Add: publish RAW ANGLE register

drivers/i2c/as5600_driver.go

@@ -1,62 +1,66 @@
 package i2c
 
-import "gobot.io/x/gobot"
+import (
+	"encoding/binary"
+
+	"gobot.io/x/gobot"
+)
 
 const (
 	// DefaultAddress is the default I2C address for the as5600
 	as5600Address = 0x36
 
-	as5600ZMCO = 0x00
-	// zero position
-	as5600ZPOSMSB = 0x01
-	as5600ZPOSLSB = 0x02
-	//maximum position
-	as5600MPOSMSB = 0x03
-	as5600MPOSLSB = 0x04
-	// maximum angle
-	as5600MANGMSB = 0x05
-	as5600MANGLSB = 0x06
-	// Customize the device
-	as5600CONFMSB = 0x07
-	as5600CONFLSB = 0x08
+	// as5600ZMCO = 0x00
+	// // zero position
+	// as5600ZPOSMSB = 0x01
+	// as5600ZPOSLSB = 0x02
+	// //maximum position
+	// as5600MPOSMSB = 0x03
+	// as5600MPOSLSB = 0x04
+	// // maximum angle
+	// as5600MANGMSB = 0x05
+	// as5600MANGLSB = 0x06
+	// // Customize the device
+	// as5600CONFMSB = 0x07
+	// as5600CONFLSB = 0x08
 	//Unscaled and unmodified angle
 	as5600RAWANGLEMSB = 0x0C
 	as5600RAWANGLELSB = 0x0D
-	// Scaled output value
-	as5600ANGLEMSB = 0x0E
-	as5600ANGLELSB = 0x0F
+	// // Scaled output value
+	// as5600ANGLEMSB = 0x0E
+	// as5600ANGLELSB = 0x0F
 	// Current state (basically strength of magnet)
 	as5600STATUS = 0x0B
-	// Automatic Gain Control
-	as5600AGC = 0x1A
-	// Magnitude value of the internal cordic
-	as5600MAGNITUDEMSB = 0x1B
-	as5600MAGNITUDELSB = 0x1C
-	// Burn commands
-	as5600BURN = 0xFF
+	// // Automatic Gain Control
+	// as5600AGC = 0x1A
+	// // Magnitude value of the internal cordic
+	// as5600MAGNITUDEMSB = 0x1B
+	// as5600MAGNITUDELSB = 0x1C
+	// // Burn commands
+	// as5600BURN = 0xFF
 )
 
-// AS5600 Power Mode
-const (
-	as5600PowerModeNorm = iota
-	as5600PowerModeLPM1
-	as5600PowerModeLPM2
-	as5600PowerModeLPM3
-)
-
-// AS5600 Hysteresis
-const (
-	as5600HysteresisNorm = iota
-	as5600Hysteresis1LSB
-	as5600Hysteresis2LSB
-	as5600Hysteresis3LSB
-)
-
-const (
-	as5600OutputStageAnalogFull = iota
-	as5600OutputStageAnalogReduced
-	as5600OutputStageDigitalPWM
-)
+// // AS5600 Power Mode
+// const (
+// 	as5600PowerModeNorm = iota
+// 	as5600PowerModeLPM1
+// 	as5600PowerModeLPM2
+// 	as5600PowerModeLPM3
+// )
+
+// // AS5600 Hysteresis
+// const (
+// 	as5600HysteresisNorm = iota
+// 	as5600Hysteresis1LSB
+// 	as5600Hysteresis2LSB
+// 	as5600Hysteresis3LSB
+// )
+
+// const (
+// 	as5600OutputStageAnalogFull = iota
+// 	as5600OutputStageAnalogReduced
+// 	as5600OutputStageDigitalPWM
+// )
 
 const (
 	_ = 1 << iota
@@ -67,9 +71,12 @@ const (
 	as5600StatusMDBit
 )
 
+//go:generate stringer -type=AS5600StatusType
+type AS5600StatusType uint16
+
 // Magnet status
 const (
-	as5600NoMagnetDetected = iota
+	as5600MagnetNotDetected AS5600StatusType = iota
 	as5600MagnetTooWeak
 	as5600MagnetOk
 	as5600MagnetTooStrong
@@ -93,6 +100,7 @@ type AS5600Driver struct {
 //		i2c.WithAddress(int):	address to use with this driver
 //
 func NewAS5600Driver(a Connector, options ...func(Config)) *AS5600Driver {
+
 	as := &AS5600Driver{
 		name:      gobot.DefaultName("AS5600"),
 		connector: a,
@@ -149,6 +157,7 @@ func (as *AS5600Driver) DetecMagnet() (bool, error) {
 	var err error
 
 	magStatus, err = as.connection.ReadByteData(as5600STATUS)
+
 	if err != nil {
 		return false, err
 	}
@@ -157,16 +166,16 @@ func (as *AS5600Driver) DetecMagnet() (bool, error) {
 }
 
 // GetMagnetStrength returns if the magnet is detected
-func (as *AS5600Driver) GetMagnetStrength() (int, error) {
+func (as *AS5600Driver) GetMagnetStrength() (AS5600StatusType, error) {
 	var magStatus uint8
 	var err error
 
 	magStatus, err = as.connection.ReadByteData(as5600STATUS)
 	if err != nil {
 		return as5600MagnetUnknown, err
 	}
-	if magStatus&as5600StatusMDBit != 0 {
-		return as5600NoMagnetDetected, nil
+	if magStatus&as5600StatusMDBit == 0 {
+		return as5600MagnetNotDetected, nil
 	}
 	if magStatus&as5600StatusMHBit != 0 {
 		return as5600MagnetTooStrong, nil
@@ -177,3 +186,31 @@ func (as *AS5600Driver) GetMagnetStrength() (int, error) {
 
 	return as5600MagnetOk, nil
 }
+
+func (as *AS5600Driver) GetRawAngle() (uint16, error) {
+	var angle []byte
+	var err error
+	var rc uint16
+
+	angle, err = as.read(as5600RAWANGLEMSB, 2)
+	if err != nil {
+		return 0x0, err
+	}
+	rc = binary.LittleEndian.Uint16(angle[0:])
+
+	return rc & 0x0fff, nil
+}
+
+func (as *AS5600Driver) read(address byte, n int) ([]byte, error) {
+
+	if _, err := as.connection.Write([]byte{address}); err != nil {
+		return nil, err
+	}
+	buf := make([]byte, n)
+	bytesRead, err := as.connection.Read(buf)
+	if bytesRead != n || err != nil {
+		return nil, err
+	}
+
+	return buf, nil
+}

drivers/i2c/as5600_driver_test.go

@@ -2,6 +2,7 @@ package i2c
 
 import (
 	"bytes"
+	"fmt"
 	"testing"
 
 	"gobot.io/x/gobot"
@@ -102,3 +103,34 @@ func TestAS5600DriverMagnetTooStrong(t *testing.T) {
 	gobottest.Assert(t, err, nil)
 	gobottest.Assert(t, magnet, as5600MagnetTooStrong)
 }
+
+func TestAS5600DriverGetRawAngle(t *testing.T) {
+	as, adaptor := initTestAS5600DriverWithStubbedAdaptor()
+	adaptor.i2cReadImpl = func(b []byte) (int, error) {
+		buf := new(bytes.Buffer)
+		tmp := make([]byte, len(b))
+		if adaptor.written[len(adaptor.written)-1] == as5600RAWANGLEMSB {
+			tmp[0] = as5600RAWANGLEMSB
+		} else if adaptor.written[len(adaptor.written)-1] == as5600RAWANGLELSB {
+			tmp[0] = as5600RAWANGLELSB
+		}
+		for i := 1; i < len(b); i++ {
+			tmp[i] = byte(i)
+		}
+		buf.Write(tmp)
+		copy(b, buf.Bytes())
+
+		return buf.Len(), nil
+	}
+	adaptor.i2cWriteImpl = func(b []byte) (int, error) {
+		if b[0] == as5600RAWANGLEMSB {
+			return 1, nil
+		}
+
+		return 0, fmt.Errorf("0x%x wrong register", b[0])
+	}
+	as.Start()
+	angle, err := as.GetRawAngle()
+	gobottest.Assert(t, err, nil)
+	gobottest.Assert(t, angle, uint16(0x010c))
+}

go.mod

@@ -29,8 +29,8 @@ require (
 	github.com/veandco/go-sdl2 v0.3.3
 	go.bug.st/serial v1.1.1
 	gocv.io/x/gocv v0.21.0
-	golang.org/x/net v0.0.0-20200822124328-c89045814202
-	golang.org/x/sys v0.0.0-20201126233918-771906719818 // indirect
+	golang.org/x/net v0.0.0-20211015210444-4f30a5c0130f
+	golang.org/x/tools v0.1.8 // indirect
 	periph.io/x/periph v3.6.2+incompatible
 	tinygo.org/x/bluetooth v0.2.0
 )

go.sum

@@ -110,6 +110,7 @@ github.com/urfave/cli v1.22.1/go.mod h1:Gos4lmkARVdJ6EkW0WaNv/tZAAMe9V7XWyB60NtX
 github.com/veandco/go-sdl2 v0.3.3 h1:4/TirgB2MQ7oww3pM3Yfgf1YbChMlAQAmiCPe5koK0I=
 github.com/veandco/go-sdl2 v0.3.3/go.mod h1:FB+kTpX9YTE+urhYiClnRzpOXbiWgaU3+5F2AB78DPg=
 github.com/yuin/goldmark v1.2.1/go.mod h1:3hX8gzYuyVAZsxl0MRgGTJEmQBFcNTphYh9decYSb74=
+github.com/yuin/goldmark v1.4.1/go.mod h1:mwnBkeHKe2W/ZEtQ+71ViKU8L12m81fl3OWwC1Zlc8k=
 go.bug.st/serial v1.0.0 h1:ogEPzrllCsnG00EqKRjeYvPRsO7NJW6DqykzkdD6E/k=
 go.bug.st/serial v1.0.0/go.mod h1:rpXPISGjuNjPTRTcMlxi9lN6LoIPxd1ixVjBd8aSk/Q=
 go.bug.st/serial v1.1.1 h1:5J1DpaIaSIruBi7jVnKXnhRS+YQ9+2PLJMtIZKoIgnc=
@@ -128,14 +129,19 @@ golang.org/x/crypto v0.0.0-20200602180216-279210d13fed/go.mod h1:LzIPMQfyMNhhGPh
 golang.org/x/crypto v0.0.0-20200622213623-75b288015ac9 h1:psW17arqaxU48Z5kZ0CQnkZWQJsqcURM6tKiBApRjXI=
 golang.org/x/crypto v0.0.0-20200622213623-75b288015ac9/go.mod h1:LzIPMQfyMNhhGPhUkYOs5KpL4U8rLKemX1yGLhDgUto=
 golang.org/x/mod v0.3.0/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA=
+golang.org/x/mod v0.5.1 h1:OJxoQ/rynoF0dcCdI7cLPktw/hR2cueqYfjm43oqK38=
+golang.org/x/mod v0.5.1/go.mod h1:5OXOZSfqPIIbmVBIIKWRFfZjPR0E5r58TLhUjH0a2Ro=
 golang.org/x/net v0.0.0-20190404232315-eb5bcb51f2a3/go.mod h1:t9HGtf8HONx5eT2rtn7q6eTqICYqUVnKs3thJo3Qplg=
 golang.org/x/net v0.0.0-20190620200207-3b0461eec859/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s=
 golang.org/x/net v0.0.0-20190930134127-c5a3c61f89f3 h1:6KET3Sqa7fkVfD63QnAM81ZeYg5n4HwApOJkufONnHA=
 golang.org/x/net v0.0.0-20190930134127-c5a3c61f89f3/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s=
 golang.org/x/net v0.0.0-20200822124328-c89045814202 h1:VvcQYSHwXgi7W+TpUR6A9g6Up98WAHf3f/ulnJ62IyA=
 golang.org/x/net v0.0.0-20200822124328-c89045814202/go.mod h1:/O7V0waA8r7cgGh81Ro3o1hOxt32SMVPicZroKQ2sZA=
+golang.org/x/net v0.0.0-20211015210444-4f30a5c0130f h1:OfiFi4JbukWwe3lzw+xunroH1mnC1e2Gy5cxNJApiSY=
+golang.org/x/net v0.0.0-20211015210444-4f30a5c0130f/go.mod h1:9nx3DQGgdP8bBQD5qxJ1jj9UTztislL4KSBs9R2vV5Y=
 golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.0.0-20200625203802-6e8e738ad208/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
+golang.org/x/sync v0.0.0-20210220032951-036812b2e83c/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a h1:1BGLXjeY4akVXGgbC9HugT3Jv3hCI0z56oJR5vAMgBU=
 golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20190222072716-a9d3bda3a223/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
@@ -159,13 +165,24 @@ golang.org/x/sys v0.0.0-20201024232916-9f70ab9862d5 h1:iCaAy5bMeEvwANu3YnJfWwI0k
 golang.org/x/sys v0.0.0-20201024232916-9f70ab9862d5/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20201028094953-708e7fb298ac h1:bplbaOojU0hnrC9nvWJ5Nvp/gPIWKFMiGBFI9Cpp16I=
 golang.org/x/sys v0.0.0-20201028094953-708e7fb298ac/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
+golang.org/x/sys v0.0.0-20201119102817-f84b799fce68/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20201126233918-771906719818 h1:f1CIuDlJhwANEC2MM87MBEVMr3jl5bifgsfj90XAF9c=
 golang.org/x/sys v0.0.0-20201126233918-771906719818/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
+golang.org/x/sys v0.0.0-20210423082822-04245dca01da/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
+golang.org/x/sys v0.0.0-20211019181941-9d821ace8654 h1:id054HUawV2/6IGm2IV8KZQjqtwAOo2CYlOToYqa0d0=
+golang.org/x/sys v0.0.0-20211019181941-9d821ace8654/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
+golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo=
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+golang.org/x/text v0.3.6/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ=
+golang.org/x/text v0.3.7/go.mod h1:u+2+/6zg+i71rQMx5EYifcz6MCKuco9NR6JIITiCfzQ=
+golang.org/x/tools v0.0.0-20180917221912-90fa682c2a6e/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
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+golang.org/x/tools v0.1.8 h1:P1HhGGuLW4aAclzjtmJdf0mJOjVUZUzOTqkAkWL+l6w=
+golang.org/x/tools v0.1.8/go.mod h1:nABZi5QlRsZVlzPpHl034qft6wpY4eDcsTt5AaioBiU=
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