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merged 2 commits into from
Apr 10, 2020
Merged

Black reformatting with Python 3 target. #11

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176b817
Black reformatting with Python 3 target.
kattni Apr 9, 2020
5aebd78
Remove pass from empty classes.
kattni Apr 10, 2020
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142 changes: 84 additions & 58 deletions adafruit_lsm6ds.py
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Original file line number Diff line number Diff line change
Expand Up @@ -54,11 +54,12 @@
from adafruit_register.i2c_struct import ROUnaryStruct, Struct
from adafruit_register.i2c_bits import RWBits
from adafruit_register.i2c_bit import RWBit

__version__ = "0.0.0-auto.0"
__repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_LSM6DSOX.git"


_LSM6DS_DEFAULT_ADDRESS = const(0x6a)
_LSM6DS_DEFAULT_ADDRESS = const(0x6A)

_LSM6DS_CHIP_ID = const(0x6C)
_ISM330DHCT_CHIP_ID = const(0x6B)
Expand Down Expand Up @@ -95,6 +96,7 @@

_MILLI_G_TO_ACCEL = 0.00980665


class CV:
"""struct helper"""

Expand All @@ -115,62 +117,74 @@ def is_valid(cls, value):
"Returns true if the given value is a member of the CV"
return value in cls.string


class AccelRange(CV):
"""Options for ``accelerometer_range``"""
pass #pylint: disable=unnecessary-pass

AccelRange.add_values((
('RANGE_2G', 0, 2, 0.061),
('RANGE_16G', 1, 16, 0.488),
('RANGE_4G', 2, 4, 0.122),
('RANGE_8G', 3, 8, 0.244)
))

AccelRange.add_values(
(
("RANGE_2G", 0, 2, 0.061),
("RANGE_16G", 1, 16, 0.488),
("RANGE_4G", 2, 4, 0.122),
("RANGE_8G", 3, 8, 0.244),
)
)


class GyroRange(CV):
"""Options for ``gyro_data_range``"""
pass #pylint: disable=unnecessary-pass

GyroRange.add_values((
('RANGE_125_DPS', 125, 125, 4.375),
('RANGE_250_DPS', 0, 250, 8.75),
('RANGE_500_DPS', 1, 500, 17.50),
('RANGE_1000_DPS', 2, 1000, 35.0),
('RANGE_2000_DPS', 3, 2000, 70.0),
('RANGE_4000_DPS', 4000, 4000, 140.0)
))

GyroRange.add_values(
(
("RANGE_125_DPS", 125, 125, 4.375),
("RANGE_250_DPS", 0, 250, 8.75),
("RANGE_500_DPS", 1, 500, 17.50),
("RANGE_1000_DPS", 2, 1000, 35.0),
("RANGE_2000_DPS", 3, 2000, 70.0),
("RANGE_4000_DPS", 4000, 4000, 140.0),
)
)


class Rate(CV):
"""Options for ``accelerometer_data_rate`` and ``gyro_data_rate``"""
pass #pylint: disable=unnecessary-pass

Rate.add_values((
('RATE_SHUTDOWN', 0, 0, None),
('RATE_12_5_HZ', 1, 12.5, None),
('RATE_26_HZ', 2, 26.0, None),
('RATE_52_HZ', 3, 52.0, None),
('RATE_104_HZ', 4, 104.0, None),
('RATE_208_HZ', 5, 208.0, None),
('RATE_416_HZ', 6, 416.0, None),
('RATE_833_HZ', 7, 833.0, None),
('RATE_1_66K_HZ', 8, 1066.0, None),
('RATE_3_33K_HZ', 9, 3033.0, None),
('RATE_6_66K_HZ', 10, 6066.0, None),
('RATE_1_6_HZ', 11, 1.6, None)
))


Rate.add_values(
(
("RATE_SHUTDOWN", 0, 0, None),
("RATE_12_5_HZ", 1, 12.5, None),
("RATE_26_HZ", 2, 26.0, None),
("RATE_52_HZ", 3, 52.0, None),
("RATE_104_HZ", 4, 104.0, None),
("RATE_208_HZ", 5, 208.0, None),
("RATE_416_HZ", 6, 416.0, None),
("RATE_833_HZ", 7, 833.0, None),
("RATE_1_66K_HZ", 8, 1066.0, None),
("RATE_3_33K_HZ", 9, 3033.0, None),
("RATE_6_66K_HZ", 10, 6066.0, None),
("RATE_1_6_HZ", 11, 1.6, None),
)
)


class AccelHPF(CV):
"""Options for the accelerometer high pass filter"""
pass #pylint: disable=unnecessary-pass

AccelHPF.add_values((
('SLOPE', 0, 0, None),
('HPF_DIV100', 1, 0, None),
('HPF_DIV9', 2, 0, None),
('HPF_DIV400', 3, 0, None),
))

AccelHPF.add_values(
(
("SLOPE", 0, 0, None),
("HPF_DIV100", 1, 0, None),
("HPF_DIV9", 2, 0, None),
("HPF_DIV400", 3, 0, None),
)
)

class LSM6DS: #pylint: disable=too-many-instance-attributes

class LSM6DS: # pylint: disable=too-many-instance-attributes

"""Driver for the LSM6DSOX 6-axis accelerometer and gyroscope.

Expand All @@ -179,11 +193,11 @@ class LSM6DS: #pylint: disable=too-many-instance-attributes

"""

#ROUnaryStructs:
# ROUnaryStructs:
_chip_id = ROUnaryStruct(_LSM6DS_WHOAMI, "<b")
_temperature = ROUnaryStruct(_LSM6DS_OUT_TEMP_L, "<h")

#RWBits:
# RWBits:
_ois_ctrl_from_ui = RWBit(_LSM6DS_FUNC_CFG_ACCESS, 0)
_shub_reg_access = RWBit(_LSM6DS_FUNC_CFG_ACCESS, 6)
_func_cfg_access = RWBit(_LSM6DS_FUNC_CFG_ACCESS, 7)
Expand Down Expand Up @@ -245,16 +259,18 @@ def __init__(self, i2c_bus, address=_LSM6DS_DEFAULT_ADDRESS):
if self.CHIP_ID is None:
raise AttributeError("LSM6DS Parent Class cannot be directly instantiated")
if self._chip_id != self.CHIP_ID:
raise RuntimeError("Failed to find %s - check your wiring!"%self.__class__.__name__)
raise RuntimeError(
"Failed to find %s - check your wiring!" % self.__class__.__name__
)
self.reset()

self._bdu = True

self.accelerometer_data_rate = Rate.RATE_104_HZ #pylint: disable=no-member
self.gyro_data_rate = Rate.RATE_104_HZ #pylint: disable=no-member
self.accelerometer_data_rate = Rate.RATE_104_HZ # pylint: disable=no-member
self.gyro_data_rate = Rate.RATE_104_HZ # pylint: disable=no-member

self.accelerometer_range = AccelRange.RANGE_4G #pylint: disable=no-member
self.gyro_range = GyroRange.RANGE_250_DPS #pylint: disable=no-member
self.accelerometer_range = AccelRange.RANGE_4G # pylint: disable=no-member
self.gyro_range = GyroRange.RANGE_250_DPS # pylint: disable=no-member

def reset(self):
"Resets the sensor's configuration into an initial state"
Expand All @@ -273,7 +289,7 @@ def acceleration(self):
y = self._scale_xl_data(raw_accel_data[1])
z = self._scale_xl_data(raw_accel_data[2])

return(x, y, z)
return (x, y, z)

@property
def gyro(self):
Expand All @@ -286,7 +302,11 @@ def gyro(self):
return (x, y, z)

def _scale_xl_data(self, raw_measurement):
return raw_measurement * AccelRange.lsb[self._cached_accel_range] * _MILLI_G_TO_ACCEL
return (
raw_measurement
* AccelRange.lsb[self._cached_accel_range]
* _MILLI_G_TO_ACCEL
)

def _scale_gyro_data(self, raw_measurement):
return raw_measurement * GyroRange.lsb[self._cached_gyro_range] / 1000
Expand All @@ -297,14 +317,14 @@ def accelerometer_range(self):
Note that larger ranges will be less accurate. Must be an `AccelRange`"""
return self._cached_accel_range

#pylint: disable=no-member
# pylint: disable=no-member
@accelerometer_range.setter
def accelerometer_range(self, value):
if not AccelRange.is_valid(value):
raise AttributeError("range must be an `AccelRange`")
self._accel_range = value
self._cached_accel_range = value
sleep(.2) # needed to let new range settle
sleep(0.2) # needed to let new range settle

@property
def gyro_range(self):
Expand Down Expand Up @@ -332,9 +352,9 @@ def gyro_range(self, value):
self._gyro_range = value

self._cached_gyro_range = value
sleep(.2) # needed to let new range settle
sleep(0.2) # needed to let new range settle

#pylint: enable=no-member
# pylint: enable=no-member

@property
def accelerometer_data_rate(self):
Expand All @@ -350,7 +370,6 @@ def accelerometer_data_rate(self, value):
self._accel_data_rate = value
# sleep(.2) # needed to let new range settle


@property
def gyro_data_rate(self):
"""Select the rate at which the gyro takes measurements. Must be a `Rate`"""
Expand Down Expand Up @@ -387,38 +406,45 @@ def high_pass_filter(self, value):
self._pass_filter = value


class LSM6DSOX(LSM6DS): #pylint: disable=too-many-instance-attributes
class LSM6DSOX(LSM6DS): # pylint: disable=too-many-instance-attributes

"""Driver for the LSM6DSOX 6-axis accelerometer and gyroscope.

:param ~busio.I2C i2c_bus: The I2C bus the LSM6DSOX is connected to.
:param address: The I2C slave address of the sensor

"""

CHIP_ID = _LSM6DS_CHIP_ID

def __init__(self, i2c_bus, address=_LSM6DS_DEFAULT_ADDRESS):
super().__init__(i2c_bus, address)
self._i3c_disable = True

class LSM6DS33(LSM6DS): #pylint: disable=too-many-instance-attributes

class LSM6DS33(LSM6DS): # pylint: disable=too-many-instance-attributes

"""Driver for the LSM6DS33 6-axis accelerometer and gyroscope.

:param ~busio.I2C i2c_bus: The I2C bus the LSM6DS33 is connected to.
:param address: The I2C slave address of the sensor

"""

CHIP_ID = _LSM6DS33_CHIP_ID

class ISM330DHCT(LSM6DS): #pylint: disable=too-many-instance-attributes

class ISM330DHCT(LSM6DS): # pylint: disable=too-many-instance-attributes

"""Driver for the LSM6DS33 6-axis accelerometer and gyroscope.

:param ~busio.I2C i2c_bus: The I2C bus the LSM6DS33 is connected to.
:param address: The I2C slave address of the sensor

"""

CHIP_ID = _ISM330DHCT_CHIP_ID

def __init__(self, i2c_bus, address=_LSM6DS_DEFAULT_ADDRESS):
super().__init__(i2c_bus, address)

Expand Down
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