openmv/scripts/libraries/lsm6dsox.py
2021-06-14 14:22:50 +02:00

91 lines
2.8 KiB
Python

"""
LSM6DSOX STMicro driver for MicroPython.
Base on: LSM9DS1 driver and https://github.com/arduino-libraries/Arduino_LSM6DSOX
Example usage:
import time
import lsm6dsox
from machine import Pin, I2C
lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))
while (True):
print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_accel()))
print('Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_gyro()))
print("")
time.sleep_ms(100)
"""
import array
class LSM6DSOX:
DEFAULT_ADDR = const(0x6A)
WHO_AM_I_REG = const(0x0F)
CTRL1_XL = const(0x10)
CTRL2_G = const(0x11)
STATUS_REG = const(0x1E)
CTRL6_C = const(0x15)
CTRL7_G = const(0x16)
CTRL8_XL = const(0x17)
OUTX_L_G = const(0x22)
OUTX_H_G = const(0x23)
OUTY_L_G = const(0x24)
OUTY_H_G = const(0x25)
OUTZ_L_G = const(0x26)
OUTZ_H_G = const(0x27)
OUTX_L_XL = const(0x28)
OUTX_H_XL = const(0x29)
OUTY_L_XL = const(0x2A)
OUTY_H_XL = const(0x2B)
OUTZ_L_XL = const(0x2C)
OUTZ_H_XL = const(0x2D)
def __init__(self, i2c, address=DEFAULT_ADDR):
self.i2c = i2c
self.address = address
# check the id of the Accelerometer/Gyro
if (self.__read_reg(WHO_AM_I_REG, 1) != b'l'):
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, 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, b'\x4A');
# set gyroscope power mode to high performance and bandwidth to 16 MHz
self.__write_reg(CTRL7_G, b'\x00');
# Set the ODR config register to ODR/4
self.__write_reg(CTRL8_XL, b'\x09');
self.scale_gyro = 32768 / 2000
self.scale_accel = 32768 / 4
self.scratch_int = array.array('h',[0, 0, 0])
def __read_reg(self, reg, size):
return self.i2c.readfrom_mem(self.address, reg, size)
def __write_reg(self, reg, val):
self.i2c.writeto_mem(self.address, reg, val)
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, 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.scale_accel
self.i2c.readfrom_mem_into(self.address, OUTX_L_XL, mv)
return (mv[0]/f, mv[1]/f, mv[2]/f)