更新飞翔的库

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

@@ -3,12 +3,10 @@ QMI8658
 
 Micropython library for the QMI8658(Accelerometer+Gyroscope)
 =======================================================
-
-#Preliminary composition	       		20220716
-
-dahanzimin From the Mixly Team
+@dahanzimin From the Mixly Team
 """
 import time
+from math import atan, sqrt, degrees
 from micropython import const
 
 QMI8658_REG_DEVICE_ID	 = const(0x00)
@@ -54,7 +52,7 @@ class QMI8658:
 			raise AttributeError("Cannot find a QMI8658")
 			
 		self._wreg(QMI8658_REG_Ctrl9,0xA2)  #做selftest，提高精度
-		time.sleep(1)
+		time.sleep(0.1)
 		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
@@ -78,8 +76,9 @@ class QMI8658:
 		return self._rreg(QMI8658_REG_StatusInt)
 		
 	def u2s(self,n):
-		return n if n < (1 << 15) else n - (1 << 16)	
-		
+		return n if n < (1 << 15) else n - (1 << 16)
+
+	@property
 	def getdata(self):
 		while self.status() == 0x81:
 			time.sleep(0.001)
@@ -92,12 +91,21 @@ class QMI8658:
 		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 acceleration(self):
+		return self.getdata[0]
+
+	def strength(self): 
+		return sqrt(self.getdata[0][0]**2+self.getdata[0][1]**2+self.getdata[0][2]**2)
 
 	def gyroscope(self):
-		return self.getdata()[1]
+		return self.getdata[1]
 
 	def temperature(self):
-		return self.getdata()[2]
+		return self.getdata[2]
+
+	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)