103 lines
2.5 KiB
Go
103 lines
2.5 KiB
Go
package i2c
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import "github.com/hybridgroup/gobot"
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var _ gobot.Driver = (*MMA7660Driver)(nil)
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const mma7660Address = 0x4c
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const (
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MMA7660_X = 0x00
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MMA7660_Y = 0x01
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MMA7660_Z = 0x02
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MMA7660_TILT = 0x03
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MMA7660_SRST = 0x04
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MMA7660_SPCNT = 0x05
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MMA7660_INTSU = 0x06
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MMA7660_MODE = 0x07
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MMA7660_STAND_BY = 0x00
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MMA7660_ACTIVE = 0x01
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MMA7660_SR = 0x08
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MMA7660_AUTO_SLEEP_120 = 0x00
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MMA7660_AUTO_SLEEP_64 = 0x01
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MMA7660_AUTO_SLEEP_32 = 0x02
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MMA7660_AUTO_SLEEP_16 = 0x03
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MMA7660_AUTO_SLEEP_8 = 0x04
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MMA7660_AUTO_SLEEP_4 = 0x05
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MMA7660_AUTO_SLEEP_2 = 0x06
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MMA7660_AUTO_SLEEP_1 = 0x07
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MMA7660_PDET = 0x09
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MMA7660_PD = 0x0A
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)
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type MMA7660Driver struct {
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name string
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connection I2c
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}
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// NewMMA7660Driver creates a new driver with specified name and i2c interface
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func NewMMA7660Driver(a I2c, name string) *MMA7660Driver {
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return &MMA7660Driver{
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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 *MMA7660Driver) Name() string { return h.name }
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func (h *MMA7660Driver) Connection() gobot.Connection { return h.connection.(gobot.Connection) }
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// Start initialized the mma7660
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func (h *MMA7660Driver) Start() (errs []error) {
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if err := h.connection.I2cStart(mma7660Address); err != nil {
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return []error{err}
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}
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if err := h.connection.I2cWrite(mma7660Address, []byte{MMA7660_MODE, MMA7660_STAND_BY}); err != nil {
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return []error{err}
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}
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if err := h.connection.I2cWrite(mma7660Address, []byte{MMA7660_SR, MMA7660_AUTO_SLEEP_32}); err != nil {
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return []error{err}
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}
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if err := h.connection.I2cWrite(mma7660Address, []byte{MMA7660_MODE, MMA7660_ACTIVE}); 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 *MMA7660Driver) Halt() (errs []error) { return }
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// Acceleration returns the acceleration of the provided x, y, z
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func (h *MMA7660Driver) Acceleration(x, y, z float64) (ax, ay, az float64) {
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return x / 21.0, y / 21.0, z / 21.0
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}
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// XYZ returns the raw x,y and z axis from the mma7660
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func (h *MMA7660Driver) XYZ() (x float64, y float64, z float64, err error) {
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ret, err := h.connection.I2cRead(mma7660Address, 3)
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if err != nil {
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return
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}
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if len(ret) != 3 {
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err = ErrNotEnoughBytes
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return
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}
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for _, val := range ret {
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if ((val >> 6) & 0x01) == 1 {
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err = ErrNotReady
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return
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}
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}
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x = float64((int8(ret[0]) << 2)) / 4.0
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y = float64((int8(ret[1]) << 2)) / 4.0
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z = float64((int8(ret[2]) << 2)) / 4.0
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return
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}
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