57 lines
1.8 KiB
Python
57 lines
1.8 KiB
Python
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"""
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Driver for accelerometer on STM32F4 Discover board.
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Assumes it's a LIS302DL MEMS device.
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Not currently working.
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See:
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STM32Cube_FW_F4_V1.1.0/Drivers/BSP/Components/lis302dl/lis302dl.h
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STM32Cube_FW_F4_V1.1.0/Drivers/BSP/Components/lis302dl/lis302dl.c
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STM32Cube_FW_F4_V1.1.0/Drivers/BSP/STM32F4-Discovery/stm32f4_discovery.c
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STM32Cube_FW_F4_V1.1.0/Drivers/BSP/STM32F4-Discovery/stm32f4_discovery.h
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STM32Cube_FW_F4_V1.1.0/Drivers/BSP/STM32F4-Discovery/stm32f4_discovery_accelerometer.c
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STM32Cube_FW_F4_V1.1.0/Drivers/BSP/STM32F4-Discovery/stm32f4_discovery_accelerometer.h
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STM32Cube_FW_F4_V1.1.0/Projects/STM32F4-Discovery/Demonstrations/Src/main.c
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"""
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from pyb import Pin
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from pyb import SPI
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READWRITE_CMD = const(0x80)
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MULTIPLEBYTE_CMD = const(0x40)
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LIS302DL_WHO_AM_I_ADDR = const(0x0f)
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LIS302DL_CTRL_REG1_ADDR = const(0x20)
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class STAccel:
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def __init__(self):
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self.cs_pin = Pin('PE3', Pin.OUT_PP, Pin.PULL_NONE)
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self.cs_pin.high()
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self.spi = SPI(1, SPI.MASTER, baudrate=328125, polarity=0, phase=1, bits=8)
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def rd(self, addr, nbytes):
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if nbytes > 1:
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addr |= READWRITE_CMD | MULTIPLEBYTE_CMD
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else:
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addr |= READWRITE_CMD
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self.cs_pin.low()
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self.spi.send(addr)
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buf = self.spi.send_recv(bytearray(nbytes * [0])) # read data, MSB first
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self.cs_pin.high()
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return buf
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def wr(self, addr, buf):
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if len(buf) > 1:
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addr |= MULTIPLEBYTE_CMD
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self.cs_pin.low()
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self.spi.send(addr)
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for b in buf:
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self.spi.send(b)
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self.cs_pin.high()
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def read_id(self):
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return self.rd(LIS302DL_WHO_AM_I_ADDR, 1)
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def init(self, init_param):
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self.wr(LIS302DL_CTRL_REG1_ADDR, bytearray([init_param]))
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