61 lines
1.5 KiB
Go
61 lines
1.5 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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connection I2c
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}
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// NewHMC6352Driver creates a new driver with specified i2c interface
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func NewHMC6352Driver(a I2c) *HMC6352Driver {
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return &HMC6352Driver{
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name: "HMC6352",
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connection: a,
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}
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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.connection.(gobot.Connection) }
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// Start initializes the hmc6352
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func (h *HMC6352Driver) Start() (err error) {
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if err := h.connection.I2cStart(hmc6352Address); err != nil {
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return err
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}
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if err := h.connection.I2cWrite(hmc6352Address, []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.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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