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devices
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Make Offset type private

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pull/78/head
z-riley 2 years ago
parent 8e123b6025
commit b0dd501d05
No known key found for this signature in database
3 changed files with 51 additions and 51 deletions
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8
tic/registers.go
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@ -9,7 +9,7 @@ import (
) )
// getVar8 reads an 8 bit value from the Tic at a given register offset. // getVar8 reads an 8 bit value from the Tic at a given register offset.
func (d *Dev) getVar8(offset Offset) (uint8, error) { func (d *Dev) getVar8(offset offset) (uint8, error) {
const length = 1 const length = 1
buffer, err := d.getSegment(cmdGetVariable, offset, length) buffer, err := d.getSegment(cmdGetVariable, offset, length)
if err != nil { if err != nil {
@ -20,7 +20,7 @@ func (d *Dev) getVar8(offset Offset) (uint8, error) {
} }
// getVar16 reads a 16 bit value from the Tic at a given register offset. // getVar16 reads a 16 bit value from the Tic at a given register offset.
func (d *Dev) getVar16(offset Offset) (uint16, error) { func (d *Dev) getVar16(offset offset) (uint16, error) {
const length = 2 const length = 2
buffer, err := d.getSegment(cmdGetVariable, offset, length) buffer, err := d.getSegment(cmdGetVariable, offset, length)
if err != nil { if err != nil {
@ -31,7 +31,7 @@ func (d *Dev) getVar16(offset Offset) (uint16, error) {
} }
// getVar32 reads a 32 bit value from the Tic at a given register offset. // getVar32 reads a 32 bit value from the Tic at a given register offset.
func (d *Dev) getVar32(offset Offset) (uint32, error) { func (d *Dev) getVar32(offset offset) (uint32, error) {
const length = 4 const length = 4
buffer, err := d.getSegment(cmdGetVariable, offset, length) buffer, err := d.getSegment(cmdGetVariable, offset, length)
if err != nil { if err != nil {
@ -67,7 +67,7 @@ func (d *Dev) commandW32(cmd command, val uint32) error {
// getSegment sends a command and receives "length" bytes back. // getSegment sends a command and receives "length" bytes back.
func (d *Dev) getSegment( func (d *Dev) getSegment(
cmd command, offset Offset, length uint, cmd command, offset offset, length uint,
) ([]byte, error) { ) ([]byte, error) {
// Transmit command and offset value // Transmit command and offset value
writeBuf := [2]byte{byte(cmd), byte(offset)} writeBuf := [2]byte{byte(cmd), byte(offset)}

8
tic/registers_test.go
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@ -15,7 +15,7 @@ import (
func TestGetVar8(t *testing.T) { func TestGetVar8(t *testing.T) {
for _, test := range []struct { for _, test := range []struct {
name string name string
offset Offset offset offset
ops []i2ctest.IO ops []i2ctest.IO
want uint8 want uint8
expectErr bool expectErr bool
@ -72,7 +72,7 @@ func TestGetVar8(t *testing.T) {
func TestGetVar16(t *testing.T) { func TestGetVar16(t *testing.T) {
for _, test := range []struct { for _, test := range []struct {
name string name string
offset Offset offset offset
ops []i2ctest.IO ops []i2ctest.IO
want uint16 want uint16
expectErr bool expectErr bool
@ -129,7 +129,7 @@ func TestGetVar16(t *testing.T) {
func TestGetVar32(t *testing.T) { func TestGetVar32(t *testing.T) {
for _, test := range []struct { for _, test := range []struct {
name string name string
offset Offset offset offset
ops []i2ctest.IO ops []i2ctest.IO
want uint32 want uint32
expectErr bool expectErr bool
@ -276,7 +276,7 @@ func TestGetSegment(t *testing.T) {
for _, test := range []struct { for _, test := range []struct {
name string name string
cmd command cmd command
offset Offset offset offset
length uint length uint
want []uint8 want []uint8
ops []i2ctest.IO ops []i2ctest.IO

86
tic/tic.go
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@ -1107,7 +1107,7 @@ const (
// // The reading is less than about 2.4 V. // // The reading is less than about 2.4 V.
// } // }
func (d *Dev) GetAnalogReading(pin Pin) (uint16, error) { func (d *Dev) GetAnalogReading(pin Pin) (uint16, error) {
offset := OffsetAnalogReadingSCL + 2*Offset(pin) offset := OffsetAnalogReadingSCL + 2*offset(pin)
return d.getVar16(offset) return d.getVar16(offset)
} }
@ -1252,7 +1252,7 @@ func (d *Dev) GetLastHPDriverErrors() (uint8, error) {
// This library does not attempt to interpret the settings and say what they // This library does not attempt to interpret the settings and say what they
// mean. If you are interested in how the settings are encoded in the Tic's // mean. If you are interested in how the settings are encoded in the Tic's
// EEPROM, see the "Settings reference" section of the Tic user's guide. // EEPROM, see the "Settings reference" section of the Tic user's guide.
func (d *Dev) GetSetting(offset Offset, length uint) ([]uint8, error) { func (d *Dev) GetSetting(offset offset, length uint) ([]uint8, error) {
if length > 15 { if length > 15 {
return nil, errors.New("maximum length exceeded") return nil, errors.New("maximum length exceeded")
} }
@ -1260,50 +1260,50 @@ func (d *Dev) GetSetting(offset Offset, length uint) ([]uint8, error) {
return d.getSegment(cmdGetSetting, offset, length) return d.getSegment(cmdGetSetting, offset, length)
} }
// Offset represents where settings are stored in the Tic's EEPROM memory. See // offset represents where settings are stored in the Tic's EEPROM memory. See
// the "Variable reference" section of the Tic user's guide for details. // the "Variable reference" section of the Tic user's guide for details.
type Offset uint8 type offset uint8
const ( const (
OffsetOperationState Offset = 0x00 // uint8 return type OffsetOperationState offset = 0x00 // uint8 return type
OffsetMiscFlags1 Offset = 0x01 // uint8 return type OffsetMiscFlags1 offset = 0x01 // uint8 return type
OffsetErrorStatus Offset = 0x02 // uint16 return type OffsetErrorStatus offset = 0x02 // uint16 return type
OffsetErrorsOccurred Offset = 0x04 // uint32 return type OffsetErrorsOccurred offset = 0x04 // uint32 return type
OffsetPlanningMode Offset = 0x09 // uint8 return type OffsetPlanningMode offset = 0x09 // uint8 return type
OffsetTargetPosition Offset = 0x0A // int32 return type OffsetTargetPosition offset = 0x0A // int32 return type
OffsetTargetVelocity Offset = 0x0E // int32 return type OffsetTargetVelocity offset = 0x0E // int32 return type
OffsetStartingSpeed Offset = 0x12 // uint32 return type OffsetStartingSpeed offset = 0x12 // uint32 return type
OffsetSpeedMax Offset = 0x16 // uint32 return type OffsetSpeedMax offset = 0x16 // uint32 return type
OffsetDecelMax Offset = 0x1A // uint32 return type OffsetDecelMax offset = 0x1A // uint32 return type
OffsetAccelMax Offset = 0x1E // uint32 return type OffsetAccelMax offset = 0x1E // uint32 return type
OffsetCurrentPosition Offset = 0x22 // int32 return type OffsetCurrentPosition offset = 0x22 // int32 return type
OffsetCurrentVelocity Offset = 0x26 // int32 return type OffsetCurrentVelocity offset = 0x26 // int32 return type
OffsetActingTargetPosition Offset = 0x2A // int32 return type OffsetActingTargetPosition offset = 0x2A // int32 return type
OffsetTimeSinceLastStep Offset = 0x2E // uint32 return type OffsetTimeSinceLastStep offset = 0x2E // uint32 return type
OffsetDeviceReset Offset = 0x32 // uint8 return type OffsetDeviceReset offset = 0x32 // uint8 return type
OffsetVoltageIn Offset = 0x33 // uint16 return type OffsetVoltageIn offset = 0x33 // uint16 return type
OffsetUpTime Offset = 0x35 // uint32 return type OffsetUpTime offset = 0x35 // uint32 return type
OffsetEncoderPosition Offset = 0x39 // int32 return type OffsetEncoderPosition offset = 0x39 // int32 return type
OffsetRCPulseWidth Offset = 0x3D // uint16 return type OffsetRCPulseWidth offset = 0x3D // uint16 return type
OffsetAnalogReadingSCL Offset = 0x3F // uint16 return type OffsetAnalogReadingSCL offset = 0x3F // uint16 return type
OffsetAnalogReadingSDA Offset = 0x41 // uint16 return type OffsetAnalogReadingSDA offset = 0x41 // uint16 return type
OffsetAnalogReadingTX Offset = 0x43 // uint16 return type OffsetAnalogReadingTX offset = 0x43 // uint16 return type
OffsetAnalogReadingRX Offset = 0x45 // uint16 return type OffsetAnalogReadingRX offset = 0x45 // uint16 return type
OffsetDigitalReadings Offset = 0x47 // uint8 return type OffsetDigitalReadings offset = 0x47 // uint8 return type
OffsetPinStates Offset = 0x48 // uint8 return type OffsetPinStates offset = 0x48 // uint8 return type
OffsetStepMode Offset = 0x49 // uint8 return type OffsetStepMode offset = 0x49 // uint8 return type
OffsetCurrentLimit Offset = 0x4A // uint8 return type OffsetCurrentLimit offset = 0x4A // uint8 return type
OffsetDecayMode Offset = 0x4B // uint8 return type OffsetDecayMode offset = 0x4B // uint8 return type
OffsetInputState Offset = 0x4C // uint8 return type OffsetInputState offset = 0x4C // uint8 return type
OffsetInputAfterAveraging Offset = 0x4D // uint16 return type OffsetInputAfterAveraging offset = 0x4D // uint16 return type
OffsetInputAfterHysteresis Offset = 0x4F // uint16 return type OffsetInputAfterHysteresis offset = 0x4F // uint16 return type
OffsetInputAfterScaling Offset = 0x51 // uint16 return type OffsetInputAfterScaling offset = 0x51 // uint16 return type
OffsetLastMotorDriverError Offset = 0x55 // uint8 return type OffsetLastMotorDriverError offset = 0x55 // uint8 return type
OffsetAGCMode Offset = 0x56 // uint8 return type OffsetAGCMode offset = 0x56 // uint8 return type
OffsetAGCBottomCurrentLimit Offset = 0x57 // uint8 return type OffsetAGCBottomCurrentLimit offset = 0x57 // uint8 return type
OffsetAGCCurrentBoostSteps Offset = 0x58 // uint8 return type OffsetAGCCurrentBoostSteps offset = 0x58 // uint8 return type
OffsetAGCFrequencyLimit Offset = 0x59 // uint8 return type OffsetAGCFrequencyLimit offset = 0x59 // uint8 return type
OffsetLastHPDriverErrors Offset = 0xFF // uint8 return type OffsetLastHPDriverErrors offset = 0xFF // uint8 return type
) )
// command represents Tic command codes which are used for its I²C interface. // command represents Tic command codes which are used for its I²C interface.

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