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i2c iface refactor: Resolve 559

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This commit is contained in:
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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lsm303agr/lsm303agr.go
+11 -10
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@@ -9,6 +9,7 @@ import (
"math"
"tinygo.org/x/drivers"
"tinygo.org/x/drivers/internal/legacy"
)
// Device wraps an I2C connection to a LSM303AGR device.
@@ -52,8 +53,8 @@ func New(bus drivers.I2C) *Device {
// It does two "who am I" requests and checks the responses.
func (d *Device) Connected() bool {
data1, data2 := []byte{0}, []byte{0}
d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_WHO_AM_I, data1)
d.bus.ReadRegister(uint8(d.MagAddress), MAG_WHO_AM_I, data2)
legacy.ReadRegister(d.bus, uint8(d.AccelAddress), ACCEL_WHO_AM_I, data1)
legacy.ReadRegister(d.bus, uint8(d.MagAddress), MAG_WHO_AM_I, data2)
return data1[0] == 0x33 && data2[0] == 0x40
}
@@ -104,26 +105,26 @@ func (d *Device) Configure(cfg Configuration) (err error) {
data := d.buf[:1]
data[0] = byte(d.AccelDataRate<<4 | d.AccelPowerMode | 0x07)
err = d.bus.WriteRegister(uint8(d.AccelAddress), ACCEL_CTRL_REG1_A, data)
err = legacy.WriteRegister(d.bus, uint8(d.AccelAddress), ACCEL_CTRL_REG1_A, data)
if err != nil {
return
}
data[0] = byte(0x80 | d.AccelRange<<4)
err = d.bus.WriteRegister(uint8(d.AccelAddress), ACCEL_CTRL_REG4_A, data)
err = legacy.WriteRegister(d.bus, uint8(d.AccelAddress), ACCEL_CTRL_REG4_A, data)
if err != nil {
return
}
data[0] = byte(0xC0)
err = d.bus.WriteRegister(uint8(d.AccelAddress), TEMP_CFG_REG_A, data)
err = legacy.WriteRegister(d.bus, uint8(d.AccelAddress), TEMP_CFG_REG_A, data)
if err != nil {
return
}
// Temperature compensation is on for magnetic sensor
data[0] = byte(0x80 | d.MagPowerMode<<4 | d.MagDataRate<<2 | d.MagSystemMode)
err = d.bus.WriteRegister(uint8(d.MagAddress), MAG_MR_REG_M, data)
err = legacy.WriteRegister(d.bus, uint8(d.MagAddress), MAG_MR_REG_M, data)
if err != nil {
return
}
@@ -137,7 +138,7 @@ 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_AUTO_INC, data)
err = legacy.ReadRegister(d.bus, uint8(d.AccelAddress), ACCEL_OUT_AUTO_INC, data)
if err != nil {
return
}
@@ -183,14 +184,14 @@ func (d *Device) ReadMagneticField() (x, y, z int32, err error) {
if d.MagSystemMode == MAG_SYSTEM_SINGLE {
cmd := d.buf[:1]
cmd[0] = byte(0x80 | d.MagPowerMode<<4 | d.MagDataRate<<2 | d.MagSystemMode)
err = d.bus.WriteRegister(uint8(d.MagAddress), MAG_MR_REG_M, cmd)
err = legacy.WriteRegister(d.bus, uint8(d.MagAddress), MAG_MR_REG_M, cmd)
if err != nil {
return
}
}
data := d.buf[0:6]
d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_AUTO_INC, data)
legacy.ReadRegister(d.bus, 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 +220,7 @@ 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_AUTO_INC, data)
err = legacy.ReadRegister(d.bus, uint8(d.AccelAddress), OUT_TEMP_AUTO_INC, data)
if err != nil {
return
}