add LSM6DSO

Author: shaoziyang

sensor/LSM6DSO/LSM6DSO.py

@@ -0,0 +1,145 @@
+# LSM6DSO 3D accelerometer and 3D gyroscope seneor micropython drive
+# ver: 1.0
+# License: MIT
+# Author: shaoziyang ([email protected])
+# v1.0 2019.7
+
+LSM6DSO_CTRL1_XL = const(0x10)
+LSM6DSO_CTRL2_G = const(0x11)
+LSM6DSO_CTRL3_C = const(0x12)
+LSM6DSO_CTRL6_C = const(0x15)
+LSM6DSO_CTRL8_XL = const(0x17)
+LSM6DSO_STATUS = const(0x1E)
+LSM6DSO_OUT_TEMP_L = const(0x20)
+LSM6DSO_OUTX_L_G = const(0x22)
+LSM6DSO_OUTY_L_G = const(0x24)
+LSM6DSO_OUTZ_L_G = const(0x26)
+LSM6DSO_OUTX_L_A = const(0x28)
+LSM6DSO_OUTY_L_A = const(0x2A)
+LSM6DSO_OUTZ_L_A = const(0x2C)
+
+LSM6DSO_SCALEA = ('2g', '16g', '4g', '8g')
+LSM6DSO_SCALEG = ('250', '125', '500', '', '1000', '', '2000')
+
+class LSM6DSO():
+    def __init__(self, i2c, addr = 0x6B):
+        self.i2c = i2c
+        self.addr = addr
+        self.tb = bytearray(1)
+        self.rb = bytearray(1)
+        self.oneshot = False
+        self.irq_v = [[0, 0, 0], [0, 0, 0]]
+        self._power = True
+        self._power_a = 0x10
+        self._power_g = 0x10
+        # ODR_XL=1 FS_XL=0
+        self.setreg(LSM6DSO_CTRL1_XL, 0x10)
+        # ODR_G=1 FS_125=1
+        self.setreg(LSM6DSO_CTRL2_G, 0x12)        
+        # BDU=1 IF_INC=1
+        self.setreg(LSM6DSO_CTRL3_C, 0x44)
+        self.setreg(LSM6DSO_CTRL8_XL, 0)
+        # scale=2G
+        self._scale_a = 0
+        self._scale_g = 0
+        self.scale_a('2g')
+        self.scale_g('125')
+
+    def int16(self, d):
+        return d if d < 0x8000 else d - 0x10000
+
+    def setreg(self, reg, dat):
+        self.tb[0] = dat
+        self.i2c.writeto_mem(self.addr, reg, self.tb)
+
+    def getreg(self, reg):
+        self.i2c.readfrom_mem_into(self.addr, reg, self.rb)
+        return self.rb[0]
+
+    def get2reg(self, reg):
+        return self.getreg(reg) + self.getreg(reg+1) * 256
+
+    def r_w_reg(self, reg, dat, mask):
+        self.getreg(reg)
+        self.rb[0] = (self.rb[0] & mask) | dat
+        self.setreg(reg, self.rb[0])
+
+    def ax(self):
+        return self.int16(self.get2reg(LSM6DSO_OUTX_L_A))
+
+    def ay(self):
+        return self.int16(self.get2reg(LSM6DSO_OUTY_L_A))
+
+    def az(self):
+        return self.int16(self.get2reg(LSM6DSO_OUTZ_L_A))
+
+    def gx(self):
+        return self.int16(self.get2reg(LSM6DSO_OUTX_L_G))
+
+    def gy(self):
+        return self.int16(self.get2reg(LSM6DSO_OUTY_L_G))
+
+    def gz(self):
+        return self.int16(self.get2reg(LSM6DSO_OUTZ_L_G))
+
+    def get_a(self):
+        self.irq_v[0][0] = self.ax()
+        self.irq_v[0][1] = self.ay()
+        self.irq_v[0][2] = self.az()        
+        return self.irq_v[0]
+
+    def get_g(self):
+        self.irq_v[1][0] = self.gx()
+        self.irq_v[1][1] = self.gy()
+        self.irq_v[1][2] = self.gz()        
+        return self.irq_v[1]
+
+    def get(self):
+        self.get_a()
+        self.get_g()
+        return self.irq_v
+
+    def temperature(self):
+        try:
+            return self.int16(self.get2reg(LSM6DSO_OUT_TEMP_L))/256 + 25
+        except MemoryError:
+            return self.temperature_irq()
+
+    def temperature_irq(self):
+        self.getreg(LSM6DSO_OUT_TEMP_L+1)
+        if self.rb[0] & 0x80: self.rb[0] -= 256
+        return self.rb[0] + 25
+
+    def scale_a(self, dat=None):
+        if dat is None:
+            return LSM6DSO_SCALEA[self._scale_a]
+        else:
+            if type(dat) is str:
+                if not dat in LSM6DSO_SCALEA: return
+                self._scale_a = LSM6DSO_SCALEA.index(dat)
+            else: return
+            self.r_w_reg(LSM6DSO_CTRL1_XL, self._scale_a<<2, 0xF3)
+
+    def scale_g(self, dat=None):
+        if (dat is None) or (dat == ''):
+            return LSM6DSO_SCALEG[self._scale_g]
+        else:
+            if type(dat) is str:
+                if not dat in LSM6DSO_SCALEG: return
+                self._scale_g = LSM6DSO_SCALEG.index(dat)
+            else: return
+            self.r_w_reg(LSM6DSO_CTRL2_G, self._scale_g<<1, 0xF1)
+
+    def power(self, on=None):
+        if on is None:
+            return self._power
+        else:
+            self._power = on
+            if on:
+                self.r_w_reg(LSM6DSO_CTRL1_XL, self._power_a, 0x0F)
+                self.r_w_reg(LSM6DSO_CTRL2_G, self._power_g, 0x0F)
+            else:
+                self._power_a = self.getreg(LSM6DSO_CTRL1_XL) & 0xF0
+                self._power_g = self.getreg(LSM6DSO_CTRL2_G) & 0xF0
+                self.r_w_reg(LSM6DSO_CTRL1_XL, 0, 0x0F)
+                self.r_w_reg(LSM6DSO_CTRL2_G, 0, 0x0F)

sensor/LSM6DSO/LSM6DSO_demo.py

@@ -0,0 +1,8 @@
+from machine import I2C
+import LSM6DSO
+
+i2c = I2C(1)
+lsm = LSM6DSO.LSM6DSO(i2c)
+lsm.ax()
+lsm.get_a()
+lsm.get()

sensor/LSM6DSO/LSM6DSO_irq_demo.py

@@ -0,0 +1,15 @@
+from machine import I2C
+from pyb import Timer
+import LSM6DSO
+
+i2c = I2C(1)
+lsm = LSM6DSO.LSM6DSO(i2c)
+lsm.ax()
+lsm.get_a()
+lsm.get()
+
+def tim_irq(t):
+    print(lsm.get(), lsm.temperature())
+
+tim = Timer(1, freq = 1)
+tim.callback(tim_irq)

sensor/LSM6DSO/README.md

@@ -0,0 +1,19 @@
+# LSM6DSO sensor
+
+https://www.st.com/zh/mems-and-sensors/lsm6dso.html
+
+## example
+
+```
+from machine import I2C
+import LSM6DSO
+
+i2c = I2C(1)
+lsm = LSM6DSO.LSM6DSO(i2c)
+lsm.ax()
+lsm.get_a()
+lsm.get()
+```
+
+From microbit/micropython Chinese community.  
+www.micropython.org.cn

sensor/README.md

@@ -10,6 +10,7 @@
 * [ST STTS751 temperature sensor](STTS751)
 * [ST LIS2MDL magnetic sensor](LIS2MDL)
 * [ST LIS2DW12 motion sensor](LIS2DW12)
+* [ST LSM6DSO 3D accelerometer and 3D gyroscope sensor](LSM6DSO)
 
 From microbit/micropython Chinese community.  
 www.micropython.org.cn