mirror of
https://github.com/tinygo-org/drivers.git
synced 2026-08-03 22:47:47 +00:00
Ayke van Laethem
6763521eff
This type should be used whenever a sensor (or actuator?) works with a
temperature. For example, this commit changes the signature:
ReadTemperature() (int32, error)
to the following:
ReadTemperature() (drivers.Temperature, error)
I believe this is much clearer in intent. It also makes it trivial to
introduce common conversions. For example, there are already Celsius()
and Fahrenheit() methods to convert to the given units, as a floating
point. More units could be added as needed, for example a CelsiusInt().
110 lines
2.4 KiB
Go
110 lines
2.4 KiB
Go
// Connects to an LSM6DSOX I2C a 6 axis Inertial Measurement Unit (IMU)
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package main
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import (
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"fmt"
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"machine"
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"time"
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"tinygo.org/x/drivers"
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"tinygo.org/x/drivers/lsm6dsox"
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)
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const (
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PLOTTER = true
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SHOW_ACCELERATION = false
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SHOW_ROTATION = true
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SHOW_TEMPERATURE = false
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// calibration is naive, good enough for a demo: do not shake a second after flashing
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GYRO_CALIBRATION = true
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)
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var cal = [...]float32{0, 0, 0}
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func main() {
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machine.I2C0.Configure(machine.I2CConfig{})
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device := lsm6dsox.New(machine.I2C0)
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device.Configure(lsm6dsox.Configuration{
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AccelRange: lsm6dsox.ACCEL_2G,
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AccelSampleRate: lsm6dsox.ACCEL_SR_104,
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GyroRange: lsm6dsox.GYRO_250DPS,
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GyroSampleRate: lsm6dsox.GYRO_SR_104,
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})
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for {
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if !device.Connected() {
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println("LSM6DSOX not connected")
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time.Sleep(time.Second)
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continue
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}
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// heuristic: after successful calibration the value can't be 0
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if GYRO_CALIBRATION && cal[0] == 0 {
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calibrateGyro(device)
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}
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ax, ay, az := device.ReadAcceleration()
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gx, gy, gz := device.ReadRotation()
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t, _ := device.ReadTemperature()
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if PLOTTER {
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printPlotter(ax, ay, az, gx, gy, gz, t)
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time.Sleep(time.Millisecond * 100)
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} else {
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printMonitor(ax, ay, az, gx, gy, gz, t)
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time.Sleep(time.Millisecond * 1000)
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}
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}
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}
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func calibrateGyro(device *lsm6dsox.Device) {
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for i := 0; i < 100; i++ {
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gx, gy, gz := device.ReadRotation()
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cal[0] += float32(gx) / 1000000
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cal[1] += float32(gy) / 1000000
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cal[2] += float32(gz) / 1000000
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time.Sleep(time.Millisecond * 10)
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}
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cal[0] /= 100
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cal[1] /= 100
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cal[2] /= 100
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}
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// Arduino IDE's Serial Plotter
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func printPlotter(ax, ay, az, gx, gy, gz int32, t drivers.Temperature) {
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if SHOW_ACCELERATION {
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fmt.Printf("AX:%f, AY:%f, AZ:%f,", axis(ax, 0), axis(ay, 0), axis(az, 0))
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}
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if SHOW_ROTATION {
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fmt.Printf("GX:%f, GY:%f, GZ:%f,", axis(gx, cal[0]), axis(gy, cal[1]), axis(gz, cal[2]))
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}
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if SHOW_TEMPERATURE {
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fmt.Printf("T:%f", t.Celsius())
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}
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println()
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}
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// Any Serial Monitor
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func printMonitor(ax, ay, az, gx, gy, gz, t int32) {
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if SHOW_ACCELERATION {
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fmt.Printf("Acceleration: %f, %f, %f\r\n", axis(ax, 0), axis(ay, 0), axis(az, 0))
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}
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if SHOW_ROTATION {
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fmt.Printf("Rotation: %f, %f, %f\r\n", axis(gx, cal[0]), axis(gy, cal[1]), axis(gz, cal[2]))
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}
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if SHOW_TEMPERATURE {
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fmt.Printf("Temperature C: %f\r\n", float32(t)/1000)
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}
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println()
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}
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func axis(raw int32, cal float32) float32 {
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return float32(raw)/1000000 - cal
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}
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