i2c

package
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 Go to latest Published: Feb 17, 2016 License: Apache-2.0, Apache-2.0 Imports: 8 Imported by: 0

README

I2C

This package provides drivers for i2cdevices . It is normally not used directly, but instead is registered by an adaptor such as firmata that supports the needed interfaces for i2c devices.

Getting Started

Installing

go get -d -u github.com/hybridgroup/gobot/... && go install github.com/hybridgroup/gobot/platforms/i2c

Hardware Support

Gobot has a extensible system for connecting to hardware devices. The following i2c devices are currently supported:

  • BlinkM
  • HMC6352 Digital Compass
  • MPL115A2 Barometer/Temperature Sensor
  • MPU6050 Accelerometer/Gyroscope
  • Wii Nunchuck Controller

More drivers are coming soon...

Documentation

Overview

Package i2c provides Gobot drivers for i2c devices.

Installing: 

go get github.com/hybridgroup/gobot/platforms/i2c

For further information refer to i2c README: https://github.com/hybridgroup/gobot/blob/master/platforms/i2c/README.md

Index

Constants

View Source 
const (
	Error    = "error"
	Joystick = "joystick"
	C        = "c"
	Z        = "z"
)
View Source 
const (
	REG_RED   = 0x04
	REG_GREEN = 0x03
	REG_BLUE  = 0x02

	LCD_CLEARDISPLAY        = 0x01
	LCD_RETURNHOME          = 0x02
	LCD_ENTRYMODESET        = 0x04
	LCD_DISPLAYCONTROL      = 0x08
	LCD_CURSORSHIFT         = 0x10
	LCD_FUNCTIONSET         = 0x20
	LCD_SETCGRAMADDR        = 0x40
	LCD_SETDDRAMADDR        = 0x80
	LCD_ENTRYRIGHT          = 0x00
	LCD_ENTRYLEFT           = 0x02
	LCD_ENTRYSHIFTINCREMENT = 0x01
	LCD_ENTRYSHIFTDECREMENT = 0x00
	LCD_DISPLAYON           = 0x04
	LCD_DISPLAYOFF          = 0x00
	LCD_CURSORON            = 0x02
	LCD_CURSOROFF           = 0x00
	LCD_BLINKON             = 0x01
	LCD_BLINKOFF            = 0x00
	LCD_DISPLAYMOVE         = 0x08
	LCD_CURSORMOVE          = 0x00
	LCD_MOVERIGHT           = 0x04
	LCD_MOVELEFT            = 0x00
	LCD_2LINE               = 0x08
	LCD_CMD                 = 0x80
	LCD_DATA                = 0x40

	LCD_2NDLINEOFFSET = 0x40
)
View Source 
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
)
View Source 
const MPL115A2_REGISTER_A0_COEFF_LSB = 0x05
View Source 
const MPL115A2_REGISTER_A0_COEFF_MSB = 0x04
View Source 
const MPL115A2_REGISTER_B1_COEFF_LSB = 0x07
View Source 
const MPL115A2_REGISTER_B1_COEFF_MSB = 0x06
View Source 
const MPL115A2_REGISTER_B2_COEFF_LSB = 0x09
View Source 
const MPL115A2_REGISTER_B2_COEFF_MSB = 0x08
View Source 
const MPL115A2_REGISTER_C12_COEFF_LSB = 0x0B
View Source 
const MPL115A2_REGISTER_C12_COEFF_MSB = 0x0A
View Source 
const MPL115A2_REGISTER_PRESSURE_LSB = 0x01
View Source 
const MPL115A2_REGISTER_PRESSURE_MSB = 0x00
View Source 
const MPL115A2_REGISTER_STARTCONVERSION = 0x12
View Source 
const MPL115A2_REGISTER_TEMP_LSB = 0x03
View Source 
const MPL115A2_REGISTER_TEMP_MSB = 0x02
View Source 
const MPU6050_ACCEL_FS_2 = 0x00
View Source 
const MPU6050_ACONFIG_AFS_SEL_BIT = 4
View Source 
const MPU6050_ACONFIG_AFS_SEL_LENGTH = 2
View Source 
const MPU6050_CLOCK_PLL_XGYRO = 0x01
View Source 
const MPU6050_GCONFIG_FS_SEL_BIT = 4
View Source 
const MPU6050_GCONFIG_FS_SEL_LENGTH = 2
View Source 
const MPU6050_GYRO_FS_250 = 0x00
View Source 
const MPU6050_PWR1_CLKSEL_BIT = 2
View Source 
const MPU6050_PWR1_CLKSEL_LENGTH = 3
View Source 
const MPU6050_PWR1_ENABLE_BIT = 0
View Source 
const MPU6050_PWR1_SLEEP_BIT = 6
View Source 
const MPU6050_RA_ACCEL_CONFIG = 0x1C
View Source 
const MPU6050_RA_ACCEL_XOUT_H = 0x3B
View Source 
const MPU6050_RA_GYRO_CONFIG = 0x1B
View Source 
const MPU6050_RA_PWR_MGMT_1 = 0x6B

Variables

View Source 
var (
	ErrEncryptedBytes  = errors.New("Encrypted bytes")
	ErrNotEnoughBytes  = errors.New("Not enough bytes read")
	ErrNotReady        = errors.New("Device is not ready")
	ErrInvalidPosition = errors.New("Invalid position value")
)
View Source 
var CustomLCDChars = map[string][8]byte{
	"é":       [8]byte{130, 132, 142, 145, 159, 144, 142, 128},
	"è":       [8]byte{136, 132, 142, 145, 159, 144, 142, 128},
	"ê":       [8]byte{132, 138, 142, 145, 159, 144, 142, 128},
	"à":       [8]byte{136, 134, 128, 142, 145, 147, 141, 128},
	"â":       [8]byte{132, 138, 128, 142, 145, 147, 141, 128},
	"á":       [8]byte{2, 4, 14, 1, 15, 17, 15, 0},
	"î":       [8]byte{132, 138, 128, 140, 132, 132, 142, 128},
	"í":       [8]byte{2, 4, 12, 4, 4, 4, 14, 0},
	"û":       [8]byte{132, 138, 128, 145, 145, 147, 141, 128},
	"ù":       [8]byte{136, 134, 128, 145, 145, 147, 141, 128},
	"ñ":       [8]byte{14, 0, 22, 25, 17, 17, 17, 0},
	"ó":       [8]byte{2, 4, 14, 17, 17, 17, 14, 0},
	"heart":   [8]byte{0, 10, 31, 31, 31, 14, 4, 0},
	"smiley":  [8]byte{0, 0, 10, 0, 0, 17, 14, 0},
	"frowney": [8]byte{0, 0, 10, 0, 0, 0, 14, 17},
}

CustomLCDChars is a map of CGRAM characters that can be loaded into a LCD screen to display custom characters. Some LCD screens such as the Grove screen (jhd1313m1) isn't loaded with latin 1 characters. It's up to the developer to load the set up to 8 custom characters and update the input text so the character is swapped by a byte reflecting the position of the custom character to use. See SetCustomChar

View Source 
var (
	Debug = true // Set this to true to see debugging information

)

Functions

This section is empty.

Types

type BlinkMDriver 

type BlinkMDriver struct {
	gobot.Commander
	// contains filtered or unexported fields
}

func NewBlinkMDriver 

func NewBlinkMDriver(a I2c, name string) *BlinkMDriver

NewBlinkMDriver creates a new BlinkMDriver with specified name.

Adds the following API commands: 

Rgb - sets RGB color
Fade - fades the RGB color
FirmwareVersion - returns the version of the current Frimware
Color - returns the color of the LED.

func (*BlinkMDriver) Color 

func (b *BlinkMDriver) Color() (color []byte, err error)

Color returns an array with current rgb color

func (*BlinkMDriver) Connection 

func (b *BlinkMDriver) Connection() gobot.Connection

func (*BlinkMDriver) Fade 

func (b *BlinkMDriver) Fade(red byte, green byte, blue byte) (err error)

Fade removes color using r,g,b params

func (*BlinkMDriver) FirmwareVersion 

func (b *BlinkMDriver) FirmwareVersion() (version string, err error)

FirmwareVersion returns version with MAYOR.minor format

func (*BlinkMDriver) Halt 

func (b *BlinkMDriver) Halt() (errs []error)

Halt returns true if device is halted successfully

func (*BlinkMDriver) Name 

func (b *BlinkMDriver) Name() string

func (*BlinkMDriver) Rgb 

func (b *BlinkMDriver) Rgb(red byte, green byte, blue byte) (err error)

Rgb sets color using r,g,b params

func (*BlinkMDriver) Start 

func (b *BlinkMDriver) Start() (errs []error)

Start writes start bytes

type GroveAccelerometerDriver 

type GroveAccelerometerDriver struct {
	*MMA7660Driver
}

func NewGroveAccelerometerDriver 

func NewGroveAccelerometerDriver(a I2c, name string) *GroveAccelerometerDriver

NewGroveAccelerometerDriver creates a new driver with specified name and i2c interface

type GroveLcdDriver 

type GroveLcdDriver struct {
	*JHD1313M1Driver
}

GroveLcdDriver is a driver for the Jhd1313m1 LCD display which has two i2c addreses, one belongs to a controller and the other controls solely the backlight. This module was tested with the Seed Grove LCD RGB Backlight v2.0 display which requires 5V to operate. http://www.seeedstudio.com/wiki/Grove_-_LCD_RGB_Backlight

func NewGroveLcdDriver 

func NewGroveLcdDriver(a I2c, name string) *GroveLcdDriver

NewGroveLcdDriver creates a new driver with specified name and i2c interface.

type HMC6352Driver 

type HMC6352Driver struct {
	// contains filtered or unexported fields
}

func NewHMC6352Driver 

func NewHMC6352Driver(a I2c, name string) *HMC6352Driver

NewHMC6352Driver creates a new driver with specified name and i2c interface

func (*HMC6352Driver) Connection 

func (h *HMC6352Driver) Connection() gobot.Connection

func (*HMC6352Driver) Halt 

func (h *HMC6352Driver) Halt() (errs []error)

Halt returns true if devices is halted successfully

func (*HMC6352Driver) Heading 

func (h *HMC6352Driver) Heading() (heading uint16, err error)

Heading returns the current heading

func (*HMC6352Driver) Name 

func (h *HMC6352Driver) Name() string

func (*HMC6352Driver) Start 

func (h *HMC6352Driver) Start() (errs []error)

Start initialized the hmc6352

type I2c 

type I2c interface {
	gobot.Adaptor
	I2cStarter
	I2cReader
	I2cWriter
}

type I2cReader 

type I2cReader interface {
	I2cRead(address int, len int) (data []byte, err error)
}

type I2cStarter 

type I2cStarter interface {
	I2cStart(address int) (err error)
}

type I2cWriter 

type I2cWriter interface {
	I2cWrite(address int, buf []byte) (err error)
}

type JHD1313M1Driver 

type JHD1313M1Driver struct {
	// contains filtered or unexported fields
}

JHD1313M1Driver is a driver for the Jhd1313m1 LCD display which has two i2c addreses, one belongs to a controller and the other controls solely the backlight. This module was tested with the Seed Grove LCD RGB Backlight v2.0 display which requires 5V to operate. http://www.seeedstudio.com/wiki/Grove_-_LCD_RGB_Backlight

func NewJHD1313M1Driver 

func NewJHD1313M1Driver(a I2c, name string) *JHD1313M1Driver

NewJHD1313M1Driver creates a new driver with specified name and i2c interface.

func (*JHD1313M1Driver) Clear 

func (h *JHD1313M1Driver) Clear() error

Clear clears the text on the lCD display.

func (*JHD1313M1Driver) Connection 

func (h *JHD1313M1Driver) Connection() gobot.Connection

Connection returns the driver connection to the device.

func (*JHD1313M1Driver) Halt 

func (h *JHD1313M1Driver) Halt() []error

Halt is a noop function.

func (*JHD1313M1Driver) Home 

func (h *JHD1313M1Driver) Home() error

Home sets the cursor to the origin position on the display.

func (*JHD1313M1Driver) Name 

func (h *JHD1313M1Driver) Name() string

Name returns the name the JHD1313M1 Driver was given when created.

func (*JHD1313M1Driver) Scroll 

func (h *JHD1313M1Driver) Scroll(leftToRight bool) error

func (*JHD1313M1Driver) SetCustomChar 

func (h *JHD1313M1Driver) SetCustomChar(pos int, charMap [8]byte) error

CustomChar sets one of the 8 CGRAM locations with a custom character. The custom character can be used by writing a byte of value 0 to 7. When you are using LCD as 5x8 dots in function set then you can define a total of 8 user defined patterns (1 Byte for each row and 8 rows for each pattern). Use http://www.8051projects.net/lcd-interfacing/lcd-custom-character.php to create your own characters. To use a custom character, write byte value of the custom character position as a string after having setup the custom character.

func (*JHD1313M1Driver) SetPosition 

func (h *JHD1313M1Driver) SetPosition(pos int) (err error)

SetPosition sets the cursor and the data display to pos. 0..15 are the positions in the first display line. 16..32 are the positions in the second display line.

func (*JHD1313M1Driver) SetRGB 

func (h *JHD1313M1Driver) SetRGB(r, g, b int) error

SetRGB sets the Red Green Blue value of backlit.

func (*JHD1313M1Driver) Start 

func (h *JHD1313M1Driver) Start() []error

Start starts the backlit and the screen and initializes the states.

func (*JHD1313M1Driver) Write 

func (h *JHD1313M1Driver) Write(message string) error

Write displays the passed message on the screen.

type LIDARLiteDriver 

type LIDARLiteDriver struct {
	// contains filtered or unexported fields
}

func NewLIDARLiteDriver 

func NewLIDARLiteDriver(a I2c, name string) *LIDARLiteDriver

NewLIDARLiteDriver creates a new driver with specified name and i2c interface

func (*LIDARLiteDriver) Connection 

func (h *LIDARLiteDriver) Connection() gobot.Connection

func (*LIDARLiteDriver) Distance 

func (h *LIDARLiteDriver) Distance() (distance int, err error)

Distance returns the current distance in cm

func (*LIDARLiteDriver) Halt 

func (h *LIDARLiteDriver) Halt() (errs []error)

Halt returns true if devices is halted successfully

func (*LIDARLiteDriver) Name 

func (h *LIDARLiteDriver) Name() string

func (*LIDARLiteDriver) Start 

func (h *LIDARLiteDriver) Start() (errs []error)

Start initialized the LIDAR

type MCP23017Config 

type MCP23017Config struct {
	Bank   uint8
	Mirror uint8
	Seqop  uint8
	Disslw uint8
	Haen   uint8
	Odr    uint8
	Intpol uint8
}

MCP23017Config contains the device configuration settings to be loaded at startup.

type MCP23017Driver 

type MCP23017Driver struct {
	gobot.Commander
	gobot.Eventer
	// contains filtered or unexported fields
}

MCP23107Driver contains the driver configuration parameters.

func NewMCP23017Driver 

func NewMCP23017Driver(a I2c, name string, conf MCP23017Config, deviceAddress int, v ...time.Duration) *MCP23017Driver

NewMCP23017Driver creates a new driver with specified name and i2c interface.

func (*MCP23017Driver) Connection 

func (m *MCP23017Driver) Connection() gobot.Connection

func (*MCP23017Driver) Halt 

func (m *MCP23017Driver) Halt() (err []error)

func (*MCP23017Driver) Name 

func (m *MCP23017Driver) Name() string

func (*MCP23017Driver) ReadGPIO 

func (m *MCP23017Driver) ReadGPIO(pin float64, portStr string) (val bool, err error)

ReadGPIO reads a value from a given gpio pin (0-7) and a port (A or B).

func (*MCP23017Driver) SetGPIOPolarity 

func (m *MCP23017Driver) SetGPIOPolarity(pin uint8, val byte, portStr string) (err error)

SetGPIOPolarity will change a given pin's polarity based on the value: val = 1 opposite logic state of the input pin. val = 0 same logic state of the input pin.

func (*MCP23017Driver) SetPullUp 

func (m *MCP23017Driver) SetPullUp(pin uint8, val byte, portStr string) error

SetPullUp sets the pull up state of a given pin based on the value: val = 1 pull up enabled. val = 0 pull up disabled.

func (*MCP23017Driver) Start 

func (m *MCP23017Driver) Start() (errs []error)

Start writes initialization bytes and reads.

func (*MCP23017Driver) WriteGPIO 

func (m *MCP23017Driver) WriteGPIO(pin float64, val float64, portStr string) (err error)

WriteGPIO writes a value to a gpio pin (0-7) and a port (A or B).

type MMA7660Driver 

type MMA7660Driver struct {
	// contains filtered or unexported fields
}

func NewMMA7660Driver 

func NewMMA7660Driver(a I2c, name string) *MMA7660Driver

NewMMA7660Driver creates a new driver with specified name and i2c interface

func (*MMA7660Driver) Acceleration 

func (h *MMA7660Driver) Acceleration(x, y, z float64) (ax, ay, az float64)

Acceleration returns the acceleration of the provided x, y, z

func (*MMA7660Driver) Connection 

func (h *MMA7660Driver) Connection() gobot.Connection

func (*MMA7660Driver) Halt 

func (h *MMA7660Driver) Halt() (errs []error)

Halt returns true if devices is halted successfully

func (*MMA7660Driver) Name 

func (h *MMA7660Driver) Name() string

func (*MMA7660Driver) Start 

func (h *MMA7660Driver) Start() (errs []error)

Start initialized the mma7660

func (*MMA7660Driver) XYZ 

func (h *MMA7660Driver) XYZ() (x float64, y float64, z float64, err error)

XYZ returns the raw x,y and z axis from the mma7660

type MPL115A2Driver 

type MPL115A2Driver struct {
	gobot.Eventer
	A0          float32
	B1          float32
	B2          float32
	C12         float32
	Pressure    float32
	Temperature float32
	// contains filtered or unexported fields
}

func NewMPL115A2Driver 

func NewMPL115A2Driver(a I2c, name string, v ...time.Duration) *MPL115A2Driver

NewMPL115A2Driver creates a new driver with specified name and i2c interface

func (*MPL115A2Driver) Connection 

func (h *MPL115A2Driver) Connection() gobot.Connection

func (*MPL115A2Driver) Halt 

func (h *MPL115A2Driver) Halt() (err []error)

Halt returns true if devices is halted successfully

func (*MPL115A2Driver) Name 

func (h *MPL115A2Driver) Name() string

func (*MPL115A2Driver) Start 

func (h *MPL115A2Driver) Start() (errs []error)

Start writes initialization bytes and reads from adaptor using specified interval to accelerometer andtemperature data

type MPU6050Driver 

type MPU6050Driver struct {
	Accelerometer ThreeDData
	Gyroscope     ThreeDData
	Temperature   int16
	gobot.Eventer
	// contains filtered or unexported fields
}

func NewMPU6050Driver 

func NewMPU6050Driver(a I2c, name string, v ...time.Duration) *MPU6050Driver

NewMPU6050Driver creates a new driver with specified name and i2c interface

func (*MPU6050Driver) Connection 

func (h *MPU6050Driver) Connection() gobot.Connection

func (*MPU6050Driver) Halt 

func (h *MPU6050Driver) Halt() (errs []error)

Halt returns true if devices is halted successfully

func (*MPU6050Driver) Name 

func (h *MPU6050Driver) Name() string

func (*MPU6050Driver) Start 

func (h *MPU6050Driver) Start() (errs []error)

Start writes initialization bytes and reads from adaptor using specified interval to accelerometer andtemperature data

type ThreeDData 

type ThreeDData struct {
	X int16
	Y int16
	Z int16
}

type WiichuckDriver 

type WiichuckDriver struct {
	gobot.Eventer
	// contains filtered or unexported fields
}

func NewWiichuckDriver 

func NewWiichuckDriver(a I2c, name string, v ...time.Duration) *WiichuckDriver

NewWiichuckDriver creates a WiichuckDriver with specified i2c interface and name.

It adds the following events: 

"z"- Gets triggered every interval amount of time if the z button is pressed
"c" - Gets triggered every interval amount of time if the c button is pressed
"joystick" - Gets triggered every "interval" amount of time if a joystick event occured, you can access values x, y
"error" - Gets triggered whenever the WiichuckDriver encounters an error

func (*WiichuckDriver) Connection 

func (w *WiichuckDriver) Connection() gobot.Connection

func (*WiichuckDriver) Halt 

func (w *WiichuckDriver) Halt() (errs []error)

Halt returns true if driver is halted successfully

func (*WiichuckDriver) Name 

func (w *WiichuckDriver) Name() string

func (*WiichuckDriver) Start 

func (w *WiichuckDriver) Start() (errs []error)

Start initilizes i2c and reads from adaptor using specified interval to update with new value

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