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