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Merged
gsexton merged 2 commits into from
Mar 20, 2025
Merged

Add mpu9250 demo program #11

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gsexton Mar 19, 2025
2cb6c01
Reduce version for toolchain
gsexton Mar 20, 2025
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8 changes: 4 additions & 4 deletions go.mod
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Original file line number Diff line number Diff line change
Expand Up @@ -4,13 +4,13 @@

module periph.io/x/cmd

go 1.22.6
go 1.23.0

require (
golang.org/x/image v0.23.0
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 v3.7.3
periph.io/x/devices/v3 v3.7.4
periph.io/x/host/v3 v3.8.3
)

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12 changes: 6 additions & 6 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 v0.5.0 h1:Hyh9A8u51kptdkR+cqRpT1EebBwTn1oK9YfGYbdFz6I=
github.com/jonboulle/clockwork v0.5.0/go.mod h1:3mZlmanh0g2NDKO5TWZVJAfofYk64M7XN3SzBPjZF60=
golang.org/x/image v0.23.0 h1:HseQ7c2OpPKTPVzNjG5fwJsOTCiiwS4QdsYi5XU6H68=
golang.org/x/image v0.23.0/go.mod h1:wJJBTdLfCCf3tiHa1fNxpZmUI4mmoZvwMCPP0ddoNKY=
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=
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 v3.7.3 h1:N/mTFOwDoelfrPgVvN/6ZNCM++ym6GUYBMaTlh3ljKI=
periph.io/x/devices/v3 v3.7.3/go.mod h1:y1T7FtIcs8nYQZG2a8wglb8APSOH+UHZIsh19EBjsqc=
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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Expand Up @@ -11,6 +11,9 @@
"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 @@
)

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 @@
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))
}

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}
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)

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}

dev, err := mpu9250.New(t)
dev, err := mpu9250.New(*t)

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if err != nil {
log.Fatal(err)
}
Expand All @@ -75,15 +92,11 @@

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

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}

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)

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}

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