tinygo-org/drivers
1
0
Fork 0
mirror of https://github.com/tinygo-org/drivers.git synced 2026-08-20 14:39:00 +00:00
Code Issues Packages Projects Releases 10 Wiki Activity

lis2mdl: better examples showing how to create unit tests

Browse Source 
Signed-off-by: deadprogram <ron@hybridgroup.com>
This commit is contained in:
deadprogram
2020-08-27 00:16:15 +02:00
committed by Ron Evans
parent 2ae950e96d
commit 4ad210060f
3 changed files with 79 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
lis2mdl/lis2mdl.go
+13 -13
View File
@@ -1,7 +1,7 @@
// Package lis2mdl implements a driver for the LIS2MDL,
// a magnetic sensor which is included on BBC micro:bit v1.5.
//
// Datasheet: https://www.st.com/resource/en/datasheet/lsm303agr.pdf
// Datasheet: https://www.st.com/resource/en/datasheet/lis2mdl.pdf
//
package lis2mdl // import "tinygo.org/x/drivers/lis2mdl"
@@ -33,13 +33,13 @@ type Configuration struct {
//
// This function only creates the Device object, it does not touch the device.
func New(bus drivers.I2C) Device {
return Device{bus: bus, Address: MAG_ADDRESS}
return Device{bus: bus, Address: ADDRESS}
}
// Connected returns whether LIS2MDL sensor has been found.
func (d *Device) Connected() bool {
data := []byte{0}
d.bus.ReadRegister(uint8(d.Address), MAG_WHO_AM_I, data)
d.bus.ReadRegister(uint8(d.Address), WHO_AM_I, data)
return data[0] == 0x40
}
@@ -48,44 +48,44 @@ func (d *Device) Configure(cfg Configuration) {
if cfg.PowerMode != 0 {
d.PowerMode = cfg.PowerMode
} else {
d.PowerMode = MAG_POWER_NORMAL
d.PowerMode = POWER_NORMAL
}
if cfg.DataRate != 0 {
d.DataRate = cfg.DataRate
} else {
d.DataRate = MAG_DATARATE_100HZ
d.DataRate = DATARATE_100HZ
}
if cfg.SystemMode != 0 {
d.SystemMode = cfg.SystemMode
} else {
d.SystemMode = MAG_SYSTEM_CONTINUOUS
d.SystemMode = SYSTEM_CONTINUOUS
}
cmd := []byte{0}
// reset
cmd[0] = byte(1 << 5)
d.bus.WriteRegister(uint8(d.Address), MAG_MR_CFG_REG_A, cmd)
d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
time.Sleep(100 * time.Millisecond)
// reboot
cmd[0] = byte(1 << 6)
d.bus.WriteRegister(uint8(d.Address), MAG_MR_CFG_REG_A, cmd)
d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
time.Sleep(100 * time.Millisecond)
// bdu
cmd[0] = byte(1 << 4)
d.bus.WriteRegister(uint8(d.Address), MAG_MR_CFG_REG_C, cmd)
d.bus.WriteRegister(uint8(d.Address), CFG_REG_C, cmd)
// Temperature compensation is on for magnetic sensor (0x80)
cmd[0] = byte(0x80)
d.bus.WriteRegister(uint8(d.Address), MAG_MR_CFG_REG_A, cmd)
d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
// speed
cmd[0] = byte(0x80 | d.DataRate)
d.bus.WriteRegister(uint8(d.Address), MAG_MR_CFG_REG_A, cmd)
d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
}
// ReadMagneticField reads the current magnetic field from the device and returns
@@ -94,11 +94,11 @@ func (d *Device) ReadMagneticField() (x int32, y int32, z int32) {
// turn back on read mode, even though it is supposed to be continuous?
cmd := []byte{0}
cmd[0] = byte(0x80 | d.PowerMode<<4 | d.DataRate<<2 | d.SystemMode)
d.bus.WriteRegister(uint8(d.Address), MAG_MR_CFG_REG_A, cmd)
d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
time.Sleep(10 * time.Millisecond)
data := make([]byte, 6)
d.bus.ReadRegister(uint8(d.Address), MAG_OUT_X_L_M, data)
d.bus.ReadRegister(uint8(d.Address), OUTX_L_REG, data)
x = int32(int16((uint16(data[0]) << 8) | uint16(data[1])))
y = int32(int16((uint16(data[2]) << 8) | uint16(data[3])))