56 lines
1.3 KiB
Go
56 lines
1.3 KiB
Go
package i2c
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import "github.com/hybridgroup/gobot"
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var _ gobot.Driver = (*HMC6352Driver)(nil)
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const hmc6352Address = 0x21
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type HMC6352Driver struct {
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name string
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connection I2c
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}
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// NewHMC6352Driver creates a new driver with specified name and i2c interface
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func NewHMC6352Driver(a I2c, name string) *HMC6352Driver {
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return &HMC6352Driver{
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name: name,
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connection: a,
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}
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}
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func (h *HMC6352Driver) Name() string { return h.name }
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func (h *HMC6352Driver) Connection() gobot.Connection { return h.connection.(gobot.Connection) }
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// Start initialized the hmc6352
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func (h *HMC6352Driver) Start() (errs []error) {
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if err := h.connection.I2cStart(hmc6352Address); err != nil {
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return []error{err}
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}
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if err := h.connection.I2cWrite(hmc6352Address, []byte("A")); err != nil {
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return []error{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() (errs []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.I2cWrite(hmc6352Address, []byte("A")); err != nil {
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return
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}
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ret, err := h.connection.I2cRead(hmc6352Address, 2)
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if err != nil {
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return
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}
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if len(ret) == 2 {
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heading = (uint16(ret[1]) + uint16(ret[0])*256) / 10
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return
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} else {
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err = ErrNotEnoughBytes
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}
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return
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}
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