lsm6dsox: Refactor driver.

Changes are: - fix typos - make constants global - rename functions with double underscore to single underscore - rename __init__ keyword argument cs_pin -> cs - rename read_mlc_output() -> mlc_output() - rename read_gyro() -> gyro() - rename read_accel() -> accel() - update manifest

Author: iabdalkader

micropython/drivers/imu/lsm6dsox/lsm6dsox.py

@@ -5,7 +5,7 @@
 The MIT License (MIT)
 
 Copyright (c) 2021 Damien P. George
-Copyright (c) 2021-2022 Ibrahim Abdelkader <iabdalkader@openmv.io>
+Copyright (c) 2021-2023 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
@@ -35,51 +35,51 @@
 lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))
 
 # Or init in SPI mode.
-#lsm = LSM6DSOX(SPI(5), cs_pin=Pin(10))
+#lsm = LSM6DSOX(SPI(5), cs=Pin(10))
 
 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('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.accel()))
+ print('Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.gyro()))
  print("")
  time.sleep_ms(100)
 """
 
 import array
 from micropython import const
 
+_CTRL3_C = const(0x12)
+_CTRL1_XL = const(0x10)
+_CTRL8_XL = const(0x17)
+_CTRL9_XL = const(0x18)
 
-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)
 
- _CTRL2_G = const(0x11)
- _CTRL7_G = const(0x16)
+_OUTX_L_G = const(0x22)
+_OUTX_L_XL = const(0x28)
+_MLC_STATUS = const(0x38)
 
- _OUTX_L_G = const(0x22)
- _OUTX_L_XL = const(0x28)
- _MLC_STATUS = const(0x38)
+_DEFAULT_ADDR = const(0x6A)
+_WHO_AM_I_REG = const(0x0F)
 
- _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)
 
- _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)
 
- _MLC0_SRC = const(0x70)
- _MLC_INT1 = const(0x0D)
- _TAP_CFG0 = const(0x56)
+_EMB_FUNC_EN_A = const(0x04)
+_EMB_FUNC_EN_B = const(0x05)
 
- _EMB_FUNC_EN_A = const(0x04)
- _EMB_FUNC_EN_B = const(0x05)
 
+class LSM6DSOX:
  def __init__(
  self,
  bus,
- cs_pin=None,
+ cs=None,
  address=_DEFAULT_ADDR,
  gyro_odr=104,
  accel_odr=104,
@@ -95,15 +95,15 @@ def __init__(
  ucf: MLC program to load.
  """
  self.bus = bus
- self.cs_pin = cs_pin
+ self.cs = cs
  self.address = address
  self._use_i2c = hasattr(self.bus, "readfrom_mem")
 
- if not self._use_i2c and cs_pin is None:
+ if not self._use_i2c and cs is None:
  raise ValueError("A CS pin must be provided in SPI mode")
 
  # check the id of the Accelerometer/Gyro
- if self.__read_reg(_WHO_AM_I_REG) != 108:
+ 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
@@ -131,7 +131,7 @@ def __init__(
 
  # Sanity checks
  if not gyro_odr in ODR:
- raise ValueError("Invalid sampling rate: %d" % accel_odr)
+ raise ValueError("Invalid sampling rate: %d" % gyro_odr)
  if not gyro_scale in SCALE_GYRO:
  raise ValueError("invalid gyro scaling: %d" % gyro_scale)
  if not accel_odr in ODR:
@@ -148,74 +148,74 @@ def __init__(
 
  # 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)
+ 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)
+ 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._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):
+ def _read_reg(self, reg, size=1):
  if self._use_i2c:
  buf = self.bus.readfrom_mem(self.address, reg, size)
  else:
  try:
- self.cs_pin(0)
+ self.cs(0)
  self.bus.write(bytes([reg | 0x80]))
  buf = self.bus.read(size)
  finally:
- self.cs_pin(1)
+ self.cs(1)
  if size == 1:
  return int(buf[0])
  return [int(x) for x in buf]
 
- def __write_reg(self, reg, val):
+ def _write_reg(self, reg, val):
  if self._use_i2c:
  self.bus.writeto_mem(self.address, reg, bytes([val]))
  else:
  try:
- self.cs_pin(0)
+ self.cs(0)
  self.bus.write(bytes([reg, val]))
  finally:
- self.cs_pin(1)
+ self.cs(1)
 
- def __read_reg_into(self, reg, buf):
+ def _read_reg_into(self, reg, buf):
  if self._use_i2c:
  self.bus.readfrom_mem_into(self.address, reg, buf)
  else:
  try:
- self.cs_pin(0)
+ self.cs(0)
  self.bus.write(bytes([reg | 0x80]))
  self.bus.readinto(buf)
  finally:
- self.cs_pin(1)
+ self.cs(1)
 
  def reset(self):
- self.__write_reg(_CTRL3_C, self.__read_reg(_CTRL3_C) | 0x1)
+ 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:
+ 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))
+ 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])
+ 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_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)
@@ -227,45 +227,45 @@ def load_mlc(self, ucf):
  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])
+ 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)
+ 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)
+ 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._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._write_reg(_TAP_CFG0, self._read_reg(_TAP_CFG0) | 0x41)
 
  self.set_embedded_functions(True, emb_ab)
 
- def read_mlc_output(self):
+ def mlc_output(self):
  buf = None
- if self.__read_reg(_MLC_STATUS) & 0x1:
- self.__read_reg(0x1A, size=12)
+ 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)
+ buf = self._read_reg(_MLC0_SRC, 8)
  self.set_mem_bank(_FUNC_CFG_BANK_USER)
  return buf
 
- def read_gyro(self):
+ def gyro(self):
  """Returns gyroscope vector in degrees/sec."""
  mv = memoryview(self.scratch_int)
  f = self.gyro_scale
- self.__read_reg_into(_OUTX_L_G, mv)
+ self._read_reg_into(_OUTX_L_G, mv)
  return (mv[0] / f, mv[1] / f, mv[2] / f)
 
- def read_accel(self):
+ def accel(self):
  """Returns acceleration vector in gravity units (9.81m/s^2)."""
  mv = memoryview(self.scratch_int)
  f = self.accel_scale
- self.__read_reg_into(_OUTX_L_XL, mv)
+ self._read_reg_into(_OUTX_L_XL, mv)
  return (mv[0] / f, mv[1] / f, mv[2] / f)

micropython/drivers/imu/lsm6dsox/lsm6dsox_basic.py

@@ -6,10 +6,10 @@
 
 lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))
 # Or init in SPI mode.
-# lsm = LSM6DSOX(SPI(5), cs_pin=Pin(10))
+# lsm = LSM6DSOX(SPI(5), cs=Pin(10))
 
 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("Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.accel()))
+ print("Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.gyro()))
  print("")
  time.sleep_ms(100)

micropython/drivers/imu/lsm6dsox/lsm6dsox_mlc.py

@@ -41,8 +41,8 @@ def imu_int_handler(pin):
  if INT_MODE:
  if INT_FLAG:
  INT_FLAG = False
- print(UCF_LABELS[lsm.read_mlc_output()[0]])
+ print(UCF_LABELS[lsm.mlc_output()[0]])
  else:
- buf = lsm.read_mlc_output()
+ buf = lsm.mlc_output()
  if buf != None:
  print(UCF_LABELS[buf[0]])

micropython/drivers/imu/lsm6dsox/manifest.py

@@ -1 +1,2 @@
+metadata(description="ST LSM6DSOX imu driver.", version="1.0.0")
 module("lsm6dsox.py", opt=3)