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Fix LSM6D driver.
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05a307e0b2
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@ -53,17 +53,17 @@ class LSM6DSOX:
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raise OSError("No LSM6DS device was found at address 0x%x"%(self.address))
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raise OSError("No LSM6DS device was found at address 0x%x"%(self.address))
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# Set the gyroscope control register to work at 104 Hz, 2000 dps and in bypass mode
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# Set the gyroscope control register to work at 104 Hz, 2000 dps and in bypass mode
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self.__write_reg(CTRL2_G, 0x4C);
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self.__write_reg(CTRL2_G, b'\x4C');
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# Set the Accelerometer control register to work at 104 Hz, 4g, and in bypass mode and enable ODR/4
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# Set the Accelerometer control register to work at 104 Hz, 4g, and in bypass mode and enable ODR/4
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# low pass filter (check figure9 of LSM6DSOX's datasheet)
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# low pass filter (check figure9 of LSM6DSOX's datasheet)
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self.__write_reg(CTRL1_XL, 0x4A);
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self.__write_reg(CTRL1_XL, b'\x4A');
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# set gyroscope power mode to high performance and bandwidth to 16 MHz
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# set gyroscope power mode to high performance and bandwidth to 16 MHz
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self.__write_reg(CTRL7_G, 0x00);
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self.__write_reg(CTRL7_G, b'\x00');
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# Set the ODR config register to ODR/4
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# Set the ODR config register to ODR/4
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self.__write_reg(CTRL8_XL, 0x09);
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self.__write_reg(CTRL8_XL, b'\x09');
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self.scale_gyro = 32768 / 2000
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self.scale_gyro = 32768 / 2000
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self.scale_accel = 32768 / 4
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self.scale_accel = 32768 / 4
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@ -72,8 +72,8 @@ class LSM6DSOX:
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def __read_reg(self, reg, size):
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def __read_reg(self, reg, size):
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return self.i2c.readfrom_mem(self.address, reg, size)
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return self.i2c.readfrom_mem(self.address, reg, size)
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def __write_reg(self, reg):
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def __write_reg(self, reg, val):
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self.i2c.writeto_mem(self.address, reg)
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self.i2c.writeto_mem(self.address, reg, val)
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def read_gyro(self):
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def read_gyro(self):
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"""Returns gyroscope vector in degrees/sec."""
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"""Returns gyroscope vector in degrees/sec."""
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