83 lines
1.9 KiB
Go
83 lines
1.9 KiB
Go
package i2c
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import "gobot.io/x/gobot"
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const hmc6352Address = 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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name string
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connector Connector
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connection Connection
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Config
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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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// conn Connector - the Adaptor to use with this Driver
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//
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// Optional params:
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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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//
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func NewHMC6352Driver(a Connector, options ...func(Config)) *HMC6352Driver {
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hmc := &HMC6352Driver{
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name: gobot.DefaultName("HMC6352"),
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connector: a,
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Config: NewConfig(),
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}
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for _, option := range options {
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option(hmc)
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}
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return hmc
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}
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// Name returns the name for this Driver
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func (h *HMC6352Driver) Name() string { return h.name }
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// SetName sets the name for this Driver
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func (h *HMC6352Driver) SetName(n string) { h.name = n }
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// Connection returns the connection for this Driver
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func (h *HMC6352Driver) Connection() gobot.Connection { return h.connector.(gobot.Connection) }
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// Start initializes the hmc6352
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func (h *HMC6352Driver) Start() (err error) {
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bus := h.GetBusOrDefault(h.connector.GetDefaultBus())
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address := h.GetAddressOrDefault(hmc6352Address)
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h.connection, err = h.connector.GetConnection(address, bus)
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if err != nil {
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return err
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}
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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
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}
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// Halt returns true if devices is halted successfully
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func (h *HMC6352Driver) Halt() (err error) { return }
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// Heading returns the current heading
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func (h *HMC6352Driver) Heading() (heading uint16, err error) {
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if _, err = h.connection.Write([]byte("A")); err != nil {
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return
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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
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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
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}
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err = ErrNotEnoughBytes
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return
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}
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