Rewrite mgos_imu_*_create_i2c() to its new API format

Makefile

@@ -1,7 +1,7 @@
 TARGET  = mgos_i2c
 CC      = gcc
 # CFLAGS  = -g -O -Wall -Wextra -std=c89 -pedantic -Wmissing-prototypes -Wstrict-prototypes -Wold-style-definition
-CFLAGS  = -g -O2 -pedantic -Werror -Wall -Wextra -Wmissing-prototypes -Wstrict-prototypes -Wold-style-definition
+CFLAGS  = -g -O2 -Werror -Wall -Wextra -Wmissing-prototypes -Wstrict-prototypes -Wold-style-definition
 LINKER  = gcc
 LFLAGS  = -O -Wall -I. -lm
 

src/mgos_i2c_bitfields.c

@@ -45,6 +45,7 @@ bool mgos_i2c_getbits_reg_b(struct mgos_i2c *i2c, uint16_t addr, uint8_t reg, ui
 
 bool mgos_i2c_setbits_reg_w(struct mgos_i2c *i2c, uint16_t addr, uint8_t reg, uint8_t bitoffset, uint8_t bitlen, uint16_t value) {
   uint16_t old, new;
+  uint8_t d[2];
 
   if (!i2c || bitoffset + bitlen > 16 || bitlen == 0) {
     return false;
@@ -53,14 +54,18 @@ bool mgos_i2c_setbits_reg_w(struct mgos_i2c *i2c, uint16_t addr, uint8_t reg, ui
     return false;
   }
 
-  if (!mgos_i2c_read_reg_n(i2c, addr, reg, 2, (uint8_t *)&old)) {
+  if (!mgos_i2c_read_reg_n(i2c, addr, reg, 2, d)) {
     return false;
   }
+  old = (d[0] << 8) | d[1];
   new  = old | (((1 << bitlen) - 1) << bitoffset);
   new &= ~(((1 << bitlen) - 1) << bitoffset);
   new |= (value) << bitoffset;
 
-  if (!mgos_i2c_write_reg_n(i2c, addr, reg, 2, (uint8_t *)&new)) {
+  d[0] = new >> 8;
+  d[1] = new & 0xFF;
+
+  if (!mgos_i2c_write_reg_n(i2c, addr, reg, 2, d)) {
     return false;
   }
   return true;
@@ -68,14 +73,16 @@ bool mgos_i2c_setbits_reg_w(struct mgos_i2c *i2c, uint16_t addr, uint8_t reg, ui
 
 bool mgos_i2c_getbits_reg_w(struct mgos_i2c *i2c, uint16_t addr, uint8_t reg, uint8_t bitoffset, uint8_t bitlen, uint16_t *value) {
   uint16_t val, mask;
+  uint8_t d[2];
 
   if (!i2c || bitoffset + bitlen > 16 || bitlen == 0 || !value) {
     return false;
   }
 
-  if (!mgos_i2c_read_reg_n(i2c, addr, reg, 2, (uint8_t *)&val)) {
+  if (!mgos_i2c_read_reg_n(i2c, addr, reg, 2, d)) {
     return false;
   }
+  val = (d[0] << 8) | d[1];
 
   mask   = ((1 << bitlen) - 1);
   mask <<= bitoffset;

src/mgos_mock.c

@@ -118,6 +118,14 @@ void mgos_gpio_clear_int(int pin) {
   (void)pin;
 }
 
+bool mgos_gpio_setup_input(int pin, enum mgos_gpio_pull_type pull) {
+  LOG(LL_INFO, ("Not implemented."));
+  return true;
+
+  (void)pin;
+  (void)pull;
+}
+
 bool mgos_gpio_set_mode(int pin, enum mgos_gpio_mode mode) {
   LOG(LL_INFO, ("Not implemented."));
   return true;

tests/ads1x1x.c

@@ -0,0 +1,34 @@
+#include "mgos.h"
+#include "mgos_ads1x1x.h"
+#include "tests_autogen.h"
+
+uint32_t test_ads1x1x_period_ms = 100;
+bool     test_ads1x1x_enabled   = true;
+
+static struct mgos_ads1x1x *s_adc = NULL;
+
+bool test_ads1x1x_create(void) {
+  // LOG(LL_INFO, ("Setting up"));
+  s_adc = mgos_ads1x1x_create(mgos_i2c_get_global(), 0x48, ADC_ADS1115);
+  if (!s_adc) return false;
+
+  mgos_ads1x1x_set_fsr(s_adc, MGOS_ADS1X1X_FSR_4096);
+  return true;
+}
+
+bool test_ads1x1x_run(void) {
+  int16_t result[4];
+  for(int i=0; i<4; i++) {
+    if (!mgos_ads1x1x_read(s_adc, i, &result[i])) {
+      LOG(LL_ERROR, ("Could not read device"));
+      return false;
+    }
+  }
+  LOG(LL_INFO, ("chan={%6d, %6d, %6d, %6d}", result[0], result[1], result[2], result[3]));
+  return true;
+}
+
+bool test_ads1x1x_destroy(void) {
+  mgos_ads1x1x_destroy(&s_adc);
+  return true;
+}

tests/imu.c

@@ -19,20 +19,31 @@ static struct mgos_imu *s_imu = NULL;
 #endif
 
 bool test_imu_create(void) {
+  struct mgos_imu_acc_opts acc_opts;
+  struct mgos_imu_gyro_opts gyro_opts;
+  struct mgos_imu_mag_opts mag_opts;
   if (!(s_imu = mgos_imu_create())) {
     LOG(LL_ERROR, ("Cannot create IMU"));
     return false;
   }
 
-  if (ACC_I2CADDR > 0 && !mgos_imu_accelerometer_create_i2c(s_imu, mgos_i2c_get_global(), ACC_I2CADDR, ACC_TYPE)) {
+  acc_opts.type = ACC_TYPE;
+  acc_opts.scale = 16.0; // G
+  acc_opts.odr = 100;    // Hz
+  if (ACC_I2CADDR > 0 && !mgos_imu_accelerometer_create_i2c(s_imu, mgos_i2c_get_global(), ACC_I2CADDR, &acc_opts))
     LOG(LL_ERROR, ("Cannot create accelerometer on IMU"));
-  }
+
-  if (GYRO_I2CADDR > 0 && !mgos_imu_gyroscope_create_i2c(s_imu, mgos_i2c_get_global(), GYRO_I2CADDR, GYRO_TYPE)) {
+  gyro_opts.type = ACC_TYPE;
+  gyro_opts.scale = 2000; // deg/sec
+  gyro_opts.odr = 100;    // Hz
+  if (GYRO_I2CADDR > 0 && !mgos_imu_gyroscope_create_i2c(s_imu, mgos_i2c_get_global(), GYRO_I2CADDR, &gyro_opts))
     LOG(LL_ERROR, ("Cannot create gyroscope on IMU"));
-  }
+
-  if (MAG_I2CADDR > 0 && !mgos_imu_magnetometer_create_i2c(s_imu, mgos_i2c_get_global(), MAG_I2CADDR, MAG_TYPE)) {
+  mag_opts.type = MAG_TYPE;
+  mag_opts.scale = 12.0; // Gauss
+  mag_opts.odr = 10;     // Hz
+  if (MAG_I2CADDR > 0 && !mgos_imu_magnetometer_create_i2c(s_imu, mgos_i2c_get_global(), MAG_I2CADDR, &mag_opts))
     LOG(LL_ERROR, ("Cannot create magnetometer on IMU"));
-  }
 
   return true;
 }