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gsexton wants to merge 7 commits into from
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mpu9250: Add i2c interface support #10

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b6ce04b
Add i2c interface support
gsexton Mar 15, 2025
18341d3
Remove commented import
gsexton Mar 15, 2025
8cb3792
Remove debug things added that aren't necessary
gsexton Mar 15, 2025
9af6f16
Remove debug things added that aren't necessary
gsexton Mar 15, 2025
17efaab
Rev devices version
gsexton Mar 19, 2025
df95440
Update go.mod
gsexton Mar 19, 2025
faab58c
Fix go.sum
gsexton Mar 19, 2025
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14 changes: 8 additions & 6 deletions go.mod
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Original file line number Diff line number Diff line change
Expand Up @@ -4,14 +4,16 @@

module periph.io/x/cmd

go 1.22.6
go 1.23.0

toolchain go1.24.1

require (
golang.org/x/image v0.19.0
periph.io/x/conn/v3 v3.7.1
golang.org/x/image v0.25.0
periph.io/x/conn/v3 v3.7.2
periph.io/x/d2xx v0.1.1
periph.io/x/devices/v3 v3.7.1
periph.io/x/host/v3 v3.8.2
periph.io/x/devices/v3 v3.7.4
periph.io/x/host/v3 v3.8.3
)

require github.com/jonboulle/clockwork v0.4.0 // indirect
require github.com/jonboulle/clockwork v0.5.0 // indirect
20 changes: 10 additions & 10 deletions go.sum
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
github.com/jonboulle/clockwork v0.4.0 h1:p4Cf1aMWXnXAUh8lVfewRBx1zaTSYKrKMF2g3ST4RZ4=
github.com/jonboulle/clockwork v0.4.0/go.mod h1:xgRqUGwRcjKCO1vbZUEtSLrqKoPSsUpK7fnezOII0kc=
golang.org/x/image v0.19.0 h1:D9FX4QWkLfkeqaC62SonffIIuYdOk/UE2XKUBgRIBIQ=
golang.org/x/image v0.19.0/go.mod h1:y0zrRqlQRWQ5PXaYCOMLTW2fpsxZ8Qh9I/ohnInJEys=
periph.io/x/conn/v3 v3.7.1 h1:tMjNv3WO8jEz/ePuXl7y++2zYi8LsQ5otbmqGKy3Myg=
periph.io/x/conn/v3 v3.7.1/go.mod h1:c+HCVjkzbf09XzcqZu/t+U8Ss/2QuJj0jgRF6Nye838=
github.com/jonboulle/clockwork v0.5.0 h1:Hyh9A8u51kptdkR+cqRpT1EebBwTn1oK9YfGYbdFz6I=
github.com/jonboulle/clockwork v0.5.0/go.mod h1:3mZlmanh0g2NDKO5TWZVJAfofYk64M7XN3SzBPjZF60=
golang.org/x/image v0.25.0 h1:Y6uW6rH1y5y/LK1J8BPWZtr6yZ7hrsy6hFrXjgsc2fQ=
golang.org/x/image v0.25.0/go.mod h1:tCAmOEGthTtkalusGp1g3xa2gke8J6c2N565dTyl9Rs=
periph.io/x/conn/v3 v3.7.2 h1:qt9dE6XGP5ljbFnCKRJ9OOCoiOyBGlw7JZgoi72zZ1s=
periph.io/x/conn/v3 v3.7.2/go.mod h1:Ao0b4sFRo4QOx6c1tROJU1fLJN1hUIYggjOrkIVnpGg=
periph.io/x/d2xx v0.1.1 h1:LHp+u+qAWLB5THrTT/AzyjdvfUhllvDF5wBJP7uvn+U=
periph.io/x/d2xx v0.1.1/go.mod h1:rLM321G11Fc14Pp088khBkmXb70Pxx/kCPaIK7uRUBc=
periph.io/x/devices/v3 v3.7.1 h1:BsExlfYJlZUZoawzpMF7ksgC9f1eBAdqvKRCGvb+VYw=
periph.io/x/devices/v3 v3.7.1/go.mod h1:ezQOe8WknDaMbKZXVwQUQkIauyLyJshwAHkIohHXA94=
periph.io/x/host/v3 v3.8.2 h1:ayKUDzgUCN0g8+/xM9GTkWaOBhSLVcVHGTfjAOi8OsQ=
periph.io/x/host/v3 v3.8.2/go.mod h1:yFL76AesNHR68PboofSWYaQTKmvPXsQH2Apvp/ls/K4=
periph.io/x/devices/v3 v3.7.4 h1:g9CGKTtiXS9iyDFDba4sr9pYde4dy+ZCKRPuKpKJdKo=
periph.io/x/devices/v3 v3.7.4/go.mod h1:FqFG9RotW2aCkfIlAes3qxziwgjRTncTMS5cSOcizNg=
periph.io/x/host/v3 v3.8.3 h1:v90ozCFDWgEyfNElZ+JnOvq0jAdW0vmgjCUy8dYXDds=
periph.io/x/host/v3 v3.8.3/go.mod h1:uKrIpfXjELwHkwGBNe6aos//XiQ/3uxDa1P2BmLV6Ok=
37 changes: 25 additions & 12 deletions mpu9250/main.go
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,9 @@ import (
"log"
"time"

"periph.io/x/conn/v3/i2c"
"periph.io/x/conn/v3/i2c/i2creg"

"periph.io/x/conn/v3/gpio/gpioreg"
"periph.io/x/host/v3"

Expand All @@ -19,6 +22,8 @@ import (
)

var (
ifType = flag.String("iftype", "spi", "Interface Type (spi, i2c)")
i2cAddr = flag.Int("i2caddr", 0x68, "I2C Address - Default 0x68")
accRes = flag.String("accRes", "2", "Acceleration resolution (2, 4, 8, 16G)")
continuous = flag.Bool("cont", false, "Continuous read")
sensitivity int
Expand All @@ -44,16 +49,28 @@ func main() {
if _, err := host.Init(); err != nil {
log.Fatal("Error initializing host", err)
}
cs := gpioreg.ByName("8")
if cs == nil {
log.Fatal("Can't initialize CS pin")

var t *mpu9250.Transport
var err error

if *ifType == "spi" {
cs := gpioreg.ByName("8")
if cs == nil {
log.Fatal("Can't initialize CS pin")
}
t, err = mpu9250.NewSpiTransport("", cs)
} else {
var bus i2c.Bus
bus, err = i2creg.Open("")
if err == nil {
t, err = mpu9250.NewI2cTransport(bus, uint16(*i2cAddr))
}
}
t, err := mpu9250.NewSpiTransport("", cs)
if err != nil {
log.Fatal("Can't initialize SPI bus ", err)
log.Fatalf("Can't initialize %s bus: %s", *ifType, err)
}

dev, err := mpu9250.New(t)
dev, err := mpu9250.New(*t)
if err != nil {
log.Fatal(err)
}
Expand All @@ -75,15 +92,11 @@ func main() {

st, err := dev.SelfTest()
if err != nil {
log.Fatal("Self test failed", err)
log.Fatal("Self test failed: ", err)
}

if err = dev.Calibrate(); err != nil {
log.Fatal("Can't calibrate", err)
}

if err != nil {
log.Fatal("Can't render self-test ", err)
log.Fatal("Can't calibrate: ", err)
}

fmt.Printf("Accelerometer Deviation: X: %.2f%%, Y: %.2f%%, Z:%.2f%%\n", st.AccelDeviation.X, st.AccelDeviation.Y, st.AccelDeviation.Z)
Expand Down