272 lines
8.9 KiB
Python
272 lines
8.9 KiB
Python
"""
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LSM6DSOX STMicro driver for MicroPython based on LSM9DS1:
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Source repo: https://github.com/hoihu/projects/tree/master/raspi-hat
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The MIT License (MIT)
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Copyright (c) 2021 Damien P. George
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Copyright (c) 2021-2022 Ibrahim Abdelkader <iabdalkader@openmv.io>
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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Basic example usage:
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import time
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from lsm6dsox import LSM6DSOX
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from machine import Pin, SPI, I2C
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# Init in I2C mode.
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lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))
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# Or init in SPI mode.
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#lsm = LSM6DSOX(SPI(5), cs_pin=Pin(10))
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while (True):
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print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_accel()))
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print('Gyroscope: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*lsm.read_gyro()))
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print("")
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time.sleep_ms(100)
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"""
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import array
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from micropython import const
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class LSM6DSOX:
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_CTRL3_C = const(0x12)
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_CTRL1_XL = const(0x10)
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_CTRL8_XL = const(0x17)
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_CTRL9_XL = const(0x18)
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_CTRL2_G = const(0x11)
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_CTRL7_G = const(0x16)
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_OUTX_L_G = const(0x22)
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_OUTX_L_XL = const(0x28)
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_MLC_STATUS = const(0x38)
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_DEFAULT_ADDR = const(0x6A)
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_WHO_AM_I_REG = const(0x0F)
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_FUNC_CFG_ACCESS = const(0x01)
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_FUNC_CFG_BANK_USER = const(0)
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_FUNC_CFG_BANK_HUB = const(1)
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_FUNC_CFG_BANK_EMBED = const(2)
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_MLC0_SRC = const(0x70)
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_MLC_INT1 = const(0x0D)
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_TAP_CFG0 = const(0x56)
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_EMB_FUNC_EN_A = const(0x04)
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_EMB_FUNC_EN_B = const(0x05)
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def __init__(
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self,
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bus,
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cs_pin=None,
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address=_DEFAULT_ADDR,
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gyro_odr=104,
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accel_odr=104,
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gyro_scale=2000,
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accel_scale=4,
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ucf=None,
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):
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"""Initalizes Gyro and Accelerator.
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accel_odr: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
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gyro_odr: (0, 1.6Hz, 3.33Hz, 6.66Hz, 12.5Hz, 26Hz, 52Hz, 104Hz, 208Hz, 416Hz, 888Hz)
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gyro_scale: (245dps, 500dps, 1000dps, 2000dps)
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accel_scale: (+/-2g, +/-4g, +/-8g, +-16g)
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ucf: MLC program to load.
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"""
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self.bus = bus
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self.cs_pin = cs_pin
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self.address = address
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self._use_i2c = hasattr(self.bus, "readfrom_mem")
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if not self._use_i2c and cs_pin is None:
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raise ValueError("A CS pin must be provided in SPI mode")
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# check the id of the Accelerometer/Gyro
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if self.__read_reg(_WHO_AM_I_REG) != 108:
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raise OSError("No LSM6DS device was found at address 0x%x" % (self.address))
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# allocate scratch buffer for efficient conversions and memread op's
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self.scratch_int = array.array("h", [0, 0, 0])
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SCALE_GYRO = {250: 0, 500: 1, 1000: 2, 2000: 3}
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SCALE_ACCEL = {2: 0, 4: 2, 8: 3, 16: 1}
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# XL_HM_MODE = 0 by default. G_HM_MODE = 0 by default.
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ODR = {
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0: 0x00,
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1.6: 0x08,
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3.33: 0x09,
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6.66: 0x0A,
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12.5: 0x01,
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26: 0x02,
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52: 0x03,
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104: 0x04,
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208: 0x05,
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416: 0x06,
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888: 0x07,
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}
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gyro_odr = round(gyro_odr, 2)
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accel_odr = round(accel_odr, 2)
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# Sanity checks
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if not gyro_odr in ODR:
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raise ValueError("Invalid sampling rate: %d" % accel_odr)
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if not gyro_scale in SCALE_GYRO:
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raise ValueError("invalid gyro scaling: %d" % gyro_scale)
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if not accel_odr in ODR:
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raise ValueError("Invalid sampling rate: %d" % accel_odr)
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if not accel_scale in SCALE_ACCEL:
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raise ValueError("invalid accelerometer scaling: %d" % accel_scale)
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# Soft-reset the device.
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self.reset()
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# Load and configure MLC if UCF file is provided
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if ucf != None:
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self.load_mlc(ucf)
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# Set Gyroscope datarate and scale.
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# Note output from LPF2 second filtering stage is selected. See Figure 18.
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self.__write_reg(_CTRL1_XL, (ODR[accel_odr] << 4) | (SCALE_ACCEL[accel_scale] << 2) | 2)
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# Enable LPF2 and HPF fast-settling mode, ODR/4
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self.__write_reg(_CTRL8_XL, 0x09)
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# Set Gyroscope datarate and scale.
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self.__write_reg(_CTRL2_G, (ODR[gyro_odr] << 4) | (SCALE_GYRO[gyro_scale] << 2) | 0)
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self.gyro_scale = 32768 / gyro_scale
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self.accel_scale = 32768 / accel_scale
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def __read_reg(self, reg, size=1):
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if self._use_i2c:
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buf = self.bus.readfrom_mem(self.address, reg, size)
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else:
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try:
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self.cs_pin(0)
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self.bus.write(bytes([reg | 0x80]))
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buf = self.bus.read(size)
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finally:
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self.cs_pin(1)
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if size == 1:
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return int(buf[0])
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return [int(x) for x in buf]
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def __write_reg(self, reg, val):
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if self._use_i2c:
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self.bus.writeto_mem(self.address, reg, bytes([val]))
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else:
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try:
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self.cs_pin(0)
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self.bus.write(bytes([reg, val]))
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finally:
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self.cs_pin(1)
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def __read_reg_into(self, reg, buf):
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if self._use_i2c:
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self.bus.readfrom_mem_into(self.address, reg, buf)
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else:
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try:
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self.cs_pin(0)
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self.bus.write(bytes([reg | 0x80]))
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self.bus.readinto(buf)
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finally:
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self.cs_pin(1)
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def reset(self):
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self.__write_reg(_CTRL3_C, self.__read_reg(_CTRL3_C) | 0x1)
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for i in range(0, 10):
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if (self.__read_reg(_CTRL3_C) & 0x01) == 0:
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return
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time.sleep_ms(10)
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raise OSError("Failed to reset LSM6DS device.")
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def set_mem_bank(self, bank):
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cfg = self.__read_reg(_FUNC_CFG_ACCESS) & 0x3F
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self.__write_reg(_FUNC_CFG_ACCESS, cfg | (bank << 6))
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def set_embedded_functions(self, enable, emb_ab=None):
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self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
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if enable:
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self.__write_reg(_EMB_FUNC_EN_A, emb_ab[0])
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self.__write_reg(_EMB_FUNC_EN_B, emb_ab[1])
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else:
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emb_a = self.__read_reg(_EMB_FUNC_EN_A)
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emb_b = self.__read_reg(_EMB_FUNC_EN_B)
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self.__write_reg(_EMB_FUNC_EN_A, (emb_a & 0xC7))
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self.__write_reg(_EMB_FUNC_EN_B, (emb_b & 0xE6))
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emb_ab = (emb_a, emb_b)
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self.set_mem_bank(_FUNC_CFG_BANK_USER)
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return emb_ab
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def load_mlc(self, ucf):
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# Load MLC config from file
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with open(ucf, "r") as ucf_file:
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for l in ucf_file:
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if l.startswith("Ac"):
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v = [int(v, 16) for v in l.strip().split(" ")[1:3]]
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self.__write_reg(v[0], v[1])
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emb_ab = self.set_embedded_functions(False)
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# Disable I3C interface
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self.__write_reg(_CTRL9_XL, self.__read_reg(_CTRL9_XL) | 0x01)
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# Enable Block Data Update
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self.__write_reg(_CTRL3_C, self.__read_reg(_CTRL3_C) | 0x40)
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# Route signals on interrupt pin 1
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self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
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self.__write_reg(_MLC_INT1, self.__read_reg(_MLC_INT1) & 0x01)
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self.set_mem_bank(_FUNC_CFG_BANK_USER)
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# Configure interrupt pin mode
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self.__write_reg(_TAP_CFG0, self.__read_reg(_TAP_CFG0) | 0x41)
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self.set_embedded_functions(True, emb_ab)
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def read_mlc_output(self):
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buf = None
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if self.__read_reg(_MLC_STATUS) & 0x1:
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self.__read_reg(0x1A, size=12)
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self.set_mem_bank(_FUNC_CFG_BANK_EMBED)
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buf = self.__read_reg(_MLC0_SRC, 8)
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self.set_mem_bank(_FUNC_CFG_BANK_USER)
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return buf
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def read_gyro(self):
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"""Returns gyroscope vector in degrees/sec."""
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mv = memoryview(self.scratch_int)
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f = self.gyro_scale
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self.__read_reg_into(_OUTX_L_G, mv)
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return (mv[0] / f, mv[1] / f, mv[2] / f)
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def read_accel(self):
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"""Returns acceleration vector in gravity units (9.81m/s^2)."""
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mv = memoryview(self.scratch_int)
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f = self.accel_scale
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self.__read_reg_into(_OUTX_L_XL, mv)
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return (mv[0] / f, mv[1] / f, mv[2] / f)
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