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lsm303agr: fix I2C address auto increment for multi data read

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fixes: #475
This commit is contained in:
Lucas Bremgartner
2022-10-28 20:37:12 +02:00
committed by Ron Evans
parent 2bca84b8d1
commit c5dbe18be1
2 changed files with 32 additions and 23 deletions
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lsm303agr/lsm303agr.go
+3 -3
View File
@@ -137,7 +137,7 @@ func (d *Device) Configure(cfg Configuration) (err error) {
// -1000000.
func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
data := d.buf[:6]
err = d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_X_L_A, data)
err = d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_AUTO_INC, data)
if err != nil {
return
}
@@ -190,7 +190,7 @@ func (d *Device) ReadMagneticField() (x, y, z int32, err error) {
}
data := d.buf[0:6]
d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_X_L_M, data)
d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_AUTO_INC, data)
x = int32(int16((uint16(data[1])<<8 | uint16(data[0]))))
y = int32(int16((uint16(data[3])<<8 | uint16(data[2]))))
@@ -219,7 +219,7 @@ func (d *Device) ReadCompass() (h int32, err error) {
func (d *Device) ReadTemperature() (t int32, err error) {
data := d.buf[:2]
err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_TEMP_L_A, data)
err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_TEMP_AUTO_INC, data)
if err != nil {
return
}
lsm303agr/registers.go
+29 -20
View File
@@ -6,31 +6,40 @@ const (
ACCEL_ADDRESS = 0x19
MAG_ADDRESS = 0x1E
// i2C 8-bit subaddress (SUB): the 7 LSb represent the actual register address
// while the MSB enables address auto increment.
// If the MSb of the SUB field is 1, the SUB (register address) is
// automatically increased to allow multiple data read/writes.
ADDR_AUTO_INC_MASK = 0x80
// accelerometer registers.
ACCEL_WHO_AM_I = 0x0F
ACCEL_CTRL_REG1_A = 0x20
ACCEL_CTRL_REG4_A = 0x23
ACCEL_OUT_X_L_A = 0x28
ACCEL_OUT_X_H_A = 0x29
ACCEL_OUT_Y_L_A = 0x2A
ACCEL_OUT_Y_H_A = 0x2B
ACCEL_OUT_Z_L_A = 0x2C
ACCEL_OUT_Z_H_A = 0x2D
ACCEL_WHO_AM_I = 0x0F
ACCEL_CTRL_REG1_A = 0x20
ACCEL_CTRL_REG4_A = 0x23
ACCEL_OUT_X_L_A = 0x28
ACCEL_OUT_X_H_A = 0x29
ACCEL_OUT_Y_L_A = 0x2A
ACCEL_OUT_Y_H_A = 0x2B
ACCEL_OUT_Z_L_A = 0x2C
ACCEL_OUT_Z_H_A = 0x2D
ACCEL_OUT_AUTO_INC = ACCEL_OUT_X_L_A | ADDR_AUTO_INC_MASK
// magnetic sensor registers.
MAG_WHO_AM_I = 0x4F
MAG_MR_REG_M = 0x60
MAG_OUT_X_L_M = 0x68
MAG_OUT_X_H_M = 0x69
MAG_OUT_Y_L_M = 0x6A
MAG_OUT_Y_H_M = 0x6B
MAG_OUT_Z_L_M = 0x6C
MAG_OUT_Z_H_M = 0x6D
MAG_WHO_AM_I = 0x4F
MAG_MR_REG_M = 0x60
MAG_OUT_X_L_M = 0x68
MAG_OUT_X_H_M = 0x69
MAG_OUT_Y_L_M = 0x6A
MAG_OUT_Y_H_M = 0x6B
MAG_OUT_Z_L_M = 0x6C
MAG_OUT_Z_H_M = 0x6D
MAG_OUT_AUTO_INC = MAG_OUT_X_L_M | ADDR_AUTO_INC_MASK
// temperature sensor registers.
TEMP_CFG_REG_A = 0x1F
OUT_TEMP_L_A = 0x0C
OUT_TEMP_H_A = 0x0D
TEMP_CFG_REG_A = 0x1F
OUT_TEMP_L_A = 0x0C
OUT_TEMP_H_A = 0x0D
OUT_TEMP_AUTO_INC = OUT_TEMP_L_A | ADDR_AUTO_INC_MASK
// accelerometer power mode.
ACCEL_POWER_NORMAL = 0x00 // default