from BMI160_i2c import registers
from BMI160_i2c import commands
from BMI160_i2c import definitions
from BMI160_i2c.sleep import sleep_us, sleep_ms
from struct import unpack
from smbus2 import SMBus, i2c_msg
class Driver:
# Power on and prepare for general usage.
# This will activate the device and take it out of sleep mode (which must be done
# after start-up). This function also sets both the accelerometer and the gyroscope
# to default range settings, namely +/- 2g and +/- 250 degrees/sec.
def __init__(self, addr=0x68, bus=1):
self.addr = addr
# Initialize the i2c bus driver
self.bus = SMBus(bus)
# Issue a soft-reset to bring the device into a clean state
self._reg_write(registers.CMD, commands.SOFT_RESET)
sleep_ms(1)
# Issue a dummy-read to force the device into I2C comms mode
self._reg_read(0x7F)
sleep_ms(1)
# Power up the accelerometer
self._reg_write(registers.CMD, commands.ACC_MODE_NORMAL)
# Wait for power-up to complete
while (1 != self._reg_read_bits(registers.PMU_STATUS, definitions.ACC_PMU_STATUS_BIT, definitions.ACC_PMU_STATUS_LEN)):
pass
sleep_ms(1)
# Power up the gyroscope
self._reg_write(registers.CMD, commands.GYR_MODE_NORMAL)
sleep_ms(1)
# Wait for power-up to complete
while (1 != self._reg_read_bits(registers.PMU_STATUS, definitions.GYR_PMU_STATUS_BIT, definitions.GYR_PMU_STATUS_LEN)):
sleep_ms(200)
pass
sleep_ms(1)
self.setFullScaleGyroRange(definitions.GYRO_RANGE_250, 250.0)
self.setFullScaleAccelRange(definitions.ACCEL_RANGE_2G, 2.0)
# Only PIN1 interrupts currently supported - map all interrupts to PIN1
self._reg_write(registers.INT_MAP_0, 0xFF)
self._reg_write(registers.INT_MAP_1, 0xF0)
self._reg_write(registers.INT_MAP_2, 0x00)
def _reg_read_bits(self, reg, pos, len):
b = self._reg_read(reg)
mask = (1 << len) - 1
b >>= pos
b &= mask
return b
def _reg_write_bits(self, reg, data, pos, len):
b = self._reg_read(reg)
mask = ((1 << len) - 1) << pos
data <<= pos # shift data into correct position
data &= mask # zero all non-important bits in data
b &= ~(mask) # zero all important bits in existing byte
b |= data # combine data with existing byte
self._reg_write(reg, b)
def _is_bit_set(self, value, bit):
return value & (1 << bit)
# Test the sign bit and set remaining MSBs if sign bit is set */
# def _sign_extend(val, orig):
# return (((val) & (1 << ((orig) - 1))) ? (val | (((1 << (1 + (sizeof(val) << 3) - (orig))) - 1) << (orig))) : val)
# Get Device ID.
# This register is used to verify the identity of the device (0b11010001, 0xD1).
# @return Device ID (should be 0xD1)
# @see BMI160_RA_CHIP_ID
def get_device_id(self):
return self._reg_read(registers.CHIP_ID)
# Get gyroscope output data rate.
# The gyr_odr parameter allows setting the output data rate of the gyroscope
# as described in the table below.
#
# <pre>
# 6 = 25Hz
# 7 = 50Hz
# 8 = 100Hz
# 9 = 200Hz
# 10 = 400Hz
# 11 = 800Hz
# 12 = 1600Hz
# 13 = 3200Hz
# </pre>
#
# @return Current sample rate
# @see registers.GYRO_CONF
# @see BMI160GyroRate
def get_gyro_rate(self):
return self._reg_read_bits(registers.GYRO_CONF, definitions.GYRO_RATE_SEL_BIT, definitions.GYRO_RATE_SEL_LEN)
# Set gyroscope output data rate.
# @param rate New output data rate
# @see get_gyro_rate()
# @see definitions.GYRO_RATE_25HZ
# @see registers.GYRO_CONF
def set_gyro_rate(self, rate):
self._reg_write_bits(registers.GYRO_CONF, rate,
definitions.GYRO_RATE_SEL_BIT, definitions.GYRO_RATE_SEL_LEN)
# Get accelerometer output data rate.
# The acc_odr parameter allows setting the output data rate of the accelerometer
# as described in the table below.
#
# <pre>
# 5 = 25/2Hz
# 6 = 25Hz
# 7 = 50Hz
# 8 = 100Hz
# 9 = 200Hz
# 10 = 400Hz
# 11 = 800Hz
# 12 = 1600Hz
# 13 = 3200Hz
# </pre>
#
# @return Current sample rate
# @see registers.ACCEL_CONF
# @see BMI160AccelRate
def get_accel_rate(self):
return self._reg_read_bits(registers.ACCEL_CONF, definitions.ACCEL_RATE_SEL_BIT, definitions.ACCEL_RATE_SEL_LEN)
# Set accelerometer output data rate.
# @param rate New output data rate
# @see get_accel_rate()
# @see registers.ACCEL_CONF
def set_accel_rate(self, rate):
self._reg_write_bits(registers.ACCEL_CONF, rate,
definitions.ACCEL_RATE_SEL_BIT, definitions.ACCEL_RATE_SEL_LEN)
# Get gyroscope digital low-pass filter mode.
# The gyro_bwp parameter sets the gyroscope digital low pass filter configuration.
#
# When the filter mode is set to Normal (@see definitions.DLPF_MODE_NORM), the filter
# bandwidth for each respective gyroscope output data rates is shown in the table below:
#
# <pre>
# ODR | 3dB cut-off
# --------+------------
# 25Hz | 10.7Hz
# 50Hz | 20.8Hz
# 100Hz | 39.9Hz
# 200Hz | 74.6Hz
# 400Hz | 136.6Hz
# 800Hz | 254.6Hz
# 1600Hz | 523.9Hz
# 3200Hz | 890Hz
# </pre>
#
# When the filter mode is set to OSR2 (@see definitions.DLPF_MODE_OSR2), the filter
# bandwidths above are approximately halved.
#
# When the filter mode is set to OSR4 (@see definitions.DLPF_MODE_OSR4), the filter
# bandwidths above are approximately 4 times smaller.
#
# @return DLFP configuration
# @see registers.GYRO_CONF
# @see BMI160DLPFMode
def get_gyro_dlpf_mode(self):
return self._reg_read_bits(registers.GYRO_CONF, definitions.GYRO_DLPF_SEL_BIT, definitions.GYRO_DLPF_SEL_LEN)
# Set gyroscope digital low-pass filter configuration.
# @param mode New DLFP configuration setting
# @see get_gyro_dlpf_mode()
def set_gyro_dlpf_mod(self, emode):
return self._reg_write_bits(registers.GYRO_CONF, mode, definitions.GYRO_DLPF_SEL_BIT, definitions.GYRO_DLPF_SEL_LEN)
# Get accelerometer digital low-pass filter mode.
# The acc_bwp parameter sets the accelerometer digital low pass filter configuration.
#
# When the filter mode is set to Normal (@see definitions.DLPF_MODE_NORM), the filter
# bandwidth for each respective accelerometer output data rates is shown in the table below:
#
# <pre>
# ODR | 3dB cut-off
# --------+--------------
# 12.5Hz | 5.06Hz
# 25Hz | 10.12Hz
# 50Hz | 20.25Hz
# 100Hz | 40.5Hz
# 200Hz | 80Hz
# 400Hz | 162Hz (155Hz for Z axis)
# 800Hz | 324Hz (262Hz for Z axis)
# 1600Hz | 684Hz (353Hz for Z axis)
# </pre>
#
# When the filter mode is set to OSR2 (@see definitions.DLPF_MODE_OSR2), the filter
# bandwidths above are approximately halved.
#
# When the filter mode is set to OSR4 (@see definitions.DLPF_MODE_OSR4), the filter
# bandwidths above are approximately 4 times smaller.
#
# @return DLFP configuration
# @see registers.GYRO_CONF
# @see BMI160DLPFMode
def getAccelDLPFMode(self):
return self._reg_read_bits(registers.ACCEL_CONF, definitions.ACCEL_DLPF_SEL_BIT, definitions.ACCEL_DLPF_SEL_LEN)
# Set accelerometer digital low-pass filter configuration.
# @param mode New DLFP configuration setting
# @see getAccelDLPFMode()
def setAccelDLPFMode(self, mode):
return self._reg_write_bits(registers.ACCEL_CONF, mode, definitions.ACCEL_DLPF_SEL_BIT, definitions.ACCEL_DLPF_SEL_LEN)
# Get full-scale gyroscope range.
# The gyr_range parameter allows setting the full-scale range of the gyro sensors,
# as described in the table below.
#
# <pre>
# 4 = +/- 125 degrees/sec
# 3 = +/- 250 degrees/sec
# 2 = +/- 500 degrees/sec
# 1 = +/- 1000 degrees/sec
# 0 = +/- 2000 degrees/sec
# </pre>
#
# @return Current full-scale gyroscope range setting
# @see registers.GYRO_RANGE
# @see BMI160GyroRange
def getFullScaleGyroRange(self):
return self._reg_read_bits(registers.GYRO_RANGE, definitions.GYRO_RANGE_SEL_BIT, definitions.GYRO_RANGE_SEL_LEN)
# Set full-scale gyroscope range.
# @param range New full-scale gyroscope range value
# @see getFullScaleGyroRange()
def setFullScaleGyroRange(self, range, real):
self._reg_write_bits(registers.GYRO_RANGE, range,
definitions.GYRO_RANGE_SEL_BIT, definitions.GYRO_RANGE_SEL_LEN)
gyro_range = real
# Get full-scale accelerometer range.
# The FS_SEL parameter allows setting the full-scale range of the accelerometer
# sensors, as described in the table below.
#
# <pre>
# 3 = +/- 2g
# 5 = +/- 4g
# 8 = +/- 8g
# 12 = +/- 16g
# </pre>
#
# @return Current full-scale accelerometer range setting
# @see registers.ACCEL_RANGE
# @see BMI160AccelRange
def getFullScaleAccelRange(self):
return self._reg_read_bits(registers.ACCEL_RANGE, definitions.ACCEL_RANGE_SEL_BIT, definitions.ACCEL_RANGE_SEL_LEN)
# Set full-scale accelerometer range.
# @param range New full-scale accelerometer range setting
# @see getFullScaleAccelRange()
# @see BMI160AccelRange
def setFullScaleAccelRange(self, range, real):
self._reg_write_bits(registers.ACCEL_RANGE, range,
definitions.ACCEL_RANGE_SEL_BIT, definitions.ACCEL_RANGE_SEL_LEN)
accel_range = real
# Get accelerometer offset compensation enabled value.
# @see getXAccelOffset()
# @see registers.OFFSET_6
def getAccelOffsetEnabled(self):
return 0 != (self._reg_read_bits(registers.OFFSET_6, definitions.ACC_OFFSET_EN, 1))
# Set accelerometer offset compensation enabled value.
# @see getXAccelOffset()
# @see registers.OFFSET_6
def setAccelOffsetEnabled(self, enabled):
self._reg_write_bits(registers.OFFSET_6,
1 if enabled else 0, definitions.ACC_OFFSET_EN, 1)
# Execute internal calibration to generate Accelerometer X-Axis offset value.
# This populates the Accelerometer offset compensation value for the X-Axis only.
# These can be retrieved using the getXAccelOffset() methods.
# Note that this procedure may take up to 250ms to complete.
#
# IMPORTANT: The user MUST ensure NO movement and correct orientation of the
# BMI160 device occurs while this auto-calibration process is active.
# For example, to calibrate to a target of 0g on the X-axis, the BMI160 device
# must be resting horizontally as shown in Section 5.2 of the BMI160 Data Sheet.
#
# To enable offset compensation, @see setAccelOffsetEnabled()
#
# @param target X-axis target value (0 = 0g, 1 = +1g, -1 = -1g)
# @see setAccelOffsetEnabled()
# @see getXAccelOffset()
# @see registers.FOC_CONF
# @see registers.CMD
def autoCalibrateXAccelOffset(self, target):
foc_conf = 0
if (target == 1):
foc_conf = (0x1 << definitions.FOC_ACC_X_BIT)
elif (target == -1):
foc_conf = (0x2 << definitions.FOC_ACC_X_BIT)
elif (target == 0):
foc_conf = (0x3 << definitions.FOC_ACC_X_BIT)
else:
return # Invalid target value
self._reg_write(registers.FOC_CONF, foc_conf)
self._reg_write(registers.CMD, commands.START_FOC)
while (not (self._reg_read_bits(registers.STATUS, definitions.STATUS_FOC_RDY, 1))):
sleep_ms(1)
# Execute internal calibration to generate Accelerometer Y-Axis offset value.
# This populates the Accelerometer offset compensation value for the Y-Axis only.
# These can be retrieved using the getYAccelOffset() methods.
# Note that this procedure may take up to 250ms to complete.
#
# IMPORTANT: The user MUST ensure NO movement and correct orientation of the
# BMI160 device occurs while this auto-calibration process is active.
# For example, to calibrate to a target of 0g on the Y-axis, the BMI160 device
# must be resting horizontally as shown in Section 5.2 of the BMI160 Data Sheet.
#
# To enable offset compensation, @see setAccelOffsetEnabled()
#
# @param target Y-axis target value (0 = 0g, 1 = +1g, -1 = -1g)
# @see setAccelOffsetEnabled()
# @see getYAccelOffset()
# @see registers.FOC_CONF
# @see registers.CMD
def autoCalibrateYAccelOffset(self, target):
foc_conf = 0
if (target == 1):
foc_conf = (0x1 << definitions.FOC_ACC_Y_BIT)
elif (target == -1):
foc_conf = (0x2 << definitions.FOC_ACC_Y_BIT)
elif (target == 0):
foc_conf = (0x3 << definitions.FOC_ACC_Y_BIT)
else:
return # Invalid target value
self._reg_write(registers.FOC_CONF, foc_conf)
self._reg_write(registers.CMD, commands.START_FOC)
while (not (self._reg_read_bits(registers.STATUS, definitions.STATUS_FOC_RDY, 1))):
sleep_ms(1)
# Execute internal calibration to generate Accelerometer Z-Axis offset value.
# This populates the Accelerometer offset compensation value for the Z-Axis only.
# These can be retrieved using the getZAccelOffset() methods.
# Note that this procedure may take up to 250ms to complete.
#
# IMPORTANT: The user MUST ensure NO movement and correct orientation of the
# BMI160 device occurs while this auto-calibration process is active.
# For example, to calibrate to a target of +1g on the Z-axis, the BMI160 device
# must be resting horizontally as shown in Section 5.2 of the BMI160 Data Sheet.
#
# To enable offset compensation, @see setAccelOffsetEnabled()
#
# @param target Z-axis target value (0 = 0g, 1 = +1g, -1 = -1g)
# @see setAccelOffsetEnabled()
# @see getZAccelOffset()
# @see registers.FOC_CONF
# @see registers.CMD
def autoCalibrateZAccelOffset(self, target):
foc_conf = 0
if (target == 1):
foc_conf = (0x1 << definitions.FOC_ACC_Z_BIT)
elif (target == -1):
foc_conf = (0x2 << definitions.FOC_ACC_Z_BIT)
elif (target == 0):
foc_conf = (0x3 << definitions.FOC_ACC_Z_BIT)
else:
return # Invalid target value
self._reg_write(registers.FOC_CONF, foc_conf)
self._reg_write(registers.CMD, commands.START_FOC)
while (not (self._reg_read_bits(registers.STATUS, definitions.STATUS_FOC_RDY, 1))):
sleep_ms(1)
# Get offset compensation value for accelerometer X-axis data.
# The value is represented as an 8-bit two-complement number in
# units of 3.9mg per LSB.
# @see registers.OFFSET_0
def getXAccelOffset(self):
return self._reg_read(registers.OFFSET_0)
# Set offset compensation value for accelerometer X-axis data.
# This is used for applying manual calibration constants if required.
# For auto-calibration, @see autoCalibrateXAccelOffset().
# @see getXAccelOffset()
# @see registers.OFFSET_0
def setXAccelOffset(self, offset):
self._reg_write(registers.OFFSET_0, offset)
getAccelerationX() # Read and discard the next data value
# Get offset compensation value for accelerometer Y-axis data.
# The value is represented as an 8-bit two-complement number in
# units of 3.9mg per LSB.
# @see registers.OFFSET_1
def getYAccelOffset(self):
return self._reg_read(registers.OFFSET_1)
# Set offset compensation value for accelerometer Y-axis data.
# This is used for applying manual calibration constants if required.
# For auto-calibration, @see autoCalibrateYAccelOffset().
# @see getYAccelOffset()
# @see registers.OFFSET_1
def setYAccelOffset(self, offset):
self._reg_write(registers.OFFSET_1, offset)
getAccelerationY() # Read and discard the next data value
# Get offset compensation value for accelerometer Z-axis data.
# The value is represented as an 8-bit two-complement number in
# units of 3.9mg per LSB.
# @see registers.OFFSET_2
def getZAccelOffset(self):
return self._reg_read(registers.OFFSET_2)
# Set offset compensation value for accelerometer Z-axis data.
# This is used for applying manual calibration constants if required.
# For auto-calibration, @see autoCalibrateZAccelOffset().
# @see getZAccelOffset()
# @see registers.OFFSET_2
def setZAccelOffset(self, offset):
self._reg_write(registers.OFFSET_2, offset)
getAccelerationZ() # Read and discard the next data value
# Get gyroscope offset compensation enabled value.
# @see getXGyroOffset()
# @see registers.OFFSET_6
def getGyroOffsetEnabled(self):
return 0 != (self._reg_read_bits(registers.OFFSET_6, definitions.GYR_OFFSET_EN, 1))
# Set gyroscope offset compensation enabled value.
# @see getXGyroOffset()
# @see registers.OFFSET_6
def setGyroOffsetEnabled(self, enabled):
self._reg_write_bits(
registers.OFFSET_6, 0x1 if enabled else 0, definitions.GYR_OFFSET_EN, 1)
# Execute internal calibration to generate Gyro offset values.
# This populates the Gyro offset compensation values for all 3 axes.
# These can be retrieved using the get[X/Y/Z]GyroOffset() methods.
# Note that this procedure may take up to 250ms to complete.
#
# IMPORTANT: The user MUST ensure that NO rotation of the BMI160 device
# occurs while this auto-calibration process is active.
#
# To enable offset compensation, @see setGyroOffsetEnabled()
# @see setGyroOffsetEnabled()
# @see getXGyroOffset()
# @see getYGyroOffset()
# @see getZGyroOffset()
# @see registers.FOC_CONF
# @see registers.CMD
def autoCalibrateGyroOffset(self):
foc_conf = (1 << definitions.FOC_GYR_EN)
self._reg_write(registers.FOC_CONF, foc_conf)
self._reg_write(registers.CMD, commands.START_FOC)
while (not (self._reg_read_bits(registers.STATUS, definitions.STATUS_FOC_RDY, 1))):
sleep_ms(1)
# Get offset compensation value for gyroscope X-axis data.
# The value is represented as an 10-bit two-complement number in
# units of 0.061 degrees/s per LSB (sign-extended for type).
# @see registers.OFFSET_3
# @see registers.OFFSET_6
def getXGyroOffset(self):
offset = self._reg_read(registers.OFFSET_3)
offset |= (self._reg_read_bits(registers.OFFSET_6,
definitions.GYR_OFFSET_X_MSB_BIT, definitions.GYR_OFFSET_X_MSB_LEN)) << 8
return self._sign_extend(offset, 10)
# Set offset compensation value for gyroscope X-axis data.
# This is used for applying manual calibration constants if required.
# For auto-calibration, @see autoCalibrateGyroOffset().
# @see getXGyroOffset()
# @see registers.OFFSET_3
# @see registers.OFFSET_6
def setXGyroOffset(self, offset):
self._reg_write(registers.OFFSET_3, offset)
self._reg_write_bits(registers.OFFSET_6, offset >> 8,
definitions.GYR_OFFSET_X_MSB_BIT, definitions.GYR_OFFSET_X_MSB_LEN)
getRotationX() # Read and discard the next data value
# Get offset compensation value for gyroscope Y-axis data.
# The value is represented as an 10-bit two-complement number in
# units of 0.061 degrees/s per LSB (sign-extended for type).
# @see registers.OFFSET_4
# @see registers.OFFSET_6
def getYGyroOffset(self):
offset = self._reg_read(registers.OFFSET_4)
offset |= (self._reg_read_bits(registers.OFFSET_6,
definitions.GYR_OFFSET_Y_MSB_BIT, definitions.GYR_OFFSET_Y_MSB_LEN)) << 8
return self._sign_extend(offset, 10)
# Set offset compensation value for gyroscope Y-axis data.
# This is used for applying manual calibration constants if required.
# For auto-calibration, @see autoCalibrateGyroOffset().
# @see getYGyroOffset()
# @see registers.OFFSET_4
# @see registers.OFFSET_6
def setYGyroOffset(self, offset):
self._reg_write(registers.OFFSET_4, offset)
self._reg_write_bits(registers.OFFSET_6, offset >> 8,
definitions.GYR_OFFSET_Y_MSB_BIT, definitions.GYR_OFFSET_Y_MSB_LEN)
getRotationY() # Read and discard the next data value
# Get offset compensation value for gyroscope Z-axis data.
# The value is represented as an 10-bit two-complement number in
# units of 0.061 degrees/s per LSB (sign-extended for type).
# @see registers.OFFSET_5
# @see registers.OFFSET_6
def getZGyroOffset(self):
offset = self._reg_read(registers.OFFSET_5)
offset |= (self._reg_read_bits(registers.OFFSET_6,
definitions.GYR_OFFSET_Z_MSB_BIT, definitions.GYR_OFFSET_Z_MSB_LEN)) << 8
return self._sign_extend(offset, 10)
# Set offset compensation value for gyroscope Z-axis data.
# This is used for applying manual calibration constants if required.
# For auto-calibration, @see autoCalibrateGyroOffset().
# @see getZGyroOffset()
# @see registers.OFFSET_5
# @see registers.OFFSET_6
def setZGyroOffset(self, offset):
self._reg_write(registers.OFFSET_5, offset)
self._reg_write_bits(registers.OFFSET_6, offset >> 8,
definitions.GYR_OFFSET_Z_MSB_BIT, definitions.GYR_OFFSET_Z_MSB_LEN)
getRotationZ() # Read and discard the next data value
# Get free-fall event acceleration threshold.
# This register configures the detection threshold for Free Fall event
# detection. The unit of int_low_th is 1LSB = 7.81mg (min: 3.91mg). Free Fall
# is detected when the absolute value of the accelerometer measurements for the
# three axes are each less than the detection threshold. This condition
# triggers the Free-Fall (low-g) interrupt if the condition is maintained for
# the duration specified in the int_low_dur field of the INT_LOWHIGH[0]
# register (@see registers.INT_LOWHIGH_0)
#
# For more details on the Free Fall detection interrupt, see Section 2.6.7 of the
# BMI160 Data Sheet.
#
# @return Current free-fall acceleration threshold value (LSB = 7.81mg, 0 = 3.91mg)
# @see registers.INT_LOWHIGH_1
def getFreefallDetectionThreshold(self):
return self._reg_read(registers.INT_LOWHIGH_1)
# Set free-fall event acceleration threshold.
# @param threshold New free-fall acceleration threshold value (LSB = 7.81mg, 0 = 3.91mg)
# @see getFreefallDetectionThreshold()
# @see registers.INT_LOWHIGH_1
def setFreefallDetectionThreshold(self, threshold):
self._reg_write(registers.INT_LOWHIGH_1, threshold)
# Get free-fall event duration threshold.
# This register configures the duration threshold for Free Fall event
# detection. The int_low_dur field of the INT_LOWHIGH[0] register has a unit
# of 1 LSB = 2.5 ms (minimum 2.5ms).
#
# For more details on the Free Fall detection interrupt, see Section 2.6.7 of
# the BMI160 Data Sheet.
#
# @return Current free-fall duration threshold value (LSB = 2.5ms, 0 = 2.5ms)
# @see registers.INT_LOWHIGH_0
def getFreefallDetectionDuration(self):
return self._reg_read(registers.INT_LOWHIGH_0)
# Set free-fall event duration threshold.
# @param duration New free-fall duration threshold value (LSB = 2.5ms, 0 = 2.5ms)
# @see getFreefallDetectionDuration()
# @see registers.INT_LOWHIGH_0
def setFreefallDetectionDuration(self, duration):
self._reg_write(registers.INT_LOWHIGH_0, duration)
# Get shock event acceleration threshold.
# This register configures the detection threshold for Shock event
# detection. The unit of threshold is dependent on the accelerometer
# sensitivity range (@see getFullScaleAccelRange()):
#
# <pre>
# Full Scale Range | LSB Resolution
# -----------------+----------------
# +/- 2g | 7.81 mg/LSB (0 = 3.91mg)
# +/- 4g | 15.63 mg/LSB (0 = 7.81mg)
# +/- 8g | 31.25 mg/LSB (0 = 15.63mg)
# +/- 16g | 62.50 mg/LSB (0 = 31.25mg)
# </pre>
#
# Shock is detected when the absolute value of the accelerometer measurements
# for any of the three axes exceeds the detection threshold. This condition
# triggers the Shock (high-g) interrupt if the condition is maintained without
# a sign-change for the duration specified in the int_high_dur field of the
# INT_LOWHIGH[3] register (@see registers.INT_LOWHIGH_3).
#
# For more details on the Shock (high-g) detection interrupt, see Section 2.6.8 of the
# BMI160 Data Sheet.
#
# @return Current shock acceleration threshold value
# @see registers.INT_LOWHIGH_4
def getShockDetectionThreshold(self):
return self._reg_read(registers.INT_LOWHIGH_4)
# Set shock event acceleration threshold.
# @param threshold New shock acceleration threshold value
# @see getShockDetectionThreshold()
# @see registers.INT_LOWHIGH_4
def setShockDetectionThreshold(self, threshold):
self._reg_write(registers.INT_LOWHIGH_4, threshold)
# Get shock event duration threshold.
# This register configures the duration threshold for Shock event
# detection. The int_high_dur field of the INT_LOWHIGH[3] register has a unit
# of 1 LSB = 2.5 ms (minimum 2.5ms).
#
# For more details on the Shock detection interrupt, see Section 2.6.8 of
# the BMI160 Data Sheet.
#
# @return Current shock duration threshold value (LSB = 2.5ms, 0 = 2.5ms)
# @see registers.INT_LOWHIGH_3
def getShockDetectionDuration(self):
return self._reg_read(registers.INT_LOWHIGH_3)
# Set free-fall event duration threshold.
# @param duration New free-fall duration threshold value (LSB = 2.5ms, 0 = 2.5ms)
# @see getFreefallDetectionDuration()
# @see registers.INT_LOWHIGH_3
def setShockDetectionDuration(self, duration):
self._reg_write(registers.INT_LOWHIGH_3, duration)
# Get Step Detection mode.
# Returns an enum value which corresponds to current mode
# 0 = Normal Mode
# 1 = Sensitive Mode
# 2 = Robust Mode
# 3 = Unkown Mode
# For more details on the Step Detection, see Section
# 2.11.37 of the BMI160 Data Sheet.
#
# @return Current configuration of the step detector
# @see registers.STEP_CONF_0
# @see registers.STEP_CONF_1
def getStepDetectionMode(self):
ret_step_conf0 = 0
ret_min_step_buf = 0
ret_step_conf0 = self._reg_read(registers.STEP_CONF_0)
# min_step_buf is the first 3 bits of RA_STEP_CONF_1
# the 4th bit is the enable bit (step_cnt_en)
ret_min_step_buf = self._reg_read_bits(registers.STEP_CONF_1, 0, 3)
if ((ret_step_conf0 == registers.STEP_CONF_0_NOR) and (ret_min_step_buf == registers.STEP_CONF_1_NOR)):
return definitions.STEP_MODE_NORMAL
elif ((ret_step_conf0 == registers.STEP_CONF_0_SEN) and (ret_min_step_buf == registers.STEP_CONF_1_SEN)):
return definitions.STEP_MODE_SENSITIVE
elif ((ret_step_conf0 == registers.STEP_CONF_0_ROB) and (ret_min_step_buf == registers.STEP_CONF_1_ROB)):
return definitions.STEP_MODE_ROBUST
else:
return definitions.STEP_MODE_UNKNOWN
# Set Step Detection mode.
# Sets the step detection mode to one of 3 predefined sensitivity settings:
#
# @see definitions.STEP_MODE_NORMAL (Recommended for most applications)
# @see definitions.STEP_MODE_SENSITIVE
# @see definitions.STEP_MODE_ROBUST
#
# Please refer to Section 2.11.37 of the BMI160 Data Sheet for more information
# on Step Detection configuration.
#
# @return Set Step Detection mode
# @see registers.STEP_CONF_0
# @see registers.STEP_CONF_1
# @see BMI160StepMode
def setStepDetectionMode(self, mode):
step_conf0 = 0
min_step_buf = 0
# Applying pre-defined values suggested in data-sheet Section 2.11.37
if definitions.STEP_MODE_NORMAL == mode:
step_conf0 = 0x15
min_step_buf = 0x3
elif definitions.STEP_MODE_SENSITIVE == mode:
step_conf0 = 0x2D
min_step_buf = 0x0
elif definitions.STEP_MODE_ROBUST == mode:
step_conf0 = 0x1D
min_step_buf = 0x7
else:
# Unrecognised mode option
return
self._reg_write(registers.STEP_CONF_0, step_conf0)
self._reg_write_bits(registers.STEP_CONF_1, min_step_buf,
definitions.STEP_BUF_MIN_BIT, definitions.STEP_BUF_MIN_LEN)
# Get Step Counter enabled status.
# Once enabled and configured correctly (@see setStepDetectionMode()), the
# BMI160 will increment a counter for every step detected by the accelerometer.
# To retrieve the current step count, @see getStepCount().
#
# For more details on the Step Counting feature, see Section
# 2.7 of the BMI160 Data Sheet.
#
# @return Current Step Counter enabled status
# @see registers.STEP_CONF_1
# @see definitions.STEP_CNT_EN_BIT
def getStepCountEnabled(self):
return 0 != (self._reg_read_bits(registers.STEP_CONF_1, definitions.STEP_CNT_EN_BIT, 1))
# Set Step Counter enabled status.
#
# @return Set Step Counter enabled
# @see getStepCountEnabled()
# @see registers.STEP_CONF_1
# @see definitions.STEP_CNT_EN_BIT
def setStepCountEnabled(self, enabled):
return self._reg_write_bits(registers.STEP_CONF_1, 0x1 if enabled else 0, definitions.STEP_CNT_EN_BIT, 1)
# Get current number of detected step movements (Step Count).
# Returns a step counter which is incremented when step movements are detected
# (assuming Step Detection mode and Step Counter are configured/enabled).
#
# @return Number of steps as an unsigned 16-bit integer
# @see setStepCountEnabled()
# @see setStepDetectionMode()
# @see registers.STEP_CNT_L
def getStepCount(self):
buffer = [0]*2
buffer[0] = self._reg_read(registers.STEP_CNT_L)
buffer[1] = self._reg_read(registers.STEP_CNT_H)
return ((buffer[1]) << 8) | buffer[0]
# Resets the current number of detected step movements (Step Count) to 0.
#
# @see getStepCount()
# @see registers.CMD
def resetStepCount(self):
self._reg_write(registers.CMD, commands.STEP_CNT_CLR)
# Get motion detection event acceleration threshold.
# This register configures the detection threshold for Motion interrupt
# generation in the INT_MOTION[1] register. The unit of threshold is
# dependent on the accelerometer sensitivity range (@see
# getFullScaleAccelRange()):
#
# <pre>
# Full Scale Range | LSB Resolution
# -----------------+----------------
# +/- 2g | 3.91 mg/LSB
# +/- 4g | 7.81 mg/LSB
# +/- 8g | 15.63 mg/LSB
# +/- 16g | 31.25 mg/LSB
# </pre>
#
# Motion is detected when the difference between the absolute value of
# consecutive accelerometer measurements for the 3 axes exceeds this Motion
# detection threshold. This condition triggers the Motion interrupt if the
# condition is maintained for the sample count interval specified in the
# int_anym_dur field of the INT_MOTION[0] register (@see registers.INT_MOTION_0)
#
# The Motion interrupt will indicate the axis and polarity of detected motion
# in INT_STATUS[2] (@see registers.INT_STATUS_2).
#
# For more details on the Motion detection interrupt, see Section 2.6.1 of the
# BMI160 Data Sheet.
#
# @return Current motion detection acceleration threshold value
# @see getMotionDetectionDuration()
# @see registers.INT_MOTION_1
def getMotionDetectionThreshold(self):
return self._reg_read(registers.INT_MOTION_1)
# Set motion detection event acceleration threshold.
# @param threshold New motion detection acceleration threshold value
# @see getMotionDetectionThreshold()
# @see registers.INT_MOTION_1
def setMotionDetectionThreshold(self, threshold):
return self._reg_write(registers.INT_MOTION_1, threshold)
# Get motion detection event duration threshold.
# This register configures the duration counter threshold for Motion interrupt
# generation, as a number of consecutive samples (from 1-4). The time
# between samples depends on the accelerometer Output Data Rate
# (@see get_accel_rate()).
#
# The Motion detection interrupt is triggered when the difference between
# samples exceeds the Any-Motion interrupt threshold for the number of
# consecutive samples specified here.
#
# For more details on the Motion detection interrupt, see Section 2.6.1 of the
# BMI160 Data Sheet.
#
# @return Current motion detection duration threshold value (#samples [1-4])
# @see getMotionDetectionThreshold()
# @see registers.INT_MOTION_0
def getMotionDetectionDuration(self):
return 1 + self._reg_read_bits(registers.INT_MOTION_0, definitions.ANYMOTION_DUR_BIT, definitions.ANYMOTION_DUR_LEN)
# Set motion detection event duration threshold.
# @param duration New motion detection duration threshold value (#samples [1-4])
# @see getMotionDetectionDuration()
# @see registers.INT_MOTION_0
def setMotionDetectionDuration(self, samples):
self._reg_write_bits(registers.INT_MOTION_0, samples - 1,
definitions.ANYMOTION_DUR_BIT, definitions.ANYMOTION_DUR_LEN)
# Get zero motion detection event acceleration threshold.
# This register configures the detection threshold for Zero Motion interrupt
# generation in the INT_MOTION[1] register. The unit of threshold is
# dependent on the accelerometer sensitivity range
# (@see getFullScaleAccelRange()) as follows:
#
# <pre>
# Full Scale Range | LSB Resolution
# -----------------+----------------
# +/- 2g | 3.91 mg/LSB
# +/- 4g | 7.81 mg/LSB
# +/- 8g | 15.63 mg/LSB
# +/- 16g | 31.25 mg/LSB
# </pre>
#
# Zero Motion is detected when the difference between the value of
# consecutive accelerometer measurements for each axis remains smaller than
# this Motion detection threshold. This condition triggers the Zero Motion
# interrupt if the condition is maintained for a time duration
# specified in the int_slo_no_mot_dur field of the INT_MOTION[0] register (@see
# registers.INT_MOTION_0), and clears the interrupt when the condition is
# then absent for the same duration.
#
# For more details on the Zero Motion detection interrupt, see Section 2.6.9 of
# the BMI160 Data Sheet.
#
# @return Current zero motion detection acceleration threshold value
# @see getZeroMotionDetectionDuration()
# @see registers.INT_MOTION_2
def getZeroMotionDetectionThreshold(self):
return self._reg_read(registers.INT_MOTION_2)
# Set zero motion detection event acceleration threshold.
# @param threshold New zero motion detection acceleration threshold value
# @see getZeroMotionDetectionThreshold()
# @see registers.INT_MOTION_2
def setZeroMotionDetectionThreshold(self, threshold):
self._reg_write(registers.INT_MOTION_2, threshold)
# Get zero motion detection event duration threshold.
# This register configures the duration time for Zero Motion interrupt
# generation. A time range between 1.28s and 430.08s can be selected, but the
# granularity of the timing reduces as the duration increases:
#
# <pre>
# Duration | Granularity
# -------------------+----------------
# [1.28 - 20.48]s | 1.28s
# [25.6 - 102.4]s | 5.12s
# [112.64 - 430.08]s | 10.24s
# </pre>
#
# The Zero Motion interrupt is triggered when the Zero Motion condition is
# maintained for the duration specified in this register.
#
# For more details on the Zero Motion detection interrupt, see Section 2.6.9 of
# the BMI160 Data Sheet.
#
# @return Current zero motion detection duration threshold value
# @see BMI160ZeroMotionDuration for a list of possible values
# @see getZeroMotionDetectionThreshold()
# @see registers.INT_MOTION_0
# @see BMI160ZeroMotionDuration
def getZeroMotionDetectionDuration(self):
return self._reg_read_bits(registers.INT_MOTION_0, definitions.NOMOTION_DUR_BIT, definitions.NOMOTION_DUR_LEN)
# Set zero motion detection event duration threshold.
#
# This must be called at least once to enable zero-motion detection.
#
# @param duration New zero motion detection duration threshold value
# @see BMI160ZeroMotionDuration for a list of valid values
# @see getZeroMotionDetectionDuration()
# @see registers.INT_MOTION_0
# @see BMI160ZeroMotionDuration
def setZeroMotionDetectionDuration(self, duration):
self._reg_write_bits(registers.INT_MOTION_0, duration,
definitions.NOMOTION_DUR_BIT, definitions.NOMOTION_DUR_LEN)
# Get Tap event acceleration threshold.
# This register configures the detection threshold for Tap event
# detection. The threshold is expressed a 5-bit unsigned integer.
# The unit of threshold is dependent on the accelerometer
# sensitivity range (@see getFullScaleAccelRange()):
#
# <pre>
# Full Scale Range | LSB Resolution
# -----------------+----------------
# +/- 2g | 62.5 mg/LSB (0 = 31.25mg)
# +/- 4g | 125.0 mg/LSB (0 = 62.5mg)
# +/- 8g | 250.0 mg/LSB (0 = 125.0mg)
# +/- 16g | 500.0 mg/LSB (0 = 250.0mg)
# </pre>
#
# A Tap is detected as a shock event which exceeds the detection threshold for
# a specified duration. A threshold between 0.7g and 1.5g in the 2g
# measurement range is suggested for typical tap detection applications.
#
# For more details on the Tap detection interrupt, see Section 2.6.4 of the
# BMI160 Data Sheet.
#
# @return Current shock acceleration threshold value
# @see registers.INT_TAP_1
def getTapDetectionThreshold(self):
return self._reg_read_bits(registers.INT_TAP_1, definitions.TAP_THRESH_BIT, definitions.TAP_THRESH_LEN)
# Set tap event acceleration threshold.
# @param threshold New tap acceleration threshold value
# @see getTapDetectionThreshold()
# @see registers.INT_TAP_1
def setTapDetectionThreshold(self, threshold):
self._reg_write_bits(registers.INT_TAP_1, threshold,
definitions.TAP_THRESH_BIT, definitions.TAP_THRESH_LEN)
# Get tap shock detection duration.
# This register configures the duration for a tap event generation.
#
# The time will be returned as a 1-bit boolean, with the following
# values (@see BMI160TapShockDuration)
#
# <pre>
# duration specifier | duration threshold
# -------------------+----------------
# 0b0 | 50ms
# 0b1 | 75ms
# </pre>
#
# For more details on the Tap detection interrupt, see Section 2.6.4 of the
# BMI160 Data Sheet.
#
# @return Current tap detection duration threshold value
# @see registers.INT_TAP_0
# @see BMI160TapShockDuration
def getTapShockDuration(self):
return 0 != (self._reg_read_bits(registers.INT_TAP_0, definitions.TAP_SHOCK_BIT, 1))
# Set tap shock detection event duration threshold.
#
# @param units New tap detection duration threshold value
# @see getTapShockDetectionDuration()
# @see registers.INT_TAP_0
def setTapShockDuration(self, duration):
self._reg_write_bits(
registers.INT_TAP_0, 0x1 if duration else 0, definitions.TAP_SHOCK_BIT, 1)
# Get tap quiet duration threshold.
# This register configures the quiet duration for double-tap event detection.
#
# The time will be returned as a 1-bit boolean, with the following
# values (@see BMI160TapQuietDuration)
#
# <pre>
# duration specifier | duration threshold
# -------------------+----------------
# 0b0 | 30ms
# 0b1 | 20ms
# </pre>
#
# For more details on the Tap detection interrupt, see Section 2.6.4 of the
# BMI160 Data Sheet.
#
# @return Current tap quiet detection duration threshold value
# @see registers.INT_TAP_0
# @see BMI160TapQuietDuration
def getTapQuietDuration(self):
return 0 != (self._reg_read_bits(registers.INT_TAP_0, definitions.TAP_QUIET_BIT, 1))
# Set tap quiet duration threshold.
#
# @param units New tap detection duration threshold value
# @see getTapQuietDuration()
# @see registers.INT_TAP_0
def setTapQuietDuration(self, duration):
self._reg_write_bits(
registers.INT_TAP_0, 0x1 if duration else 0, definitions.TAP_QUIET_BIT, 1)
# Get double-tap detection time window length.
# This register configures the length of time window between 2 tap events for
# double-tap event generation.
#
# The time will be returned as a 3-bit unsigned integer, with the following
# values (@see BMI160DoubleTapDuration)
#
# <pre>
# duration specifier | length of time window
# -------------------+----------------
# 0b000 | 50ms
# 0b001 | 100ms
# 0b010 | 150ms
# 0b011 | 200ms
# 0b100 | 250ms
# 0b101 | 375ms
# 0b110 | 500ms
# 0b111 | 700ms
# </pre>
#
# For more details on the Tap detection interrupt, see Section 2.6.4 of the
# BMI160 Data Sheet.
#
# @return Current double-tap detection time window threshold value
# @see registers.INT_TAP_0
# @see BMI160DoubleTapDuration
def getDoubleTapDetectionDuration(self):
return self._reg_read_bits(registers.INT_TAP_0, definitions.TAP_DUR_BIT, definitions.TAP_DUR_LEN)
# Set double-tap detection event duration threshold.
#
# @param duration New double-tap detection time window threshold value
# @see getDoubleTapDetectionDuration()
# @see registers.INT_TAP_0
def setDoubleTapDetectionDuration(self, duration):
self._reg_write_bits(registers.INT_TAP_0, duration,
definitions.TAP_DUR_BIT, definitions.TAP_DUR_LEN)
# Get Free Fall interrupt enabled status.
# Will be set 0 for disabled, 1 for enabled.
# @return Current interrupt enabled status
# @see registers.INT_EN_1
# @see definitions.LOW_G_EN_BIT
# */
def getIntFreefallEnabled(self):
return 0 != (self._reg_read_bits(registers.INT_EN_1, definitions.LOW_G_EN_BIT, definitions.LOW_G_EN_LEN))
# Set Free Fall interrupt enabled status.
# @param enabled New interrupt enabled status
# @see getIntFreefallEnabled()
# @see registers.INT_EN_1
# @see definitions.LOW_G_EN_BIT
# */
def setIntFreefallEnabled(self, enabled):
self._reg_write_bits(registers.INT_EN_1, 0x1 if enabled else 0,
durationdefinitions.LOW_G_EN_BIT, durationdefinitions.LOW_G_EN_LEN)
# Get Shock interrupt enabled status.
# Will be set 0 for disabled, 1 for enabled.
# @return Current interrupt enabled status
# @see registers.INT_EN_1
# @see definitions.HIGH_G_EN_BIT
# */
def getIntShockEnabled(self):
return 0 != (self._reg_read_bits(registers.INT_EN_1, definitions.HIGH_G_EN_BIT, definitions.HIGH_G_EN_LEN))
# Set Shock interrupt enabled status.
# @param enabled New interrupt enabled status
# @see getIntShockEnabled()
# @see registers.INT_EN_1
# @see definitions.HIGH_G_EN_BIT
# */
def setIntShockEnabled(self, enabled):
self._reg_write_bits(registers.INT_EN_1, 0x7 if enabled else 0x0,
definitions.HIGH_G_EN_BIT, definitions.HIGH_G_EN_LEN)
# Get Step interrupt enabled status.
# Will be set 0 for disabled, 1 for enabled.
# @return Current interrupt enabled status
# @see registers.INT_EN_2
# @see definitions.STEP_EN_BIT
# */
def getIntStepEnabled(self):
return 0 != (self._reg_read_bits(registers.INT_EN_2, definitions.STEP_EN_BIT, 1))
# Set Step interrupt enabled status.
# @param enabled New interrupt enabled status
# @see getIntStepEnabled()
# @see registers.INT_EN_2
# @see definitions.STEP_EN_BIT
# */
def setIntStepEnabled(self, enabled):
self._reg_write_bits(
registers.INT_EN_2, 0x1 if enabled else 0x0, definitions.STEP_EN_BIT, 1)
# Get Motion Detection interrupt enabled status.
# Will be set 0 for disabled, 1 for enabled.
# @return Current interrupt enabled status
# @see registers.INT_EN_0
# @see definitions.ANYMOTION_EN_BIT
# */
def getIntMotionEnabled(self):
return 0 != (self._reg_read_bits(registers.INT_EN_0, definitions.ANYMOTION_EN_BIT, definitions.ANYMOTION_EN_LEN))
# Set Motion Detection interrupt enabled status.
# @param enabled New interrupt enabled status
# @see getIntMotionEnabled()
# @see registers.INT_EN_0
# @see definitions.ANYMOTION_EN_BIT
# */
def setIntMotionEnabled(self, enabled):
# Enable for all 3 axes
self._reg_write_bits(registers.INT_EN_0, 0x7 if enabled else 0x0,
definitions.ANYMOTION_EN_BIT, definitions.ANYMOTION_EN_LEN)
# Get Zero Motion Detection interrupt enabled status.
# Will be set 0 for disabled, 1 for enabled.
# @return Current interrupt enabled status
# @see registers.INT_EN_2
# @see definitions.NOMOTION_EN_BIT
# */
def getIntZeroMotionEnabled(self):
return 0 != (self._reg_read_bits(registers.INT_EN_2, definitions.NOMOTION_EN_BIT, definitions.NOMOTION_EN_LEN))
# Set Zero Motion Detection interrupt enabled status.
# @param enabled New interrupt enabled status
# @see getIntZeroMotionEnabled()
# @see registers.INT_EN_2
# @see definitions.NOMOTION_EN_BIT
# @see registers.INT_MOTION_3
# */
def setIntZeroMotionEnabled(self, enabled):
if (enabled):
# Select No-Motion detection mode
self._reg_write_bits(registers.INT_MOTION_3, 0x1,
definitions.NOMOTION_SEL_BIT, definitions.NOMOTION_SEL_LEN)
# Enable for all 3 axes
self._reg_write_bits(registers.INT_EN_2, 0x7 if enabled else 0x0,
definitions.NOMOTION_EN_BIT, definitions.NOMOTION_EN_LEN)
# Get Tap Detection interrupt enabled status.
# Will be set 0 for disabled, 1 for enabled.
# @return Current interrupt enabled status
# @see registers.INT_EN_0
# @see definitions.S_TAP_EN_BIT
# */
def getIntTapEnabled(self):
return 0 != (self._reg_read_bits(registers.INT_EN_0, definitions.S_TAP_EN_BIT, 1))
# Set Tap Detection interrupt enabled status.
# @param enabled New interrupt enabled status
# @see getIntTapEnabled()
# @see registers.INT_EN_0
# @see definitions.S_TAP_EN_BIT
# */
def setIntTapEnabled(self, enabled):
self._reg_write_bits(
registers.INT_EN_0, 0x1 if enabled else 0, definitions.S_TAP_EN_BIT, 1)
# Get Tap Detection interrupt enabled status.
# Will be set 0 for disabled, 1 for enabled.
# @return Current interrupt enabled status
# @see registers.INT_EN_0
# @see definitions.D_TAP_EN_BIT
# */
def getIntDoubleTapEnabled(self):
return 0 != (self._reg_read_bits(registers.INT_EN_0, definitions.D_TAP_EN_BIT, 1))
# Set Tap Detection interrupt enabled status.
# @param enabled New interrupt enabled status
# @see getIntTapEnabled()
# @see registers.INT_EN_0
# @see definitions.D_TAP_EN_BIT
# */
def setIntDoubleTapEnabled(self, enabled):
self._reg_write_bits(
registers.INT_EN_0, 0x1 if enabled else 0, definitions.D_TAP_EN_BIT, 1)
# Get FIFO Buffer Full interrupt enabled status.
# Will be set 0 for disabled, 1 for enabled.
# @return Current interrupt enabled status
# @see registers.INT_EN_1
# @see definitions.FFULL_EN_BIT
# */
def getIntFIFOBufferFullEnabled(self):
return 0 != (self._reg_read_bits(registers.INT_EN_1, definitions.FFULL_EN_BIT, 1))
# Set FIFO Buffer Full interrupt enabled status.
# @param enabled New interrupt enabled status
# @see getIntFIFOBufferFullEnabled()
# @see registers.INT_EN_1
# @see definitions.FFULL_EN_BIT
# */
def setIntFIFOBufferFullEnabled(self, enabled):
self._reg_write_bits(
registers.INT_EN_1, 0x1 if enabled else 0x0, definitions.FFULL_EN_BIT, 1)
# Get Data Ready interrupt enabled setting.
# This event occurs each time a write operation to all of the sensor registers
# has been completed. Will be set 0 for disabled, 1 for enabled.
# @return Current interrupt enabled status
# @see registers.INT_EN_1
# @see definitions.DRDY_EN_BIT
def getIntDataReadyEnabled(self):
return 0 != (self._reg_read_bits(registers.INT_EN_1, definitions.DRDY_EN_BIT, 1))
# Set Data Ready interrupt enabled status.
# @param enabled New interrupt enabled status
# @see getIntDataReadyEnabled()
# @see registers.INT_EN_1
# @see definitions.DRDY_EN_BIT
def setIntDataReadyEnabled(self, enabled):
self._reg_write_bits(
registers.INT_EN_1, 0x1 if enabled else 0x0, definitions.DRDY_EN_BIT, 1)
# Get accelerometer FIFO enabled value.
# When set to 1, this bit enables accelerometer data samples to be
# written into the FIFO buffer.
# @return Current accelerometer FIFO enabled value
# @see registers.FIFO_CONFIG_1
def getAccelFIFOEnabled(self):
return 0 != (self._reg_read_bits(registers.FIFO_CONFIG_1, definitions.FIFO_ACC_EN_BIT, 1))
# Set accelerometer FIFO enabled value.
# @param enabled New accelerometer FIFO enabled value
# @see getAccelFIFOEnabled()
# @see registers.FIFO_CONFIG_1
def setAccelFIFOEnabled(self, enabled):
self._reg_write_bits(
registers.FIFO_CONFIG_1, 0x1 if enabled else 0, definitions.FIFO_ACC_EN_BIT, 1)
# Get gyroscope FIFO enabled value.
# When set to 1, this bit enables gyroscope data samples to be
# written into the FIFO buffer.
# @return Current gyroscope FIFO enabled value
# @see registers.FIFO_CONFIG_1
def getGyroFIFOEnabled(self):
return 0 != (self._reg_read_bits(registers.FIFO_CONFIG_1, definitions.FIFO_GYR_EN_BIT, 1))
# Set gyroscope FIFO enabled value.
# @param enabled New gyroscope FIFO enabled value
# @see getGyroFIFOEnabled()
# @see registers.FIFO_CONFIG_1
def setGyroFIFOEnabled(self, enabled):
self._reg_write_bits(
registers.FIFO_CONFIG_1, 0x1 if enabled else 0, definitions.FIFO_GYR_EN_BIT, 1)
# Get current FIFO buffer size.
# This value indicates the number of bytes stored in the FIFO buffer. This
# number is in turn the number of bytes that can be read from the FIFO buffer.
#
# In "headerless" FIFO mode, it is directly proportional to the number of
# samples available given the set of sensor data bound to be stored in the
# FIFO. See @ref getFIFOHeaderModeEnabled().
#
# @return Current FIFO buffer size
# @see registers.FIFO_LENGTH_0
def getFIFOCount(self):
buffer = [0]*2
buffer[0] = registers.FIFO_LENGTH_0
return ((buffer[1]) << 8) | buffer[0]
# Reset the FIFO.
# This command clears all data in the FIFO buffer. It is recommended
# to invoke this after reconfiguring the FIFO.
#
# @see registers.CMD
# @see commands.FIFO_FLUSH
def resetFIFO(self):
self._reg_write(registers.CMD, commands.FIFO_FLUSH)
# Reset the Interrupt controller.
# This command clears interrupt status registers and latched interrupts.
#
# @see registers.CMD
# @see commands.FIFO_FLUSH
def resetInterrupt(self):
self._reg_write(registers.CMD, commands.INT_RESET)
# Get FIFO Header-Mode enabled status.
# When this bit is set to 0, the FIFO header-mode is disabled, and frames
# read from the FIFO will be headerless (raw sensor data only).
# When this bit is set to 1, the FIFO header-mode is enabled, and frames
# read from the FIFO will include headers.
#
# For more information on the FIFO modes and data formats, please refer
# to Section 2.5 of the BMI160 Data Sheet.
#
# @return Current FIFO Header-Mode enabled status
# @see registers.FIFO_CONFIG_1
# @see definitions.FIFO_HEADER_EN_BIT
def getFIFOHeaderModeEnabled(self):
return 0 != (self._reg_read_bits(registers.FIFO_CONFIG_1, definitions.FIFO_HEADER_EN_BIT, 1))
# Set FIFO Header-Mode enabled status.
# @param enabled New FIFO Header-Mode enabled status
# @see getFIFOHeaderModeEnabled()
# @see registers.FIFO_CONFIG_1
# @see definitions.FIFO_HEADER_EN_BIT
def setFIFOHeaderModeEnabled(self, enabled):
self._reg_write_bits(
registers.FIFO_CONFIG_1, 0x1 if enabled else 0, definitions.FIFO_HEADER_EN_BIT, 1)
# Get data frames from FIFO buffer.
# This register is used to read and write data frames from the FIFO buffer.
# Data is written to the FIFO in order of DATA register number (from lowest
# to highest) corresponding to the FIFO data sources enabled (@see
# getGyroFIFOEnabled() and getAccelFIFOEnabled()).
#
# The data frame format depends on the enabled data sources and also on
# the FIFO header-mode setting (@see getFIFOHeaderModeEnabled()).
#
# It is strongly recommended, where possible, to read whole frames from the
# FIFO. Partially-read frames will be repeated until fully read out.
#
# If the FIFO buffer has filled to the powhere subsequent writes may
# cause data loss, the status bit ffull_is automatically set to 1. This bit
# is located in INT_STATUS[1]. When the FIFO buffer has overflowed, the oldest
# data will be lost and new data will be written to the FIFO.
#
# If the FIFO buffer is empty, reading this register will return a magic number
# (@see definitions.FIFO_DATA_INVALID) until new data is available. The user should
# check FIFO_LENGTH to ensure that the FIFO buffer is not read when empty (see
# @getFIFOCount()).
#
# @return Data frames from FIFO buffer
def getFIFOBytes(self, *data, length):
# TODO fix here
if (length):
data[0] = registers.FIFO_DATA
# Get full set of interrupt status bits from INT_STATUS[0] register.
# Interrupts are typically cleared automatically.
# Please refer to the BMI160 Data Sheet for more information.
# @return Current interrupt status
# @see registers.INT_STATUS_0
def getIntStatus0(self):
return self._reg_read(registers.INT_STATUS_0)
# Get full set of interrupt status bits from INT_STATUS[1] register.
# Interrupts are typically cleared automatically.
# Please refer to the BMI160 Data Sheet for more information.
# @return Current interrupt status
# @see registers.INT_STATUS_1
def getIntStatus1():
return self._reg_read(registers.INT_STATUS_1)
# Get full set of interrupt status bits from INT_STATUS[2] register.
# Interrupts are typically cleared automatically.
# Please refer to the BMI160 Data Sheet for more information.
# @return Current interrupt status
# @see registers.INT_STATUS_2
def getIntStatus2(self):
return self._reg_read(registers.INT_STATUS_2)
# Get full set of interrupt status bits from INT_STATUS[3] register.
# Interrupts are typically cleared automatically.
# Please refer to the BMI160 Data Sheet for more information.
# @return Current interrupt status
# @see registers.INT_STATUS_3
def getIntStatus3(self):
return self._reg_read(registers.INT_STATUS_3)
# Get Free Fall interrupt status.
# This bit automatically sets to 1 when a Free Fall condition
# is present, and clears when the condition is no longer present.
#
# For more details on the Free-Fall (Low-G) detection interrupt, see Section
# 2.6.7 of the BMI160 Data Sheet.
#
# @return Current interrupt status
# @see registers.INT_STATUS_1
# @see definitions.LOW_G_INT_BIT
def getIntFreefallStatus(self):
return 0 != (self._reg_read_bits(registers.INT_STATUS_1, definitions.LOW_G_INT_BIT, 1))
# Get Tap Detection interrupt status.
# This bit automatically sets to 1 when a Tap Detection condition
# is present, and clears when the condition is no longer present.
#
# For more details on the Tap detection interrupt, see Section 2.6.4 of the
# BMI160 Data Sheet.
#
# @return Current interrupt status
# @see registers.INT_STATUS_0
# @see definitions.S_TAP_INT_BIT
def getIntTapStatus(self):
return 0 != (self._reg_read_bits(registers.INT_STATUS_0, definitions.S_TAP_INT_BIT, 1))
# Get Double-Tap Detection interrupt status.
# This bit automatically sets to 1 when a Double-Tap Detection condition
# is present, and clears when the condition is no longer present.
#
# For more details on the Double-Tap detection interrupt, see Section 2.6.4 of the
# BMI160 Data Sheet.
#
# @return Current interrupt status
# @see registers.INT_STATUS_0
# @see definitions.D_TAP_INT_BIT
def getIntDoubleTapStatus(self):
return 0 != (self._reg_read_bits(registers.INT_STATUS_0, definitions.D_TAP_INT_BIT, 1))
# Get Shock interrupt status.
# This bit automatically sets to 1 when a Shock (High-G) Detection condition
# is present, and clears when the condition is no longer present.
#
# For more details on the Shock (High-G) detection interrupt, see Section
# 2.6.8 of the BMI160 Data Sheet.
#
# @return Current interrupt status
# @see registers.INT_STATUS_1
# @see definitions.HIGH_G_INT_BIT
def getIntShockStatus(self):
return 0 != (self._reg_read_bits(registers.INT_STATUS_1, definitions.HIGH_G_INT_BIT, 1))
# Check if shock interrupt was triggered by negative X-axis motion
# @return Shock detection status
# @see registers.INT_STATUS_3
# @see definitions.HIGH_G_SIGN_BIT
# @see definitions.HIGH_G_1ST_X_BIT
def getXNegShockDetected(self):
status = self._reg_read(registers.INT_STATUS_3)
return 0 != ((status & (1 << definitions.HIGH_G_SIGN_BIT)) and (status & (1 << definitions.HIGH_G_1ST_X_BIT)))
# Check if shock interrupt was triggered by positive X-axis motion
# @return Shock detection status
# @see registers.INT_STATUS_3
# @see definitions.HIGH_G_SIGN_BIT
# @see definitions.HIGH_G_1ST_X_BIT
def getXPosShockDetected(self):
status = self._reg_read(registers.INT_STATUS_3)
return 0 != (not (status & (1 << definitions.HIGH_G_SIGN_BIT)) and (status & (1 << definitions.HIGH_G_1ST_X_BIT)))
# Check if shock interrupt was triggered by negative Y-axis motion
# @return Shock detection status
# @see registers.INT_STATUS_3
# @see definitions.HIGH_G_SIGN_BIT
# @see definitions.HIGH_G_1ST_Y_BIT
def getYNegShockDetected(self):
status = self._reg_read(registers.INT_STATUS_3)
return 0 != ((status & (1 << definitions.HIGH_G_SIGN_BIT)) and (status & (1 << definitions.HIGH_G_1ST_Y_BIT)))
# Check if shock interrupt was triggered by positive Y-axis motion
# @return Shock detection status
# @see registers.INT_STATUS_3
# @see definitions.HIGH_G_SIGN_BIT
# @see definitions.HIGH_G_1ST_Y_BIT
def getYPosShockDetected(self):
status = self._reg_read(registers.INT_STATUS_3)
return 0 != (not (status & (1 << definitions.HIGH_G_SIGN_BIT)) and (status & (1 << definitions.HIGH_G_1ST_Y_BIT)))
# Check if shock interrupt was triggered by negative Z-axis motion
# @return Shock detection status
# @see registers.INT_STATUS_3
# @see definitions.HIGH_G_SIGN_BIT
# @see definitions.HIGH_G_1ST_Z_BIT
def getZNegShockDetected(self):
status = self._reg_read(registers.INT_STATUS_3)
return 0 != ((status & (1 << definitions.HIGH_G_SIGN_BIT)) and (status & (1 << definitions.HIGH_G_1ST_Z_BIT)))
# Check if shock interrupt was triggered by positive Z-axis motion
# @return Shock detection status
# @see registers.INT_STATUS_3
# @see definitions.HIGH_G_SIGN_BIT
# @see definitions.HIGH_G_1ST_Z_BIT
def getZPosShockDetected(self):
status = self._reg_read(registers.INT_STATUS_3)
return 0 != (not (status & (1 << definitions.HIGH_G_SIGN_BIT)) and (status & (1 << definitions.HIGH_G_1ST_Z_BIT)))
# Get Step interrupt status.
# This bit automatically sets to 1 when a Step Detection condition
# is present, and clears when the condition is no longer present.
#
# For more details on the Step detection interrupt, see Section
# 2.6.3 of the BMI160 Data Sheet.
#
# @return Current interrupt status
# @see registers.INT_STATUS_0
# @see definitions.STEP_INT_BIT
def getIntStepStatus(self):
return 0 != (self._reg_read_bits(registers.INT_STATUS_0, definitions.STEP_INT_BIT, 1))
# Get Motion Detection interrupt status.
# This bit automatically sets to 1 when a Motion Detection condition
# is present, and clears when the condition is no longer present.
#
# For more details on the Motion detection interrupt, see Section 2.6.1 of the
# BMI160 Data Sheet.
#
# @return Current interrupt status
# @see registers.INT_STATUS_0
# @see definitions.ANYMOTION_INT_BIT
def getIntMotionStatus(self):
return 0 != (self._reg_read_bits(registers.INT_STATUS_0, definitions.ANYMOTION_INT_BIT, 1))
# Check if motion interrupt was triggered by negative X-axis motion
# @return Motion detection status
# @see registers.INT_STATUS_2
# @see definitions.ANYMOTION_SIGN_BIT
# @see definitions.ANYMOTION_1ST_X_BIT
def getXNegMotionDetected(self):
status = self._reg_read(registers.INT_STATUS_2)
return 0 != ((status & (1 << definitions.ANYMOTION_SIGN_BIT)) and (status & (1 << definitions.ANYMOTION_1ST_X_BIT)))
# Check if motion interrupt was triggered by positive X-axis motion
# @return Motion detection status
# @seefrom struct import unpack registers.INT_STATUS_2
# @see definitions.ANYMOTION_SIGN_BIT
# @see definitions.ANYMOTION_1ST_X_BIT
def getXPosMotionDetected(self):
status = self._reg_read(registers.INT_STATUS_2)
return 0 != (not (status & (1 << definitions.ANYMOTION_SIGN_BIT)) and (status & (1 << definitions.ANYMOTION_1ST_X_BIT)))
# Check if motion interrupt was triggered by negative Y-axis motion
# @return Motion detection status
# @see registers.INT_STATUS_2
# @see definitions.ANYMOTION_SIGN_BIT
# @see definitions.ANYMOTION_1ST_Y_BIT
def getYNegMotionDetected(self):
status = self._reg_read(registers.INT_STATUS_2)
return 0 != ((status & (1 << definitions.ANYMOTION_SIGN_BIT)) and (status & (1 << definitions.ANYMOTION_1ST_Y_BIT)))
# Check if motion interrupt was triggered by positive Y-axis motion
# @return Motion detection status
# @see registers.INT_STATUS_2
# @see definitions.ANYMOTION_SIGN_BIT
# @see definitions.ANYMOTION_1ST_Y_BIT
def getYPosMotionDetected(self):
status = self._reg_read(registers.INT_STATUS_2)
return 0 != (not (status & (1 << definitions.ANYMOTION_SIGN_BIT)) and (status & (1 << definitions.ANYMOTION_1ST_Y_BIT)))
# Check if motion interrupt was triggered by negative Z-axis motion
# @return Motion detection status
# @see registers.INT_STATUS_2
# @see definitions.ANYMOTION_SIGN_BIT
# @see definitions.ANYMOTION_1ST_Z_BIT
def getZNegMotionDetected(self):
status = self._reg_read(registers.INT_STATUS_2)
return 0 != ((status & (1 << definitions.ANYMOTION_SIGN_BIT)) and (status & (1 << definitions.ANYMOTION_1ST_Z_BIT)))
# Check if motion interrupt was triggered by positive Z-axis motion
# @return Motion detection status
# @see registers.INT_STATUS_2
# @see definitions.ANYMOTION_SIGN_BIT
# @see definitions.ANYMOTION_1ST_Z_BIT
def getZPosMotionDetected():
status = self._reg_read(registers.INT_STATUS_2)
return 0 != (not (status & (1 << definitions.ANYMOTION_SIGN_BIT)) and (status & (1 << definitions.ANYMOTION_1ST_Z_BIT)))
# Check if tap interrupt was triggered by negative X-axis tap
# @return Tap detection status
# @see registers.INT_STATUS_2
# @see definitions.TAP_SIGN_BIT
# @see definitions.TAP_1ST_X_BIT
def getXNegTapDetected(self):
status = self._reg_read(registers.INT_STATUS_2)
return 0 != ((status & (1 << definitions.TAP_SIGN_BIT)) and (status & (1 << definitions.TAP_1ST_X_BIT)))
# Check if tap interrupt was triggered by positive X-axis tap
# @return Tap detection status
# @see registers.INT_STATUS_2
# @see definitions.TAP_SIGN_BIT
# @see definitions.TAP_1ST_X_BIT
def getXPosTapDetected(self):
status = self._reg_read(registers.INT_STATUS_2)
return 0 != (not (status & (1 << definitions.TAP_SIGN_BIT)) and (status & (1 << definitions.TAP_1ST_X_BIT)))
# Check if tap interrupt was triggered by negative Y-axis tap
# @return Tap detection status
# @see registers.INT_STATUS_2
# @see definitions.TAP_SIGN_BIT
# @see definitions.TAP_1ST_Y_BIT
def getYNegTapDetected(self):
status = self._reg_read(registers.INT_STATUS_2)
return 0 != ((status & (1 << definitions.TAP_SIGN_BIT)) and (status & (1 << definitions.TAP_1ST_Y_BIT)))
# Check if tap interrupt was triggered by positive Y-axis tap
# @return Tap detection status
# @see registers.INT_STATUS_2
# @see definitions.TAP_SIGN_BIT
# @see definitions.TAP_1ST_Y_BIT
def getYPosTapDetected(self):
status = self._reg_read(registers.INT_STATUS_2)
return 0 != (not (status & (1 << definitions.TAP_SIGN_BIT)) and (status & (1 << definitions.TAP_1ST_Y_BIT)))
# Check if tap interrupt was triggered by negative Z-axis tap
# @return Tap detection status
# @see registers.INT_STATUS_2
# @see definitions.TAP_SIGN_BIT
# @see definitions.TAP_1ST_Z_BIT
def getZNegTapDetected(self):
status = self._reg_read(registers.INT_STATUS_2)
return 0 != ((status & (1 << definitions.TAP_SIGN_BIT)) and (status & (1 << definitions.TAP_1ST_Z_BIT)))
# Check if tap interrupt was triggered by positive Z-axis tap
# @return Tap detection status
# @see registers.INT_STATUS_2
# @see definitions.TAP_SIGN_BIT
# @see definitions.TAP_1ST_Z_BIT
def getZPosTapDetected(self):
status = self._reg_read(registers.INT_STATUS_2)
return 0 != (not (status & (1 << definitions.TAP_SIGN_BIT)) and (status & (1 << definitions.TAP_1ST_Z_BIT)))
# Get Zero Motion Detection interrupt status.
# This bit automatically sets to 1 when a Zero Motion Detection condition
# is present, and clears when the condition is no longer present.
#
# For more details on the Motion detection interrupt, see Section 2.6.9 of the
# BMI160 Data Sheet.
#
# @return Current interrupt status
# @see registers.INT_STATUS_1
# @see definitions.NOMOTION_INT_BIT
def getIntZeroMotionStatus(self):
return 0 != (self._reg_read_bits(registers.INT_STATUS_1, definitions.NOMOTION_INT_BIT, 1))
# Get FIFO Buffer Full interrupt status.
# This bit automatically sets to 1 when a FIFO Full condition has been
# generated. The bit clears to 0 when the FIFO is not full.
# @return Current interrupt status
# @see registers.INT_STATUS_1
# @see definitions.FFULL_INT_BIT
def getIntFIFOBufferFullStatus(self):
return 0 != (self._reg_read_bits(registers.INT_STATUS_1, definitions.FFULL_INT_BIT, 1))
# Get Data Ready interrupt status.
# This bit automatically sets to 1 when a Data Ready interrupt has been
# generated. The bit clears to 0 after the data registers have been read.
# @return Current interrupt status
# @see registers.INT_STATUS_1
# @see definitions.FFULL_INT_BIT
def getIntDataReadyStatus(self):
return 0 != (self._reg_read_bits(registers.INT_STATUS_1, definitions.DRDY_INT_BIT, 1))
# Get interrupt logic level mode.
# Will be set 0 for active-high, 1 for active-low.
# @return Current interrupt mode (0=active-high, 1=active-low)
# @see registers.INT_OUT_CTRL
# @see definitions.INT1_LVL
def getInterruptMode(self):
return not (self._reg_read_bits(registers.INT_OUT_CTRL, definitions.INT1_LVL, 1))
# Set interrupt logic level mode.
# @param mode New interrupt mode (0=active-high, 1=active-low)
# @see getInterruptMode()
# @see registers.INT_OUT_CTRL
# @see definitions.INT1_LVL
def setInterruptMode(self, mode):
self._reg_write_bits(registers.INT_OUT_CTRL,
0x0 if mode else 0x1, definitions.INT1_LVL, 1)
# Get interrupt drive mode.
# Will be set 0 for push-pull, 1 for open-drain.
# @return Current interrupt drive mode (0=push-pull, 1=open-drain)
# @see registers.INT_OUT_CTRL
# @see definitions.INT1_OD
def getInterruptDrive(self):
return 0 != (self._reg_read_bits(registers.INT_OUT_CTRL, definitions.INT1_OD, 1))
# Set interrupt drive mode.
# @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
# @see getInterruptDrive()
# @see MPU6050_RA_INT_PIN_CFG
# @see MPU6050_INTCFG_INT_OPEN_BIT
def setInterruptDrive(self, drive):
self._reg_write_bits(registers.INT_OUT_CTRL,
0x1 if drive else 0x0, definitions.INT1_OD, 1)
# Get interrupt latch mode. The following options are available:
#
# <pre>
# Latch Mode | Interrupt Latching
# --------------+-------------------------
# 0 | non-latched
# 1 | temporary, 312.5us pulse
# 2 | temporary, 625us pulse
# 3 | temporary, 1.25ms pulse
# 4 | temporary, 2.5ms pulse
# 5 | temporary, 5ms pulse
# 6 | temporary, 10ms pulse
# 7 | temporary, 20ms pulse
# 8 | temporary, 40ms pulse
# 9 | temporary, 80ms pulse
# 10 | temporary, 160ms pulse
# 11 | temporary, 320ms pulse
# 12 | temporary, 640ms pulse
# 13 | temporary, 1.28s pulse
# 14 | temporary, 2.56s pulse
# 15 | latched until cleared (@see resetInterrupt())
# </pre>
#
# Note that latching does not apply to the following interrupt sources:
# - Data Ready
# - Orientation (including Flat) detection
#
# @return Current latch mode
# @see registers.INT_LATCH
# @see BMI160InterruptLatchMode
def getInterruptLatch(self):
return self._reg_read_bits(registers.INT_LATCH, definitions.LATCH_MODE_BIT, definitions.LATCH_MODE_LEN)
# Set interrupt latch mode.
# @param latch New latch mode
# @see getInterruptLatch()
# @see registers.INT_LATCH
# @see BMI160InterruptLatchMode
def setInterruptLatch(self, mode):
self._reg_write_bits(registers.INT_LATCH, mode,
definitions.LATCH_MODE_BIT, definitions.LATCH_MODE_LEN)
# Get interrupt enabled status.
# @return Current interrupt enabled status
# @see registers.INT_OUT_CTRL
# @see definitions.INT1_OUTPUT_EN
# */
def getIntEnabled(self):
return 0 != (self._reg_read_bits(registers.INT_OUT_CTRL, definitions.INT1_OUTPUT_EN, 1))
# Set interrupt enabled status.
# @param enabled New interrupt enabled status
# @see registers.INT_OUT_CTRL
# @see definitions.INT1_OUTPUT_EN
# */
def setIntEnabled(self, enabled):
self._reg_write_bits(
registers.INT_OUT_CTRL, 0x1 if enabled else 0, definitions.INT1_OUTPUT_EN, 1)
# Get raw 6-axis motion sensor readings (accel/gyro).
# Retrieves all currently available motion sensor values.
# @return gx 16-bit signed integer container for gyroscope X-axis value
# @return gy 16-bit signed integer container for gyroscope Y-axis value
# @return gz 16-bit signed integer container for gyroscope Z-axis value
# @return ax 16-bit signed integer container for accelerometer X-axis value
# @return ay 16-bit signed integer container for accelerometer Y-axis value
# @return az 16-bit signed integer container for accelerometer Z-axis value
# @see getAcceleration()
# @see getRotation()
# @see registers.GYRO_X_L
def getMotion6(self):
raw = self._regs_read(registers.GYRO_X_L, 12)
vals = unpack('<6h', bytes(raw))
return vals
# Get 3-axis accelerometer readings.
# These registers store the most recent accelerometer measurements.
# Accelerometer measurements are written to these registers at the Output Data Rate
# as configured by @see get_accel_rate()
#
# The accelerometer measurement registers, along with the temperature
# measurement registers, gyroscope measurement registers, and external sensor
# data registers, are composed of two sets of registers: an internal register
# set and a user-facing read register set.
#
# The data within the accelerometer sensors' internal register set is always
# updated at the Output Data Rate. Meanwhile, the user-facing read register set
# duplicates the internal register set's data values whenever the serial
# interface is idle. This guarantees that a burst read of sensor registers will
# read measurements from the same sampling instant. Note that if burst reads
# are not used, the user is responsible for ensuring a set of single byte reads
# correspond to a single sampling instant by checking the Data Ready interrupt.
#
# Each 16-bit accelerometer measurement has a full scale configured by
# @setFullScaleAccelRange. For each full scale setting, the accelerometers'
# sensitivity per LSB is shown in the table below:
#
# <pre>
# Full Scale Range | LSB Sensitivity
# -----------------+----------------
# +/- 2g | 8192 LSB/mg
# +/- 4g | 4096 LSB/mg
# +/- 8g | 2048 LSB/mg
# +/- 16g | 1024 LSB/mg
# </pre>
#
# @param x 16-bit signed integer container for X-axis acceleration
# @param y 16-bit signed integer container for Y-axis acceleration
# @param z 16-bit signed integer container for Z-axis acceleration
# @see registers.ACCEL_X_L
def getAcceleration(self):
raw = self._regs_read(registers.ACCEL_X_L, 6)
vals = unpack('<3h', bytes(raw))
return vals
# Get X-axis accelerometer reading.
# @return X-axis acceleration measurement in 16-bit 2's complement format
# @see getMotion6()
# @see registers.ACCEL_X_L
def getAccelerationX(self):
raw = self._regs_read(registers.ACCEL_X_L, 2)
val = unpack('<h', bytes(raw))
return val
# Get Y-axis accelerometer reading.
# @return Y-axis acceleration measurement in 16-bit 2's complement format
# @see getMotion6()
# @see registers.ACCEL_Y_L
def getAccelerationY(self):
raw = self._regs_read(registers.ACCEL_XYL, 2)
val = unpack('<h', bytes(raw))
return val
# Get Z-axis accelerometer reading.
# @return Z-axis acceleration measurement in 16-bit 2's complement format
# @see getMotion6()
# @see registers.ACCEL_Z_L
def getAccelerationZ(self):
raw = self._regs_read(registers.ACCEL_Z_L, 2)
val = unpack('<h', bytes(raw))
return val
# Get current internal temperature as a signed 16-bit integer.
# The resolution is typically 1/2^9 degrees Celcius per LSB, at an
# offset of 23 degrees Celcius. For example:
#
# <pre>
# Value | Temperature
# ---------+----------------
# 0x7FFF | 87 - 1/2^9 degrees C
# ... | ...
# 0x0000 | 23 degrees C
# ... | ...
# 0x8001 | -41 + 1/2^9 degrees C
# 0x8000 | Invalid
#
# @return Temperature reading in 16-bit 2's complement format
# @see registers.TEMP_L
def getTemperature(self):
raw = self._regs_read(registers.TEMP_L, 2)
val = unpack('<h', bytes(raw))[0]
deg_c = (val*0.001953185)+23
return deg_c
# Get 3-axis gyroscope readings.
# These gyroscope measurement registers, along with the accelerometer
# measurement registers, temperature measurement registers, and external sensor
# data registers, are composed of two sets of registers: an internal register
# set and a user-facing read register set.
# The data within the gyroscope sensors' internal register set is always
# updated at the Output Data Rate. Meanwhile, the user-facing read register set
# duplicates the internal register set's data values whenever the serial
# interface is idle. This guarantees that a burst read of sensor registers will
# read measurements from the same sampling instant. Note that if burst reads
# are not used, the user is responsible for ensuring a set of single byte reads
# correspond to a single sampling instant by checking the Data Ready interrupt.
#
# Each 16-bit gyroscope measurement has a full scale configured by
# @setFullScaleGyroRange(). For each full scale setting, the gyroscopes'
# sensitivity per LSB is shown in the table below:
#
# <pre>
# Full Scale Range | LSB Sensitivity
# -------------------+----------------
# +/- 125 degrees/s | 262.4 LSB/deg/s
# +/- 250 degrees/s | 131.2 LSB/deg/s
# +/- 500 degrees/s | 65.5 LSB/deg/s
# +/- 1000 degrees/s | 32.8 LSB/deg/s
# +/- 2000 degrees/s | 16.4 LSB/deg/s
# </pre>
#
# @param x 16-bit signed integer container for X-axis rotation
# @param y 16-bit signed integer container for Y-axis rotation
# @param z 16-bit signed integer container for Z-axis rotation
# @see getMotion6()
# @see registers.GYRO_X_L
def getRotation(self):
raw = self._regs_read(registers.GYRO_X_L, 6)
vals = unpack('<3h', bytes(raw))
return (vals[0], vals[1], vals[2])
# Get X-axis gyroscope reading.
# @return X-axis rotation measurement in 16-bit 2's complement format
# @see getMotion6()
# @see registers.GYRO_X_L
def getRotationX(self):
raw = self._regs_read(registers.GYRO_X_L, 2)
val = unpack('<h', bytes(raw))
return val
# Get Y-axis gyroscope reading.
# @return Y-axis rotation measurement in 16-bit 2's complement format
# @see getMotion6()
# @see registers.GYRO_Y_L
def getRotationY(self):
raw = self._regs_read(registers.GYRO_Y_L, 2)
val = unpack('<h', bytes(raw))
return val
# Get Z-axis gyroscope reading.
# @return Z-axis rotation measurement in 16-bit 2's complement format
# @see getMotion6()
# @see registers.GYRO_Y_L
def getRotationZ(self):
raw = self._regs_read(registers.GYRO_Z_L, 2)
val = unpack('<h', bytes(raw))
return val
# Read a BMI160 register directly.
# @param reg register address
# @return 8-bit register value
def getRegister(self, reg):
return self._reg_read(reg)
# Write a BMI160 register directly.
# @param reg register address
# @param data 8-bit register value
def setRegister(self, reg, data):
self._reg_write(reg, data)
# ──────────────────────────────────────────────────────────────────────────────
# I2C COMMUNICATION
# ──────────────────────────────────────────────────────────────────────────────
def _reg_write(self, reg, data):
write = i2c_msg.write(self.addr, [reg, data])
self.bus.i2c_rdwr(write)
def _reg_read(self, reg):
return self._regs_read(reg, 1)[0]
def _regs_read(self, reg, n):
write = i2c_msg.write(self.addr, [reg])
sleep_us(2)
read = i2c_msg.read(self.addr, n)
self.bus.i2c_rdwr(write, read)
result = list(read)
#print('< ', result)
return result
def close(self):
self.bus.close()
文件2 commands.py
# command definitions
START_FOC = (0x03)
ACC_MODE_NORMAL = (0x11)
GYR_MODE_NORMAL = (0x15)
FIFO_FLUSH = (0xB0)
INT_RESET = (0xB1)
STEP_CNT_CLR = (0xB2)
SOFT_RESET = (0xB6)文件3 definitions.py
## bit field offsets and lengths
ACC_OFFSET_EN = (6)
ACC_PMU_STATUS_BIT = (4)
ACC_PMU_STATUS_LEN = (2)
GYR_PMU_STATUS_BIT = (2)
GYR_PMU_STATUS_LEN = (2)
GYRO_RANGE_SEL_BIT = (0)
GYRO_RANGE_SEL_LEN = (3)
GYRO_RATE_SEL_BIT = (0)
GYRO_RATE_SEL_LEN = (4)
GYRO_DLPF_SEL_BIT = (4)
GYRO_DLPF_SEL_LEN = (2)
ACCEL_DLPF_SEL_BIT = (4)
ACCEL_DLPF_SEL_LEN = (3)
ACCEL_RANGE_SEL_BIT = (0)
ACCEL_RANGE_SEL_LEN = (4)
STATUS_FOC_RDY = (3)
## Gyroscope Sensitivity Range options
# see setFullScaleGyroRange()
GYRO_RANGE_2000 = (0) # +/- 2000 degrees/second
GYRO_RANGE_1000 = (1) # +/- 1000 degrees/second
GYRO_RANGE_500 = (2) # +/- 500 degrees/second
GYRO_RANGE_250 = (3) # +/- 250 degrees/second
GYRO_RANGE_125 = (4) # +/- 125 degrees/second
## Accelerometer Sensitivity Range options
# see setFullScaleAccelRange()
ACCEL_RANGE_2G = (0X03) # +/- 2g range
ACCEL_RANGE_4G = (0X05) # +/- 4g range
ACCEL_RANGE_8G = (0X08) # +/- 8g range
ACCEL_RANGE_16G = (0X0C) # +/- 16g range
FOC_ACC_Z_BIT = (0)
FOC_ACC_Z_LEN = (2)
FOC_ACC_Y_BIT = (2)
FOC_ACC_Y_LEN = (2)
FOC_ACC_X_BIT = (4)
FOC_ACC_X_LEN = (2)
FOC_GYR_EN = (6)
##FIFO config options
FIFO_TIME_EN_BIT = (1)
FIFO_MAG_EN_BIT = (5)
FIFO_ACC_EN_BIT = (6)
FIFO_GYR_EN_BIT = (7)
## Step counter definitions
STEP_MODE_NORMAL = (0)
STEP_MODE_SENSITIVE = (1)
STEP_MODE_ROBUST = (2)
STEP_MODE_UNKNOWN = (0)
STEP_BUF_MIN_BIT = (0)
STEP_CNT_EN_BIT = (3)
STEP_EN_BIT = (3)
STEP_BUF_MIN_LEN = (4)
## Interrupt definitions
INT1_OUTPUT_EN = (3)
INT1_OD = (2)
INT1_LVL = (1)
LATCH_MODE_BIT = (0)
LATCH_MODE_LEN = (4)
文件4 registers.py
# register definitions
CHIP_ID = (0x00)
PMU_STATUS = (0x03)
GYRO_X_L = (0x0C)
GYRO_X_H = (0x0D)
GYRO_Y_L = (0x0E)
GYRO_Y_H = (0x0F)
GYRO_Z_L = (0x10)
GYRO_Z_H = (0x11)
ACCEL_X_L = (0x12)
ACCEL_X_H = (0x13)
ACCEL_Y_L = (0x14)
ACCEL_Y_H = (0x15)
ACCEL_Z_L = (0x16)
ACCEL_Z_H = (0x17)
STATUS = (0x1B)
INT_STATUS_0 = (0x1C)
INT_STATUS_1 = (0x1D)
INT_STATUS_2 = (0x1E)
INT_STATUS_3 = (0x1F)
TEMP_L = (0x20)
TEMP_H = (0x21)
FIFO_LENGTH_0 = (0x22)
FIFO_LENGTH_1 = (0x23)
FIFO_DATA = (0x24)
ACCEL_CONF = (0X40)
ACCEL_RANGE = (0X41)
GYRO_CONF = (0X42)
GYRO_RANGE = (0X43)
FIFO_CONFIG_0 = (0x46)
FIFO_CONFIG_1 = (0x47)
INT_EN_0 = (0x50)
INT_EN_1 = (0x51)
INT_EN_2 = (0x52)
INT_OUT_CTRL = (0x53)
INT_LATCH = (0x54)
INT_MAP_0 = (0x55)
INT_MAP_1 = (0x56)
INT_MAP_2 = (0x57)
INT_LOWHIGH_0 = (0x5A)
INT_LOWHIGH_1 = (0x5B)
INT_LOWHIGH_2 = (0x5C)
INT_LOWHIGH_3 = (0x5D)
INT_LOWHIGH_4 = (0x5E)
INT_MOTION_0 = (0x5F)
INT_MOTION_1 = (0x60)
INT_MOTION_2 = (0x61)
INT_MOTION_3 = (0x62)
INT_TAP_0 = (0x63)
INT_TAP_1 = (0x64)
FOC_CONF = (0x69)
OFFSET_0 = (0x71)
OFFSET_1 = (0x72)
OFFSET_2 = (0x73)
OFFSET_3 = (0x74)
OFFSET_4 = (0x75)
OFFSET_5 = (0x76)
OFFSET_6 = (0x77)
STEP_CNT_L = (0x78)
STEP_CNT_H = (0x79)
STEP_CONF_0 = (0x7A)
STEP_CONF_1 = (0x7B)
STEP_CONF_0_NOR = (0x15)
STEP_CONF_0_SEN = (0x2D)
STEP_CONF_0_ROB = (0x1D)
STEP_CONF_1_NOR = (0x03)
STEP_CONF_1_SEN = (0x00)
STEP_CONF_1_ROB = (0x07)
CMD = (0x7E)文件5 sleep.py
from time import sleep
def sleep_ms(duration):
return sleep(duration * 0.001)
def sleep_us(duration):
return sleep(duration * 10**-6)
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