hybridgroup.gobot/drivers/i2c/mma7660_driver.go

131 lines
3.1 KiB
Go

package i2c
import (
"gobot.io/x/gobot"
)
const mma7660Address = 0x4c
const (
MMA7660_X = 0x00
MMA7660_Y = 0x01
MMA7660_Z = 0x02
MMA7660_TILT = 0x03
MMA7660_SRST = 0x04
MMA7660_SPCNT = 0x05
MMA7660_INTSU = 0x06
MMA7660_MODE = 0x07
MMA7660_STAND_BY = 0x00
MMA7660_ACTIVE = 0x01
MMA7660_SR = 0x08
MMA7660_AUTO_SLEEP_120 = 0x00
MMA7660_AUTO_SLEEP_64 = 0x01
MMA7660_AUTO_SLEEP_32 = 0x02
MMA7660_AUTO_SLEEP_16 = 0x03
MMA7660_AUTO_SLEEP_8 = 0x04
MMA7660_AUTO_SLEEP_4 = 0x05
MMA7660_AUTO_SLEEP_2 = 0x06
MMA7660_AUTO_SLEEP_1 = 0x07
MMA7660_PDET = 0x09
MMA7660_PD = 0x0A
)
type MMA7660Driver struct {
name string
connector Connector
connection Connection
Config
}
// NewMMA7660Driver creates a new driver with specified i2c interface
// Params:
// conn Connector - the Adaptor to use with this Driver
//
// Optional params:
// i2c.WithBus(int): bus to use with this driver
// i2c.WithAddress(int): address to use with this driver
//
func NewMMA7660Driver(a Connector, options ...func(Config)) *MMA7660Driver {
m := &MMA7660Driver{
name: gobot.DefaultName("MMA7660"),
connector: a,
Config: NewConfig(),
}
for _, option := range options {
option(m)
}
// TODO: add commands for API
return m
}
// Name returns the Name for the Driver
func (h *MMA7660Driver) Name() string { return h.name }
// SetName sets the Name for the Driver
func (h *MMA7660Driver) SetName(n string) { h.name = n }
// Connection returns the connection for the Driver
func (h *MMA7660Driver) Connection() gobot.Connection { return h.connector.(gobot.Connection) }
// Start initialized the mma7660
func (h *MMA7660Driver) Start() (err error) {
bus := h.GetBusOrDefault(h.connector.GetDefaultBus())
address := h.GetAddressOrDefault(mma7660Address)
h.connection, err = h.connector.GetConnection(address, bus)
if err != nil {
return err
}
if _, err := h.connection.Write([]byte{MMA7660_MODE, MMA7660_STAND_BY}); err != nil {
return err
}
if _, err := h.connection.Write([]byte{MMA7660_SR, MMA7660_AUTO_SLEEP_32}); err != nil {
return err
}
if _, err := h.connection.Write([]byte{MMA7660_MODE, MMA7660_ACTIVE}); err != nil {
return err
}
return
}
// Halt returns true if devices is halted successfully
func (h *MMA7660Driver) Halt() (err error) { return }
// Acceleration returns the acceleration of the provided x, y, z
func (h *MMA7660Driver) Acceleration(x, y, z float64) (ax, ay, az float64) {
return x / 21.0, y / 21.0, z / 21.0
}
// XYZ returns the raw x,y and z axis from the mma7660
func (h *MMA7660Driver) XYZ() (x float64, y float64, z float64, err error) {
buf := []byte{0, 0, 0}
bytesRead, err := h.connection.Read(buf)
if err != nil {
return
}
if bytesRead != 3 {
err = ErrNotEnoughBytes
return
}
for _, val := range buf {
if ((val >> 6) & 0x01) == 1 {
err = ErrNotReady
return
}
}
x = float64((int8(buf[0]) << 2)) / 4.0
y = float64((int8(buf[1]) << 2)) / 4.0
z = float64((int8(buf[2]) << 2)) / 4.0
return
}