mirror of
https://github.com/tinygo-org/drivers.git
synced 2026-08-02 22:17:49 +00:00
Mike Hughes
936a255df9
* Add support for CEVA BNO08x 9DoF sensor. Also includes implementation of CEVA SH-2 and SHTP protocols.
* Replace machine.I2C with drivers.I2C interface to remove dependency on machine package
* Replace Pin functionality with that provided by tinygo.org/x/drivers/internal/pin
* Unexport fields on SensorValue and replace with accessor methods. Add check for correct SensorID validation
* Add example to smoketest.sh
* Change build target for smoketest to match development environment.. Probably not important, but matches reality.
* Fix decoding of some sensor data: Step Counter, Tap Detector, Flip Detector. These are experimental.
* Refactor to allow SPI/UART etc. SPI is currently under development, but is omitted from this commit.
Example code has been moved to i2c subdirectory.
This commit introduces some major refactoring changes. It introduces a "Buser" interface and tries to remove any I2C specific code from the core. It still retains a couple of I2C specific fields in the "Config" struct ("Address" and "ReadChunk") but they are ignored in the as yet uncommited SPI code.
* Fix CRLF -> LF for gofmt
* Update smoketest to point to new example file
67 lines
1.8 KiB
Go
67 lines
1.8 KiB
Go
// Package main provides a basic example of using the BNO08x driver
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// to read rotation vector (quaternion) data from the sensor.
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package main
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import (
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"machine"
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"time"
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"tinygo.org/x/drivers/bno08x"
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)
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func main() {
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time.Sleep(2 * time.Second) // Wait for sensor to power up
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// Initialize I2C bus
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i2c := machine.I2C0
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err := i2c.Configure(machine.I2CConfig{
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Frequency: 400 * machine.KHz,
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})
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if err != nil {
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println("Failed to configure I2C:", err.Error())
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return
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}
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println("Initializing BNO08x sensor...")
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// Create and configure sensor using I2C
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sensor := bno08x.NewI2C(i2c)
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err = sensor.Configure(bno08x.Config{})
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if err != nil {
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println("Failed to configure sensor:", err.Error())
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return
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}
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println("Sensor initialized successfully")
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// Enable Game Rotation Vector reports at 100Hz (10000 microseconds = 10ms interval)
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// Using Game Rotation Vector (0x08) to match the working channel_debug test
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err = sensor.EnableReport(bno08x.SensorGameRotationVector, 10000)
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if err != nil {
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println("Failed to enable game rotation vector:", err.Error())
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return
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}
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println("Reading rotation vectors...")
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println("Format: Real I J K Accuracy")
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// Add a delay after enabling reports (Arduino does this)
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time.Sleep(100 * time.Millisecond)
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// Main loop - read and display quaternion data
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for {
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event, ok := sensor.GetSensorEvent()
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if ok && (event.ID() == bno08x.SensorRotationVector || event.ID() == bno08x.SensorGameRotationVector) {
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q := event.Quaternion()
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if event.ID() == bno08x.SensorRotationVector {
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println(q.Real, q.I, q.J, q.K, event.QuaternionAccuracy())
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} else {
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// GameRotationVector doesn't have accuracy
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println(q.Real, q.I, q.J, q.K)
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}
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}
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// Arduino uses 10ms delay in loop
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time.Sleep(10 * time.Millisecond)
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}
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}
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