56 lines
1.2 KiB
Go
56 lines
1.2 KiB
Go
package i2c
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const hmc6352DefaultAddress = 0x21
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// HMC6352Driver is a Driver for a HMC6352 digital compass
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type HMC6352Driver struct {
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*Driver
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}
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// NewHMC6352Driver creates a new driver with specified i2c interface
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// Params:
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//
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// c Connector - the Adaptor to use with this Driver
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//
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// Optional params:
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//
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// i2c.WithBus(int): bus to use with this driver
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// i2c.WithAddress(int): address to use with this driver
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func NewHMC6352Driver(c Connector, options ...func(Config)) *HMC6352Driver {
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h := &HMC6352Driver{
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Driver: NewDriver(c, "HMC6352", hmc6352DefaultAddress),
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}
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h.afterStart = h.initialize
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for _, option := range options {
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option(h)
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}
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return h
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}
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// Heading returns the current heading
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func (h *HMC6352Driver) Heading() (uint16, error) {
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if _, err := h.connection.Write([]byte("A")); err != nil {
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return 0, err
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}
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buf := []byte{0, 0}
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bytesRead, err := h.connection.Read(buf)
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if err != nil {
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return 0, err
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}
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if bytesRead == 2 {
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heading := (uint16(buf[1]) + uint16(buf[0])*256) / 10
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return heading, nil
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}
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return 0, ErrNotEnoughBytes
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}
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func (h *HMC6352Driver) initialize() error {
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if _, err := h.connection.Write([]byte("A")); err != nil {
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return err
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}
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return nil
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}
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