Add mpu9250 demo program (#11)

Author: gsexton

go.mod

@@ -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
 )
 

go.sum

@@ -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=

mpu9250/main.go

@@ -11,6 +11,9 @@ import (
 	"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"
 
@@ -19,6 +22,8 @@ import (
 )
 
 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
@@ -44,16 +49,28 @@ func main() {
 	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))
+		}
 	}
-	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)
 	}
 
-	dev, err := mpu9250.New(t)
+	dev, err := mpu9250.New(*t)
 	if err != nil {
 		log.Fatal(err)
 	}
@@ -75,15 +92,11 @@ func main() {
 
 	st, err := dev.SelfTest()
 	if err != nil {
-		log.Fatal("Self test failed", err)
+		log.Fatal("Self test failed: ", err)
 	}
 
 	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)
 	}
 
 	fmt.Printf("Accelerometer Deviation: X: %.2f%%, Y: %.2f%%, Z:%.2f%%\n", st.AccelDeviation.X, st.AccelDeviation.Y, st.AccelDeviation.Z)