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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
View File
@@ -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})
}
mpu6050/registers.go
+23
View File
@@ -98,6 +98,29 @@ const (
I2C_PER3_DO = 0x66
I2C_MST_DELAY_CT = 0x67
// Clock settings
CLOCK_INTERNAL = 0x00
CLOCK_PLL_XGYRO = 0x01
CLOCK_PLL_YGYRO = 0x02
CLOCK_PLL_ZGYRO = 0x03
CLOCK_PLL_EXTERNAL_32_768_KZ = 0x04
CLOCK_PLL_EXTERNAL_19_2_MHZ = 0x05
CLOCK_RESERVED = 0x06
CLOCK_STOP = 0x07
// Accelerometer settings
AFS_RANGE_2G = 0x00
AFS_RANGE_4G = 0x01
AFS_RANGE_8G = 0x02
AFS_RANGE_16G = 0x03
// Gyroscope settings
FS_RANGE_250 = 0x00
FS_RANGE_500 = 0x01
FS_RANGE_1000 = 0x02
FS_RANGE_2000 = 0x03
// other registers
SIGNAL_PATH_RES = 0x68 // Signal path reset
USER_CTRL = 0x6A // User control
PWR_MGMT_1 = 0x6B // Power Management 1