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mpu6050: add functions to configure clock, and scaling for accelerometer and gyroscope

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Signed-off-by: deadprogram <ron@hybridgroup.com>
This commit is contained in:
deadprogram
2023-01-19 23:24:55 +01:00
committed by Ron Evans
parent d283abdb3a
commit 4e687b29c3
2 changed files with 39 additions and 1 deletions
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mpu6050/mpu6050.go
+16 -1
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@@ -32,7 +32,7 @@ func (d Device) Connected() bool {
// Configure sets up the device for communication.
func (d Device) Configure() error {
return d.bus.WriteRegister(uint8(d.Address), PWR_MGMT_1, []uint8{0})
return d.SetClockSource(CLOCK_INTERNAL)
}
// ReadAcceleration reads the current acceleration from the device and returns
@@ -78,3 +78,18 @@ func (d Device) ReadRotation() (x int32, y int32, z int32) {
z = int32(int16((uint16(data[4])<<8)|uint16(data[5]))) * 15625 / 2048 * 1000
return
}
// SetClockSource allows the user to configure the clock source.
func (d Device) SetClockSource(source uint8) error {
return d.bus.WriteRegister(uint8(d.Address), PWR_MGMT_1, []uint8{source})
}
// SetFullScaleGyroRange allows the user to configure the scale range for the gyroscope.
func (d Device) SetFullScaleGyroRange(rng uint8) error {
return d.bus.WriteRegister(uint8(d.Address), GYRO_CONFIG, []uint8{rng})
}
// SetFullScaleAccelRange allows the user to configure the scale range for the accelerometer.
func (d Device) SetFullScaleAccelRange(rng uint8) error {
return d.bus.WriteRegister(uint8(d.Address), ACCEL_CONFIG, []uint8{rng})
}