Merge pull request #2 from adafruit/lsm6ds_refactor

Lsm6ds refactor

Author: siddacious

README.rst

@@ -61,11 +61,11 @@ Usage Example
     import time
     import board
     import busio
-    import adafruit_lsm6dsox
+    import adafruit_lsm6ds
 
     i2c = busio.I2C(board.SCL, board.SDA)
 
-    sox = adafruit_lsm6dsox.LSM6DSOX(i2c)
+    sox = adafruit_lsm6ds.LSM6DSOX(i2c)
 
     while True:
         print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2"%(sox.acceleration))

adafruit_lsm6dsox.py renamed to adafruit_lsm6ds.py

@@ -20,7 +20,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 """
-`adafruit_lsm6dsox`
+`adafruit_lsm6ds`
 ================================================================================
 
 CircuitPython library for the ST LSM6DSOX 6-axis Accelerometer and Gyro
@@ -58,35 +58,36 @@
 __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_LSM6DSOX.git"
 
 
-_LSM6DSOX_DEFAULT_ADDRESS = const(0x6a)
-_LSM6DSOX_CHIP_ID = const(0x6C)
-_ISM330DHCX_CHIP_ID = const(0x6B)
-
-
-_LSM6DSOX_FUNC_CFG_ACCESS = const(0x1)
-_LSM6DSOX_PIN_CTRL = const(0x2)
-_LSM6DSOX_UI_INT_OIS = const(0x6F)
-_LSM6DSOX_WHOAMI = const(0xF)
-_LSM6DSOX_CTRL1_XL = const(0x10)
-_LSM6DSOX_CTRL2_G = const(0x11)
-_LSM6DSOX_CTRL3_C = const(0x12)
-_LSM6DSOX_CTRL_5_C = const(0x14)
-_LSM6DSOX_MASTER_CONFIG = const(0x14)
-_LSM6DSOX_CTRL9_XL = const(0x18)
-_LSM6DSOX_OUT_TEMP_L = const(0x20)
-_LSM6DSOX_OUT_TEMP_H = const(0x21)
-_LSM6DSOX_OUTX_L_G = const(0x22)
-_LSM6DSOX_OUTX_H_G = const(0x23)
-_LSM6DSOX_OUTY_L_G = const(0x24)
-_LSM6DSOX_OUTY_H_G = const(0x25)
-_LSM6DSOX_OUTZ_L_G = const(0x26)
-_LSM6DSOX_OUTZ_H_G = const(0x27)
-_LSM6DSOX_OUTX_L_A = const(0x28)
-_LSM6DSOX_OUTX_H_A = const(0x29)
-_LSM6DSOX_OUTY_L_A = const(0x2A)
-_LSM6DSOX_OUTY_H_A = const(0x2B)
-_LSM6DSOX_OUTZ_L_A = const(0x2C)
-_LSM6DSOX_OUTZ_H_A = const(0x2D)
+_LSM6DS_DEFAULT_ADDRESS = const(0x6a)
+
+_LSM6DS_CHIP_ID = const(0x6C)
+_ISM330DHCT_CHIP_ID = const(0x6B)
+_LSM6DS33_CHIP_ID = const(0x69)
+
+_LSM6DS_FUNC_CFG_ACCESS = const(0x1)
+_LSM6DS_PIN_CTRL = const(0x2)
+_LSM6DS_UI_INT_OIS = const(0x6F)
+_LSM6DS_WHOAMI = const(0xF)
+_LSM6DS_CTRL1_XL = const(0x10)
+_LSM6DS_CTRL2_G = const(0x11)
+_LSM6DS_CTRL3_C = const(0x12)
+_LSM6DS_CTRL_5_C = const(0x14)
+_LSM6DS_MASTER_CONFIG = const(0x14)
+_LSM6DS_CTRL9_XL = const(0x18)
+_LSM6DS_OUT_TEMP_L = const(0x20)
+_LSM6DS_OUT_TEMP_H = const(0x21)
+_LSM6DS_OUTX_L_G = const(0x22)
+_LSM6DS_OUTX_H_G = const(0x23)
+_LSM6DS_OUTY_L_G = const(0x24)
+_LSM6DS_OUTY_H_G = const(0x25)
+_LSM6DS_OUTZ_L_G = const(0x26)
+_LSM6DS_OUTZ_H_G = const(0x27)
+_LSM6DS_OUTX_L_A = const(0x28)
+_LSM6DS_OUTX_H_A = const(0x29)
+_LSM6DS_OUTY_L_A = const(0x2A)
+_LSM6DS_OUTY_H_A = const(0x2B)
+_LSM6DS_OUTZ_L_A = const(0x2C)
+_LSM6DS_OUTZ_H_A = const(0x2D)
 
 _MILLI_G_TO_ACCEL = 0.00980665
 
@@ -153,7 +154,8 @@ class Rate(CV):
     ('RATE_1_6_HZ', 11, 1.6, None)
 ))
 
-class LSM6DSOX: #pylint: disable=too-many-instance-attributes
+
+class LSM6DS: #pylint: disable=too-many-instance-attributes
 
     """Driver for the LSM6DSOX 6-axis accelerometer and gyroscope.
 
@@ -163,73 +165,72 @@ class LSM6DSOX: #pylint: disable=too-many-instance-attributes
     """
 
 #ROUnaryStructs:
-    _chip_id = ROUnaryStruct(_LSM6DSOX_WHOAMI, "<b")
-    _temperature = ROUnaryStruct(_LSM6DSOX_OUT_TEMP_L, "<h")
+    _chip_id = ROUnaryStruct(_LSM6DS_WHOAMI, "<b")
+    _temperature = ROUnaryStruct(_LSM6DS_OUT_TEMP_L, "<h")
 
 #RWBits:
-    _ois_ctrl_from_ui = RWBit(_LSM6DSOX_FUNC_CFG_ACCESS, 0)
-    _shub_reg_access = RWBit(_LSM6DSOX_FUNC_CFG_ACCESS, 6)
-    _func_cfg_access = RWBit(_LSM6DSOX_FUNC_CFG_ACCESS, 7)
-    _sdo_pu_en = RWBit(_LSM6DSOX_PIN_CTRL, 6)
-    _ois_pu_dis = RWBit(_LSM6DSOX_PIN_CTRL, 7)
-    _spi2_read_en = RWBit(_LSM6DSOX_UI_INT_OIS, 3)
-    _den_lh_ois = RWBit(_LSM6DSOX_UI_INT_OIS, 5)
-    _lvl2_ois = RWBit(_LSM6DSOX_UI_INT_OIS, 6)
-    _int2_drdy_ois = RWBit(_LSM6DSOX_UI_INT_OIS, 7)
-    _lpf_xl = RWBit(_LSM6DSOX_CTRL1_XL, 1)
-
-    _accel_range = RWBits(2, _LSM6DSOX_CTRL1_XL, 2)
-    _accel_data_rate = RWBits(4, _LSM6DSOX_CTRL1_XL, 4)
-
-    _gyro_data_rate = RWBits(4, _LSM6DSOX_CTRL2_G, 4)
-    _gyro_range = RWBits(2, _LSM6DSOX_CTRL2_G, 2)
-    _gyro_range_125dps = RWBit(_LSM6DSOX_CTRL2_G, 1)
-
-    _sw_reset = RWBit(_LSM6DSOX_CTRL3_C, 0)
-    _if_inc = RWBit(_LSM6DSOX_CTRL3_C, 2)
-    _sim = RWBit(_LSM6DSOX_CTRL3_C, 3)
-    _pp_od = RWBit(_LSM6DSOX_CTRL3_C, 4)
-    _h_lactive = RWBit(_LSM6DSOX_CTRL3_C, 5)
-    _bdu = RWBit(_LSM6DSOX_CTRL3_C, 6)
-    _boot = RWBit(_LSM6DSOX_CTRL3_C, 7)
-    _st_xl = RWBits(2, _LSM6DSOX_CTRL_5_C, 0)
-    _st_g = RWBits(2, _LSM6DSOX_CTRL_5_C, 2)
-    _rounding_status = RWBit(_LSM6DSOX_CTRL_5_C, 4)
-    _rounding = RWBits(2, _LSM6DSOX_CTRL_5_C, 5)
-    _xl_ulp_en = RWBit(_LSM6DSOX_CTRL_5_C, 7)
-    _aux_sens_on = RWBits(2, _LSM6DSOX_MASTER_CONFIG, 0)
-    _master_on = RWBit(_LSM6DSOX_MASTER_CONFIG, 2)
-    _shub_pu_en = RWBit(_LSM6DSOX_MASTER_CONFIG, 3)
-    _pass_through_mode = RWBit(_LSM6DSOX_MASTER_CONFIG, 4)
-    _start_config = RWBit(_LSM6DSOX_MASTER_CONFIG, 5)
-    _write_once = RWBit(_LSM6DSOX_MASTER_CONFIG, 6)
-    _rst_master_regs = RWBit(_LSM6DSOX_MASTER_CONFIG, 7)
-    _i3c_disable = RWBit(_LSM6DSOX_CTRL9_XL, 1)
-
-    _raw_temp = ROUnaryStruct(_LSM6DSOX_OUT_TEMP_L, "<h")
-
-    _raw_accel_data = Struct(_LSM6DSOX_OUTX_L_A, "<hhh")
-    _raw_gyro_data = Struct(_LSM6DSOX_OUTX_L_G, "<hhh")
-
-    def __init__(self, i2c_bus, address=_LSM6DSOX_DEFAULT_ADDRESS):
-        self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
+    _ois_ctrl_from_ui = RWBit(_LSM6DS_FUNC_CFG_ACCESS, 0)
+    _shub_reg_access = RWBit(_LSM6DS_FUNC_CFG_ACCESS, 6)
+    _func_cfg_access = RWBit(_LSM6DS_FUNC_CFG_ACCESS, 7)
+    _sdo_pu_en = RWBit(_LSM6DS_PIN_CTRL, 6)
+    _ois_pu_dis = RWBit(_LSM6DS_PIN_CTRL, 7)
+    _spi2_read_en = RWBit(_LSM6DS_UI_INT_OIS, 3)
+    _den_lh_ois = RWBit(_LSM6DS_UI_INT_OIS, 5)
+    _lvl2_ois = RWBit(_LSM6DS_UI_INT_OIS, 6)
+    _int2_drdy_ois = RWBit(_LSM6DS_UI_INT_OIS, 7)
+    _lpf_xl = RWBit(_LSM6DS_CTRL1_XL, 1)
+
+    _accel_range = RWBits(2, _LSM6DS_CTRL1_XL, 2)
+    _accel_data_rate = RWBits(4, _LSM6DS_CTRL1_XL, 4)
+
+    _gyro_data_rate = RWBits(4, _LSM6DS_CTRL2_G, 4)
+    _gyro_range = RWBits(2, _LSM6DS_CTRL2_G, 2)
+    _gyro_range_125dps = RWBit(_LSM6DS_CTRL2_G, 1)
+    _gyro_range_4000dps = RWBit(_LSM6DS_CTRL2_G, 0)
+
+    _sw_reset = RWBit(_LSM6DS_CTRL3_C, 0)
+    _sim = RWBit(_LSM6DS_CTRL3_C, 3)
+    _pp_od = RWBit(_LSM6DS_CTRL3_C, 4)
+    _h_lactive = RWBit(_LSM6DS_CTRL3_C, 5)
+    _bdu = RWBit(_LSM6DS_CTRL3_C, 6)
+    _boot = RWBit(_LSM6DS_CTRL3_C, 7)
+    _st_xl = RWBits(2, _LSM6DS_CTRL_5_C, 0)
+    _st_g = RWBits(2, _LSM6DS_CTRL_5_C, 2)
+    _rounding_status = RWBit(_LSM6DS_CTRL_5_C, 4)
+    _rounding = RWBits(2, _LSM6DS_CTRL_5_C, 5)
+    _xl_ulp_en = RWBit(_LSM6DS_CTRL_5_C, 7)
+    _aux_sens_on = RWBits(2, _LSM6DS_MASTER_CONFIG, 0)
+    _master_on = RWBit(_LSM6DS_MASTER_CONFIG, 2)
+    _shub_pu_en = RWBit(_LSM6DS_MASTER_CONFIG, 3)
+    _pass_through_mode = RWBit(_LSM6DS_MASTER_CONFIG, 4)
+    _start_config = RWBit(_LSM6DS_MASTER_CONFIG, 5)
+    _write_once = RWBit(_LSM6DS_MASTER_CONFIG, 6)
+    _rst_master_regs = RWBit(_LSM6DS_MASTER_CONFIG, 7)
+    _i3c_disable = RWBit(_LSM6DS_CTRL9_XL, 1)
+
+    _raw_temp = ROUnaryStruct(_LSM6DS_OUT_TEMP_L, "<h")
+
+    _raw_accel_data = Struct(_LSM6DS_OUTX_L_A, "<hhh")
+    _raw_gyro_data = Struct(_LSM6DS_OUTX_L_G, "<hhh")
+    CHIP_ID = None
+    def __init__(self, i2c_bus, address=_LSM6DS_DEFAULT_ADDRESS):
+        self._cached_accel_range = None
+        self._cached_gyro_range = None
 
-        if self._chip_id not in [_LSM6DSOX_CHIP_ID, _ISM330DHCX_CHIP_ID]:
-            raise RuntimeError("Failed to find LSM6DSOX or ISM330DHCX - check your wiring!")
+        self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
+        if self.CHIP_ID is None:
+            raise AttributeError("LSM6DS Parent Class cannot be directly instantiated")
+        if self._chip_id != self.CHIP_ID:
+            raise RuntimeError("Failed to find %s - check your wiring!"%self.__class__.__name__)
         self.reset()
 
         self._bdu = True
-        self._i3c_disable = True
-        self._if_inc = True
 
-        self._accel_data_rate = Rate.RATE_104_HZ #pylint: disable=no-member
-        self._gyro_data_rate = Rate.RATE_104_HZ #pylint: disable=no-member
-
-        self._accel_range = AccelRange.RANGE_4G #pylint: disable=no-member
-        self._cached_accel_range = self._accel_range
-        self._gyro_range = GyroRange.RANGE_250_DPS #pylint: disable=no-member
-        self._cached_gyro_range = self._gyro_range
+        self.accelerometer_data_rate = Rate.RATE_104_HZ #pylint: disable=no-member
+        self.gyro_data_rate = Rate.RATE_104_HZ #pylint: disable=no-member
 
+        self.accelerometer_range = AccelRange.RANGE_4G #pylint: disable=no-member
+        self.gyro_range = GyroRange.RANGE_250_DPS #pylint: disable=no-member
 
     def reset(self):
         "Resets the sensor's configuration into an initial state"
@@ -240,12 +241,6 @@ def reset(self):
         while self._boot:
             sleep(0.001)
 
-    @property
-    def is_lsm6dsox(self):
-        """Returns `True` if the connected sensor is an LSM6DSOX,
-        `False` if not, it's an ICM330DHCX"""
-        return self._chip_id is _LSM6DSOX_CHIP_ID
-
     @property
     def acceleration(self):
         """The x, y, z acceleration values returned in a 3-tuple and are in m / s ^ 2."""
@@ -291,15 +286,15 @@ def accelerometer_range(self, value):
     def gyro_range(self):
         """Adjusts the range of values that the sensor can measure, from 125 Degrees/second to 4000
         degrees/s. Note that larger ranges will be less accurate. Must be a `GyroRange`. 4000 DPS
-        is only available for the ISM330DHCX"""
+        is only available for the ISM330DHCT"""
         return self._cached_gyro_range
 
     @gyro_range.setter
     def gyro_range(self, value):
         if not GyroRange.is_valid(value):
             raise AttributeError("range must be a `GyroRange`")
-        if value is GyroRange.RANGE_4000_DPS and self.is_lsm6dsox:
-            raise AttributeError("4000 DPS is only available for ISM330DHCX")
+        if value is GyroRange.RANGE_4000_DPS and not isinstance(self, ISM330DHCT):
+            raise AttributeError("4000 DPS is only available for ISM330DHCT")
 
         if value is GyroRange.RANGE_125_DPS:
             self._gyro_range_125dps = True
@@ -309,7 +304,7 @@ def gyro_range(self, value):
             self._gyro_range_4000dps = True
         else:
             self._gyro_range_125dps = False
-            self._gyro_range_4000dps = True
+            self._gyro_range_4000dps = False
             self._gyro_range = value
 
         self._cached_gyro_range = value
@@ -344,3 +339,41 @@ def gyro_data_rate(self, value):
 
         self._gyro_data_rate = value
         # sleep(.2) # needed to let new range settle
+
+class LSM6DSOX(LSM6DS): #pylint: disable=too-many-instance-attributes
+
+    """Driver for the LSM6DSOX 6-axis accelerometer and gyroscope.
+
+        :param ~busio.I2C i2c_bus: The I2C bus the LSM6DSOX is connected to.
+        :param address: The I2C slave address of the sensor
+
+    """
+    CHIP_ID = _LSM6DS_CHIP_ID
+    def __init__(self, i2c_bus, address=_LSM6DS_DEFAULT_ADDRESS):
+        super().__init__(i2c_bus, address)
+        self._i3c_disable = True
+
+class LSM6DS33(LSM6DS): #pylint: disable=too-many-instance-attributes
+
+    """Driver for the LSM6DS33 6-axis accelerometer and gyroscope.
+
+        :param ~busio.I2C i2c_bus: The I2C bus the LSM6DS33 is connected to.
+        :param address: The I2C slave address of the sensor
+
+    """
+    CHIP_ID = _LSM6DS33_CHIP_ID
+
+class ISM330DHCT(LSM6DS): #pylint: disable=too-many-instance-attributes
+
+    """Driver for the LSM6DS33 6-axis accelerometer and gyroscope.
+
+        :param ~busio.I2C i2c_bus: The I2C bus the LSM6DS33 is connected to.
+        :param address: The I2C slave address of the sensor
+
+    """
+    CHIP_ID = _ISM330DHCT_CHIP_ID
+    def __init__(self, i2c_bus, address=_LSM6DS_DEFAULT_ADDRESS):
+        super().__init__(i2c_bus, address)
+
+        # Called DEVICE_CONF in the datasheet, but it recommends setting it
+        self._i3c_disable = True

docs/api.rst

@@ -4,5 +4,5 @@
 .. If your library file(s) are nested in a directory (e.g. /adafruit_foo/foo.py)
 .. use this format as the module name: "adafruit_foo.foo"
 
-.. automodule:: adafruit_lsm6dsox
+.. automodule:: adafruit_lsm6ds
    :members:

docs/conf.py

@@ -20,7 +20,7 @@
 # Uncomment the below if you use native CircuitPython modules such as
 # digitalio, micropython and busio. List the modules you use. Without it, the
 # autodoc module docs will fail to generate with a warning.
-# autodoc_mock_imports = ["digitalio", "busio"]
+autodoc_mock_imports = ["micropython", "adafruit_bus_device", "adafruit_register"]
 
 
 intersphinx_mapping = {'python': ('https://docs.python.org/3.4', None),'BusDevice': ('https://circuitpython.readthedocs.io/projects/busdevice/en/latest/', None),'Register': ('https://circuitpython.readthedocs.io/projects/register/en/latest/', None),'CircuitPython': ('https://circuitpython.readthedocs.io/en/latest/', None)}

examples/ism330dhct_simpletest.py

@@ -0,0 +1,14 @@
+import time
+import board
+import busio
+from adafruit_lsm6ds import ISM330DHCT
+
+i2c = busio.I2C(board.SCL, board.SDA)
+
+sensor = ISM330DHCT(i2c)
+
+while True:
+    print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (sensor.acceleration))
+    print("Gyro X:%.2f, Y: %.2f, Z: %.2f degrees/s" % (sensor.gyro))
+    print("")
+    time.sleep(0.5)

examples/lsm6ds33_simpletest.py

@@ -0,0 +1,14 @@
+import time
+import board
+import busio
+from adafruit_lsm6ds import LSM6DS33
+
+i2c = busio.I2C(board.SCL, board.SDA)
+
+sensor = LSM6DS33(i2c)
+
+while True:
+    print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (sensor.acceleration))
+    print("Gyro X:%.2f, Y: %.2f, Z: %.2f degrees/s" % (sensor.gyro))
+    print("")
+    time.sleep(0.5)

examples/lsm6ds_full_test.py

@@ -0,0 +1,29 @@
+import time
+import board
+import busio
+#pylint:disable=no-member,unused-import
+from adafruit_lsm6ds import LSM6DS33, LSM6DSOX, ISM330DHCT, Rate, AccelRange, GyroRange
+
+i2c = busio.I2C(board.SCL, board.SDA)
+
+sensor = LSM6DS33(i2c)
+#sensor = LSM6DSOX(i2c)
+#sensor = ISM330DHCT(i2c)
+
+sensor.accelerometer_range = AccelRange.RANGE_8G
+print("Accelerometer range set to: %d G" % AccelRange.string[sensor.accelerometer_range])
+
+sensor.gyro_range = GyroRange.RANGE_2000_DPS
+print("Gyro range set to: %d DPS" % GyroRange.string[sensor.gyro_range])
+
+sensor.accelerometer_data_rate = Rate.RATE_1_66K_HZ
+#sensor.accelerometer_data_rate = Rate.RATE_12_5_HZ
+print("Accelerometer rate set to: %d HZ" % Rate.string[sensor.accelerometer_data_rate])
+
+sensor.gyro_data_rate = Rate.RATE_1_66K_HZ
+print("Gyro rate set to: %d HZ" % Rate.string[sensor.gyro_data_rate])
+
+while True:
+    print("Accel X:%.2f Y:%.2f Z:%.2f ms^2 Gyro X:%.2f Y:%.2f Z:%.2f degrees/s" %
+          (sensor.acceleration+sensor.gyro))
+    time.sleep(0.05)