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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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mpu6050/mpu6050.go
+10 -7
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@@ -6,7 +6,10 @@
// https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf
package mpu6050 // import "tinygo.org/x/drivers/mpu6050"
import "tinygo.org/x/drivers"
import (
"tinygo.org/x/drivers"
"tinygo.org/x/drivers/internal/legacy"
)
// Device wraps an I2C connection to a MPU6050 device.
type Device struct {
@@ -26,7 +29,7 @@ func New(bus drivers.I2C) Device {
// It does a "who am I" request and checks the response.
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] == 0x68
}
@@ -41,7 +44,7 @@ func (d Device) Configure() error {
// -1000000.
func (d Device) ReadAcceleration() (x int32, y int32, z int32) {
data := make([]byte, 6)
d.bus.ReadRegister(uint8(d.Address), ACCEL_XOUT_H, data)
legacy.ReadRegister(d.bus, uint8(d.Address), ACCEL_XOUT_H, data)
// Now do two things:
// 1. merge the two values to a 16-bit number (and cast to a 32-bit integer)
// 2. scale the value to bring it in the -1000000..1000000 range.
@@ -62,7 +65,7 @@ func (d Device) ReadAcceleration() (x int32, y int32, z int32) {
// you would get a value close to 360000000.
func (d Device) ReadRotation() (x int32, y int32, z int32) {
data := make([]byte, 6)
d.bus.ReadRegister(uint8(d.Address), GYRO_XOUT_H, data)
legacy.ReadRegister(d.bus, uint8(d.Address), GYRO_XOUT_H, data)
// First the value is converted from a pair of bytes to a signed 16-bit
// value and then to a signed 32-bit value to avoid integer overflow.
// Then the value is scaled to µ°/s (micro-degrees per second).
@@ -81,15 +84,15 @@ func (d Device) ReadRotation() (x int32, y int32, z int32) {
// SetClockSource allows the user to configure the clock source.
func (d Device) SetClockSource(source uint8) error {
return d.bus.WriteRegister(uint8(d.Address), PWR_MGMT_1, []uint8{source})
return legacy.WriteRegister(d.bus, uint8(d.Address), PWR_MGMT_1, []uint8{source})
}
// SetFullScaleGyroRange allows the user to configure the scale range for the gyroscope.
func (d Device) SetFullScaleGyroRange(rng uint8) error {
return d.bus.WriteRegister(uint8(d.Address), GYRO_CONFIG, []uint8{rng})
return legacy.WriteRegister(d.bus, uint8(d.Address), GYRO_CONFIG, []uint8{rng})
}
// SetFullScaleAccelRange allows the user to configure the scale range for the accelerometer.
func (d Device) SetFullScaleAccelRange(rng uint8) error {
return d.bus.WriteRegister(uint8(d.Address), ACCEL_CONFIG, []uint8{rng})
return legacy.WriteRegister(d.bus, uint8(d.Address), ACCEL_CONFIG, []uint8{rng})
}