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https://github.com/hybridgroup/gobot.git
synced 2025-05-09 19:29:27 +08:00
Updated DRV2605L driver to new I2C interface
Signed-off-by: Erik Agsjö <erik.agsjo@gmail.com>
This commit is contained in:
Erik Agsjö
parent
c889755027
commit
e9b05a9b4a
@ -73,14 +73,15 @@ const (
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//
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type DRV2605LDriver struct {
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name string
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connection I2c
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connector I2cConnector
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connection I2cConnection
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}
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// NewDRV2605LDriver creates a new driver with the i2c interface for the DRV2605L device.
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func NewDRV2605LDriver(c I2c) *DRV2605LDriver {
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func NewDRV2605LDriver(c I2cConnector) *DRV2605LDriver {
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return &DRV2605LDriver{
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name: "DRV2605L",
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connection: c,
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name: "DRV2605L",
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connector: c,
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}
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}
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@ -96,7 +97,7 @@ func (d *DRV2605LDriver) SetName(name string) {
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// Connection returns the connection of the device.
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func (d *DRV2605LDriver) Connection() gobot.Connection {
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return d.connection.(gobot.Connection)
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return d.connector.(gobot.Connection)
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}
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// Start initializes the device.
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@ -107,23 +108,9 @@ func (d *DRV2605LDriver) Start() (err error) {
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return nil
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}
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func (d *DRV2605LDriver) readByteRegister(reg int) (val uint8, err error) {
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var bytes []uint8
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if bytes, err = d.connection.I2cRead(drv2605Address, reg); err != nil {
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return 0, err
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}
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return bytes[0], nil
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}
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func (d *DRV2605LDriver) writeByteRegister(reg uint8, val uint8) (err error) {
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err = d.connection.I2cWrite(drv2605Address, []byte{reg, val})
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return err
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}
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func (d *DRV2605LDriver) writeByteRegisters(regValPairs [][2]uint8) (err error) {
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func (d *DRV2605LDriver) writeByteRegisters(regValPairs []struct{ reg, val uint8 }) (err error) {
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for _, rv := range regValPairs {
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reg, val := rv[0], rv[1]
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if err = d.connection.I2cWrite(drv2605Address, []uint8{reg, val}); err != nil {
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if err = d.connection.WriteByteData(rv.reg, rv.val); err != nil {
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break
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}
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}
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@ -131,21 +118,23 @@ func (d *DRV2605LDriver) writeByteRegisters(regValPairs [][2]uint8) (err error)
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}
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func (d *DRV2605LDriver) initialize() (err error) {
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if err = d.connection.I2cStart(drv2605Address); err != nil {
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return err
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}
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feedback, err := d.readByteRegister(drv2605RegFeedback)
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bus := d.connector.I2cGetDefaultBus()
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d.connection, err = d.connector.I2cGetConnection(drv2605Address, bus)
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if err != nil {
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return err
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}
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control, err := d.readByteRegister(drv2605RegControl3)
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feedback, err := d.connection.ReadByteData(drv2605RegFeedback)
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if err != nil {
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return err
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}
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err = d.writeByteRegisters([][2]uint8{
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control, err := d.connection.ReadByteData(drv2605RegControl3)
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if err != nil {
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return err
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}
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err = d.writeByteRegisters([]struct{ reg, val uint8 }{
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// leave standby, enter "internal trig" mode
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{drv2605RegMode, 0},
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// turn off real-time play
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@ -168,7 +157,7 @@ func (d *DRV2605LDriver) initialize() (err error) {
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// SetMode sets the device in one of the eight modes as described in the
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// datasheet. Defaults to mode 0, internal trig.
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func (d *DRV2605LDriver) SetMode(newMode DRV2605Mode) (err error) {
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mode, err := d.readByteRegister(drv2605RegMode)
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mode, err := d.connection.ReadByteData(drv2605RegMode)
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if err != nil {
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return err
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}
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@ -178,14 +167,14 @@ func (d *DRV2605LDriver) SetMode(newMode DRV2605Mode) (err error) {
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// set new mode bits
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mode |= uint8(newMode)
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err = d.writeByteRegister(drv2605RegMode, mode)
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err = d.connection.WriteByteData(drv2605RegMode, mode)
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return err
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}
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// SetStandbyMode controls device low power mode
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func (d *DRV2605LDriver) SetStandbyMode(standby bool) (err error) {
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modeVal, err := d.readByteRegister(drv2605RegMode)
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modeVal, err := d.connection.ReadByteData(drv2605RegMode)
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if err != nil {
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return err
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}
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@ -195,7 +184,7 @@ func (d *DRV2605LDriver) SetStandbyMode(standby bool) (err error) {
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modeVal &= 0xFF ^ drv2605Standby
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}
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err = d.writeByteRegister(drv2605RegMode, modeVal)
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err = d.connection.WriteByteData(drv2605RegMode, modeVal)
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return err
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}
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@ -203,7 +192,7 @@ func (d *DRV2605LDriver) SetStandbyMode(standby bool) (err error) {
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// SelectLibrary selects which waveform library to play from, 1-7.
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// See datasheet for more info.
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func (d *DRV2605LDriver) SelectLibrary(library uint8) (err error) {
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err = d.writeByteRegister(drv2605RegLibrary, library&0x7)
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err = d.connection.WriteByteData(drv2605RegLibrary, library&0x7)
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return err
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}
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@ -233,7 +222,7 @@ func (d *DRV2605LDriver) SetSequence(waveforms []uint8) (err error) {
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waveforms = waveforms[0:8]
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}
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for i, w := range waveforms {
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if err = d.writeByteRegister(uint8(drv2605RegWaveSeq1+i), w); err != nil {
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if err = d.connection.WriteByteData(uint8(drv2605RegWaveSeq1+i), w); err != nil {
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return err
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}
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}
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@ -242,17 +231,20 @@ func (d *DRV2605LDriver) SetSequence(waveforms []uint8) (err error) {
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// Go plays the current sequence of waveforms.
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func (d *DRV2605LDriver) Go() (err error) {
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err = d.writeByteRegister(drv2605RegGo, 1)
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err = d.connection.WriteByteData(drv2605RegGo, 1)
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return err
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}
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// Halt halts the device.
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func (d *DRV2605LDriver) Halt() (err error) {
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// stop playback
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if err = d.writeByteRegister(drv2605RegGo, 0); err != nil {
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return err
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}
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if d.connection != nil {
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// stop playback
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if err = d.connection.WriteByteData(drv2605RegGo, 0); err != nil {
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return err
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}
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// enter standby
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return d.writeByteRegister(drv2605RegMode, 1)
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// enter standby
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return d.connection.WriteByteData(drv2605RegMode, 1)
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}
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return
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}
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@ -15,6 +15,13 @@ var _ gobot.Driver = (*DRV2605LDriver)(nil)
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func initTestDriverAndAdaptor() (*DRV2605LDriver, *i2cTestAdaptor) {
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adaptor := newI2cTestAdaptor()
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// Prime adapter reader to make "Start()" call happy
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adaptor.i2cReadImpl = func(b []byte) (int, error) {
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buf := new(bytes.Buffer)
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binary.Write(buf, binary.LittleEndian, uint8(42))
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copy(b, buf.Bytes())
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return buf.Len(), nil
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}
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return NewDRV2605LDriver(adaptor), adaptor
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}
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@ -26,27 +33,21 @@ func TestDRV2605LDriver(t *testing.T) {
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}
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func TestDRV2605LDriverStart(t *testing.T) {
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d, adaptor := initTestDriverAndAdaptor()
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adaptor.i2cReadImpl = func() ([]byte, error) {
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buf := new(bytes.Buffer)
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binary.Write(buf, binary.LittleEndian, uint8(42))
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return buf.Bytes(), nil
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}
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d, _ := initTestDriverAndAdaptor()
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gobottest.Assert(t, d.Start(), nil)
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}
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func TestDRV2605LDriverHalt(t *testing.T) {
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d, adaptor := initTestDriverAndAdaptor()
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gobottest.Assert(t, d.Start(), nil)
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adaptor.written = []byte{}
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gobottest.Assert(t, d.Halt(), nil)
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gobottest.Assert(t, adaptor.written, []byte{drv2605RegGo, 0, drv2605RegMode, 1})
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}
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func TestDRV2605LDriverGetPause(t *testing.T) {
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d, _ := initTestDriverAndAdaptor()
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gobottest.Assert(t, d.Start(), nil)
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gobottest.Assert(t, d.GetPauseWaveform(0), uint8(0x80))
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gobottest.Assert(t, d.GetPauseWaveform(1), uint8(0x81))
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gobottest.Assert(t, d.GetPauseWaveform(128), d.GetPauseWaveform(127))
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@ -54,7 +55,8 @@ func TestDRV2605LDriverGetPause(t *testing.T) {
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func TestDRV2605LDriverSequenceTermination(t *testing.T) {
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d, adaptor := initTestDriverAndAdaptor()
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gobottest.Assert(t, d.Start(), nil)
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adaptor.written = []byte{}
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gobottest.Assert(t, d.SetSequence([]byte{1, 2}), nil)
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gobottest.Assert(t, adaptor.written, []byte{
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drv2605RegWaveSeq1, 1,
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@ -65,7 +67,8 @@ func TestDRV2605LDriverSequenceTermination(t *testing.T) {
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func TestDRV2605LDriverSequenceTruncation(t *testing.T) {
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d, adaptor := initTestDriverAndAdaptor()
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gobottest.Assert(t, d.Start(), nil)
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adaptor.written = []byte{}
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gobottest.Assert(t, d.SetSequence([]byte{1, 2, 3, 4, 5, 6, 7, 8, 99, 100}), nil)
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gobottest.Assert(t, adaptor.written, []byte{
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drv2605RegWaveSeq1, 1,
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