103 lines
2.5 KiB
Go
103 lines
2.5 KiB
Go
package i2c
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import (
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"bytes"
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"encoding/binary"
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"github.com/hybridgroup/gobot"
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)
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var _ gobot.DriverInterface = (*MPU6050Driver)(nil)
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const MPU6050_RA_ACCEL_XOUT_H = 0x3B
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const MPU6050_RA_PWR_MGMT_1 = 0x6B
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const MPU6050_PWR1_CLKSEL_BIT = 2
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const MPU6050_PWR1_CLKSEL_LENGTH = 3
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const MPU6050_CLOCK_PLL_XGYRO = 0x01
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const MPU6050_GYRO_FS_250 = 0x00
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const MPU6050_RA_GYRO_CONFIG = 0x1B
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const MPU6050_GCONFIG_FS_SEL_LENGTH = 2
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const MPU6050_GCONFIG_FS_SEL_BIT = 4
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const MPU6050_RA_ACCEL_CONFIG = 0x1C
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const MPU6050_ACONFIG_AFS_SEL_BIT = 4
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const MPU6050_ACONFIG_AFS_SEL_LENGTH = 2
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const MPU6050_ACCEL_FS_2 = 0x00
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const MPU6050_PWR1_SLEEP_BIT = 6
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type ThreeDData struct {
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X int16
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Y int16
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Z int16
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}
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type MPU6050Driver struct {
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gobot.Driver
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Accelerometer ThreeDData
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Gyroscope ThreeDData
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Temperature int16
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}
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// NewMPU6050Driver creates a new driver with specified name and i2c interface
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func NewMPU6050Driver(a I2cInterface, name string) *MPU6050Driver {
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return &MPU6050Driver{
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Driver: *gobot.NewDriver(
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name,
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"MPU6050Driver",
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a.(gobot.AdaptorInterface),
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),
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}
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}
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// adaptor returns MPU6050 adaptor
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func (h *MPU6050Driver) adaptor() I2cInterface {
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return h.Adaptor().(I2cInterface)
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}
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// Start writes initialization bytes and reads from adaptor
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// using specified interval to accelerometer andtemperature data
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func (h *MPU6050Driver) Start() error {
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h.initialize()
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gobot.Every(h.Interval(), func() {
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h.adaptor().I2cWrite([]byte{MPU6050_RA_ACCEL_XOUT_H})
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ret := h.adaptor().I2cRead(14)
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buf := bytes.NewBuffer(ret)
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binary.Read(buf, binary.BigEndian, &h.Accelerometer)
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binary.Read(buf, binary.BigEndian, &h.Gyroscope)
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binary.Read(buf, binary.BigEndian, &h.Temperature)
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})
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return nil
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}
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// Halt returns true if devices is halted successfully
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func (h *MPU6050Driver) Halt() error { return nil }
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func (h *MPU6050Driver) initialize() bool {
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h.adaptor().I2cStart(0x68)
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// setClockSource
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h.adaptor().I2cWrite([]byte{MPU6050_RA_PWR_MGMT_1,
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MPU6050_PWR1_CLKSEL_BIT,
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MPU6050_PWR1_CLKSEL_LENGTH,
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MPU6050_CLOCK_PLL_XGYRO})
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// setFullScaleGyroRange
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h.adaptor().I2cWrite([]byte{MPU6050_GYRO_FS_250,
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MPU6050_RA_GYRO_CONFIG,
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MPU6050_GCONFIG_FS_SEL_LENGTH,
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MPU6050_GCONFIG_FS_SEL_BIT})
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// setFullScaleAccelRange
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h.adaptor().I2cWrite([]byte{MPU6050_RA_ACCEL_CONFIG,
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MPU6050_ACONFIG_AFS_SEL_BIT,
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MPU6050_ACONFIG_AFS_SEL_LENGTH,
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MPU6050_ACCEL_FS_2})
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// setSleepEnabled
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h.adaptor().I2cWrite([]byte{MPU6050_RA_PWR_MGMT_1,
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MPU6050_PWR1_SLEEP_BIT,
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0})
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return true
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}
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