Documentation
¶
Index ¶
- Constants
- type INA219Driver
- func (i *INA219Driver) Connection() gobot.Connection
- func (i *INA219Driver) GetBusVoltage() (float64, error)
- func (i *INA219Driver) GetCurrent() (float64, error)
- func (i *INA219Driver) GetLoadVoltage() (float64, error)
- func (i *INA219Driver) GetShuntVoltage() (float64, error)
- func (i *INA219Driver) Halt() error
- func (i *INA219Driver) Name() string
- func (i *INA219Driver) SetName(name string)
- func (i *INA219Driver) Start() error
- type MPU9250Driver
- type MPUData
Constants ¶
View Source
const ( INA219_ADDRESS01 = 0x40 INA219_ADDRESS02 = 0x41 INA219_CONFIG_RESET = 0x8000 INA219_CONFIG_BVOLTAGERANGE_MASK = 0x2000 INA219_CONFIG_BVOLTAGERANGE_16V = 0x0000 INA219_CONFIG_BVOLTAGERANGE_32V = 0x2000 INA219_CONFIG_GAIN_MASK = 0x1800 INA219_CONFIG_GAIN_1_40MV = 0x0000 INA219_CONFIG_GAIN_2_80MV = 0x0800 INA219_CONFIG_GAIN_4_160MV = 0x1000 INA219_CONFIG_GAIN_8_320MV = 0x1800 INA219_CONFIG_BADCRES_MASK = 0x0780 INA219_CONFIG_BADCRES_9BIT = 0x0080 INA219_CONFIG_BADCRES_10BIT = 0x0100 INA219_CONFIG_BADCRES_11BIT = 0x0200 INA219_CONFIG_BADCRES_12BIT = 0x0400 INA219_CONFIG_SADCRES_MASK = 0x0078 INA219_CONFIG_SADCRES_9BIT_1S_84US = 0x0000 INA219_CONFIG_SADCRES_10BIT_1S_148US = 0x0008 INA219_CONFIG_SADCRES_11BIT_1S_276US = 0x0010 INA219_CONFIG_SADCRES_12BIT_1S_532US = 0x0018 INA219_CONFIG_SADCRES_12BIT_2S_1060US = 0x0048 INA219_CONFIG_SADCRES_12BIT_4S_2130US = 0x0050 INA219_CONFIG_SADCRES_12BIT_8S_4260US = 0x0058 INA219_CONFIG_SADCRES_12BIT_16S_8510US = 0x0060 INA219_CONFIG_SADCRES_12BIT_32S_17MS = 0x0068 INA219_CONFIG_SADCRES_12BIT_64S_34MS = 0x0070 INA219_CONFIG_SADCRES_12BIT_128S_69MS = 0x0078 INA219_CONFIG_MODE_MASK = 0x0007 INA219_CONFIG_MODE_POWERDOWN = 0x0000 INA219_CONFIG_MODE_SVOLT_TRIGGERED = 0x0001 INA219_CONFIG_MODE_BVOLT_TRIGGERED = 0x0002 INA219_CONFIG_MODE_SANDBVOLT_TRIGGERED = 0x0003 INA219_CONFIG_MODE_ADCOFF = 0x0004 INA219_CONFIG_MODE_SVOLT_CONTINUOUS = 0x0005 INA219_CONFIG_MODE_BVOLT_CONTINUOUS = 0x0006 INA219_CONFIG_MODE_SANDBVOLT_CONTINUOUS = 0x0007 INA219_SHUNTRESISTOR_VALUE float64 = 0.1 INA219_REG_CONFIG = 0x00 INA219_REG_SHUNTVOLTAGE = 0x01 INA219_REG_BUSVOLTAGE = 0x02 INA219_REG_POWER = 0x03 INA219_REG_CURRENT = 0x04 INA219_REG_CALIBRATION = 0x05 )
View Source
const ( MPU_ADDRESS = 0x68 MPUREG_XG_OFFS_TC = 0x00 MPUREG_YG_OFFS_TC = 0x01 MPUREG_ZG_OFFS_TC = 0x02 MPUREG_X_FINE_GAIN = 0x03 MPUREG_Y_FINE_GAIN = 0x04 MPUREG_Z_FINE_GAIN = 0x05 MPUREG_XA_OFFS_H = 0x06 MPUREG_XA_OFFS_L = 0x07 MPUREG_YA_OFFS_H = 0x08 MPUREG_YA_OFFS_L = 0x09 MPUREG_ZA_OFFS_H = 0x0A MPUREG_ZA_OFFS_L = 0x0B MPUREG_PRODUCT_ID = 0x0C MPUREG_SELF_TEST_X = 0x0D MPUREG_SELF_TEST_Y = 0x0E MPUREG_SELF_TEST_Z = 0x0F MPUREG_SELF_TEST_A = 0x10 MPUREG_XG_OFFS_USRH = 0x13 MPUREG_XG_OFFS_USRL = 0x14 MPUREG_YG_OFFS_USRH = 0x15 MPUREG_YG_OFFS_USRL = 0x16 MPUREG_ZG_OFFS_USRH = 0x17 MPUREG_ZG_OFFS_USRL = 0x18 MPUREG_SMPLRT_DIV = 0x19 MPUREG_CONFIG = 0x1A MPUREG_GYRO_CONFIG = 0x1B MPUREG_ACCEL_CONFIG = 0x1C MPUREG_ACCEL_CONFIG_2 = 0x1D MPUREG_LP_ACCEL_ODR = 0x1E MPUREG_MOT_THR = 0x1F MPUREG_FIFO_EN = 0x23 MPUREG_I2C_MST_CTRL = 0x24 MPUREG_I2C_SLV0_ADDR = 0x25 MPUREG_I2C_SLV0_REG = 0x26 MPUREG_I2C_SLV0_CTRL = 0x27 MPUREG_I2C_SLV1_ADDR = 0x28 MPUREG_I2C_SLV1_REG = 0x29 MPUREG_I2C_SLV1_CTRL = 0x2A MPUREG_I2C_SLV2_ADDR = 0x2B MPUREG_I2C_SLV2_REG = 0x2C MPUREG_I2C_SLV2_CTRL = 0x2D MPUREG_I2C_SLV3_ADDR = 0x2E MPUREG_I2C_SLV3_REG = 0x2F MPUREG_I2C_SLV3_CTRL = 0x30 MPUREG_I2C_SLV4_ADDR = 0x31 MPUREG_I2C_SLV4_REG = 0x32 MPUREG_I2C_SLV4_DO = 0x33 MPUREG_I2C_SLV4_CTRL = 0x34 MPUREG_I2C_SLV4_DI = 0x35 MPUREG_I2C_MST_STATUS = 0x36 MPUREG_INT_PIN_CFG = 0x37 MPUREG_INT_ENABLE = 0x38 MPUREG_INT_STATUS = 0x3A MPUREG_ACCEL_XOUT_H = 0x3B MPUREG_ACCEL_XOUT_L = 0x3C MPUREG_ACCEL_YOUT_H = 0x3D MPUREG_ACCEL_YOUT_L = 0x3E MPUREG_ACCEL_ZOUT_H = 0x3F MPUREG_ACCEL_ZOUT_L = 0x40 MPUREG_TEMP_OUT_H = 0x41 MPUREG_TEMP_OUT_L = 0x42 MPUREG_GYRO_XOUT_H = 0x43 MPUREG_GYRO_XOUT_L = 0x44 MPUREG_GYRO_YOUT_H = 0x45 MPUREG_GYRO_YOUT_L = 0x46 MPUREG_GYRO_ZOUT_H = 0x47 MPUREG_GYRO_ZOUT_L = 0x48 MPUREG_EXT_SENS_DATA_00 = 0x49 MPUREG_EXT_SENS_DATA_01 = 0x4A MPUREG_EXT_SENS_DATA_02 = 0x4B MPUREG_EXT_SENS_DATA_03 = 0x4C MPUREG_EXT_SENS_DATA_04 = 0x4D MPUREG_EXT_SENS_DATA_05 = 0x4E MPUREG_EXT_SENS_DATA_06 = 0x4F MPUREG_EXT_SENS_DATA_07 = 0x50 MPUREG_EXT_SENS_DATA_08 = 0x51 MPUREG_EXT_SENS_DATA_09 = 0x52 MPUREG_EXT_SENS_DATA_10 = 0x53 MPUREG_EXT_SENS_DATA_11 = 0x54 MPUREG_EXT_SENS_DATA_12 = 0x55 MPUREG_EXT_SENS_DATA_13 = 0x56 MPUREG_EXT_SENS_DATA_14 = 0x57 MPUREG_EXT_SENS_DATA_15 = 0x58 MPUREG_EXT_SENS_DATA_16 = 0x59 MPUREG_EXT_SENS_DATA_17 = 0x5A MPUREG_EXT_SENS_DATA_18 = 0x5B MPUREG_EXT_SENS_DATA_19 = 0x5C MPUREG_EXT_SENS_DATA_20 = 0x5D MPUREG_EXT_SENS_DATA_21 = 0x5E MPUREG_EXT_SENS_DATA_22 = 0x5F MPUREG_EXT_SENS_DATA_23 = 0x60 MPUREG_I2C_SLV0_DO = 0x63 MPUREG_I2C_SLV1_DO = 0x64 MPUREG_I2C_SLV2_DO = 0x65 MPUREG_I2C_SLV3_DO = 0x66 MPUREG_I2C_MST_DELAY_CTRL = 0x67 MPUREG_SIGNAL_PATH_RESET = 0x68 MPUREG_MOT_DETECT_CTRL = 0x69 MPUREG_USER_CTRL = 0x6A MPUREG_PWR_MGMT_1 = 0x6B MPUREG_PWR_MGMT_2 = 0x6C MPUREG_BANK_SEL = 0x6D MPUREG_MEM_START_ADDR = 0x6E MPUREG_MEM_R_W = 0x6F MPUREG_DMP_CFG_1 = 0x70 MPUREG_DMP_CFG_2 = 0x71 MPUREG_FIFO_COUNTH = 0x72 MPUREG_FIFO_COUNTL = 0x73 MPUREG_FIFO_R_W = 0x74 MPUREG_WHOAMI = 0x75 MPUREG_XA_OFFSET_H = 0x77 MPUREG_XA_OFFSET_L = 0x78 MPUREG_YA_OFFSET_H = 0x7A MPUREG_YA_OFFSET_L = 0x7B MPUREG_ZA_OFFSET_H = 0x7D MPUREG_ZA_OFFSET_L = 0x7E /* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */ AK8963_I2C_ADDR = 0x0C //0x18 AK8963_Device_ID = 0x48 AK8963_MAX_SAMPLE_RATE = 0x64 // 100 Hz // Read-only Reg AK8963_WIA = 0x00 AK8963_INFO = 0x01 AK8963_ST1 = 0x02 AK8963_HXL = 0x03 AK8963_HXH = 0x04 AK8963_HYL = 0x05 AK8963_HYH = 0x06 AK8963_HZL = 0x07 AK8963_HZH = 0x08 AK8963_ST2 = 0x09 // Write/Read Reg AK8963_CNTL1 = 0x0A AK8963_CNTL2 = 0x0B AK8963_ASTC = 0x0C AK8963_TS1 = 0x0D AK8963_TS2 = 0x0E AK8963_I2CDIS = 0x0F // Read-only Reg ( ROM ) AK8963_ASAX = 0x10 AK8963_ASAY = 0x11 AK8963_ASAZ = 0x12 // Configuration bits mpu9250 BIT_SLEEP = 0x40 BIT_H_RESET = 0x80 BITS_CLKSEL = 0x07 MPU_CLK_SEL_PLLGYROX = 0x01 MPU_CLK_SEL_PLLGYROZ = 0x03 MPU_EXT_SYNC_GYROX = 0x02 BITS_FS_250DPS = 0x00 BITS_FS_500DPS = 0x08 BITS_FS_1000DPS = 0x10 BITS_FS_2000DPS = 0x18 BITS_FS_2G = 0x00 BITS_FS_4G = 0x08 BITS_FS_8G = 0x10 BITS_FS_16G = 0x18 BITS_FS_MASK = 0x18 BITS_DLPF_CFG_256HZ_NOLPF2 = 0x00 BITS_DLPF_CFG_188HZ = 0x01 BITS_DLPF_CFG_98HZ = 0x02 BITS_DLPF_CFG_42HZ = 0x03 BITS_DLPF_CFG_20HZ = 0x04 BITS_DLPF_CFG_10HZ = 0x05 BITS_DLPF_CFG_5HZ = 0x06 BITS_DLPF_CFG_2100HZ_NOLPF = 0x07 BITS_DLPF_CFG_MASK = 0x07 BIT_INT_ANYRD_2CLEAR = 0x10 BIT_RAW_RDY_EN = 0x01 BIT_I2C_IF_DIS = 0x10 // CNTL1 Mode select // Power down mode AK8963_MODE_DOWN = 0x00 // One shot data output AK8963_MODE_ONE = 0x01 // Continous data output 8Hz AK8963_MODE_C8HZ = 0x02 // Continous data output 100Hz AK8963_MODE_C100HZ = 0x06 // Magneto Scale Select // 14bit output AK8963_BIT_14 = 0x00 // 16bit output AK8963_BIT_16 = 0x01 // Misc READ_FLAG = 0x80 MPU_BANK_SIZE = 0xFF CFG_MOTION_BIAS = 0x4B8 // Enable/disable gyro bias compensation BIT_FIFO_SIZE_1024 = 0x40 // FIFO buffer size BIT_AUX_IF_EN uint8 = 0x20 BIT_BYPASS_EN = 0x02 AKM_POWER_DOWN = 0x00 BIT_I2C_READ = 0x80 BIT_SLAVE_EN = 0x80 AKM_SINGLE_MEASUREMENT = 0x01 INV_CLK_PLL = 0x01 AK89xx_FSR = 9830 AKM_DATA_READY = 0x01 AKM_DATA_OVERRUN = 0x02 AKM_OVERFLOW = 0x80 MPU9250M_4800uT = 0.6 // 0.6 uT/LSB MPU9250T_85degC = 0.002995177763 // 0.002995177763 degC/LSB )
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
type INA219Driver ¶
type INA219Driver struct {
i2c.Config
CalibrationValue uint16
// contains filtered or unexported fields
}
INA219Driver is a driver for the INA219 current and bus voltage monitoring device.
func NewINA219Driver ¶
func NewINA219Driver(c i2c.Connector, options ...func(i2c.Config)) *INA219Driver
NewINA219Driver creates a new driver with the specified i2c interface. Params:
conn Connector - the Adaptor to use with this Driver
Optional params:
i2c.WithBus(int): bus to use with this driver i2c.WithAddress(int): address to use with this driver
func (*INA219Driver) Connection ¶
func (i *INA219Driver) Connection() gobot.Connection
Connection returns the connection of the device.
func (*INA219Driver) GetBusVoltage ¶
func (i *INA219Driver) GetBusVoltage() (float64, error)
GetBusVoltage gets the bus voltage in Volts
func (*INA219Driver) GetCurrent ¶
func (i *INA219Driver) GetCurrent() (float64, error)
GetCurrent gets the current value in mA, taking into account the config settings and current LSB
func (*INA219Driver) GetLoadVoltage ¶
func (i *INA219Driver) GetLoadVoltage() (float64, error)
GetLoadVoltage gets the load voltage in mV
func (*INA219Driver) GetShuntVoltage ¶
func (i *INA219Driver) GetShuntVoltage() (float64, error)
GetShuntVoltage Gets the shunt voltage in mV
func (*INA219Driver) Name ¶
func (i *INA219Driver) Name() string
Name returns the name of the device.
func (*INA219Driver) SetName ¶
func (i *INA219Driver) SetName(name string)
SetName sets the name of the device.
type MPU9250Driver ¶
func NewMPU9250Driver ¶
func NewMPU9250Driver(a i2c.Connector, options ...func(i2c.Config)) *MPU9250Driver
NewMPU9250Driver creates a new Gobot Driver for an MPU9250 I2C Accelerometer/Gyroscope.
Params:
conn Connector - the Adaptor to use with this Driver
Optional params:
i2c.WithBus(int): bus to use with this driver i2c.WithAddress(int): address to use with this driver
func (*MPU9250Driver) Connection ¶
func (mpu *MPU9250Driver) Connection() gobot.Connection
Connection returns the connection for the device.
func (*MPU9250Driver) GetData ¶
func (mpu *MPU9250Driver) GetData() (err error)
readSensors polls the gyro, accelerometer and magnetometer sensors as well as the die temperature.
func (*MPU9250Driver) Halt ¶
func (mpu *MPU9250Driver) Halt() (err error)
Halt returns true if devices is halted successfully
func (*MPU9250Driver) Name ¶
func (mpu *MPU9250Driver) Name() string
Name returns the name of the device.
func (*MPU9250Driver) SetName ¶
func (mpu *MPU9250Driver) SetName(n string)
SetName sets the name of the device.
func (*MPU9250Driver) Start ¶
func (mpu *MPU9250Driver) Start() (err error)
Start writes initialization bytes to sensor
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