go-embedded/embd
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embd
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Code Issues Releases Wiki Activity

- use glog instead of Debug flag 

- use glog instead of log
- make code conform to the Go code guidelines
This commit is contained in:
Karan Misra 2014-03-31 18:46:04 +05:30
parent ca17879e6e
commit 9ab49745bc
23 changed files with 554 additions and 703 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

60
controller/mcp4725/mcp4725.go
View File

@ -2,8 +2,9 @@
package mcp4725
import (
"log"
"sync"
"github.com/golang/glog"
"github.com/kidoman/embd"
)
@ -25,9 +26,6 @@ type MCP4725 struct {
initialized bool
mu sync.RWMutex
// Debug turns on additional debug output.
Debug bool
}
// New creates a new MCP4725 sensor.
@ -38,33 +36,32 @@ func New(bus embd.I2CBus, addr byte) *MCP4725 {
}
}
func (d *MCP4725) setup() (err error) {
func (d *MCP4725) setup() error {
d.mu.RLock()
if d.initialized {
d.mu.RUnlock()
return
return nil
}
d.mu.RUnlock()
d.mu.Lock()
defer d.mu.Unlock()
if d.Debug {
log.Print("mcp4725: general call reset")
glog.V(1).Infof("mcp4725: general call reset")
if err := d.Bus.WriteByteToReg(d.Addr, 0x00, powerUp); err != nil {
return err
}
if err = d.Bus.WriteByteToReg(d.Addr, 0x00, powerUp); err != nil {
return
}
if err = d.Bus.WriteByteToReg(d.Addr, 0x00, genReset); err != nil {
return
if err := d.Bus.WriteByteToReg(d.Addr, 0x00, genReset); err != nil {
return err
}
d.initialized = true
return
return nil
}
func (d *MCP4725) setVoltage(voltage int, reg byte) (err error) {
if err = d.setup(); err != nil {
return
func (d *MCP4725) setVoltage(voltage int, reg byte) error {
if err := d.setup(); err != nil {
return err
}
if voltage > 4095 {
voltage = 4095
@ -72,33 +69,32 @@ func (d *MCP4725) setVoltage(voltage int, reg byte) (err error) {
if voltage < 0 {
voltage = 0
}
if d.Debug {
log.Printf("mcp4725: setting voltage to %04d", voltage)
glog.V(2).Infof("mcp4725: setting voltage to %04d", voltage)
if err := d.Bus.WriteWordToReg(d.Addr, reg, uint16(voltage<<4)); err != nil {
return err
}
if err = d.Bus.WriteWordToReg(d.Addr, reg, uint16(voltage<<4)); err != nil {
return
}
return
return nil
}
// SetVoltage sets the output voltage.
func (d *MCP4725) SetVoltage(voltage int) (err error) {
func (d *MCP4725) SetVoltage(voltage int) error {
return d.setVoltage(voltage, dacReg)
}
// SetPersistedVoltage sets the voltage and programs the EEPROM so
// that the voltage is restored on reboot.
func (d *MCP4725) SetPersistedVoltage(voltage int) (err error) {
func (d *MCP4725) SetPersistedVoltage(voltage int) error {
return d.setVoltage(voltage, programReg)
}
// Close puts the DAC into power down mode.
func (d *MCP4725) Close() (err error) {
if d.Debug {
log.Print("mcp4725: powering down")
func (d *MCP4725) Close() error {
glog.V(1).Infof("mcp4725: powering down")
if err := d.Bus.WriteWordToReg(d.Addr, powerDown, 0); err != nil {
return err
}
if err = d.Bus.WriteWordToReg(d.Addr, powerDown, 0); err != nil {
return
}
return
return nil
}

196
controller/pca9685/pca9685.go
View File

@ -2,11 +2,11 @@
package pca9685
import (
"log"
"math"
"sync"
"time"
"github.com/golang/glog"
"github.com/kidoman/embd"
"github.com/kidoman/embd/util"
)
@ -34,8 +34,6 @@ type PCA9685 struct {
initialized bool
mu sync.RWMutex
Debug bool
}
// New creates a new PCA9685 interface.
@ -50,11 +48,11 @@ func (d *PCA9685) mode1Reg() (byte, error) {
return d.Bus.ReadByteFromReg(d.Addr, mode1RegAddr)
}
func (d *PCA9685) setup() (err error) {
func (d *PCA9685) setup() error {
d.mu.RLock()
if d.initialized {
d.mu.RUnlock()
return
return nil
}
d.mu.RUnlock()
@ -63,56 +61,49 @@ func (d *PCA9685) setup() (err error) {
mode1Reg, err := d.mode1Reg()
if err != nil {
return
}
if d.Debug {
log.Printf("pca9685: read MODE1 Reg [regAddr: %#02x] Value: [%v]", mode1RegAddr, mode1Reg)
return err
}
if err = d.sleep(); err != nil {
return
glog.V(1).Infof("pca9685: read MODE1 Reg [regAddr: %#02x] Value: [%v]", mode1RegAddr, mode1Reg)
if err := d.sleep(); err != nil {
return err
}
if d.Freq == 0 {
d.Freq = defaultFreq
}
preScaleValue := byte(math.Floor(float64(clockFreq/(pwmControlPoints*d.Freq))+float64(0.5)) - 1)
if d.Debug {
log.Printf("pca9685: calculated prescale value = %#02x", preScaleValue)
}
if err = d.Bus.WriteByteToReg(d.Addr, preScaleRegAddr, byte(preScaleValue)); err != nil {
return
}
if d.Debug {
log.Printf("pca9685: prescale value [%#02x] written to PRE_SCALE Reg [regAddr: %#02x]", preScaleValue, preScaleRegAddr)
glog.V(1).Infof("pca9685: calculated prescale value = %#02x", preScaleValue)
if err := d.Bus.WriteByteToReg(d.Addr, preScaleRegAddr, byte(preScaleValue)); err != nil {
return err
}
glog.V(1).Infof("pca9685: prescale value [%#02x] written to PRE_SCALE Reg [regAddr: %#02x]", preScaleValue, preScaleRegAddr)
if err = d.wake(); err != nil {
return
if err := d.wake(); err != nil {
return err
}
newmode := ((mode1Reg | 0x01) & 0xDF)
if err = d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, newmode); err != nil {
return
}
if d.Debug {
log.Printf("pca9685: new mode [%#02x] [disabling register auto increment] written to MODE1 Reg [regAddr: %#02x]", newmode, mode1RegAddr)
if err := d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, newmode); err != nil {
return err
}
glog.V(1).Infof("pca9685: new mode [%#02x] [disabling register auto increment] written to MODE1 Reg [regAddr: %#02x]", newmode, mode1RegAddr)
d.initialized = true
if d.Debug {
log.Printf("pca9685: driver initialized with pwm freq: %v", d.Freq)
}
return
glog.V(1).Infof("pca9685: driver initialized with pwm freq: %v", d.Freq)
return nil
}
// SetPwm sets the ON and OFF time registers for pwm signal shaping.
// channel: 0-15
// onTime/offTime: 0-4095
func (d *PCA9685) SetPwm(channel, onTime, offTime int) (err error) {
if err = d.setup(); err != nil {
return
func (d *PCA9685) SetPwm(channel, onTime, offTime int) error {
if err := d.setup(); err != nil {
return err
}
onTimeLowReg := byte(pwm0OnLowReg + (4 * channel))
@ -122,161 +113,136 @@ func (d *PCA9685) SetPwm(channel, onTime, offTime int) (err error) {
offTimeLow := byte(offTime & 0xFF)
offTimeHigh := byte(offTime >> 8)
if err = d.Bus.WriteByteToReg(d.Addr, onTimeLowReg, onTimeLow); err != nil {
return
}
if d.Debug {
log.Printf("pca9685: writing on-time low [%#02x] to CHAN%v_ON_L reg [reg: %#02x]", onTimeLow, channel, onTimeLowReg)
if err := d.Bus.WriteByteToReg(d.Addr, onTimeLowReg, onTimeLow); err != nil {
return err
}
glog.V(2).Infof("pca9685: writing on-time low [%#02x] to CHAN%v_ON_L reg [reg: %#02x]", onTimeLow, channel, onTimeLowReg)
onTimeHighReg := onTimeLowReg + 1
if err = d.Bus.WriteByteToReg(d.Addr, onTimeHighReg, onTimeHigh); err != nil {
return
}
if d.Debug {
log.Printf("pca9685: writing on-time high [%#02x] to CHAN%v_ON_H reg [reg: %#02x]", onTimeHigh, channel, onTimeHighReg)
if err := d.Bus.WriteByteToReg(d.Addr, onTimeHighReg, onTimeHigh); err != nil {
return err
}
glog.V(2).Infof("pca9685: writing on-time high [%#02x] to CHAN%v_ON_H reg [reg: %#02x]", onTimeHigh, channel, onTimeHighReg)
offTimeLowReg := onTimeHighReg + 1
if err = d.Bus.WriteByteToReg(d.Addr, offTimeLowReg, offTimeLow); err != nil {
return
}
if d.Debug {
log.Printf("pca9685: writing off-time low [%#02x] to CHAN%v_OFF_L reg [reg: %#02x]", offTimeLow, channel, offTimeLowReg)
if err := d.Bus.WriteByteToReg(d.Addr, offTimeLowReg, offTimeLow); err != nil {
return err
}
glog.V(2).Infof("pca9685: writing off-time low [%#02x] to CHAN%v_OFF_L reg [reg: %#02x]", offTimeLow, channel, offTimeLowReg)
offTimeHighReg := offTimeLowReg + 1
if err = d.Bus.WriteByteToReg(d.Addr, offTimeHighReg, offTimeHigh); err != nil {
return
}
if d.Debug {
log.Printf("pca9685: writing off-time high [%#02x] to CHAN%v_OFF_H reg [reg: %#02x]", offTimeHigh, channel, offTimeHighReg)
if err := d.Bus.WriteByteToReg(d.Addr, offTimeHighReg, offTimeHigh); err != nil {
return err
}
glog.V(2).Infof("pca9685: writing off-time high [%#02x] to CHAN%v_OFF_H reg [reg: %#02x]", offTimeHigh, channel, offTimeHighReg)
return
return nil
}
// SetMicroseconds is a convinience method which allows easy servo control.
func (d *PCA9685) SetMicroseconds(channel, us int) (err error) {
func (d *PCA9685) SetMicroseconds(channel, us int) error {
offTime := us * d.Freq * pwmControlPoints / 1000000
return d.SetPwm(channel, 0, offTime)
}
// SetAnalog is a convinience method which allows easy manipulation of the PWM
// based on a (0-255) range value.
func (d *PCA9685) SetAnalog(channel int, value byte) (err error) {
func (d *PCA9685) SetAnalog(channel int, value byte) error {
offTime := util.Map(int64(value), minAnalogValue, maxAnalogValue, 0, pwmControlPoints-1)
return d.SetPwm(channel, 0, int(offTime))
}
// Close stops the controller and resets mode and pwm controller registers.
func (d *PCA9685) Close() (err error) {
if err = d.setup(); err != nil {
return
func (d *PCA9685) Close() error {
if err := d.setup(); err != nil {
return err
}
if err = d.sleep(); err != nil {
return
if err := d.sleep(); err != nil {
return err
}
if d.Debug {
log.Println("pca9685: reset request received")
glog.V(1).Infof("pca9685: reset request received")
if err := d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, 0x00); err != nil {
return err
}
if err = d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, 0x00); err != nil {
return
}
if d.Debug {
log.Printf("pca9685: cleaning up all PWM control registers")
}
glog.V(1).Infof("pca9685: cleaning up all PWM control registers")
for regAddr := 0x06; regAddr <= 0x45; regAddr++ {
if err = d.Bus.WriteByteToReg(d.Addr, byte(regAddr), 0x00); err != nil {
return
if err := d.Bus.WriteByteToReg(d.Addr, byte(regAddr), 0x00); err != nil {
return err
}
}
if d.Debug {
log.Printf("pca9685: done Cleaning up all PWM control registers")
if glog.V(1) {
glog.Infof("pca9685: done Cleaning up all PWM control registers")
glog.Infof("pca9685: controller reset")
}
if d.Debug {
log.Println("pca9685: controller reset")
}
return
return nil
}
func (d *PCA9685) sleep() (err error) {
if d.Debug {
log.Println("pca9685: sleep request received")
}
func (d *PCA9685) sleep() error {
glog.V(1).Infof("pca9685: sleep request received")
mode1Reg, err := d.mode1Reg()
if err != nil {
return
return err
}
sleepmode := (mode1Reg & 0x7F) | 0x10
if err = d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, sleepmode); err != nil {
return
if err := d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, sleepmode); err != nil {
return err
}
if d.Debug {
log.Printf("pca9685: sleep mode [%#02x] written to MODE1 Reg [regAddr: %#02x]", sleepmode, mode1RegAddr)
if glog.V(1) {
glog.Infof("pca9685: sleep mode [%#02x] written to MODE1 Reg [regAddr: %#02x]", sleepmode, mode1RegAddr)
glog.Infoln("pca9685: controller set to Sleep mode")
}
if d.Debug {
log.Println("pca9685: controller set to Sleep mode")
}
return
return nil
}
// Sleep puts the controller in sleep mode. Does not change the pwm control registers.
func (d *PCA9685) Sleep() (err error) {
if err = d.setup(); err != nil {
return
func (d *PCA9685) Sleep() error {
if err := d.setup(); err != nil {
return err
}
return d.sleep()
}
func (d *PCA9685) wake() (err error) {
if d.Debug {
log.Println("pca9685: wake request received")
}
func (d *PCA9685) wake() error {
glog.V(1).Infoln("pca9685: wake request received")
mode1Reg, err := d.mode1Reg()
if err != nil {
return
return err
}
wakeMode := mode1Reg & 0xEF
if (mode1Reg & 0x80) == 0x80 {
if err = d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, wakeMode); err != nil {
return
}
if d.Debug {
log.Printf("pca9685: wake mode [%#02x] written to MODE1 Reg [regAddr: %#02x]", wakeMode, mode1RegAddr)
if err := d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, wakeMode); err != nil {
return err
}
glog.V(1).Infof("pca9685: wake mode [%#02x] written to MODE1 Reg [regAddr: %#02x]", wakeMode, mode1RegAddr)
time.Sleep(500 * time.Microsecond)
}
restartOpCode := wakeMode | 0x80
if err = d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, restartOpCode); err != nil {
return
}
if d.Debug {
log.Printf("pca9685: restart mode [%#02x] written to MODE1 Reg [regAddr: %#02x]", restartOpCode, mode1RegAddr)
if err := d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, restartOpCode); err != nil {
return err
}
glog.V(1).Infof("pca9685: restart mode [%#02x] written to MODE1 Reg [regAddr: %#02x]", restartOpCode, mode1RegAddr)
return
return nil
}
// Wake allows the controller to exit sleep mode and resume with PWM generation.
func (d *PCA9685) Wake() (err error) {
if err = d.setup(); err != nil {
return
func (d *PCA9685) Wake() error {
if err := d.setup(); err != nil {
return err
}
return d.wake()

35
controller/servoblaster/servoblaster.go
View File

@ -5,17 +5,15 @@ package servoblaster
import (
"fmt"
"log"
"os"
"github.com/golang/glog"
)
// ServoBlaster represents a software RPi PWM/PCM based servo control module.
type ServoBlaster struct {
initialized bool
fd *os.File
// Debug level.
Debug bool
}
// New creates a new ServoBlaster instance.
@ -23,34 +21,33 @@ func New() *ServoBlaster {
return &ServoBlaster{}
}
func (d *ServoBlaster) setup() (err error) {
func (d *ServoBlaster) setup() error {
if d.initialized {
return
return nil
}
var err error
if d.fd, err = os.OpenFile("/dev/servoblaster", os.O_WRONLY, os.ModeExclusive); err != nil {
return
return err
}
d.initialized = true
return
return nil
}
// SetMicroseconds sends a command to the PWM driver to generate a us wide pulse.
func (d *ServoBlaster) SetMicroseconds(channel, us int) (err error) {
if err = d.setup(); err != nil {
return
func (d *ServoBlaster) SetMicroseconds(channel, us int) error {
if err := d.setup(); err != nil {
return err
}
cmd := fmt.Sprintf("%v=%vus\n", channel, us)
if d.Debug {
log.Printf("servoblaster: sending command %q", cmd)
}
_, err = d.fd.WriteString(cmd)
return
glog.V(1).Infof("servoblaster: sending command %q", cmd)
_, err := d.fd.WriteString(cmd)
return err
}
// Close closes the open driver handle.
func (d *ServoBlaster) Close() (err error) {
func (d *ServoBlaster) Close() error {
if d.fd != nil {
err = d.fd.Close()
return d.fd.Close()
}
return
return nil
}

9
motion/servo/servo.go
View File

@ -2,8 +2,7 @@
package servo
import (
"log"
"github.com/golang/glog"
"github.com/kidoman/embd/util"
)
@ -22,8 +21,6 @@ type Servo struct {
Channel int
Minus, Maxus int
Debug bool
}
// New creates a new Servo interface.
@ -40,9 +37,7 @@ func New(pwm PWM, channel int) *Servo {
func (s *Servo) SetAngle(angle int) error {
us := util.Map(int64(angle), 0, 180, int64(s.Minus), int64(s.Maxus))
if s.Debug {
log.Printf("servo: given angle %v calculated %v us", angle, us)
}
glog.V(1).Infof("servo: given angle %v calculated %v us", angle, us)
return s.PWM.SetMicroseconds(s.Channel, int(us))
}

4
samples/bh1750fvi.go
View File

@ -3,7 +3,7 @@
package main
import (
"log"
"fmt"
"time"
"github.com/kidoman/embd"
@ -26,7 +26,7 @@ func main() {
if err != nil {
panic(err)
}
log.Printf("Lighting is %v lx", lighting)
fmt.Printf("Lighting is %v lx\n", lighting)
time.Sleep(500 * time.Millisecond)
}

14
samples/bmp085.go
View File

@ -3,7 +3,7 @@
package main
import (
"log"
"fmt"
"time"
"github.com/kidoman/embd"
@ -24,19 +24,19 @@ func main() {
for {
temp, err := baro.Temperature()
if err != nil {
log.Panic(err)
panic(err)
}
log.Printf("Temp is %v", temp)
fmt.Printf("Temp is %v\n", temp)
pressure, err := baro.Pressure()
if err != nil {
log.Panic(err)
panic(err)
}
log.Printf("Pressure is %v", pressure)
fmt.Printf("Pressure is %v\n", pressure)
altitude, err := baro.Altitude()
if err != nil {
log.Panic(err)
panic(err)
}
log.Printf("Altitude is %v", altitude)
fmt.Printf("Altitude is %v\n", altitude)
time.Sleep(500 * time.Millisecond)
}

14
samples/bmp180.go
View File

@ -3,7 +3,7 @@
package main
import (
"log"
"fmt"
"time"
"github.com/kidoman/embd"
@ -24,19 +24,19 @@ func main() {
for {
temp, err := baro.Temperature()
if err != nil {
log.Panic(err)
panic(err)
}
log.Printf("Temp is %v", temp)
fmt.Printf("Temp is %v\n", temp)
pressure, err := baro.Pressure()
if err != nil {
log.Panic(err)
panic(err)
}
log.Printf("Pressure is %v", pressure)
fmt.Printf("Pressure is %v\n", pressure)
altitude, err := baro.Altitude()
if err != nil {
log.Panic(err)
panic(err)
}
log.Printf("Altitude is %v", altitude)
fmt.Printf("Altitude is %v\n", altitude)
time.Sleep(500 * time.Millisecond)
}

7
samples/l3gd20.go
View File

@ -3,7 +3,7 @@
package main
import (
"log"
"fmt"
"os"
"os/signal"
"time"
@ -21,7 +21,6 @@ func main() {
bus := embd.NewI2CBus(1)
gyro := l3gd20.New(bus, l3gd20.R250DPS)
gyro.Debug = true
defer gyro.Close()
gyro.Start()
@ -31,7 +30,7 @@ func main() {
orientations, err := gyro.Orientations()
if err != nil {
log.Panic(err)
panic(err)
}
timer := time.Tick(250 * time.Millisecond)
@ -40,7 +39,7 @@ func main() {
select {
case <-timer:
orientation := <-orientations
log.Printf("x: %v, y: %v, z: %v", orientation.X, orientation.Y, orientation.Z)
fmt.Printf("x: %v, y: %v, z: %v\n", orientation.X, orientation.Y, orientation.Z)
case <-quit:
return
}

6
samples/lsm303.go
View File

@ -3,7 +3,7 @@
package main
import (
"log"
"fmt"
"time"
"github.com/kidoman/embd"
@ -24,9 +24,9 @@ func main() {
for {
heading, err := mems.Heading()
if err != nil {
log.Panic(err)
panic(err)
}
log.Printf("Heading is %v", heading)
fmt.Printf("Heading is %v\n", heading)
time.Sleep(500 * time.Millisecond)
}

4
samples/mcp4725.go
View File

@ -3,7 +3,7 @@
package main
import (
"log"
"fmt"
"math/rand"
"os"
"os/signal"
@ -33,7 +33,7 @@ func main() {
default:
voltage := rand.Intn(4096)
if err := dac.SetVoltage(voltage); err != nil {
log.Printf("mcp4725: %v", err)
fmt.Printf("mcp4725: %v\n", err)
}
}
}

4
samples/pca9685.go
View File

@ -3,7 +3,6 @@
package main
import (
"log"
"os"
"os/signal"
"time"
@ -22,11 +21,10 @@ func main() {
pca9685 := pca9685.New(bus, 0x41)
pca9685.Freq = 1000
pca9685.Debug = true
defer pca9685.Close()
if err := pca9685.SetPwm(15, 0, 2000); err != nil {
log.Panic(err)
panic(err)
}
c := make(chan os.Signal, 1)

2
samples/servo.go
View File

@ -22,11 +22,9 @@ func main() {
pwm := pca9685.New(bus, 0x41)
pwm.Freq = 50
pwm.Debug = true
defer pwm.Close()
servo := servo.New(pwm, 0)
servo.Debug = true
c := make(chan os.Signal, 1)
signal.Notify(c, os.Interrupt, os.Kill)

5
samples/servoblaster.go
View File

@ -3,7 +3,6 @@
package main
import (
"log"
"os"
"os/signal"
"time"
@ -14,11 +13,9 @@ import (
func main() {
sb := servoblaster.New()
sb.Debug = true
defer sb.Close()
servo := servo.New(sb, 0)
servo.Debug = true
c := make(chan os.Signal, 1)
signal.Notify(c, os.Interrupt, os.Kill)
@ -43,7 +40,7 @@ func main() {
err = servo.SetAngle(135)
}
if err != nil {
log.Panic(err)
panic(err)
}
case <-c:
return

10
samples/tmp006.go
View File

@ -3,7 +3,7 @@
package main
import (
"log"
"fmt"
"os"
"os/signal"
@ -21,8 +21,8 @@ func main() {
sensor := tmp006.New(bus, 0x40)
if status, err := sensor.Present(); err != nil || !status {
log.Print("tmp006: not found")
log.Print(err)
fmt.Println("tmp006: not found")
fmt.Println(err)
return
}
defer sensor.Close()
@ -35,9 +35,9 @@ func main() {
for {
select {
case temp := <-sensor.ObjTemps():
log.Printf("tmp006: got obj temp %.2f", temp)
fmt.Printf("tmp006: got obj temp %.2f\n", temp)
case temp := <-sensor.RawDieTemps():
log.Printf("tmp006: got die temp %.2f", temp)
fmt.Printf("tmp006: got die temp %.2f\n", temp)
case <-stop:
return
}

6
samples/us020.go
View File

@ -3,7 +3,7 @@
package main
import (
"log"
"fmt"
"time"
"github.com/kidoman/embd"
@ -31,9 +31,9 @@ func main() {
for {
distance, err := rf.Distance()
if err != nil {
log.Panic(err)
panic(err)
}
log.Printf("Distance is %v", distance)
fmt.Printf("Distance is %v\n", distance)
time.Sleep(500 * time.Millisecond)
}

29
sensor/bh1750fvi/bh1750fvi.go
View File

@ -2,7 +2,6 @@
package bh1750fvi
import (
"log"
"sync"
"time"
@ -61,35 +60,32 @@ func NewHigh2Mode(bus embd.I2CBus) *BH1750FVI {
return New(High2, bus)
}
func (d *BH1750FVI) measureLighting() (lighting float64, err error) {
err = d.Bus.WriteByte(d.i2cAddr, d.operationCode)
if err != nil {
log.Print("bh1750fvi: Failed to initialize sensor")
return
func (d *BH1750FVI) measureLighting() (float64, error) {
if err := d.Bus.WriteByte(d.i2cAddr, d.operationCode); err != nil {
return 0, err
}
time.Sleep(180 * time.Millisecond)
var reading uint16
if reading, err = d.Bus.ReadWordFromReg(d.i2cAddr, defReadReg); err != nil {
return
reading, err := d.Bus.ReadWordFromReg(d.i2cAddr, defReadReg)
if err != nil {
return 0, err
}
lighting = float64(int16(reading)) / measurementAcuuracy
return
return float64(int16(reading)) / measurementAcuuracy, nil
}
// Lighting returns the ambient lighting in lx.
func (d *BH1750FVI) Lighting() (lighting float64, err error) {
func (d *BH1750FVI) Lighting() (float64, error) {
select {
case lighting = <-d.lightingReadings:
return
case lighting := <-d.lightingReadings:
return lighting, nil
default:
return d.measureLighting()
}
}
// Run starts continuous sensor data acquisition loop.
func (d *BH1750FVI) Run() (err error) {
func (d *BH1750FVI) Run() {
go func() {
d.quit = make(chan bool)
@ -101,7 +97,8 @@ func (d *BH1750FVI) Run() (err error) {
select {
case d.lightingReadings <- lighting:
case <-timer:
if l, err := d.measureLighting(); err == nil {
l, err := d.measureLighting()
if err == nil {
lighting = l
}
if err == nil && d.lightingReadings == nil {

234
sensor/bmp085/bmp085.go
View File

@ -3,11 +3,11 @@
package bmp085
import (
"log"
"math"
"sync"
"time"
"github.com/golang/glog"
"github.com/kidoman/embd"
)
@ -43,8 +43,6 @@ type BMP085 struct {
Bus embd.I2CBus
Poll int
Debug bool
oss uint
ac1, ac2, ac3 int16
@ -65,109 +63,109 @@ func New(bus embd.I2CBus) *BMP085 {
return &BMP085{Bus: bus, Poll: pollDelay}
}
func (d *BMP085) calibrate() (err error) {
func (d *BMP085) calibrate() error {
d.cmu.RLock()
if d.calibrated {
d.cmu.RUnlock()
return
return nil
}
d.cmu.RUnlock()
d.cmu.Lock()
defer d.cmu.Unlock()
readInt16 := func(reg byte) (value int16, err error) {
var v uint16
if v, err = d.Bus.ReadWordFromReg(address, reg); err != nil {
return
readInt16 := func(reg byte) (int16, error) {
v, err := d.Bus.ReadWordFromReg(address, reg)
if err != nil {
return 0, err
}
value = int16(v)
return
return int16(v), nil
}
readUInt16 := func(reg byte) (value uint16, err error) {
var v uint16
if v, err = d.Bus.ReadWordFromReg(address, reg); err != nil {
return
readUInt16 := func(reg byte) (uint16, error) {
v, err := d.Bus.ReadWordFromReg(address, reg)
if err != nil {
return 0, err
}
value = uint16(v)
return
return uint16(v), nil
}
var err error
d.ac1, err = readInt16(calAc1)
if err != nil {
return
return err
}
d.ac2, err = readInt16(calAc2)
if err != nil {
return
return err
}
d.ac3, err = readInt16(calAc3)
if err != nil {
return
return err
}
d.ac4, err = readUInt16(calAc4)
if err != nil {
return
return err
}
d.ac5, err = readUInt16(calAc5)
if err != nil {
return
return err
}
d.ac6, err = readUInt16(calAc6)
if err != nil {
return
return err
}
d.b1, err = readInt16(calB1)
if err != nil {
return
return err
}
d.b2, err = readInt16(calB2)
if err != nil {
return
return err
}
d.mb, err = readInt16(calMB)
if err != nil {
return
return err
}
d.mc, err = readInt16(calMC)
if err != nil {
return
return err
}
d.md, err = readInt16(calMD)
if err != nil {
return
return err
}
d.calibrated = true
if d.Debug {
log.Print("bmp085: calibration data retrieved")
log.Printf("bmp085: param AC1 = %v", d.ac1)
log.Printf("bmp085: param AC2 = %v", d.ac2)
log.Printf("bmp085: param AC3 = %v", d.ac3)
log.Printf("bmp085: param AC4 = %v", d.ac4)
log.Printf("bmp085: param AC5 = %v", d.ac5)
log.Printf("bmp085: param AC6 = %v", d.ac6)
log.Printf("bmp085: param B1 = %v", d.b1)
log.Printf("bmp085: param B2 = %v", d.b2)
log.Printf("bmp085: param MB = %v", d.mb)
log.Printf("bmp085: param MC = %v", d.mc)
log.Printf("bmp085: param MD = %v", d.md)
if glog.V(1) {
glog.Info("bmp085: calibration data retrieved")
glog.Infof("bmp085: param AC1 = %v", d.ac1)
glog.Infof("bmp085: param AC2 = %v", d.ac2)
glog.Infof("bmp085: param AC3 = %v", d.ac3)
glog.Infof("bmp085: param AC4 = %v", d.ac4)
glog.Infof("bmp085: param AC5 = %v", d.ac5)
glog.Infof("bmp085: param AC6 = %v", d.ac6)
glog.Infof("bmp085: param B1 = %v", d.b1)
glog.Infof("bmp085: param B2 = %v", d.b2)
glog.Infof("bmp085: param MB = %v", d.mb)
glog.Infof("bmp085: param MC = %v", d.mc)
glog.Infof("bmp085: param MD = %v", d.md)
}
return
return nil
}
func (d *BMP085) readUncompensatedTemp() (temp uint16, err error) {
if err = d.Bus.WriteByteToReg(address, control, readTempCmd); err != nil {
return
func (d *BMP085) readUncompensatedTemp() (uint16, error) {
if err := d.Bus.WriteByteToReg(address, control, readTempCmd); err != nil {
return 0, err
}
time.Sleep(tempReadDelay)
if temp, err = d.Bus.ReadWordFromReg(address, tempData); err != nil {
return
temp, err := d.Bus.ReadWordFromReg(address, tempData)
if err != nil {
return 0, err
}
return
return temp, nil
}
func (d *BMP085) calcTemp(utemp uint16) uint16 {
@ -181,69 +179,59 @@ func (d *BMP085) calcTemp(utemp uint16) uint16 {
return uint16((d.b5 + 8) >> 4)
}
func (d *BMP085) measureTemp() (temp uint16, err error) {
if err = d.calibrate(); err != nil {
return
func (d *BMP085) measureTemp() (uint16, error) {
if err := d.calibrate(); err != nil {
return 0, err
}
var utemp uint16
if utemp, err = d.readUncompensatedTemp(); err != nil {
return
utemp, err := d.readUncompensatedTemp()
if err != nil {
return 0, err
}
if d.Debug {
log.Printf("bcm085: uncompensated temp: %v", utemp)
}
temp = d.calcTemp(utemp)
if d.Debug {
log.Printf("bcm085: compensated temp %v", temp)
}
return
glog.V(1).Infof("bcm085: uncompensated temp: %v", utemp)
temp := d.calcTemp(utemp)
glog.V(1).Infof("bcm085: compensated temp %v", temp)
return temp, nil
}
// Temperature returns the current temperature reading.
func (d *BMP085) Temperature() (temp float64, err error) {
func (d *BMP085) Temperature() (float64, error) {
select {
case t := <-d.temps:
temp = float64(t) / 10
return
temp := float64(t) / 10
return temp, nil
default:
if d.Debug {
log.Print("bcm085: no temps available... measuring")
}
var t uint16
t, err = d.measureTemp()
glog.V(1).Infof("bcm085: no temps available... measuring")
t, err := d.measureTemp()
if err != nil {
return
return 0, err
}
temp = float64(t) / 10
return
temp := float64(t) / 10
return temp, nil
}
}
func (d *BMP085) readUncompensatedPressure() (pressure uint32, err error) {
if err = d.Bus.WriteByteToReg(address, control, byte(readPressureCmd+(d.oss<<6))); err != nil {
return
func (d *BMP085) readUncompensatedPressure() (uint32, error) {
if err := d.Bus.WriteByteToReg(address, control, byte(readPressureCmd+(d.oss<<6))); err != nil {
return 0, err
}
time.Sleep(time.Duration(2+(3<<d.oss)) * time.Millisecond)
data := make([]byte, 3)
if err = d.Bus.ReadFromReg(address, pressureData, data); err != nil {
return
if err := d.Bus.ReadFromReg(address, pressureData, data); err != nil {
return 0, err
}
pressure = ((uint32(data[0]) << 16) | (uint32(data[1]) << 8) | uint32(data[2])) >> (8 - d.oss)
pressure := ((uint32(data[0]) << 16) | (uint32(data[1]) << 8) | uint32(data[2])) >> (8 - d.oss)
return
return pressure, nil
}
func (d *BMP085) calcPressure(upressure uint32) (p int32) {
func (d *BMP085) calcPressure(upressure uint32) int32 {
var x1, x2, x3 int32
l := func(s string, v interface{}) {
if d.Debug {
log.Printf("bcm085: %v = %v", s, v)
}
glog.V(1).Infof("bcm085: %v = %v", s, v)
}
b6 := d.b5 - 4000
@ -271,6 +259,7 @@ func (d *BMP085) calcPressure(upressure uint32) (p int32) {
l("x3", x3)
l("b4", b4)
var p int32
b7 := (uint32(upressure-uint32(b3)) * (50000 >> d.oss))
if b7 < 0x80000000 {
p = int32((b7 << 1) / b4)
@ -290,83 +279,70 @@ func (d *BMP085) calcPressure(upressure uint32) (p int32) {
l("x3", x3)
l("p", p)
return
return p
}
func (d *BMP085) calcAltitude(pressure int32) float64 {
return 44330 * (1 - math.Pow(float64(pressure)/p0, 0.190295))
}
func (d *BMP085) measurePressureAndAltitude() (pressure int32, altitude float64, err error) {
if err = d.calibrate(); err != nil {
return
func (d *BMP085) measurePressureAndAltitude() (int32, float64, error) {
if err := d.calibrate(); err != nil {
return 0, 0, err
}
var upressure uint32
if upressure, err = d.readUncompensatedPressure(); err != nil {
return
upressure, err := d.readUncompensatedPressure()
if err != nil {
return 0, 0, err
}
if d.Debug {
log.Printf("bcm085: uncompensated pressure: %v", upressure)
}
pressure = d.calcPressure(upressure)
if d.Debug {
log.Printf("bcm085: compensated pressure %v", pressure)
}
altitude = d.calcAltitude(pressure)
if d.Debug {
log.Printf("bcm085: calculated altitude %v", altitude)
}
return
glog.V(1).Infof("bcm085: uncompensated pressure: %v", upressure)
pressure := d.calcPressure(upressure)
glog.V(1).Infof("bcm085: compensated pressure %v", pressure)
altitude := d.calcAltitude(pressure)
glog.V(1).Infof("bcm085: calculated altitude %v", altitude)
return pressure, altitude, nil
}
// Pressure returns the current pressure reading.
func (d *BMP085) Pressure() (pressure int, err error) {
if err = d.calibrate(); err != nil {
return
func (d *BMP085) Pressure() (int, error) {
if err := d.calibrate(); err != nil {
return 0, err
}
select {
case p := <-d.pressures:
pressure = int(p)
return
return int(p), nil
default:
if d.Debug {
log.Print("bcm085: no pressures available... measuring")
}
var p int32
p, _, err = d.measurePressureAndAltitude()
glog.V(1).Infof("bcm085: no pressures available... measuring")
p, _, err := d.measurePressureAndAltitude()
if err != nil {
return
return 0, err
}
pressure = int(p)
return
return int(p), nil
}
}
// Altitude returns the current altitude reading.
func (d *BMP085) Altitude() (altitude float64, err error) {
if err = d.calibrate(); err != nil {
return
func (d *BMP085) Altitude() (float64, error) {
if err := d.calibrate(); err != nil {
return 0, err
}
select {
case altitude = <-d.altitudes:
return
case altitude := <-d.altitudes:
return altitude, nil
default:
if d.Debug {
log.Print("bcm085: no altitudes available... measuring")
}
_, altitude, err = d.measurePressureAndAltitude()
glog.V(1).Info("bcm085: no altitudes available... measuring")
_, altitude, err := d.measurePressureAndAltitude()
if err != nil {
return
return 0, err
}
return
return altitude, nil
}
}
// Run starts the sensor data acquisition loop.
func (d *BMP085) Run() (err error) {
func (d *BMP085) Run() {
go func() {
d.quit = make(chan struct{})
timer := time.Tick(time.Duration(d.Poll) * time.Millisecond)

234
sensor/bmp180/bmp180.go
View File

@ -3,11 +3,11 @@
package bmp180
import (
"log"
"math"
"sync"
"time"
"github.com/golang/glog"
"github.com/kidoman/embd"
)
@ -43,8 +43,6 @@ type BMP180 struct {
Bus embd.I2CBus
Poll int
Debug bool
oss uint
ac1, ac2, ac3 int16
@ -65,109 +63,109 @@ func New(bus embd.I2CBus) *BMP180 {
return &BMP180{Bus: bus, Poll: pollDelay}
}
func (d *BMP180) calibrate() (err error) {
func (d *BMP180) calibrate() error {
d.cmu.RLock()
if d.calibrated {
d.cmu.RUnlock()
return
return nil
}
d.cmu.RUnlock()
d.cmu.Lock()
defer d.cmu.Unlock()
readInt16 := func(reg byte) (value int16, err error) {
var v uint16
if v, err = d.Bus.ReadWordFromReg(address, reg); err != nil {
return
readInt16 := func(reg byte) (int16, error) {
v, err := d.Bus.ReadWordFromReg(address, reg)
if err != nil {
return 0, err
}
value = int16(v)
return
return int16(v), nil
}
readUInt16 := func(reg byte) (value uint16, err error) {
var v uint16
if v, err = d.Bus.ReadWordFromReg(address, reg); err != nil {
return
readUInt16 := func(reg byte) (uint16, error) {
v, err := d.Bus.ReadWordFromReg(address, reg)
if err != nil {
return 0, err
}
value = uint16(v)
return
return uint16(v), nil
}
var err error
d.ac1, err = readInt16(calAc1)
if err != nil {
return
return err
}
d.ac2, err = readInt16(calAc2)
if err != nil {
return
return err
}
d.ac3, err = readInt16(calAc3)
if err != nil {
return
return err
}
d.ac4, err = readUInt16(calAc4)
if err != nil {
return
return err
}
d.ac5, err = readUInt16(calAc5)
if err != nil {
return
return err
}
d.ac6, err = readUInt16(calAc6)
if err != nil {
return
return err
}
d.b1, err = readInt16(calB1)
if err != nil {
return
return err
}
d.b2, err = readInt16(calB2)
if err != nil {
return
return err
}
d.mb, err = readInt16(calMB)
if err != nil {
return
return err
}
d.mc, err = readInt16(calMC)
if err != nil {
return
return err
}
d.md, err = readInt16(calMD)
if err != nil {
return
return err
}
d.calibrated = true
if d.Debug {
log.Print("bmp085: calibration data retrieved")
log.Printf("bmp085: param AC1 = %v", d.ac1)
log.Printf("bmp085: param AC2 = %v", d.ac2)
log.Printf("bmp085: param AC3 = %v", d.ac3)
log.Printf("bmp085: param AC4 = %v", d.ac4)
log.Printf("bmp085: param AC5 = %v", d.ac5)
log.Printf("bmp085: param AC6 = %v", d.ac6)
log.Printf("bmp085: param B1 = %v", d.b1)
log.Printf("bmp085: param B2 = %v", d.b2)
log.Printf("bmp085: param MB = %v", d.mb)
log.Printf("bmp085: param MC = %v", d.mc)
log.Printf("bmp085: param MD = %v", d.md)
if glog.V(1) {
glog.Info("bmp180: calibration data retrieved")
glog.Infof("bmp180: param AC1 = %v", d.ac1)
glog.Infof("bmp180: param AC2 = %v", d.ac2)
glog.Infof("bmp180: param AC3 = %v", d.ac3)
glog.Infof("bmp180: param AC4 = %v", d.ac4)
glog.Infof("bmp180: param AC5 = %v", d.ac5)
glog.Infof("bmp180: param AC6 = %v", d.ac6)
glog.Infof("bmp180: param B1 = %v", d.b1)
glog.Infof("bmp180: param B2 = %v", d.b2)
glog.Infof("bmp180: param MB = %v", d.mb)
glog.Infof("bmp180: param MC = %v", d.mc)
glog.Infof("bmp180: param MD = %v", d.md)
}
return
return nil
}
func (d *BMP180) readUncompensatedTemp() (temp uint16, err error) {
if err = d.Bus.WriteByteToReg(address, control, readTempCmd); err != nil {
return
func (d *BMP180) readUncompensatedTemp() (uint16, error) {
if err := d.Bus.WriteByteToReg(address, control, readTempCmd); err != nil {
return 0, err
}
time.Sleep(tempReadDelay)
if temp, err = d.Bus.ReadWordFromReg(address, tempData); err != nil {
return
temp, err := d.Bus.ReadWordFromReg(address, tempData)
if err != nil {
return 0, err
}
return
return temp, nil
}
func (d *BMP180) calcTemp(utemp uint16) uint16 {
@ -181,69 +179,59 @@ func (d *BMP180) calcTemp(utemp uint16) uint16 {
return uint16((d.b5 + 8) >> 4)
}
func (d *BMP180) measureTemp() (temp uint16, err error) {
if err = d.calibrate(); err != nil {
return
func (d *BMP180) measureTemp() (uint16, error) {
if err := d.calibrate(); err != nil {
return 0, err
}
var utemp uint16
if utemp, err = d.readUncompensatedTemp(); err != nil {
return
utemp, err := d.readUncompensatedTemp()
if err != nil {
return 0, err
}
if d.Debug {
log.Printf("bcm085: uncompensated temp: %v", utemp)
}
temp = d.calcTemp(utemp)
if d.Debug {
log.Printf("bcm085: compensated temp %v", temp)
}
return
glog.V(1).Infof("bcm085: uncompensated temp: %v", utemp)
temp := d.calcTemp(utemp)
glog.V(1).Infof("bcm085: compensated temp %v", temp)
return temp, nil
}
// Temperature returns the current temperature reading.
func (d *BMP180) Temperature() (temp float64, err error) {
func (d *BMP180) Temperature() (float64, error) {
select {
case t := <-d.temps:
temp = float64(t) / 10
return
temp := float64(t) / 10
return temp, nil
default:
if d.Debug {
log.Print("bcm085: no temps available... measuring")
}
var t uint16
t, err = d.measureTemp()
glog.V(1).Infof("bcm085: no temps available... measuring")
t, err := d.measureTemp()
if err != nil {
return
return 0, err
}
temp = float64(t) / 10
return
temp := float64(t) / 10
return temp, nil
}
}
func (d *BMP180) readUncompensatedPressure() (pressure uint32, err error) {
if err = d.Bus.WriteByteToReg(address, control, byte(readPressureCmd+(d.oss<<6))); err != nil {
return
func (d *BMP180) readUncompensatedPressure() (uint32, error) {
if err := d.Bus.WriteByteToReg(address, control, byte(readPressureCmd+(d.oss<<6))); err != nil {
return 0, err
}
time.Sleep(time.Duration(2+(3<<d.oss)) * time.Millisecond)
data := make([]byte, 3)
if err = d.Bus.ReadFromReg(address, pressureData, data); err != nil {
return
if err := d.Bus.ReadFromReg(address, pressureData, data); err != nil {
return 0, err
}
pressure = ((uint32(data[0]) << 16) | (uint32(data[1]) << 8) | uint32(data[2])) >> (8 - d.oss)
pressure := ((uint32(data[0]) << 16) | (uint32(data[1]) << 8) | uint32(data[2])) >> (8 - d.oss)
return
return pressure, nil
}
func (d *BMP180) calcPressure(upressure uint32) (p int32) {
func (d *BMP180) calcPressure(upressure uint32) int32 {
var x1, x2, x3 int32
l := func(s string, v interface{}) {
if d.Debug {
log.Printf("bcm085: %v = %v", s, v)
}
glog.V(1).Infof("bcm085: %v = %v", s, v)
}
b6 := d.b5 - 4000
@ -271,6 +259,7 @@ func (d *BMP180) calcPressure(upressure uint32) (p int32) {
l("x3", x3)
l("b4", b4)
var p int32
b7 := (uint32(upressure-uint32(b3)) * (50000 >> d.oss))
if b7 < 0x80000000 {
p = int32((b7 << 1) / b4)
@ -290,83 +279,70 @@ func (d *BMP180) calcPressure(upressure uint32) (p int32) {
l("x3", x3)
l("p", p)
return
return p
}
func (d *BMP180) calcAltitude(pressure int32) float64 {
return 44330 * (1 - math.Pow(float64(pressure)/p0, 0.190295))
}
func (d *BMP180) measurePressureAndAltitude() (pressure int32, altitude float64, err error) {
if err = d.calibrate(); err != nil {
return
func (d *BMP180) measurePressureAndAltitude() (int32, float64, error) {
if err := d.calibrate(); err != nil {
return 0, 0, err
}
var upressure uint32
if upressure, err = d.readUncompensatedPressure(); err != nil {
return
upressure, err := d.readUncompensatedPressure()
if err != nil {
return 0, 0, err
}
if d.Debug {
log.Printf("bcm085: uncompensated pressure: %v", upressure)
}
pressure = d.calcPressure(upressure)
if d.Debug {
log.Printf("bcm085: compensated pressure %v", pressure)
}
altitude = d.calcAltitude(pressure)
if d.Debug {
log.Printf("bcm085: calculated altitude %v", altitude)
}
return
glog.V(1).Infof("bcm085: uncompensated pressure: %v", upressure)
pressure := d.calcPressure(upressure)
glog.V(1).Infof("bcm085: compensated pressure %v", pressure)
altitude := d.calcAltitude(pressure)
glog.V(1).Infof("bcm085: calculated altitude %v", altitude)
return pressure, altitude, nil
}
// Pressure returns the current pressure reading.
func (d *BMP180) Pressure() (pressure int, err error) {
if err = d.calibrate(); err != nil {
return
func (d *BMP180) Pressure() (int, error) {
if err := d.calibrate(); err != nil {
return 0, err
}
select {
case p := <-d.pressures:
pressure = int(p)
return
return int(p), nil
default:
if d.Debug {
log.Print("bcm085: no pressures available... measuring")
}
var p int32
p, _, err = d.measurePressureAndAltitude()
glog.V(1).Infof("bcm085: no pressures available... measuring")
p, _, err := d.measurePressureAndAltitude()
if err != nil {
return
return 0, err
}
pressure = int(p)
return
return int(p), nil
}
}
// Altitude returns the current altitude reading.
func (d *BMP180) Altitude() (altitude float64, err error) {
if err = d.calibrate(); err != nil {
return
func (d *BMP180) Altitude() (float64, error) {
if err := d.calibrate(); err != nil {
return 0, err
}
select {
case altitude = <-d.altitudes:
return
case altitude := <-d.altitudes:
return altitude, nil
default:
if d.Debug {
log.Print("bcm085: no altitudes available... measuring")
}
_, altitude, err = d.measurePressureAndAltitude()
glog.V(1).Info("bcm085: no altitudes available... measuring")
_, altitude, err := d.measurePressureAndAltitude()
if err != nil {
return
return 0, err
}
return
return altitude, nil
}
}
// Run starts the sensor data acquisition loop.
func (d *BMP180) Run() (err error) {
func (d *BMP180) Run() {
go func() {
d.quit = make(chan struct{})
timer := time.Tick(time.Duration(d.Poll) * time.Millisecond)

163
sensor/l3gd20/l3gd20.go
View File

@ -3,11 +3,11 @@ package l3gd20
import (
"fmt"
"log"
"math"
"sync"
"time"
"github.com/golang/glog"
"github.com/kidoman/embd"
)
@ -122,8 +122,6 @@ type L3GD20 struct {
orientations chan Orientation
closing chan chan struct{}
Debug bool
}
// New creates a new L3GD20 interface. The bus variable controls
@ -132,7 +130,6 @@ func New(bus embd.I2CBus, Range *Range) *L3GD20 {
return &L3GD20{
Bus: bus,
Range: Range,
Debug: false,
}
}
@ -162,42 +159,38 @@ func (vs values) mean() float64 {
return sum / float64(len(vs))
}
func (d *L3GD20) calibrate(a *axis) (ac axisCalibration, err error) {
if d.Debug {
log.Printf("l3gd20: calibrating %v axis", a)
}
func (d *L3GD20) calibrate(a *axis) (axisCalibration, error) {
glog.V(1).Infof("l3gd20: calibrating %v axis", a)
values := make(values, 0)
for i := 0; i < 20; i++ {
again:
var available bool
if available, err = d.axisStatus(a); err != nil {
return
available, err := d.axisStatus(a)
if err != nil {
return axisCalibration{}, err
}
if !available {
time.Sleep(100 * time.Microsecond)
goto again
}
var value float64
if value, err = d.readOrientationDelta(a); err != nil {
return
value, err := d.readOrientationDelta(a)
if err != nil {
return axisCalibration{}, err
}
values = append(values, value)
}
ac.min, ac.max, ac.mean = values.min(), values.max(), values.mean()
ac := axisCalibration{min: values.min(), max: values.max(), mean: values.mean()}
if d.Debug {
log.Printf("l3gd20: %v axis calibration (%v)", a, ac)
}
glog.V(1).Infof("l3gd20: %v axis calibration (%v)", a, ac)
return
return ac, nil
}
func (d *L3GD20) setup() (err error) {
func (d *L3GD20) setup() error {
d.mu.RLock()
if d.initialized {
d.mu.RUnlock()
return
return nil
}
d.mu.RUnlock()
@ -206,63 +199,66 @@ func (d *L3GD20) setup() (err error) {
d.orientations = make(chan Orientation)
if err = d.Bus.WriteByteToReg(address, ctrlReg1, ctrlReg1Default); err != nil {
return
if err := d.Bus.WriteByteToReg(address, ctrlReg1, ctrlReg1Default); err != nil {
return err
}
if err = d.Bus.WriteByteToReg(address, ctrlReg4, d.Range.value); err != nil {
return
if err := d.Bus.WriteByteToReg(address, ctrlReg4, d.Range.value); err != nil {
return err
}
// Calibrate
var err error
if d.xac, err = d.calibrate(ax); err != nil {
return
return err
}
if d.yac, err = d.calibrate(ay); err != nil {
return
return err
}
if d.zac, err = d.calibrate(az); err != nil {
return
return err
}
d.initialized = true
return
return nil
}
func (d *L3GD20) axisStatus(a *axis) (available bool, err error) {
var data byte
if data, err = d.Bus.ReadByteFromReg(address, statusReg); err != nil {
return
func (d *L3GD20) axisStatus(a *axis) (bool, error) {
data, err := d.Bus.ReadByteFromReg(address, statusReg)
if err != nil {
return false, err
}
if data&zyxAvailable == 0 {
return
return false, nil
}
available = data&a.availableMask != 0
available := data&a.availableMask != 0
return
return available, nil
}
func (d *L3GD20) readOrientationDelta(a *axis) (value float64, err error) {
func (d *L3GD20) readOrientationDelta(a *axis) (float64, error) {
rl, rh := a.regs()
var l, h byte
if l, err = d.Bus.ReadByteFromReg(address, rl); err != nil {
return
l, err := d.Bus.ReadByteFromReg(address, rl)
if err != nil {
return 0, err
}
if h, err = d.Bus.ReadByteFromReg(address, rh); err != nil {
return
h, err := d.Bus.ReadByteFromReg(address, rh)
if err != nil {
return 0, err
}
value = float64(int16(h)<<8 | int16(l))
value := float64(int16(h)<<8 | int16(l))
value *= d.Range.sensitivity
return
return value, nil
}
func (d *L3GD20) calibratedOrientationDelta(a *axis) (value float64, err error) {
if value, err = d.readOrientationDelta(a); err != nil {
return
func (d *L3GD20) calibratedOrientationDelta(a *axis) (float64, error) {
value, err := d.readOrientationDelta(a)
if err != nil {
return 0, err
}
switch a {
@ -274,63 +270,64 @@ func (d *L3GD20) calibratedOrientationDelta(a *axis) (value float64, err error)
value = d.zac.adjust(value)
}
return
return value, nil
}
func (d *L3GD20) measureOrientationDelta() (dx, dy, dz float64, err error) {
if err = d.setup(); err != nil {
return
func (d *L3GD20) measureOrientationDelta() (float64, float64, float64, error) {
if err := d.setup(); err != nil {
return 0, 0, 0, err
}
if dx, err = d.calibratedOrientationDelta(ax); err != nil {
return
dx, err := d.calibratedOrientationDelta(ax)
if err != nil {
return 0, 0, 0, err
}
if dy, err = d.calibratedOrientationDelta(ay); err != nil {
return
dy, err := d.calibratedOrientationDelta(ay)
if err != nil {
return 0, 0, 0, err
}
if dz, err = d.calibratedOrientationDelta(az); err != nil {
return
dz, err := d.calibratedOrientationDelta(az)
if err != nil {
return 0, 0, 0, err
}
return
return dx, dy, dz, nil
}
// Orientation returns the current orientation reading.
func (d *L3GD20) OrientationDelta() (dx, dy, dz float64, err error) {
func (d *L3GD20) OrientationDelta() (float64, float64, float64, error) {
return d.measureOrientationDelta()
}
// Temperature returns the current temperature reading.
func (d *L3GD20) Temperature() (temp int, err error) {
if err = d.setup(); err != nil {
return
func (d *L3GD20) Temperature() (int, error) {
if err := d.setup(); err != nil {
return 0, err
}
var data byte
if data, err = d.Bus.ReadByteFromReg(address, tempData); err != nil {
return
data, err := d.Bus.ReadByteFromReg(address, tempData)
if err != nil {
return 0, err
}
temp = int(int8(data))
temp := int(int8(data))
return
return temp, nil
}
// Orientations returns a channel which will have the current temperature reading.
func (d *L3GD20) Orientations() (orientations <-chan Orientation, err error) {
if err = d.setup(); err != nil {
return
func (d *L3GD20) Orientations() (<-chan Orientation, error) {
if err := d.setup(); err != nil {
return nil, err
}
orientations = d.orientations
return
return d.orientations, nil
}
// Start starts the data acquisition loop.
func (d *L3GD20) Start() (err error) {
if err = d.setup(); err != nil {
return
func (d *L3GD20) Start() error {
if err := d.setup(); err != nil {
return err
}
d.closing = make(chan chan struct{})
@ -346,7 +343,7 @@ func (d *L3GD20) Start() (err error) {
case <-timer:
dx, dy, dz, err := d.measureOrientationDelta()
if err != nil {
log.Printf("l3gd20: %v", err)
glog.Errorf("l3gd20: %v", err)
} else {
x += dx * mult
y += dy * mult
@ -364,25 +361,25 @@ func (d *L3GD20) Start() (err error) {
}
}()
return
return nil
}
// Stop the data acquisition loop.
func (d *L3GD20) Stop() (err error) {
func (d *L3GD20) Stop() error {
if d.closing != nil {
waitc := make(chan struct{})
d.closing <- waitc
<-waitc
d.closing = nil
}
if err = d.Bus.WriteByteToReg(address, ctrlReg1, ctrlReg1Finished); err != nil {
return
if err := d.Bus.WriteByteToReg(address, ctrlReg1, ctrlReg1Finished); err != nil {
return err
}
d.initialized = false
return
return nil
}
// Close.
func (d *L3GD20) Close() (err error) {
func (d *L3GD20) Close() error {
return d.Stop()
}

12
sensor/lsm303/lsm303.go
View File

@ -2,11 +2,11 @@
package lsm303
import (
"log"
"math"
"sync"
"time"
"github.com/golang/glog"
"github.com/kidoman/embd"
)
@ -53,8 +53,6 @@ type LSM303 struct {
headings chan float64
quit chan struct{}
Debug bool
}
// New creates a new LSM303 interface. The bus variable controls
@ -118,15 +116,13 @@ func (d *LSM303) Heading() (float64, error) {
case heading := <-d.headings:
return heading, nil
default:
if d.Debug {
log.Print("lsm303: no headings available... measuring")
}
glog.V(2).Infof("lsm303: no headings available... measuring")
return d.measureHeading()
}
}
// Run starts the sensor data acquisition loop.
func (d *LSM303) Run() (err error) {
func (d *LSM303) Run() error {
go func() {
d.quit = make(chan struct{})
@ -153,7 +149,7 @@ func (d *LSM303) Run() (err error) {
}
}()
return
return nil
}
// Close the sensor data acquisition loop and put the LSM303 into sleep mode.

163
sensor/tmp006/tmp006.go
View File

@ -4,11 +4,11 @@ package tmp006
import (
"errors"
"fmt"
"log"
"math"
"sync"
"time"
"github.com/golang/glog"
"github.com/kidoman/embd"
)
@ -57,8 +57,6 @@ type TMP006 struct {
Bus embd.I2CBus
// Addr of the sensor.
Addr byte
// Debug turns on additional debug output.
Debug bool
// SampleRate specifies the sampling rate for the sensor.
SampleRate *SampleRate
@ -89,143 +87,122 @@ func (d *TMP006) validate() error {
}
// Close puts the device into low power mode.
func (d *TMP006) Close() (err error) {
if err = d.setup(); err != nil {
return
func (d *TMP006) Close() error {
if err := d.setup(); err != nil {
return err
}
if d.closing != nil {
waitc := make(chan struct{})
d.closing <- waitc
<-waitc
}
if d.Debug {
log.Print("tmp006: resetting")
glog.V(1).Infof("tmp006: resetting")
if err := d.Bus.WriteWordToReg(d.Addr, configReg, reset); err != nil {
return err
}
if err = d.Bus.WriteWordToReg(d.Addr, configReg, reset); err != nil {
return
}
return
return nil
}
// Present checks if the device is present at the given address.
func (d *TMP006) Present() (status bool, err error) {
if err = d.validate(); err != nil {
return
func (d *TMP006) Present() (bool, error) {
if err := d.validate(); err != nil {
return false, err
}
var mid, did uint16
if mid, err = d.Bus.ReadWordFromReg(d.Addr, manIdReg); err != nil {
return
}
if d.Debug {
log.Printf("tmp006: got manufacturer id %#04x", mid)
mid, err := d.Bus.ReadWordFromReg(d.Addr, manIdReg)
if err != nil {
return false, err
}
glog.V(1).Infof("tmp006: got manufacturer id %#04x", mid)
if mid != manId {
err = fmt.Errorf("tmp006: not found at %#02x, manufacturer id mismatch", d.Addr)
return
return false, fmt.Errorf("tmp006: not found at %#02x, manufacturer id mismatch", d.Addr)
}
if did, err = d.Bus.ReadWordFromReg(d.Addr, devIdReg); err != nil {
return
}
if d.Debug {
log.Printf("tmp006: got device id %#04x", did)
did, err := d.Bus.ReadWordFromReg(d.Addr, devIdReg)
if err != nil {
return false, err
}
glog.V(1).Infof("tmp006: got device id %#04x", did)
if did != devId {
err = fmt.Errorf("tmp006: not found at %#02x, device id mismatch", d.Addr)
return
return false, fmt.Errorf("tmp006: not found at %#02x, device id mismatch", d.Addr)
}
status = true
return
return true, nil
}
func (d *TMP006) setup() (err error) {
func (d *TMP006) setup() error {
d.mu.RLock()
if d.initialized {
d.mu.RUnlock()
return
return nil
}
d.mu.RUnlock()
d.mu.Lock()
defer d.mu.Unlock()
if err = d.validate(); err != nil {
return
if err := d.validate(); err != nil {
return err
}
if d.SampleRate == nil {
if d.Debug {
log.Printf("tmp006: sample rate = nil, using SR16")
}
glog.V(1).Infof("tmp006: sample rate = nil, using SR16")
d.SampleRate = SR16
}
if d.Debug {
log.Printf("tmp006: configuring with %#04x", configRegDefault|d.SampleRate.enabler)
}
if err = d.Bus.WriteWordToReg(d.Addr, configReg, configRegDefault|d.SampleRate.enabler); err != nil {
return
glog.V(1).Infof("tmp006: configuring with %#04x", configRegDefault|d.SampleRate.enabler)
if err := d.Bus.WriteWordToReg(d.Addr, configReg, configRegDefault|d.SampleRate.enabler); err != nil {
return err
}
d.initialized = true
return
return nil
}
func (d *TMP006) measureRawDieTemp() (temp float64, err error) {
if err = d.setup(); err != nil {
return
func (d *TMP006) measureRawDieTemp() (float64, error) {
if err := d.setup(); err != nil {
return 0, err
}
var raw uint16
if raw, err = d.Bus.ReadWordFromReg(d.Addr, tempAmbReg); err != nil {
return
raw, err := d.Bus.ReadWordFromReg(d.Addr, tempAmbReg)
if err != nil {
return 0, err
}
raw >>= 2
if d.Debug {
log.Printf("tmp006: raw die temp %#04x", raw)
}
glog.V(2).Infof("tmp006: raw die temp %#04x", raw)
temp = float64(int16(raw)) * 0.03125
temp := float64(int16(raw)) * 0.03125
return
return temp, nil
}
func (d *TMP006) measureRawVoltage() (volt int16, err error) {
if err = d.setup(); err != nil {
return
func (d *TMP006) measureRawVoltage() (int16, error) {
if err := d.setup(); err != nil {
return 0, err
}
var vlt uint16
if vlt, err = d.Bus.ReadWordFromReg(d.Addr, vObjReg); err != nil {
return
vlt, err := d.Bus.ReadWordFromReg(d.Addr, vObjReg)
if err != nil {
return 0, err
}
volt = int16(vlt)
if d.Debug {
log.Printf("tmp006: raw voltage %#04x", volt)
}
return
volt := int16(vlt)
glog.V(2).Infof("tmp006: raw voltage %#04x", volt)
return volt, nil
}
func (d *TMP006) measureObjTemp() (temp float64, err error) {
if err = d.setup(); err != nil {
return
func (d *TMP006) measureObjTemp() (float64, error) {
if err := d.setup(); err != nil {
return 0, err
}
tDie, err := d.measureRawDieTemp()
if err != nil {
return
}
if d.Debug {
log.Printf("tmp006: tdie = %.2f C", tDie)
return 0, err
}
glog.V(2).Infof("tmp006: tdie = %.2f C", tDie)
tDie += 273.15 // Convert to K
vo, err := d.measureRawVoltage()
if err != nil {
return
return 0, err
}
vObj := float64(vo)
vObj *= 156.25 // 156.25 nV per LSB
vObj /= 1000 // nV -> uV
if d.Debug {
log.Printf("tmp006: vObj = %.5f uV", vObj)
}
glog.V(2).Infof("tmp006: vObj = %.5f uV", vObj)
vObj /= 1000 // uV -> mV
vObj /= 1000 // mV -> V
@ -238,17 +215,17 @@ func (d *TMP006) measureObjTemp() (temp float64, err error) {
Vos := b0 + b1*tdie_tref + b2*tdie_tref*tdie_tref
fVobj := (vObj - Vos) + c2*(vObj-Vos)*(vObj-Vos)
temp = math.Sqrt(math.Sqrt(tDie*tDie*tDie*tDie + fVobj/s))
temp := math.Sqrt(math.Sqrt(tDie*tDie*tDie*tDie + fVobj/s))
temp -= 273.15
return
return temp, nil
}
// RawDieTemp returns the current raw die temp reading.
func (d *TMP006) RawDieTemp() (temp float64, err error) {
func (d *TMP006) RawDieTemp() (float64, error) {
select {
case temp = <-d.rawDieTemps:
return
case temp := <-d.rawDieTemps:
return temp, nil
default:
return d.measureRawDieTemp()
}
@ -260,10 +237,10 @@ func (d *TMP006) RawDieTemps() <-chan float64 {
}
// ObjTemp returns the current obj temp reading.
func (d *TMP006) ObjTemp() (temp float64, err error) {
func (d *TMP006) ObjTemp() (float64, error) {
select {
case temp = <-d.objTemps:
return
case temp := <-d.objTemps:
return temp, nil
default:
return d.measureObjTemp()
}
@ -275,9 +252,9 @@ func (d *TMP006) ObjTemps() <-chan float64 {
}
// Start starts the data acquisition loop.
func (d *TMP006) Start() (err error) {
if err = d.setup(); err != nil {
return
func (d *TMP006) Start() error {
if err := d.setup(); err != nil {
return err
}
d.rawDieTemps = make(chan float64)
@ -307,14 +284,14 @@ func (d *TMP006) Start() (err error) {
case <-timer:
var rdt float64
if rdt, err = d.measureRawDieTemp(); err != nil {
log.Printf("tmp006: %v", err)
glog.Errorf("tmp006: %v", err)
} else {
rawDieTemp = rdt
rdtAvlb = true
}
var ot float64
if ot, err = d.measureObjTemp(); err != nil {
log.Printf("tmp006: %v", err)
glog.Errorf("tmp006: %v", err)
} else {
objTemp = ot
otAvlb = true
@ -333,5 +310,5 @@ func (d *TMP006) Start() (err error) {
}
}()
return
return nil
}

40
sensor/us020/us020.go
View File

@ -2,10 +2,10 @@
package us020
import (
"log"
"sync"
"time"
"github.com/golang/glog"
"github.com/kidoman/embd"
)
@ -37,8 +37,6 @@ type US020 struct {
initialized bool
mu sync.RWMutex
Debug bool
}
// New creates a new US020 interface. The bus variable controls
@ -47,11 +45,11 @@ func New(echoPin, triggerPin embd.DigitalPin, thermometer Thermometer) *US020 {
return &US020{EchoPin: echoPin, TriggerPin: triggerPin, Thermometer: thermometer}
}
func (d *US020) setup() (err error) {
func (d *US020) setup() error {
d.mu.RLock()
if d.initialized {
d.mu.RUnlock()
return
return nil
}
d.mu.RUnlock()
@ -68,36 +66,30 @@ func (d *US020) setup() (err error) {
if temp, err := d.Thermometer.Temperature(); err == nil {
d.speedSound = 331.3 + 0.606*temp
if d.Debug {
log.Printf("read a temperature of %v, so speed of sound = %v", temp, d.speedSound)
}
glog.V(1).Infof("us020: read a temperature of %v, so speed of sound = %v", temp, d.speedSound)
} else {
d.speedSound = 340
}
d.initialized = true
return
return nil
}
// Distance computes the distance of the bot from the closest obstruction.
func (d *US020) Distance() (distance float64, err error) {
if err = d.setup(); err != nil {
return
func (d *US020) Distance() (float64, error) {
if err := d.setup(); err != nil {
return 0, err
}
if d.Debug {
log.Print("us020: trigerring pulse")
}
glog.V(2).Infof("us020: trigerring pulse")
// Generate a TRIGGER pulse
d.TriggerPin.Write(embd.High)
time.Sleep(pulseDelay)
d.TriggerPin.Write(embd.Low)
if d.Debug {
log.Print("us020: waiting for echo to go high")
}
glog.V(2).Infof("us020: waiting for echo to go high")
// Wait until ECHO goes high
for {
@ -113,9 +105,7 @@ func (d *US020) Distance() (distance float64, err error) {
startTime := time.Now() // Record time when ECHO goes high
if d.Debug {
log.Print("us020: waiting for echo to go low")
}
glog.V(2).Infof("us020: waiting for echo to go low")
// Wait until ECHO goes low
for {
@ -132,12 +122,12 @@ func (d *US020) Distance() (distance float64, err error) {
duration := time.Since(startTime) // Calculate time lapsed for ECHO to transition from high to low
// Calculate the distance based on the time computed
distance = float64(duration.Nanoseconds()) / 10000000 * (d.speedSound / 2)
distance := float64(duration.Nanoseconds()) / 10000000 * (d.speedSound / 2)
return
return distance, nil
}
// Close.
func (d *US020) Close() {
d.EchoPin.SetDirection(embd.Out)
func (d *US020) Close() error {
return d.EchoPin.SetDirection(embd.Out)
}

6
sensor/watersensor/watersensor.go
View File

@ -14,8 +14,6 @@ type WaterSensor struct {
initialized bool
mu sync.RWMutex
Debug bool
}
// New creates a new WaterSensor struct
@ -48,9 +46,7 @@ func (d *WaterSensor) IsWet() (bool, error) {
return false, err
}
if d.Debug {
glog.Infof("watersensor: reading")
}
glog.V(1).Infof("watersensor: reading")
value, err := d.Pin.Read()
if err != nil {