<filename>scripts/libraries/lsm6dsox.py
"""
LSM6DSOX STMicro driver for MicroPython based on LSM9DS1:
Source repo: https://github.com/hoihu/projects/tree/master/raspi-hat

The MIT License (MIT)

Copyright (c) 2013, 2014 <NAME>

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.

Example usage:
import time
from lsm6dsox import LSM6DSOX

from machine import Pin, I2C
lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))

while (True):
    print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_accel()))
    print('Gyroscope:     x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_gyro()))
    print("")
    time.sleep_ms(100)
"""
import array

class LSM6DSOX:
    CTRL3_C     = const(0x12)
    CTRL1_XL    = const(0x10)
    CTRL8_XL    = const(0x17)
    CTRL9_XL    = const(0x18)

    CTRL2_G     = const(0x11)
    CTRL7_G     = const(0x16)

    OUTX_L_G    = const(0x22)
    OUTX_L_XL   = const(0x28)
    MLC_STATUS  = const(0x38)

    DEFAULT_ADDR    = const(0x6A)
    WHO_AM_I_REG    = const(0x0F)

    FUNC_CFG_ACCESS      = const(0x01)
    FUNC_CFG_BANK_USER   = const(0)
    FUNC_CFG_BANK_HUB    = const(1)
    FUNC_CFG_BANK_EMBED  = const(2)

    MLC0_SRC    = const(0x70)
    MLC_INT1    = const(0x0D)
    TAP_CFG0    = const(0x56)

    EMB_FUNC_EN_A = const(0x04)
    EMB_FUNC_EN_B = const(0x05)

    def __init__(self, i2c, address=DEFAULT_ADDR, gyro_odr=104, accel_odr=104, gyro_scale=2000, accel_scale=4, ucf=None):
        """ Initalizes Gyro and Accelerator.
        accel_odr: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
        gyro_odr:  (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
        gyro_scale:  (245dps, 500dps, 1000dps, 2000dps)
        accel_scale: (+/-2g, +/-4g, +/-8g, +-16g)
        ucf: MLC program to load.
        """
        self.i2c = i2c
        self.address = address

        # check the id of the Accelerometer/Gyro
        if (self.__read_reg(WHO_AM_I_REG) != 108):
            raise OSError("No LSM6DS device was found at address 0x%x"%(self.address))

        # allocate scratch buffer for efficient conversions and memread op's
        self.scratch_int = array.array('h',[0, 0, 0])

        SCALE_GYRO  =  {250:0, 500:1, 1000:2, 2000:3}
        SCALE_ACCEL =  {2:0, 4:2, 8:3, 16:1}
        # XL_HM_MODE = 0 by default. G_HM_MODE = 0 by default.
        ODR = {0:0x00, 1.6:0x08, 3.33:0x09, 6.66:0x0A, 12.5:0x01, 26:0x02, 52:0x03, 104:0x04, 208:0x05, 416:0x06, 888:0x07}

        gyro_odr  = round(gyro_odr, 2)
        accel_odr = round(accel_odr, 2)
        assert gyro_odr in ODR, "Invalid sampling rate: %d" % accel_odr
        assert gyro_scale  in SCALE_GYRO, "invalid gyro scaling: %d" % gyro_scale

        assert accel_odr in ODR, "Invalid sampling rate: %d" % accel_odr
        assert accel_scale in SCALE_ACCEL, "invalid accelerometer scaling: %d" % accel_scale

        # Soft-reset the device.
        self.reset()

        # Load and configure MLC if UCF file is provided
        if (ucf != None):
            self.load_mlc(ucf)

        # Set Gyroscope datarate and scale.
        # Note output from LPF2 second filtering stage is selected. See Figure 18.
        self.__write_reg(CTRL1_XL, (ODR[accel_odr] << 4) | (SCALE_ACCEL[accel_scale] << 2) | 2);

        # Enable LPF2 and HPF fast-settling mode, ODR/4
        self.__write_reg(CTRL8_XL, 0x09);

        # Set Gyroscope datarate and scale.
        self.__write_reg(CTRL2_G, (ODR[gyro_odr] << 4) | (SCALE_GYRO[gyro_scale] << 2) | 0);

        self.gyro_scale = 32768 / gyro_scale
        self.accel_scale = 32768 / accel_scale

    def __read_reg(self, reg, size=1):
        buf = self.i2c.readfrom_mem(self.address, reg, size)
        if (size == 1):
            return int(buf[0])
        return [int(x) for x in buf]

    def __write_reg(self, reg, val):
        self.i2c.writeto_mem(self.address, reg, bytes([val]))

    def reset(self):
        self.__write_reg(CTRL3_C, self.__read_reg(CTRL3_C) | 0x1)
        for i in range(0, 10):
            if ((self.__read_reg(CTRL3_C) & 0x01) == 0):
                return
            time.sleep_ms(10)
        raise OSError("Failed to reset LSM6DS device.")

    def set_mem_bank(self, bank):
        cfg = self.__read_reg(FUNC_CFG_ACCESS) & 0x3F
        self.__write_reg(FUNC_CFG_ACCESS, cfg | (bank << 6))

    def set_embedded_functions(self, enable, emb_ab=None):
        self.set_mem_bank(FUNC_CFG_BANK_EMBED)
        if (enable):
            self.__write_reg(EMB_FUNC_EN_A, emb_ab[0])
            self.__write_reg(EMB_FUNC_EN_B, emb_ab[1])
        else:
            emb_a = self.__read_reg(EMB_FUNC_EN_A)
            emb_b = self.__read_reg(EMB_FUNC_EN_B)
            self.__write_reg(EMB_FUNC_EN_A, (emb_a & 0xC7))
            self.__write_reg(EMB_FUNC_EN_B, (emb_b & 0xE6))
            emb_ab = (emb_a, emb_b)

        self.set_mem_bank(FUNC_CFG_BANK_USER)
        return emb_ab

    def load_mlc(self, ucf):
        # Load MLC config from file
        with open(ucf, "r") as ucf_file:
            for l in ucf_file:
                if (l.startswith("Ac")):
                    v = [int(v, 16) for v in l.strip().split(" ")[1:3]]
                    self.__write_reg(v[0], v[1])

        emb_ab = self.set_embedded_functions(False)

        # Disable I3C interface
        self.__write_reg(CTRL9_XL, self.__read_reg(CTRL9_XL) | 0x01)

        # Enable Block Data Update
        self.__write_reg(CTRL3_C, self.__read_reg(CTRL3_C) | 0x40)

        # Route signals on interrupt pin 1
        self.set_mem_bank(FUNC_CFG_BANK_EMBED)
        self.__write_reg(MLC_INT1, self.__read_reg(MLC_INT1) & 0x01)
        self.set_mem_bank(FUNC_CFG_BANK_USER)

        # Configure interrupt pin mode
        self.__write_reg(TAP_CFG0, self.__read_reg(TAP_CFG0) | 0x41)

        self.set_embedded_functions(True, emb_ab)

    def read_mlc_output(self):
        buf = None
        if (self.__read_reg(MLC_STATUS) & 0x1):
            self.__read_reg(0x1A, size=12)
            self.set_mem_bank(FUNC_CFG_BANK_EMBED)
            buf = self.__read_reg(MLC0_SRC, 8)
            self.set_mem_bank(FUNC_CFG_BANK_USER)
        return buf

    def read_gyro(self):
        """Returns gyroscope vector in degrees/sec."""
        mv = memoryview(self.scratch_int)
        f = self.gyro_scale
        self.i2c.readfrom_mem_into(self.address, OUTX_L_G, mv)
        return (mv[0]/f, mv[1]/f, mv[2]/f)

    def read_accel(self):
        """Returns acceleration vector in gravity units (9.81m/s^2)."""
        mv = memoryview(self.scratch_int)
        f = self.accel_scale
        self.i2c.readfrom_mem_into(self.address, OUTX_L_XL, mv)
        return (mv[0]/f, mv[1]/f, mv[2]/f)

<filename>scripts/libraries/lsm6dsox.py
"""
LSM6DSOX STMicro driver for MicroPython based on LSM9DS1:
Source repo: https://github.com/hoihu/projects/tree/master/raspi-hat

The MIT License (MIT)

Copyright (c) 2013, 2014 <NAME>

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.

Example usage:
import time
from lsm6dsox import LSM6DSOX

from machine import Pin, I2C
lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))

while (True):
    print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_accel()))
    print('Gyroscope:     x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_gyro()))
    print("")
    time.sleep_ms(100)
"""
import array

class LSM6DSOX:
    CTRL3_C     = const(0x12)
    CTRL1_XL    = const(0x10)
    CTRL8_XL    = const(0x17)
    CTRL9_XL    = const(0x18)

    CTRL2_G     = const(0x11)
    CTRL7_G     = const(0x16)

    OUTX_L_G    = const(0x22)
    OUTX_L_XL   = const(0x28)
    MLC_STATUS  = const(0x38)

    DEFAULT_ADDR    = const(0x6A)
    WHO_AM_I_REG    = const(0x0F)

    FUNC_CFG_ACCESS      = const(0x01)
    FUNC_CFG_BANK_USER   = const(0)
    FUNC_CFG_BANK_HUB    = const(1)
    FUNC_CFG_BANK_EMBED  = const(2)

    MLC0_SRC    = const(0x70)
    MLC_INT1    = const(0x0D)
    TAP_CFG0    = const(0x56)

    EMB_FUNC_EN_A = const(0x04)
    EMB_FUNC_EN_B = const(0x05)

    def __init__(self, i2c, address=DEFAULT_ADDR, gyro_odr=104, accel_odr=104, gyro_scale=2000, accel_scale=4, ucf=None):
        """ Initalizes Gyro and Accelerator.
        accel_odr: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
        gyro_odr:  (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
        gyro_scale:  (245dps, 500dps, 1000dps, 2000dps)
        accel_scale: (+/-2g, +/-4g, +/-8g, +-16g)
        ucf: MLC program to load.
        """
        self.i2c = i2c
        self.address = address

        # check the id of the Accelerometer/Gyro
        if (self.__read_reg(WHO_AM_I_REG) != 108):
            raise OSError("No LSM6DS device was found at address 0x%x"%(self.address))

        # allocate scratch buffer for efficient conversions and memread op's
        self.scratch_int = array.array('h',[0, 0, 0])

        SCALE_GYRO  =  {250:0, 500:1, 1000:2, 2000:3}
        SCALE_ACCEL =  {2:0, 4:2, 8:3, 16:1}
        # XL_HM_MODE = 0 by default. G_HM_MODE = 0 by default.
        ODR = {0:0x00, 1.6:0x08, 3.33:0x09, 6.66:0x0A, 12.5:0x01, 26:0x02, 52:0x03, 104:0x04, 208:0x05, 416:0x06, 888:0x07}

        gyro_odr  = round(gyro_odr, 2)
        accel_odr = round(accel_odr, 2)
        assert gyro_odr in ODR, "Invalid sampling rate: %d" % accel_odr
        assert gyro_scale  in SCALE_GYRO, "invalid gyro scaling: %d" % gyro_scale

        assert accel_odr in ODR, "Invalid sampling rate: %d" % accel_odr
        assert accel_scale in SCALE_ACCEL, "invalid accelerometer scaling: %d" % accel_scale

        # Soft-reset the device.
        self.reset()

        # Load and configure MLC if UCF file is provided
        if (ucf != None):
            self.load_mlc(ucf)

        # Set Gyroscope datarate and scale.
        # Note output from LPF2 second filtering stage is selected. See Figure 18.
        self.__write_reg(CTRL1_XL, (ODR[accel_odr] << 4) | (SCALE_ACCEL[accel_scale] << 2) | 2);

        # Enable LPF2 and HPF fast-settling mode, ODR/4
        self.__write_reg(CTRL8_XL, 0x09);

        # Set Gyroscope datarate and scale.
        self.__write_reg(CTRL2_G, (ODR[gyro_odr] << 4) | (SCALE_GYRO[gyro_scale] << 2) | 0);

        self.gyro_scale = 32768 / gyro_scale
        self.accel_scale = 32768 / accel_scale

    def __read_reg(self, reg, size=1):
        buf = self.i2c.readfrom_mem(self.address, reg, size)
        if (size == 1):
            return int(buf[0])
        return [int(x) for x in buf]

    def __write_reg(self, reg, val):
        self.i2c.writeto_mem(self.address, reg, bytes([val]))

    def reset(self):
        self.__write_reg(CTRL3_C, self.__read_reg(CTRL3_C) | 0x1)
        for i in range(0, 10):
            if ((self.__read_reg(CTRL3_C) & 0x01) == 0):
                return
            time.sleep_ms(10)
        raise OSError("Failed to reset LSM6DS device.")

    def set_mem_bank(self, bank):
        cfg = self.__read_reg(FUNC_CFG_ACCESS) & 0x3F
        self.__write_reg(FUNC_CFG_ACCESS, cfg | (bank << 6))

    def set_embedded_functions(self, enable, emb_ab=None):
        self.set_mem_bank(FUNC_CFG_BANK_EMBED)
        if (enable):
            self.__write_reg(EMB_FUNC_EN_A, emb_ab[0])
            self.__write_reg(EMB_FUNC_EN_B, emb_ab[1])
        else:
            emb_a = self.__read_reg(EMB_FUNC_EN_A)
            emb_b = self.__read_reg(EMB_FUNC_EN_B)
            self.__write_reg(EMB_FUNC_EN_A, (emb_a & 0xC7))
            self.__write_reg(EMB_FUNC_EN_B, (emb_b & 0xE6))
            emb_ab = (emb_a, emb_b)

        self.set_mem_bank(FUNC_CFG_BANK_USER)
        return emb_ab

    def load_mlc(self, ucf):
        # Load MLC config from file
        with open(ucf, "r") as ucf_file:
            for l in ucf_file:
                if (l.startswith("Ac")):
                    v = [int(v, 16) for v in l.strip().split(" ")[1:3]]
                    self.__write_reg(v[0], v[1])

        emb_ab = self.set_embedded_functions(False)

        # Disable I3C interface
        self.__write_reg(CTRL9_XL, self.__read_reg(CTRL9_XL) | 0x01)

        # Enable Block Data Update
        self.__write_reg(CTRL3_C, self.__read_reg(CTRL3_C) | 0x40)

        # Route signals on interrupt pin 1
        self.set_mem_bank(FUNC_CFG_BANK_EMBED)
        self.__write_reg(MLC_INT1, self.__read_reg(MLC_INT1) & 0x01)
        self.set_mem_bank(FUNC_CFG_BANK_USER)

        # Configure interrupt pin mode
        self.__write_reg(TAP_CFG0, self.__read_reg(TAP_CFG0) | 0x41)

        self.set_embedded_functions(True, emb_ab)

    def read_mlc_output(self):
        buf = None
        if (self.__read_reg(MLC_STATUS) & 0x1):
            self.__read_reg(0x1A, size=12)
            self.set_mem_bank(FUNC_CFG_BANK_EMBED)
            buf = self.__read_reg(MLC0_SRC, 8)
            self.set_mem_bank(FUNC_CFG_BANK_USER)
        return buf

    def read_gyro(self):
        """Returns gyroscope vector in degrees/sec."""
        mv = memoryview(self.scratch_int)
        f = self.gyro_scale
        self.i2c.readfrom_mem_into(self.address, OUTX_L_G, mv)
        return (mv[0]/f, mv[1]/f, mv[2]/f)

    def read_accel(self):
        """Returns acceleration vector in gravity units (9.81m/s^2)."""
        mv = memoryview(self.scratch_int)
        f = self.accel_scale
        self.i2c.readfrom_mem_into(self.address, OUTX_L_XL, mv)
        return (mv[0]/f, mv[1]/f, mv[2]/f)

LSM6DSOX STMicro driver for MicroPython based on LSM9DS1: Source repo: https://github.com/hoihu/projects/tree/master/raspi-hat  The MIT License (MIT)  Copyright (c) 2013, 2014 <NAME>  Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:  The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.  Example usage: import time from lsm6dsox import LSM6DSOX  from machine import Pin, I2C lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))  while (True):     print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_accel()))     print('Gyroscope:     x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_gyro()))     print("")     time.sleep_ms(100) Initalizes Gyro and Accelerator.         accel_odr: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)         gyro_odr:  (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)         gyro_scale:  (245dps, 500dps, 1000dps, 2000dps)         accel_scale: (+/-2g, +/-4g, +/-8g, +-16g)         ucf: MLC program to load. # check the id of the Accelerometer/Gyro # allocate scratch buffer for efficient conversions and memread op's # XL_HM_MODE = 0 by default. G_HM_MODE = 0 by default. # Soft-reset the device. # Load and configure MLC if UCF file is provided # Set Gyroscope datarate and scale. # Note output from LPF2 second filtering stage is selected. See Figure 18. # Enable LPF2 and HPF fast-settling mode, ODR/4 # Set Gyroscope datarate and scale. # Load MLC config from file # Disable I3C interface # Enable Block Data Update # Route signals on interrupt pin 1 # Configure interrupt pin mode Returns gyroscope vector in degrees/sec. Returns acceleration vector in gravity units (9.81m/s^2).