kopia lustrzana https://github.com/GuyCarver/MicroPython
557 wiersze
18 KiB
Python
557 wiersze
18 KiB
Python
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#driver for gy-521 Accelerometer
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#Translated by Guy Carver from the MPU6050 sample code.
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import pyb
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def setvalue( aOriginal, aPosBits, aValue ) :
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'''Set a specific bit on a variable. aPosBits = 0xpm (p = pos, m = # mask bits).'''
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mask = (1 << (aPosBits & 0xf)) - 1
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pos = aPosBits >> 4
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aOriginal &= ~(mask << pos)
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return aOriginal | (aValue & mask) << pos
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def getvalue( aOriginal, aPosBits ) :
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'''Get a specific bit from a variable. aPosBits = 0xpm (p = pos, m = # mask bits).'''
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mask = (1 << (aPosBits & 0xf)) - 1
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pos = aPosBits >> 4
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return (aOriginal >> pos) & mask
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class accel(object) :
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"""gy-521 Accelerometer."""
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_ADDRESS_LOW = const(0x68) #address pin low (GND), default for InvenSense evaluation board
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_ADDRESS_HIGH = const(0x69) #address pin high (VCC)
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# _RA_XG_OFFS_TC = const(0x00) #[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
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# _RA_YG_OFFS_TC = const(0x01) #[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
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# _RA_ZG_OFFS_TC = const(0x02) #[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
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# _RA_X_FINE_GAIN = const(0x03) #[7:0] X_FINE_GAIN
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# _RA_Y_FINE_GAIN = const(0x04) #[7:0] Y_FINE_GAIN
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# _RA_Z_FINE_GAIN = const(0x05) #[7:0] Z_FINE_GAIN
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# _RA_XA_OFFS_H = const(0x06) #[15:0] XA_OFFS
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# _RA_XA_OFFS_L_TC = const(0x07)
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# _RA_YA_OFFS_H = const(0x08) #[15:0] YA_OFFS
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# _RA_YA_OFFS_L_TC = const(0x09)
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# _RA_ZA_OFFS_H = const(0x0A) #[15:0] ZA_OFFS
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# _RA_ZA_OFFS_L_TC = const(0x0B)
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# _RA_XG_OFFS_USRH = const(0x13) #[15:0] XG_OFFS_USR
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# _RA_XG_OFFS_USRL = const(0x14)
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# _RA_YG_OFFS_USRH = const(0x15) #[15:0] YG_OFFS_USR
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# _RA_YG_OFFS_USRL = const(0x16)
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# _RA_ZG_OFFS_USRH = const(0x17) #[15:0] ZG_OFFS_USR
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# _RA_ZG_OFFS_USRL = const(0x18)
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_RA_SMPLRT_DIV = const(0x19)
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_RA_CONFIG = const(0x1A)
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_RA_GYRO_CONFIG = const(0x1B)
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_RA_ACCEL_CONFIG = const(0x1C)
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_RA_FF_THR = const(0x1D)
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_RA_FF_DUR = const(0x1E)
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_RA_MOT_THR = const(0x1F)
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_RA_MOT_DUR = const(0x20)
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_RA_ZRMOT_THR = const(0x21)
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_RA_ZRMOT_DUR = const(0x22)
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_RA_FIFO_EN = const(0x23)
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_RA_I2C_MST_CTRL = const(0x24)
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# _RA_I2C_SLV0_ADDR = const(0x25)
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# _RA_I2C_SLV0_REG = const(0x26)
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# _RA_I2C_SLV0_CTRL = const(0x27)
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# _RA_I2C_SLV1_ADDR = const(0x28)
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# _RA_I2C_SLV1_REG = const(0x29)
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# _RA_I2C_SLV1_CTRL = const(0x2A)
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# _RA_I2C_SLV2_ADDR = const(0x2B)
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# _RA_I2C_SLV2_REG = const(0x2C)
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# _RA_I2C_SLV2_CTRL = const(0x2D)
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# _RA_I2C_SLV3_ADDR = const(0x2E)
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# _RA_I2C_SLV3_REG = const(0x2F)
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# _RA_I2C_SLV3_CTRL = const(0x30)
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# _RA_I2C_SLV4_ADDR = const(0x31)
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# _RA_I2C_SLV4_REG = const(0x32)
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# _RA_I2C_SLV4_DO = const(0x33)
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# _RA_I2C_SLV4_CTRL = const(0x34)
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# _RA_I2C_SLV4_DI = const(0x35)
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# _RA_I2C_MST_STATUS = const(0x36)
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_RA_INT_PIN_CFG = const(0x37)
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# _RA_INT_ENABLE = const(0x38)
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# _RA_DMP_INT_STATUS = const(0x39)
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# _RA_INT_STATUS = const(0x3A)
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_RA_ACCEL_XOUT_H = const(0x3B)
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# _RA_ACCEL_XOUT_L = const(0x3C)
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# _RA_ACCEL_YOUT_H = const(0x3D)
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# _RA_ACCEL_YOUT_L = const(0x3E)
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# _RA_ACCEL_ZOUT_H = const(0x3F)
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# _RA_ACCEL_ZOUT_L = const(0x40)
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# _RA_TEMP_OUT_H = const(0x41)
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# _RA_TEMP_OUT_L = const(0x42)
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_RA_GYRO_XOUT_H = const(0x43)
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# _RA_GYRO_XOUT_L = const(0x44)
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# _RA_GYRO_YOUT_H = const(0x45)
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# _RA_GYRO_YOUT_L = const(0x46)
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# _RA_GYRO_ZOUT_H = const(0x47)
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# _RA_GYRO_ZOUT_L = const(0x48)
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# _RA_EXT_SENS_DATA_00 = const(0x49)
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# _RA_EXT_SENS_DATA_01 = const(0x4A)
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# _RA_EXT_SENS_DATA_02 = const(0x4B)
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# _RA_EXT_SENS_DATA_03 = const(0x4C)
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# _RA_EXT_SENS_DATA_04 = const(0x4D)
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# _RA_EXT_SENS_DATA_05 = const(0x4E)
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# _RA_EXT_SENS_DATA_06 = const(0x4F)
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# _RA_EXT_SENS_DATA_07 = const(0x50)
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# _RA_EXT_SENS_DATA_08 = const(0x51)
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# _RA_EXT_SENS_DATA_09 = const(0x52)
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# _RA_EXT_SENS_DATA_10 = const(0x53)
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# _RA_EXT_SENS_DATA_11 = const(0x54)
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# _RA_EXT_SENS_DATA_12 = const(0x55)
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# _RA_EXT_SENS_DATA_13 = const(0x56)
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# _RA_EXT_SENS_DATA_14 = const(0x57)
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# _RA_EXT_SENS_DATA_15 = const(0x58)
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# _RA_EXT_SENS_DATA_16 = const(0x59)
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# _RA_EXT_SENS_DATA_17 = const(0x5A)
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# _RA_EXT_SENS_DATA_18 = const(0x5B)
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# _RA_EXT_SENS_DATA_19 = const(0x5C)
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# _RA_EXT_SENS_DATA_20 = const(0x5D)
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# _RA_EXT_SENS_DATA_21 = const(0x5E)
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# _RA_EXT_SENS_DATA_22 = const(0x5F)
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# _RA_EXT_SENS_DATA_23 = const(0x60)
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# _RA_MOT_DETECT_STATUS = const(0x61)
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# _RA_I2C_SLV0_DO = const(0x63)
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# _RA_I2C_SLV1_DO = const(0x64)
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# _RA_I2C_SLV2_DO = const(0x65)
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# _RA_I2C_SLV3_DO = const(0x66)
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# _RA_I2C_MST_DELAY_CTRL = const(0x67)
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# _RA_SIGNAL_PATH_RESET = const(0x68)
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# _RA_MOT_DETECT_CTRL = const(0x69)
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_RA_USER_CTRL = const(0x6A)
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_RA_PWR_MGMT_1 = const(0x6B)
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# _RA_PWR_MGMT_2 = const(0x6C)
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# _RA_BANK_SEL = const(0x6D)
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# _RA_MEM_START_ADDR = const(0x6E)
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# _RA_MEM_R_W = const(0x6F)
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# _RA_DMP_CFG_1 = const(0x70)
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# _RA_DMP_CFG_2 = const(0x71)
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# _RA_FIFO_COUNTH = const(0x72)
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# _RA_FIFO_COUNTL = const(0x73)
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# _RA_FIFO_R_W = const(0x74)
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# _RA_WHO_AM_I = const(0x75)
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#Value Location data.
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#Following are the bytes describing the data packed into each 8 bit value on the chip.
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#Nibble 1 = position, 0 = bits
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#NOTE: Commented out currently unused locations.
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# _TC_OTP_BNK_VLD = const(0x01)
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# _TC_OFFSET = const(0x16)
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# _TC_PWR_MODE = const(0x71)
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_CFG_DLPF_CFG = const(0x03)
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# _CFG_EXT_SYNC_SET = const(0x33)
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_GCONFIG_FS_SEL = const(0x32)
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# _ACONFIG_ACCEL_HPF = const(0x03)
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_ACONFIG_AFS_SEL = const(0x32)
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# _ACONFIG_ZA_ST = const(0x51)
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# _ACONFIG_YA_ST = const(0x61)
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# _ACONFIG_XA_ST = const(0x71)
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# _SLV0_FIFO_EN = const(0X01)
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# _SLV1_FIFO_EN = const(0X11)
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# _SLV2_FIFO_EN = const(0X21)
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_ACCEL_FIFO_EN = const(0X31)
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_ZG_FIFO_EN = const(0X41)
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_YG_FIFO_EN = const(0X51)
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_XG_FIFO_EN = const(0X61)
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_TEMP_FIFO_EN = const(0X71)
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_I2C_MST_CLK = const(0X04)
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# _I2C_MST_P_NSR = const(0X41)
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# _SLV_3_FIFO_EN = const(0X51)
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# _WAIT_FOR_ES = const(0X61)
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# _MULT_MST_EN = const(0X71)
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# _I2C_SLV_LEN = const(0X04)
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# _I2C_SLV_GRP = const(0X41)
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# _I2C_SLV_REG_DIS = const(0X51)
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# _I2C_SLV_BYTE_SW = const(0X61)
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# _I2C_SLV_EN = const(0X71)
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# _I2C_SLV_ADDR = const(0X07)
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# _I2C_SLV_RW = const(0X71)
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# _I2C_SLV4_MST_DLY = const(0X05)
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# _I2C_SLV4_REG_DIS = const(0X51)
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# _I2C_SLV4_INT_EN = const(0X61)
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# _I2C_SLV4_EN = const(0X71)
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# _I2C_SLV4_ADDR = const(0X07)
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# _I2C_SLV4_RW = const(0X71)
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# _MST_I2C_SLV0_NACK = const(0X01)
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# _MST_I2C_SLV1_NACK = const(0X11)
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# _MST_I2C_SLV2_NACK = const(0X21)
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# _MST_I2C_SLV3_NACK = const(0X31)
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# _MST_I2C_SLV4_NACK = const(0X41)
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# _MST_I2C_LOST_ARB = const(0X51)
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# _MST_I2C_SLV4_DONE = const(0X61)
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# _MST_PASS_THROUGH = const(0X71)
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# _INTERRUPT_DATA_RDY = const(0X01)
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# _INTERRUPT_DMP_INT = const(0X11)
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# _INTERRUPT_PLL_RDY_INT = const(0X21)
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# _INTERRUPT_I2C_MST_INT = const(0X31)
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# _INTERRUPT_FIFO_OFLOW = const(0X41)
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# _INTERRUPT_ZMOT = const(0X51)
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# _INTERRUPT_MOT = const(0X61)
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# _INTERRUPT_FF = const(0X71)
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# TODO: figure out what these actually do
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# UMPL source code is not very obivous
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# _DMPINT_0 = const(0X01)
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# _DMPINT_1 = const(0X11)
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# _DMPINT_2 = const(0X21)
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# _DMPINT_3 = const(0X31)
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# _DMPINT_4 = const(0X41)
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# _DMPINT_5 = const(0X51)
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# _MOTION_MOT_ZRMOT = const(0X01)
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# _MOTION_MOT_ZPOS = const(0X21)
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# _MOTION_MOT_ZNEG = const(0X31)
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# _MOTION_MOT_YPOS = const(0X41)
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# _MOTION_MOT_YNEG = const(0X51)
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# _MOTION_MOT_XPOS = const(0X61)
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# _MOTION_MOT_XNEG = const(0X71)
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# _DELAYCTRL_I2C_SLV0_DLY_EN = const(0X01)
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# _DELAYCTRL_I2C_SLV1_DLY_EN = const(0X11)
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# _DELAYCTRL_I2C_SLV2_DLY_EN = const(0X21)
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# _DELAYCTRL_I2C_SLV3_DLY_EN = const(0X31)
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# _DELAYCTRL_I2C_SLV4_DLY_EN = const(0X41)
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# _DELAYCTRL_DELAY_ES_SHADOW = const(0X71)
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# _PATHRESET_TEMP_RESET = const(0X01)
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# _PATHRESET_ACCEL_RESET = const(0X11)
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# _PATHRESET_GYRO_RESET = const(0X21)
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# _DETECT_MOT_COUNT = const(0X02)
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# _DETECT_FF_COUNT = const(0X22)
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# _DETECT_ACCEL_ON_DELAY = const(0X42)
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# _INTCFG_CLKOUT_EN = const(0X01)
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# _INTCFG_I2C_BYPASS_EN = const(0X11)
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# _INTCFG_FSYNC_INT_EN = const(0X21)
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# _INTCFG_FSYNC_INT_LEVEL = const(0X31)
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_INTCFG_INT_RD_CLEAR = const(0X41)
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_INTCFG_LATCH_INT_EN = const(0X51)
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_INTCFG_INT_OPEN = const(0X61)
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_INTCFG_INT_LEVEL = const(0X71)
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# _USERCTRL_SIG_COND_RESET = const(0X01)
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# _USERCTRL_I2C_MST_RESET = const(0X11)
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# _USERCTRL_FIFO_RESET = const(0X21)
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# _USERCTRL_DMP_RESET = const(0X31)
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# _USERCTRL_I2C_IF_DIS = const(0X41)
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# _USERCTRL_I2C_MST_EN = const(0X51)
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_USERCTRL_FIFO_EN = const(0X61)
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# _USERCTRL_DMP_EN = const(0X71)
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_PWR1_CLKSEL = const(0X03)
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# _PWR1_TEMP_DIS = const(0X31)
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# _PWR1_CYCLE = const(0X51)
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_PWR1_SLEEP = const(0X61)
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_PWR1_DEVICE_RESET = const(0X71)
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# _PWR2_STBY_ZG = const(0X01)
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# _PWR2_STBY_YG = const(0X11)
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# _PWR2_STBY_XG = const(0X21)
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# _PWR2_STBY_ZA = const(0X31)
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# _PWR2_STBY_YA = const(0X41)
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# _PWR2_STBY_XA = const(0X51)
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# _PWR2_LP_WAKE_CTRL = const(0X62)
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# _BANKSEL_MEM_SEL = const(0X05)
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# _BANKSEL_CFG_USER_BANK = const(0X51)
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# _BANKSEL_PRFTCH_EN = const(0X61)
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# _WHO_AM_I = const(0X06)
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#Values, not currently in use.
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# _DLPF_BW_256 = const(0)
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# _DLPF_BW_188 = const(1)
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# _DLPF_BW_98 = const(2)
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# _DLPF_BW_42 = const(3)
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# _DLPF_BW_20 = const(4)
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# _DLPF_BW_10 = const(5)
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# _DLPF_BW_5 = const(6)
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# _DHPF_RESET = const(0)
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# _DHPF_5 = const(1)
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# _DHPF_2P5 = const(2)
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# _DHPF_1P25 = const(3)
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# _DHPF_0P63 = const(4)
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# _DHPF_HOLD = const(7)
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_GYRO_FS_250 = const(0)
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# _GYRO_FS_500 = const(1)
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# _GYRO_FS_1000 = const(2)
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# _GYRO_FS_2000 = const(3)
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#
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_ACCEL_FS_2 = const(0)
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# _ACCEL_FS_4 = const(1)
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# _ACCEL_FS_8 = const(2)
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# _ACCEL_FS_16 = const(3)
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#
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#
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# _CLOCK_DIV_348 = const(0x0)
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# _CLOCK_DIV_333 = const(0x1)
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# _CLOCK_DIV_320 = const(0x2)
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# _CLOCK_DIV_308 = const(0x3)
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# _CLOCK_DIV_296 = const(0x4)
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# _CLOCK_DIV_286 = const(0x5)
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# _CLOCK_DIV_276 = const(0x6)
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# _CLOCK_DIV_267 = const(0x7)
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# _CLOCK_DIV_258 = const(0x8)
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# _CLOCK_DIV_500 = const(0x9)
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# _CLOCK_DIV_471 = const(0xA)
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# _CLOCK_DIV_444 = const(0xB)
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# _CLOCK_DIV_421 = const(0xC)
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# _CLOCK_DIV_400 = const(0xD)
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# _CLOCK_DIV_381 = const(0xE)
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# _CLOCK_DIV_364 = const(0xF)
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#
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# _INTMODE_ACTIVEHIGH = const(0)
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# _INTMODE_ACTIVELOW = const(1)
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#
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# _INTDRV_PUSHPULL = const(0)
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# _INTDRV_OPENDRAIN = const(1)
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#
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# _INTLATCH_50USPULSE = const(0)
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# _INTLATCH_WAITCLEAR = const(1)
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#
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# _INTCLEAR_STATUSREAD = const(0)
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# _INTCLEAR_ANYREAD = const(1)
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#
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# _DETECT_DECREMENT_RESET = const(0)
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# _DETECT_DECREMENT_1 = const(1)
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# _DETECT_DECREMENT_2 = const(2)
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# _DETECT_DECREMENT_4 = const(3)
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#
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# _WAKE_FREQ_1P25 = const(0)
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# _WAKE_FREQ_2P5 = const(1)
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# _WAKE_FREQ_5 = const(2)
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# _WAKE_FREQ_10 = const(3)
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#
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# _DMP_MEMORY_BANKS = const(8)
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# _DMP_MEMORY_BANK_SIZE = const(256)
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# _DMP_MEMORY_CHUNK_SIZE = const(16)
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# _VDDIO_LEVEL_VLOGIC = const(0)
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# _VDDIO_LEVEL_VDD = const(1)
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# _EXT_SYNC_DISABLED = const(0)
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# _EXT_SYNC_TEMP_OUT_L = const(1)
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# _EXT_SYNC_GYRO_XOUT_L = const(2)
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# _EXT_SYNC_GYRO_YOUT_L = const(3)
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# _EXT_SYNC_GYRO_ZOUT_L = const(4)
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# _EXT_SYNC_ACCEL_XOUT_L = const(5)
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# _EXT_SYNC_ACCEL_YOUT_L = const(6)
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# _EXT_SYNC_ACCEL_ZOUT_L = const(7)
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# _CLOCK_INTERNAL = const(0)
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_CLOCK_PLL_XGYRO = const(1)
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# _CLOCK_PLL_YGYRO = const(2)
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# _CLOCK_PLL_ZGYRO = const(3)
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# _CLOCK_PLL_EXT32K = const(4)
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# _CLOCK_PLL_EXT19M = const(5)
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# _CLOCK_KEEP_RESET = const(7)
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def __init__( self, aLoc, aAddress = _ADDRESS_LOW ) :
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"""aLoc I2C pin location is either 1, 'X', 2 or 'Y'.
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aAddress is either ADDRESS_LOW or ADDRESS_HIGH."""
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self._data = bytearray(1)
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self._data6 = bytearray(6)
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self._data14 = bytearray(14)
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self._address = aAddress
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self._i2c = pyb.I2C(aLoc, pyb.I2C.MASTER, baudrate = 400000)
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self.setclocksource(_CLOCK_PLL_XGYRO)
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self.setfullscalegyrorange(_GYRO_FS_250)
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self.setfullscaleaccelrange(_ACCEL_FS_2)
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self.setsleepenabled(False)
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def getrate( self ) :
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self._readdata(_RA_SMPLRT_DIV, self._data)
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return self._data[0]
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def setrate( self, aRate ) :
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self._writedata(_RA_SMPLRT_DIV, aRate)
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def getDLPF( self ) :
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return self._readbits(_RA_CONFIG, _CFG_DLPF_CFG)
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def setDLPF( self, aMode ) :
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self._writebits(_RA_CONFIG, _CFG_DLPF_CFG, aMode)
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def setclocksource( self, aSource ) :
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self._writebits(_RA_PWR_MGMT_1, _PWR1_CLKSEL, aSource)
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def getfullscalegyrorange( self ) :
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return self._readbits(_RA_GYRO_CONFIG, _GCONFIG_FS_SEL)
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def setfullscalegyrorange( self, aRange ) :
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self._writebits(_RA_GYRO_CONFIG, _GCONFIG_FS_SEL, aRange)
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def getfullscaleaccelrange( self ) :
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self._readbits(_RA_ACCEL_CONFIG, _ACONFIG_AFS_SEL)
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def setfullscaleaccelrange( self, aRange ) :
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self._writebits(_RA_ACCEL_CONFIG, _ACONFIG_AFS_SEL, aRange)
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def getsleepenabled( self ) :
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self._readbits(_RA_PWR_MGMT_1, _PWR1_SLEEP)
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def setsleepenabled( self, aTF ) :
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self._writebits(_RA_PWR_MGMT_1, _PWR1_SLEEP, aTF)
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def getfreefalldetectionthreshold( self ) :
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self._readdata(_RA_FF_THR, self._data)
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return self._data[0]
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def setfreefalldetectionthreshold( self, aValue ) :
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self._writedata(_RA_FF_THR, aValue)
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def getfreefalldetectionduration( self ) :
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self._readdata(_RA_FF_DUR, self._data)
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return self._data[0]
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def setfreefalldetectionduration( self, aValue ) :
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self._writedata(_RA_FF_DUR, aValue)
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def getmotiondetectionthreshold( self ) :
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self._readdata(_RA_MOT_THR, self._data)
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return self._data[0]
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def setmotiondetectionthreshold( self, aValue ) :
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self._writedata(_RA_MOT_THR, aValue)
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def getmotiondetectionduration( self ) :
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self._readdata(_RA_MOT_DUR, self._data)
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return self._data[0]
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def setmotiondetectionduration( self, aValue ) :
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self._writedata(_RA_MOT_DUR, aValue)
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def getzeromotiondetectionthreshold( self ) :
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self._readdata(_RA_ZRMOT_THR, self._data)
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return self._data[0]
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def setzeromotiondetectionthreshold( self, aValue ) :
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self._writedata(_RA_ZRMOT_THR, aValue)
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def getzeromotiondetectionduration( self ) :
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self._readdata(_RA_ZRMOT_DUR, self._data)
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return self._data[0]
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def setzeromotiondetectionduration( self, aValue ) :
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self._writedata(_RA_ZRMOT_DUR, aValue)
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def getFIFOenabled( self ) :
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return self._readbits(_RA_USER_CTRL, _USERCTRL_FIFO_EN)
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def setFIFOenabled( self, aTF ) :
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self._writebits(_RA_USER_CTRL, _USERCTRL_FIFO_EN, aTF)
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def gettempFIFOenabled( self ) :
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return self._readbits(_RA_FIFO_EN, _TEMP_FIFO_EN)
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def settempFIFFOenabled( self, aTF ) :
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self._writebits(_RA_FIFO_EN, _TEMP_FIFO_EN, aTF)
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def getxgyroFIFOenabled( self ) :
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return self._readbits(_RA_FIFO_EN, _XG_FIFO_EN)
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def setxgyroFIFOenabled( self, aTF ) :
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self._writebits(_RA_FIFO_EN, _XG_FIFO_EN, aTF)
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def getygyroFIFOenabled( self ) :
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return self._readbits(_RA_FIFO_EN, _YG_FIFO_EN)
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def setygyroFIFOenabled( self, aTF ) :
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self._writebits(_RA_FIFO_EN, _YG_FIFO_EN, aTF)
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def getzgyroFIFOenabled( self ) :
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return self._readbits(_RA_FIFO_EN, _ZG_FIFO_EN)
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def setzgyroFIFOenabled( self, aTF ) :
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self._writebits(_RA_FIFO_EN, _ZG_FIFO_EN, aTF)
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def getaccelFIFOenabled( self ) :
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return self._readbits(_RA_FIFO_EN, _ACCEL_FIFO_EN)
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def setaccelFIFOenabled( self, aTF ) :
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self._writebits(_RA_FIFO_EN, _ACCEL_FIFO_EN, aTF)
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def getmasterclockspeed( self ) :
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return self._readbits(_RA_I2C_MST_CTRL, _I2C_MST_CLK)
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def setmasterclockspeed( self, aValue ) :
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self._writebits(_RA_I2C_MST_CTRL, _I2C_MST_CLK, aValue)
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def getinterruptmode( self ) :
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return self._readbits(_RA_INT_PIN_CFG, _INTCFG_INT_LEVEL)
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def setinterruptmode( self, aValue ) :
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self._writebits(_RA_INT_PIN_CFG, _INTCFG_INT_LEVEL, aValue)
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def getinterruptdrive( self ) :
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return self._readbits(_RA_INT_PIN_CFG, _INTCFG_INT_OPEN)
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def setinterruptdrive( self, aValue ) :
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self._writebits(_RA_INT_PIN_CFG, _INTCFG_INT_OPEN, aValue)
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def getinterruptlatch( self ) :
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return self._readbits(_RA_INT_PIN_CFG, _INTCFG_LATCH_INT_EN)
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def setinterruptlatch( self, aValue ) :
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self._writebits(_RA_INT_PIN_CFG, _INTCFG_LATCH_INT_EN, aValue)
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def getinterruptlatchclear( self ) :
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return self._readbits(_RA_INT_PIN_CFG, _INTCFG_INT_RD_CLEAR)
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def setinterruptlatchclear( self, aValue ) :
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self._writebits(_RA_INT_PIN_CFG, _INTCFG_INT_RD_CLEAR, aValue)
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def getacceltemprot( self ) :
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self._readdata(_RA_ACCEL_XOUT_H, self._data14)
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return [(self._data14[i] << 8) | self._data14[i + 1] for i in range(0, len(self._data14), 2)]
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def getacceleration( self ) :
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self._readdata(_RA_ACCEL_XOUT_H, self._data6)
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return [(self._data6[i] << 8) | self._data6[i + 1] for i in range(0, len(self._data6), 2)]
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def getrotation( self ) :
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self._readdata(_RA_GYRO_XOUT_H, self._data6)
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return [(self._data6[i] << 8) | self._data6[i + 1] for i in range(0, len(self._data6), 2)]
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def reset( self ) :
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self._writebits(_RA_PWR_MGMT_1, _PWR1_DEVICE_RESET, True)
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def _writedata( self, aAddress, aData ) :
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self._i2c.mem_write(aData, self._address, aAddress)
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def _readdata( self, aAddress, aData ) :
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self._i2c.mem_read(aData, self._address, aAddress)
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# @micropython.native
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def _readbits( self, aAddress, aPosBits ) :
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self._readdata(aAddress, self._data)
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return getvalue(self._data[0], aPosBits)
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# @micropython.native
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def _writebits( self, aAddress, aPosBits, aValue ) :
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self._readdata(aAddress, self._data)
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self._data[0] = setvalue(self._data[0], aPosBits, aValue)
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self._writedata(aAddress, self._data)
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