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boards/default_src/micropython/origin/build/lib/mxc6655xa.py

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+"""
+MXC6655XA
+
+Micropython library for the MXC6655XA Accelerometer
+=======================================================
+#Changed from circuitpython to micropython       20220224
+#Format unified								     20220623
+
+dahanzimin From the Mixly Team 
+"""
+import time
+from math import atan,sqrt,degrees
+from micropython import const
+
+MXC6655XA_ADDRESS	     = const(0x15)
+MXC6655XA_REG_DATA	     = const(0x03)
+MXC6655XA_REG_CTRL	     = const(0x0D)
+MXC6655XA_REG_DEVICE_ID	 = const(0x0E)
+MXC6655XA_CMD_8G_POWER_ON  = const(0x40)
+MXC6655XA_CMD_4G_POWER_ON  = const(0x20)
+MXC6655XA_CMD_2G_POWER_ON  = const(0x00)
+
+_Range = (
+	MXC6655XA_CMD_2G_POWER_ON,  # 2g
+	MXC6655XA_CMD_4G_POWER_ON,  # 4g
+	MXC6655XA_CMD_8G_POWER_ON,  # 8g
+)
+
+_Range_X = (
+	1024,   # 2g
+	512,    # 4g
+	256,    # 8g
+)
+
+MXC6655XA_T_ZERO          =25
+MXC6655XA_T_SENSITIVITY	  =0.586
+
+class MXC6655XA:
+
+	def __init__(self,i2c_bus,set_range=2, front=False):
+		self._device = i2c_bus
+		self._address = MXC6655XA_ADDRESS
+		self._range = set_range     #default 8g range
+		self._front = front
+
+		if self._chip_id() != 0x02:
+			raise AttributeError("Cannot find a MXC6655XA")
+		self._Enable()              #star
+		#time.sleep(0.3)
+		
+	def _wreg(self, reg, val):
+		'''Write memory address'''
+		self._device.writeto_mem(self._address,reg,val.to_bytes(1, 'little'))
+
+	def _rreg(self, reg,nbytes=1):
+		'''Read memory address'''
+		return  self._device.readfrom_mem(self._address, reg, nbytes)[0] if nbytes<=1 else self._device.readfrom_mem(self._address, reg, nbytes)[0:nbytes]
+
+	def _chip_id(self):  
+		return self._rreg(MXC6655XA_REG_DEVICE_ID)
+		
+	def _Enable(self): 
+		self._wreg(MXC6655XA_REG_CTRL,_Range[self._range])
+		
+	def u2s(self,n):
+		return n if n < (1 << 7) else n - (1 << 8)	
+
+	@property
+	def getdata(self): 
+		data_reg=self._rreg(MXC6655XA_REG_DATA,7)
+		x_acc=float((self.u2s(data_reg[0])<<8|data_reg[1])>>4)/_Range_X[self._range]
+		y_acc=float((self.u2s(data_reg[2])<<8|data_reg[3])>>4)/_Range_X[self._range]
+		z_acc=float((self.u2s(data_reg[4])<<8|data_reg[5])>>4)/_Range_X[self._range]
+		t_acc=float(self.u2s(data_reg[6]))*MXC6655XA_T_SENSITIVITY + MXC6655XA_T_ZERO
+		return (-y_acc,-x_acc,z_acc,round(t_acc,1)) if self._front else (y_acc,-x_acc,z_acc,round(t_acc,1))
+
+	def acceleration(self): 
+		return self.getdata[0:3]
+
+	def strength(self): 
+		from math import sqrt
+		return sqrt(self.getdata[0]**2+self.getdata[1]**2+self.getdata[2]**2)
+
+	def temperature(self): 
+		return self.getdata[3]
+
+	def eulerangles(self,upright=False): 
+		x,y,z=self.acceleration()
+		pitch = degrees(atan(z / sqrt(x ** 2 + y ** 2))) if upright else degrees(atan(y / sqrt(x ** 2 + z ** 2)))
+		roll =  degrees(atan(x / sqrt(y ** 2 + z ** 2)))
+		return round(pitch,2),round(roll,2)