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hybridgroup.gobot/drivers/i2c/mma7660_driver.go
deadprogram 90bd2d594f i2c: complete adding optional param with alternative i2c bus for all i2c drivers
Signed-off-by: deadprogram <ron@hybridgroup.com>
2017-02-09 11:23:36 +01:00

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
}