// Close stops the controller and resets mode and pwm controller registers.
func (d *PCA9685) Close() error {
if err := d.setup(); err != nil {
return err
}
if err := d.sleep(); err != nil {
return err
}
glog.V(1).Infof("pca9685: reset request received")
if err := d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, 0x00); err != nil {
return err
}
glog.V(1).Infof("pca9685: cleaning up all PWM control registers")
for regAddr := 0x06; regAddr <= 0x45; regAddr++ {
if err := d.Bus.WriteByteToReg(d.Addr, byte(regAddr), 0x00); err != nil {
return err
}
}
if glog.V(1) {
glog.Infof("pca9685: done Cleaning up all PWM control registers")
glog.Infof("pca9685: controller reset")
}
return nil
}
func (d *PCA9685) sleep() error {
glog.V(1).Infof("pca9685: sleep request received")
mode1Reg, err := d.mode1Reg()
if err != nil {
return err
}
sleepmode := (mode1Reg & 0x7F) | 0x10
if err := d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, sleepmode); err != nil {
return err
}
if glog.V(1) {
glog.Infof("pca9685: sleep mode [%#02x] written to MODE1 Reg [regAddr: %#02x]", sleepmode, mode1RegAddr)
glog.Infoln("pca9685: controller set to Sleep mode")
}
return nil
}
func (d *BMP085) calibrate() error {
d.cmu.RLock()
if d.calibrated {
d.cmu.RUnlock()
return nil
}
d.cmu.RUnlock()
d.cmu.Lock()
defer d.cmu.Unlock()
readInt16 := func(reg byte) (int16, error) {
v, err := d.Bus.ReadWordFromReg(address, reg)
if err != nil {
return 0, err
}
return int16(v), nil
}
readUInt16 := func(reg byte) (uint16, error) {
v, err := d.Bus.ReadWordFromReg(address, reg)
if err != nil {
return 0, err
}
return uint16(v), nil
}
var err error
d.ac1, err = readInt16(calAc1)
if err != nil {
return err
}
d.ac2, err = readInt16(calAc2)
if err != nil {
return err
}
d.ac3, err = readInt16(calAc3)
if err != nil {
return err
}
d.ac4, err = readUInt16(calAc4)
if err != nil {
return err
}
d.ac5, err = readUInt16(calAc5)
if err != nil {
return err
}
d.ac6, err = readUInt16(calAc6)
if err != nil {
return err
}
d.b1, err = readInt16(calB1)
if err != nil {
return err
}
d.b2, err = readInt16(calB2)
if err != nil {
return err
}
d.mb, err = readInt16(calMB)
if err != nil {
return err
}
d.mc, err = readInt16(calMC)
if err != nil {
return err
}
d.md, err = readInt16(calMD)
if err != nil {
return err
}
d.calibrated = true
if glog.V(1) {
glog.Info("bmp085: calibration data retrieved")
glog.Infof("bmp085: param AC1 = %v", d.ac1)
glog.Infof("bmp085: param AC2 = %v", d.ac2)
glog.Infof("bmp085: param AC3 = %v", d.ac3)
glog.Infof("bmp085: param AC4 = %v", d.ac4)
glog.Infof("bmp085: param AC5 = %v", d.ac5)
glog.Infof("bmp085: param AC6 = %v", d.ac6)
glog.Infof("bmp085: param B1 = %v", d.b1)
glog.Infof("bmp085: param B2 = %v", d.b2)
glog.Infof("bmp085: param MB = %v", d.mb)
glog.Infof("bmp085: param MC = %v", d.mc)
glog.Infof("bmp085: param MD = %v", d.md)
}
return nil
}