libraries/lsm6dsox: Update driver.
@@ -4,8 +4,8 @@ Source repo: https://github.com/hoihu/projects/tree/master/raspi-hat
The MIT License (MIT)
-Copyright (c) 2022 Damien P. George
-Copyright (c) 2022 Ibrahim Abdelkader <iabdalkader@openmv.io>
+Copyright (c) 2021 Damien P. George
+Copyright (c) 2021-2022 Ibrahim Abdelkader <iabdalkader@openmv.io>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
@@ -45,11 +45,9 @@ while (True):
"""
import array
-from machine import I2C
-from machine import SPI
-from machine import Pin
from micropython import const
+
class LSM6DSOX:
_CTRL3_C = const(0x12)
_CTRL1_XL = const(0x10)
@@ -99,12 +97,12 @@ class LSM6DSOX:
self.bus = bus
self.cs_pin = cs_pin
self.address = address
+ self._use_i2c = hasattr(self.bus, "readfrom_mem")
- if cs_pin is None and isinstance(self.bus, SPI):
- raise ValueError("Must provide CS pin in SPI mode.")
+ if not self._use_i2c and cs_pin is None:
+ raise ValueError("A CS pin must be provided in SPI mode")
# check the id of the Accelerometer/Gyro
- print("0x%x" %(self.__read_reg(_WHO_AM_I_REG)))
if self.__read_reg(_WHO_AM_I_REG) != 108:
raise OSError("No LSM6DS device was found at address 0x%x" % (self.address))
@@ -162,39 +160,39 @@ class LSM6DSOX:
self.accel_scale = 32768 / accel_scale
def __read_reg(self, reg, size=1):
- if isinstance(self.bus, SPI):
+ if self._use_i2c:
+ buf = self.bus.readfrom_mem(self.address, reg, size)
+ else:
try:
self.cs_pin(0)
self.bus.write(bytes([reg | 0x80]))
buf = self.bus.read(size)
finally:
self.cs_pin(1)
- else:
- buf = self.bus.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):
- if isinstance(self.bus, SPI):
+ if self._use_i2c:
+ self.bus.writeto_mem(self.address, reg, bytes([val]))
+ else:
try:
self.cs_pin(0)
self.bus.write(bytes([reg, val]))
finally:
self.cs_pin(1)
- else:
- self.bus.writeto_mem(self.address, reg, bytes([val]))
def __read_reg_into(self, reg, buf):
- if isinstance(self.bus, SPI):
+ if self._use_i2c:
+ self.bus.readfrom_mem_into(self.address, reg, buf)
+ else:
try:
self.cs_pin(0)
self.bus.write(bytes([reg | 0x80]))
self.bus.readinto(buf)
finally:
self.cs_pin(1)
- else:
- self.bus.readfrom_mem_into(self.address, reg, buf)
def reset(self):
self.__write_reg(_CTRL3_C, self.__read_reg(_CTRL3_C) | 0x1)
