Update LSM6DSOX driver.

This commit is contained in:
iabdalkader 2021-11-16 21:33:10 +02:00
parent df6f77bd06
commit 9c15742eb2

View File

@ -4,7 +4,8 @@ Source repo: https://github.com/hoihu/projects/tree/master/raspi-hat
The MIT License (MIT)
Copyright (c) 2013, 2014 Damien P. George
Copyright (c) 2021 Damien P. George
Copyright (c) 2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
@ -24,7 +25,8 @@ 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.
Example usage:
Basic example usage:
import time
from lsm6dsox import LSM6DSOX
@ -38,37 +40,48 @@ while (True):
time.sleep_ms(100)
"""
import array
from micropython import const
class LSM6DSOX:
CTRL3_C = const(0x12)
CTRL1_XL = const(0x10)
CTRL8_XL = const(0x17)
CTRL9_XL = const(0x18)
_CTRL3_C = const(0x12)
_CTRL1_XL = const(0x10)
_CTRL8_XL = const(0x17)
_CTRL9_XL = const(0x18)
CTRL2_G = const(0x11)
CTRL7_G = const(0x16)
_CTRL2_G = const(0x11)
_CTRL7_G = const(0x16)
OUTX_L_G = const(0x22)
OUTX_L_XL = const(0x28)
MLC_STATUS = const(0x38)
_OUTX_L_G = const(0x22)
_OUTX_L_XL = const(0x28)
_MLC_STATUS = const(0x38)
DEFAULT_ADDR = const(0x6A)
WHO_AM_I_REG = const(0x0F)
_DEFAULT_ADDR = const(0x6A)
_WHO_AM_I_REG = const(0x0F)
FUNC_CFG_ACCESS = const(0x01)
FUNC_CFG_BANK_USER = const(0)
FUNC_CFG_BANK_HUB = const(1)
FUNC_CFG_BANK_EMBED = const(2)
_FUNC_CFG_ACCESS = const(0x01)
_FUNC_CFG_BANK_USER = const(0)
_FUNC_CFG_BANK_HUB = const(1)
_FUNC_CFG_BANK_EMBED = const(2)
MLC0_SRC = const(0x70)
MLC_INT1 = const(0x0D)
TAP_CFG0 = const(0x56)
_MLC0_SRC = const(0x70)
_MLC_INT1 = const(0x0D)
_TAP_CFG0 = const(0x56)
EMB_FUNC_EN_A = const(0x04)
EMB_FUNC_EN_B = const(0x05)
_EMB_FUNC_EN_A = const(0x04)
_EMB_FUNC_EN_B = const(0x05)
def __init__(self, i2c, address=DEFAULT_ADDR, gyro_odr=104, accel_odr=104, gyro_scale=2000, accel_scale=4, ucf=None):
""" Initalizes Gyro and Accelerator.
def __init__(
self,
i2c,
address=_DEFAULT_ADDR,
gyro_odr=104,
accel_odr=104,
gyro_scale=2000,
accel_scale=4,
ucf=None,
):
"""Initalizes 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)
@ -79,48 +92,65 @@ class LSM6DSOX:
self.address = address
# 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))
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])
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}
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}
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)
assert gyro_odr in ODR, "Invalid sampling rate: %d" % accel_odr
assert gyro_scale in SCALE_GYRO, "invalid gyro scaling: %d" % gyro_scale
assert accel_odr in ODR, "Invalid sampling rate: %d" % accel_odr
assert accel_scale in SCALE_ACCEL, "invalid accelerometer scaling: %d" % accel_scale
# 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 != None):
if ucf != 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);
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);
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.__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):
buf = self.i2c.readfrom_mem(self.address, reg, size)
if (size == 1):
if size == 1:
return int(buf[0])
return [int(x) for x in buf]
@ -128,77 +158,77 @@ class LSM6DSOX:
self.i2c.writeto_mem(self.address, reg, bytes([val]))
def reset(self):
self.__write_reg(CTRL3_C, self.__read_reg(CTRL3_C) | 0x1)
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):
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))
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])
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_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)
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")):
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)
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)
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)
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.__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):
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)
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.i2c.readfrom_mem_into(self.address, OUTX_L_G, mv)
return (mv[0]/f, mv[1]/f, mv[2]/f)
self.i2c.readfrom_mem_into(self.address, _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.i2c.readfrom_mem_into(self.address, OUTX_L_XL, mv)
return (mv[0]/f, mv[1]/f, mv[2]/f)
self.i2c.readfrom_mem_into(self.address, _OUTX_L_XL, mv)
return (mv[0] / f, mv[1] / f, mv[2] / f)