := d.ReadAcceleration()
+	if err != nil {
+		return
+	}
 	xf, yf, zf := float64(x), float64(y), float64(z)
 	pitch = int32((math.Round(math.Atan2(yf, math.Sqrt(math.Pow(xf, 2)+math.Pow(zf, 2)))*(180/math.Pi)*100) / 100) * 1000000)
 	roll = int32((math.Round(math.Atan2(xf, math.Sqrt(math.Pow(yf, 2)+math.Pow(zf, 2)))*(180/math.Pi)*100) / 100) * 1000000)
@@ -154,25 +179,23 @@ func (d *Device) ReadPitchRoll() (pitch int32, roll int32) {
 
 // ReadMagneticField reads the current magnetic field from the device and returns
 // it in mG (milligauss). 1 mG = 0.1 µT (microtesla).
-func (d *Device) ReadMagneticField() (x int32, y int32, z int32) {
+func (d *Device) ReadMagneticField() (x, y, z int32, err error) {
 
 	if d.MagSystemMode == MAG_SYSTEM_SINGLE {
-		cmd := []byte{0}
+		cmd := d.buf[:1]
 		cmd[0] = byte(0x80 | d.MagPowerMode<<4 | d.MagDataRate<<2 | d.MagSystemMode)
-		d.bus.WriteRegister(uint8(d.MagAddress), MAG_MR_REG_M, cmd)
+		err = d.bus.WriteRegister(uint8(d.MagAddress), MAG_MR_REG_M, cmd)
+		if err != nil {
+			return
+		}
 	}
 
-	data1, data2, data3, data4, data5, data6 := []byte{0}, []byte{0}, []byte{0}, []byte{0}, []byte{0}, []byte{0}
+	data := d.buf[0:6]
-	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_X_H_M, data1)
+	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_X_L_M, data)
-	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_X_L_M, data2)
-	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_Y_H_M, data3)
-	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_Y_L_M, data4)
-	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_Z_H_M, data5)
-	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_Z_L_M, data6)
 
-	x = int32(int16((uint16(data1[0])<<8 | uint16(data2[0]))))
+	x = int32(int16((uint16(data[1])<<8 | uint16(data[0]))))
-	y = int32(int16((uint16(data3[0])<<8 | uint16(data4[0]))))
+	y = int32(int16((uint16(data[3])<<8 | uint16(data[2]))))
-	z = int32(int16((uint16(data5[0])<<8 | uint16(data6[0]))))
+	z = int32(int16((uint16(data[5])<<8 | uint16(data[4]))))
 	return
 }
 
@@ -182,23 +205,27 @@ func (d *Device) ReadMagneticField() (x int32, y int32, z int32) {
 //
 // However, the heading may be off due to electronic compasses would be effected
 // by strong magnetic fields and require constant calibration.
-func (d *Device) ReadCompass() (h int32) {
+func (d *Device) ReadCompass() (h int32, err error) {
 
-	x, y, _ := d.ReadMagneticField()
+	x, y, _, err := d.ReadMagneticField()
+	if err != nil {
+		return
+	}
 	xf, yf := float64(x), float64(y)
 	h = int32(float32((180/math.Pi)*math.Atan2(yf, xf)) * 1000000)
 	return
 }
 
 // ReadTemperature returns the temperature in Celsius milli degrees (°C/1000)
-func (d *Device) ReadTemperature() (c int32, e error) {
+func (d *Device) ReadTemperature() (t int32, err error) {
 
-	data1, data2 := []byte{0}, []byte{0}
+	data := d.buf[:2]
-	d.bus.ReadRegister(uint8(d.AccelAddress), OUT_TEMP_H_A, data1)
+	err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_TEMP_L_A, data)
-	d.bus.ReadRegister(uint8(d.AccelAddress), OUT_TEMP_L_A, data2)
+	if err != nil {
+		return
+	}
 
-	t := int16((uint16(data1[0])<<8 | uint16(data2[0]))) >> 4 // temperature offsef from 25 °C
+	r := int16((uint16(data[1])<<8 | uint16(data[0]))) >> 4 // temperature offset from 25 °C
-	c = int32((float32(25) + float32(t)/8) * 1000)
+	t = 25000 + int32((float32(r)/8)*1000)
-	e = nil
 	return
 }

lsm6ds3/lsm6ds3.go

@@ -5,7 +5,11 @@
 //
 package lsm6ds3 // import "tinygo.org/x/drivers/lsm6ds3"
 
-import "tinygo.org/x/drivers"
+import (
+	"errors"
+
+	"tinygo.org/x/drivers"
+)
 
 type AccelRange uint8
 type AccelSampleRate uint8
@@ -23,8 +27,7 @@ type Device struct {
 	accelBandWidth  AccelBandwidth
 	gyroRange       GyroRange
 	gyroSampleRate  GyroSampleRate
-	dataBufferSix   []uint8
+	buf             [6]uint8
-	dataBufferTwo   []uint8
 }
 
 // Configuration for LSM6DS3 device.
@@ -38,16 +41,26 @@ type Configuration struct {
 	ResetStepCounter bool
 }
 
-// New creates a new LSM6DS3 connection. The I2C bus must already be
+var errNotConnected = errors.New("lsm6ds3: failed to communicate with acel/gyro sensor")
-// configured.
+
+// New creates a new LSM6DS3 connection. The I2C bus must already be configured.
 //
 // This function only creates the Device object, it does not touch the device.
-func New(bus drivers.I2C) Device {
+func New(bus drivers.I2C) *Device {
-	return Device{bus: bus, Address: Address}
+	return &Device{
+		bus:     bus,
+		Address: Address,
+	}
 }
 
 // Configure sets up the device for communication.
-func (d *Device) Configure(cfg Configuration) {
+func (d *Device) Configure(cfg Configuration) (err error) {
+
+	// Verify unit communication
+	if !d.Connected() {
+		return errNotConnected
+	}
+
 	if cfg.AccelRange != 0 {
 		d.accelRange = cfg.AccelRange
 	} else {
@@ -78,44 +91,67 @@ func (d *Device) Configure(cfg Configuration) {
 		d.gyroSampleRate = GYRO_SR_104
 	}
 
-	d.dataBufferSix = make([]uint8, 6)
+	data := d.buf[:1]
-	d.dataBufferTwo = make([]uint8, 2)
 
 	if cfg.IsPedometer { // CONFIGURE AS PEDOMETER
 		// Configure accelerometer: 2G + 26Hz
-		d.bus.WriteRegister(uint8(d.Address), CTRL1_XL, []byte{uint8(ACCEL_2G) | uint8(ACCEL_SR_26)})
+		data[0] = uint8(ACCEL_2G) | uint8(ACCEL_SR_26)
+		err = d.bus.WriteRegister(uint8(d.Address), CTRL1_XL, data)
+		if err != nil {
+			return
+		}
 
 		// Configure Zen_G, Yen_G, Xen_G, reset steps
+		data[0] = 0x3C
 		if cfg.ResetStepCounter {
-			d.bus.WriteRegister(uint8(d.Address), CTRL10_C, []byte{0x3E})
+			data[0] |= 0x02
-		} else {
+		}
-			d.bus.WriteRegister(uint8(d.Address), CTRL10_C, []byte{0x3C})
+		err = d.bus.WriteRegister(uint8(d.Address), CTRL10_C, data)
+		if err != nil {
+			return
 		}
 
 		// Enable pedometer
-		d.bus.WriteRegister(uint8(d.Address), TAP_CFG, []byte{0x40})
+		data[0] = 0x40
+		err = d.bus.WriteRegister(uint8(d.Address), TAP_CFG, data)
+		if err != nil {
+			return
+		}
 	} else { // NORMAL USE
 		// Configure accelerometer
-		data := make([]uint8, 1)
 		data[0] = uint8(d.accelRange) | uint8(d.accelSampleRate) | uint8(d.accelBandWidth)
-		d.bus.WriteRegister(uint8(d.Address), CTRL1_XL, data)
+		err = d.bus.WriteRegister(uint8(d.Address), CTRL1_XL, data)
+		if err != nil {
+			return
+		}
 
 		// Set ODR bit
-		d.bus.ReadRegister(uint8(d.Address), CTRL4_C, data)
+		err = d.bus.ReadRegister(uint8(d.Address), CTRL4_C, data)
+		if err != nil {
+			return
+		}
 		data[0] = data[0] &^ BW_SCAL_ODR_ENABLED
 		data[0] |= BW_SCAL_ODR_ENABLED
-		d.bus.WriteRegister(uint8(d.Address), CTRL4_C, data)
+		err = d.bus.WriteRegister(uint8(d.Address), CTRL4_C, data)
+		if err != nil {
+			return
+		}
 
 		// Configure gyroscope
 		data[0] = uint8(d.gyroRange) | uint8(d.gyroSampleRate)
-		d.bus.WriteRegister(uint8(d.Address), CTRL2_G, data)
+		err = d.bus.WriteRegister(uint8(d.Address), CTRL2_G, data)
+		if err != nil {
+			return
+		}
 	}
+
+	return nil
 }
 
 // Connected returns whether a LSM6DS3 has been found.
 // It does a "who am I" request and checks the response.
 func (d *Device) Connected() bool {
-	data := []byte{0}
+	data := d.buf[:1]
 	d.bus.ReadRegister(uint8(d.Address), WHO_AM_I, data)
 	return data[0] == 0x69
 }
@@ -124,8 +160,12 @@ func (d *Device) Connected() bool {
 // it in µg (micro-gravity). When one of the axes is pointing straight to Earth
 // and the sensor is not moving the returned value will be around 1000000 or
 // -1000000.
-func (d *Device) ReadAcceleration() (x int32, y int32, z int32) {
+func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
-	d.bus.ReadRegister(uint8(d.Address), OUTX_L_XL, d.dataBufferSix)
+	data := d.buf[:6]
+	err = d.bus.ReadRegister(uint8(d.Address), OUTX_L_XL, data)
+	if err != nil {
+		return
+	}
 	// k comes from "Table 3. Mechanical characteristics" 3 of the datasheet * 1000
 	k := int32(61) // 2G
 	if d.accelRange == ACCEL_4G {
@@ -135,9 +175,9 @@ func (d *Device) ReadAcceleration() (x int32, y int32, z int32) {
 	} else if d.accelRange == ACCEL_16G {
 		k = 488
 	}
-	x = int32(int16((uint16(d.dataBufferSix[1])<<8)|uint16(d.dataBufferSix[0]))) * k
+	x = int32(int16((uint16(data[1])<<8)|uint16(data[0]))) * k
-	y = int32(int16((uint16(d.dataBufferSix[3])<<8)|uint16(d.dataBufferSix[2]))) * k
+	y = int32(int16((uint16(data[3])<<8)|uint16(data[2]))) * k
-	z = int32(int16((uint16(d.dataBufferSix[5])<<8)|uint16(d.dataBufferSix[4]))) * k
+	z = int32(int16((uint16(data[5])<<8)|uint16(data[4]))) * k
 	return
 }
 
@@ -145,8 +185,12 @@ func (d *Device) ReadAcceleration() (x int32, y int32, z int32) {
 // µ°/s (micro-degrees/sec). This means that if you were to do a complete
 // 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 int32, y int32, z int32) {
+func (d *Device) ReadRotation() (x, y, z int32, err error) {
-	d.bus.ReadRegister(uint8(d.Address), OUTX_L_G, d.dataBufferSix)
+	data := d.buf[:6]
+	err = d.bus.ReadRegister(uint8(d.Address), OUTX_L_G, data)
+	if err != nil {
+		return
+	}
 	// k comes from "Table 3. Mechanical characteristics" 3 of the datasheet * 1000
 	k := int32(4375) // 125DPS
 	if d.gyroRange == GYRO_250DPS {
@@ -158,24 +202,32 @@ func (d *Device) ReadRotation() (x int32, y int32, z int32) {
 	} else if d.gyroRange == GYRO_2000DPS {
 		k = 70000
 	}
-	x = int32(int16((uint16(d.dataBufferSix[1])<<8)|uint16(d.dataBufferSix[0]))) * k
+	x = int32(int16((uint16(data[1])<<8)|uint16(data[0]))) * k
-	y = int32(int16((uint16(d.dataBufferSix[3])<<8)|uint16(d.dataBufferSix[2]))) * k
+	y = int32(int16((uint16(data[3])<<8)|uint16(data[2]))) * k
-	z = int32(int16((uint16(d.dataBufferSix[5])<<8)|uint16(d.dataBufferSix[4]))) * k
+	z = int32(int16((uint16(data[5])<<8)|uint16(data[4]))) * k
 	return
 }
 
 // ReadTemperature returns the temperature in celsius milli degrees (°C/1000)
-func (d *Device) ReadTemperature() (int32, error) {
+func (d *Device) ReadTemperature() (t int32, err error) {
-	d.bus.ReadRegister(uint8(d.Address), OUT_TEMP_L, d.dataBufferTwo)
+	data := d.buf[:2]
-
+	err = d.bus.ReadRegister(uint8(d.Address), 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 t, nil
+	return
 }
 
 // ReadSteps returns the steps of the pedometer
-func (d *Device) ReadSteps() int32 {
+func (d *Device) ReadSteps() (s int32, err error) {
-	d.bus.ReadRegister(uint8(d.Address), STEP_COUNTER_L, d.dataBufferTwo)
+	data := d.buf[:2]
-	return int32(int16((uint16(d.dataBufferTwo[1]) << 8) | uint16(d.dataBufferTwo[0])))
+	err = d.bus.ReadRegister(uint8(d.Address), STEP_COUNTER_L, data)
+	if err != nil {
+		return
+	}
+	s = int32(int16((uint16(data[1]) << 8) | uint16(data[0])))
+	return
 }

lsm6dsox/lsm6dsox.go

@@ -5,7 +5,11 @@
 //
 package lsm6dsox // import "tinygo.org/x/drivers/lsm6dsox"
 
-import "tinygo.org/x/drivers"
+import (
+	"errors"
+
+	"tinygo.org/x/drivers"
+)
 
 type AccelRange uint8
 type AccelSampleRate uint8
@@ -17,10 +21,9 @@ type GyroSampleRate uint8
 type Device struct {
 	bus             drivers.I2C
 	Address         uint16
-	dataBufferSix   []uint8
-	dataBufferTwo   []uint8
 	accelMultiplier int32
 	gyroMultiplier  int32
+	buf             [6]uint8
 }
 
 // Configuration for LSM6DSOX device.
@@ -31,20 +34,25 @@ type Configuration struct {
 	GyroSampleRate  GyroSampleRate
 }
 
+var errNotConnected = errors.New("lsm6dsox: failed to communicate with acel/gyro sensor")
+
 // New creates a new LSM6DSOX connection. The I2C bus must already be configured.
 //
 // This function only creates the Device object, it does not touch the device.
 func New(bus drivers.I2C) *Device {
 	return &Device{
-		bus:           bus,
+		bus:     bus,
-		Address:       Address,
+		Address: Address,
-		dataBufferSix: make([]uint8, 6),
-		dataBufferTwo: make([]uint8, 2),
 	}
 }
 
 // Configure sets up the device for communication.
-func (d *Device) Configure(cfg Configuration) {
+func (d *Device) Configure(cfg Configuration) (err error) {
+
+	// Verify unit communication
+	if !d.Connected() {
+		return errNotConnected
+	}
 
 	// Multipliers come from "Table 2. Mechanical characteristics" of the datasheet * 1000
 	switch cfg.AccelRange {
@@ -68,19 +76,27 @@ func (d *Device) Configure(cfg Configuration) {
 		d.gyroMultiplier = 70000
 	}
 
-	data := make([]uint8, 1)
+	data := d.buf[:1]
 	// Configure accelerometer
 	data[0] = uint8(cfg.AccelRange) | uint8(cfg.AccelSampleRate)
-	d.bus.WriteRegister(uint8(d.Address), CTRL1_XL, data)
+	err = d.bus.WriteRegister(uint8(d.Address), CTRL1_XL, data)
+	if err != nil {
+		return
+	}
 	// Configure gyroscope
 	data[0] = uint8(cfg.GyroRange) | uint8(cfg.GyroSampleRate)
-	d.bus.WriteRegister(uint8(d.Address), CTRL2_G, data)
+	err = d.bus.WriteRegister(uint8(d.Address), CTRL2_G, data)
+	if err != nil {
+		return
+	}
+
+	return nil
 }
 
 // Connected returns whether a LSM6DSOX has been found.
 // It does a "who am I" request and checks the response.
 func (d *Device) Connected() bool {
-	data := []byte{0}
+	data := d.buf[:1]
 	d.bus.ReadRegister(uint8(d.Address), WHO_AM_I, data)
 	return data[0] == 0x6C
 }
@@ -89,11 +105,15 @@ func (d *Device) Connected() bool {
 // it in µg (micro-gravity). When one of the axes is pointing straight to Earth
 // and the sensor is not moving the returned value will be around 1000000 or
 // -1000000.
-func (d *Device) ReadAcceleration() (x int32, y int32, z int32) {
+func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
-	d.bus.ReadRegister(uint8(d.Address), OUTX_L_A, d.dataBufferSix)
+	data := d.buf[:6]
-	x = int32(int16((uint16(d.dataBufferSix[1])<<8)|uint16(d.dataBufferSix[0]))) * d.accelMultiplier
+	err = d.bus.ReadRegister(uint8(d.Address), OUTX_L_A, data)
-	y = int32(int16((uint16(d.dataBufferSix[3])<<8)|uint16(d.dataBufferSix[2]))) * d.accelMultiplier
+	if err != nil {
-	z = int32(int16((uint16(d.dataBufferSix[5])<<8)|uint16(d.dataBufferSix[4]))) * d.accelMultiplier
+		return
+	}
+	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
 }
 
@@ -101,20 +121,27 @@ func (d *Device) ReadAcceleration() (x int32, y int32, z int32) {
 // µ°/s (micro-degrees/sec). This means that if you were to do a complete
 // 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 int32, y int32, z int32) {
+func (d *Device) ReadRotation() (x, y, z int32, err error) {
-	d.bus.ReadRegister(uint8(d.Address), OUTX_L_G, d.dataBufferSix)
+	data := d.buf[:6]
-	x = int32(int16((uint16(d.dataBufferSix[1])<<8)|uint16(d.dataBufferSix[0]))) * d.gyroMultiplier
+	err = d.bus.ReadRegister(uint8(d.Address), OUTX_L_G, data)
-	y = int32(int16((uint16(d.dataBufferSix[3])<<8)|uint16(d.dataBufferSix[2]))) * d.gyroMultiplier
+	if err != nil {
-	z = int32(int16((uint16(d.dataBufferSix[5])<<8)|uint16(d.dataBufferSix[4]))) * d.gyroMultiplier
+		return
+	}
+	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
 }
 
 // ReadTemperature returns the temperature in celsius milli degrees (°C/1000)
-func (d *Device) ReadTemperature() (int32, error) {
+func (d *Device) ReadTemperature() (t int32, err error) {
-	d.bus.ReadRegister(uint8(d.Address), OUT_TEMP_L, d.dataBufferTwo)
+	data := d.buf[:2]
-
+	err = d.bus.ReadRegister(uint8(d.Address), OUT_TEMP_L, data)
+	if err != nil {
+		return
+	}
 	// From "Table 4. Temperature sensor characteristics"
 	// temp = value/256 + 25
-	t := 25000 + (int32(int16((int16(d.dataBufferTwo[1])<<8)|int16(d.dataBufferTwo[0])))*125)/32
+	t = 25000 + (int32(int16((int16(data[1])<<8)|int16(data[0])))*125)/32
-	return t, nil
+	return
 }

lsm9ds1/lsm9ds1.go

@@ -28,8 +28,7 @@ type Device struct {
 	accelMultiplier int32
 	gyroMultiplier  int32
 	magMultiplier   int32
-	dataBufferSix   []uint8
+	buf             [6]uint8
-	dataBufferTwo   []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,
+		bus:          bus,
-		AccelAddress:  ACCEL_ADDRESS,
+		AccelAddress: ACCEL_ADDRESS,
-		MagAddress:    MAG_ADDRESS,
+		MagAddress:   MAG_ADDRESS,
-		dataBufferSix: make([]uint8, 6),
-		dataBufferTwo: make([]uint8, 2),
 	}
 }
 
@@ -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) {
+func (d *Device) Connected() bool {
-	data1, data2 := []byte{0}, []byte{0}
+	data1, data2 := d.buf[:1], d.buf[1:2]
-	err = d.bus.ReadRegister(d.AccelAddress, WHO_AM_I, data1)
+	d.bus.ReadRegister(d.AccelAddress, WHO_AM_I, data1)
-	if err != nil {
+	d.bus.ReadRegister(d.MagAddress, WHO_AM_I_M, data2)
-		return false, err
+	return data1[0] == 0x68 && data2[0] == 0x3D
-	}
-	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
 }
 
 // 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
+	x = int32(int16((uint16(data[1])<<8)|uint16(data[0]))) * d.accelMultiplier
-	y = int32(int16((uint16(d.dataBufferSix[3])<<8)|uint16(d.dataBufferSix[2]))) * d.accelMultiplier
+	y = int32(int16((uint16(data[3])<<8)|uint16(data[2]))) * d.accelMultiplier
-	z = int32(int16((uint16(d.dataBufferSix[5])<<8)|uint16(d.dataBufferSix[4]))) * 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
+	x = int32(int16((uint16(data[1])<<8)|uint16(data[0]))) * d.gyroMultiplier
-	y = int32(int16((uint16(d.dataBufferSix[3])<<8)|uint16(d.dataBufferSix[2]))) * d.gyroMultiplier
+	y = int32(int16((uint16(data[3])<<8)|uint16(data[2]))) * d.gyroMultiplier
-	z = int32(int16((uint16(d.dataBufferSix[5])<<8)|uint16(d.dataBufferSix[4]))) * 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
+	x = int32(int16((int16(data[1])<<8)|int16(data[0]))) * d.magMultiplier
-	y = int32(int16((int16(d.dataBufferSix[3])<<8)|int16(d.dataBufferSix[2]))) * d.magMultiplier
+	y = int32(int16((int16(data[3])<<8)|int16(data[2]))) * d.magMultiplier
-	z = int32(int16((int16(d.dataBufferSix[5])<<8)|int16(d.dataBufferSix[4]))) * 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

@@ -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)
 }