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132 lines
4.8 KiB
Python
132 lines
4.8 KiB
Python
"""
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LSM6DSOX STMicro driver for MicroPython based on LSM9DS1:
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Source repo: https://github.com/hoihu/projects/tree/master/raspi-hat
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The MIT License (MIT)
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Copyright (c) 2013, 2014 Damien P. George
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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Example usage:
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import time
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from lsm6dsox import LSM6DSOX
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from machine import Pin, I2C
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lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))
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while (True):
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print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_accel()))
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print('Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_gyro()))
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print("")
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time.sleep_ms(100)
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"""
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import array
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class LSM6DSOX:
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DEFAULT_ADDR = const(0x6A)
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WHO_AM_I_REG = const(0x0F)
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CTRL1_XL = const(0x10)
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CTRL8_XL = const(0x17)
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CTRL2_G = const(0x11)
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CTRL7_G = const(0x16)
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OUTX_L_G = const(0x22)
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OUTX_L_XL = const(0x28)
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def __init__(self, i2c, address=DEFAULT_ADDR):
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self.i2c = i2c
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self.address = address
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# check the id of the Accelerometer/Gyro
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if (self.__read_reg(WHO_AM_I_REG, 1) != b'l'):
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raise OSError("No LSM6DS device was found at address 0x%x"%(self.address))
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# allocate scratch buffer for efficient conversions and memread op's
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self.scratch_int = array.array('h',[0, 0, 0])
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self.init_gyro_accel()
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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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def __write_reg(self, reg, val):
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self.i2c.writeto_mem(self.address, reg, bytes([val]))
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def init_gyro_accel(self, fs_gyro=104, fs_accel=104, scale_gyro=2000, scale_accel=4):
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""" Initalizes Gyro and Accelerator.
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fs_accel: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
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fs_gyro: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
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scale_gyro: (245dps, 500dps, 1000dps, 2000dps)
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scale_accel: (+/-2g, +/-4g, +/-8g, +-16g)
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"""
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# XL_HM_MODE = 0 by default.
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# G_HM_MODE = 0 by default.
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ODR = {
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0: 0x00,
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1.6: 0x08,
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3.33: 0x09,
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6.66: 0x0A,
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12.5: 0x01,
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26: 0x02,
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52: 0x03,
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104: 0x04,
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208: 0x05,
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416: 0x06,
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888: 0x07
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}
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SCALE_GYRO = {250:0, 500:1, 1000:2, 2000:3}
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SCALE_ACCEL = {2:0, 4:2, 8:3, 16:1}
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fs_gyro = round(fs_gyro, 2)
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fs_accel = round(fs_accel, 2)
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assert fs_gyro in ODR, "Invalid sampling rate: %d" % fs_accel
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assert scale_gyro in SCALE_GYRO, "invalid gyro scaling: %d" % scale_gyro
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assert fs_accel in ODR, "Invalid sampling rate: %d" % fs_accel
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assert scale_accel in SCALE_ACCEL, "invalid accelerometer scaling: %d" % scale_accel
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# Set Gyroscope datarate and scale.
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# Note output from LPF2 second filtering stage is selected. See Figure 18.
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self.__write_reg(CTRL1_XL, (ODR[fs_accel] << 4) | (SCALE_ACCEL[scale_accel] << 2) | 2);
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# Enable LPF2 and HPF fast-settling mode, ODR/4
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self.__write_reg(CTRL8_XL, 0x09);
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# Set Gyroscope datarate and scale.
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self.__write_reg(CTRL2_G, (ODR[fs_gyro] << 4) | (SCALE_GYRO[scale_gyro] << 2) | 0);
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self.scale_gyro = 32768 / scale_gyro
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self.scale_accel = 32768 / scale_accel
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def read_gyro(self):
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"""Returns gyroscope vector in degrees/sec."""
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mv = memoryview(self.scratch_int)
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f = self.scale_gyro
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self.i2c.readfrom_mem_into(self.address, OUTX_L_G, mv)
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return (mv[0]/f, mv[1]/f, mv[2]/f)
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def read_accel(self):
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"""Returns acceleration vector in gravity units (9.81m/s^2)."""
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mv = memoryview(self.scratch_int)
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f = self.scale_accel
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self.i2c.readfrom_mem_into(self.address, OUTX_L_XL, mv)
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return (mv[0]/f, mv[1]/f, mv[2]/f)
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