mirror of
https://github.com/hybridgroup/gobot.git
synced 2025-05-01 13:48:57 +08:00
119 lines
2.8 KiB
Go
119 lines
2.8 KiB
Go
package i2c
|
|
|
|
import "gobot.io/x/gobot"
|
|
|
|
const mma7660Address = 0x4c
|
|
|
|
const (
|
|
MMA7660_X = 0x00
|
|
MMA7660_Y = 0x01
|
|
MMA7660_Z = 0x02
|
|
MMA7660_TILT = 0x03
|
|
MMA7660_SRST = 0x04
|
|
MMA7660_SPCNT = 0x05
|
|
MMA7660_INTSU = 0x06
|
|
MMA7660_MODE = 0x07
|
|
MMA7660_STAND_BY = 0x00
|
|
MMA7660_ACTIVE = 0x01
|
|
MMA7660_SR = 0x08
|
|
MMA7660_AUTO_SLEEP_120 = 0x00
|
|
MMA7660_AUTO_SLEEP_64 = 0x01
|
|
MMA7660_AUTO_SLEEP_32 = 0x02
|
|
MMA7660_AUTO_SLEEP_16 = 0x03
|
|
MMA7660_AUTO_SLEEP_8 = 0x04
|
|
MMA7660_AUTO_SLEEP_4 = 0x05
|
|
MMA7660_AUTO_SLEEP_2 = 0x06
|
|
MMA7660_AUTO_SLEEP_1 = 0x07
|
|
MMA7660_PDET = 0x09
|
|
MMA7660_PD = 0x0A
|
|
)
|
|
|
|
type MMA7660Driver struct {
|
|
name string
|
|
connector I2cConnector
|
|
connection I2cConnection
|
|
I2cBusser
|
|
}
|
|
|
|
// NewMMA7660Driver creates a new driver with specified i2c interface
|
|
func NewMMA7660Driver(a I2cConnector, options ...func(I2cBusser)) *MMA7660Driver {
|
|
m := &MMA7660Driver{
|
|
name: gobot.DefaultName("MMA7660"),
|
|
connector: a,
|
|
I2cBusser: NewI2cBusser(),
|
|
}
|
|
|
|
for _, option := range options {
|
|
option(m)
|
|
}
|
|
|
|
// TODO: add commands for API
|
|
return m
|
|
}
|
|
|
|
func (h *MMA7660Driver) Name() string { return h.name }
|
|
func (h *MMA7660Driver) SetName(n string) { h.name = n }
|
|
func (h *MMA7660Driver) Connection() gobot.Connection { return h.connector.(gobot.Connection) }
|
|
|
|
// Start initialized the mma7660
|
|
func (h *MMA7660Driver) Start() (err error) {
|
|
if h.GetBus() == BusNotInitialized {
|
|
h.Bus(h.connector.I2cGetDefaultBus())
|
|
}
|
|
bus := h.GetBus()
|
|
|
|
h.connection, err = h.connector.I2cGetConnection(mma7660Address, bus)
|
|
if err != nil {
|
|
return err
|
|
}
|
|
|
|
if _, err := h.connection.Write([]byte{MMA7660_MODE, MMA7660_STAND_BY}); err != nil {
|
|
return err
|
|
}
|
|
|
|
if _, err := h.connection.Write([]byte{MMA7660_SR, MMA7660_AUTO_SLEEP_32}); err != nil {
|
|
return err
|
|
}
|
|
|
|
if _, err := h.connection.Write([]byte{MMA7660_MODE, MMA7660_ACTIVE}); err != nil {
|
|
return err
|
|
}
|
|
|
|
return
|
|
}
|
|
|
|
// Halt returns true if devices is halted successfully
|
|
func (h *MMA7660Driver) Halt() (err error) { return }
|
|
|
|
// Acceleration returns the acceleration of the provided x, y, z
|
|
func (h *MMA7660Driver) Acceleration(x, y, z float64) (ax, ay, az float64) {
|
|
return x / 21.0, y / 21.0, z / 21.0
|
|
}
|
|
|
|
// XYZ returns the raw x,y and z axis from the mma7660
|
|
func (h *MMA7660Driver) XYZ() (x float64, y float64, z float64, err error) {
|
|
buf := []byte{0, 0, 0}
|
|
bytesRead, err := h.connection.Read(buf)
|
|
if err != nil {
|
|
return
|
|
}
|
|
|
|
if bytesRead != 3 {
|
|
err = ErrNotEnoughBytes
|
|
return
|
|
}
|
|
|
|
for _, val := range buf {
|
|
if ((val >> 6) & 0x01) == 1 {
|
|
err = ErrNotReady
|
|
return
|
|
}
|
|
}
|
|
|
|
x = float64((int8(buf[0]) << 2)) / 4.0
|
|
y = float64((int8(buf[1]) << 2)) / 4.0
|
|
z = float64((int8(buf[2]) << 2)) / 4.0
|
|
|
|
return
|
|
}
|