drivers/lsm6dsox: Add LSM6DSOX driver and examples.
This commit is contained in:
iabdalkader
Damien George
parent
3745c393c8
commit
f082793ac4
|
|
@ -0,0 +1,234 @@
|
|||
"""
|
||||
LSM6DSOX STMicro driver for MicroPython based on LSM9DS1:
|
||||
Source repo: https://github.com/hoihu/projects/tree/master/raspi-hat
|
||||
|
||||
The MIT License (MIT)
|
||||
|
||||
Copyright (c) 2021 Damien P. George
|
||||
Copyright (c) 2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
|
||||
|
||||
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.
|
||||
|
||||
Basic example usage:
|
||||
|
||||
import time
|
||||
from lsm6dsox import LSM6DSOX
|
||||
|
||||
from machine import Pin, I2C
|
||||
lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))
|
||||
|
||||
while (True):
|
||||
print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_accel()))
|
||||
print('Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_gyro()))
|
||||
print("")
|
||||
time.sleep_ms(100)
|
||||
"""
|
||||
import array
|
||||
from micropython import const
|
||||
|
||||
|
||||
class LSM6DSOX:
|
||||
_CTRL3_C = const(0x12)
|
||||
_CTRL1_XL = const(0x10)
|
||||
_CTRL8_XL = const(0x17)
|
||||
_CTRL9_XL = const(0x18)
|
||||
|
||||
_CTRL2_G = const(0x11)
|
||||
_CTRL7_G = const(0x16)
|
||||
|
||||
_OUTX_L_G = const(0x22)
|
||||
_OUTX_L_XL = const(0x28)
|
||||
_MLC_STATUS = const(0x38)
|
||||
|
||||
_DEFAULT_ADDR = const(0x6A)
|
||||
_WHO_AM_I_REG = const(0x0F)
|
||||
|
||||
_FUNC_CFG_ACCESS = const(0x01)
|
||||
_FUNC_CFG_BANK_USER = const(0)
|
||||
_FUNC_CFG_BANK_HUB = const(1)
|
||||
_FUNC_CFG_BANK_EMBED = const(2)
|
||||
|
||||
_MLC0_SRC = const(0x70)
|
||||
_MLC_INT1 = const(0x0D)
|
||||
_TAP_CFG0 = const(0x56)
|
||||
|
||||
_EMB_FUNC_EN_A = const(0x04)
|
||||
_EMB_FUNC_EN_B = const(0x05)
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
i2c,
|
||||
address=_DEFAULT_ADDR,
|
||||
gyro_odr=104,
|
||||
accel_odr=104,
|
||||
gyro_scale=2000,
|
||||
accel_scale=4,
|
||||
ucf=None,
|
||||
):
|
||||
"""Initalizes Gyro and Accelerator.
|
||||
accel_odr: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
|
||||
gyro_odr: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
|
||||
gyro_scale: (245dps, 500dps, 1000dps, 2000dps)
|
||||
accel_scale: (+/-2g, +/-4g, +/-8g, +-16g)
|
||||
ucf: MLC program to load.
|
||||
"""
|
||||
self.i2c = i2c
|
||||
self.address = address
|
||||
|
||||
# check the id of the Accelerometer/Gyro
|
||||
if self.__read_reg(_WHO_AM_I_REG) != 108:
|
||||
raise OSError("No LSM6DS device was found at address 0x%x" % (self.address))
|
||||
|
||||
# allocate scratch buffer for efficient conversions and memread op's
|
||||
self.scratch_int = array.array("h", [0, 0, 0])
|
||||
|
||||
SCALE_GYRO = {250: 0, 500: 1, 1000: 2, 2000: 3}
|
||||
SCALE_ACCEL = {2: 0, 4: 2, 8: 3, 16: 1}
|
||||
# XL_HM_MODE = 0 by default. G_HM_MODE = 0 by default.
|
||||
ODR = {
|
||||
0: 0x00,
|
||||
1.6: 0x08,
|
||||
3.33: 0x09,
|
||||
6.66: 0x0A,
|
||||
12.5: 0x01,
|
||||
26: 0x02,
|
||||
52: 0x03,
|
||||
104: 0x04,
|
||||
208: 0x05,
|
||||
416: 0x06,
|
||||
888: 0x07,
|
||||
}
|
||||
|
||||
gyro_odr = round(gyro_odr, 2)
|
||||
accel_odr = round(accel_odr, 2)
|
||||
|
||||
# Sanity checks
|
||||
if not gyro_odr in ODR:
|
||||
raise ValueError("Invalid sampling rate: %d" % accel_odr)
|
||||
if not gyro_scale in SCALE_GYRO:
|
||||
raise ValueError("invalid gyro scaling: %d" % gyro_scale)
|
||||
if not accel_odr in ODR:
|
||||
raise ValueError("Invalid sampling rate: %d" % accel_odr)
|
||||
if not accel_scale in SCALE_ACCEL:
|
||||
raise ValueError("invalid accelerometer scaling: %d" % accel_scale)
|
||||
|
||||
# Soft-reset the device.
|
||||
self.reset()
|
||||
|
||||
# Load and configure MLC if UCF file is provided
|
||||
if ucf != None:
|
||||
self.load_mlc(ucf)
|
||||
|
||||
# Set Gyroscope datarate and scale.
|
||||
# Note output from LPF2 second filtering stage is selected. See Figure 18.
|
||||
self.__write_reg(_CTRL1_XL, (ODR[accel_odr] << 4) | (SCALE_ACCEL[accel_scale] << 2) | 2)
|
||||
|
||||
# Enable LPF2 and HPF fast-settling mode, ODR/4
|
||||
self.__write_reg(_CTRL8_XL, 0x09)
|
||||
|
||||
# Set Gyroscope datarate and scale.
|
||||
self.__write_reg(_CTRL2_G, (ODR[gyro_odr] << 4) | (SCALE_GYRO[gyro_scale] << 2) | 0)
|
||||
|
||||
self.gyro_scale = 32768 / gyro_scale
|
||||
self.accel_scale = 32768 / accel_scale
|
||||
|
||||
def __read_reg(self, reg, size=1):
|
||||
buf = self.i2c.readfrom_mem(self.address, reg, size)
|
||||
if size == 1:
|
||||
return int(buf[0])
|
||||
return [int(x) for x in buf]
|
||||
|
||||
def __write_reg(self, reg, val):
|
||||
self.i2c.writeto_mem(self.address, reg, bytes([val]))
|
||||
|
||||
def reset(self):
|
||||
self.__write_reg(_CTRL3_C, self.__read_reg(_CTRL3_C) | 0x1)
|
||||
for i in range(0, 10):
|
||||
if (self.__read_reg(_CTRL3_C) & 0x01) == 0:
|
||||
return
|
||||
time.sleep_ms(10)
|
||||
raise OSError("Failed to reset LSM6DS device.")
|
||||
|
||||
def set_mem_bank(self, bank):
|
||||
cfg = self.__read_reg(_FUNC_CFG_ACCESS) & 0x3F
|
||||
self.__write_reg(_FUNC_CFG_ACCESS, cfg | (bank << 6))
|
||||
|
||||
def set_embedded_functions(self, enable, emb_ab=None):
|
||||
self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
|
||||
if enable:
|
||||
self.__write_reg(_EMB_FUNC_EN_A, emb_ab[0])
|
||||
self.__write_reg(_EMB_FUNC_EN_B, emb_ab[1])
|
||||
else:
|
||||
emb_a = self.__read_reg(_EMB_FUNC_EN_A)
|
||||
emb_b = self.__read_reg(_EMB_FUNC_EN_B)
|
||||
self.__write_reg(_EMB_FUNC_EN_A, (emb_a & 0xC7))
|
||||
self.__write_reg(_EMB_FUNC_EN_B, (emb_b & 0xE6))
|
||||
emb_ab = (emb_a, emb_b)
|
||||
|
||||
self.set_mem_bank(_FUNC_CFG_BANK_USER)
|
||||
return emb_ab
|
||||
|
||||
def load_mlc(self, ucf):
|
||||
# Load MLC config from file
|
||||
with open(ucf, "r") as ucf_file:
|
||||
for l in ucf_file:
|
||||
if l.startswith("Ac"):
|
||||
v = [int(v, 16) for v in l.strip().split(" ")[1:3]]
|
||||
self.__write_reg(v[0], v[1])
|
||||
|
||||
emb_ab = self.set_embedded_functions(False)
|
||||
|
||||
# Disable I3C interface
|
||||
self.__write_reg(_CTRL9_XL, self.__read_reg(_CTRL9_XL) | 0x01)
|
||||
|
||||
# Enable Block Data Update
|
||||
self.__write_reg(_CTRL3_C, self.__read_reg(_CTRL3_C) | 0x40)
|
||||
|
||||
# Route signals on interrupt pin 1
|
||||
self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
|
||||
self.__write_reg(_MLC_INT1, self.__read_reg(_MLC_INT1) & 0x01)
|
||||
self.set_mem_bank(_FUNC_CFG_BANK_USER)
|
||||
|
||||
# Configure interrupt pin mode
|
||||
self.__write_reg(_TAP_CFG0, self.__read_reg(_TAP_CFG0) | 0x41)
|
||||
|
||||
self.set_embedded_functions(True, emb_ab)
|
||||
|
||||
def read_mlc_output(self):
|
||||
buf = None
|
||||
if self.__read_reg(_MLC_STATUS) & 0x1:
|
||||
self.__read_reg(0x1A, size=12)
|
||||
self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
|
||||
buf = self.__read_reg(_MLC0_SRC, 8)
|
||||
self.set_mem_bank(_FUNC_CFG_BANK_USER)
|
||||
return buf
|
||||
|
||||
def read_gyro(self):
|
||||
"""Returns gyroscope vector in degrees/sec."""
|
||||
mv = memoryview(self.scratch_int)
|
||||
f = self.gyro_scale
|
||||
self.i2c.readfrom_mem_into(self.address, _OUTX_L_G, mv)
|
||||
return (mv[0] / f, mv[1] / f, mv[2] / f)
|
||||
|
||||
def read_accel(self):
|
||||
"""Returns acceleration vector in gravity units (9.81m/s^2)."""
|
||||
mv = memoryview(self.scratch_int)
|
||||
f = self.accel_scale
|
||||
self.i2c.readfrom_mem_into(self.address, _OUTX_L_XL, mv)
|
||||
return (mv[0] / f, mv[1] / f, mv[2] / f)
|
||||
|
|
@ -0,0 +1,13 @@
|
|||
# LSM6DSOX Basic Example.
|
||||
import time
|
||||
from lsm6dsox import LSM6DSOX
|
||||
|
||||
from machine import Pin, I2C
|
||||
|
||||
lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))
|
||||
|
||||
while True:
|
||||
print("Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.read_accel()))
|
||||
print("Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.read_gyro()))
|
||||
print("")
|
||||
time.sleep_ms(100)
|
||||
|
|
@ -0,0 +1,48 @@
|
|||
# LSM6DSOX IMU MLC (Machine Learning Core) Example.
|
||||
# Download the raw UCF file, copy to storage and reset.
|
||||
|
||||
# NOTE: The pre-trained models (UCF files) for the examples can be found here:
|
||||
# https://github.com/STMicroelectronics/STMems_Machine_Learning_Core/tree/master/application_examples/lsm6dsox
|
||||
|
||||
import time
|
||||
from lsm6dsox import LSM6DSOX
|
||||
from machine import Pin, I2C
|
||||
|
||||
INT_MODE = True # Run in interrupt mode.
|
||||
INT_FLAG = False # Set True on interrupt.
|
||||
|
||||
|
||||
def imu_int_handler(pin):
|
||||
global INT_FLAG
|
||||
INT_FLAG = True
|
||||
|
||||
|
||||
if INT_MODE == True:
|
||||
int_pin = Pin(24)
|
||||
int_pin.irq(handler=imu_int_handler, trigger=Pin.IRQ_RISING)
|
||||
|
||||
i2c = I2C(0, scl=Pin(13), sda=Pin(12))
|
||||
|
||||
# Vibration detection example
|
||||
UCF_FILE = "lsm6dsox_vibration_monitoring.ucf"
|
||||
UCF_LABELS = {0: "no vibration", 1: "low vibration", 2: "high vibration"}
|
||||
# NOTE: Selected data rate and scale must match the MLC data rate and scale.
|
||||
lsm = LSM6DSOX(i2c, gyro_odr=26, accel_odr=26, gyro_scale=2000, accel_scale=4, ucf=UCF_FILE)
|
||||
|
||||
# Head gestures example
|
||||
# UCF_FILE = "lsm6dsox_head_gestures.ucf"
|
||||
# UCF_LABELS = {0:"Nod", 1:"Shake", 2:"Stationary", 3:"Swing", 4:"Walk"}
|
||||
# NOTE: Selected data rate and scale must match the MLC data rate and scale.
|
||||
# lsm = LSM6DSOX(i2c, gyro_odr=26, accel_odr=26, gyro_scale=250, accel_scale=2, ucf=UCF_FILE)
|
||||
|
||||
print("MLC configured...")
|
||||
|
||||
while True:
|
||||
if INT_MODE:
|
||||
if INT_FLAG:
|
||||
INT_FLAG = False
|
||||
print(UCF_LABELS[lsm.read_mlc_output()[0]])
|
||||
else:
|
||||
buf = lsm.read_mlc_output()
|
||||
if buf != None:
|
||||
print(UCF_LABELS[buf[0]])
|
||||
Loading…
Reference in New Issue