diff --git a/scripts/libraries/lsm6dsox.py b/scripts/libraries/lsm6dsox.py index 9aedaf3f6..1b1e69964 100644 --- a/scripts/libraries/lsm6dsox.py +++ b/scripts/libraries/lsm6dsox.py @@ -80,7 +80,7 @@ class LSM6DSOX: def __init__( self, - dev, + bus, cs_pin=None, address=_DEFAULT_ADDR, gyro_odr=104, @@ -96,11 +96,11 @@ class LSM6DSOX: accel_scale: (+/-2g, +/-4g, +/-8g, +-16g) ucf: MLC program to load. """ - self.dev = dev + self.bus = bus self.cs_pin = cs_pin self.address = address - if cs_pin is None and isinstance(self.dev, SPI): + if cs_pin is None and isinstance(self.bus, SPI): raise ValueError("Must provide CS pin in SPI mode.") # check the id of the Accelerometer/Gyro @@ -162,39 +162,39 @@ class LSM6DSOX: self.accel_scale = 32768 / accel_scale def __read_reg(self, reg, size=1): - if isinstance(self.dev, SPI): + if isinstance(self.bus, SPI): try: self.cs_pin(0) - self.dev.write(bytes([reg | 0x80])) - buf = self.dev.read(size) + self.bus.write(bytes([reg | 0x80])) + buf = self.bus.read(size) finally: self.cs_pin(1) else: - buf = self.dev.readfrom_mem(self.address, reg, size) + buf = self.bus.readfrom_mem(self.address, reg, size) if size == 1: return int(buf[0]) return [int(x) for x in buf] def __write_reg(self, reg, val): - if isinstance(self.dev, SPI): + if isinstance(self.bus, SPI): try: self.cs_pin(0) - self.dev.write(bytes([reg, val])) + self.bus.write(bytes([reg, val])) finally: self.cs_pin(1) else: - self.dev.writeto_mem(self.address, reg, bytes([val])) + self.bus.writeto_mem(self.address, reg, bytes([val])) def __read_reg_into(self, reg, buf): - if isinstance(self.dev, SPI): + if isinstance(self.bus, SPI): try: self.cs_pin(0) - self.dev.write(bytes([reg | 0x80])) - self.dev.readinto(buf) + self.bus.write(bytes([reg | 0x80])) + self.bus.readinto(buf) finally: self.cs_pin(1) else: - self.dev.readfrom_mem_into(self.address, reg, buf) + self.bus.readfrom_mem_into(self.address, reg, buf) def reset(self): self.__write_reg(_CTRL3_C, self.__read_reg(_CTRL3_C) | 0x1)