diff --git a/scripts/libraries/lsm6dsox.py b/scripts/libraries/lsm6dsox.py index 05cc8a26d..17ccf3bd8 100644 --- a/scripts/libraries/lsm6dsox.py +++ b/scripts/libraries/lsm6dsox.py @@ -53,17 +53,17 @@ class LSM6DSOX: raise OSError("No LSM6DS device was found at address 0x%x"%(self.address)) # Set the gyroscope control register to work at 104 Hz, 2000 dps and in bypass mode - self.__write_reg(CTRL2_G, 0x4C); + self.__write_reg(CTRL2_G, b'\x4C'); # Set the Accelerometer control register to work at 104 Hz, 4g, and in bypass mode and enable ODR/4 # low pass filter (check figure9 of LSM6DSOX's datasheet) - self.__write_reg(CTRL1_XL, 0x4A); + self.__write_reg(CTRL1_XL, b'\x4A'); # set gyroscope power mode to high performance and bandwidth to 16 MHz - self.__write_reg(CTRL7_G, 0x00); + self.__write_reg(CTRL7_G, b'\x00'); # Set the ODR config register to ODR/4 - self.__write_reg(CTRL8_XL, 0x09); + self.__write_reg(CTRL8_XL, b'\x09'); self.scale_gyro = 32768 / 2000 self.scale_accel = 32768 / 4 @@ -72,8 +72,8 @@ class LSM6DSOX: def __read_reg(self, reg, size): return self.i2c.readfrom_mem(self.address, reg, size) - def __write_reg(self, reg): - self.i2c.writeto_mem(self.address, reg) + def __write_reg(self, reg, val): + self.i2c.writeto_mem(self.address, reg, val) def read_gyro(self): """Returns gyroscope vector in degrees/sec."""