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- # The MIT License (MIT)
- #
- # Copyright (c) 2017 Tony DiCola for Adafruit Industries
- #
- # Permission is hereby granted, free of charge, to any person obtaining a copy
- # of this software and associated documentation files (the "Software"), to deal
- # in the Software without restriction, including without limitation the rights
- # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- # copies of the Software, and to permit persons to whom the Software is
- # furnished to do so, subject to the following conditions:
- #
- # The above copyright notice and this permission notice shall be included in
- # all copies or substantial portions of the Software.
- #
- # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- # 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.
- """
- `adafruit_lsm9ds1`
- ====================================================
-
- CircuitPython module for the LSM9DS1 accelerometer, magnetometer, gyroscope.
- Based on the driver from:
- https://github.com/adafruit/Adafruit_LSM9DS1
-
- See examples/simpletest.py for a demo of the usage.
-
- * Author(s): Tony DiCola
- """
-
- __version__ = "1.0.1"
- __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_LSM9DS1.git"
-
- import time
- try:
- import struct
- except ImportError:
- import ustruct as struct
-
- import adafruit_bus_device.i2c_device as i2c_device
- import adafruit_bus_device.spi_device as spi_device
- from micropython import const
-
- # Internal constants and register values:
- # pylint: disable=bad-whitespace
- _LSM9DS1_ADDRESS_ACCELGYRO = const(0x6B)
- _LSM9DS1_ADDRESS_MAG = const(0x1E)
- _LSM9DS1_XG_ID = const(0b01101000)
- _LSM9DS1_MAG_ID = const(0b00111101)
- _LSM9DS1_ACCEL_MG_LSB_2G = 0.061
- _LSM9DS1_ACCEL_MG_LSB_4G = 0.122
- _LSM9DS1_ACCEL_MG_LSB_8G = 0.244
- _LSM9DS1_ACCEL_MG_LSB_16G = 0.732
- _LSM9DS1_MAG_MGAUSS_4GAUSS = 0.14
- _LSM9DS1_MAG_MGAUSS_8GAUSS = 0.29
- _LSM9DS1_MAG_MGAUSS_12GAUSS = 0.43
- _LSM9DS1_MAG_MGAUSS_16GAUSS = 0.58
- _LSM9DS1_GYRO_DPS_DIGIT_245DPS = 0.00875
- _LSM9DS1_GYRO_DPS_DIGIT_500DPS = 0.01750
- _LSM9DS1_GYRO_DPS_DIGIT_2000DPS = 0.07000
- _LSM9DS1_TEMP_LSB_DEGREE_CELSIUS = 8 # 1°C = 8, 25° = 200, etc.
- _LSM9DS1_REGISTER_WHO_AM_I_XG = const(0x0F)
- _LSM9DS1_REGISTER_CTRL_REG1_G = const(0x10)
- _LSM9DS1_REGISTER_CTRL_REG2_G = const(0x11)
- _LSM9DS1_REGISTER_CTRL_REG3_G = const(0x12)
- _LSM9DS1_REGISTER_TEMP_OUT_L = const(0x15)
- _LSM9DS1_REGISTER_TEMP_OUT_H = const(0x16)
- _LSM9DS1_REGISTER_STATUS_REG = const(0x17)
- _LSM9DS1_REGISTER_OUT_X_L_G = const(0x18)
- _LSM9DS1_REGISTER_OUT_X_H_G = const(0x19)
- _LSM9DS1_REGISTER_OUT_Y_L_G = const(0x1A)
- _LSM9DS1_REGISTER_OUT_Y_H_G = const(0x1B)
- _LSM9DS1_REGISTER_OUT_Z_L_G = const(0x1C)
- _LSM9DS1_REGISTER_OUT_Z_H_G = const(0x1D)
- _LSM9DS1_REGISTER_CTRL_REG4 = const(0x1E)
- _LSM9DS1_REGISTER_CTRL_REG5_XL = const(0x1F)
- _LSM9DS1_REGISTER_CTRL_REG6_XL = const(0x20)
- _LSM9DS1_REGISTER_CTRL_REG7_XL = const(0x21)
- _LSM9DS1_REGISTER_CTRL_REG8 = const(0x22)
- _LSM9DS1_REGISTER_CTRL_REG9 = const(0x23)
- _LSM9DS1_REGISTER_CTRL_REG10 = const(0x24)
- _LSM9DS1_REGISTER_OUT_X_L_XL = const(0x28)
- _LSM9DS1_REGISTER_OUT_X_H_XL = const(0x29)
- _LSM9DS1_REGISTER_OUT_Y_L_XL = const(0x2A)
- _LSM9DS1_REGISTER_OUT_Y_H_XL = const(0x2B)
- _LSM9DS1_REGISTER_OUT_Z_L_XL = const(0x2C)
- _LSM9DS1_REGISTER_OUT_Z_H_XL = const(0x2D)
- _LSM9DS1_REGISTER_WHO_AM_I_M = const(0x0F)
- _LSM9DS1_REGISTER_CTRL_REG1_M = const(0x20)
- _LSM9DS1_REGISTER_CTRL_REG2_M = const(0x21)
- _LSM9DS1_REGISTER_CTRL_REG3_M = const(0x22)
- _LSM9DS1_REGISTER_CTRL_REG4_M = const(0x23)
- _LSM9DS1_REGISTER_CTRL_REG5_M = const(0x24)
- _LSM9DS1_REGISTER_STATUS_REG_M = const(0x27)
- _LSM9DS1_REGISTER_OUT_X_L_M = const(0x28)
- _LSM9DS1_REGISTER_OUT_X_H_M = const(0x29)
- _LSM9DS1_REGISTER_OUT_Y_L_M = const(0x2A)
- _LSM9DS1_REGISTER_OUT_Y_H_M = const(0x2B)
- _LSM9DS1_REGISTER_OUT_Z_L_M = const(0x2C)
- _LSM9DS1_REGISTER_OUT_Z_H_M = const(0x2D)
- _LSM9DS1_REGISTER_CFG_M = const(0x30)
- _LSM9DS1_REGISTER_INT_SRC_M = const(0x31)
- _MAGTYPE = True
- _XGTYPE = False
- _SENSORS_GRAVITY_STANDARD = 9.80665
-
- # User facing constants/module globals.
- ACCELRANGE_2G = (0b00 << 3)
- ACCELRANGE_16G = (0b01 << 3)
- ACCELRANGE_4G = (0b10 << 3)
- ACCELRANGE_8G = (0b11 << 3)
- MAGGAIN_4GAUSS = (0b00 << 5) # +/- 4 gauss
- MAGGAIN_8GAUSS = (0b01 << 5) # +/- 8 gauss
- MAGGAIN_12GAUSS = (0b10 << 5) # +/- 12 gauss
- MAGGAIN_16GAUSS = (0b11 << 5) # +/- 16 gauss
- GYROSCALE_245DPS = (0b00 << 4) # +/- 245 degrees/s rotation
- GYROSCALE_500DPS = (0b01 << 4) # +/- 500 degrees/s rotation
- GYROSCALE_2000DPS = (0b11 << 4) # +/- 2000 degrees/s rotation
- # pylint: enable=bad-whitespace
-
-
- def _twos_comp(val, bits):
- # Convert an unsigned integer in 2's compliment form of the specified bit
- # length to its signed integer value and return it.
- if val & (1 << (bits - 1)) != 0:
- return val - (1 << bits)
- return val
-
-
- class LSM9DS1:
- """Driver for the LSM9DS1 accelerometer, magnetometer, gyroscope."""
-
- # Class-level buffer for reading and writing data with the sensor.
- # This reduces memory allocations but means the code is not re-entrant or
- # thread safe!
- _BUFFER = bytearray(6)
-
- def __init__(self):
- # soft reset & reboot accel/gyro
- self._write_u8(_XGTYPE, _LSM9DS1_REGISTER_CTRL_REG8, 0x05)
- # soft reset & reboot magnetometer
- self._write_u8(_MAGTYPE, _LSM9DS1_REGISTER_CTRL_REG2_M, 0x0C)
- time.sleep(0.01)
- # Check ID registers.
- if self._read_u8(_XGTYPE, _LSM9DS1_REGISTER_WHO_AM_I_XG) != _LSM9DS1_XG_ID or \
- self._read_u8(_MAGTYPE, _LSM9DS1_REGISTER_WHO_AM_I_M) != _LSM9DS1_MAG_ID:
- raise RuntimeError('Could not find LSM9DS1, check wiring!')
- # enable gyro continuous
- self._write_u8(_XGTYPE, _LSM9DS1_REGISTER_CTRL_REG1_G, 0xC0) # on XYZ
- # Enable the accelerometer continous
- self._write_u8(_XGTYPE, _LSM9DS1_REGISTER_CTRL_REG5_XL, 0x38)
- self._write_u8(_XGTYPE, _LSM9DS1_REGISTER_CTRL_REG6_XL, 0xC0)
- # enable mag continuous
- self._write_u8(_MAGTYPE, _LSM9DS1_REGISTER_CTRL_REG3_M, 0x00)
- # Set default ranges for the various sensors
- self._accel_mg_lsb = None
- self._mag_mgauss_lsb = None
- self._gyro_dps_digit = None
- self.accel_range = ACCELRANGE_2G
- self.mag_gain = MAGGAIN_4GAUSS
- self.gyro_scale = GYROSCALE_245DPS
-
- @property
- def accel_range(self):
- """Get and set the accelerometer range. Must be a value of:
- - ACCELRANGE_2G
- - ACCELRANGE_4G
- - ACCELRANGE_8G
- - ACCELRANGE_16G
- """
- reg = self._read_u8(_XGTYPE, _LSM9DS1_REGISTER_CTRL_REG6_XL)
- return (reg & 0b00011000) & 0xFF
-
- @accel_range.setter
- def accel_range(self, val):
- assert val in (ACCELRANGE_2G, ACCELRANGE_4G, ACCELRANGE_8G,
- ACCELRANGE_16G)
- reg = self._read_u8(_XGTYPE, _LSM9DS1_REGISTER_CTRL_REG6_XL)
- reg = (reg & ~(0b00011000)) & 0xFF
- reg |= val
- self._write_u8(_XGTYPE, _LSM9DS1_REGISTER_CTRL_REG6_XL, reg)
- if val == ACCELRANGE_2G:
- self._accel_mg_lsb = _LSM9DS1_ACCEL_MG_LSB_2G
- elif val == ACCELRANGE_4G:
- self._accel_mg_lsb = _LSM9DS1_ACCEL_MG_LSB_4G
- elif val == ACCELRANGE_8G:
- self._accel_mg_lsb = _LSM9DS1_ACCEL_MG_LSB_8G
- elif val == ACCELRANGE_16G:
- self._accel_mg_lsb = _LSM9DS1_ACCEL_MG_LSB_16G
-
- @property
- def mag_gain(self):
- """Get and set the magnetometer gain. Must be a value of:
- - MAGGAIN_4GAUSS
- - MAGGAIN_8GAUSS
- - MAGGAIN_12GAUSS
- - MAGGAIN_16GAUSS
- """
- reg = self._read_u8(_MAGTYPE, _LSM9DS1_REGISTER_CTRL_REG2_M)
- return (reg & 0b01100000) & 0xFF
-
- @mag_gain.setter
- def mag_gain(self, val):
- assert val in (MAGGAIN_4GAUSS, MAGGAIN_8GAUSS, MAGGAIN_12GAUSS,
- MAGGAIN_16GAUSS)
- reg = self._read_u8(_MAGTYPE, _LSM9DS1_REGISTER_CTRL_REG2_M)
- reg = (reg & ~(0b01100000)) & 0xFF
- reg |= val
- self._write_u8(_MAGTYPE, _LSM9DS1_REGISTER_CTRL_REG2_M, reg)
- if val == MAGGAIN_4GAUSS:
- self._mag_mgauss_lsb = _LSM9DS1_MAG_MGAUSS_4GAUSS
- elif val == MAGGAIN_8GAUSS:
- self._mag_mgauss_lsb = _LSM9DS1_MAG_MGAUSS_8GAUSS
- elif val == MAGGAIN_12GAUSS:
- self._mag_mgauss_lsb = _LSM9DS1_MAG_MGAUSS_12GAUSS
- elif val == MAGGAIN_16GAUSS:
- self._mag_mgauss_lsb = _LSM9DS1_MAG_MGAUSS_16GAUSS
-
- @property
- def gyro_scale(self):
- """Get and set the gyroscope scale. Must be a value of:
- - GYROSCALE_245DPS
- - GYROSCALE_500DPS
- - GYROSCALE_2000DPS
- """
- reg = self._read_u8(_XGTYPE, _LSM9DS1_REGISTER_CTRL_REG1_G)
- return (reg & 0b00110000) & 0xFF
-
- @gyro_scale.setter
- def gyro_scale(self, val):
- assert val in (GYROSCALE_245DPS, GYROSCALE_500DPS, GYROSCALE_2000DPS)
- reg = self._read_u8(_XGTYPE, _LSM9DS1_REGISTER_CTRL_REG1_G)
- reg = (reg & ~(0b00110000)) & 0xFF
- reg |= val
- self._write_u8(_XGTYPE, _LSM9DS1_REGISTER_CTRL_REG1_G, reg)
- if val == GYROSCALE_245DPS:
- self._gyro_dps_digit = _LSM9DS1_GYRO_DPS_DIGIT_245DPS
- elif val == GYROSCALE_500DPS:
- self._gyro_dps_digit = _LSM9DS1_GYRO_DPS_DIGIT_500DPS
- elif val == GYROSCALE_2000DPS:
- self._gyro_dps_digit = _LSM9DS1_GYRO_DPS_DIGIT_2000DPS
-
- def read_accel_raw(self):
- """Read the raw accelerometer sensor values and return it as a
- 3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you
- want the acceleration in nice units you probably want to use the
- accelerometer property!
- """
- # Read the accelerometer
- self._read_bytes(_XGTYPE, 0x80 | _LSM9DS1_REGISTER_OUT_X_L_XL, 6,
- self._BUFFER)
- raw_x, raw_y, raw_z = struct.unpack_from('<hhh', self._BUFFER[0:6])
- return (raw_x, raw_y, raw_z)
-
- @property
- def accelerometer(self):
- """Get the accelerometer X, Y, Z axis values as a 3-tuple of
- m/s^2 values.
- """
- raw = self.read_accel_raw()
- return map(lambda x: x * self._accel_mg_lsb / 1000.0 * _SENSORS_GRAVITY_STANDARD,
- raw)
-
- def read_mag_raw(self):
- """Read the raw magnetometer sensor values and return it as a
- 3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you
- want the magnetometer in nice units you probably want to use the
- magnetometer property!
- """
- # Read the magnetometer
- self._read_bytes(_MAGTYPE, 0x80 | _LSM9DS1_REGISTER_OUT_X_L_M, 6,
- self._BUFFER)
- raw_x, raw_y, raw_z = struct.unpack_from('<hhh', self._BUFFER[0:6])
- return (raw_x, raw_y, raw_z)
-
- @property
- def magnetometer(self):
- """Get the magnetometer X, Y, Z axis values as a 3-tuple of
- gauss values.
- """
- raw = self.read_mag_raw()
- return map(lambda x: x * self._mag_mgauss_lsb / 1000.0, raw)
-
- def read_gyro_raw(self):
- """Read the raw gyroscope sensor values and return it as a
- 3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you
- want the gyroscope in nice units you probably want to use the
- gyroscope property!
- """
- # Read the gyroscope
- self._read_bytes(_XGTYPE, 0x80 | _LSM9DS1_REGISTER_OUT_X_L_G, 6,
- self._BUFFER)
- raw_x, raw_y, raw_z = struct.unpack_from('<hhh', self._BUFFER[0:6])
- return (raw_x, raw_y, raw_z)
-
- @property
- def gyroscope(self):
- """Get the gyroscope X, Y, Z axis values as a 3-tuple of
- degrees/second values.
- """
- raw = self.read_mag_raw()
- return map(lambda x: x * self._gyro_dps_digit, raw)
-
- def read_temp_raw(self):
- """Read the raw temperature sensor value and return it as a 12-bit
- signed value. If you want the temperature in nice units you probably
- want to use the temperature property!
- """
- # Read temp sensor
- self._read_bytes(_XGTYPE, 0x80 | _LSM9DS1_REGISTER_TEMP_OUT_L, 2,
- self._BUFFER)
- temp = ((self._BUFFER[1] << 8) | self._BUFFER[0]) >> 4
- return _twos_comp(temp, 12)
-
- @property
- def temperature(self):
- """Get the temperature of the sensor in degrees Celsius."""
- # This is just a guess since the starting point (21C here) isn't documented :(
- # See discussion from:
- # https://github.com/kriswiner/LSM9DS1/issues/3
- temp = self.read_temp_raw()
- temp = 27.5 + temp/16
- return temp
-
- def _read_u8(self, sensor_type, address):
- # Read an 8-bit unsigned value from the specified 8-bit address.
- # The sensor_type boolean should be _MAGTYPE when talking to the
- # magnetometer, or _XGTYPE when talking to the accel or gyro.
- # MUST be implemented by subclasses!
- raise NotImplementedError()
-
- def _read_bytes(self, sensor_type, address, count, buf):
- # Read a count number of bytes into buffer from the provided 8-bit
- # register address. The sensor_type boolean should be _MAGTYPE when
- # talking to the magnetometer, or _XGTYPE when talking to the accel or
- # gyro. MUST be implemented by subclasses!
- raise NotImplementedError()
-
- def _write_u8(self, sensor_type, address, val):
- # Write an 8-bit unsigned value to the specified 8-bit address.
- # The sensor_type boolean should be _MAGTYPE when talking to the
- # magnetometer, or _XGTYPE when talking to the accel or gyro.
- # MUST be implemented by subclasses!
- raise NotImplementedError()
-
-
- class LSM9DS1_I2C(LSM9DS1):
- """Driver for the LSM9DS1 connect over I2C."""
-
- def __init__(self, i2c):
- self._mag_device = i2c_device.I2CDevice(i2c, _LSM9DS1_ADDRESS_MAG)
- self._xg_device = i2c_device.I2CDevice(i2c, _LSM9DS1_ADDRESS_ACCELGYRO)
- super().__init__()
-
- def _read_u8(self, sensor_type, address):
- if sensor_type == _MAGTYPE:
- device = self._mag_device
- else:
- device = self._xg_device
- with device as i2c:
- self._BUFFER[0] = address & 0xFF
- i2c.write(self._BUFFER, end=1, stop=False)
- i2c.readinto(self._BUFFER, end=1)
- return self._BUFFER[0]
-
- def _read_bytes(self, sensor_type, address, count, buf):
- if sensor_type == _MAGTYPE:
- device = self._mag_device
- else:
- device = self._xg_device
- with device as i2c:
- buf[0] = address & 0xFF
- i2c.write(buf, end=1, stop=False)
- i2c.readinto(buf, end=count)
-
- def _write_u8(self, sensor_type, address, val):
- if sensor_type == _MAGTYPE:
- device = self._mag_device
- else:
- device = self._xg_device
- with device as i2c:
- self._BUFFER[0] = address & 0xFF
- self._BUFFER[1] = val & 0xFF
- i2c.write(self._BUFFER, end=2)
-
-
- class LSM9DS1_SPI(LSM9DS1):
- """Driver for the LSM9DS1 connect over SPI."""
-
- def __init__(self, spi, xgcs, mcs):
- self._mag_device = spi_device.I2CDevice(spi, mcs)
- self._xg_device = spi_device.I2CDevice(spi, xgcs)
- super().__init__()
-
- def _read_u8(self, sensor_type, address):
- if sensor_type == _MAGTYPE:
- device = self._mag_device
- else:
- device = self._xg_device
- with device as spi:
- spi.configure(baudrate=200000, phase=0, polarity=0)
- self._BUFFER[0] = (address | 0x80) & 0xFF
- spi.write(self._BUFFER, end=1)
- spi.readinto(self._BUFFER, end=1)
- return self._BUFFER[0]
-
- def _read_bytes(self, sensor_type, address, count, buf):
- if sensor_type == _MAGTYPE:
- device = self._mag_device
- else:
- device = self._xg_device
- with device as spi:
- spi.configure(baudrate=200000, phase=0, polarity=0)
- buf[0] = (address | 0x80) & 0xFF
- spi.write(buf, end=1)
- spi.readinto(buf, end=count)
-
- def _write_u8(self, sensor_type, address, val):
- if sensor_type == _MAGTYPE:
- device = self._mag_device
- else:
- device = self._xg_device
- with device as spi:
- spi.configure(baudrate=200000, phase=0, polarity=0)
- self._BUFFER[0] = (address & 0x7F) & 0xFF
- self._BUFFER[1] = val & 0xFF
- spi.write(self._BUFFER, end=2)
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