micropython 驱动 移植_LSM6DSO的MicroPython驱动移植

# LSM6DSO 3D accelerometer and 3D gyroscope seneor micropython drive

# ver: 1.0

# License: MIT

# Author: shaoziyang (shaoziyang@micropython.org.cn)

# v1.0 2019.7

LSM6DSO_CTRL1_XL = const(0x10)

LSM6DSO_CTRL2_G = const(0x11)

LSM6DSO_CTRL3_C = const(0x12)

LSM6DSO_CTRL6_C = const(0x15)

LSM6DSO_CTRL8_XL = const(0x17)

LSM6DSO_STATUS = const(0x1E)

LSM6DSO_OUT_TEMP_L = const(0x20)

LSM6DSO_OUTX_L_G = const(0x22)

LSM6DSO_OUTY_L_G = const(0x24)

LSM6DSO_OUTZ_L_G = const(0x26)

LSM6DSO_OUTX_L_A = const(0x28)

LSM6DSO_OUTY_L_A = const(0x2A)

LSM6DSO_OUTZ_L_A = const(0x2C)

LSM6DSO_SCALEA = ('2g', '16g', '4g', '8g')

LSM6DSO_SCALEG = ('250', '125', '500', '', '1000', '', '2000')

class LSM6DSO():

def __init__(self, i2c, addr = 0x6B):

self.i2c = i2c

self.addr = addr

self.tb = bytearray(1)

self.rb = bytearray(1)

self.oneshot = False

self.irq_v = [[0, 0, 0], [0, 0, 0]]

self._power = True

self._power_a = 0x10

self._power_g = 0x10

# ODR_XL=1 FS_XL=0

self.setreg(LSM6DSO_CTRL1_XL, 0x10)

# ODR_G=1 FS_125=1

self.setreg(LSM6DSO_CTRL2_G, 0x12)

# BDU=1 IF_INC=1

self.setreg(LSM6DSO_CTRL3_C, 0x44)

self.setreg(LSM6DSO_CTRL8_XL, 0)

# scale=2G

self._scale_a = 0

self._scale_g = 0

self.scale_a('2g')

self.scale_g('125')

def int16(self, d):

return d if d < 0x8000 else d - 0x10000

def setreg(self, reg, dat):

self.tb[0] = dat

self.i2c.writeto_mem(self.addr, reg, self.tb)

def getreg(self, reg):

self.i2c.readfrom_mem_into(self.addr, reg, self.rb)

return self.rb[0]

def get2reg(self, reg):

return self.getreg(reg) + self.getreg(reg+1) * 256

def r_w_reg(self, reg, dat, mask):

self.getreg(reg)

self.rb[0] = (self.rb[0] & mask) | dat

self.setreg(reg, self.rb[0])

def ax(self):

return self.int16(self.get2reg(LSM6DSO_OUTX_L_A))

def ay(self):

return self.int16(self.get2reg(LSM6DSO_OUTY_L_A))

def az(self):

return self.int16(self.get2reg(LSM6DSO_OUTZ_L_A))

def gx(self):

return self.int16(self.get2reg(LSM6DSO_OUTX_L_G))

def gy(self):

return self.int16(self.get2reg(LSM6DSO_OUTY_L_G))

def gz(self):

return self.int16(self.get2reg(LSM6DSO_OUTZ_L_G))

def get_a(self):

self.irq_v[0][0] = self.ax()

self.irq_v[0][1] = self.ay()

self.irq_v[0][2] = self.az()

return self.irq_v[0]

def get_g(self):

self.irq_v[1][0] = self.gx()

self.irq_v[1][1] = self.gy()

self.irq_v[1][2] = self.gz()

return self.irq_v[1]

def get(self):

self.get_a()

self.get_g()

return self.irq_v

def temperature(self):

try:

return self.int16(self.get2reg(LSM6DSO_OUT_TEMP_L))/256 + 25

except MemoryError:

return self.temperature_irq()

def temperature_irq(self):

self.getreg(LSM6DSO_OUT_TEMP_L+1)

if self.rb[0] & 0x80: self.rb[0] -= 256

return self.rb[0] + 25

def scale_a(self, dat=None):

if dat is None:

return LSM6DSO_SCALEA[self._scale_a]

else:

if type(dat) is str:

if not dat in LSM6DSO_SCALEA: return

self._scale_a = LSM6DSO_SCALEA.index(dat)

else: return

self.r_w_reg(LSM6DSO_CTRL1_XL, self._scale_a<<2, 0xF3)

def scale_g(self, dat=None):

if (dat is None) or (dat == ''):

return LSM6DSO_SCALEG[self._scale_g]

else:

if type(dat) is str:

if not dat in LSM6DSO_SCALEG: return

self._scale_g = LSM6DSO_SCALEG.index(dat)

else: return

self.r_w_reg(LSM6DSO_CTRL2_G, self._scale_g<<1, 0xF1)

def power(self, on=None):

if on is None:

return self._power

else:

self._power = on

if on:

self.r_w_reg(LSM6DSO_CTRL1_XL, self._power_a, 0x0F)

self.r_w_reg(LSM6DSO_CTRL2_G, self._power_g, 0x0F)

else:

self._power_a = self.getreg(LSM6DSO_CTRL1_XL) & 0xF0

self._power_g = self.getreg(LSM6DSO_CTRL2_G) & 0xF0

self.r_w_reg(LSM6DSO_CTRL1_XL, 0, 0x0F)

self.r_w_reg(LSM6DSO_CTRL2_G, 0, 0x0F)