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i2c: refactor all i2c drivers to use Address property of Driver. Allows variations to override the default address as discussed in #14 (#30)

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Signed-off-by: Ron Evans <ron@hybridgroup.com>
This commit is contained in:
Ron Evans
2019-04-07 10:50:34 +02:00
committed by GitHub
parent b8e278e08f
commit d9b426b90b
7 changed files with 65 additions and 50 deletions
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mpu6050/mpu6050.go
+7 -6
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@@ -12,7 +12,8 @@ import (
// Device wraps an I2C connection to a MPU6050 device.
type Device struct {
bus machine.I2C
bus machine.I2C
Address uint16
}
// New creates a new MPU6050 connection. The I2C bus must already be
@@ -20,27 +21,27 @@ type Device struct {
//
// This function only creates the Device object, it does not touch the device.
func New(bus machine.I2C) Device {
return Device{bus}
return Device{bus, Address}
}
// Connected returns whether a MPU6050 has been found.
// It does a "who am I" request and checks the response.
func (d Device) Connected() bool {
data := []byte{0}
d.bus.ReadRegister(Address, WHO_AM_I, data)
d.bus.ReadRegister(uint8(d.Address), WHO_AM_I, data)
return data[0] == 0x68
}
// Configure sets up the device for communication.
func (d Device) Configure() {
d.bus.WriteRegister(Address, PWR_MGMT_1, []uint8{0})
d.bus.WriteRegister(uint8(d.Address), PWR_MGMT_1, []uint8{0})
}
// ReadAcceleration reads the current acceleration from the device and returns
// it.
func (d Device) ReadAcceleration() (x int16, y int16, z int16) {
data := make([]byte, 6)
d.bus.ReadRegister(Address, ACCEL_XOUT_H, data)
d.bus.ReadRegister(uint8(d.Address), ACCEL_XOUT_H, data)
x = int16((uint16(data[0]) << 8) | uint16(data[1]))
y = int16((uint16(data[2]) << 8) | uint16(data[3]))
z = int16((uint16(data[4]) << 8) | uint16(data[5]))
@@ -50,7 +51,7 @@ func (d Device) ReadAcceleration() (x int16, y int16, z int16) {
// ReadRotation reads the current rotation from the device and returns it.
func (d Device) ReadRotation() (x int16, y int16, z int16) {
data := make([]byte, 6)
d.bus.ReadRegister(Address, GYRO_XOUT_H, data)
d.bus.ReadRegister(uint8(d.Address), GYRO_XOUT_H, data)
x = int16((uint16(data[0]) << 8) | uint16(data[1]))
y = int16((uint16(data[2]) << 8) | uint16(data[3]))
z = int16((uint16(data[4]) << 8) | uint16(data[5]))