mirror of
https://github.com/supleed2/ELEC60013-ES-CW1.git
synced 2024-12-23 05:55:49 +00:00
Testing basic functionality
This commit is contained in:
parent
66403e9e03
commit
f7da767fbb
76
lis3dh.py
Normal file
76
lis3dh.py
Normal file
|
@ -0,0 +1,76 @@
|
||||||
|
"""Library for interacting with LIS3DH triple-axis accelerometer."""
|
||||||
|
|
||||||
|
from importlib.resources import read_text
|
||||||
|
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
|
||||||
|
config1 = smbus2.i2c_msg.write(self.addr, [0xC0,0x1F,0x00,0x00,0x00,0x00,0x00,0x00])
|
||||||
|
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
|
||||||
|
self.i2c.i2c_rdwr(config1, config2, config3, config4)
|
||||||
|
|
||||||
|
def readAll(self) -> list:
|
||||||
|
check_status = smbus2.i2c_msg.write(self.addr, [0x27])
|
||||||
|
read_axis = smbus2.i2c_msg.read(self.addr, 1)
|
||||||
|
prepare_x = smbus2.i2c_msg.write(self.addr, [0x28])
|
||||||
|
prepare_y = smbus2.i2c_msg.write(self.addr, [0x2A])
|
||||||
|
prepare_z = smbus2.i2c_msg.write(self.addr, [0x2C])
|
||||||
|
read_status = smbus2.i2c_msg.read(self.addr, 1)
|
||||||
|
status = self.i2c.i2c_rdwr(check_status, read_status)
|
||||||
|
while status.buf[0] != 0b1111:
|
||||||
|
sleep(0.00001)
|
||||||
|
x = self.i2c.i2c_rdwr(prepare_x, read_axis)
|
||||||
|
y = self.i2c.i2c_rdwr(prepare_y, read_axis)
|
||||||
|
z = self.i2c.i2c_rdwr(prepare_z, read_axis)
|
||||||
|
X = int.from_bytes(x.buf[0])
|
||||||
|
Y = int.from_bytes(y.buf[0])
|
||||||
|
Z = int.from_bytes(z.buf[0])
|
||||||
|
return [X,Y,Z]
|
Loading…
Reference in a new issue