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scripts/libraries: Replace drivers with upstream versions.
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@ -1,9 +1,17 @@
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# Relative humidity and temperature sensor example.
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# Note Arduino Nano BLE 33 Sense Rev2 uses the HS3003.
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import time
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import hts221
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from hts221 import HTS221
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from machine import Pin, I2C
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bus = I2C(1, scl=Pin(15), sda=Pin(14))
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hts = hts221.HTS221(bus)
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try:
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hts = HTS221(bus)
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except OSError:
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from hs3003 import HS3003
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hts = HS3003(bus)
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while True:
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rH = hts.humidity()
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@ -0,0 +1,15 @@
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# IMU example for Arduino Nano BLE 33 Sense (REV1 and REV2).
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import time
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import imu
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from machine import Pin, I2C
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bus = I2C(1, scl=Pin(15), sda=Pin(14))
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imu = imu.IMU(bus)
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while (True):
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print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*imu.accel()))
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print('Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*imu.gyro()))
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print('Magnetometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*imu.magnet()))
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print("")
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time.sleep_ms(100)
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@ -1,14 +0,0 @@
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import time
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import lsm9ds1
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from machine import Pin, I2C
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bus = I2C(1, scl=Pin(15), sda=Pin(14))
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lsm = lsm9ds1.LSM9DS1(bus)
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while True:
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# for g,a in lsm.iter_accel_gyro(): print(g,a) # using fifo
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print("Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.read_accel()))
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print("Magnetometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.read_magnet()))
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print("Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.read_gyro()))
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print("")
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time.sleep_ms(500)
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@ -1,7 +1,7 @@
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# HTS221 + BLE example.
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# BLE temperature sensor example.
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import time
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import hts221
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from hts221 import HTS221
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from board import LED
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from machine import Pin, I2C
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from ubluepy import Service, Characteristic, UUID, Peripheral, constants
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@ -45,7 +45,12 @@ periph.setConnectionHandler(event_handler)
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periph.advertise(device_name="Temperature Sensor", services=[service])
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bus = I2C(1, scl=Pin(15), sda=Pin(14))
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hts = hts221.HTS221(bus)
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try:
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hts = HTS221(bus)
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except OSError:
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from hs3003 import HS3003
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hts = HS3003(bus)
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while True:
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if notif_enabled:
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@ -1,13 +1,15 @@
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# LSM9DS1 Gyro example.
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# LSM6DSOX Basic Example.
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import time
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from lsm6dsox import LSM6DSOX
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from machine import Pin, I2C
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from machine import Pin
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from machine import I2C
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lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))
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# Or init in SPI mode.
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# lsm = LSM6DSOX(SPI(5), cs=Pin(10))
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while True:
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print("Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.read_accel()))
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print("Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.read_gyro()))
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print("Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.accel()))
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print("Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.gyro()))
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print("")
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time.sleep_ms(100)
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@ -4,9 +4,9 @@
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# NOTE: The pre-trained models (UCF files) for the examples can be found here:
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# https://github.com/STMicroelectronics/STMems_Machine_Learning_Core/tree/master/application_examples/lsm6dsox
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from lsm6dsox import LSM6DSOX
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from machine import Pin
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from machine import I2C
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from lsm6dsox import LSM6DSOX
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INT_MODE = True # Run in interrupt mode.
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INT_FLAG = False # Set True on interrupt.
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@ -27,9 +27,7 @@ i2c = I2C(0, scl=Pin(13), sda=Pin(12))
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UCF_FILE = "lsm6dsox_vibration_monitoring.ucf"
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UCF_LABELS = {0: "no vibration", 1: "low vibration", 2: "high vibration"}
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# NOTE: Selected data rate and scale must match the MLC data rate and scale.
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lsm = LSM6DSOX(
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i2c, gyro_odr=26, accel_odr=26, gyro_scale=2000, accel_scale=4, ucf=UCF_FILE
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)
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lsm = LSM6DSOX(i2c, gyro_odr=26, accel_odr=26, gyro_scale=2000, accel_scale=4, ucf=UCF_FILE)
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# Head gestures example
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# UCF_FILE = "lsm6dsox_head_gestures.ucf"
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@ -43,8 +41,8 @@ while True:
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if INT_MODE:
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if INT_FLAG:
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INT_FLAG = False
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print(UCF_LABELS[lsm.read_mlc_output()[0]])
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print(UCF_LABELS[lsm.mlc_output()[0]])
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else:
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buf = lsm.read_mlc_output()
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buf = lsm.mlc_output()
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if buf is not None:
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print(UCF_LABELS[buf[0]])
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@ -4,10 +4,10 @@ from lsm6dsox import LSM6DSOX
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from machine import Pin
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from machine import SPI
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lsm = LSM6DSOX(SPI(5), cs_pin=Pin("PF6", Pin.OUT_PP, Pin.PULL_UP))
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lsm = LSM6DSOX(SPI(5), cs=Pin("PF6", Pin.OUT_PP, Pin.PULL_UP))
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while True:
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print("Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.read_accel()))
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print("Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.read_gyro()))
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print("Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.accel()))
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print("Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.gyro()))
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print("")
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time.sleep_ms(100)
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@ -27,7 +27,7 @@ UCF_LABELS = {0: "no vibration", 1: "low vibration", 2: "high vibration"}
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# NOTE: Selected data rate and scale must match the MLC data rate and scale.
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lsm = LSM6DSOX(
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SPI(5),
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cs_pin=Pin("PF6", Pin.OUT_PP, Pin.PULL_UP),
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cs=Pin("PF6", Pin.OUT_PP, Pin.PULL_UP),
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gyro_odr=26,
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accel_odr=26,
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gyro_scale=2000,
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@ -48,8 +48,8 @@ while True:
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if INT_MODE:
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if INT_FLAG:
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INT_FLAG = False
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print(UCF_LABELS[lsm.read_mlc_output()[0]])
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print(UCF_LABELS[lsm.mlc_output()[0]])
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else:
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buf = lsm.read_mlc_output()
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buf = lsm.mlc_output()
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if buf is not None:
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print(UCF_LABELS[buf[0]])
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@ -1,61 +0,0 @@
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# This file is part of the OpenMV project.
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#
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# Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
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# Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
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#
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# This work is licensed under the MIT license, see the file LICENSE for details.
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#
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# HTS221 driver based on public domain driver.
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import time
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import struct
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class HTS221:
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def __init__(self, i2c, data_rate=1, dev_addr=0x5F):
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self.bus = i2c
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self.odr = data_rate
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self.slv_addr = dev_addr
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# Set configuration register
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# Humidity and temperature average configuration
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self.bus.writeto_mem(self.slv_addr, 0x10, b"\x1B")
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# Set control register
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# PD | BDU | ODR
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cfg = 0x80 | 0x04 | (self.odr & 0x3)
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self.bus.writeto_mem(self.slv_addr, 0x20, bytes([cfg]))
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# TODO needed ?
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time.sleep_ms(100)
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# Read Calibration values from non-volatile memory of the device
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# Humidity Calibration values
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self.H0 = self.read_reg(0x30, 1) / 2
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self.H1 = self.read_reg(0x31, 1) / 2
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self.H2 = self.read_reg(0x36, 2)
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self.H3 = self.read_reg(0x3A, 2)
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# Temperature Calibration values
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raw = self.read_reg(0x35, 1)
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self.T0 = ((raw & 0x03) * 256) + self.read_reg(0x32, 1)
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self.T1 = ((raw & 0x0C) * 64) + self.read_reg(0x33, 1)
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self.T2 = self.read_reg(0x3C, 2)
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self.T3 = self.read_reg(0x3E, 2)
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def read_reg(self, reg_addr, size):
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fmt = "B" if size == 1 else "H"
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reg_addr = reg_addr if size == 1 else reg_addr | 0x80
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return struct.unpack(fmt, self.bus.readfrom_mem(self.slv_addr, reg_addr, size))[0]
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def humidity(self):
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rH = self.read_reg(0x28, 2)
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return (self.H1 - self.H0) * (rH - self.H2) / (self.H3 - self.H2) + self.H0
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def temperature(self):
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temp = self.read_reg(0x2A, 2)
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if temp > 32767:
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temp -= 65536
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return ((self.T1 - self.T0) / 8.0) * (temp - self.T2) / (self.T3 - self.T2) + (
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self.T0 / 8.0
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)
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@ -1,94 +0,0 @@
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# LPS22HB/HH pressure seneor micropython drive
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# ver: 2.0
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# License: MIT
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# Author: shaoziyang (shaoziyang@micropython.org.cn)
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# v1.0 2016.4
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# v2.0 2019.7
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class LPS22H:
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LPS22_CTRL_REG1 = const(0x10)
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LPS22_CTRL_REG2 = const(0x11)
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LPS22_STATUS = const(0x27)
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LPS22_TEMP_OUT_L = const(0x2B)
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LPS22_PRESS_OUT_XL = const(0x28)
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LPS22_PRESS_OUT_L = const(0x29)
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def __init__(self, i2c, addr=0x5C):
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self.i2c = i2c
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self.addr = addr
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self.tb = bytearray(1)
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self.rb = bytearray(1)
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self.oneshot = False
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self.irq_v = [0, 0]
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# ODR=1 EN_LPFP=1 BDU=1
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self.setreg(LPS22_CTRL_REG1, 0x1A)
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self.oneshot_mode(False)
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def oneshot_mode(self, oneshot=None):
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if oneshot is None:
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return self.oneshot
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else:
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self.getreg(LPS22_CTRL_REG1)
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self.oneshot = oneshot
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if oneshot:
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self.rb[0] &= 0x0F
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else:
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self.rb[0] |= 0x10
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self.setreg(LPS22_CTRL_REG1, self.rb[0])
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def int16(self, d):
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return d if d < 0x8000 else d - 0x10000
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def setreg(self, reg, dat):
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self.tb[0] = dat
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self.i2c.writeto_mem(self.addr, reg, self.tb)
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def getreg(self, reg):
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self.i2c.readfrom_mem_into(self.addr, reg, self.rb)
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return self.rb[0]
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def get2reg(self, reg):
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return self.getreg(reg) + self.getreg(reg + 1) * 256
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def ONE_SHOT(self, b):
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if self.oneshot:
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self.setreg(LPS22_CTRL_REG2, self.getreg(LPS22_CTRL_REG2) | 0x01)
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self.getreg(0x28 + b * 2)
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while 1:
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if self.getreg(LPS22_STATUS) & b:
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return
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def temperature(self):
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self.ONE_SHOT(2)
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try:
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return self.int16(self.get2reg(LPS22_TEMP_OUT_L)) / 100
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except MemoryError:
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return self.temperature_irq()
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def pressure(self):
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self.ONE_SHOT(1)
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try:
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return (self.getreg(LPS22_PRESS_OUT_XL) + self.get2reg(LPS22_PRESS_OUT_L) * 256) / 4096
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except MemoryError:
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return self.pressure_irq()
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def altitude(self):
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return (
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(((1013.25 / self.pressure()) ** (1 / 5.257)) - 1.0)
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* (self.temperature() + 273.15)
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/ 0.0065
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)
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def temperature_irq(self):
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self.ONE_SHOT(2)
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return self.int16(self.get2reg(LPS22_TEMP_OUT_L)) // 100
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def pressure_irq(self):
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self.ONE_SHOT(1)
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return self.get2reg(LPS22_PRESS_OUT_L) >> 4
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def get_irq(self):
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self.irq_v[0] = self.temperature_irq()
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self.irq_v[1] = self.pressure_irq()
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return self.irq_v
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@ -1,271 +0,0 @@
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"""
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LSM6DSOX STMicro driver for MicroPython based on LSM9DS1:
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Source repo: https://github.com/hoihu/projects/tree/master/raspi-hat
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The MIT License (MIT)
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Copyright (c) 2021 Damien P. George
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Copyright (c) 2021-2022 Ibrahim Abdelkader <iabdalkader@openmv.io>
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
|
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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Basic example usage:
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import time
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from lsm6dsox import LSM6DSOX
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from machine import Pin, SPI, I2C
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# Init in I2C mode.
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lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))
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# Or init in SPI mode.
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#lsm = LSM6DSOX(SPI(5), cs_pin=Pin(10))
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while (True):
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print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_accel()))
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print('Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_gyro()))
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print("")
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time.sleep_ms(100)
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"""
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import array
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from micropython import const
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class LSM6DSOX:
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_CTRL3_C = const(0x12)
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_CTRL1_XL = const(0x10)
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_CTRL8_XL = const(0x17)
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_CTRL9_XL = const(0x18)
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_CTRL2_G = const(0x11)
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_CTRL7_G = const(0x16)
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_OUTX_L_G = const(0x22)
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_OUTX_L_XL = const(0x28)
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_MLC_STATUS = const(0x38)
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_DEFAULT_ADDR = const(0x6A)
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_WHO_AM_I_REG = const(0x0F)
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_FUNC_CFG_ACCESS = const(0x01)
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_FUNC_CFG_BANK_USER = const(0)
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_FUNC_CFG_BANK_HUB = const(1)
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_FUNC_CFG_BANK_EMBED = const(2)
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_MLC0_SRC = const(0x70)
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_MLC_INT1 = const(0x0D)
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_TAP_CFG0 = const(0x56)
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_EMB_FUNC_EN_A = const(0x04)
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_EMB_FUNC_EN_B = const(0x05)
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def __init__(
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self,
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bus,
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cs_pin=None,
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address=_DEFAULT_ADDR,
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gyro_odr=104,
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accel_odr=104,
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gyro_scale=2000,
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accel_scale=4,
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ucf=None,
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):
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"""Initializes Gyro and Accelerator.
|
||||
accel_odr: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
|
||||
gyro_odr: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
|
||||
gyro_scale: (245dps, 500dps, 1000dps, 2000dps)
|
||||
accel_scale: (+/-2g, +/-4g, +/-8g, +-16g)
|
||||
ucf: MLC program to load.
|
||||
"""
|
||||
self.bus = bus
|
||||
self.cs_pin = cs_pin
|
||||
self.address = address
|
||||
self._use_i2c = hasattr(self.bus, "readfrom_mem")
|
||||
|
||||
if not self._use_i2c and cs_pin is None:
|
||||
raise ValueError("A CS pin must be provided in SPI mode")
|
||||
|
||||
# check the id of the Accelerometer/Gyro
|
||||
if self.__read_reg(_WHO_AM_I_REG) != 108:
|
||||
raise OSError("No LSM6DS device was found at address 0x%x" % (self.address))
|
||||
|
||||
# allocate scratch buffer for efficient conversions and memread op's
|
||||
self.scratch_int = array.array("h", [0, 0, 0])
|
||||
|
||||
SCALE_GYRO = {250: 0, 500: 1, 1000: 2, 2000: 3}
|
||||
SCALE_ACCEL = {2: 0, 4: 2, 8: 3, 16: 1}
|
||||
# XL_HM_MODE = 0 by default. G_HM_MODE = 0 by default.
|
||||
ODR = {
|
||||
0: 0x00,
|
||||
1.6: 0x08,
|
||||
3.33: 0x09,
|
||||
6.66: 0x0A,
|
||||
12.5: 0x01,
|
||||
26: 0x02,
|
||||
52: 0x03,
|
||||
104: 0x04,
|
||||
208: 0x05,
|
||||
416: 0x06,
|
||||
888: 0x07,
|
||||
}
|
||||
|
||||
gyro_odr = round(gyro_odr, 2)
|
||||
accel_odr = round(accel_odr, 2)
|
||||
|
||||
# Sanity checks
|
||||
if not gyro_odr in ODR:
|
||||
raise ValueError("Invalid sampling rate: %d" % accel_odr)
|
||||
if not gyro_scale in SCALE_GYRO:
|
||||
raise ValueError("invalid gyro scaling: %d" % gyro_scale)
|
||||
if not accel_odr in ODR:
|
||||
raise ValueError("Invalid sampling rate: %d" % accel_odr)
|
||||
if not accel_scale in SCALE_ACCEL:
|
||||
raise ValueError("invalid accelerometer scaling: %d" % accel_scale)
|
||||
|
||||
# Soft-reset the device.
|
||||
self.reset()
|
||||
|
||||
# Load and configure MLC if UCF file is provided
|
||||
if ucf is not None:
|
||||
self.load_mlc(ucf)
|
||||
|
||||
# Set Gyroscope datarate and scale.
|
||||
# Note output from LPF2 second filtering stage is selected. See Figure 18.
|
||||
self.__write_reg(_CTRL1_XL, (ODR[accel_odr] << 4) | (SCALE_ACCEL[accel_scale] << 2) | 2)
|
||||
|
||||
# Enable LPF2 and HPF fast-settling mode, ODR/4
|
||||
self.__write_reg(_CTRL8_XL, 0x09)
|
||||
|
||||
# Set Gyroscope datarate and scale.
|
||||
self.__write_reg(_CTRL2_G, (ODR[gyro_odr] << 4) | (SCALE_GYRO[gyro_scale] << 2) | 0)
|
||||
|
||||
self.gyro_scale = 32768 / gyro_scale
|
||||
self.accel_scale = 32768 / accel_scale
|
||||
|
||||
def __read_reg(self, reg, size=1):
|
||||
if self._use_i2c:
|
||||
buf = self.bus.readfrom_mem(self.address, reg, size)
|
||||
else:
|
||||
try:
|
||||
self.cs_pin(0)
|
||||
self.bus.write(bytes([reg | 0x80]))
|
||||
buf = self.bus.read(size)
|
||||
finally:
|
||||
self.cs_pin(1)
|
||||
if size == 1:
|
||||
return int(buf[0])
|
||||
return [int(x) for x in buf]
|
||||
|
||||
def __write_reg(self, reg, val):
|
||||
if self._use_i2c:
|
||||
self.bus.writeto_mem(self.address, reg, bytes([val]))
|
||||
else:
|
||||
try:
|
||||
self.cs_pin(0)
|
||||
self.bus.write(bytes([reg, val]))
|
||||
finally:
|
||||
self.cs_pin(1)
|
||||
|
||||
def __read_reg_into(self, reg, buf):
|
||||
if self._use_i2c:
|
||||
self.bus.readfrom_mem_into(self.address, reg, buf)
|
||||
else:
|
||||
try:
|
||||
self.cs_pin(0)
|
||||
self.bus.write(bytes([reg | 0x80]))
|
||||
self.bus.readinto(buf)
|
||||
finally:
|
||||
self.cs_pin(1)
|
||||
|
||||
def reset(self):
|
||||
self.__write_reg(_CTRL3_C, self.__read_reg(_CTRL3_C) | 0x1)
|
||||
for i in range(0, 10):
|
||||
if (self.__read_reg(_CTRL3_C) & 0x01) == 0:
|
||||
return
|
||||
time.sleep_ms(10)
|
||||
raise OSError("Failed to reset LSM6DS device.")
|
||||
|
||||
def set_mem_bank(self, bank):
|
||||
cfg = self.__read_reg(_FUNC_CFG_ACCESS) & 0x3F
|
||||
self.__write_reg(_FUNC_CFG_ACCESS, cfg | (bank << 6))
|
||||
|
||||
def set_embedded_functions(self, enable, emb_ab=None):
|
||||
self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
|
||||
if enable:
|
||||
self.__write_reg(_EMB_FUNC_EN_A, emb_ab[0])
|
||||
self.__write_reg(_EMB_FUNC_EN_B, emb_ab[1])
|
||||
else:
|
||||
emb_a = self.__read_reg(_EMB_FUNC_EN_A)
|
||||
emb_b = self.__read_reg(_EMB_FUNC_EN_B)
|
||||
self.__write_reg(_EMB_FUNC_EN_A, (emb_a & 0xC7))
|
||||
self.__write_reg(_EMB_FUNC_EN_B, (emb_b & 0xE6))
|
||||
emb_ab = (emb_a, emb_b)
|
||||
|
||||
self.set_mem_bank(_FUNC_CFG_BANK_USER)
|
||||
return emb_ab
|
||||
|
||||
def load_mlc(self, ucf):
|
||||
# Load MLC config from file
|
||||
with open(ucf, "r") as ucf_file:
|
||||
for l in ucf_file:
|
||||
if l.startswith("Ac"):
|
||||
v = [int(v, 16) for v in l.strip().split(" ")[1:3]]
|
||||
self.__write_reg(v[0], v[1])
|
||||
|
||||
emb_ab = self.set_embedded_functions(False)
|
||||
|
||||
# Disable I3C interface
|
||||
self.__write_reg(_CTRL9_XL, self.__read_reg(_CTRL9_XL) | 0x01)
|
||||
|
||||
# Enable Block Data Update
|
||||
self.__write_reg(_CTRL3_C, self.__read_reg(_CTRL3_C) | 0x40)
|
||||
|
||||
# Route signals on interrupt pin 1
|
||||
self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
|
||||
self.__write_reg(_MLC_INT1, self.__read_reg(_MLC_INT1) & 0x01)
|
||||
self.set_mem_bank(_FUNC_CFG_BANK_USER)
|
||||
|
||||
# Configure interrupt pin mode
|
||||
self.__write_reg(_TAP_CFG0, self.__read_reg(_TAP_CFG0) | 0x41)
|
||||
|
||||
self.set_embedded_functions(True, emb_ab)
|
||||
|
||||
def read_mlc_output(self):
|
||||
buf = None
|
||||
if self.__read_reg(_MLC_STATUS) & 0x1:
|
||||
self.__read_reg(0x1A, size=12)
|
||||
self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
|
||||
buf = self.__read_reg(_MLC0_SRC, 8)
|
||||
self.set_mem_bank(_FUNC_CFG_BANK_USER)
|
||||
return buf
|
||||
|
||||
def read_gyro(self):
|
||||
"""Returns gyroscope vector in degrees/sec."""
|
||||
mv = memoryview(self.scratch_int)
|
||||
f = self.gyro_scale
|
||||
self.__read_reg_into(_OUTX_L_G, 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.accel_scale
|
||||
self.__read_reg_into(_OUTX_L_XL, mv)
|
||||
return (mv[0] / f, mv[1] / f, mv[2] / f)
|
||||
@ -1,189 +0,0 @@
|
||||
"""
|
||||
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.
|
||||
|
||||
Source repo: https://github.com/hoihu/projects/tree/master/raspi-hat
|
||||
|
||||
Example usage:
|
||||
import time
|
||||
from lsm9ds1 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):
|
||||
"""Initializes 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 continuous 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: continuous 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
|
||||
@ -3,7 +3,6 @@
|
||||
# Drivers
|
||||
require("hts221")
|
||||
require("lps22h")
|
||||
require("lsm9ds1")
|
||||
require("bmm150")
|
||||
require("bmi270")
|
||||
require("hs3003")
|
||||
|
||||
Loading…
Reference in New Issue
Block a user