kopia lustrzana https://github.com/micropython/micropython-lib
lsm9ds1: Refactor driver.
Changes are: - fix typos - simplify the driver init code - support setting the magnetometer ODR separately - update manifestpull/593/head
iabdalkader
Damien George
rodzic
e88aa3af16
commit
bf8b3c04de
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@ -2,6 +2,7 @@
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The MIT License (MIT)
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Copyright (c) 2013, 2014 Damien P. George
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Copyright (c) 2022-2023 Ibrahim Abdelkader <iabdalkader@openmv.io>
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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@ -32,13 +33,13 @@ import time
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from lsm9ds1 import LSM9DS1
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from machine import Pin, I2C
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lsm = LSM9DS1(I2C(1, scl=Pin(15), sda=Pin(14)))
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imu = LSM9DS1(I2C(1, scl=Pin(15), sda=Pin(14)))
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while (True):
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#for g,a in lsm.iter_accel_gyro(): print(g,a) # using fifo
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print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.accel()))
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print('Magnetometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.magnet()))
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print('Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.gyro()))
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#for g,a in imu.iter_accel_gyro(): print(g,a) # using fifo
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print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*imu.accel()))
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print('Magnetometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*imu.magnet()))
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print('Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*imu.gyro()))
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print("")
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time.sleep_ms(100)
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"""
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@ -58,100 +59,113 @@ _FIFO_SRC = const(0x2F)
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_OFFSET_REG_X_M = const(0x05)
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_CTRL_REG1_M = const(0x20)
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_OUT_M = const(0x28)
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_SCALE_GYRO = const(((245, 0), (500, 1), (2000, 3)))
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_SCALE_ACCEL = const(((2, 0), (4, 2), (8, 3), (16, 1)))
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_ACCEL_SCALE = const((2, 16, 4, 8))
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_GYRO_SCALE = const((245, 500, 2000))
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_MAGNET_SCALE = const((4, 8, 12, 16))
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_ODR_IMU = const((0, 14.9, 59.5, 119, 238, 476, 952))
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_ODR_MAGNET = const((0.625, 1.25, 2.5, 5, 10, 20, 40, 80))
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class LSM9DS1:
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def __init__(self, i2c, address_gyro=0x6B, address_magnet=0x1E):
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self.i2c = i2c
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self.address_gyro = address_gyro
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def __init__(
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self,
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bus,
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address_imu=0x6B,
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address_magnet=0x1E,
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gyro_odr=952,
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gyro_scale=245,
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accel_odr=952,
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accel_scale=4,
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magnet_odr=80,
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magnet_scale=4,
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):
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"""Initalizes Gyro, Accelerometer and Magnetometer.
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bus: IMU bus
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address_imu: IMU I2C address.
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address_magnet: Magnetometer I2C address.
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gyro_odr: (0, 14.9Hz, 59.5Hz, 119Hz, 238Hz, 476Hz, 952Hz)
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gyro_scale: (245dps, 500dps, 2000dps )
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accel_odr: (0, 14.9Hz, 59.5Hz, 119Hz, 238Hz, 476Hz, 952Hz)
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accel_scale: (+/-2g, +/-4g, +/-8g, +-16g)
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magnet_odr: (0.625Hz, 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz)
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magnet_scale: (+/-4, +/-8, +/-12, +/-16)
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"""
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self.bus = bus
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self.address_imu = address_imu
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self.address_magnet = address_magnet
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# check id's of accelerometer/gyro and magnetometer
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# Sanity checks
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if not gyro_odr in _ODR_IMU:
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raise ValueError("Invalid gyro sampling rate: %d" % gyro_odr)
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if not gyro_scale in _GYRO_SCALE:
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raise ValueError("Invalid gyro scaling: %d" % gyro_scale)
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if not accel_odr in _ODR_IMU:
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raise ValueError("Invalid accelerometer sampling rate: %d" % accel_odr)
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if not accel_scale in _ACCEL_SCALE:
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raise ValueError("Invalid accelerometer scaling: %d" % accel_scale)
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if not magnet_odr in _ODR_MAGNET:
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raise ValueError("Invalid magnet sampling rate: %d" % magnet_odr)
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if not magnet_scale in _MAGNET_SCALE:
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raise ValueError("Invalid magnet scaling: %d" % magnet_scale)
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if (self.magent_id() != b"=") or (self.gyro_id() != b"h"):
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raise OSError(
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"Invalid LSM9DS1 device, using address {}/{}".format(address_gyro, address_magnet)
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"Invalid LSM9DS1 device, using address {}/{}".format(address_imu, address_magnet)
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)
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# allocate scratch buffer for efficient conversions and memread op's
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self.scratch = array.array("B", [0, 0, 0, 0, 0, 0])
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self.scratch_int = array.array("h", [0, 0, 0])
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self.init_gyro_accel()
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self.init_magnetometer()
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def init_gyro_accel(self, sample_rate=6, scale_gyro=0, scale_accel=0):
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"""Initalizes Gyro and Accelerator.
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sample rate: 0-6 (off, 14.9Hz, 59.5Hz, 119Hz, 238Hz, 476Hz, 952Hz)
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scale_gyro: 0-2 (245dps, 500dps, 2000dps )
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scale_accel: 0-3 (+/-2g, +/-4g, +/-8g, +-16g)
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"""
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assert sample_rate <= 6, "invalid sampling rate: %d" % sample_rate
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assert scale_gyro <= 2, "invalid gyro scaling: %d" % scale_gyro
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assert scale_accel <= 3, "invalid accelerometer scaling: %d" % scale_accel
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mv = memoryview(bytearray(6))
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i2c = self.i2c
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addr = self.address_gyro
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mv = memoryview(self.scratch)
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# angular control registers 1-3 / Orientation
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mv[0] = ((sample_rate & 0x07) << 5) | ((_SCALE_GYRO[scale_gyro][1] & 0x3) << 3)
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# Configure Gyroscope.
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mv[0] = (_ODR_IMU.index(gyro_odr) << 5) | ((_GYRO_SCALE.index(gyro_scale)) << 3)
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mv[1:4] = b"\x00\x00\x00"
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i2c.writeto_mem(addr, _CTRL_REG1_G, mv[:5])
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# ctrl4 - enable x,y,z, outputs, no irq latching, no 4D
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# ctrl5 - enable all axes, no decimation
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self.bus.writeto_mem(self.address_imu, _CTRL_REG1_G, mv[:5])
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# Configure Accelerometer
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mv[0] = 0x38 # ctrl4 - enable x,y,z, outputs, no irq latching, no 4D
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mv[1] = 0x38 # ctrl5 - enable all axes, no decimation
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# ctrl6 - set scaling and sample rate of accel
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# ctrl7,8 - leave at default values
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# ctrl9 - FIFO enabled
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mv[0] = mv[1] = 0x38
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mv[2] = ((sample_rate & 7) << 5) | ((_SCALE_ACCEL[scale_accel][1] & 0x3) << 3)
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mv[3] = 0x00
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mv[4] = 0x4
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mv[5] = 0x2
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i2c.writeto_mem(addr, _CTRL_REG4_G, mv[:6])
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mv[2] = (_ODR_IMU.index(accel_odr) << 5) | ((_ACCEL_SCALE.index(accel_scale)) << 3)
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mv[3] = 0x00 # ctrl7 - leave at default values
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mv[4] = 0x4 # ctrl8 - leave at default values
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mv[5] = 0x2 # ctrl9 - FIFO enabled
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self.bus.writeto_mem(self.address_imu, _CTRL_REG4_G, mv)
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# fifo: use continous mode (overwrite old data if overflow)
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i2c.writeto_mem(addr, _FIFO_CTRL_REG, b"\x00")
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i2c.writeto_mem(addr, _FIFO_CTRL_REG, b"\xc0")
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self.bus.writeto_mem(self.address_imu, _FIFO_CTRL_REG, b"\x00")
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self.bus.writeto_mem(self.address_imu, _FIFO_CTRL_REG, b"\xc0")
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self.scale_gyro = 32768 / _SCALE_GYRO[scale_gyro][0]
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self.scale_accel = 32768 / _SCALE_ACCEL[scale_accel][0]
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def init_magnetometer(self, sample_rate=7, scale_magnet=0):
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"""
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sample rates = 0-7 (0.625, 1.25, 2.5, 5, 10, 20, 40, 80Hz)
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scaling = 0-3 (+/-4, +/-8, +/-12, +/-16 Gauss)
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"""
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assert sample_rate < 8, "invalid sample rate: %d (0-7)" % sample_rate
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assert scale_magnet < 4, "invalid scaling: %d (0-3)" % scale_magnet
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i2c = self.i2c
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addr = self.address_magnet
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mv = memoryview(self.scratch)
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mv[0] = 0x40 | (sample_rate << 2) # ctrl1: high performance mode
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mv[1] = scale_magnet << 5 # ctrl2: scale, normal mode, no reset
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# Configure Magnetometer
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mv[0] = 0x40 | (magnet_odr << 2) # ctrl1: high performance mode
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mv[1] = _MAGNET_SCALE.index(magnet_scale) << 5 # ctrl2: scale, normal mode, no reset
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mv[2] = 0x00 # ctrl3: continous conversion, no low power, I2C
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mv[3] = 0x08 # ctrl4: high performance z-axis
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mv[4] = 0x00 # ctr5: no fast read, no block update
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i2c.writeto_mem(addr, _CTRL_REG1_M, mv[:5])
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self.scale_factor_magnet = 32768 / ((scale_magnet + 1) * 4)
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self.bus.writeto_mem(self.address_magnet, _CTRL_REG1_M, mv[:5])
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self.gyro_scale = 32768 / gyro_scale
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self.accel_scale = 32768 / accel_scale
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self.scale_factor_magnet = 32768 / ((_MAGNET_SCALE.index(magnet_scale) + 1) * 4)
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# Allocate scratch buffer for efficient conversions and memread op's
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self.scratch_int = array.array("h", [0, 0, 0])
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def calibrate_magnet(self, offset):
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"""
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offset is a magnet vecor that will be substracted by the magnetometer
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offset is a magnet vector that will be subtracted by the magnetometer
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for each measurement. It is written to the magnetometer's offset register
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"""
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import struct
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offset = [int(i * self.scale_factor_magnet) for i in offset]
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mv = memoryview(self.scratch)
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mv[0] = offset[0] & 0xFF
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mv[1] = offset[0] >> 8
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mv[2] = offset[1] & 0xFF
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mv[3] = offset[1] >> 8
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mv[4] = offset[2] & 0xFF
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mv[5] = offset[2] >> 8
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self.i2c.writeto_mem(self.address_magnet, _OFFSET_REG_X_M, mv[:6])
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self.bus.writeto_mem(self.address_magnet, _OFFSET_REG_X_M, struct.pack("<HHH", offset))
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def gyro_id(self):
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return self.i2c.readfrom_mem(self.address_gyro, _WHO_AM_I, 1)
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return self.bus.readfrom_mem(self.address_imu, _WHO_AM_I, 1)
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def magent_id(self):
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return self.i2c.readfrom_mem(self.address_magnet, _WHO_AM_I, 1)
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return self.bus.readfrom_mem(self.address_magnet, _WHO_AM_I, 1)
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def magnet(self):
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"""Returns magnetometer vector in gauss.
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@ -159,28 +173,28 @@ class LSM9DS1:
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"""
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mv = memoryview(self.scratch_int)
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f = self.scale_factor_magnet
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self.i2c.readfrom_mem_into(self.address_magnet, _OUT_M | 0x80, mv)
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self.bus.readfrom_mem_into(self.address_magnet, _OUT_M | 0x80, mv)
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return (mv[0] / f, mv[1] / f, mv[2] / f)
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def gyro(self):
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"""Returns gyroscope vector in degrees/sec."""
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mv = memoryview(self.scratch_int)
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f = self.scale_gyro
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self.i2c.readfrom_mem_into(self.address_gyro, _OUT_G | 0x80, mv)
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f = self.gyro_scale
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self.bus.readfrom_mem_into(self.address_imu, _OUT_G | 0x80, mv)
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return (mv[0] / f, mv[1] / f, mv[2] / f)
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def accel(self):
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"""Returns acceleration vector in gravity units (9.81m/s^2)."""
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mv = memoryview(self.scratch_int)
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f = self.scale_accel
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self.i2c.readfrom_mem_into(self.address_gyro, _OUT_XL | 0x80, mv)
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f = self.accel_scale
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self.bus.readfrom_mem_into(self.address_imu, _OUT_XL | 0x80, mv)
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return (mv[0] / f, mv[1] / f, mv[2] / f)
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def iter_accel_gyro(self):
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"""A generator that returns tuples of (gyro,accelerometer) data from the fifo."""
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while True:
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fifo_state = int.from_bytes(
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self.i2c.readfrom_mem(self.address_gyro, _FIFO_SRC, 1), "big"
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self.bus.readfrom_mem(self.address_imu, _FIFO_SRC, 1), "big"
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)
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if fifo_state & 0x3F:
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# print("Available samples=%d" % (fifo_state & 0x1f))
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@ -1 +1,2 @@
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metadata(description="Driver for ST LSM9DS1 IMU.", version="1.0.0")
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module("lsm9ds1.py", opt=3)
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