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NRF: Add sensor drivers to frozen modules.
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scripts/libraries/apds9960/ChangeLog
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needrestart (0.2)
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* Features:
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- micropython port
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(github pr #2 by Thomas Waldmann @ThomasWaldmann)
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- upload to PyPi
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* Changes:
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- add 0xa8 to valid device id's
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(github pr #1 by Ristomatti Airo @ristomatti)
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-- Thomas Liske <thomas@fiasko-nw.net> Sun, 15 Apr 2018 21:36:49 +0200
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needrestart (0.1)
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* Initial release.
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-- Thomas Liske <thomas@fiasko-nw.net> Tue, 06 Jun 2017 01:30:55 +0200
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scripts/libraries/apds9960/LICENSE
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|
||||||
|
Corresponding Source conveyed, and Installation Information provided,
|
||||||
|
in accord with this section must be in a format that is publicly
|
||||||
|
documented (and with an implementation available to the public in
|
||||||
|
source code form), and must require no special password or key for
|
||||||
|
unpacking, reading or copying.
|
||||||
|
|
||||||
|
7. Additional Terms.
|
||||||
|
|
||||||
|
"Additional permissions" are terms that supplement the terms of this
|
||||||
|
License by making exceptions from one or more of its conditions.
|
||||||
|
Additional permissions that are applicable to the entire Program shall
|
||||||
|
be treated as though they were included in this License, to the extent
|
||||||
|
that they are valid under applicable law. If additional permissions
|
||||||
|
apply only to part of the Program, that part may be used separately
|
||||||
|
under those permissions, but the entire Program remains governed by
|
||||||
|
this License without regard to the additional permissions.
|
||||||
|
|
||||||
|
When you convey a copy of a covered work, you may at your option
|
||||||
|
remove any additional permissions from that copy, or from any part of
|
||||||
|
it. (Additional permissions may be written to require their own
|
||||||
|
removal in certain cases when you modify the work.) You may place
|
||||||
|
additional permissions on material, added by you to a covered work,
|
||||||
|
for which you have or can give appropriate copyright permission.
|
||||||
|
|
||||||
|
Notwithstanding any other provision of this License, for material you
|
||||||
|
add to a covered work, you may (if authorized by the copyright holders of
|
||||||
|
that material) supplement the terms of this License with terms:
|
||||||
|
|
||||||
|
a) Disclaiming warranty or limiting liability differently from the
|
||||||
|
terms of sections 15 and 16 of this License; or
|
||||||
|
|
||||||
|
b) Requiring preservation of specified reasonable legal notices or
|
||||||
|
author attributions in that material or in the Appropriate Legal
|
||||||
|
Notices displayed by works containing it; or
|
||||||
|
|
||||||
|
c) Prohibiting misrepresentation of the origin of that material, or
|
||||||
|
requiring that modified versions of such material be marked in
|
||||||
|
reasonable ways as different from the original version; or
|
||||||
|
|
||||||
|
d) Limiting the use for publicity purposes of names of licensors or
|
||||||
|
authors of the material; or
|
||||||
|
|
||||||
|
e) Declining to grant rights under trademark law for use of some
|
||||||
|
trade names, trademarks, or service marks; or
|
||||||
|
|
||||||
|
f) Requiring indemnification of licensors and authors of that
|
||||||
|
material by anyone who conveys the material (or modified versions of
|
||||||
|
it) with contractual assumptions of liability to the recipient, for
|
||||||
|
any liability that these contractual assumptions directly impose on
|
||||||
|
those licensors and authors.
|
||||||
|
|
||||||
|
All other non-permissive additional terms are considered "further
|
||||||
|
restrictions" within the meaning of section 10. If the Program as you
|
||||||
|
received it, or any part of it, contains a notice stating that it is
|
||||||
|
governed by this License along with a term that is a further
|
||||||
|
restriction, you may remove that term. If a license document contains
|
||||||
|
a further restriction but permits relicensing or conveying under this
|
||||||
|
License, you may add to a covered work material governed by the terms
|
||||||
|
of that license document, provided that the further restriction does
|
||||||
|
not survive such relicensing or conveying.
|
||||||
|
|
||||||
|
If you add terms to a covered work in accord with this section, you
|
||||||
|
must place, in the relevant source files, a statement of the
|
||||||
|
additional terms that apply to those files, or a notice indicating
|
||||||
|
where to find the applicable terms.
|
||||||
|
|
||||||
|
Additional terms, permissive or non-permissive, may be stated in the
|
||||||
|
form of a separately written license, or stated as exceptions;
|
||||||
|
the above requirements apply either way.
|
||||||
|
|
||||||
|
8. Termination.
|
||||||
|
|
||||||
|
You may not propagate or modify a covered work except as expressly
|
||||||
|
provided under this License. Any attempt otherwise to propagate or
|
||||||
|
modify it is void, and will automatically terminate your rights under
|
||||||
|
this License (including any patent licenses granted under the third
|
||||||
|
paragraph of section 11).
|
||||||
|
|
||||||
|
However, if you cease all violation of this License, then your
|
||||||
|
license from a particular copyright holder is reinstated (a)
|
||||||
|
provisionally, unless and until the copyright holder explicitly and
|
||||||
|
finally terminates your license, and (b) permanently, if the copyright
|
||||||
|
holder fails to notify you of the violation by some reasonable means
|
||||||
|
prior to 60 days after the cessation.
|
||||||
|
|
||||||
|
Moreover, your license from a particular copyright holder is
|
||||||
|
reinstated permanently if the copyright holder notifies you of the
|
||||||
|
violation by some reasonable means, this is the first time you have
|
||||||
|
received notice of violation of this License (for any work) from that
|
||||||
|
copyright holder, and you cure the violation prior to 30 days after
|
||||||
|
your receipt of the notice.
|
||||||
|
|
||||||
|
Termination of your rights under this section does not terminate the
|
||||||
|
licenses of parties who have received copies or rights from you under
|
||||||
|
this License. If your rights have been terminated and not permanently
|
||||||
|
reinstated, you do not qualify to receive new licenses for the same
|
||||||
|
material under section 10.
|
||||||
|
|
||||||
|
9. Acceptance Not Required for Having Copies.
|
||||||
|
|
||||||
|
You are not required to accept this License in order to receive or
|
||||||
|
run a copy of the Program. Ancillary propagation of a covered work
|
||||||
|
occurring solely as a consequence of using peer-to-peer transmission
|
||||||
|
to receive a copy likewise does not require acceptance. However,
|
||||||
|
nothing other than this License grants you permission to propagate or
|
||||||
|
modify any covered work. These actions infringe copyright if you do
|
||||||
|
not accept this License. Therefore, by modifying or propagating a
|
||||||
|
covered work, you indicate your acceptance of this License to do so.
|
||||||
|
|
||||||
|
10. Automatic Licensing of Downstream Recipients.
|
||||||
|
|
||||||
|
Each time you convey a covered work, the recipient automatically
|
||||||
|
receives a license from the original licensors, to run, modify and
|
||||||
|
propagate that work, subject to this License. You are not responsible
|
||||||
|
for enforcing compliance by third parties with this License.
|
||||||
|
|
||||||
|
An "entity transaction" is a transaction transferring control of an
|
||||||
|
organization, or substantially all assets of one, or subdividing an
|
||||||
|
organization, or merging organizations. If propagation of a covered
|
||||||
|
work results from an entity transaction, each party to that
|
||||||
|
transaction who receives a copy of the work also receives whatever
|
||||||
|
licenses to the work the party's predecessor in interest had or could
|
||||||
|
give under the previous paragraph, plus a right to possession of the
|
||||||
|
Corresponding Source of the work from the predecessor in interest, if
|
||||||
|
the predecessor has it or can get it with reasonable efforts.
|
||||||
|
|
||||||
|
You may not impose any further restrictions on the exercise of the
|
||||||
|
rights granted or affirmed under this License. For example, you may
|
||||||
|
not impose a license fee, royalty, or other charge for exercise of
|
||||||
|
rights granted under this License, and you may not initiate litigation
|
||||||
|
(including a cross-claim or counterclaim in a lawsuit) alleging that
|
||||||
|
any patent claim is infringed by making, using, selling, offering for
|
||||||
|
sale, or importing the Program or any portion of it.
|
||||||
|
|
||||||
|
11. Patents.
|
||||||
|
|
||||||
|
A "contributor" is a copyright holder who authorizes use under this
|
||||||
|
License of the Program or a work on which the Program is based. The
|
||||||
|
work thus licensed is called the contributor's "contributor version".
|
||||||
|
|
||||||
|
A contributor's "essential patent claims" are all patent claims
|
||||||
|
owned or controlled by the contributor, whether already acquired or
|
||||||
|
hereafter acquired, that would be infringed by some manner, permitted
|
||||||
|
by this License, of making, using, or selling its contributor version,
|
||||||
|
but do not include claims that would be infringed only as a
|
||||||
|
consequence of further modification of the contributor version. For
|
||||||
|
purposes of this definition, "control" includes the right to grant
|
||||||
|
patent sublicenses in a manner consistent with the requirements of
|
||||||
|
this License.
|
||||||
|
|
||||||
|
Each contributor grants you a non-exclusive, worldwide, royalty-free
|
||||||
|
patent license under the contributor's essential patent claims, to
|
||||||
|
make, use, sell, offer for sale, import and otherwise run, modify and
|
||||||
|
propagate the contents of its contributor version.
|
||||||
|
|
||||||
|
In the following three paragraphs, a "patent license" is any express
|
||||||
|
agreement or commitment, however denominated, not to enforce a patent
|
||||||
|
(such as an express permission to practice a patent or covenant not to
|
||||||
|
sue for patent infringement). To "grant" such a patent license to a
|
||||||
|
party means to make such an agreement or commitment not to enforce a
|
||||||
|
patent against the party.
|
||||||
|
|
||||||
|
If you convey a covered work, knowingly relying on a patent license,
|
||||||
|
and the Corresponding Source of the work is not available for anyone
|
||||||
|
to copy, free of charge and under the terms of this License, through a
|
||||||
|
publicly available network server or other readily accessible means,
|
||||||
|
then you must either (1) cause the Corresponding Source to be so
|
||||||
|
available, or (2) arrange to deprive yourself of the benefit of the
|
||||||
|
patent license for this particular work, or (3) arrange, in a manner
|
||||||
|
consistent with the requirements of this License, to extend the patent
|
||||||
|
license to downstream recipients. "Knowingly relying" means you have
|
||||||
|
actual knowledge that, but for the patent license, your conveying the
|
||||||
|
covered work in a country, or your recipient's use of the covered work
|
||||||
|
in a country, would infringe one or more identifiable patents in that
|
||||||
|
country that you have reason to believe are valid.
|
||||||
|
|
||||||
|
If, pursuant to or in connection with a single transaction or
|
||||||
|
arrangement, you convey, or propagate by procuring conveyance of, a
|
||||||
|
covered work, and grant a patent license to some of the parties
|
||||||
|
receiving the covered work authorizing them to use, propagate, modify
|
||||||
|
or convey a specific copy of the covered work, then the patent license
|
||||||
|
you grant is automatically extended to all recipients of the covered
|
||||||
|
work and works based on it.
|
||||||
|
|
||||||
|
A patent license is "discriminatory" if it does not include within
|
||||||
|
the scope of its coverage, prohibits the exercise of, or is
|
||||||
|
conditioned on the non-exercise of one or more of the rights that are
|
||||||
|
specifically granted under this License. You may not convey a covered
|
||||||
|
work if you are a party to an arrangement with a third party that is
|
||||||
|
in the business of distributing software, under which you make payment
|
||||||
|
to the third party based on the extent of your activity of conveying
|
||||||
|
the work, and under which the third party grants, to any of the
|
||||||
|
parties who would receive the covered work from you, a discriminatory
|
||||||
|
patent license (a) in connection with copies of the covered work
|
||||||
|
conveyed by you (or copies made from those copies), or (b) primarily
|
||||||
|
for and in connection with specific products or compilations that
|
||||||
|
contain the covered work, unless you entered into that arrangement,
|
||||||
|
or that patent license was granted, prior to 28 March 2007.
|
||||||
|
|
||||||
|
Nothing in this License shall be construed as excluding or limiting
|
||||||
|
any implied license or other defenses to infringement that may
|
||||||
|
otherwise be available to you under applicable patent law.
|
||||||
|
|
||||||
|
12. No Surrender of Others' Freedom.
|
||||||
|
|
||||||
|
If conditions are imposed on you (whether by court order, agreement or
|
||||||
|
otherwise) that contradict the conditions of this License, they do not
|
||||||
|
excuse you from the conditions of this License. If you cannot convey a
|
||||||
|
covered work so as to satisfy simultaneously your obligations under this
|
||||||
|
License and any other pertinent obligations, then as a consequence you may
|
||||||
|
not convey it at all. For example, if you agree to terms that obligate you
|
||||||
|
to collect a royalty for further conveying from those to whom you convey
|
||||||
|
the Program, the only way you could satisfy both those terms and this
|
||||||
|
License would be to refrain entirely from conveying the Program.
|
||||||
|
|
||||||
|
13. Use with the GNU Affero General Public License.
|
||||||
|
|
||||||
|
Notwithstanding any other provision of this License, you have
|
||||||
|
permission to link or combine any covered work with a work licensed
|
||||||
|
under version 3 of the GNU Affero General Public License into a single
|
||||||
|
combined work, and to convey the resulting work. The terms of this
|
||||||
|
License will continue to apply to the part which is the covered work,
|
||||||
|
but the special requirements of the GNU Affero General Public License,
|
||||||
|
section 13, concerning interaction through a network will apply to the
|
||||||
|
combination as such.
|
||||||
|
|
||||||
|
14. Revised Versions of this License.
|
||||||
|
|
||||||
|
The Free Software Foundation may publish revised and/or new versions of
|
||||||
|
the GNU General Public License from time to time. Such new versions will
|
||||||
|
be similar in spirit to the present version, but may differ in detail to
|
||||||
|
address new problems or concerns.
|
||||||
|
|
||||||
|
Each version is given a distinguishing version number. If the
|
||||||
|
Program specifies that a certain numbered version of the GNU General
|
||||||
|
Public License "or any later version" applies to it, you have the
|
||||||
|
option of following the terms and conditions either of that numbered
|
||||||
|
version or of any later version published by the Free Software
|
||||||
|
Foundation. If the Program does not specify a version number of the
|
||||||
|
GNU General Public License, you may choose any version ever published
|
||||||
|
by the Free Software Foundation.
|
||||||
|
|
||||||
|
If the Program specifies that a proxy can decide which future
|
||||||
|
versions of the GNU General Public License can be used, that proxy's
|
||||||
|
public statement of acceptance of a version permanently authorizes you
|
||||||
|
to choose that version for the Program.
|
||||||
|
|
||||||
|
Later license versions may give you additional or different
|
||||||
|
permissions. However, no additional obligations are imposed on any
|
||||||
|
author or copyright holder as a result of your choosing to follow a
|
||||||
|
later version.
|
||||||
|
|
||||||
|
15. Disclaimer of Warranty.
|
||||||
|
|
||||||
|
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
|
||||||
|
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
|
||||||
|
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
|
||||||
|
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
|
||||||
|
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||||
|
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
|
||||||
|
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
|
||||||
|
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||||
|
|
||||||
|
16. Limitation of Liability.
|
||||||
|
|
||||||
|
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||||
|
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
|
||||||
|
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
|
||||||
|
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
|
||||||
|
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
|
||||||
|
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
|
||||||
|
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
|
||||||
|
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
|
||||||
|
SUCH DAMAGES.
|
||||||
|
|
||||||
|
17. Interpretation of Sections 15 and 16.
|
||||||
|
|
||||||
|
If the disclaimer of warranty and limitation of liability provided
|
||||||
|
above cannot be given local legal effect according to their terms,
|
||||||
|
reviewing courts shall apply local law that most closely approximates
|
||||||
|
an absolute waiver of all civil liability in connection with the
|
||||||
|
Program, unless a warranty or assumption of liability accompanies a
|
||||||
|
copy of the Program in return for a fee.
|
||||||
|
|
||||||
|
END OF TERMS AND CONDITIONS
|
||||||
|
|
||||||
|
How to Apply These Terms to Your New Programs
|
||||||
|
|
||||||
|
If you develop a new program, and you want it to be of the greatest
|
||||||
|
possible use to the public, the best way to achieve this is to make it
|
||||||
|
free software which everyone can redistribute and change under these terms.
|
||||||
|
|
||||||
|
To do so, attach the following notices to the program. It is safest
|
||||||
|
to attach them to the start of each source file to most effectively
|
||||||
|
state the exclusion of warranty; and each file should have at least
|
||||||
|
the "copyright" line and a pointer to where the full notice is found.
|
||||||
|
|
||||||
|
{one line to give the program's name and a brief idea of what it does.}
|
||||||
|
Copyright (C) {year} {name of author}
|
||||||
|
|
||||||
|
This program is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
|
||||||
|
Also add information on how to contact you by electronic and paper mail.
|
||||||
|
|
||||||
|
If the program does terminal interaction, make it output a short
|
||||||
|
notice like this when it starts in an interactive mode:
|
||||||
|
|
||||||
|
{project} Copyright (C) {year} {fullname}
|
||||||
|
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||||
|
This is free software, and you are welcome to redistribute it
|
||||||
|
under certain conditions; type `show c' for details.
|
||||||
|
|
||||||
|
The hypothetical commands `show w' and `show c' should show the appropriate
|
||||||
|
parts of the General Public License. Of course, your program's commands
|
||||||
|
might be different; for a GUI interface, you would use an "about box".
|
||||||
|
|
||||||
|
You should also get your employer (if you work as a programmer) or school,
|
||||||
|
if any, to sign a "copyright disclaimer" for the program, if necessary.
|
||||||
|
For more information on this, and how to apply and follow the GNU GPL, see
|
||||||
|
<http://www.gnu.org/licenses/>.
|
||||||
|
|
||||||
|
The GNU General Public License does not permit incorporating your program
|
||||||
|
into proprietary programs. If your program is a subroutine library, you
|
||||||
|
may consider it more useful to permit linking proprietary applications with
|
||||||
|
the library. If this is what you want to do, use the GNU Lesser General
|
||||||
|
Public License instead of this License. But first, please read
|
||||||
|
<http://www.gnu.org/philosophy/why-not-lgpl.html>.
|
||||||
31
scripts/libraries/apds9960/README.md
Normal file
31
scripts/libraries/apds9960/README.md
Normal file
@ -0,0 +1,31 @@
|
|||||||
|
# Python (and MicroPython) APDS-9960 Library
|
||||||
|
|
||||||
|
Python library for the APDS-9960 gesture sensor developed while I was looking to get the APDS-9960 to work with a _Raspberry Pi_ to build a user interface feeling like in _Minority Report_.
|
||||||
|
|
||||||
|
This library is a port of the [APDS-9960 Raspberry Pi Library](https://bitbucket.org/justin_woodman/apds-9960-raspberry-pi-library) of [Justin Woodman](https://justinwoodman.wordpress.com/2014/11/15/using-the-apds-9960-rgb-proximity-and-gesture-sensor-with-the-raspberry-pi-2/). Sadly his library is coded in C++ and seems not to be maintained any more.
|
||||||
|
|
||||||
|
This library has been tested with [SparkFun RGB and Gesture Sensor - APDS-9960](https://www.sparkfun.com/products/12787) but should work with any other APDS-9960 based I²C device, too.
|
||||||
|
|
||||||
|
## Installation
|
||||||
|
|
||||||
|
This library is available from [PyPi](https://pypi.org/project/apds9960/). You may want to setup a `virtualenv` before installing the library using:
|
||||||
|
|
||||||
|
```
|
||||||
|
pip install apds9960
|
||||||
|
```
|
||||||
|
|
||||||
|
|
||||||
|
## Features of the APDS-9960
|
||||||
|
- operational voltage: 3.3V
|
||||||
|
- ambient light & RGB color sensing
|
||||||
|
- proximity sensing
|
||||||
|
- gesture detection
|
||||||
|
- operating range: 10 - 20cm
|
||||||
|
- I²C interface (hard wired I²C address: 0x39)
|
||||||
|
|
||||||
|
## Documentation & Examples
|
||||||
|
- [RPi](RPi.md) - connect and configure the APDS-9960 on Raspberry Pi
|
||||||
|
- Example scripts:
|
||||||
|
- simple ambient light level demo: [rpi](rpi/test_ambient.py), [micropython](micropython/test_ambient.py)
|
||||||
|
- simple gesture detection demo: [rpi](rpi/test_gesture.py), [micropython](micropython/test_gesture.py)
|
||||||
|
- simple proximity level demo: [rpi](rpi/test_prox.py), [micropython](micropython/test_prox.py)
|
||||||
3
scripts/libraries/apds9960/apds9960/__init__.py
Normal file
3
scripts/libraries/apds9960/apds9960/__init__.py
Normal file
@ -0,0 +1,3 @@
|
|||||||
|
from apds9960.device import APDS9960, uAPDS9960
|
||||||
|
|
||||||
|
__all__ = [ 'APDS9960', 'uAPDS9960', ]
|
||||||
169
scripts/libraries/apds9960/apds9960/const.py
Normal file
169
scripts/libraries/apds9960/apds9960/const.py
Normal file
@ -0,0 +1,169 @@
|
|||||||
|
# APDS9960 i2c address
|
||||||
|
APDS9960_I2C_ADDR = 0x39
|
||||||
|
|
||||||
|
# APDS9960 gesture parameters
|
||||||
|
APDS9960_GESTURE_THRESHOLD_OUT = 10
|
||||||
|
APDS9960_GESTURE_SENSITIVITY_1 = 50
|
||||||
|
APDS9960_GESTURE_SENSITIVITY_2 = 20
|
||||||
|
|
||||||
|
# APDS9960 device IDs
|
||||||
|
APDS9960_DEV_ID = [0xab, 0x9c, 0xa8, -0x55]
|
||||||
|
|
||||||
|
# APDS9960 times
|
||||||
|
APDS9960_TIME_FIFO_PAUSE = 30
|
||||||
|
|
||||||
|
# APDS9960 register addresses
|
||||||
|
APDS9960_REG_ENABLE = 0x80
|
||||||
|
APDS9960_REG_ATIME = 0x81
|
||||||
|
APDS9960_REG_WTIME = 0x83
|
||||||
|
APDS9960_REG_AILTL = 0x84
|
||||||
|
APDS9960_REG_AILTH = 0x85
|
||||||
|
APDS9960_REG_AIHTL = 0x86
|
||||||
|
APDS9960_REG_AIHTH = 0x87
|
||||||
|
APDS9960_REG_PILT = 0x89
|
||||||
|
APDS9960_REG_PIHT = 0x8b
|
||||||
|
APDS9960_REG_PERS = 0x8c
|
||||||
|
APDS9960_REG_CONFIG1 = 0x8d
|
||||||
|
APDS9960_REG_PPULSE = 0x8e
|
||||||
|
APDS9960_REG_CONTROL = 0x8f
|
||||||
|
APDS9960_REG_CONFIG2 = 0x90
|
||||||
|
APDS9960_REG_ID = 0x92
|
||||||
|
APDS9960_REG_STATUS = 0x93
|
||||||
|
APDS9960_REG_CDATAL = 0x94
|
||||||
|
APDS9960_REG_CDATAH = 0x95
|
||||||
|
APDS9960_REG_RDATAL = 0x96
|
||||||
|
APDS9960_REG_RDATAH = 0x97
|
||||||
|
APDS9960_REG_GDATAL = 0x98
|
||||||
|
APDS9960_REG_GDATAH = 0x99
|
||||||
|
APDS9960_REG_BDATAL = 0x9a
|
||||||
|
APDS9960_REG_BDATAH = 0x9b
|
||||||
|
APDS9960_REG_PDATA = 0x9c
|
||||||
|
APDS9960_REG_POFFSET_UR = 0x9d
|
||||||
|
APDS9960_REG_POFFSET_DL = 0x9e
|
||||||
|
APDS9960_REG_CONFIG3 = 0x9f
|
||||||
|
APDS9960_REG_GPENTH = 0xa0
|
||||||
|
APDS9960_REG_GEXTH = 0xa1
|
||||||
|
APDS9960_REG_GCONF1 = 0xa2
|
||||||
|
APDS9960_REG_GCONF2 = 0xa3
|
||||||
|
APDS9960_REG_GOFFSET_U = 0xa4
|
||||||
|
APDS9960_REG_GOFFSET_D = 0xa5
|
||||||
|
APDS9960_REG_GOFFSET_L = 0xa7
|
||||||
|
APDS9960_REG_GOFFSET_R = 0xa9
|
||||||
|
APDS9960_REG_GPULSE = 0xa6
|
||||||
|
APDS9960_REG_GCONF3 = 0xaA
|
||||||
|
APDS9960_REG_GCONF4 = 0xaB
|
||||||
|
APDS9960_REG_GFLVL = 0xae
|
||||||
|
APDS9960_REG_GSTATUS = 0xaf
|
||||||
|
APDS9960_REG_IFORCE = 0xe4
|
||||||
|
APDS9960_REG_PICLEAR = 0xe5
|
||||||
|
APDS9960_REG_CICLEAR = 0xe6
|
||||||
|
APDS9960_REG_AICLEAR = 0xe7
|
||||||
|
APDS9960_REG_GFIFO_U = 0xfc
|
||||||
|
APDS9960_REG_GFIFO_D = 0xfd
|
||||||
|
APDS9960_REG_GFIFO_L = 0xfe
|
||||||
|
APDS9960_REG_GFIFO_R = 0xff
|
||||||
|
|
||||||
|
# APDS9960 bit fields
|
||||||
|
APDS9960_BIT_PON = 0b00000001
|
||||||
|
APDS9960_BIT_AEN = 0b00000010
|
||||||
|
APDS9960_BIT_PEN = 0b00000100
|
||||||
|
APDS9960_BIT_WEN = 0b00001000
|
||||||
|
APSD9960_BIT_AIEN =0b00010000
|
||||||
|
APDS9960_BIT_PIEN = 0b00100000
|
||||||
|
APDS9960_BIT_GEN = 0b01000000
|
||||||
|
APDS9960_BIT_GVALID = 0b00000001
|
||||||
|
|
||||||
|
# APDS9960 modes
|
||||||
|
APDS9960_MODE_POWER = 0
|
||||||
|
APDS9960_MODE_AMBIENT_LIGHT = 1
|
||||||
|
APDS9960_MODE_PROXIMITY = 2
|
||||||
|
APDS9960_MODE_WAIT = 3
|
||||||
|
APDS9960_MODE_AMBIENT_LIGHT_INT = 4
|
||||||
|
APDS9960_MODE_PROXIMITY_INT = 5
|
||||||
|
APDS9960_MODE_GESTURE = 6
|
||||||
|
APDS9960_MODE_ALL = 7
|
||||||
|
|
||||||
|
# LED Drive values
|
||||||
|
APDS9960_LED_DRIVE_100MA = 0
|
||||||
|
APDS9960_LED_DRIVE_50MA = 1
|
||||||
|
APDS9960_LED_DRIVE_25MA = 2
|
||||||
|
APDS9960_LED_DRIVE_12_5MA = 3
|
||||||
|
|
||||||
|
# Proximity Gain (PGAIN) values
|
||||||
|
APDS9960_PGAIN_1X = 0
|
||||||
|
APDS9960_PGAIN_2X = 1
|
||||||
|
APDS9960_PGAIN_4X = 2
|
||||||
|
APDS9960_PGAIN_8X = 3
|
||||||
|
|
||||||
|
# ALS Gain (AGAIN) values
|
||||||
|
APDS9960_AGAIN_1X = 0
|
||||||
|
APDS9960_AGAIN_4X = 1
|
||||||
|
APDS9960_AGAIN_16X = 2
|
||||||
|
APDS9960_AGAIN_64X = 3
|
||||||
|
|
||||||
|
# Gesture Gain (GGAIN) values
|
||||||
|
APDS9960_GGAIN_1X = 0
|
||||||
|
APDS9960_GGAIN_2X = 1
|
||||||
|
APDS9960_GGAIN_4X = 2
|
||||||
|
APDS9960_GGAIN_8X = 3
|
||||||
|
|
||||||
|
# LED Boost values
|
||||||
|
APDS9960_LED_BOOST_100 = 0
|
||||||
|
APDS9960_LED_BOOST_150 = 1
|
||||||
|
APDS9960_LED_BOOST_200 = 2
|
||||||
|
APDS9960_LED_BOOST_300 = 3
|
||||||
|
|
||||||
|
# Gesture wait time values
|
||||||
|
APDS9960_GWTIME_0MS = 0
|
||||||
|
APDS9960_GWTIME_2_8MS = 1
|
||||||
|
APDS9960_GWTIME_5_6MS = 2
|
||||||
|
APDS9960_GWTIME_8_4MS = 3
|
||||||
|
APDS9960_GWTIME_14_0MS = 4
|
||||||
|
APDS9960_GWTIME_22_4MS = 5
|
||||||
|
APDS9960_GWTIME_30_8MS = 6
|
||||||
|
APDS9960_GWTIME_39_2MS = 7
|
||||||
|
|
||||||
|
# Default values
|
||||||
|
APDS9960_DEFAULT_ATIME = 219 # 103ms
|
||||||
|
APDS9960_DEFAULT_WTIME = 246 # 27ms
|
||||||
|
APDS9960_DEFAULT_PROX_PPULSE = 0x87 # 16us, 8 pulses
|
||||||
|
APDS9960_DEFAULT_GESTURE_PPULSE = 0x89 # 16us, 10 pulses
|
||||||
|
APDS9960_DEFAULT_POFFSET_UR = 0 # 0 offset
|
||||||
|
APDS9960_DEFAULT_POFFSET_DL = 0 # 0 offset
|
||||||
|
APDS9960_DEFAULT_CONFIG1 = 0x60 # No 12x wait (WTIME) factor
|
||||||
|
APDS9960_DEFAULT_LDRIVE = APDS9960_LED_DRIVE_100MA
|
||||||
|
APDS9960_DEFAULT_PGAIN = APDS9960_PGAIN_4X
|
||||||
|
APDS9960_DEFAULT_AGAIN = APDS9960_AGAIN_4X
|
||||||
|
APDS9960_DEFAULT_PILT = 0 # Low proximity threshold
|
||||||
|
APDS9960_DEFAULT_PIHT = 50 # High proximity threshold
|
||||||
|
APDS9960_DEFAULT_AILT = 0xffff # Force interrupt for calibration
|
||||||
|
APDS9960_DEFAULT_AIHT = 0
|
||||||
|
APDS9960_DEFAULT_PERS = 0x11 # 2 consecutive prox or ALS for int.
|
||||||
|
APDS9960_DEFAULT_CONFIG2 = 0x01 # No saturation interrupts or LED boost
|
||||||
|
APDS9960_DEFAULT_CONFIG3 = 0 # Enable all photodiodes, no SAI
|
||||||
|
APDS9960_DEFAULT_GPENTH = 40 # Threshold for entering gesture mode
|
||||||
|
APDS9960_DEFAULT_GEXTH = 30 # Threshold for exiting gesture mode
|
||||||
|
APDS9960_DEFAULT_GCONF1 = 0x40 # 4 gesture events for int., 1 for exit
|
||||||
|
APDS9960_DEFAULT_GGAIN = APDS9960_GGAIN_4X
|
||||||
|
APDS9960_DEFAULT_GLDRIVE = APDS9960_LED_DRIVE_100MA
|
||||||
|
APDS9960_DEFAULT_GWTIME = APDS9960_GWTIME_2_8MS
|
||||||
|
APDS9960_DEFAULT_GOFFSET = 0 # No offset scaling for gesture mode
|
||||||
|
APDS9960_DEFAULT_GPULSE = 0xc9 # 32us, 10 pulses
|
||||||
|
APDS9960_DEFAULT_GCONF3 = 0 # All photodiodes active during gesture
|
||||||
|
APDS9960_DEFAULT_GIEN = 0 # Disable gesture interrupts
|
||||||
|
|
||||||
|
# gesture directions
|
||||||
|
APDS9960_DIR_NONE = 0
|
||||||
|
APDS9960_DIR_LEFT = 1
|
||||||
|
APDS9960_DIR_RIGHT = 2
|
||||||
|
APDS9960_DIR_UP = 3
|
||||||
|
APDS9960_DIR_DOWN = 4
|
||||||
|
APDS9960_DIR_NEAR = 5
|
||||||
|
APDS9960_DIR_FAR = 6
|
||||||
|
APDS9960_DIR_ALL = 7
|
||||||
|
|
||||||
|
# state definitions
|
||||||
|
APDS9960_STATE_NA = 0
|
||||||
|
APDS9960_STATE_NEAR = 1
|
||||||
|
APDS9960_STATE_FAR = 2
|
||||||
|
APDS9960_STATE_ALL = 3
|
||||||
1097
scripts/libraries/apds9960/apds9960/device.py
Normal file
1097
scripts/libraries/apds9960/apds9960/device.py
Normal file
File diff suppressed because it is too large
Load Diff
7
scripts/libraries/apds9960/apds9960/exceptions.py
Normal file
7
scripts/libraries/apds9960/apds9960/exceptions.py
Normal file
@ -0,0 +1,7 @@
|
|||||||
|
class ADPS9960InvalidDevId(ValueError):
|
||||||
|
def __init__(self, id, valid_ids):
|
||||||
|
Exception.__init__(self, "Device id 0x{} is not a valied one (valid: {})!".format(format(id, '02x'), ', '.join(["0x{}".format(format(i, '02x')) for i in valid_ids])))
|
||||||
|
|
||||||
|
class ADPS9960InvalidMode(ValueError):
|
||||||
|
def __init__(self, mode):
|
||||||
|
Exception.__init__(self, "Feature mode {} is invalid!".format(mode))
|
||||||
87
scripts/libraries/lps22h.py
Normal file
87
scripts/libraries/lps22h.py
Normal file
@ -0,0 +1,87 @@
|
|||||||
|
# LPS22HB/HH pressure seneor micropython drive
|
||||||
|
# ver: 2.0
|
||||||
|
# License: MIT
|
||||||
|
# Author: shaoziyang (shaoziyang@micropython.org.cn)
|
||||||
|
# v1.0 2016.4
|
||||||
|
# v2.0 2019.7
|
||||||
|
|
||||||
|
class LPS22H():
|
||||||
|
LPS22_CTRL_REG1 = const(0x10)
|
||||||
|
LPS22_CTRL_REG2 = const(0x11)
|
||||||
|
LPS22_STATUS = const(0x27)
|
||||||
|
LPS22_TEMP_OUT_L = const(0x2B)
|
||||||
|
LPS22_PRESS_OUT_XL = const(0x28)
|
||||||
|
LPS22_PRESS_OUT_L = const(0x29)
|
||||||
|
|
||||||
|
def __init__(self, i2c, addr = 0x5C):
|
||||||
|
self.i2c = i2c
|
||||||
|
self.addr = addr
|
||||||
|
self.tb = bytearray(1)
|
||||||
|
self.rb = bytearray(1)
|
||||||
|
self.oneshot = False
|
||||||
|
self.irq_v = [0, 0]
|
||||||
|
# ODR=1 EN_LPFP=1 BDU=1
|
||||||
|
self.setreg(LPS22_CTRL_REG1, 0x1A)
|
||||||
|
self.oneshot_mode(False)
|
||||||
|
|
||||||
|
def oneshot_mode(self, oneshot=None):
|
||||||
|
if oneshot is None:
|
||||||
|
return self.oneshot
|
||||||
|
else:
|
||||||
|
self.getreg(LPS22_CTRL_REG1)
|
||||||
|
self.oneshot = oneshot
|
||||||
|
if oneshot: self.rb[0] &= 0x0F
|
||||||
|
else: self.rb[0] |= 0x10
|
||||||
|
self.setreg(LPS22_CTRL_REG1, self.rb[0])
|
||||||
|
|
||||||
|
def int16(self, d):
|
||||||
|
return d if d < 0x8000 else d - 0x10000
|
||||||
|
|
||||||
|
def setreg(self, reg, dat):
|
||||||
|
self.tb[0] = dat
|
||||||
|
self.i2c.writeto_mem(self.addr, reg, self.tb)
|
||||||
|
|
||||||
|
def getreg(self, reg):
|
||||||
|
self.i2c.readfrom_mem_into(self.addr, reg, self.rb)
|
||||||
|
return self.rb[0]
|
||||||
|
|
||||||
|
def get2reg(self, reg):
|
||||||
|
return self.getreg(reg) + self.getreg(reg+1) * 256
|
||||||
|
|
||||||
|
def ONE_SHOT(self, b):
|
||||||
|
if self.oneshot:
|
||||||
|
self.setreg(LPS22_CTRL_REG2, self.getreg(LPS22_CTRL_REG2) | 0x01)
|
||||||
|
self.getreg(0x28 + b*2)
|
||||||
|
while 1:
|
||||||
|
if self.getreg(LPS22_STATUS) & b:
|
||||||
|
return
|
||||||
|
|
||||||
|
def temperature(self):
|
||||||
|
self.ONE_SHOT(2)
|
||||||
|
try:
|
||||||
|
return self.int16(self.get2reg(LPS22_TEMP_OUT_L))/100
|
||||||
|
except MemoryError:
|
||||||
|
return self.temperature_irq()
|
||||||
|
|
||||||
|
def pressure(self):
|
||||||
|
self.ONE_SHOT(1)
|
||||||
|
try:
|
||||||
|
return (self.getreg(LPS22_PRESS_OUT_XL) + self.get2reg(LPS22_PRESS_OUT_L) * 256)/4096
|
||||||
|
except MemoryError:
|
||||||
|
return self.pressure_irq()
|
||||||
|
|
||||||
|
def altitude(self):
|
||||||
|
return (((1013.25 / self.pressure())**(1/5.257)) - 1.0) * (self.temperature() + 273.15) / 0.0065
|
||||||
|
|
||||||
|
def temperature_irq(self):
|
||||||
|
self.ONE_SHOT(2)
|
||||||
|
return self.int16(self.get2reg(LPS22_TEMP_OUT_L))//100
|
||||||
|
|
||||||
|
def pressure_irq(self):
|
||||||
|
self.ONE_SHOT(1)
|
||||||
|
return self.get2reg(LPS22_PRESS_OUT_L) >> 4
|
||||||
|
|
||||||
|
def get_irq(self):
|
||||||
|
self.irq_v[0] = self.temperature_irq()
|
||||||
|
self.irq_v[1] = self.pressure_irq()
|
||||||
|
return self.irq_v
|
||||||
182
scripts/libraries/lsm9ds1.py
Normal file
182
scripts/libraries/lsm9ds1.py
Normal file
@ -0,0 +1,182 @@
|
|||||||
|
"""
|
||||||
|
The MIT License (MIT)
|
||||||
|
|
||||||
|
Copyright (c) 2013, 2014 Damien P. George
|
||||||
|
|
||||||
|
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||||
|
of this software and associated documentation files (the "Software"), to deal
|
||||||
|
in the Software without restriction, including without limitation the rights
|
||||||
|
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||||
|
copies of the Software, and to permit persons to whom the Software is
|
||||||
|
furnished to do so, subject to the following conditions:
|
||||||
|
|
||||||
|
The above copyright notice and this permission notice shall be included in
|
||||||
|
all copies or substantial portions of the Software.
|
||||||
|
|
||||||
|
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||||
|
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||||
|
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||||
|
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||||
|
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||||
|
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||||
|
THE SOFTWARE.
|
||||||
|
|
||||||
|
|
||||||
|
LSM9DS1 - 9DOF inertial sensor of STMicro driver for MicroPython.
|
||||||
|
The sensor contains an accelerometer / gyroscope / magnetometer
|
||||||
|
Uses the internal FIFO to store up to 16 gyro/accel data, use the iter_accel_gyro generator to access it.
|
||||||
|
|
||||||
|
Example usage:
|
||||||
|
import time
|
||||||
|
import lsm9ds1
|
||||||
|
from machine import Pin, I2C
|
||||||
|
lsm = LSM9DS1(I2C(1, scl=Pin(15), sda=Pin(14)))
|
||||||
|
|
||||||
|
while (True):
|
||||||
|
#for g,a in lsm.iter_accel_gyro(): print(g,a) # using fifo
|
||||||
|
print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_accel()))
|
||||||
|
print('Magnetometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_magnet()))
|
||||||
|
print('Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_gyro()))
|
||||||
|
print("")
|
||||||
|
time.sleep_ms(100)
|
||||||
|
"""
|
||||||
|
import array
|
||||||
|
|
||||||
|
class LSM9DS1:
|
||||||
|
WHO_AM_I = const(0xf)
|
||||||
|
CTRL_REG1_G = const(0x10)
|
||||||
|
INT_GEN_SRC_G = const(0x14)
|
||||||
|
OUT_TEMP = const(0x15)
|
||||||
|
OUT_G = const(0x18)
|
||||||
|
CTRL_REG4_G = const(0x1e)
|
||||||
|
STATUS_REG = const(0x27)
|
||||||
|
OUT_XL = const(0x28)
|
||||||
|
FIFO_CTRL_REG = const(0x2e)
|
||||||
|
FIFO_SRC = const(0x2f)
|
||||||
|
OFFSET_REG_X_M = const(0x05)
|
||||||
|
CTRL_REG1_M = const(0x20)
|
||||||
|
OUT_M = const(0x28)
|
||||||
|
SCALE_GYRO = [(245,0),(500,1),(2000,3)]
|
||||||
|
SCALE_ACCEL = [(2,0),(4,2),(8,3),(16,1)]
|
||||||
|
|
||||||
|
def __init__(self, i2c, address_gyro=0x6B, address_magnet=0x1E):
|
||||||
|
self.i2c = i2c
|
||||||
|
self.address_gyro = address_gyro
|
||||||
|
self.address_magnet = address_magnet
|
||||||
|
# check id's of accelerometer/gyro and magnetometer
|
||||||
|
if (self.read_id_magnet() != b'=') or (self.read_id_gyro() != b'h'):
|
||||||
|
raise OSError("Invalid LSM9DS1 device, using address {}/{}".format(
|
||||||
|
address_gyro,address_magnet))
|
||||||
|
# allocate scratch buffer for efficient conversions and memread op's
|
||||||
|
self.scratch = array.array('B',[0,0,0,0,0,0])
|
||||||
|
self.scratch_int = array.array('h',[0,0,0])
|
||||||
|
self.init_gyro_accel()
|
||||||
|
self.init_magnetometer()
|
||||||
|
|
||||||
|
def init_gyro_accel(self, sample_rate=6, scale_gyro=0, scale_accel=0):
|
||||||
|
""" Initalizes Gyro and Accelerator.
|
||||||
|
sample rate: 0-6 (off, 14.9Hz, 59.5Hz, 119Hz, 238Hz, 476Hz, 952Hz)
|
||||||
|
scale_gyro: 0-2 (245dps, 500dps, 2000dps )
|
||||||
|
scale_accel: 0-3 (+/-2g, +/-4g, +/-8g, +-16g)
|
||||||
|
"""
|
||||||
|
assert sample_rate <= 6, "invalid sampling rate: %d" % sample_rate
|
||||||
|
assert scale_gyro <= 2, "invalid gyro scaling: %d" % scale_gyro
|
||||||
|
assert scale_accel <= 3, "invalid accelerometer scaling: %d" % scale_accel
|
||||||
|
|
||||||
|
i2c = self.i2c
|
||||||
|
addr = self.address_gyro
|
||||||
|
mv = memoryview(self.scratch)
|
||||||
|
# angular control registers 1-3 / Orientation
|
||||||
|
mv[0] = ((sample_rate & 0x07) << 5) | ((self.SCALE_GYRO[scale_gyro][1] & 0x3) << 3)
|
||||||
|
mv[1:4] = b'\x00\x00\x00'
|
||||||
|
i2c.writeto_mem(addr, CTRL_REG1_G, mv[:5])
|
||||||
|
# ctrl4 - enable x,y,z, outputs, no irq latching, no 4D
|
||||||
|
# ctrl5 - enable all axes, no decimation
|
||||||
|
# ctrl6 - set scaling and sample rate of accel
|
||||||
|
# ctrl7,8 - leave at default values
|
||||||
|
# ctrl9 - FIFO enabled
|
||||||
|
mv[0] = mv[1] = 0x38
|
||||||
|
mv[2] = ((sample_rate & 7) << 5) | ((self.SCALE_ACCEL[scale_accel][1] & 0x3) << 3)
|
||||||
|
mv[3] = 0x00
|
||||||
|
mv[4] = 0x4
|
||||||
|
mv[5] = 0x2
|
||||||
|
i2c.writeto_mem(addr, CTRL_REG4_G, mv[:6])
|
||||||
|
|
||||||
|
# fifo: use continous mode (overwrite old data if overflow)
|
||||||
|
i2c.writeto_mem(addr, FIFO_CTRL_REG, b'\x00')
|
||||||
|
i2c.writeto_mem(addr, FIFO_CTRL_REG, b'\xc0')
|
||||||
|
|
||||||
|
self.scale_gyro = 32768 / self.SCALE_GYRO[scale_gyro][0]
|
||||||
|
self.scale_accel = 32768 / self.SCALE_ACCEL[scale_accel][0]
|
||||||
|
|
||||||
|
def init_magnetometer(self, sample_rate=7, scale_magnet=0):
|
||||||
|
"""
|
||||||
|
sample rates = 0-7 (0.625, 1.25, 2.5, 5, 10, 20, 40, 80Hz)
|
||||||
|
scaling = 0-3 (+/-4, +/-8, +/-12, +/-16 Gauss)
|
||||||
|
"""
|
||||||
|
assert sample_rate < 8, "invalid sample rate: %d (0-7)" % sample_rate
|
||||||
|
assert scale_magnet < 4, "invalid scaling: %d (0-3)" % scale_magnet
|
||||||
|
i2c = self.i2c
|
||||||
|
addr = self.address_magnet
|
||||||
|
mv = memoryview(self.scratch)
|
||||||
|
mv[0] = 0x40 | (sample_rate << 2) # ctrl1: high performance mode
|
||||||
|
mv[1] = scale_magnet << 5 # ctrl2: scale, normal mode, no reset
|
||||||
|
mv[2] = 0x00 # ctrl3: continous conversion, no low power, I2C
|
||||||
|
mv[3] = 0x08 # ctrl4: high performance z-axis
|
||||||
|
mv[4] = 0x00 # ctr5: no fast read, no block update
|
||||||
|
i2c.writeto_mem(addr, CTRL_REG1_M, mv[:5])
|
||||||
|
self.scale_factor_magnet = 32768 / ((scale_magnet+1) * 4 )
|
||||||
|
|
||||||
|
def calibrate_magnet(self, offset):
|
||||||
|
"""
|
||||||
|
offset is a magnet vecor that will be substracted by the magnetometer
|
||||||
|
for each measurement. It is written to the magnetometer's offset register
|
||||||
|
"""
|
||||||
|
offset = [int(i*self.scale_factor_magnet) for i in offset]
|
||||||
|
mv = memoryview(self.scratch)
|
||||||
|
mv[0] = offset[0] & 0xff
|
||||||
|
mv[1] = offset[0] >> 8
|
||||||
|
mv[2] = offset[1] & 0xff
|
||||||
|
mv[3] = offset[1] >> 8
|
||||||
|
mv[4] = offset[2] & 0xff
|
||||||
|
mv[5] = offset[2] >> 8
|
||||||
|
self.i2c.writeto_mem(self.address_magnet, OFFSET_REG_X_M, mv[:6])
|
||||||
|
|
||||||
|
def read_id_gyro(self):
|
||||||
|
return self.i2c.readfrom_mem(self.address_gyro, WHO_AM_I, 1)
|
||||||
|
|
||||||
|
def read_id_magnet(self):
|
||||||
|
return self.i2c.readfrom_mem(self.address_magnet, WHO_AM_I, 1)
|
||||||
|
|
||||||
|
def read_magnet(self):
|
||||||
|
"""Returns magnetometer vector in gauss.
|
||||||
|
raw_values: if True, the non-scaled adc values are returned
|
||||||
|
"""
|
||||||
|
mv = memoryview(self.scratch_int)
|
||||||
|
f = self.scale_factor_magnet
|
||||||
|
self.i2c.readfrom_mem_into(self.address_magnet, OUT_M | 0x80, mv)
|
||||||
|
return (mv[0]/f, mv[1]/f, mv[2]/f)
|
||||||
|
|
||||||
|
def read_gyro(self):
|
||||||
|
"""Returns gyroscope vector in degrees/sec."""
|
||||||
|
mv = memoryview(self.scratch_int)
|
||||||
|
f = self.scale_gyro
|
||||||
|
self.i2c.readfrom_mem_into(self.address_gyro, OUT_G | 0x80, mv)
|
||||||
|
return (mv[0]/f, mv[1]/f, mv[2]/f)
|
||||||
|
|
||||||
|
def read_accel(self):
|
||||||
|
"""Returns acceleration vector in gravity units (9.81m/s^2)."""
|
||||||
|
mv = memoryview(self.scratch_int)
|
||||||
|
f = self.scale_accel
|
||||||
|
self.i2c.readfrom_mem_into(self.address_gyro, OUT_XL | 0x80, mv)
|
||||||
|
return (mv[0]/f, mv[1]/f, mv[2]/f)
|
||||||
|
|
||||||
|
def iter_accel_gyro(self):
|
||||||
|
"""A generator that returns tuples of (gyro,accelerometer) data from the fifo."""
|
||||||
|
while True:
|
||||||
|
fifo_state = int.from_bytes(self.i2c.readfrom_mem(self.address_gyro, FIFO_SRC, 1),'big')
|
||||||
|
if fifo_state & 0x3f:
|
||||||
|
# print("Available samples=%d" % (fifo_state & 0x1f))
|
||||||
|
yield self.read_gyro(),self.read_accel()
|
||||||
|
else:
|
||||||
|
break
|
||||||
@ -1 +1,4 @@
|
|||||||
freeze ("$(MPY_LIB_DIR)/", "hts221.py")
|
freeze ("$(MPY_LIB_DIR)/", "hts221.py")
|
||||||
|
freeze ("$(MPY_LIB_DIR)/", "lps22h.py")
|
||||||
|
freeze ("$(MPY_LIB_DIR)/", "lsm9ds1.py")
|
||||||
|
freeze ("$(MPY_LIB_DIR)/apds9960/", "apds9960")
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user