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Code Issues Releases Wiki Activity

- use glog instead of Debug flag

Browse Source 
- 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
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60
controller/mcp4725/mcp4725.go
View File

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

196
controller/pca9685/pca9685.go
View File

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

35
controller/servoblaster/servoblaster.go
View File

@ -5,17 +5,15 @@ package servoblaster
import ( import (
"fmt" "fmt"
"log"
"os" "os"
"github.com/golang/glog"
) )
// ServoBlaster represents a software RPi PWM/PCM based servo control module. // ServoBlaster represents a software RPi PWM/PCM based servo control module.
type ServoBlaster struct { type ServoBlaster struct {
initialized bool initialized bool
fd *os.File fd *os.File
// Debug level.
Debug bool
} }
// New creates a new ServoBlaster instance. // New creates a new ServoBlaster instance.
@ -23,34 +21,33 @@ func New() *ServoBlaster {
return &ServoBlaster{} return &ServoBlaster{}
} }
func (d *ServoBlaster) setup() (err error) { func (d *ServoBlaster) setup() error {
if d.initialized { if d.initialized {
return return nil
} }
var err error
if d.fd, err = os.OpenFile("/dev/servoblaster", os.O_WRONLY, os.ModeExclusive); err != nil { if d.fd, err = os.OpenFile("/dev/servoblaster", os.O_WRONLY, os.ModeExclusive); err != nil {
return return err
} }
d.initialized = true d.initialized = true
return return nil
} }
// SetMicroseconds sends a command to the PWM driver to generate a us wide pulse. // SetMicroseconds sends a command to the PWM driver to generate a us wide pulse.
func (d *ServoBlaster) SetMicroseconds(channel, us int) (err error) { func (d *ServoBlaster) SetMicroseconds(channel, us int) error {
if err = d.setup(); err != nil { if err := d.setup(); err != nil {
return return err
} }
cmd := fmt.Sprintf("%v=%vus\n", channel, us) cmd := fmt.Sprintf("%v=%vus\n", channel, us)
if d.Debug { glog.V(1).Infof("servoblaster: sending command %q", cmd)
log.Printf("servoblaster: sending command %q", cmd) _, err := d.fd.WriteString(cmd)
} return err
_, err = d.fd.WriteString(cmd)
return
} }
// Close closes the open driver handle. // Close closes the open driver handle.
func (d *ServoBlaster) Close() (err error) { func (d *ServoBlaster) Close() error {
if d.fd != nil { 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 package servo
import ( import (
"log" "github.com/golang/glog"
"github.com/kidoman/embd/util" "github.com/kidoman/embd/util"
) )
@ -22,8 +21,6 @@ type Servo struct {
Channel int Channel int
Minus, Maxus int Minus, Maxus int
Debug bool
} }
// New creates a new Servo interface. // New creates a new Servo interface.
@ -40,9 +37,7 @@ func New(pwm PWM, channel int) *Servo {
func (s *Servo) SetAngle(angle int) error { func (s *Servo) SetAngle(angle int) error {
us := util.Map(int64(angle), 0, 180, int64(s.Minus), int64(s.Maxus)) us := util.Map(int64(angle), 0, 180, int64(s.Minus), int64(s.Maxus))
if s.Debug { glog.V(1).Infof("servo: given angle %v calculated %v us", angle, us)
log.Printf("servo: given angle %v calculated %v us", angle, us)
}
return s.PWM.SetMicroseconds(s.Channel, int(us)) return s.PWM.SetMicroseconds(s.Channel, int(us))
} }

4
samples/bh1750fvi.go
View File

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

14
samples/bmp085.go
View File

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

14
samples/bmp180.go
View File

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

7
samples/l3gd20.go
View File

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

6
samples/lsm303.go
View File

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

4
samples/mcp4725.go
View File

@ -3,7 +3,7 @@
package main package main
import ( import (
"log" "fmt"
"math/rand" "math/rand"
"os" "os"
"os/signal" "os/signal"
@ -33,7 +33,7 @@ func main() {
default: default:
voltage := rand.Intn(4096) voltage := rand.Intn(4096)
if err := dac.SetVoltage(voltage); err != nil { 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 package main
import ( import (
"log"
"os" "os"
"os/signal" "os/signal"
"time" "time"
@ -22,11 +21,10 @@ func main() {
pca9685 := pca9685.New(bus, 0x41) pca9685 := pca9685.New(bus, 0x41)
pca9685.Freq = 1000 pca9685.Freq = 1000
pca9685.Debug = true
defer pca9685.Close() defer pca9685.Close()
if err := pca9685.SetPwm(15, 0, 2000); err != nil { if err := pca9685.SetPwm(15, 0, 2000); err != nil {
log.Panic(err) panic(err)
} }
c := make(chan os.Signal, 1) c := make(chan os.Signal, 1)

2
samples/servo.go
View File

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

5
samples/servoblaster.go
View File

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

10
samples/tmp006.go
View File

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

6
samples/us020.go
View File

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

29
sensor/bh1750fvi/bh1750fvi.go
View File

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

234
sensor/bmp085/bmp085.go
View File

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

234
sensor/bmp180/bmp180.go
View File

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

163
sensor/l3gd20/l3gd20.go
View File

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

12
sensor/lsm303/lsm303.go
View File

@ -2,11 +2,11 @@
package lsm303 package lsm303
import ( import (
"log"
"math" "math"
"sync" "sync"
"time" "time"
"github.com/golang/glog"
"github.com/kidoman/embd" "github.com/kidoman/embd"
) )
@ -53,8 +53,6 @@ type LSM303 struct {
headings chan float64 headings chan float64
quit chan struct{} quit chan struct{}
Debug bool
} }
// New creates a new LSM303 interface. The bus variable controls // New creates a new LSM303 interface. The bus variable controls
@ -118,15 +116,13 @@ func (d *LSM303) Heading() (float64, error) {
case heading := <-d.headings: case heading := <-d.headings:
return heading, nil return heading, nil
default: default:
if d.Debug { glog.V(2).Infof("lsm303: no headings available... measuring")
log.Print("lsm303: no headings available... measuring")
}
return d.measureHeading() return d.measureHeading()
} }
} }
// Run starts the sensor data acquisition loop. // Run starts the sensor data acquisition loop.
func (d *LSM303) Run() (err error) { func (d *LSM303) Run() error {
go func() { go func() {
d.quit = make(chan struct{}) 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. // 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 ( import (
"errors" "errors"
"fmt" "fmt"
"log"
"math" "math"
"sync" "sync"
"time" "time"
"github.com/golang/glog"
"github.com/kidoman/embd" "github.com/kidoman/embd"
) )
@ -57,8 +57,6 @@ type TMP006 struct {
Bus embd.I2CBus Bus embd.I2CBus
// Addr of the sensor. // Addr of the sensor.
Addr byte Addr byte
// Debug turns on additional debug output.
Debug bool
// SampleRate specifies the sampling rate for the sensor. // SampleRate specifies the sampling rate for the sensor.
SampleRate *SampleRate SampleRate *SampleRate
@ -89,143 +87,122 @@ func (d *TMP006) validate() error {
} }
// Close puts the device into low power mode. // Close puts the device into low power mode.
func (d *TMP006) Close() (err error) { func (d *TMP006) Close() error {
if err = d.setup(); err != nil { if err := d.setup(); err != nil {
return return err
} }
if d.closing != nil { if d.closing != nil {
waitc := make(chan struct{}) waitc := make(chan struct{})
d.closing <- waitc d.closing <- waitc
<-waitc <-waitc
} }
if d.Debug { glog.V(1).Infof("tmp006: resetting")
log.Print("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 nil
return
}
return
} }
// Present checks if the device is present at the given address. // Present checks if the device is present at the given address.
func (d *TMP006) Present() (status bool, err error) { func (d *TMP006) Present() (bool, error) {
if err = d.validate(); err != nil { if err := d.validate(); err != nil {
return return false, err
} }
var mid, did uint16 mid, err := d.Bus.ReadWordFromReg(d.Addr, manIdReg)
if mid, err = d.Bus.ReadWordFromReg(d.Addr, manIdReg); err != nil { if err != nil {
return return false, err
}
if d.Debug {
log.Printf("tmp006: got manufacturer id %#04x", mid)
} }
glog.V(1).Infof("tmp006: got manufacturer id %#04x", mid)
if mid != manId { if mid != manId {
err = fmt.Errorf("tmp006: not found at %#02x, manufacturer id mismatch", d.Addr) return false, fmt.Errorf("tmp006: not found at %#02x, manufacturer id mismatch", d.Addr)
return
} }
if did, err = d.Bus.ReadWordFromReg(d.Addr, devIdReg); err != nil { did, err := d.Bus.ReadWordFromReg(d.Addr, devIdReg)
return if err != nil {
} return false, err
if d.Debug {
log.Printf("tmp006: got device id %#04x", did)
} }
glog.V(1).Infof("tmp006: got device id %#04x", did)
if did != devId { if did != devId {
err = fmt.Errorf("tmp006: not found at %#02x, device id mismatch", d.Addr) return false, fmt.Errorf("tmp006: not found at %#02x, device id mismatch", d.Addr)
return
} }
status = true return true, nil
return
} }
func (d *TMP006) setup() (err error) { func (d *TMP006) setup() error {
d.mu.RLock() d.mu.RLock()
if d.initialized { if d.initialized {
d.mu.RUnlock() d.mu.RUnlock()
return return nil
} }
d.mu.RUnlock() d.mu.RUnlock()
d.mu.Lock() d.mu.Lock()
defer d.mu.Unlock() defer d.mu.Unlock()
if err = d.validate(); err != nil { if err := d.validate(); err != nil {
return return err
} }
if d.SampleRate == nil { if d.SampleRate == nil {
if d.Debug { glog.V(1).Infof("tmp006: sample rate = nil, using SR16")
log.Printf("tmp006: sample rate = nil, using SR16")
}
d.SampleRate = SR16 d.SampleRate = SR16
} }
if d.Debug { glog.V(1).Infof("tmp006: configuring with %#04x", configRegDefault|d.SampleRate.enabler)
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 err
if err = d.Bus.WriteWordToReg(d.Addr, configReg, configRegDefault|d.SampleRate.enabler); err != nil {
return
} }
d.initialized = true d.initialized = true
return return nil
} }
func (d *TMP006) measureRawDieTemp() (temp float64, err error) { func (d *TMP006) measureRawDieTemp() (float64, error) {
if err = d.setup(); err != nil { if err := d.setup(); err != nil {
return return 0, err
} }
var raw uint16 raw, err := d.Bus.ReadWordFromReg(d.Addr, tempAmbReg)
if raw, err = d.Bus.ReadWordFromReg(d.Addr, tempAmbReg); err != nil { if err != nil {
return return 0, err
} }
raw >>= 2 raw >>= 2
if d.Debug { glog.V(2).Infof("tmp006: raw die temp %#04x", raw)
log.Printf("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) { func (d *TMP006) measureRawVoltage() (int16, error) {
if err = d.setup(); err != nil { if err := d.setup(); err != nil {
return return 0, err
} }
var vlt uint16 vlt, err := d.Bus.ReadWordFromReg(d.Addr, vObjReg)
if vlt, err = d.Bus.ReadWordFromReg(d.Addr, vObjReg); err != nil { if err != nil {
return return 0, err
} }
volt = int16(vlt) volt := int16(vlt)
if d.Debug { glog.V(2).Infof("tmp006: raw voltage %#04x", volt)
log.Printf("tmp006: raw voltage %#04x", volt) return volt, nil
}
return
} }
func (d *TMP006) measureObjTemp() (temp float64, err error) { func (d *TMP006) measureObjTemp() (float64, error) {
if err = d.setup(); err != nil { if err := d.setup(); err != nil {
return return 0, err
} }
tDie, err := d.measureRawDieTemp() tDie, err := d.measureRawDieTemp()
if err != nil { if err != nil {
return return 0, err
}
if d.Debug {
log.Printf("tmp006: tdie = %.2f C", tDie)
} }
glog.V(2).Infof("tmp006: tdie = %.2f C", tDie)
tDie += 273.15 // Convert to K tDie += 273.15 // Convert to K
vo, err := d.measureRawVoltage() vo, err := d.measureRawVoltage()
if err != nil { if err != nil {
return return 0, err
} }
vObj := float64(vo) vObj := float64(vo)
vObj *= 156.25 // 156.25 nV per LSB vObj *= 156.25 // 156.25 nV per LSB
vObj /= 1000 // nV -> uV vObj /= 1000 // nV -> uV
if d.Debug { glog.V(2).Infof("tmp006: vObj = %.5f uV", vObj)
log.Printf("tmp006: vObj = %.5f uV", vObj)
}
vObj /= 1000 // uV -> mV vObj /= 1000 // uV -> mV
vObj /= 1000 // mV -> V 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 Vos := b0 + b1*tdie_tref + b2*tdie_tref*tdie_tref
fVobj := (vObj - Vos) + c2*(vObj-Vos)*(vObj-Vos) 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 temp -= 273.15
return return temp, nil
} }
// RawDieTemp returns the current raw die temp reading. // RawDieTemp returns the current raw die temp reading.
func (d *TMP006) RawDieTemp() (temp float64, err error) { func (d *TMP006) RawDieTemp() (float64, error) {
select { select {
case temp = <-d.rawDieTemps: case temp := <-d.rawDieTemps:
return return temp, nil
default: default:
return d.measureRawDieTemp() return d.measureRawDieTemp()
} }
@ -260,10 +237,10 @@ func (d *TMP006) RawDieTemps() <-chan float64 {
} }
// ObjTemp returns the current obj temp reading. // ObjTemp returns the current obj temp reading.
func (d *TMP006) ObjTemp() (temp float64, err error) { func (d *TMP006) ObjTemp() (float64, error) {
select { select {
case temp = <-d.objTemps: case temp := <-d.objTemps:
return return temp, nil
default: default:
return d.measureObjTemp() return d.measureObjTemp()
} }
@ -275,9 +252,9 @@ func (d *TMP006) ObjTemps() <-chan float64 {
} }
// Start starts the data acquisition loop. // Start starts the data acquisition loop.
func (d *TMP006) Start() (err error) { func (d *TMP006) Start() error {
if err = d.setup(); err != nil { if err := d.setup(); err != nil {
return return err
} }
d.rawDieTemps = make(chan float64) d.rawDieTemps = make(chan float64)
@ -307,14 +284,14 @@ func (d *TMP006) Start() (err error) {
case <-timer: case <-timer:
var rdt float64 var rdt float64
if rdt, err = d.measureRawDieTemp(); err != nil { if rdt, err = d.measureRawDieTemp(); err != nil {
log.Printf("tmp006: %v", err) glog.Errorf("tmp006: %v", err)
} else { } else {
rawDieTemp = rdt rawDieTemp = rdt
rdtAvlb = true rdtAvlb = true
} }
var ot float64 var ot float64
if ot, err = d.measureObjTemp(); err != nil { if ot, err = d.measureObjTemp(); err != nil {
log.Printf("tmp006: %v", err) glog.Errorf("tmp006: %v", err)
} else { } else {
objTemp = ot objTemp = ot
otAvlb = true 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 package us020
import ( import (
"log"
"sync" "sync"
"time" "time"
"github.com/golang/glog"
"github.com/kidoman/embd" "github.com/kidoman/embd"
) )
@ -37,8 +37,6 @@ type US020 struct {
initialized bool initialized bool
mu sync.RWMutex mu sync.RWMutex
Debug bool
} }
// New creates a new US020 interface. The bus variable controls // 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} return &US020{EchoPin: echoPin, TriggerPin: triggerPin, Thermometer: thermometer}
} }
func (d *US020) setup() (err error) { func (d *US020) setup() error {
d.mu.RLock() d.mu.RLock()
if d.initialized { if d.initialized {
d.mu.RUnlock() d.mu.RUnlock()
return return nil
} }
d.mu.RUnlock() d.mu.RUnlock()
@ -68,36 +66,30 @@ func (d *US020) setup() (err error) {
if temp, err := d.Thermometer.Temperature(); err == nil { if temp, err := d.Thermometer.Temperature(); err == nil {
d.speedSound = 331.3 + 0.606*temp d.speedSound = 331.3 + 0.606*temp
if d.Debug { glog.V(1).Infof("us020: read a temperature of %v, so speed of sound = %v", temp, d.speedSound)
log.Printf("read a temperature of %v, so speed of sound = %v", temp, d.speedSound)
}
} else { } else {
d.speedSound = 340 d.speedSound = 340
} }
d.initialized = true d.initialized = true
return return nil
} }
// Distance computes the distance of the bot from the closest obstruction. // Distance computes the distance of the bot from the closest obstruction.
func (d *US020) Distance() (distance float64, err error) { func (d *US020) Distance() (float64, error) {
if err = d.setup(); err != nil { if err := d.setup(); err != nil {
return return 0, err
} }
if d.Debug { glog.V(2).Infof("us020: trigerring pulse")
log.Print("us020: trigerring pulse")
}
// Generate a TRIGGER pulse // Generate a TRIGGER pulse
d.TriggerPin.Write(embd.High) d.TriggerPin.Write(embd.High)
time.Sleep(pulseDelay) time.Sleep(pulseDelay)
d.TriggerPin.Write(embd.Low) d.TriggerPin.Write(embd.Low)
if d.Debug { glog.V(2).Infof("us020: waiting for echo to go high")
log.Print("us020: waiting for echo to go high")
}
// Wait until ECHO goes high // Wait until ECHO goes high
for { for {
@ -113,9 +105,7 @@ func (d *US020) Distance() (distance float64, err error) {
startTime := time.Now() // Record time when ECHO goes high startTime := time.Now() // Record time when ECHO goes high
if d.Debug { glog.V(2).Infof("us020: waiting for echo to go low")
log.Print("us020: waiting for echo to go low")
}
// Wait until ECHO goes low // Wait until ECHO goes low
for { 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 duration := time.Since(startTime) // Calculate time lapsed for ECHO to transition from high to low
// Calculate the distance based on the time computed // 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. // Close.
func (d *US020) Close() { func (d *US020) Close() error {
d.EchoPin.SetDirection(embd.Out) return d.EchoPin.SetDirection(embd.Out)
} }

6
sensor/watersensor/watersensor.go
View File

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