# SPDX-FileCopyrightText: 2017 Tony DiCola for Adafruit Industries
#
# SPDX-License-Identifier: MIT
"""
`adafruit_lsm9ds0`
====================================================
CircuitPython module for the LSM9DS0 accelerometer, magnetometer, gyroscope.
Based on the driver from:
https://github.com/adafruit/Adafruit_LSM9DS0
See examples/simpletest.py for a demo of the usage.
* Author(s): Tony DiCola
Implementation Notes
--------------------
**Hardware:**
* Adafruit `9-DOF Accel/Mag/Gyro+Temp Breakout Board - LSM9DS0
<https://www.adafruit.com/product/2021>`_ (Product ID: 2021)
* FLORA `9-DOF Accelerometer/Gyroscope/Magnetometer - LSM9DS0
<https://www.adafruit.com/product/2020>`_ (Product ID: 2020)
**Software and Dependencies:**
* Adafruit CircuitPython firmware for the ESP8622 and M0-based boards:
https://github.com/adafruit/circuitpython/releases
* Adafruit's Bus Device library: https://github.com/adafruit/Adafruit_CircuitPython_BusDevice
"""
import struct
from adafruit_bus_device import i2c_device
from adafruit_bus_device import spi_device
from digitalio import Direction
from micropython import const
__version__ = "0.0.0+auto.0"
__repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_LSM9DS0.git"
# Internal constants and register values:
_LSM9DS0_ADDRESS_ACCELMAG = const(0x1D) # 3B >> 1 = 7bit default
_LSM9DS0_ADDRESS_GYRO = const(0x6B) # D6 >> 1 = 7bit default
_LSM9DS0_XM_ID = const(0b01001001)
_LSM9DS0_G_ID = const(0b11010100)
_LSM9DS0_ACCEL_MG_LSB_2G = 0.061
_LSM9DS0_ACCEL_MG_LSB_4G = 0.122
_LSM9DS0_ACCEL_MG_LSB_6G = 0.183
_LSM9DS0_ACCEL_MG_LSB_8G = 0.244
_LSM9DS0_ACCEL_MG_LSB_16G = 0.732 # Is this right? Was expecting 0.488
_LSM9DS0_MAG_MGAUSS_2GAUSS = 0.08
_LSM9DS0_MAG_MGAUSS_4GAUSS = 0.16
_LSM9DS0_MAG_MGAUSS_8GAUSS = 0.32
_LSM9DS0_MAG_MGAUSS_12GAUSS = 0.48
_LSM9DS0_GYRO_DPS_DIGIT_245DPS = 0.00875
_LSM9DS0_GYRO_DPS_DIGIT_500DPS = 0.01750
_LSM9DS0_GYRO_DPS_DIGIT_2000DPS = 0.07000
_LSM9DS0_TEMP_LSB_DEGREE_CELSIUS = 8 # 1°C = 8, 25° = 200, etc.
_LSM9DS0_REGISTER_WHO_AM_I_G = const(0x0F)
_LSM9DS0_REGISTER_CTRL_REG1_G = const(0x20)
_LSM9DS0_REGISTER_CTRL_REG3_G = const(0x22)
_LSM9DS0_REGISTER_CTRL_REG4_G = const(0x23)
_LSM9DS0_REGISTER_OUT_X_L_G = const(0x28)
_LSM9DS0_REGISTER_OUT_X_H_G = const(0x29)
_LSM9DS0_REGISTER_OUT_Y_L_G = const(0x2A)
_LSM9DS0_REGISTER_OUT_Y_H_G = const(0x2B)
_LSM9DS0_REGISTER_OUT_Z_L_G = const(0x2C)
_LSM9DS0_REGISTER_OUT_Z_H_G = const(0x2D)
_LSM9DS0_REGISTER_TEMP_OUT_L_XM = const(0x05)
_LSM9DS0_REGISTER_TEMP_OUT_H_XM = const(0x06)
_LSM9DS0_REGISTER_STATUS_REG_M = const(0x07)
_LSM9DS0_REGISTER_OUT_X_L_M = const(0x08)
_LSM9DS0_REGISTER_OUT_X_H_M = const(0x09)
_LSM9DS0_REGISTER_OUT_Y_L_M = const(0x0A)
_LSM9DS0_REGISTER_OUT_Y_H_M = const(0x0B)
_LSM9DS0_REGISTER_OUT_Z_L_M = const(0x0C)
_LSM9DS0_REGISTER_OUT_Z_H_M = const(0x0D)
_LSM9DS0_REGISTER_WHO_AM_I_XM = const(0x0F)
_LSM9DS0_REGISTER_INT_CTRL_REG_M = const(0x12)
_LSM9DS0_REGISTER_INT_SRC_REG_M = const(0x13)
_LSM9DS0_REGISTER_CTRL_REG1_XM = const(0x20)
_LSM9DS0_REGISTER_CTRL_REG2_XM = const(0x21)
_LSM9DS0_REGISTER_CTRL_REG5_XM = const(0x24)
_LSM9DS0_REGISTER_CTRL_REG6_XM = const(0x25)
_LSM9DS0_REGISTER_CTRL_REG7_XM = const(0x26)
_LSM9DS0_REGISTER_OUT_X_L_A = const(0x28)
_LSM9DS0_REGISTER_OUT_X_H_A = const(0x29)
_LSM9DS0_REGISTER_OUT_Y_L_A = const(0x2A)
_LSM9DS0_REGISTER_OUT_Y_H_A = const(0x2B)
_LSM9DS0_REGISTER_OUT_Z_L_A = const(0x2C)
_LSM9DS0_REGISTER_OUT_Z_H_A = const(0x2D)
_GYROTYPE = True
_XMTYPE = False
_SENSORS_GRAVITY_STANDARD = 9.80665
# User facing constants/module globals.
ACCELRANGE_2G = 0b000 << 3
ACCELRANGE_4G = 0b001 << 3
ACCELRANGE_6G = 0b010 << 3
ACCELRANGE_8G = 0b011 << 3
ACCELRANGE_16G = 0b100 << 3
MAGGAIN_2GAUSS = 0b00 << 5 # +/- 2 gauss
MAGGAIN_4GAUSS = 0b01 << 5 # +/- 4 gauss
MAGGAIN_8GAUSS = 0b10 << 5 # +/- 8 gauss
MAGGAIN_12GAUSS = 0b11 << 5 # +/- 12 gauss
GYROSCALE_245DPS = 0b00 << 4 # +/- 245 degrees per second rotation
GYROSCALE_500DPS = 0b01 << 4 # +/- 500 degrees per second rotation
GYROSCALE_2000DPS = 0b10 << 4 # +/- 2000 degrees per second rotation
def _twos_comp(val, bits):
# Convert an unsigned integer in 2's compliment form of the specified bit
# length to its signed integer value and return it.
if val & (1 << (bits - 1)) != 0:
return val - (1 << bits)
return val
[docs]
class LSM9DS0:
"""Driver for the LSM9DS0 accelerometer, magnetometer, gyroscope."""
# Class-level buffer for reading and writing data with the sensor.
# This reduces memory allocations but means the code is not re-entrant or
# thread safe!
_BUFFER = bytearray(6)
def __init__(self):
# Check ID registers.
if (
self._read_u8(_XMTYPE, _LSM9DS0_REGISTER_WHO_AM_I_XM) != _LSM9DS0_XM_ID
or self._read_u8(_GYROTYPE, _LSM9DS0_REGISTER_WHO_AM_I_G) != _LSM9DS0_G_ID
):
raise RuntimeError("Could not find LSM9DS0, check wiring!")
# Enable the accelerometer continous
self._write_u8(_XMTYPE, _LSM9DS0_REGISTER_CTRL_REG1_XM, 0x67)
self._write_u8(_XMTYPE, _LSM9DS0_REGISTER_CTRL_REG5_XM, 0b11110000)
# enable mag continuous
self._write_u8(_XMTYPE, _LSM9DS0_REGISTER_CTRL_REG7_XM, 0b00000000)
# enable gyro continuous
self._write_u8(_GYROTYPE, _LSM9DS0_REGISTER_CTRL_REG1_G, 0x0F)
# enable the temperature sensor (output rate same as the mag sensor)
temp_reg = self._read_u8(_XMTYPE, _LSM9DS0_REGISTER_CTRL_REG5_XM)
self._write_u8(_XMTYPE, _LSM9DS0_REGISTER_CTRL_REG5_XM, temp_reg | (1 << 7))
# Set default ranges for the various sensors
self._accel_mg_lsb = None
self._mag_mgauss_lsb = None
self._gyro_dps_digit = None
self.accel_range = ACCELRANGE_2G
self.mag_gain = MAGGAIN_2GAUSS
self.gyro_scale = GYROSCALE_245DPS
@property
def accel_range(self):
"""The accelerometer range. Must be a value of:
- ACCELRANGE_2G
- ACCELRANGE_4G
- ACCELRANGE_6G
- ACCELRANGE_8G
- ACCELRANGE_16G
"""
reg = self._read_u8(_XMTYPE, _LSM9DS0_REGISTER_CTRL_REG2_XM)
return (reg & 0b00111000) & 0xFF
@accel_range.setter
def accel_range(self, val):
assert val in (
ACCELRANGE_2G,
ACCELRANGE_4G,
ACCELRANGE_6G,
ACCELRANGE_8G,
ACCELRANGE_16G,
)
reg = self._read_u8(_XMTYPE, _LSM9DS0_REGISTER_CTRL_REG2_XM)
reg = (reg & ~(0b00111000)) & 0xFF
reg |= val
self._write_u8(_XMTYPE, _LSM9DS0_REGISTER_CTRL_REG2_XM, reg)
if val == ACCELRANGE_2G:
self._accel_mg_lsb = _LSM9DS0_ACCEL_MG_LSB_2G
elif val == ACCELRANGE_4G:
self._accel_mg_lsb = _LSM9DS0_ACCEL_MG_LSB_4G
elif val == ACCELRANGE_6G:
self._accel_mg_lsb = _LSM9DS0_ACCEL_MG_LSB_6G
elif val == ACCELRANGE_8G:
self._accel_mg_lsb = _LSM9DS0_ACCEL_MG_LSB_8G
elif val == ACCELRANGE_16G:
self._accel_mg_lsb = _LSM9DS0_ACCEL_MG_LSB_16G
@property
def mag_gain(self):
"""The magnetometer gain. Must be a value of:
- MAGGAIN_2GAUSS
- MAGGAIN_4GAUSS
- MAGGAIN_8GAUSS
- MAGGAIN_12GAUSS
"""
reg = self._read_u8(_XMTYPE, _LSM9DS0_REGISTER_CTRL_REG6_XM)
return (reg & 0b01100000) & 0xFF
@mag_gain.setter
def mag_gain(self, val):
assert val in (MAGGAIN_2GAUSS, MAGGAIN_4GAUSS, MAGGAIN_8GAUSS, MAGGAIN_12GAUSS)
reg = self._read_u8(_XMTYPE, _LSM9DS0_REGISTER_CTRL_REG6_XM)
reg = (reg & ~(0b01100000)) & 0xFF
reg |= val
self._write_u8(_XMTYPE, _LSM9DS0_REGISTER_CTRL_REG6_XM, reg)
if val == MAGGAIN_2GAUSS:
self._mag_mgauss_lsb = _LSM9DS0_MAG_MGAUSS_2GAUSS
elif val == MAGGAIN_4GAUSS:
self._mag_mgauss_lsb = _LSM9DS0_MAG_MGAUSS_4GAUSS
elif val == MAGGAIN_8GAUSS:
self._mag_mgauss_lsb = _LSM9DS0_MAG_MGAUSS_8GAUSS
elif val == MAGGAIN_12GAUSS:
self._mag_mgauss_lsb = _LSM9DS0_MAG_MGAUSS_12GAUSS
@property
def gyro_scale(self):
"""The gyroscope scale. Must be a value of:
- GYROSCALE_245DPS
- GYROSCALE_500DPS
- GYROSCALE_2000DPS
"""
reg = self._read_u8(_GYROTYPE, _LSM9DS0_REGISTER_CTRL_REG4_G)
return (reg & 0b00110000) & 0xFF
@gyro_scale.setter
def gyro_scale(self, val):
assert val in (GYROSCALE_245DPS, GYROSCALE_500DPS, GYROSCALE_2000DPS)
reg = self._read_u8(_GYROTYPE, _LSM9DS0_REGISTER_CTRL_REG4_G)
reg = (reg & ~(0b00110000)) & 0xFF
reg |= val
self._write_u8(_GYROTYPE, _LSM9DS0_REGISTER_CTRL_REG4_G, reg)
if val == GYROSCALE_245DPS:
self._gyro_dps_digit = _LSM9DS0_GYRO_DPS_DIGIT_245DPS
elif val == GYROSCALE_500DPS:
self._gyro_dps_digit = _LSM9DS0_GYRO_DPS_DIGIT_500DPS
elif val == GYROSCALE_2000DPS:
self._gyro_dps_digit = _LSM9DS0_GYRO_DPS_DIGIT_2000DPS
[docs]
def read_accel_raw(self):
"""Read the raw accelerometer sensor values and return it as a
3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you
want the acceleration in nice units you probably want to use the
accelerometer property!
"""
# Read the accelerometer
self._read_bytes(_XMTYPE, 0x80 | _LSM9DS0_REGISTER_OUT_X_L_A, 6, self._BUFFER)
raw_x, raw_y, raw_z = struct.unpack_from("<hhh", self._BUFFER[0:6])
return (raw_x, raw_y, raw_z)
@property
def acceleration(self):
"""The accelerometer X, Y, Z axis values as a 3-tuple of
m/s^2 values.
"""
raw = self.read_accel_raw()
return (
x * self._accel_mg_lsb / 1000.0 * _SENSORS_GRAVITY_STANDARD for x in raw
)
[docs]
def read_mag_raw(self):
"""Read the raw magnetometer sensor values and return it as a
3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you
want the magnetometer in nice units you probably want to use the
magnetometer property!
"""
# Read the magnetometer
self._read_bytes(_XMTYPE, 0x80 | _LSM9DS0_REGISTER_OUT_X_L_M, 6, self._BUFFER)
raw_x, raw_y, raw_z = struct.unpack_from("<hhh", self._BUFFER[0:6])
return (raw_x, raw_y, raw_z)
@property
def magnetic(self):
"""The magnetometer X, Y, Z axis values as a 3-tuple of
gauss values.
"""
raw = self.read_mag_raw()
return (x * self._mag_mgauss_lsb / 1000.0 for x in raw)
[docs]
def read_gyro_raw(self):
"""Read the raw gyroscope sensor values and return it as a
3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you
want the gyroscope in nice units you probably want to use the
gyroscope property!
"""
# Read the gyroscope
self._read_bytes(_GYROTYPE, 0x80 | _LSM9DS0_REGISTER_OUT_X_L_G, 6, self._BUFFER)
raw_x, raw_y, raw_z = struct.unpack_from("<hhh", self._BUFFER[0:6])
return (raw_x, raw_y, raw_z)
@property
def gyro(self):
"""The gyroscope X, Y, Z axis values as a 3-tuple of
degrees/second values.
"""
raw = self.read_gyro_raw()
return (x * self._gyro_dps_digit for x in raw)
[docs]
def read_temp_raw(self):
"""Read the raw temperature sensor value and return it as a 16-bit
unsigned value. If you want the temperature in nice units you probably
want to use the temperature property!
"""
# Read temp sensor
self._read_bytes(
_XMTYPE, 0x80 | _LSM9DS0_REGISTER_TEMP_OUT_L_XM, 2, self._BUFFER
)
temp = ((self._BUFFER[1] << 8) | self._BUFFER[0]) >> 4
return _twos_comp(temp, 12)
@property
def temperature(self):
"""The temperature of the sensor in degrees Celsius."""
# This is just a guess since the starting point (21C here) isn't documented :(
temp = self.read_temp_raw()
temp = 21.0 + temp / 8
return temp
def _read_u8(self, sensor_type, address):
# Read an 8-bit unsigned value from the specified 8-bit address.
# The sensor_type boolean should be _MAGTYPE when talking to the
# magnetometer, or _XGTYPE when talking to the accel or gyro.
# MUST be implemented by subclasses!
raise NotImplementedError()
def _read_bytes(self, sensor_type, address, count, buf):
# Read a count number of bytes into buffer from the provided 8-bit
# register address. The sensor_type boolean should be _MAGTYPE when
# talking to the magnetometer, or _XGTYPE when talking to the accel or
# gyro. MUST be implemented by subclasses!
raise NotImplementedError()
def _write_u8(self, sensor_type, address, val):
# Write an 8-bit unsigned value to the specified 8-bit address.
# The sensor_type boolean should be _MAGTYPE when talking to the
# magnetometer, or _XGTYPE when talking to the accel or gyro.
# MUST be implemented by subclasses!
raise NotImplementedError()
[docs]
class LSM9DS0_I2C(LSM9DS0):
"""Driver for the LSM9DS0 connected over I2C."""
def __init__(self, i2c):
self._gyro_device = i2c_device.I2CDevice(i2c, _LSM9DS0_ADDRESS_GYRO)
self._xm_device = i2c_device.I2CDevice(i2c, _LSM9DS0_ADDRESS_ACCELMAG)
super().__init__()
def _read_u8(self, sensor_type, address):
self._read_bytes(sensor_type, address, 1, self._BUFFER)
return self._BUFFER[0]
def _read_bytes(self, sensor_type, address, count, buf):
if sensor_type == _GYROTYPE:
device = self._gyro_device
else:
device = self._xm_device
with device as i2c:
buf[0] = address & 0xFF
i2c.write(buf, end=1)
i2c.readinto(buf, end=count)
# print("read from %02x: %s" % (address, [hex(i) for i in buf[:count]]))
def _write_u8(self, sensor_type, address, val):
if sensor_type == _GYROTYPE:
device = self._gyro_device
else:
device = self._xm_device
with device as i2c:
self._BUFFER[0] = address & 0xFF
self._BUFFER[1] = val & 0xFF
i2c.write(self._BUFFER, end=2)
# print("write to %02x: %02x" % (address, val))
[docs]
class LSM9DS0_SPI(LSM9DS0):
"""Driver for the LSM9DS0 connected over SPI."""
# pylint: disable=no-member
def __init__(self, spi, xmcs, gcs):
gcs.direction = Direction.OUTPUT
gcs.value = True
xmcs.direction = Direction.OUTPUT
xmcs.value = True
self._gyro_device = spi_device.SPIDevice(spi, gcs)
self._xm_device = spi_device.SPIDevice(spi, xmcs)
super().__init__()
def _read_u8(self, sensor_type, address):
self._read_bytes(sensor_type, address, 1, self._BUFFER)
return self._BUFFER[0]
def _read_bytes(self, sensor_type, address, count, buf):
if sensor_type == _GYROTYPE:
device = self._gyro_device
else:
device = self._xm_device
with device as spi:
buf[0] = (address | 0x80 | 0x40) & 0xFF
spi.write(buf, end=1)
spi.readinto(buf, end=count)
# print("read from %02x: %s" % (address, [hex(i) for i in buf[:count]]))
def _write_u8(self, sensor_type, address, val):
if sensor_type == _GYROTYPE:
device = self._gyro_device
else:
device = self._xm_device
with device as spi:
self._BUFFER[0] = (address & 0x7F) & 0xFF
self._BUFFER[1] = val & 0xFF
spi.write(self._BUFFER, end=2)
# print("write to %02x: %02x" % (address, val))