Initial.

mpu6050/i2c.go

@@ -0,0 +1,13 @@
+package mpu6050
+
+import (
+	"encoding/binary"
+)
+
+func (d device) readWord(register byte) (int16, error) {
+	bytes := make([]byte, 2)
+	if err := d.device.ReadReg(register, bytes); err != nil {
+		return 0, err
+	}
+	return int16(binary.BigEndian.Uint16(bytes)), nil // !!! CHECK uint->int convertsion
+}

mpu6050/mpu.go

@@ -0,0 +1,68 @@
+package mpu6050
+
+import (
+	"fmt"
+
+	"golang.org/x/exp/io/i2c"
+)
+
+const (
+	mpuAddr = 0x68
+
+	// MPU registers
+
+	// Power management
+	// powerMgmt1 = 0x6B
+	// powerMgmt2 = 0x6C
+	// Acceleration
+	// accelXOut0 = 0x3B
+	// accelYOut0 = 0x3D
+	// accelZOut0 = 0x3F
+	// Temperature
+	tempOut0 = 0x41
+
+// Gyro
+// gyroXOut0 = 0x43
+// gyroYOut0 = 0x45
+// gyroZOut0 = 0x47
+// Configs
+// accelConfig = 0x1C
+// gyroConfig  = 0x1B
+// mpuConfig   = 0x1A
+)
+
+type device struct {
+	device *i2c.Device
+}
+
+type Device interface {
+	GetTemp() (float32, error)
+	GetAccel() ([3]float32, error)
+	GetGyro() ([3]float32, error)
+}
+
+func Open() (Device, error) {
+	d, err := i2c.Open(&i2c.Devfs{Dev: "/dev/i2c-1"}, mpuAddr)
+	if err != nil {
+		return nil, fmt.Errorf("open i2c: %w", err)
+	}
+	return &device{
+		device: d,
+	}, nil
+}
+
+func (d *device) GetTemp() (float32, error) {
+	rawTemp, err := d.readWord(tempOut0)
+	if err != nil {
+		return 0, err
+	}
+	return (float32(rawTemp) / 340.0) + 36.53, nil
+}
+
+func (d *device) GetAccel() ([3]float32, error) {
+	return [3]float32{}, nil
+}
+
+func (d *device) GetGyro() ([3]float32, error) {
+	return [3]float32{}, nil
+}