# Christian Fiot 2020 # Accelerometer LIS3DH # # # Usage: # from LIS3DH import LIS3DH # # Acc = LIS3DH(0x018, traceDebug=True) # Acc.begin() # return True if chip found # Acc.read() # return value in G # Flat on a table, X and Y are close to 0 and Z will be about 1 g or ~9.8 m/s^2 # # Credit https://github.com/tinypico/tinypico-micropython/blob/master/lis3dh%20library/lis3dh.py # Credit LIS2HH12.py from pysense library # https://iotdk.intel.com/docs/master/upm/classupm_1_1_l_i_s3_d_h.html#a20db62ec4124251ff355343c2e29d723 # import utime # import struct import math from trap import * # 2.2.9b from machine import I2C # 2.2.18 class LIS3DH(): def __init__(self, iicadr=0x19, i2c=None, sda='P22', scl='P21', traceDebug=False, sdAccess=False): # 2.2.9b self.trace = traceDebug self.adr = iicadr self.sdAccess = sdAccess # 2.2.9b self.x = 0 self.y = 0 self.z = 0 self.pitch = 0 self.C1 = bytearray(1) # For debug only # I2C bus declaration is extenal # MCP are connected on I2C bus #1 SDA-P22 SCL-P21 # I2C bus #2 SDA-P18 SCL-P17 # if i2c is not None: # 2.2.18 self.i2c1 = i2c else: # from machine import I2C self.i2c1 = I2C(0, mode=I2C.MASTER, pins=(sda, scl)) # Detect and init sensor def begin(self): int = 0 # 2.2.9b try: did = self.i2c1.readfrom_mem(self.adr, 0x0F,1) int = did[0] if self.trace : print("Read device ID:" + str(did[0])) # Set control registers # Section 8.12 CtrlReg5 $24 Reboot self.i2c1.writeto_mem(self.adr,0x024, 0x80) utime.sleep(0.25) # Section 8.8 CtrlReg1 $20 Enable all axes, normal mode 50 Hz self.i2c1.writeto_mem(self.adr,0x020, 0x47) # Section 8.11 CtrlReg4 $23 Full_Scale 4G=01 , HR=0, BDU=1 1 0 01 1 00 0 # 4G => 32768 self.i2c1.writeto_mem(self.adr,0x023, 0x90) # Section 8.7 TempCfgReg $1F Temp sensor and ADC not used # Section 8.6 CtrlReg0 $1E pull up connected to SA0 # yet the default Adr is $18 instead of $19 ? # Section 8.19 FIFOCtrlReg $2E Internal FIFO is bypass print('Detected LIS3DH - Accelerometer Adr:' + str(self.adr)) except Exception as e: # 2.2.9b scratch = 'LIS3DH - Accelerometer (Adr:' + str(self.adr) + ') not found - ' # 2.2.9b print('LIS3DH - Accelerometer (Adr:' + str(self.adr) + ') not found') file_errLog(0, scratch + str(e), self.sdAccess) # 2.2.9b # 2.2.18 print('Begin I2C1 scan ...') # 2.2.18 print(self.i2c1.scan()) int = 0 finally: return int == 0x033 def myRound(self, S1): if (S1 == 0): return 0 else: return round(S1, 3) def read(self): # In BDU mode no INT is required # For sync in with BDU read MSB first high = bytearray(1) low = bytearray(1) high = self.i2c1.readfrom_mem(self.adr, 0x29, 1) low = self.i2c1.readfrom_mem(self.adr, 0x28, 1) result = (high[0] << 8) | low[0] if result > 32767: result -= 65536 self.x = result high = self.i2c1.readfrom_mem(self.adr, 0x2B, 1) low = self.i2c1.readfrom_mem(self.adr, 0x2A, 1) result = (high[0] << 8) | low[0] if result > 32767: result -= 65536 self.y = result high = self.i2c1.readfrom_mem(self.adr, 0x2D, 1) low = self.i2c1.readfrom_mem(self.adr, 0x2C, 1) result = (high[0] << 8) | low[0] if result > 32767: result -= 65536 self.z = result # With HR=0 or HR=1 # values are +/-2000 with sensitivity @ 16G # values are +/-4000 with sensitivity @ 8G # values are +/-8000 with sensitivity @ 4G is the default value # values are +/-16000 with sensitivity @ 2G # The values are half of what expected may have to do with Resolution ? no # format result in G # Flat on a table, X and Y are close to 0 and Z will be about 1 g or ~9.8 m/s^2 # 32767 = 4G # n = xG self.x = (self.x * 4) / 32767 self.y = (self.y * 4) / 32767 self.z = (self.z * 4) / 32767 _mult = 1 # self.SCALES[self.full_scale] / ACC_G_DIV # return round(self.x, 3), round(self.y, 3), round(self.z, 3) # (self.x[0] * _mult, self.y[0] * _mult, self.z[0] * _mult) # return self.myRound(self.x), self.myRound(self.y), self.myRound(self.z) return self.x, self.y, self.z def do_Roll(self): x,y,z = self.read() rad = math.atan2(-x, z) # return self.myRound( (180 / math.pi) * rad ) return (180 / math.pi) * rad def do_Pitch(self): x,y,z = self.read() rad = -math.atan2(y, (math.sqrt(x*x + z*z))) # return self.myRound ( (180 / math.pi) * rad ) # return (180 / math.pi) * rad self.pitch = (180 / math.pi) * rad return self.pitch """ def status(self): self.C1 = self.i2c1.readfrom_mem(self.adr, 0x07,1) U1 = self.C1[0] return U1 """ """ # https://docs.python.org/3/library/struct.html x = self.i2c1.readfrom_mem(self.adr , 0x028, 2) self.x = struct.unpack(' 32767: result -= 65536 self.x = result # print("X3: %d" %self.x ) data = self.i2c1.readfrom_mem(self.adr, 0x2A, 2) result = int.from_bytes(data, "little") if result > 32767: result -= 65536 self.y = result data = self.i2c1.readfrom_mem(self.adr, 0x2C, 2) result = int.from_bytes(data, "little") if result > 32767: result -= 65536 self.z = result """