You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
218 lines
6.7 KiB
218 lines
6.7 KiB
3 years ago
|
# Copyright (c) 2018-2020 Mika Tuupola
|
||
|
|
#
|
||
|
|
# 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 copied 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.
|
||
|
|
|
||
|
|
# https://github.com/tuupola/micropython-mpu9250
|
||
|
|
|
||
|
|
"""
|
||
|
|
MicroPython I2C driver for MPU6500 6-axis motion tracking device
|
||
|
|
"""
|
||
|
|
|
||
|
|
__version__ = "0.3.0"
|
||
|
|
|
||
|
|
# pylint: disable=import-error
|
||
|
|
import ustruct
|
||
|
|
import utime
|
||
|
|
from machine import I2C, Pin
|
||
|
|
from micropython import const
|
||
|
|
# pylint: enable=import-error
|
||
|
|
|
||
|
|
_GYRO_CONFIG = const(0x1b)
|
||
|
|
_ACCEL_CONFIG = const(0x1c)
|
||
|
|
_ACCEL_CONFIG2 = const(0x1d)
|
||
|
|
_ACCEL_XOUT_H = const(0x3b)
|
||
|
|
_ACCEL_XOUT_L = const(0x3c)
|
||
|
|
_ACCEL_YOUT_H = const(0x3d)
|
||
|
|
_ACCEL_YOUT_L = const(0x3e)
|
||
|
|
_ACCEL_ZOUT_H = const(0x3f)
|
||
|
|
_ACCEL_ZOUT_L= const(0x40)
|
||
|
|
_TEMP_OUT_H = const(0x41)
|
||
|
|
_TEMP_OUT_L = const(0x42)
|
||
|
|
_GYRO_XOUT_H = const(0x43)
|
||
|
|
_GYRO_XOUT_L = const(0x44)
|
||
|
|
_GYRO_YOUT_H = const(0x45)
|
||
|
|
_GYRO_YOUT_L = const(0x46)
|
||
|
|
_GYRO_ZOUT_H = const(0x47)
|
||
|
|
_GYRO_ZOUT_L = const(0x48)
|
||
|
|
_WHO_AM_I = const(0x75)
|
||
|
|
|
||
|
|
#_ACCEL_FS_MASK = const(0b00011000)
|
||
|
|
ACCEL_FS_SEL_2G = const(0b00000000)
|
||
|
|
ACCEL_FS_SEL_4G = const(0b00001000)
|
||
|
|
ACCEL_FS_SEL_8G = const(0b00010000)
|
||
|
|
ACCEL_FS_SEL_16G = const(0b00011000)
|
||
|
|
|
||
|
|
_ACCEL_SO_2G = 16384 # 1 / 16384 ie. 0.061 mg / digit
|
||
|
|
_ACCEL_SO_4G = 8192 # 1 / 8192 ie. 0.122 mg / digit
|
||
|
|
_ACCEL_SO_8G = 4096 # 1 / 4096 ie. 0.244 mg / digit
|
||
|
|
_ACCEL_SO_16G = 2048 # 1 / 2048 ie. 0.488 mg / digit
|
||
|
|
|
||
|
|
#_GYRO_FS_MASK = const(0b00011000)
|
||
|
|
GYRO_FS_SEL_250DPS = const(0b00000000)
|
||
|
|
GYRO_FS_SEL_500DPS = const(0b00001000)
|
||
|
|
GYRO_FS_SEL_1000DPS = const(0b00010000)
|
||
|
|
GYRO_FS_SEL_2000DPS = const(0b00011000)
|
||
|
|
|
||
|
|
_GYRO_SO_250DPS = 131
|
||
|
|
_GYRO_SO_500DPS = 62.5
|
||
|
|
_GYRO_SO_1000DPS = 32.8
|
||
|
|
_GYRO_SO_2000DPS = 16.4
|
||
|
|
|
||
|
|
_TEMP_SO = 333.87
|
||
|
|
_TEMP_OFFSET = 21
|
||
|
|
|
||
|
|
SF_G = 1
|
||
|
|
SF_M_S2 = 9.80665 # 1 g = 9.80665 m/s2 ie. standard gravity
|
||
|
|
SF_DEG_S = 1
|
||
|
|
SF_RAD_S = 0.017453292519943 # 1 deg/s is 0.017453292519943 rad/s
|
||
|
|
|
||
|
|
class MPU6500:
|
||
|
|
"""Class which provides interface to MPU6500 6-axis motion tracking device."""
|
||
|
|
def __init__(
|
||
|
|
self, i2c, address=0x68,
|
||
|
|
accel_fs=ACCEL_FS_SEL_2G, gyro_fs=GYRO_FS_SEL_250DPS,
|
||
|
|
accel_sf=SF_M_S2, gyro_sf=SF_RAD_S,
|
||
|
|
gyro_offset=(0, 0, 0)
|
||
|
|
):
|
||
|
|
self.i2c = i2c
|
||
|
|
self.address = address
|
||
|
|
|
||
|
|
# 0x70 = standalone MPU6500, 0x71 = MPU6250 SIP
|
||
|
|
if self.whoami not in [0x71, 0x70]:
|
||
|
|
raise RuntimeError("MPU6500 not found in I2C bus.")
|
||
|
|
|
||
|
|
self._accel_so = self._accel_fs(accel_fs)
|
||
|
|
self._gyro_so = self._gyro_fs(gyro_fs)
|
||
|
|
self._accel_sf = accel_sf
|
||
|
|
self._gyro_sf = gyro_sf
|
||
|
|
self._gyro_offset = gyro_offset
|
||
|
|
|
||
|
|
@property
|
||
|
|
def acceleration(self):
|
||
|
|
"""
|
||
|
|
Acceleration measured by the sensor. By default will return a
|
||
|
|
3-tuple of X, Y, Z axis acceleration values in m/s^2 as floats. Will
|
||
|
|
return values in g if constructor was provided `accel_sf=SF_M_S2`
|
||
|
|
parameter.
|
||
|
|
"""
|
||
|
|
so = self._accel_so
|
||
|
|
sf = self._accel_sf
|
||
|
|
|
||
|
|
xyz = self._register_three_shorts(_ACCEL_XOUT_H)
|
||
|
|
return tuple([value / so * sf for value in xyz])
|
||
|
|
|
||
|
|
@property
|
||
|
|
def gyro(self):
|
||
|
|
"""
|
||
|
|
X, Y, Z radians per second as floats.
|
||
|
|
"""
|
||
|
|
so = self._gyro_so
|
||
|
|
sf = self._gyro_sf
|
||
|
|
ox, oy, oz = self._gyro_offset
|
||
|
|
|
||
|
|
xyz = self._register_three_shorts(_GYRO_XOUT_H)
|
||
|
|
xyz = [value / so * sf for value in xyz]
|
||
|
|
|
||
|
|
xyz[0] -= ox
|
||
|
|
xyz[1] -= oy
|
||
|
|
xyz[2] -= oz
|
||
|
|
|
||
|
|
return tuple(xyz)
|
||
|
|
|
||
|
|
@property
|
||
|
|
def temperature(self):
|
||
|
|
"""
|
||
|
|
Die temperature in celcius as a float.
|
||
|
|
"""
|
||
|
|
temp = self._register_short(_TEMP_OUT_H)
|
||
|
|
return ((temp - _TEMP_OFFSET) / _TEMP_SO) + _TEMP_OFFSET
|
||
|
|
|
||
|
|
@property
|
||
|
|
def whoami(self):
|
||
|
|
""" Value of the whoami register. """
|
||
|
|
return self._register_char(_WHO_AM_I)
|
||
|
|
|
||
|
|
def calibrate(self, count=256, delay=0):
|
||
|
|
ox, oy, oz = (0.0, 0.0, 0.0)
|
||
|
|
self._gyro_offset = (0.0, 0.0, 0.0)
|
||
|
|
n = float(count)
|
||
|
|
|
||
|
|
while count:
|
||
|
|
utime.sleep_ms(delay)
|
||
|
|
gx, gy, gz = self.gyro
|
||
|
|
ox += gx
|
||
|
|
oy += gy
|
||
|
|
oz += gz
|
||
|
|
count -= 1
|
||
|
|
|
||
|
|
self._gyro_offset = (ox / n, oy / n, oz / n)
|
||
|
|
return self._gyro_offset
|
||
|
|
|
||
|
|
def _register_short(self, register, value=None, buf=bytearray(2)):
|
||
|
|
if value is None:
|
||
|
|
self.i2c.readfrom_mem_into(self.address, register, buf)
|
||
|
|
return ustruct.unpack(">h", buf)[0]
|
||
|
|
|
||
|
|
ustruct.pack_into(">h", buf, 0, value)
|
||
|
|
return self.i2c.writeto_mem(self.address, register, buf)
|
||
|
|
|
||
|
|
def _register_three_shorts(self, register, buf=bytearray(6)):
|
||
|
|
self.i2c.readfrom_mem_into(self.address, register, buf)
|
||
|
|
return ustruct.unpack(">hhh", buf)
|
||
|
|
|
||
|
|
def _register_char(self, register, value=None, buf=bytearray(1)):
|
||
|
|
if value is None:
|
||
|
|
self.i2c.readfrom_mem_into(self.address, register, buf)
|
||
|
|
return buf[0]
|
||
|
|
|
||
|
|
ustruct.pack_into("<b", buf, 0, value)
|
||
|
|
return self.i2c.writeto_mem(self.address, register, buf)
|
||
|
|
|
||
|
|
def _accel_fs(self, value):
|
||
|
|
self._register_char(_ACCEL_CONFIG, value)
|
||
|
|
|
||
|
|
# Return the sensitivity divider
|
||
|
|
if ACCEL_FS_SEL_2G == value:
|
||
|
|
return _ACCEL_SO_2G
|
||
|
|
elif ACCEL_FS_SEL_4G == value:
|
||
|
|
return _ACCEL_SO_4G
|
||
|
|
elif ACCEL_FS_SEL_8G == value:
|
||
|
|
return _ACCEL_SO_8G
|
||
|
|
elif ACCEL_FS_SEL_16G == value:
|
||
|
|
return _ACCEL_SO_16G
|
||
|
|
|
||
|
|
def _gyro_fs(self, value):
|
||
|
|
self._register_char(_GYRO_CONFIG, value)
|
||
|
|
|
||
|
|
# Return the sensitivity divider
|
||
|
|
if GYRO_FS_SEL_250DPS == value:
|
||
|
|
return _GYRO_SO_250DPS
|
||
|
|
elif GYRO_FS_SEL_500DPS == value:
|
||
|
|
return _GYRO_SO_500DPS
|
||
|
|
elif GYRO_FS_SEL_1000DPS == value:
|
||
|
|
return _GYRO_SO_1000DPS
|
||
|
|
elif GYRO_FS_SEL_2000DPS == value:
|
||
|
|
return _GYRO_SO_2000DPS
|
||
|
|
|
||
|
|
def __enter__(self):
|
||
|
|
return self
|
||
|
|
|
||
|
|
def __exit__(self, exception_type, exception_value, traceback):
|
||
|
|
pass
|