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Code Issues Packages Projects Releases 10 Wiki Activity

i2c iface refactor: Resolve 559

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soypat
2023-05-28 18:03:19 -03:00
committed by Ron Evans
parent e20c6d05f8
commit e6f82fad2e
37 changed files with 313 additions and 247 deletions
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lis2mdl/lis2mdl.go
+9 -8
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@@ -9,6 +9,7 @@ import (
"time"
"tinygo.org/x/drivers"
"tinygo.org/x/drivers/internal/legacy"
)
// Device wraps an I2C connection to a LIS2MDL device.
@@ -38,7 +39,7 @@ func New(bus drivers.I2C) Device {
// Connected returns whether LIS2MDL sensor has been found.
func (d *Device) Connected() bool {
data := []byte{0}
d.bus.ReadRegister(uint8(d.Address), WHO_AM_I, data)
legacy.ReadRegister(d.bus, uint8(d.Address), WHO_AM_I, data)
return data[0] == 0x40
}
@@ -66,25 +67,25 @@ func (d *Device) Configure(cfg Configuration) {
// reset
cmd[0] = byte(1 << 5)
d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
legacy.WriteRegister(d.bus, uint8(d.Address), CFG_REG_A, cmd)
time.Sleep(100 * time.Millisecond)
// reboot
cmd[0] = byte(1 << 6)
d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
legacy.WriteRegister(d.bus, uint8(d.Address), CFG_REG_A, cmd)
time.Sleep(100 * time.Millisecond)
// bdu
cmd[0] = byte(1 << 4)
d.bus.WriteRegister(uint8(d.Address), CFG_REG_C, cmd)
legacy.WriteRegister(d.bus, uint8(d.Address), CFG_REG_C, cmd)
// Temperature compensation is on for magnetic sensor (0x80)
cmd[0] = byte(0x80)
d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
legacy.WriteRegister(d.bus, uint8(d.Address), CFG_REG_A, cmd)
// speed
cmd[0] = byte(0x80 | d.DataRate)
d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
legacy.WriteRegister(d.bus, uint8(d.Address), CFG_REG_A, cmd)
}
// ReadMagneticField reads the current magnetic field from the device and returns
@@ -93,11 +94,11 @@ func (d *Device) ReadMagneticField() (x int32, y int32, z int32) {
// turn back on read mode, even though it is supposed to be continuous?
cmd := []byte{0}
cmd[0] = byte(0x80 | d.PowerMode<<4 | d.DataRate<<2 | d.SystemMode)
d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
legacy.WriteRegister(d.bus, uint8(d.Address), CFG_REG_A, cmd)
time.Sleep(10 * time.Millisecond)
data := make([]byte, 6)
d.bus.ReadRegister(uint8(d.Address), OUTX_L_REG, data)
legacy.ReadRegister(d.bus, uint8(d.Address), OUTX_L_REG, data)
x = int32(int16((uint16(data[0]) << 8) | uint16(data[1])))
y = int32(int16((uint16(data[2]) << 8) | uint16(data[3])))