初始化提交

boards/default_src/micropython/origin/build/lib/qmi8658.py

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+"""
+QMI8658
+
+Micropython library for the QMI8658(Accelerometer+Gyroscope)
+=======================================================
+
+#Preliminary composition	       		20220716
+
+dahanzimin From the Mixly Team
+"""
+import time
+from micropython import const
+
+QMI8658_REG_DEVICE_ID	 = const(0x00)
+
+QMI8658_REG_Ctrl1	     = const(0x02)  #Serial Interface and Sensor Enable
+QMI8658_REG_Ctrl2	     = const(0x03)  #Accelerometer Settings
+QMI8658_REG_Ctrl3	     = const(0x04)  #Gyroscope Settings
+QMI8658_REG_Ctrl5	     = const(0x06)  #Sensor Data Processing Settings
+QMI8658_REG_Ctrl7	     = const(0x08)  #Sensor Data Processing Settings
+QMI8658_REG_Ctrl9	     = const(0x0A)  #Host Commands
+QMI8658_REG_StatusInt    = const(0x2D)  #Sensor Data Available and Lock Register Address
+QMI8658_REG_DATA         = const(0x33)
+
+Qmi8658AccRange_2g  = 0  		#/* +/- 2g range */
+Qmi8658AccRange_4g  = 1  		#/* +/- 4g range */
+Qmi8658AccRange_8g  = 2 		#/* +/- 8g range */
+Qmi8658AccRange_16g = 3   		#/* +/- 16g range */
+
+Qmi8658GyrRange_16dps 	= 0    	#/* +-16 degrees per second. */
+Qmi8658GyrRange_32dps 	= 1    	#/* +-32 degrees per second. */
+Qmi8658GyrRange_64dps 	= 2    	#/* +-64 degrees per second. */
+Qmi8658GyrRange_128dps 	= 3   	#/* +-128 degrees per second. */
+Qmi8658GyrRange_256dps 	= 4   	#/* +-256 degrees per second. */
+Qmi8658GyrRange_512dps 	= 5   	#/* +-512 degrees per second. */
+Qmi8658GyrRange_1024dps = 6  	#/* +-1024 degrees per second. */
+Qmi8658GyrRange_2048dps = 7  	#/* +-2048 degrees per second. */
+
+Qmi8658Acc_Gyr_Odr_8000Hz = 0x00    	#/* High resolution 8000Hz output rate. */
+Qmi8658Acc_Gyr_Odr_4000Hz = 0x01    	#/* High resolution 4000Hz output rate. */
+Qmi8658Acc_Gyr_Odr_2000Hz = 0x02    	#/* High resolution 2000Hz output rate. */
+Qmi8658Acc_Gyr_Odr_1000Hz = 0x03    	#/* High resolution 1000Hz output rate. */
+Qmi8658Acc_Gyr_Odr_500Hz  = 0x04     	#/* High resolution 500Hz output rate. */
+Qmi8658Acc_Gyr_Odr_250Hz  = 0x05     	#/* High resolution 250Hz output rate. */
+Qmi8658Acc_Gyr_Odr_125Hz  = 0x06     	#/* High resolution 125Hz output rate. */
+Qmi8658Acc_Gyr_Odr_62_5Hz = 0x07    	#/* High resolution 62.5Hz output rate. */
+Qmi8658Acc_Gyr_Odr_31_25Hz= 0x08   		#/* High resolution 31.25Hz output rate. */
+
+class QMI8658:
+	def __init__(self, i2c_bus,addr=0x6B,AccRange=Qmi8658AccRange_8g,GyrRange=Qmi8658GyrRange_2048dps,Acc_Gyr_Odr=Qmi8658Acc_Gyr_Odr_500Hz):
+		self._device = i2c_bus
+		self._address = addr
+		if self._chip_id() != 0x05:
+			raise AttributeError("Cannot find a QMI8658")
+			
+		self._wreg(QMI8658_REG_Ctrl9,0xA2)  #做selftest，提高精度
+		time.sleep(1)
+		self._wreg(QMI8658_REG_Ctrl1,0x60)
+		self._wreg(QMI8658_REG_Ctrl7,0x03)  #启动
+		self._wreg(QMI8658_REG_Ctrl2,(AccRange<< 4)|Acc_Gyr_Odr)  #ACC-500HZ/8G
+		self._wreg(QMI8658_REG_Ctrl3,(GyrRange<< 4)|Acc_Gyr_Odr)  #Gyr-500HZ/2048dps
+		self._wreg(QMI8658_REG_Ctrl5,0x75)  #Gyr-14%,ACC-5.32%
+		self.gyr_lsb_div= 2**(11-GyrRange)
+		self.acc_lsb_div= 1<<(14-AccRange)
+		
+	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(QMI8658_REG_DEVICE_ID)
+		
+	def status(self):  
+		return self._rreg(QMI8658_REG_StatusInt)
+		
+	def u2s(self,n):
+		return n if n < (1 << 15) else n - (1 << 16)	
+		
+	def getdata(self):
+		while self.status() == 0x81:
+			time.sleep(0.001)
+		_buffer=self._rreg(QMI8658_REG_DATA,14)
+		tmp=  float(self.u2s(_buffer[1]<<8|_buffer[0]))/256.0
+		acc_x=float(self.u2s(_buffer[3]<<8|_buffer[2]))/self.acc_lsb_div
+		acc_y=float(self.u2s(_buffer[5]<<8|_buffer[4]))/self.acc_lsb_div
+		acc_z=float(self.u2s(_buffer[7]<<8|_buffer[6]))/self.acc_lsb_div
+		gyr_x=float(self.u2s(_buffer[9]<<8|_buffer[8]))/self.gyr_lsb_div
+		gyr_y=float(self.u2s(_buffer[11]<<8|_buffer[10]))/self.gyr_lsb_div
+		gyr_z=float(self.u2s(_buffer[13]<<8|_buffer[12]))/self.gyr_lsb_div
+		return (acc_x,acc_y,acc_z),(gyr_x,gyr_y,gyr_z),round(tmp,2)
+	
+	def accelerometer(self):
+		return self.getdata()[0]
+
+	def gyroscope(self):
+		return self.getdata()[1]
+
+	def temperature(self):
+		return self.getdata()[2]