mirror of https://github.com/kidoman/embd
Merge branch 'master' of https://github.com/deepakkamesh/embd
This commit is contained in:
Deepak Guruswamy
commit
e240edf576
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@ -0,0 +1,41 @@
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// +build ignore
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package main
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import (
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"flag"
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"log"
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"time"
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"github.com/kidoman/embd"
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_ "github.com/kidoman/embd/host/chip"
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"github.com/kidoman/embd/sensor/hcsr501"
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)
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func main() {
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flag.Parse()
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if err := embd.InitGPIO(); err != nil {
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panic(err)
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}
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defer embd.CloseGPIO()
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trig, err := embd.NewDigitalPin(132)
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if err != nil {
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panic(err)
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}
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defer trig.Close()
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pir := hcsr501.New(trig)
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for {
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time.Sleep(3 * time.Second)
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p, err := pir.Detect()
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if err != nil {
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log.Printf("error %v", err)
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continue
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}
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log.Printf("PIR Detect %v", p)
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}
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}
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@ -0,0 +1,77 @@
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// Package hcsr501 allows interfacing with the HC-SR501 PIR Sensor.
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package hcsr501
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import (
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"errors"
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"sync"
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"time"
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"github.com/kidoman/embd"
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)
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// HCSR501 represents a HCSR501 ultrasonic range finder.
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type HCSR501 struct {
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TriggerPin embd.DigitalPin
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initialized bool
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ready bool // Allows the sensor time to settle in.
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mu sync.RWMutex
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}
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// New creates a new HCSR501 interface.
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func New(triggerPin embd.DigitalPin) *HCSR501 {
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return &HCSR501{TriggerPin: triggerPin}
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}
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// setup initializes the GPIO and sensor.
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func (d *HCSR501) setup() error {
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d.mu.RLock()
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if d.initialized {
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d.mu.RUnlock()
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return nil
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}
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d.mu.RUnlock()
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d.mu.Lock()
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defer d.mu.Unlock()
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if err := d.TriggerPin.SetDirection(embd.In); err != nil {
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return err
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}
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// Wait 60 sec for sensor to settle down.
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time.AfterFunc(60*time.Second, func() {
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d.ready = true
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})
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d.initialized = true
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return nil
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}
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// Detect returns true if motion was detected.
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func (d *HCSR501) Detect() (bool, error) {
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if err := d.setup(); err != nil {
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return false, err
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}
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if !d.ready {
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return false, errors.New("Sensor not ready")
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}
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// Check 3 times to be sure.
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for i := 0; i < 3; i++ {
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v, err := d.TriggerPin.Read()
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if err != nil {
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return false, err
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}
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if v == embd.Low {
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return false, nil
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}
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time.Sleep(10 * time.Millisecond)
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}
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return true, nil
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}
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// Close.
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func (d *HCSR501) Close() error {
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return d.TriggerPin.SetDirection(embd.Out)
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}
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@ -0,0 +1,171 @@
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// Package hmc5883l allows interfacing with the HMC5883L magnetometer.
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package hmc5883l
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import (
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"math"
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"sync"
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"time"
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"github.com/golang/glog"
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"github.com/kidoman/embd"
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)
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const (
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magAddress = 0x1E
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// Register addresses.
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magConfigRegA = 0x00
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magConfigRegB = 0x01
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magModeReg = 0x02
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magMSBx = 0x03
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magLSBx = 0x04
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magMSBz = 0x05
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magLSBz = 0x06
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magMSBy = 0x07
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magLSBy = 0x08
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magStatusReg = 0x09
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// ConfigA Params.
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MagHz75 = 0x00 // ODR = 0.75 Hz
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Mag1Hz5 = 0x04 // ODR = 1.5 Hz
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Mag3Hz = 0x08 // ODR = 3 Hz
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Mag7Hz5 = 0x0C // ODR = 7.5 Hz
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Mag15Hz = 0x10 // ODR = 15 Hz
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Mag30Hz = 0x14 // ODR = 30 Hz
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Mag75Hz = 0x18 // ODR = 75 Hz
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MagNormal = 0x00 // Normal mode
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MagPositiveBias = 0x01 // Positive bias mode
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MagNegativeBias = 0x02 // Negative bias mode
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MagCRADefault = Mag15Hz | MagNormal // 15 Hz and normal mode is the default
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// ConfigB Params.
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MagCRBDefault = 0x20 // Gain 1090
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// Mode Reg Params.
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MagContinuous = 0x00 // Continuous conversion mode
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MagSingle = 0x01 // Single conversion mode
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MagSleep = 0x03 // Sleep mode
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MagMRDefault = MagContinuous // Continuous conversion is the default
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pollDelay = 250 // Delay before reading from mag. (ms)
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)
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// HMC5883L represents a HMC5883L magnetometer.
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type HMC5883L struct {
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Bus embd.I2CBus
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Poll int
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initialized bool
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mu sync.RWMutex
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headings chan float64
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quit chan struct{}
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}
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// New creates a new HMC5883L interface. The bus variable controls
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// the I2C bus used to communicate with the device.
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func New(bus embd.I2CBus) *HMC5883L {
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return &HMC5883L{Bus: bus, Poll: pollDelay}
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}
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// Initialize the device
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func (d *HMC5883L) setup() error {
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d.mu.RLock()
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if d.initialized {
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d.mu.RUnlock()
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return nil
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}
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d.mu.RUnlock()
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d.mu.Lock()
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defer d.mu.Unlock()
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if err := d.Bus.WriteByteToReg(magAddress, magConfigRegA, MagCRADefault); err != nil {
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return err
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}
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if err := d.Bus.WriteByteToReg(magAddress, magConfigRegB, MagCRBDefault); err != nil {
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return err
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}
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if err := d.Bus.WriteByteToReg(magAddress, magModeReg, MagMRDefault); err != nil {
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return err
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}
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d.initialized = true
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return nil
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}
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func (d *HMC5883L) measureHeading() (float64, error) {
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if err := d.setup(); err != nil {
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return 0, err
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}
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data := make([]byte, 6)
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if err := d.Bus.ReadFromReg(magAddress, magMSBx, data); err != nil {
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return 0, err
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}
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x := int16(data[0])<<8 | int16(data[1])
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y := int16(data[4])<<8 | int16(data[5])
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heading := math.Atan2(float64(y), float64(x)) / math.Pi * 180
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if heading < 0 {
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heading += 360
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}
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glog.V(3).Infof("Mag X=%v Y=%v HEAD=%v", x, y, heading)
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return heading, nil
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}
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// Heading returns the current heading [0, 360).
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func (d *HMC5883L) Heading() (float64, error) {
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select {
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case heading := <-d.headings:
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return heading, nil
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default:
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glog.V(2).Infof("lsm303: no headings available... measuring")
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return d.measureHeading()
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}
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}
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// Run starts the sensor data acquisition loop.
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func (d *HMC5883L) Run() error {
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go func() {
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d.quit = make(chan struct{})
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timer := time.Tick(time.Duration(d.Poll) * time.Millisecond)
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var heading float64
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for {
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select {
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case <-timer:
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h, err := d.measureHeading()
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if err == nil {
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heading = h
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}
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if err == nil && d.headings == nil {
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d.headings = make(chan float64)
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}
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case d.headings <- heading:
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case <-d.quit:
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d.headings = nil
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return
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}
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}
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}()
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return nil
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}
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// Close the sensor data acquisition loop and put the HMC5883L into sleep mode.
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func (d *HMC5883L) Close() error {
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if d.quit != nil {
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d.quit <- struct{}{}
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}
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return d.Bus.WriteByteToReg(magAddress, magModeReg, MagSleep)
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}
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@ -2,6 +2,7 @@
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package us020
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import (
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"errors"
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"sync"
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"time"
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@ -82,24 +83,37 @@ func (d *US020) Distance() (float64, error) {
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return 0, err
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}
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glog.V(2).Infof("us020: trigerring pulse")
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// Ready the goroutine to measure return pulse.
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done := make(chan time.Duration)
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errChan := make(chan error)
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go func() {
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glog.V(2).Infof("us020: waiting for echo to go high")
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duration, err := d.EchoPin.TimePulse(embd.High)
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if err != nil {
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errChan <- err
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return
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}
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done <- duration
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}()
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// Generate a TRIGGER pulse
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// Generate a TRIGGER pulse.
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glog.V(2).Infof("us020: trigerring pulse")
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d.TriggerPin.Write(embd.High)
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time.Sleep(pulseDelay)
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d.TriggerPin.Write(embd.Low)
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glog.V(2).Infof("us020: waiting for echo to go high")
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duration, err := d.EchoPin.TimePulse(embd.High)
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if err != nil {
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return 0, err
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// Wait for data on channel or timeout.
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t := time.NewTimer(time.Millisecond * 200)
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select {
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case <-t.C:
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return 0, errors.New("timeout on ultrasonic pulse")
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case duration := <-done:
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distance := float64(duration.Nanoseconds()) / 10000000 * (d.speedSound / 2)
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return distance, nil
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case e := <-errChan:
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return 0, e
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}
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// Calculate the distance based on the time computed
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distance := float64(duration.Nanoseconds()) / 10000000 * (d.speedSound / 2)
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return distance, nil
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}
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// Close.
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|
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