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https://github.com/tinygo-org/drivers.git
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fchiesadoc
GitHub
@@ -0,0 +1,22 @@
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// Connects to an MPU9150 I2C accelerometer/gyroscope.
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package main
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import (
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"machine"
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"time"
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"tinygo.org/x/drivers/mpu9150"
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)
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func main() {
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machine.I2C0.Configure(machine.I2CConfig{})
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accel := mpu9150.New(machine.I2C0)
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accel.Configure()
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for {
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x, y, z := accel.ReadAcceleration(mpu9150.ACCEL_XOUT_H)
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println(x, y, z)
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time.Sleep(time.Millisecond * 100)
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}
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}
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@@ -9,4 +9,4 @@ require (
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golang.org/x/net v0.7.0
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tinygo.org/x/tinyfont v0.3.0
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tinygo.org/x/tinyterm v0.1.0
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)
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)
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@@ -59,4 +59,4 @@ tinygo.org/x/tinyfont v0.3.0 h1:HIRLQoI3oc+2CMhPcfv+Ig88EcTImE/5npjqOnMD4lM=
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tinygo.org/x/tinyfont v0.3.0/go.mod h1:+TV5q0KpwSGRWnN+ITijsIhrWYJkoUCp9MYELjKpAXk=
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tinygo.org/x/tinyfs v0.1.0/go.mod h1:ysc8Y92iHfhTXeyEM9+c7zviUQ4fN9UCFgSOFfMWv20=
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tinygo.org/x/tinyterm v0.1.0 h1:80i+j+KWoxCFa/Xfp6pWbh79x+8zUdMXC1vaKj2QhkY=
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tinygo.org/x/tinyterm v0.1.0/go.mod h1:/DDhNnGwNF2/tNgHywvyZuCGnbH3ov49Z/6e8LPLRR4=
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tinygo.org/x/tinyterm v0.1.0/go.mod h1:/DDhNnGwNF2/tNgHywvyZuCGnbH3ov49Z/6e8LPLRR4=
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@@ -0,0 +1,99 @@
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// Package mpu9150 provides a driver for the MPU9150 accelerometer and gyroscope
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// made by InvenSense.
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//
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// Datasheets:
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// https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-9150-Datasheet.pdf
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// https://inertialelements.com/documents/resources_page/MPU9150-register-manual.pdf
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package mpu9150
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import (
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"tinygo.org/x/drivers"
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"tinygo.org/x/drivers/internal/legacy"
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)
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// Device wraps an I2C connection to a MPU9150 device.
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type Device struct {
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bus drivers.I2C
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Address uint16
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}
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// New creates a new MPU9150 connection. The I2C bus must already be
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// configured.
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//
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// This function only creates the Device object, it does not touch the device.
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func New(bus drivers.I2C) Device {
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return Device{bus, Address}
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}
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// Connected returns whether a MPU9150 has been found.
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// It does a "who am I" request and checks the response.
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func (d Device) Connected() bool {
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data := []byte{0}
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legacy.ReadRegister(d.bus, uint8(d.Address), WHO_AM_I, data)
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return data[0] == 0x68 // 4.32 Register 117 – Who Am I (MPU-9150 Register Map and Descriptions)
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}
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// Configure sets up the device for communication.
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func (d Device) Configure() error {
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return d.SetClockSource(CLOCK_INTERNAL)
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}
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// ReadAcceleration reads the current acceleration from the device and returns
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// it in µg (micro-gravity). When one of the axes is pointing straight to Earth
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// and the sensor is not moving the returned value will be around 1000000 or
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// -1000000.
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func (d Device) ReadAcceleration(accel_axis byte) (x int32, y int32, z int32) {
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data := make([]byte, 6)
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legacy.ReadRegister(d.bus, uint8(d.Address), accel_axis, data)
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// Now do two things:
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// 1. merge the two values to a 16-bit number (and cast to a 32-bit integer)
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// 2. scale the value to bring it in the -1000000..1000000 range.
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// This is done with a trick. What we do here is essentially multiply by
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// 1000000 and divide by 16384 to get the original scale, but to avoid
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// overflow we do it at 1/64 of the value:
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// 1000000 / 64 = 15625
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// 16384 / 64 = 256
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x = int32(int16((uint16(data[0])<<8)|uint16(data[1]))) * 15625 / 256
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y = int32(int16((uint16(data[2])<<8)|uint16(data[3]))) * 15625 / 256
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z = int32(int16((uint16(data[4])<<8)|uint16(data[5]))) * 15625 / 256
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return
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}
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// ReadRotation reads the current rotation from the device and returns it in
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// µ°/s (micro-degrees/sec). This means that if you were to do a complete
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// rotation along one axis and while doing so integrate all values over time,
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// you would get a value close to 360000000.
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func (d Device) ReadRotation(gyro_axis byte) (x int32, y int32, z int32) {
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data := make([]byte, 6)
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legacy.ReadRegister(d.bus, uint8(d.Address), gyro_axis, data)
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// First the value is converted from a pair of bytes to a signed 16-bit
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// value and then to a signed 32-bit value to avoid integer overflow.
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// Then the value is scaled to µ°/s (micro-degrees per second).
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// This is done in the following steps:
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// 1. Multiply by 250 * 1000_000
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// 2. Divide by 32768
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// The following calculation (x * 15625 / 2048 * 1000) is essentially the
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// same but avoids overflow. First both operations are divided by 16 leading
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// to multiply by 15625000 and divide by 2048, and then part of the multiply
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// is done after the divide instead of before.
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x = int32(int16((uint16(data[0])<<8)|uint16(data[1]))) * 15625 / 2048 * 1000
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y = int32(int16((uint16(data[2])<<8)|uint16(data[3]))) * 15625 / 2048 * 1000
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z = int32(int16((uint16(data[4])<<8)|uint16(data[5]))) * 15625 / 2048 * 1000
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return
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}
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// SetClockSource allows the user to configure the clock source.
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func (d Device) SetClockSource(source uint8) error {
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return legacy.WriteRegister(d.bus, uint8(d.Address), PWR_MGMT_1, []uint8{source})
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}
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// SetFullScaleGyroRange allows the user to configure the scale range for the gyroscope.
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func (d Device) SetFullScaleGyroRange(rng uint8) error {
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return legacy.WriteRegister(d.bus, uint8(d.Address), GYRO_CONFIG, []uint8{rng})
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}
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// SetFullScaleAccelRange allows the user to configure the scale range for the accelerometer.
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func (d Device) SetFullScaleAccelRange(rng uint8) error {
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return legacy.WriteRegister(d.bus, uint8(d.Address), ACCEL_CONFIG, []uint8{rng})
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}
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@@ -0,0 +1,131 @@
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package mpu9150
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// Constants/addresses used for I2C.
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// The I2C address which this device listens to.
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const Address = 0x68
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// Registers. Names, addresses and comments copied from the datasheet.
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const (
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// Self test registers
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SELF_TEST_X = 0x0D
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SELF_TEST_Y = 0x0E
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SELF_TEST_Z = 0x0F
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SELF_TEST_A = 0x10
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SMPLRT_DIV = 0x19 // Sample rate divider
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CONFIG = 0x1A // Configuration
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GYRO_CONFIG = 0x1B // Gyroscope configuration
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ACCEL_CONFIG = 0x1C // Accelerometer configuration
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FIFO_EN = 0x23 // FIFO enable
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// I2C pass-through configuration
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I2C_MST_CTRL = 0x24
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I2C_SLV0_ADDR = 0x25
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I2C_SLV0_REG = 0x26
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I2C_SLV0_CTRL = 0x27
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I2C_SLV1_ADDR = 0x28
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I2C_SLV1_REG = 0x29
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I2C_SLV1_CTRL = 0x2A
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I2C_SLV2_ADDR = 0x2B
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I2C_SLV2_REG = 0x2C
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I2C_SLV2_CTRL = 0x2D
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I2C_SLV3_ADDR = 0x2E
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I2C_SLV3_REG = 0x2F
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I2C_SLV3_CTRL = 0x30
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I2C_SLV4_ADDR = 0x31
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I2C_SLV4_REG = 0x32
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I2C_SLV4_DO = 0x33
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I2C_SLV4_CTRL = 0x34
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I2C_SLV4_DI = 0x35
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I2C_MST_STATUS = 0x36
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// Interrupt configuration
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INT_PIN_CFG = 0x37 // Interrupt pin/bypass enable configuration
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INT_ENABLE = 0x38 // Interrupt enable
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INT_STATUS = 0x3A // Interrupt status
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// Accelerometer measurements
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ACCEL_XOUT_H = 0x3B
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ACCEL_XOUT_L = 0x3C
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ACCEL_YOUT_H = 0x3D
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ACCEL_YOUT_L = 0x3E
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ACCEL_ZOUT_H = 0x3F
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ACCEL_ZOUT_L = 0x40
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// Temperature measurement
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TEMP_OUT_H = 0x41
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TEMP_OUT_L = 0x42
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// Gyroscope measurements
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GYRO_XOUT_H = 0x43
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GYRO_XOUT_L = 0x44
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GYRO_YOUT_H = 0x45
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GYRO_YOUT_L = 0x46
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GYRO_ZOUT_H = 0x47
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GYRO_ZOUT_L = 0x48
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// External sensor data
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EXT_SENS_DATA_00 = 0x49
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EXT_SENS_DATA_01 = 0x4A
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EXT_SENS_DATA_02 = 0x4B
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EXT_SENS_DATA_03 = 0x4C
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EXT_SENS_DATA_04 = 0x4D
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EXT_SENS_DATA_05 = 0x4E
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EXT_SENS_DATA_06 = 0x4F
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EXT_SENS_DATA_07 = 0x50
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EXT_SENS_DATA_08 = 0x51
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EXT_SENS_DATA_09 = 0x52
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EXT_SENS_DATA_10 = 0x53
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EXT_SENS_DATA_11 = 0x54
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EXT_SENS_DATA_12 = 0x55
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EXT_SENS_DATA_13 = 0x56
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EXT_SENS_DATA_14 = 0x57
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EXT_SENS_DATA_15 = 0x58
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EXT_SENS_DATA_16 = 0x59
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EXT_SENS_DATA_17 = 0x5A
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EXT_SENS_DATA_18 = 0x5B
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EXT_SENS_DATA_19 = 0x5C
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EXT_SENS_DATA_20 = 0x5D
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EXT_SENS_DATA_21 = 0x5E
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EXT_SENS_DATA_22 = 0x5F
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EXT_SENS_DATA_23 = 0x60
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// I2C peripheral data out
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I2C_SLV0_DO = 0x63
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I2C_SLV1_DO = 0x64
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I2C_SLV2_DO = 0x65
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I2C_SLV3_DO = 0x66
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I2C_MST_DELAY_CTRL = 0x67
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SIGNAL_PATH_RESET = 0x68
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USER_CTRL = 0x6A // User control
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PWR_MGMT_1 = 0x6B // Power Management 1
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PWR_MGMT_2 = 0x6C // Power Management 2
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FIFO_COUNTH = 0x72 // FIFO count registers (high bits)
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FIFO_COUNTL = 0x73 // FIFO count registers (low bits)
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FIFO_R_W = 0x74 // FIFO read/write
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WHO_AM_I = 0x75 // Who am I
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// Clock settings (4.28 Register 107 – Power Management 1)
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CLOCK_INTERNAL = 0x00
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CLOCK_PLL_XGYRO = 0x01
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CLOCK_PLL_YGYRO = 0x02
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CLOCK_PLL_ZGYRO = 0x03
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CLOCK_PLL_EXTERNAL_32_768_KZ = 0x04
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CLOCK_PLL_EXTERNAL_19_2_MHZ = 0x05
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CLOCK_RESERVED = 0x06
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CLOCK_STOP = 0x07
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// Gyroscope settings (4.4 Register 27 – Gyroscope Configuration)
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FS_RANGE_250 = 0x00
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FS_RANGE_500 = 0x01
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FS_RANGE_1000 = 0x02
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FS_RANGE_2000 = 0x03
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// Accelerometer settings (4.5 Register 28 – Accelerometer Configuration)
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AFS_RANGE_2G = 0x00
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AFS_RANGE_4G = 0x01
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AFS_RANGE_8G = 0x02
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AFS_RANGE_16G = 0x03
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)
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+2
-1
@@ -131,4 +131,5 @@ tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mpu6886/mai
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tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/ttp229/main.go
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tinygo build -size short -o ./build/test.hex -target=pico ./examples/ndir/main_ndir.go
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tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ndir/main_ndir.go
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tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/ndir/main_ndir.go
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tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/ndir/main_ndir.go
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tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mpu9150/main.go
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Block a user