icm20789

Documentation

Index

• Constants
• Variables
• func AccHLtoOffset(higherBits, lowerBits byte) uint16
• func AccOffsetToHL(offset uint16) (higherBits, lowerBits byte)
• func GyroHLtoOffset(higherBits, lowerBits byte) uint16
• func GyroOffsetToHL(offset uint16) (higherBits, lowerBits byte)
• func NewICM20789(configs Configs) *memsIcm20789
• type AccelerometerConfigs
• type Configs
  • func ReadConfigs(configPath string) Configs
• type GyroscopeConfigs
• type HardwareConfigs
• type Offsets

Constants

const (
	ADDRESS_ACCEL_CONFIG  byte = 0x1C
	ADDRESS_ACCEL_CONFIG2 byte = 0x1D

	DATA_READ_SEGMENT byte = 0x3B

	ADDRESS_XA_OFFSH byte = 0x77
	ADDRESS_XA_OFFSL byte = 0x78
	ADDRESS_YA_OFFSH byte = 0x7A
	ADDRESS_YA_OFFSL byte = 0x7B
	ADDRESS_ZA_OFFSH byte = 0x7D
	ADDRESS_ZA_OFFSL byte = 0x7E
)

const (
	ADRESS_GYRO_CONFIG byte = 0x1B
	ADDRESS_XG_OFFSH   byte = 0x13
	ADDRESS_XG_OFFSL   byte = 0x14
	ADDRESS_YG_OFFSH   byte = 0x15
	ADDRESS_YG_OFFSL   byte = 0x16
	ADDRESS_ZG_OFFSH   byte = 0x17
	ADDRESS_ZG_OFFSL   byte = 0x18
)

const (
	ADDRESS_PWR_MGMT_1 byte = 0x6B
	ADDRESS_PWR_MGMT_2 byte = 0x6C
	ADDRESS_WHO_AM_I   byte = 0x75
)

const (
	PWR_MGMT_1_CONFIG_DEVICE_RESET byte = 0b10000000
	PWR_MGMT_1_CONFIG              byte = 0b00000000
	PWR_MGMT_2_CONFIG              byte = 0b00000000
)

const (
	ACCEL_CONFIG_DISABLE_SELF_TESTS byte = 0b00000000
)

const (
	RAW_DATA_SIZE int = 14
)

Variables

var ACCEL_CONFIG2_DEC2_CFG_N_SAMPLE = map[int]byte{
	4:  0b00000000,
	8:  0b00010000,
	16: 0b00100000,
	32: 0b00110000,
}

var ACCEL_CONFIG2_DLPF_CFG_3dB_BW = map[string]byte{
	"1046.0hz": 0b00001000,
	"523.0hz":  0b00000000,
	"218.1hz":  0b00000001,
	"99.0hz":   0b00000010,
	"44.8hz":   0b00000011,
	"21.2hz":   0b00000100,
	"10.2hz":   0b00000101,
	"5.1hz":    0b00000110,
	"420.0hz":  0b00000111,
}

var ACCEL_CONFIG2_FIFO_SIZE = map[int]byte{
	512:  0b00000000,
	1024: 0b01000000,
	2048: 0b10000000,
	4096: 0b11000000,
}

var ACCEL_CONFIG_G = map[string]byte{
	"2g":  0b00000000,
	"4g":  0b00001000,
	"8g":  0b00010000,
	"16g": 0b00011000,
}

var ACCEL_FULL_SCALE_G = map[string]float64{
	"2g":  16384,
	"4g":  8192,
	"8g":  4096,
	"16g": 2048,
}

var GYRO_CONFIG_DPS = map[string]byte{
	"250dps":  0b00000000,
	"500dps":  0b00001000,
	"1000dps": 0b00010000,
	"2000dps": 0b00011000,
}

var GYRO_FULL_SCALE_DPS = map[string]float64{
	"250dps":  131,
	"500dps":  65.5,
	"1000dps": 32.8,
	"2000dps": 16.4,
}

Functions

func AccHLtoOffset

func AccHLtoOffset(higherBits, lowerBits byte) uint16

func AccOffsetToHL

func AccOffsetToHL(offset uint16) (higherBits, lowerBits byte)

func GyroHLtoOffset

func GyroHLtoOffset(higherBits, lowerBits byte) uint16

func GyroOffsetToHL

func GyroOffsetToHL(offset uint16) (higherBits, lowerBits byte)

func NewICM20789

func NewICM20789(configs Configs) *memsIcm20789

Types

type AccelerometerConfigs

type AccelerometerConfigs struct {
	FullScale              string  `json:"full_scale"`
	Offsets                Offsets `json:"offsets"`
	LowPassFilterFrequency string  `json:"lowpass_filter_frequency"`
	NumberOfSamples        int     `json:"number_of_samples"`
}

type Configs

type Configs struct {
	Accelerometer AccelerometerConfigs    `json:"accelerometer"`
	Gyroscope     GyroscopeConfigs        `json:"gyroscope"`
	SPI           hardware.SPIConnConfigs `json:"spi"`
}

func ReadConfigs

func ReadConfigs(configPath string) Configs

type GyroscopeConfigs

type GyroscopeConfigs struct {
	FullScale string  `json:"full-scale"`
	Offsets   Offsets `json:"offsets"`
}

type HardwareConfigs

type HardwareConfigs struct {
	Configs Configs `json:"icm20789"`
}

type Offsets

type Offsets struct {
	X uint16 `json:"x"`
	Y uint16 `json:"y"`
	Z uint16 `json:"z"`
}