2022-02-26 19:51:43 +00:00
|
|
|
"""Library for interacting with LIS3DH triple-axis accelerometer."""
|
|
|
|
|
|
|
|
|
|
from importlib.resources import read_text
|
2022-02-26 23:22:36 +00:00
|
|
|
from re import S
|
2022-02-26 19:51:43 +00:00
|
|
|
from tabnanny import check
|
|
|
|
|
import smbus2
|
|
|
|
|
from time import sleep
|
|
|
|
|
|
|
|
|
|
# Register addresses
|
|
|
|
|
_CTRL_REG1 = bytes([0x20])
|
|
|
|
|
_CTRL_REG2 = bytes([0x21])
|
|
|
|
|
_CTRL_REG3 = bytes([0x22])
|
|
|
|
|
_CTRL_REG4 = bytes([0x23])
|
|
|
|
|
_CTRL_REG5 = bytes([0x24])
|
|
|
|
|
_CTRL_REG6 = bytes([0x25])
|
|
|
|
|
_REF_REG = bytes([0x26])
|
|
|
|
|
_STATUS_REG = bytes([0x27])
|
|
|
|
|
_OUT_X_L = bytes([0x28])
|
|
|
|
|
_OUT_X_H = bytes([0x29])
|
|
|
|
|
_OUT_Y_L = bytes([0x2A])
|
|
|
|
|
_OUT_Y_H = bytes([0x2B])
|
|
|
|
|
_OUT_Z_L = bytes([0x2C])
|
|
|
|
|
_OUT_Z_H = bytes([0x2D])
|
|
|
|
|
_INT1_CFG = bytes([0x30])
|
|
|
|
|
_INT1_SRC = bytes([0x31])
|
|
|
|
|
_INT1_THS = bytes([0x32])
|
|
|
|
|
_INT1_DURATION = bytes([0x33])
|
|
|
|
|
_INT2_CFG = bytes([0x34])
|
|
|
|
|
_INT2_SRC = bytes([0x35])
|
|
|
|
|
_INT2_THS = bytes([0x36])
|
|
|
|
|
_INT2_DURATION = bytes([0x37])
|
|
|
|
|
_CLICK_CFG = bytes([0x38])
|
|
|
|
|
# Config flags
|
|
|
|
|
SAMPLERATE_1HZ = bytes([0x17])
|
|
|
|
|
SAMPLERATE_10HZ = bytes([0x27])
|
|
|
|
|
SAMPLERATE_25HZ = bytes([0x37])
|
|
|
|
|
HP_DISABLE = bytes([0x00])
|
|
|
|
|
CTRL_REG3_V = bytes([0x40])
|
|
|
|
|
CTRL_REG4_V = bytes([0x00]) # sensitivity set to 2g
|
|
|
|
|
CTRL_REG5_V = bytes([0x08])
|
|
|
|
|
INT1_THS_V = bytes([0x16]) # free-fall threshold at 350 mg
|
|
|
|
|
INT1_DURATION_V = bytes([0x03])
|
|
|
|
|
INT1_CFG_V = bytes([0x95])
|
|
|
|
|
EMPTY = bytes([0x00])
|
|
|
|
|
|
|
|
|
|
class lis3dh:
|
|
|
|
|
def __init__(self, i2cBus, i2cAddress=0x18, samplerate=SAMPLERATE_1HZ):
|
|
|
|
|
sleep(0.005)
|
|
|
|
|
self.i2c = i2cBus
|
|
|
|
|
self.addr = i2cAddress
|
|
|
|
|
self.samplerate = samplerate
|
|
|
|
|
i2cBus.pec = True # enable smbus2 Packet Error Checking
|
|
|
|
|
|
|
|
|
|
#First try; configure beginning from 0x20 with MSB = 1 to increment
|
2022-02-26 23:24:29 +00:00
|
|
|
config0 = smbus2.i2c_msg.write(self.addr, [0x20,0x1F])
|
|
|
|
|
config1 = smbus2.i2c_msg.write(self.addr, [0xC1,0x00,0x00,0x00,0x00,0x00,0x00])
|
2022-02-26 19:51:43 +00:00
|
|
|
config2 = smbus2.i2c_msg.write(self.addr, [0xB2,0x00,0x00]) #Configure 0x32 with MSB = 1 to increment
|
|
|
|
|
config3 = smbus2.i2c_msg.write(self.addr, [0x30,0x00]) #Configure 0x30
|
|
|
|
|
config4 = smbus2.i2c_msg.write(self.addr, [0x24,0x00]) #Configure 0x24 again
|
2022-02-26 23:24:29 +00:00
|
|
|
self.i2c.i2c_rdwr(config0, config1, config2, config3, config4)
|
2022-02-26 23:22:36 +00:00
|
|
|
check_CTRL_REG1 = smbus2.i2c_msg.write(self.addr, [0x20])
|
|
|
|
|
ctrl_reg1 = smbus2.i2c_msg.read(self.addr, 1)
|
|
|
|
|
self.i2c.i2c_rdwr(check_CTRL_REG1, ctrl_reg1)
|
|
|
|
|
print(ctrl_reg1.buf[0])
|
2022-02-26 19:51:43 +00:00
|
|
|
|
|
|
|
|
def readAll(self) -> list:
|
|
|
|
|
check_status = smbus2.i2c_msg.write(self.addr, [0x27])
|
2022-02-26 22:59:11 +00:00
|
|
|
x = smbus2.i2c_msg.read(self.addr, 1)
|
|
|
|
|
y = smbus2.i2c_msg.read(self.addr, 1)
|
|
|
|
|
z = smbus2.i2c_msg.read(self.addr, 1)
|
2022-02-26 23:47:48 +00:00
|
|
|
prepare_x = smbus2.i2c_msg.write(self.addr, [0x29])
|
|
|
|
|
prepare_y = smbus2.i2c_msg.write(self.addr, [0x2B])
|
|
|
|
|
prepare_z = smbus2.i2c_msg.write(self.addr, [0x2D])
|
2022-02-26 23:01:43 +00:00
|
|
|
status = smbus2.i2c_msg.read(self.addr, 1)
|
|
|
|
|
self.i2c.i2c_rdwr(check_status, status)
|
2022-02-26 23:38:45 +00:00
|
|
|
while (int.from_bytes(status.buf[0],"big") & 0b1111) != 0b1111:
|
2022-02-26 23:34:23 +00:00
|
|
|
print(status.buf[0], "\n")
|
2022-02-26 23:47:48 +00:00
|
|
|
sleep(0.01)
|
2022-02-26 23:08:41 +00:00
|
|
|
self.i2c.i2c_rdwr(check_status, status)
|
2022-02-26 23:40:28 +00:00
|
|
|
if (int.from_bytes(status.buf[0],"big") & 0b1111) == 0b1111:
|
2022-02-26 23:48:24 +00:00
|
|
|
#print("Status: ",status.buf[0], "\n")
|
2022-02-26 23:08:41 +00:00
|
|
|
self.i2c.i2c_rdwr(prepare_x, x)
|
|
|
|
|
self.i2c.i2c_rdwr(prepare_y, y)
|
|
|
|
|
self.i2c.i2c_rdwr(prepare_z, z)
|
|
|
|
|
X = int.from_bytes(x.buf[0],"big")
|
|
|
|
|
Y = int.from_bytes(y.buf[0],"big")
|
|
|
|
|
Z = int.from_bytes(z.buf[0],"big")
|
|
|
|
|
return [X,Y,Z]
|
