class INA260:
"""Driver for the INA260 power and current sensor.
:param ~busio.I2C i2c_bus: The I2C bus the INA260 is connected to.
:param address: The I2C device address for the sensor. Default is ``0x40``.
"""
def __init__(self, i2c_bus, address=0x40):
self.i2c_device = i2cdevice.I2CDevice(i2c_bus, address)
_raw_current = ROUnaryStruct(_REG_CURRENT, ">h")
_raw_voltage = ROUnaryStruct(_REG_BUSVOLTAGE, ">H")
_raw_power = ROUnaryStruct(_REG_POWER, ">H")
_conversion_ready = ROBit(_REG_MASK_ENABLE, 3, 2, False)
averaging_count = RWBits(3, _REG_CONFIG, 9, 2, False)
"""The window size of the rolling average used in continuous mode"""
voltage_conversion_time = RWBits(3, _REG_CONFIG, 6, 2, False)
"""The conversion time taken for the bus voltage measurement"""
current_conversion_time = RWBits(3, _REG_CONFIG, 3, 2, False)
"""The conversion time taken for the current measurement"""
mode = RWBits(3, _REG_CONFIG, 0, 2, False)
"""The mode that the INA260 is operating in. Must be one of
``Mode.CONTINUOUS``, ``Mode.TRIGGERED``, or ``Mode.SHUTDOWN``
"""
mask_enable = RWBits(16, _REG_MASK_ENABLE, 0, 2, False)
alert_limit = RWBits(16, _REG_ALERT_LIMIT, 0, 2, False)
@property
def current(self):
"""The current (between V+ and V-) in mA"""
if self.mode == Mode.TRIGGERED:
while self._conversion_ready == 0:
pass
return self._raw_current * 1.25
@property
def voltage(self):
"""The bus voltage in V"""
if self.mode == Mode.TRIGGERED:
while self._conversion_ready == 0:
pass
return self._raw_voltage * 0.00125
@property
def power(self):
"""The power being delivered to the load in mW"""
if self.mode == Mode.TRIGGERED:
while self._conversion_ready == 0:
pass
return self._raw_power * 10
class MMC5603: # pylint: disable=too-many-instance-attributes
_enable = RWBit(Inter_control, 0, 1)
_raw_x_0 = ROUnaryStruct(OUTX_L_REG, "<B")
_raw_x_1 = ROUnaryStruct(OUTX_H_REG, "<B")
# _raw_y = ROUnaryStruct(OUTY_L_REG, "<h")
# _raw_z = ROUnaryStruct(OUTZ_L_REG, "<h")
def __init__(self, i2c):
self.i2c_device = I2CDevice(i2c, _ADDRESS_MAG)
#
# if self._device_id != 0x40:
# raise AttributeError("Cannot find an LIS2MDL")
#
self.reset()
def reset(self):
"""Reset the sensor to the default state set by the library"""
self._soft_reset = True
sleep(0.100)
self._reboot = True
sleep(0.100)
self._mode = 0x00
self._bdu = True # Make sure high and low bytes are set together
self._int_latched = True
self._int_reg_polarity = True
self._int_iron_off = False
self._interrupt_pin_putput = True
self._temp_comp = True
sleep(0.030) # sleep 20ms to allow measurements to stabilize
@property
def magnetic(self):
"""The processed magnetometer sensor values.
A 3-tuple of X, Y, Z axis values in microteslas that are signed floats.
"""
self._enable = 1
return (
self._raw_x_0,
self._raw_x_1,
)
class TC74:
"""
Driver for the Microchip TC74 Digital Temperature Sensor.
:param i2c_bus: The I2C bus the TC74 is connected to.
:param address: The I2C device address for the sensor. Default is
``0x48``.
"""
def __init__(self, i2c_bus, address=TC74_DEFAULT_ADDRESS):
self.i2c_device = i2cdevice.I2CDevice(i2c_bus, address)
_temperature = ROUnaryStruct(TC74_REGISTER_TEMP, "b")
shutdown = RWBit(TC74_REGISTER_CONFIG, TC74_SHUTDOWN_BIT, lsb_first=True)
"""Set to True to turn off the temperature measurement circuitry in
the sensor. While shut down the configurations properties can still
be read or written but the temperature will not be measured."""
data_ready = ROBit(TC74_REGISTER_CONFIG, TC74_DATA_READY_BIT, lsb_first=True)
"""Read-only bit that indicates when the temperature register is
ready to be read from, especially after power-on or when switching
from the shutdown to the normal state."""
@property
def temperature(self):
"""
Returns the current temperature in degrees celsius. Resolution
is 1 degrees C.
"""
return self._temperature
class MPU9250:
"""Driver for the MPU9250 9-DoF IMU.
:param ~busio.I2C i2c_bus: The I2C bus the MPU9250 is connected to.
:param address: The I2C slave address of the sensor
"""
def __init__(self,
i2c_bus,
mpu_addr=_MPU6500_DEFAULT_ADDRESS,
akm_addr=_AK8963_DEFAULT_ADDRESS):
self.i2c_device = i2c_device.I2CDevice(i2c_bus, mpu_addr)
if self._device_id != _MPU9250_DEVICE_ID:
raise RuntimeError("Failed to find MPU9250 - check your wiring!")
self._mpu = MPU6500(i2c_bus, mpu_addr)
self._bypass = 1
self._ready = 1
sleep(0.100)
self._akm = AK8963(i2c_bus, akm_addr)
def reset(self):
"""Reinitialize the sensor"""
self._mpu.reset()
self._akm.reset()
_device_id = ROUnaryStruct(_MPU9250_WHO_AM_I, ">B")
_bypass = RWBit(_MPU9250_INT_PIN_CFG, 1, 1)
_ready = RWBit(_MPU9250_INT_ENABLE, 0, 1)
@property
def temperature(self):
"""The current temperature in º C"""
return self._mpu.temperature
@property
def acceleration(self):
"""Acceleration X, Y, and Z axis data in m/s^2"""
return self._mpu.acceleration
@property
def gyro(self):
"""Gyroscope X, Y, and Z axis data in º/s"""
return self._mpu.gyro
@property
def magnetic(self):
"""Magnetometer X, Y and Z asix data in micro-Tesla (uT)"""
return self._akm.magnetic
def cal_mag(self):
return self._akm.calibrate()
class LIS3MDL:
"""Driver for the LIS3MDL 3-axis magnetometer.
:param ~busio.I2C i2c_bus: The I2C bus the LIS3MDL is connected to.
:param address: The I2C device address. Defaults to :const:`0x1C`
**Quickstart: Importing and using the device**
Here is an example of using the :class:`LIS3MDL` class.
First you will need to import the libraries to use the sensor
.. code-block:: python
import board
import adafruit_lis3mdl
Once this is done you can define your `board.I2C` object and define your sensor object
.. code-block:: python
i2c = board.I2C()
sensor = adafruit_lis3mdl.LIS3MDL(i2c)
Now you have access to the :attr:`magnetic` attribute
.. code-block:: python
mag_x, mag_y, mag_z = sensor.magnetic
"""
_chip_id = ROUnaryStruct(_LIS3MDL_WHOAMI, "<b")
_perf_mode = RWBits(2, _LIS3MDL_CTRL_REG1, 5)
_z_perf_mode = RWBits(2, _LIS3MDL_CTRL_REG4, 2)
_operation_mode = RWBits(2, _LIS3MDL_CTRL_REG3, 0)
_data_rate = RWBits(4, _LIS3MDL_CTRL_REG1, 1)
_raw_mag_data = Struct(_LIS3MDL_OUT_X_L, "<hhh")
_range = RWBits(2, _LIS3MDL_CTRL_REG2, 5)
_reset = RWBit(_LIS3MDL_CTRL_REG2, 2)
def __init__(self, i2c_bus, address=_LIS3MDL_DEFAULT_ADDRESS):
# pylint: disable=no-member
self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
if self._chip_id != _LIS3MDL_CHIP_ID:
raise RuntimeError("Failed to find LIS3MDL - check your wiring!")
self.reset()
self.performance_mode = PerformanceMode.MODE_ULTRA
self.data_rate = Rate.RATE_155_HZ
self.range = Range.RANGE_4_GAUSS
self.operation_mode = OperationMode.CONTINUOUS
sleep(0.010)
def reset(self): # pylint: disable=no-self-use
"""Reset the sensor to the default state set by the library"""
self._reset = True
sleep(0.010)
@property
def magnetic(self):
"""The processed magnetometer sensor values.
A 3-tuple of X, Y, Z axis values in microteslas that are signed floats.
"""
raw_mag_data = self._raw_mag_data
x = self._scale_mag_data(raw_mag_data[0])
y = self._scale_mag_data(raw_mag_data[1])
z = self._scale_mag_data(raw_mag_data[2])
return (x, y, z)
def _scale_mag_data(self, raw_measurement): # pylint: disable=no-self-use
return (raw_measurement / Range.lsb[self.range]) * _GAUSS_TO_UT
@property
def range(self):
"""The measurement range for the magnetic sensor. Must be a ``Range``"""
return self._range
@range.setter
def range(self, value):
if not Range.is_valid(value):
raise AttributeError("``range`` must be a ``Range``")
self._range = value
sleep(0.010)
@property
def data_rate(self):
"""The rate at which the sensor takes measurements. Must be a ``Rate``"""
return self._data_rate
@data_rate.setter
def data_rate(self, value):
# pylint: disable=no-member
if value is Rate.RATE_155_HZ:
self.performance_mode = PerformanceMode.MODE_ULTRA
if value is Rate.RATE_300_HZ:
self.performance_mode = PerformanceMode.MODE_HIGH
if value is Rate.RATE_560_HZ:
self.performance_mode = PerformanceMode.MODE_MEDIUM
if value is Rate.RATE_1000_HZ:
self.performance_mode = PerformanceMode.MODE_LOW_POWER
sleep(0.010)
if not Rate.is_valid(value):
raise AttributeError("`data_rate` must be a `Rate`")
self._data_rate = value
@property
def performance_mode(self):
"""Sets the 'performance mode' of the sensor. Must be a ``PerformanceMode``.
Note that `performance_mode` affects the available data rate and will be
automatically changed by setting ``data_rate`` to certain values."""
return self._perf_mode
@performance_mode.setter
def performance_mode(self, value):
if not PerformanceMode.is_valid(value):
raise AttributeError(
"`performance_mode` must be a `PerformanceMode`")
self._perf_mode = value
self._z_perf_mode = value
@property
def operation_mode(self):
"""The operating mode for the sensor, controlling how measurements are taken.
Must be an `OperationMode`. See the the `OperationMode` document for additional details
"""
return self._operation_mode
@operation_mode.setter
def operation_mode(self, value):
if not OperationMode.is_valid(value):
raise AttributeError("operation mode must be a OperationMode")
self._operation_mode = value
class LPS2X: # pylint: disable=too-many-instance-attributes
"""Library for the ST LPS2x family of pressure sensors
:param ~busio.I2C i2c_bus: The I2C bus the LPS25HB is connected to.
:param address: The I2C device address for the sensor. Default is ``0x5d`` but will accept
``0x5c`` when the ``SDO`` pin is connected to Ground.
"""
_chip_id = ROUnaryStruct(_WHO_AM_I, "<B")
_reset = RWBit(_CTRL_REG2, 2)
enabled = RWBit(_CTRL_REG1, 7)
"""Controls the power down state of the sensor. Setting to `False` will shut the sensor down"""
_data_rate = RWBits(3, _CTRL_REG1, 4)
_raw_temperature = ROUnaryStruct(_TEMP_OUT_L, "<h")
_raw_pressure = ROBits(24, _PRESS_OUT_XL, 0, 3)
def __init__(self, i2c_bus, address=_LPS25_DEFAULT_ADDRESS):
self.i2c_device = i2cdevice.I2CDevice(i2c_bus, address)
if not self._chip_id in [_LPS25_CHIP_ID]:
raise RuntimeError("Failed to find LPS25HB! Found chip ID 0x%x" %
self._chip_id)
self.reset()
self.enabled = True
self.data_rate = Rate.RATE_25_HZ # pylint:disable=no-member
def reset(self):
"""Reset the sensor, restoring all configuration registers to their defaults"""
self._reset = True
# wait for the reset to finish
while self._reset:
pass
@property
def pressure(self):
"""The current pressure measurement in hPa"""
raw = self._raw_pressure
if raw & (1 << 23) != 0:
raw = raw - (1 << 24)
return raw / 4096.0
@property
def temperature(self):
"""The current temperature measurement in degrees C"""
raw_temperature = self._raw_temperature
return (raw_temperature / 480) + 42.5
@property
def data_rate(self):
"""The rate at which the sensor measures ``pressure`` and ``temperature``. ``data_rate``
shouldbe set to one of the values of ``adafruit_lps2x.DataRate``. Note that setting
``data_rate``to ``Rate.ONE_SHOT`` places the sensor into a low-power shutdown mode where
measurements toupdate ``pressure`` and ``temperature`` are only taken when
``take_measurement`` is called."""
return self._data_rate
@data_rate.setter
def data_rate(self, value):
if not Rate.is_valid(value):
raise AttributeError("data_rate must be a `Rate`")
self._data_rate = value
class LSM6DSOX: #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
"""
#ROUnaryStructs:
_chip_id = ROUnaryStruct(_LSM6DSOX_WHOAMI, "<b")
_temperature = ROUnaryStruct(_LSM6DSOX_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)
if self._chip_id not in [_LSM6DSOX_CHIP_ID, _ISM330DHCX_CHIP_ID]:
raise RuntimeError(
"Failed to find LSM6DSOX or ISM330DHCX - check your wiring!")
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
def reset(self):
"Resets the sensor's configuration into an initial state"
self._sw_reset = True
while self._sw_reset:
sleep(0.001)
self._boot = True
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."""
raw_accel_data = self._raw_accel_data
x = self._scale_xl_data(raw_accel_data[0])
y = self._scale_xl_data(raw_accel_data[1])
z = self._scale_xl_data(raw_accel_data[2])
return (x, y, z)
@property
def gyro(self):
"""The x, y, z angular velocity values returned in a 3-tuple and are in degrees / second"""
raw_gyro_data = self._raw_gyro_data
x = self._scale_gyro_data(raw_gyro_data[0])
y = self._scale_gyro_data(raw_gyro_data[1])
z = self._scale_gyro_data(raw_gyro_data[2])
return (x, y, z)
def _scale_xl_data(self, raw_measurement):
return raw_measurement * AccelRange.lsb[
self._cached_accel_range] * _MILLI_G_TO_ACCEL
def _scale_gyro_data(self, raw_measurement):
return raw_measurement * GyroRange.lsb[self._cached_gyro_range] / 1000
@property
def accelerometer_range(self):
"""Adjusts the range of values that the sensor can measure, from +/- 2G to +/-16G
Note that larger ranges will be less accurate. Must be an `AccelRange`"""
return self._cached_accel_range
#pylint: disable=no-member
@accelerometer_range.setter
def accelerometer_range(self, value):
if not AccelRange.is_valid(value):
raise AttributeError("range must be an `AccelRange`")
self._accel_range = value
self._cached_accel_range = value
sleep(.2) # needed to let new range settle
@property
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"""
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_125_DPS:
self._gyro_range_125dps = True
self._gyro_range_4000dps = False
elif value is GyroRange.RANGE_4000_DPS:
self._gyro_range_125dps = False
self._gyro_range_4000dps = True
else:
self._gyro_range_125dps = False
self._gyro_range_4000dps = True
self._gyro_range = value
self._cached_gyro_range = value
sleep(.2) # needed to let new range settle
#pylint: enable=no-member
@property
def accelerometer_data_rate(self):
"""Select the rate at which the accelerometer takes measurements. Must be a `Rate`"""
return self._accel_data_rate
@accelerometer_data_rate.setter
def accelerometer_data_rate(self, value):
if not Rate.is_valid(value):
raise AttributeError("accelerometer_data_rate must be a `Rate`")
self._accel_data_rate = value
# sleep(.2) # needed to let new range settle
@property
def gyro_data_rate(self):
"""Select the rate at which the gyro takes measurements. Must be a `Rate`"""
return self._gyro_data_rate
@gyro_data_rate.setter
def gyro_data_rate(self, value):
if not Rate.is_valid(value):
raise AttributeError("gyro_data_rate must be a `Rate`")
self._gyro_data_rate = value
class Edubit:
I2C_ADDRESS = 0x08
NEOPIXEL_PIN = board.P13
RED_LED_PIN = board.P14
YELLOW_LED_PIN = board.P15
GREEN_LED_PIN = board.P16
SOUND_BIT_PIN = board.P1
POTENTIO_BIT_PIN = board.P2
IR_BIT_PIN = board.P8
REG_ADD_REVISION = 0
REG_ADD_SERVO_1 = 1
REG_ADD_SERVO_2 = 2
REG_ADD_SERVO_3 = 3
REG_ADD_M1A = 4
REG_ADD_M1B = 5
REG_ADD_M2A = 6
REG_ADD_M2B = 7
REG_ADD_LB_UTH = 8
REG_ADD_LB_LTH = 9
REG_ADD_OV_TH = 10
REG_ADD_VIN = 11
REG_ADD_PWR_STATE = 12
REG_ADD_LB_STATE = 13
REG_ADD_OV_STATE = 14
### These all depend on self.i2c_device being set
revision_reg = ROUnaryStruct(REG_ADD_REVISION, "<B")
servo_1_reg = UnaryStruct(REG_ADD_SERVO_1, "<B")
servo_2_reg = UnaryStruct(REG_ADD_SERVO_2, "<B")
servo_3_reg = UnaryStruct(REG_ADD_SERVO_3, "<B")
m1a_reg = UnaryStruct(REG_ADD_M1A, "<B")
m1b_reg = UnaryStruct(REG_ADD_M1B, "<B")
m2a_reg = UnaryStruct(REG_ADD_M2A, "<B")
m2b_reg = UnaryStruct(REG_ADD_M2B, "<B")
lb_uth_reg = UnaryStruct(REG_ADD_LB_UTH, "<B")
lb_lth_reg = UnaryStruct(REG_ADD_LB_LTH, "<B")
ov_th_reg = UnaryStruct(REG_ADD_OV_TH, "<B")
vin_reg = ROUnaryStruct(REG_ADD_VIN, "<B")
pwr_state_reg = ROUnaryStruct(REG_ADD_PWR_STATE, "<B")
lb_state_reg = ROUnaryStruct(REG_ADD_LB_STATE, "<B")
ov_state_reg = ROUnaryStruct(REG_ADD_OV_STATE, "<B")
S1 = REG_ADD_SERVO_1
S2 = REG_ADD_SERVO_2
S3 = REG_ADD_SERVO_3
M1 = 0
M2 = 1
ALL = 1000
FORWARD = 0
BACKWARD = 1
RED = 0
YELLOW = 1
GREEN = 2
def __init__(self, i2c=None, device_address=I2C_ADDRESS):
self._i2c = board.I2C() if i2c is None else i2c
self.i2c_device = i2c_device.I2CDevice(i2c, device_address)
if self.is_power_on():
self.init_motor_servos()
else:
raise RuntimeError("Edu:bit is not responding to i2c"
" - powered on?")
try:
self.pixels = neopixel.NeoPixel(self.NEOPIXEL_PIN, 4)
except ValueError:
raise RuntimeError("NeoPixel pin already in use"
" - Edubit object already instantiated?")
self.pixels.fill((0, 0, 0))
self._red_led = digitalio.DigitalInOut(self.RED_LED_PIN)
self._red_led.switch_to_output(False)
self._yellow_led = digitalio.DigitalInOut(self.YELLOW_LED_PIN)
self._yellow_led.switch_to_output(False)
self._green_led = digitalio.DigitalInOut(self.GREEN_LED_PIN)
self._green_led.switch_to_output(False)
self._sound = analogio.AnalogIn(self.SOUND_BIT_PIN)
self._potentio = analogio.AnalogIn(self.POTENTIO_BIT_PIN)
self._ir = digitalio.DigitalInOut(self.IR_BIT_PIN)
self._ir.pull = digitalio.Pull.DOWN
time.sleep(0.2) ### 200ms pause - the MicroPython library does this
def init_motor_servos(self):
self.brake_motor(self.ALL)
self.disable_servo(self.ALL)
def _set_motor_speed(self, motorChannel, fwd_speed, rev_speed):
if fwd_speed > 0 and rev_speed > 0:
raise ValueError("At least one speed arg must be 0")
if motorChannel in (self.M1, self.ALL):
self.m1a_reg = fwd_speed
self.m1b_reg = rev_speed
if motorChannel in (self.M2, self.ALL):
self.m2a_reg = fwd_speed
self.m2b_reg = rev_speed
def brake_motor(self, motorChannel):
self._set_motor_speed(motorChannel, 0, 0)
def run_motor(self, motorChannel, direction, speed):
speed = constrain(speed, 0, 255)
forward = speed if direction == self.FORWARD else 0
backward = speed if direction == self.BACKWARD else 0
self._set_motor_speed(motorChannel, forward, backward)
def _set_servo_value(self, servo, value):
if servo in (self.S1, self.ALL):
self.servo_1_reg = value
if servo in (self.S2, self.ALL):
self.servo_2_reg = value
if servo in (self.S3, self.ALL):
self.servo_3_reg = value
def disable_servo(self, servo):
self._set_servo_value(servo, 0)
def set_servo_position(self, servo, position):
position = constrain(position, 0, 180)
### This formula comes from MicroPython library
pulseWidth = int(position * 20 / 18 + 50)
self._set_servo_value(servo, pulseWidth)
def is_power_on(self):
return self.pwr_state_reg != 0
def is_low_batt(self):
return self.lb_state_reg != 0
def is_overvoltage(self):
return self.ov_state_reg != 0
def read_Vin(self):
return self.vin_reg / 10.0
def set_led(self, color, state):
if color in (self.RED, self.ALL):
self._red_led.value = bool(state)
if color in (self.YELLOW, self.ALL):
self._yellow_led.value = bool(state)
if color in (self.GREEN, self.ALL):
self._green_led.value = bool(state)
def read_sound_sensor(self):
return self._sound.value
def read_pot_value(self):
return self._potentio.value
def read_IR_sensor(self):
return self._ir.value
def is_IR_sensor_triggered(self):
return not self._ir.value
class TMP117:
"""Library for the TI TMP117 high-accuracy temperature sensor"""
_part_id = ROUnaryStruct(_DEVICE_ID, ">H")
_raw_temperature = ROUnaryStruct(_TEMP_RESULT, ">h")
_raw_high_limit = UnaryStruct(_T_HIGH_LIMIT, ">h")
_raw_low_limit = UnaryStruct(_T_LOW_LIMIT, ">h")
_raw_temperature_offset = UnaryStruct(_TEMP_OFFSET, ">h")
# these three bits will clear on read in some configurations, so we read them together
_alert_status_data_ready = ROBits(3, _CONFIGURATION, 13, 2, False)
_eeprom_busy = ROBit(_CONFIGURATION, 12, 2, False)
_mode = RWBits(2, _CONFIGURATION, 10, 2, False)
_raw_measurement_delay = RWBits(3, _CONFIGURATION, 7, 2, False)
_raw_averaged_measurements = RWBits(2, _CONFIGURATION, 5, 2, False)
_raw_alert_mode = RWBit(_CONFIGURATION, 4, 2,
False) # T/nA bits in the datasheet
_int_active_high = RWBit(_CONFIGURATION, 3, 2, False)
_data_ready_int_en = RWBit(_CONFIGURATION, 2, 2, False)
_soft_reset = RWBit(_CONFIGURATION, 1, 2, False)
def __init__(self, i2c_bus, address=_I2C_ADDR):
self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
if self._part_id != _DEVICE_ID_VALUE:
raise AttributeError("Cannot find a TMP117")
# currently set when `alert_status` is read, but not exposed
self.reset()
self.initialize()
def reset(self):
"""Reset the sensor to its unconfigured power-on state"""
self._soft_reset = True
def initialize(self):
"""Configure the sensor with sensible defaults. `initialize` is primarily provided to be
called after `reset`, however it can also be used to easily set the sensor to a known
configuration"""
# Datasheet specifies that reset will finish in 2ms however by default the first
# conversion will be averaged 8x and take 1s
# TODO: sleep depending on current averaging config
self._set_mode_and_wait_for_measurement(
_CONTINUOUS_CONVERSION_MODE) # one shot
time.sleep(1)
@property
def temperature(self):
"""The current measured temperature in degrees celcius"""
return self._read_temperature()
@property
def temperature_offset(self):
"""User defined temperature offset to be added to measurements from `temperature`
.. code-block::python3
# SPDX-FileCopyrightText: 2020 Bryan Siepert, written for Adafruit Industries
#
# SPDX-License-Identifier: Unlicense
import time
import board
import busio
import adafruit_tmp117
i2c = busio.I2C(board.SCL, board.SDA)
tmp117 = adafruit_tmp117.TMP117(i2c)
print("Temperature without offset: %.2f degrees C" % tmp117.temperature)
tmp117.temperature_offset = 10.0
while True:
print("Temperature w/ offset: %.2f degrees C" % tmp117.temperature)
time.sleep(1)
"""
return self._raw_temperature_offset * _TMP117_RESOLUTION
@temperature_offset.setter
def temperature_offset(self, value):
if value > 256 or value < -256:
raise AttributeError("temperature_offset must be ")
scaled_offset = int(value / _TMP117_RESOLUTION)
self._raw_temperature_offset = scaled_offset
@property
def high_limit(self):
"""The high temperature limit in degrees celcius. When the measured temperature exceeds this
value, the `high_alert` attribute of the `alert_status` property will be True. See the
documentation for `alert_status` for more information"""
return self._raw_high_limit * _TMP117_RESOLUTION
@high_limit.setter
def high_limit(self, value):
if value > 256 or value < -256:
raise AttributeError("high_limit must be from 255 to -256")
scaled_limit = int(value / _TMP117_RESOLUTION)
self._raw_high_limit = scaled_limit
@property
def low_limit(self):
"""The low temperature limit in degrees celcius. When the measured temperature goes below
this value, the `low_alert` attribute of the `alert_status` property will be True. See the
documentation for `alert_status` for more information"""
return self._raw_low_limit * _TMP117_RESOLUTION
@low_limit.setter
def low_limit(self, value):
if value > 256 or value < -256:
raise AttributeError("low_limit must be from 255 to -256")
scaled_limit = int(value / _TMP117_RESOLUTION)
self._raw_low_limit = scaled_limit
@property
def alert_status(self):
"""The current triggered status of the high and low temperature alerts as a AlertStatus
named tuple with attributes for the triggered status of each alert.
.. code-block :: python3
import board
import busio
import adafruit_tmp117
i2c = busio.I2C(board.SCL, board.SDA)
tmp117 = adafruit_tmp117.TMP117(i2c)
tmp117.high_limit = 25
tmp117.low_limit = 10
print("High limit", tmp117.high_limit)
print("Low limit", tmp117.low_limit)
# Try changing `alert_mode` to see how it modifies the behavior of the alerts.
# tmp117.alert_mode = AlertMode.WINDOW #default
# tmp117.alert_mode = AlertMode.HYSTERESIS
print("Alert mode:", AlertMode.string[tmp117.alert_mode])
print("")
print("")
while True:
print("Temperature: %.2f degrees C" % tmp117.temperature)
alert_status = tmp117.alert_status
print("High alert:", alert_status.high_alert)
print("Low alert:", alert_status.low_alert)
print("")
time.sleep(1)
"""
high_alert, low_alert, *_ = self._read_status()
return AlertStatus(high_alert=high_alert, low_alert=low_alert)
@property
def averaged_measurements(self):
"""The number of measurements that are taken and averaged before updating the temperature
measurement register. A larger number will reduce measurement noise but may also affect
the rate at which measurements are updated, depending on the value of `measurement_delay`
Note that each averaged measurement takes 15.5ms which means that larger numbers of averaged
measurements may make the delay between new reported measurements to exceed the delay set
by `measurement_delay`
.. code-block::python3
import time
import board
import busio
from adafruit_tmp117 import TMP117, AverageCount
i2c = busio.I2C(board.SCL, board.SDA)
tmp117 = TMP117(i2c)
# uncomment different options below to see how it affects the reported temperature
# tmp117.averaged_measurements = AverageCount.AVERAGE_1X
# tmp117.averaged_measurements = AverageCount.AVERAGE_8X
# tmp117.averaged_measurements = AverageCount.AVERAGE_32X
# tmp117.averaged_measurements = AverageCount.AVERAGE_64X
print(
"Number of averaged samples per measurement:",
AverageCount.string[tmp117.averaged_measurements],
)
print("")
while True:
print("Temperature:", tmp117.temperature)
time.sleep(0.1)
"""
return self._raw_averaged_measurements
@averaged_measurements.setter
def averaged_measurements(self, value):
if not AverageCount.is_valid(value):
raise AttributeError(
"averaged_measurements must be an `AverageCount`")
self._raw_averaged_measurements = value
@property
def measurement_mode(self):
"""Sets the measurement mode, specifying the behavior of how often measurements are taken.
`measurement_mode` must be one of:
+----------------------------------------+------------------------------------------------------+
| Mode | Behavior |
+========================================+======================================================+
| :py:const:`MeasurementMode.CONTINUOUS` | Measurements are made at the interval determined by |
| | |
| | `averaged_measurements` and `measurement_delay`. |
| | |
| | `temperature` returns the most recent measurement |
+----------------------------------------+------------------------------------------------------+
| :py:const:`MeasurementMode.ONE_SHOT` | Take a single measurement with the current number of |
| | |
| | `averaged_measurements` and switch to |
| | :py:const:`SHUTDOWN` when |
| | |
| | finished. |
| | |
| | |
| | `temperature` will return the new measurement until |
| | |
| | `measurement_mode` is set to :py:const:`CONTINUOUS` |
| | or :py:const:`ONE_SHOT` is |
| | |
| | set again. |
+----------------------------------------+------------------------------------------------------+
| :py:const:`MeasurementMode.SHUTDOWN` | The sensor is put into a low power state and no new |
| | |
| | measurements are taken. |
| | |
| | `temperature` will return the last measurement until |
| | |
| | a new `measurement_mode` is selected. |
+----------------------------------------+------------------------------------------------------+
"""
return self._mode
@measurement_mode.setter
def measurement_mode(self, value):
if not MeasurementMode.is_valid(value):
raise AttributeError(
"measurement_mode must be a `MeasurementMode` ")
self._set_mode_and_wait_for_measurement(value)
@property
def measurement_delay(self):
"""The minimum amount of time between measurements in seconds. Must be a
`MeasurementDelay`. The specified amount may be exceeded depending on the
current setting off `averaged_measurements` which determines the minimum
time needed between reported measurements.
.. code-block::python3
import time
import board
import busio
from adafruit_tmp117 import TMP117, AverageCount, MeasurementDelay
i2c = busio.I2C(board.SCL, board.SDA)
tmp117 = TMP117(i2c)
# uncomment different options below to see how it affects the reported temperature
# tmp117.measurement_delay = MeasurementDelay.DELAY_0_0015_S
# tmp117.measurement_delay = MeasurementDelay.DELAY_0_125_S
# tmp117.measurement_delay = MeasurementDelay.DELAY_0_250_S
# tmp117.measurement_delay = MeasurementDelay.DELAY_0_500_S
# tmp117.measurement_delay = MeasurementDelay.DELAY_1_S
# tmp117.measurement_delay = MeasurementDelay.DELAY_4_S
# tmp117.measurement_delay = MeasurementDelay.DELAY_8_S
# tmp117.measurement_delay = MeasurementDelay.DELAY_16_S
print("Minimum time between measurements:",
MeasurementDelay.string[tmp117.measurement_delay], "seconds")
print("")
while True:
print("Temperature:", tmp117.temperature)
time.sleep(0.01)
"""
return self._raw_measurement_delay
@measurement_delay.setter
def measurement_delay(self, value):
if not MeasurementDelay.is_valid(value):
raise AttributeError(
"measurement_delay must be a `MeasurementDelay`")
self._raw_measurement_delay = value
def take_single_measurememt(self):
"""Perform a single measurement cycle respecting the value of `averaged_measurements`,
returning the measurement once complete. Once finished the sensor is placed into a low power
state until :py:meth:`take_single_measurement` or `temperature` are read.
**Note:** if `averaged_measurements` is set to a high value there will be a notable
delay before the temperature measurement is returned while the sensor takes the required
number of measurements
"""
return self._set_mode_and_wait_for_measurement(
_ONE_SHOT_MODE) # one shot
@property
def alert_mode(self):
"""Sets the behavior of the `low_limit`, `high_limit`, and `alert_status` properties.
When set to :py:const:`AlertMode.WINDOW`, the `high_limit` property will unset when the
measured temperature goes below `high_limit`. Similarly `low_limit` will be True or False
depending on if the measured temperature is below (`False`) or above(`True`) `low_limit`.
When set to :py:const:`AlertMode.HYSTERESIS`, the `high_limit` property will be set to
`False` when the measured temperature goes below `low_limit`. In this mode, the `low_limit`
property of `alert_status` will not be set.
The default is :py:const:`AlertMode.WINDOW`"""
return self._raw_alert_mode
@alert_mode.setter
def alert_mode(self, value):
if not AlertMode.is_valid(value):
raise AttributeError("alert_mode must be an `AlertMode`")
self._raw_alert_mode = value
@property
def serial_number(self):
"""A 48-bit, factory-set unique identifier for the device."""
eeprom1_data = bytearray(2)
eeprom2_data = bytearray(2)
eeprom3_data = bytearray(2)
# Fetch EEPROM registers
with self.i2c_device as i2c:
i2c.write_then_readinto(bytearray([_EEPROM1]), eeprom1_data)
i2c.write_then_readinto(bytearray([_EEPROM2]), eeprom2_data)
i2c.write_then_readinto(bytearray([_EEPROM3]), eeprom3_data)
# Combine the 2-byte portions
combined_id = bytearray([
eeprom1_data[0],
eeprom1_data[1],
eeprom2_data[0],
eeprom2_data[1],
eeprom3_data[0],
eeprom3_data[1],
])
# Convert to an integer
return _convert_to_integer(combined_id)
def _set_mode_and_wait_for_measurement(self, mode):
self._mode = mode
# poll for data ready
while not self._read_status()[2]:
time.sleep(0.001)
return self._read_temperature()
# eeprom write enable to set defaults for limits and config
# requires context manager or something to perform a general call reset
def _read_status(self):
# 3 bits: high_alert, low_alert, data_ready
status_flags = self._alert_status_data_ready
high_alert = 0b100 & status_flags > 0
low_alert = 0b010 & status_flags > 0
data_ready = 0b001 & status_flags > 0
return (high_alert, low_alert, data_ready)
def _read_temperature(self):
return self._raw_temperature * _TMP117_RESOLUTION
class AW9523:
"""CircuitPython helper class for using the AW9523 GPIO expander"""
_chip_id = ROUnaryStruct(_AW9523_REG_CHIPID, "<B")
_reset_reg = UnaryStruct(_AW9523_REG_SOFTRESET, "<B")
# Set all 16 gpio outputs
outputs = UnaryStruct(_AW9523_REG_OUTPUT0, "<H")
# Read all 16 gpio inputs
inputs = UnaryStruct(_AW9523_REG_INPUT0, "<H")
# Set all 16 gpio interrupt enable
_interrupt_enables = UnaryStruct(_AW9523_REG_INTENABLE0, "<H")
# Set all 16 gpio directions
_directions = UnaryStruct(_AW9523_REG_CONFIG0, "<H")
# Set all 16 gpio LED modes
_LED_modes = UnaryStruct(_AW9523_REG_LEDMODE, "<H")
# Whether port 0 is push-pull
port0_push_pull = RWBit(_AW9523_REG_GCR, 4)
def __init__(self, i2c_bus, address=_AW9523_DEFAULT_ADDR, reset=True):
self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
self._buffer = bytearray(2)
if self._chip_id != 0x23:
raise AttributeError("Cannot find a AW9523")
if reset:
self.reset()
self.port0_push_pull = True # pushpull output
self.interrupt_enables = 0x0000 # no IRQ
self.directions = 0x0000 # all inputs!
def reset(self):
"""Perform a soft reset, check datasheets for post-reset defaults!"""
self._reset_reg = 0
def set_constant_current(self, pin, value):
"""
Set the constant current drain for an AW9523 pin
:param int pin: pin to set constant current, 0..15
:param int value: the value ranging from 0 (off) to 255 (max current)
"""
# See Table 13. 256 step dimming control register
if 0 <= pin <= 7:
self._buffer[0] = 0x24 + pin
elif 8 <= pin <= 11:
self._buffer[0] = 0x20 + pin - 8
elif 12 <= pin <= 15:
self._buffer[0] = 0x2C + pin - 12
else:
raise ValueError("Pin must be 0 to 15")
# set value
if not 0 <= value <= 255:
raise ValueError("Value must be 0 to 255")
self._buffer[1] = value
with self.i2c_device as i2c:
i2c.write(self._buffer)
def get_pin(self, pin):
"""Convenience function to create an instance of the DigitalInOut class
pointing at the specified pin of this AW9523 device.
:param int pin: pin to use for digital IO, 0 to 15
"""
assert 0 <= pin <= 15
return DigitalInOut(pin, self)
@property
def interrupt_enables(self):
"""Enables interrupt for input pin change if bit mask is 1"""
return ~self._interrupt_enables & 0xFFFF
@interrupt_enables.setter
def interrupt_enables(self, enables):
self._interrupt_enables = ~enables & 0xFFFF
@property
def directions(self):
"""Direction is output if bit mask is 1, input if bit is 0"""
return ~self._directions & 0xFFFF
@directions.setter
def directions(self, dirs):
self._directions = (~dirs) & 0xFFFF
@property
def LED_modes(self):
"""Pin is set up for constant current mode if bit mask is 1"""
return ~self._LED_modes & 0xFFFF
@LED_modes.setter
def LED_modes(self, modes):
self._LED_modes = ~modes & 0xFFFF
class HTS221: # pylint: disable=too-many-instance-attributes
"""Library for the ST HTS221 Humidity and Temperature Sensor
:param ~busio.I2C i2c_bus: The I2C bus the HTS221HB is connected to.
"""
_chip_id = ROUnaryStruct(_WHO_AM_I, "<B")
_boot_bit = RWBit(_CTRL_REG2, 7)
enabled = RWBit(_CTRL_REG1, 7)
"""Controls the power down state of the sensor. Setting to `False` will shut the sensor down"""
_data_rate = RWBits(2, _CTRL_REG1, 0)
_one_shot_bit = RWBit(_CTRL_REG2, 0)
_temperature_status_bit = ROBit(_STATUS_REG, 0)
_humidity_status_bit = ROBit(_STATUS_REG, 1)
_raw_temperature = ROUnaryStruct(_TEMP_OUT_L, "<h")
_raw_humidity = ROUnaryStruct(_HUMIDITY_OUT_L, "<h")
# humidity calibration consts
_t0_deg_c_x8_lsbyte = ROBits(8, _T0_DEGC_X8, 0)
_t1_deg_c_x8_lsbyte = ROBits(8, _T1_DEGC_X8, 0)
_t1_t0_deg_c_x8_msbits = ROBits(4, _T1_T0_MSB, 0)
_t0_out = ROUnaryStruct(_T0_OUT, "<h")
_t1_out = ROUnaryStruct(_T1_OUT, "<h")
_h0_rh_x2 = ROUnaryStruct(_H0_RH_X2, "<B")
_h1_rh_x2 = ROUnaryStruct(_H1_RH_X2, "<B")
_h0_t0_out = ROUnaryStruct(_H0_T0_OUT, "<h")
_h1_t0_out = ROUnaryStruct(_H1_T1_OUT, "<h")
def __init__(self, i2c_bus):
self.i2c_device = i2cdevice.I2CDevice(i2c_bus, _HTS221_DEFAULT_ADDRESS)
if not self._chip_id in [_HTS221_CHIP_ID]:
raise RuntimeError("Failed to find HTS221HB! Found chip ID 0x%x" %
self._chip_id)
self._boot()
self.enabled = True
self.data_rate = Rate.RATE_12_5_HZ # pylint:disable=no-member
t1_t0_msbs = self._t1_t0_deg_c_x8_msbits
self.calib_temp_value_0 = self._t0_deg_c_x8_lsbyte
self.calib_temp_value_0 |= (t1_t0_msbs & 0b0011) << 8
self.calibrated_value_1 = self._t1_deg_c_x8_lsbyte
self.calibrated_value_1 |= (t1_t0_msbs & 0b1100) << 6
self.calib_temp_value_0 >>= 3 # divide by 8 to remove x8
self.calibrated_value_1 >>= 3 # divide by 8 to remove x8
self.calib_temp_meas_0 = self._t0_out
self.calib_temp_meas_1 = self._t1_out
self.calib_hum_value_0 = self._h0_rh_x2
self.calib_hum_value_0 >>= 1 # divide by 2 to remove x2
self.calib_hum_value_1 = self._h1_rh_x2
self.calib_hum_value_1 >>= 1 # divide by 2 to remove x2
self.calib_hum_meas_0 = self._h0_t0_out
self.calib_hum_meas_1 = self._h1_t0_out
# This is the closest thing to a software reset. It re-loads the calibration values from flash
def _boot(self):
self._boot_bit = True
# wait for the reset to finish
while self._boot_bit:
pass
@property
def relative_humidity(self):
"""The current relative humidity measurement in %rH"""
calibrated_value_delta = self.calib_hum_value_1 - self.calib_hum_value_0
calibrated_measurement_delta = self.calib_hum_meas_1 - self.calib_hum_meas_0
calibration_value_offset = self.calib_hum_value_0
calibrated_measurement_offset = self.calib_hum_meas_0
zeroed_measured_humidity = self._raw_humidity - calibrated_measurement_offset
correction_factor = calibrated_value_delta / calibrated_measurement_delta
adjusted_humidity = (zeroed_measured_humidity * correction_factor +
calibration_value_offset)
return adjusted_humidity
@property
def temperature(self):
"""The current temperature measurement in degrees C"""
calibrated_value_delta = self.calibrated_value_1 - self.calib_temp_value_0
calibrated_measurement_delta = self.calib_temp_meas_1 - self.calib_temp_meas_0
calibration_value_offset = self.calib_temp_value_0
calibrated_measurement_offset = self.calib_temp_meas_0
zeroed_measured_temp = self._raw_temperature - calibrated_measurement_offset
correction_factor = calibrated_value_delta / calibrated_measurement_delta
adjusted_temp = (zeroed_measured_temp *
correction_factor) + calibration_value_offset
return adjusted_temp
@property
def data_rate(self):
"""The rate at which the sensor measures ``relative_humidity`` and ``temperature``.
``data_rate`` should be set to one of the values of ``adafruit_hts221.Rate``. Note that
setting ``data_rate`` to ``Rate.ONE_SHOT`` will cause ``relative_humidity`` and
``temperature`` measurements to only update when ``take_measurements`` is called."""
return self._data_rate
@data_rate.setter
def data_rate(self, value):
if not Rate.is_valid(value):
raise AttributeError("data_rate must be a `Rate`")
self._data_rate = value
@property
def humidity_data_ready(self):
"""Returns true if a new relative humidity measurement is available to be read"""
return self._humidity_status_bit
@property
def temperature_data_ready(self):
"""Returns true if a new temperature measurement is available to be read"""
return self._temperature_status_bit
def take_measurements(self):
"""Update the value of ``relative_humidity`` and ``temperature`` by taking a single
measurement. Only meaningful if ``data_rate`` is set to ``ONE_SHOT``"""
self._one_shot_bit = True
while self._one_shot_bit:
pass
class PCT2075:
"""Driver for the PCT2075 Digital Temperature Sensor and Thermal Watchdog.
:param ~busio.I2C i2c_bus: The I2C bus the PCT2075 is connected to.
:param address: The I2C device address for the sensor. Default is ``0x37``.
"""
def __init__(self, i2c_bus, address=PCT2075_DEFAULT_ADDRESS):
self.i2c_device = i2cdevice.I2CDevice(i2c_bus, address)
_temperature = ROUnaryStruct(PCT2075_REGISTER_TEMP, ">h")
mode = RWBit(PCT2075_REGISTER_CONFIG, 1, register_width=1)
"""Sets the alert mode. In comparitor mode, the sensor acts like a thermostat and will activate
the INT pin according to `high_temp_active_high` when an alert is triggered. The INT pin will be
deactiveated when the temperature falls below `temperature_hysteresis`. In interrupt mode the
INT pin is activated once when a temperature fault is detected, and once more when the
temperature falls below `temperature_hysteresis`. In interrupt mode, the alert is cleared by
reading a property"""
shutdown = RWBit(PCT2075_REGISTER_CONFIG, 0, 1)
"""Set to True to turn off the temperature measurement circuitry in the sensor. While shut down
the configurations properties can still be read or written but the temperature will not be
measured"""
_fault_queue_length = RWBits(2,
PCT2075_REGISTER_CONFIG,
3,
register_width=1)
_high_temperature_threshold = UnaryStruct(PCT2075_REGISTER_TOS, ">h")
_temp_hysteresis = UnaryStruct(PCT2075_REGISTER_THYST, ">h")
_idle_time = RWBits(5, PCT2075_REGISTER_TIDLE, 0, register_width=1)
high_temp_active_high = RWBit(PCT2075_REGISTER_CONFIG, 2, register_width=1)
"""Sets the alert polarity. When False the INT pin will be tied to ground when an alert is
triggered. If set to True it will be disconnected from ground when an alert is triggered."""
@property
def temperature(self):
"""Returns the current temperature in degress celsius. Resolution is 0.125 degrees C"""
return (self._temperature >> 5) * 0.125
@property
def high_temperature_threshold(self):
"""The temperature in degrees celsius that will trigger an alert on the INT pin if it is
exceeded. Resolution is 0.5 degrees C."""
return (self._high_temperature_threshold >> 7) * 0.5
@high_temperature_threshold.setter
def high_temperature_threshold(self, value):
self._high_temperature_threshold = int(value * 2) << 7
@property
def temperature_hysteresis(self):
"""The temperature hysteresis value defines the bottom of the temperature range in degrees
C in which the temperature is still considered high". `temperature_hysteresis` must be
lower than `high_temperature_threshold`. Resolution is 0.5 degrees C.
"""
return (self._temp_hysteresis >> 7) * 0.5
@temperature_hysteresis.setter
def temperature_hysteresis(self, value):
if value >= self.high_temperature_threshold:
raise ValueError(
"temperature_hysteresis must be less than high_temperature_threshold"
)
self._temp_hysteresis = int(value * 2) << 7
@property
def faults_to_alert(self):
"""The number of consecutive high temperature faults required to raise an alert. An fault
is tripped each time the sensor measures the temperature to be greater than
`high_temperature_threshold`. The rate at which the sensor measures the temperature
is defined by `delay_between_measurements`.
"""
return self._fault_queue_length
@faults_to_alert.setter
def faults_to_alert(self, value):
if value > 4 or value < 1:
raise ValueError(
"faults_to_alert must be an adafruit_pct2075.FaultCount")
self._fault_queue_length = value
@property
def delay_between_measurements(self):
"""The amount of time between measurements made by the sensor in milliseconds. The value
must be between 100 and 3100 and a multiple of 100"""
return self._idle_time * 100
@delay_between_measurements.setter
def delay_between_measurements(self, value):
if value > 3100 or value < 100 or value % 100 > 0:
raise AttributeError(
""""delay_between_measurements must be >= 100 or <= 3100\
and a multiple of 100""")
self._idle_time = int(value / 100)
class LIS2MDL: # pylint: disable=too-many-instance-attributes
"""
Driver for the LIS2MDL 3-axis magnetometer.
:param busio.I2C i2c_bus: The I2C bus the LIS2MDL is connected to.
"""
_BUFFER = bytearray(6)
_device_id = ROUnaryStruct(WHO_AM_I, "B")
_int_control = UnaryStruct(INT_CRTL_REG, "B")
_mode = RWBits(2, CFG_REG_A, 0, 1)
_data_rate = RWBits(2, CFG_REG_A, 2, 1)
_temp_comp = RWBit(CFG_REG_A, 7, 1)
_reboot = RWBit(CFG_REG_A, 6, 1)
_soft_reset = RWBit(CFG_REG_A, 5, 1)
_bdu = RWBit(CFG_REG_C, 4, 1)
_int_iron_off = RWBit(CFG_REG_B, 3, 1)
_x_offset = UnaryStruct(OFFSET_X_REG_L, "<h")
_y_offset = UnaryStruct(OFFSET_Y_REG_L, "<h")
_z_offset = UnaryStruct(OFFSET_Z_REG_L, "<h")
_interrupt_pin_putput = RWBit(CFG_REG_C, 6, 1)
_interrupt_threshold = UnaryStruct(INT_THS_L_REG, "<h")
_x_int_enable = RWBit(INT_CRTL_REG, 7, 1)
_y_int_enable = RWBit(INT_CRTL_REG, 6, 1)
_z_int_enable = RWBit(INT_CRTL_REG, 5, 1)
_int_reg_polarity = RWBit(INT_CRTL_REG, 2, 1)
_int_latched = RWBit(INT_CRTL_REG, 1, 1)
_int_enable = RWBit(INT_CRTL_REG, 0, 1)
_int_source = ROUnaryStruct(INT_SOURCE_REG, "B")
low_power = RWBit(CFG_REG_A, 4, 1)
"""Enables and disables low power mode"""
_raw_x = ROUnaryStruct(OUTX_L_REG, "<h")
_raw_y = ROUnaryStruct(OUTY_L_REG, "<h")
_raw_z = ROUnaryStruct(OUTZ_L_REG, "<h")
_x_offset = UnaryStruct(OFFSET_X_REG_L, "<h")
_y_offset = UnaryStruct(OFFSET_Y_REG_L, "<h")
_z_offset = UnaryStruct(OFFSET_Z_REG_L, "<h")
def __init__(self, i2c):
self.i2c_device = I2CDevice(i2c, _ADDRESS_MAG)
if self._device_id != 0x40:
raise AttributeError("Cannot find an LIS2MDL")
self.reset()
def reset(self):
"""Reset the sensor to the default state set by the library"""
self._soft_reset = True
sleep(0.100)
self._reboot = True
sleep(0.100)
self._mode = 0x00
self._bdu = True # Make sure high and low bytes are set together
self._int_latched = True
self._int_reg_polarity = True
self._int_iron_off = False
self._interrupt_pin_putput = True
self._temp_comp = True
sleep(0.030) # sleep 20ms to allow measurements to stabilize
@property
def magnetic(self):
"""The processed magnetometer sensor values.
A 3-tuple of X, Y, Z axis values in microteslas that are signed floats.
"""
return (
self._raw_x * _MAG_SCALE,
self._raw_y * _MAG_SCALE,
self._raw_z * _MAG_SCALE,
)
@property
def data_rate(self):
"""The magnetometer update rate."""
return self._data_rate
@data_rate.setter
def data_rate(self, value):
if not value in (
DataRate.Rate_10_HZ,
DataRate.Rate_20_HZ,
DataRate.Rate_50_HZ,
DataRate.Rate_100_HZ,
):
raise ValueError("data_rate must be a `DataRate`")
self._data_rate = value
@property
def interrupt_threshold(self):
"""The threshold (in microteslas) for magnetometer interrupt generation. Given value is
compared against all axes in both the positive and negative direction"""
return self._interrupt_threshold * _MAG_SCALE
@interrupt_threshold.setter
def interrupt_threshold(self, value):
if value < 0:
value = -value
self._interrupt_threshold = int(value / _MAG_SCALE)
@property
def interrupt_enabled(self):
"""Enable or disable the magnetometer interrupt"""
return self._int_enable
@interrupt_enabled.setter
def interrupt_enabled(self, val):
self._x_int_enable = val
self._y_int_enable = val
self._z_int_enable = val
self._int_enable = val
@property
def faults(self):
"""A tuple representing interrupts on each axis in a positive and negative direction
``(x_hi, y_hi, z_hi, x_low, y_low, z_low, int_triggered)``"""
int_status = self._int_source
x_hi = (int_status & 0b10000000) > 0
y_hi = int_status & 0b01000000 > 0
z_hi = int_status & 0b00100000 > 0
x_low = int_status & 0b00010000 > 0
y_low = int_status & 0b00001000 > 0
z_low = int_status & 0b00000100 > 0
int_triggered = int_status & 0b1 > 0
return (x_hi, y_hi, z_hi, x_low, y_low, z_low, int_triggered)
@property
def x_offset(self):
"""An offset for the X-Axis to subtract from the measured value to correct
for magnetic interference"""
return self._x_offset * _MAG_SCALE
@x_offset.setter
def x_offset(self, value):
self._x_offset = int(value / _MAG_SCALE)
@property
def y_offset(self):
"""An offset for the Y-Axis to subtract from the measured value to correct
for magnetic interference"""
return self._y_offset * _MAG_SCALE
@y_offset.setter
def y_offset(self, value):
self._y_offset = int(value / _MAG_SCALE)
@property
def z_offset(self):
"""An offset for the Z-Axis to subtract from the measured value to correct
for magnetic interference"""
return self._z_offset * _MAG_SCALE
@z_offset.setter
def z_offset(self, value):
self._z_offset = int(value / _MAG_SCALE)
class LTR390: # pylint:disable=too-many-instance-attributes
"""Class to use the LTR390 Ambient Light and UV sensor
:param ~busio.I2C i2c: The I2C bus the LTR390 is connected to.
:param int address: The I2C device address. Defaults to :const:`0x53`
**Quickstart: Importing and using the LTR390**
Here is an example of using the :class:`LTR390` class.
First you will need to import the libraries to use the sensor
.. code-block:: python
import board
import adafruit_ltr390
Once this is done you can define your `board.I2C` object and define your sensor object
.. code-block:: python
i2c = board.I2C() # uses board.SCL and board.SDA
ltr = adafruit_ltr390.LTR390(i2c)
Now you have access to the :attr:`lux` and :attr:`light` attributes
.. code-block:: python
lux = ltr.lux
light = ltr.light
"""
_reset_bit = RWBit(_CTRL, 4)
_enable_bit = RWBit(_CTRL, 1)
_mode_bit = RWBit(_CTRL, 3)
_int_enable_bit = RWBit(_INT_CFG, 2)
_gain_bits = RWBits(3, _GAIN, 0)
_resolution_bits = RWBits(3, _MEAS_RATE, 4)
_measurement_delay_bits = RWBits(3, _MEAS_RATE, 0)
_rate_bits = RWBits(3, _MEAS_RATE, 4)
_int_src_bits = RWBits(2, _INT_CFG, 4)
_int_persistance_bits = RWBits(4, _INT_PST, 4)
_id_reg = ROUnaryStruct(_PART_ID, "<B")
_uvs_data_reg = UnalignedStruct(_UVSDATA, "<I", 24, 3)
_als_data_reg = UnalignedStruct(_ALSDATA, "<I", 24, 3)
data_ready = ROBit(_STATUS, 3)
"""Ask the sensor if new data is available"""
high_threshold = UnalignedStruct(_THRESH_UP, "<I", 24, 3)
"""When the measured value is more than the low_threshold, the sensor will raise an alert"""
low_threshold = UnalignedStruct(_THRESH_LOW, "<I", 24, 3)
"""When the measured value is less than the low_threshold, the sensor will raise an alert"""
threshold_passed = ROBit(_STATUS, 4)
"""The status of any configured alert. If True, a threshold has been passed.
Once read, this property will be False until it is updated in the next measurement cycle"""
def __init__(self, i2c, address=_DEFAULT_I2C_ADDR):
self.i2c_device = i2c_device.I2CDevice(i2c, address)
if self._id_reg != 0xB2:
raise RuntimeError("Unable to find LTR390; check your wiring")
self._mode_cache = None
self.initialize()
def initialize(self):
"""Reset the sensor to it's initial unconfigured state and configure it with sensible
defaults so it can be used"""
self._reset()
self._enable_bit = True
if not self._enable_bit:
raise RuntimeError("Unable to enable sensor")
self._mode = UV
self.gain = Gain.GAIN_3X # pylint:disable=no-member
self.resolution = Resolution.RESOLUTION_16BIT # pylint:disable=no-member
self._window_factor = 1 # default window transmission factor
# ltr.setThresholds(100, 1000);
# self.low_threshold = 100
# self.high_threshold = 1000
# ltr.configInterrupt(true, LTR390_MODE_UVS);
def _reset(self):
try:
self._reset_bit = True
except OSError:
# The write to the reset bit will fail because it seems to not ACK before it resets
pass
sleep(0.1)
# check that reset is complete w/ the bit unset
if self._reset_bit:
raise RuntimeError("Unable to reset sensor")
@property
def _mode(self):
return self._mode_bit
@_mode.setter
def _mode(self, value):
if not value in [ALS, UV]:
raise AttributeError("Mode must be ALS or UV")
if self._mode_cache != value:
self._mode_bit = value
self._mode_cache = value
sleep(0.030)
# something is wrong here; I had to add a sleep to the loop to get both to update correctly
@property
def uvs(self):
"""The calculated UV value"""
self._mode = UV
while not self.data_ready:
sleep(0.010)
return self._uvs_data_reg
@property
def light(self):
"""The currently measured ambient light level"""
self._mode = ALS
while not self.data_ready:
sleep(0.010)
return self._als_data_reg
@property
def gain(self):
"""The amount of gain the raw measurements are multiplied by"""
return self._gain_bits
@gain.setter
def gain(self, value):
if not Gain.is_valid(value):
raise AttributeError("gain must be a Gain")
self._gain_bits = value
@property
def resolution(self):
"""Set the precision of the internal ADC used to read the light measurements"""
return self._resolution_bits
@resolution.setter
def resolution(self, value):
if not Resolution.is_valid(value):
raise AttributeError("resolution must be a Resolution")
self._resolution_bits = value
def enable_alerts(self, enable, source, persistance):
"""The configuration of alerts raised by the sensor
:param enable: Whether the interrupt output is enabled
:param source: Whether to use the ALS or UVS data register to compare
:param persistance: The number of consecutive out-of-range readings before
"""
self._int_enable_bit = enable
if not enable:
return
if source == ALS:
self._int_src_bits = 1
elif source == UV:
self._int_src_bits = 3
else:
raise AttributeError("interrupt source must be UV or ALS")
self._int_persistance_bits = persistance
@property
def measurement_delay(self):
"""The delay between measurements. This can be used to set the measurement rate which
affects the sensor power usage."""
return self._measurement_delay_bits
@measurement_delay.setter
def measurement_delay(self, value):
if not MeasurementDelay.is_valid(value):
raise AttributeError("measurement_delay must be a MeasurementDelay")
self._measurement_delay_bits = value
@property
def uvi(self):
"""Read UV count and return calculated UV Index (UVI) value based upon the rated sensitivity
of 1 UVI per 2300 counts at 18X gain factor and 20-bit resolution."""
return (
self.uvs
/ (
(Gain.factor[self.gain] / 18)
* (2 ** Resolution.factor[self.resolution])
/ (2 ** 20)
* 2300
)
* self._window_factor
)
@property
def lux(self):
"""Read light level and return calculated Lux value."""
return (
(self.light * 0.6)
/ (Gain.factor[self.gain] * Resolution.integration[self.resolution])
) * self._window_factor
@property
def window_factor(self):
"""Window transmission factor (Wfac) for UVI and Lux calculations.
A factor of 1 (default) represents no window or clear glass; > 1 for a tinted window.
Factor of > 1 requires an empirical calibration with a reference light source."""
return self._window_factor
@window_factor.setter
def window_factor(self, factor=1):
if factor < 1:
raise ValueError(
"window transmission factor must be a value of 1.0 or greater"
)
self._window_factor = factor
class MPU6050:
"""
Init the MPU chip at ``address`` on ``i2c_bus``
:param i2c object bus -> i2c_bus: The i2c bus to use for the communication
:param int type -> address: The MPU I2C address
"""
"""
Class General Variables
"""
GRAVITIY_MS2 = 9.80665
#Registers:
#General Registers
PWR_MGMT_1 = UnaryStruct(0x6B, ">B") # 0x6B
WHO_AM_I = ROUnaryStruct(0x75, ">B") # 0X75
FSYC_DLP_CONFIG = UnaryStruct(0x1A, ">B")
#Temp Sensor Registers
TEMP_OUTH = ROUnaryStruct(0x41, ">b") # 0x41
TEMP_OUTL = ROUnaryStruct(0x42, ">b") # 0x41
#Accelerometer Registers
ACCEL_CONFIG = UnaryStruct(0x1C, ">B") # 0x1C
ACCEL_XOUTH = ROUnaryStruct(0x3B, ">B") # 0x3B
ACCEL_XOUTL = ROUnaryStruct(0x3C, ">B") # 0x3B
ACCEL_YOUTH = ROUnaryStruct(0x3D, ">B") # 0x3D
ACCEL_YOUTL = ROUnaryStruct(0x3E, ">B") # 0x3D
ACCEL_ZOUTH = ROUnaryStruct(0x3F, ">B") # 0x3F
ACCEL_ZOUTL = ROUnaryStruct(0x40, ">B") # 0x3F
#Gyroscope Registers
GYRO_CONFIG = UnaryStruct(0x1B, ">B") # 0x1B
GYRO_XOUTH = ROUnaryStruct(0x43, ">B") # 0x43
GYRO_XOUTL = ROUnaryStruct(0x44, ">B") # 0x44
GYRO_YOUTH = ROUnaryStruct(0x45, ">B") # 0x45
GYRO_YOUTL = ROUnaryStruct(0x46, ">B") # 0x46
GYRO_ZOUTH = ROUnaryStruct(0x47, ">B") # 0x47
GYRO_ZOUTL = ROUnaryStruct(0x48, ">B") # 0x48
#Full scale Range ACCEL:
""" from register 1C bit 4 to 3"""
ACCEL_RANGE_2G = 0x00
ACCEL_RANGE_4G = 0x08
ACCEL_RANGE_8G = 0x10
ACCEL_RANGE_16G = 0x18
# LSB Sensitivity
ACCEL_LSB_SENS_2G = 16384.0
ACCEL_LSB_SENS_4G = 8192.0
ACCEL_LSB_SENS_8G = 4096.0
ACCEL_LSB_SENS_16G = 2048.0
#Full scale Range GYRO:
""" from register 1B bit 4 to 3"""
GYRO_RANGE_250DEG = 0x00
GYRO_RANGE_500DEG = 0x08
GYRO_RANGE_1000DEG = 0x10
GYRO_RANGE_2000DEG = 0x18
#LSB Sensitivity
GYRO_LSB_SENS_250DEG = 131.0
GYRO_LSB_SENS_500DEG = 65.5
GYRO_LSB_SENS_1000DEG = 32.8
GYRO_LSB_SENS_2000DEG = 16.4
#MPU Address
MPU_ADDRESS = 0x68
"""
Constructor
"""
def __init__(self, i2c_bus=None, address=MPU_ADDRESS):
""" Create an i2c device from the MPU6050"""
self.i2c = i2c_bus
if self.i2c == None:
import busio
from board import SDA, SCL
self.i2c = busio.I2C(SCL, SDA)
self.i2c_device = I2CDevice(self.i2c, address)
""" Wake up the MPU-6050 since it starts in sleep mode """
self.wakeup()
print('MPU already awaked')
""" verify the accel range and get the accel scale modifier"""
print('accelerometer range set: {} g'.format(self.read_accel_range()))
self.accel_scale_modifier = self.get_accel_scale_modifier()
""" verify the gyro range and get the gyro scale modifier"""
print('gyroscope range set: {} °/s'.format(self.read_gyro_range()))
self.gyro_scale_modifier = self.get_gyro_scale_modifier()
""" configuring the Digital Low Pass Filter """
#by default:
# Bandwith of 21Hz and delay of 8.5ms, Sampling Freq 1KHz -> Accelerometer
# Bandwith of 20Hz and delay of 8.3ms, Sampling Freq 1KHz -> Gyroscope
self.filter_sensor = 0x04
print('digital filter configure to be: {}'.format(self.filter_sensor))
"""
Class Properties
"""
@property
def whoami(self):
""" MPU6050 I2C Address """
return self.WHO_AM_I
@property
def get_temp(self):
""" MPU6050 Temperature """
H = self.TEMP_OUTH
L = self.TEMP_OUTL
raw_temp = self.raw_data_format((H << 8) + L)
# Get the actual temperature using the formule given in the
# MPU-6050 Register Map and Descriptions revision 4.2, page 30
actual_temp = (raw_temp / 340.0) + 36.53
return actual_temp
@property
def filter_sensor(self):
"""
Return the filter sensor
"""
return self.FSYC_DLP_CONFIG
""" Class Setter """
@filter_sensor.setter
def filter_sensor(self, filter_value=0x04):
"""
Configuration Register
In case FYNC pin is used, the bit of the sampling will be reported at
any of the following registers. For more information consult MPU-6000-Register
Map at page 13.
EXT_SYNC_SET, bit 5:3, Values:
000: Input Disable
001: Temp_Out_L
010: GYRO_XOUT_L[0]
011: GYRO_YOUT_L[0]
100: GYRO_ZOUT_L[0]
101: ACCEL_XOUT_L[0]
110: ACCEL_YOUT_L[0]
111: ACCEL_ZOUT_L[0]
In case to set accelerometer and gyroscope are filtered according to the following
table.
DLPF_CFG, bit 2:0, Values:
accelerometer gyroscope
Bandwidth Delays Fs
000: 260 Hz 0 ms 1KHz 256 Hz 0.98ms 8KHz
001: 184 Hz 2 ms 1KHz 188 Hz 1.9 ms 1KHz
010: 94 Hz 3 ms 1KHz 98 Hz 2.8 ms 1KHz
011: 44 Hz 4.9 ms 1KHz 42 Hz 4.8 ms 1KHz
100: 21 Hz 8.5 ms 1KHz 20 Hz 8.3 ms 1KHz
101: 10 Hz 13.8ms 1KHz 10 Hz 13.4ms 1KHz
110: 5 Hz 19 ms 1KHz 5 Hz 18.6ms 1KHz
111: RESERVED RESERVED RESERVED RESERVED 8KHz
"""
if (filter_value < 0x00 and filter_value > 0x07):
filter_value = 0x04
self.FSYC_DLP_CONFIG = filter_value
"""
function members
"""
def wakeup(self):
""" waking up the MPU-6050 by writing at the POWER MANAGEMENT REGISTER 1
Device_Reset, bit 7, values:
0: Nothing
1: the device will reset all internal registers to their default values.
Sleep, bit 6, values:
0: disables the sleep mode
1: enables the sleep mode
Cycle, bit 5 values:
0: Nothing
1: The device will cycle between sleep mode and waking up to take a single sample of data
from active sensors at a rate determined by LP_WAKE_CTRL (register 108)
Reserverd bit 4, value = 0
Temp_dis, bit 3, values
0: Nothing
1: Disables the temperature sensor
ClkSel, bit 2:0, values:
000: Internal 8MHz oscillator
001: PLL with X axis gyroscope reference
010: PLL with y axis gyroscope reference
011: PLL with z axis gyroscope reference
100: PLL with external 32.768kHz reference
101: PLL with external 19.2MHz reference
110: Reserverd
111: Stops the clock and keeps the timing generator in reset
"""
self.PWR_MGMT_1 = 0x00 # BINARY 01001111
def sleep(self):
""" entenring into sleep mode
Deactivate the internal clock generator and enter into sleep mode
"""
self.PWR_MGMT_1 = 0x4F # BINARY 01001111
def deinit(self):
""" stop using the MPU-6050 """
self.sleep()
def raw_data_format(self, raw_data):
""" formating data that comes from the I2C bus"""
""" This helps to provide the results between -1 and 1 along with the accel or gyro modifier"""
if (raw_data >= 0x8000):
raw_data = -((65535 - raw_data) + 1)
return raw_data
""" Accelerometer """
def read_accel_range(self, raw=False):
"""Reads the range the accelerometer is set to.
If raw is True, it will return the raw value from the ACCEL_CONFIG
register
If raw is False, it will return an integer: -1, 2, 4, 8 or 16. When it
returns -1 something went wrong.
"""
raw_data = self.ACCEL_CONFIG
if raw is True:
return raw_data
elif raw is False:
if raw_data == self.ACCEL_RANGE_2G:
return 2
elif raw_data == self.ACCEL_RANGE_4G:
return 4
elif raw_data == self.ACCEL_RANGE_8G:
return 8
elif raw_data == self.ACCEL_RANGE_16G:
return 16
else:
return -1
def set_accel_range(self, value):
"""
set accel range
"""
cond = (self.ACCEL_RANGE_2G == value) or (self.ACCEL_RANGE_4G == value) \
(self.ACCEL_RANGE_8G == value) or (self.ACCEL_RANGE_16G)
if cond == False:
value = self.ACCEL_RANGE_2G
self.ACCEL_CONFIG = value
self.accel_scale_modifier = self.get_accel_scale_modifier()
def get_accel_scale_modifier(self):
accel_range = self.read_accel_range(True)
if accel_range == self.ACCEL_RANGE_2G:
accel_scale_modifier = self.ACCEL_LSB_SENS_2G
elif accel_range == self.ACCEL_RANGE_4G:
accel_scale_modifier = self.ACCEL_LSB_SENS_4G
elif accel_range == self.ACCEL_RANGE_8G:
accel_scale_modifier = self.ACCEL_LSB_SENS_8G
elif accel_range == self.ACCEL_RANGE_16G:
accel_scale_modifier = self.ACCEL_LSB_SENS_16G
else:
print(
"Unkown range - accel_scale_modifier set to self.ACCEL_SCALE_MODIFIER_2G"
)
accel_scale_modifier = self.ACCEL_LSB_SENS_2G
return accel_scale_modifier
def get_accel_data(self, g=False):
"""Gets and returns the X, Y and Z values from the accelerometer.
If g is True, it will return the data in g
If g is False, it will return the data in m/s^2
Returns a dictionary with the measurement results.
"""
XH = self.ACCEL_XOUTH
XL = self.ACCEL_XOUTL
YH = self.ACCEL_YOUTH
YL = self.ACCEL_YOUTL
ZH = self.ACCEL_ZOUTH
ZL = self.ACCEL_ZOUTL
x = self.raw_data_format((XH << 8) + XL)
y = self.raw_data_format((YH << 8) + YL)
z = self.raw_data_format((ZH << 8) + ZL)
x = x / self.accel_scale_modifier
y = y / self.accel_scale_modifier
z = z / self.accel_scale_modifier
if g is False:
x = x * self.GRAVITIY_MS2
y = y * self.GRAVITIY_MS2
z = z * self.GRAVITIY_MS2
return {'x': x, 'y': y, 'z': z}
""" Gyroscope """
def read_gyro_range(self, raw=False):
"""Reads the range the gyroscope is set to.
If raw is True, it will return the raw value from the GYRO_CONFIG
register.
If raw is False, it will return 250, 500, 1000, 2000 or -1. If the
returned value is equal to -1 something went wrong.
"""
raw_data = self.GYRO_CONFIG
if raw is True:
return raw_data
elif raw is False:
if raw_data == self.GYRO_RANGE_250DEG:
return 250
elif raw_data == self.GYRO_RANGE_500DEG:
return 500
elif raw_data == self.GYRO_RANGE_1000DEG:
return 1000
elif raw_data == self.GYRO_RANGE_2000DEG:
return 2000
else:
return -1
def set_gyro_range(self, value):
"""
set gyro range
"""
cond = (self.GYRO_RANGE_250DEG == value) or (self.GYRO_RANGE_500DEG == value) \
(self.GYRO_RANGE_1000DEG == value) or (self.GYRO_RANGE_2000DEG)
if cond == False:
value = self.GYRO_RANGE_250DEG
self.GYRO_CONFIG = value
self.gyro_scale_modifier = self.get_gyro_scale_modifier()
def get_gyro_scale_modifier(self):
"""
Get gyro scale modifier from reading the gyro range
"""
gyro_range = self.read_gyro_range(True)
if gyro_range == self.GYRO_RANGE_250DEG:
gyro_scale_modifier = self.GYRO_LSB_SENS_250DEG
elif gyro_range == self.GYRO_RANGE_500DEG:
gyro_scale_modifier = self.GYRO_LSB_SENS_500DEG
elif gyro_range == self.GYRO_RANGE_1000DEG:
gyro_scale_modifier = self.GYRO_LSB_SENS_1000DEG
elif gyro_range == self.GYRO_RANGE_2000DEG:
gyro_scale_modifier = self.GYRO_LSB_SENS_2000DEG
else:
print(
"Unkown range - gyro_scale_modifier set to self.GYRO_LSB_SENS_250DEG"
)
gyro_scale_modifier = self.GYRO_LSB_SENS_250DEG
return gyro_scale_modifier
def get_gyro_data(self):
"""
Gets and returns the X, Y and Z values from the gyroscope.
"""
XH = self.GYRO_XOUTH
XL = self.GYRO_XOUTL
YH = self.GYRO_YOUTH
YL = self.GYRO_YOUTL
ZH = self.GYRO_ZOUTH
ZL = self.GYRO_ZOUTL
x = self.raw_data_format((XH << 8) + XL)
y = self.raw_data_format((YH << 8) + YL)
z = self.raw_data_format((ZH << 8) + ZL)
x = x / self.gyro_scale_modifier
y = y / self.gyro_scale_modifier
z = z / self.gyro_scale_modifier
return {'x': x, 'y': y, 'z': z}
"""
magic methos helps to make easy the use of with
"""
def __enter__(self):
""" to make easy the use of with """
return self
def __exit__(self, exceptio_typ, exception_value, traceback):
""" to make easy the use of with """
self.deinit()
class DPS310:
#pylint: disable=too-many-instance-attributes
"""Library for the DPS310 Precision Barometric Pressure Sensor.
:param ~busio.I2C i2c_bus: The I2C bus the DPS310 is connected to.
:param address: The I2C slave address of the sensor
"""
# Register definitions
_device_id = ROUnaryStruct(_DPS310_PRODREVID, ">B")
_reset_register = UnaryStruct(_DPS310_RESET, ">B")
_mode_bits = RWBits(3, _DPS310_MEASCFG, 0)
_pressure_ratebits = RWBits(3, _DPS310_PRSCFG, 4)
_pressure_osbits = RWBits(4, _DPS310_PRSCFG, 0)
_temp_ratebits = RWBits(3, _DPS310_TMPCFG, 4)
_temp_osbits = RWBits(4, _DPS310_TMPCFG, 0)
_temp_measurement_src_bit = RWBit(_DPS310_TMPCFG, 7)
_pressure_shiftbit = RWBit(_DPS310_CFGREG, 2)
_temp_shiftbit = RWBit(_DPS310_CFGREG, 3)
_coefficients_ready = RWBit(_DPS310_MEASCFG, 7)
_sensor_ready = RWBit(_DPS310_MEASCFG, 6)
_temp_ready = RWBit(_DPS310_MEASCFG, 5)
_pressure_ready = RWBit(_DPS310_MEASCFG, 4)
_raw_pressure = ROBits(24, _DPS310_PRSB2, 0, 3, lsb_first=False)
_raw_temperature = ROBits(24, _DPS310_TMPB2, 0, 3, lsb_first=False)
_calib_coeff_temp_src_bit = ROBit(_DPS310_TMPCOEFSRCE, 7)
def __init__(self, i2c_bus, address=_DPS310_DEFAULT_ADDRESS):
self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
if self._device_id != _DPS310_DEVICE_ID:
raise RuntimeError("Failed to find DPS310 - check your wiring!")
self._pressure_scale = None
self._temp_scale = None
self._c0 = None
self._c1 = None
self._c00 = None
self._c00 = None
self._c10 = None
self._c10 = None
self._c01 = None
self._c11 = None
self._c20 = None
self._c21 = None
self._c30 = None
self._oversample_scalefactor = (524288, 1572864, 3670016, 7864320, 253952,
516096, 1040384, 2088960)
self.initialize()
def initialize(self):
"""Reset the sensor to the default state"""
self._reset()
self._read_calibration()
# make sure we're using the temperature source used for calibration
self._temp_measurement_src_bit = self._calib_coeff_temp_src_bit
self.pressure_rate = Rate.RATE_64_HZ
self.pressure_oversample_count = SampleCount.COUNT_64
self.temperature_rate = Rate.RATE_64_HZ
self.temperature_oversample_count = SampleCount.COUNT_64
self.mode = Mode.CONT_PRESTEMP
# wait until we have at least one good measurement
while (self._temp_ready is False) or (self._pressure_ready is False):
sleep(0.001)
def _reset(self):
"""Perform a soft-reset on the sensor"""
self._reset_register = 0x89
# wait for hardware reset to finish
sleep(0.010)
while not self._sensor_ready:
sleep(0.001)
@property
def pressure(self):
"""Returns the current pressure reading in kPA"""
temp_reading = self._raw_temperature
raw_temperature = self._twos_complement(temp_reading, 24)
pressure_reading = self._raw_pressure
raw_pressure = self._twos_complement(pressure_reading, 24)
_scaled_rawtemp = raw_temperature / self._temp_scale
_temperature = _scaled_rawtemp * self._c1 + self._c0 / 2.0
p_red = raw_pressure / self._pressure_scale
pres_calc = (self._c00 + p_red * (self._c10 + p_red * (self._c20 + p_red * self._c30)) +
_scaled_rawtemp * (self._c01 + p_red * (self._c11 + p_red * self._c21)))
final_pressure = pres_calc / 100
return final_pressure
@property
def temperature(self):
"""The current temperature reading in degrees C"""
_scaled_rawtemp = self._raw_temperature / self._temp_scale
_temperature = _scaled_rawtemp * self._c1 + self._c0 / 2.0
return _temperature
@property
def temperature_ready(self):
"""Returns true if there is a temperature reading ready"""
return self._temp_ready
@property
def pressure_ready(self):
"""Returns true if pressure readings are ready"""
return self._pressure_ready
@property
def mode(self):
"""The measurement mode. Must be a `Mode`. See the `Mode` documentation for details"""
return self._mode_bits
@mode.setter
def mode(self, value):
if not Mode.is_valid(value):
raise AttributeError("mode must be an `Mode`")
self._mode_bits = value
@property
def pressure_rate(self):
"""Configure the pressure measurement rate. Must be a `Rate`"""
return self._pressure_ratebits
@pressure_rate.setter
def pressure_rate(self, value):
if not Rate.is_valid(value):
raise AttributeError("pressure_rate must be a Rate")
self._pressure_ratebits = value
@property
def pressure_oversample_count(self):
"""The number of samples taken per pressure measurement. Must be a `SampleCount`"""
return self._pressure_osbits
@pressure_oversample_count.setter
def pressure_oversample_count(self, value):
if not SampleCount.is_valid(value):
raise AttributeError("pressure_oversample_count must be a SampleCount")
self._pressure_osbits = value
self._pressure_shiftbit = (value > SampleCount.COUNT_8)
self._pressure_scale = self._oversample_scalefactor[value]
@property
def temperature_rate(self):
"""Configure the temperature measurement rate. Must be a `Rate`"""
return self._temp_ratebits
@temperature_rate.setter
def temperature_rate(self, value):
if not Rate.is_valid(value):
raise AttributeError("temperature_rate must be a Rate")
self._temp_ratebits = value
@property
def temperature_oversample_count(self):
"""The number of samples taken per temperature measurement. Must be a `SampleCount`"""
return self._temp_osbits
@temperature_oversample_count.setter
def temperature_oversample_count(self, value):
if not SampleCount.is_valid(value):
raise AttributeError("temperature_oversample_count must be a SampleCount")
self._temp_osbits = value
self._temp_scale = self._oversample_scalefactor[value]
self._temp_shiftbit = (value > SampleCount.COUNT_8)
@staticmethod
def _twos_complement(val, bits):
if val & (1 << (bits - 1)):
val -= (1 << bits)
return val
def _read_calibration(self):
while not self._coefficients_ready:
sleep(0.001)
buffer = bytearray(19)
coeffs = [None]*18
for offset in range(18):
buffer = bytearray(2)
buffer[0] = 0x10 + offset
with self.i2c_device as i2c:
i2c.write_then_readinto(buffer, buffer, out_end=1, in_start=1)
coeffs[offset] = buffer[1]
self._c0 = (coeffs[0] << 4) | ((coeffs[1] >> 4) & 0x0F)
self._c0 = self._twos_complement(self._c0, 12)
self._c1 = self._twos_complement(((coeffs[1] & 0x0F) << 8) | coeffs[2], 12)
self._c00 = (coeffs[3] << 12) | (coeffs[4] << 4) | ((coeffs[5] >> 4) & 0x0F)
self._c00 = self._twos_complement(self._c00, 20)
self._c10 = ((coeffs[5] & 0x0F) << 16) | (coeffs[6] << 8) |coeffs[7]
self._c10 = self._twos_complement(self._c10, 20)
self._c01 = self._twos_complement((coeffs[8] << 8) | coeffs[9], 16)
self._c11 = self._twos_complement((coeffs[10] << 8) | coeffs[11], 16)
self._c20 = self._twos_complement((coeffs[12] << 8) | coeffs[13], 16)
self._c21 = self._twos_complement((coeffs[14] << 8) | coeffs[15], 16)
self._c30 = self._twos_complement((coeffs[16] << 8) | coeffs[17], 16)
class INA226:
"""Driver for the INA226 current sensor"""
# Basic API:
# INA226( i2c_bus, i2c_addr) Create instance of INA226 sensor
# :param i2c_bus The I2C bus the INA226 is connected to
# :param i2c_addr (0x40) Address of the INA226 on the bus (default 0x40)
# shunt_voltage RO : shunt voltage scaled to Volts
# bus_voltage RO : bus voltage (V- to GND) scaled to volts (==load voltage)
# current RO : current through shunt, scaled to mA
# power RO : power consumption of the load, scaled to Watt
# raw_shunt_voltage RO : Shunt Voltage register (not scaled)
# raw_bus_voltage RO : Bus Voltage field in Bus Voltage register (not scaled)
# conversion_ready RO : Conversion Ready bit in Bus Voltage register
# overflow RO : Math Overflow bit in Bus Voltage register
# raw_power RO : Power register (not scaled)
# raw_current RO : Current register (not scaled)
# calibration RW : calibration register (note: value is cached)
def __init__(self, i2c_bus, addr=0x40):
self.i2c_device = I2CDevice(i2c_bus, addr)
self.i2c_addr = addr
# Set chip to known config values to start
self._cal_value = 0
self._current_lsb = 0
self._power_lsb = 0
self.num_averages = AVG_256
self.bus_conv_time = VBUSCT_2MS
self.shunt_conv_time = VSHCT_2MS
# config register break-up
reset = RWBits(1, _REG_CONFIG, 15, 2, False)
num_averages = RWBits(3, _REG_CONFIG, 9, 2, False)
bus_conv_time = RWBits(3, _REG_CONFIG, 6, 2, False)
shunt_conv_time = RWBits(3, _REG_CONFIG, 3, 2, False)
mode = RWBits(3, _REG_CONFIG, 0, 2, False)
# shunt voltage register
raw_shunt_voltage = ROUnaryStruct(_REG_SHUNTVOLTAGE, ">h")
#bus voltage register
raw_bus_voltage = ROUnaryStruct(_REG_BUSVOLTAGE, ">h")
# power and current registers
raw_power = ROUnaryStruct(_REG_POWER, ">H")
raw_current = ROUnaryStruct(_REG_CURRENT, ">h")
# calibration register
_raw_calibration = UnaryStruct(_REG_CALIBRATION, ">H")
@property
def calibration(self):
"""Calibration register (cached value)"""
return self._cal_value # return cached value
@calibration.setter
def calibration(self, cal_value):
self._cal_value = cal_value # value is cached for ``current`` and ``power`` properties
self._raw_calibration = self._cal_value
@property
def shunt_voltage(self):
"""The shunt voltage (between V+ and V-) in Volts (so +-.327V)"""
# The least signficant bit is 2.5uV which is 0.0000025 volts
return self.raw_shunt_voltage * 0.0000025
@property
def bus_voltage(self):
"""The bus voltage (between V- and GND) in Volts"""
# Shift to the right 3 to drop CNVR and OVF and multiply by LSB
# Each least signficant bit is 4mV
return self.raw_bus_voltage * 0.00125
@property
def current(self):
"""The current through the shunt resistor in milliamps."""
# Sometimes a sharp load will reset the INA226, which will
# reset the cal register, meaning CURRENT and POWER will
# not be available ... always setting a cal
# value even if it's an unfortunate extra step
self._raw_calibration = self._cal_value
# Now we can safely read the CURRENT register!
return self.raw_current * self._current_lsb
@property
def power(self):
"""The power through the load in Watt."""
# Sometimes a sharp load will reset the INA226, which will
# reset the cal register, meaning CURRENT and POWER will
# not be available ... always setting a cal
# value even if it's an unfortunate extra step
self._raw_calibration = self._cal_value
# Now we can safely read the CURRENT register!
return self.raw_power * self._power_lsb
class LPS2X: # pylint: disable=too-many-instance-attributes
"""Base class ST LPS2x family of pressure sensors
:param ~busio.I2C i2c_bus: The I2C bus the sensor is connected to.
:param address: The I2C device address for the sensor. Default is ``0x5d`` but will accept
``0x5c`` when the ``SDO`` pin is connected to Ground.
"""
_chip_id = ROUnaryStruct(_LPS2X_WHO_AM_I, "<B")
_raw_temperature = ROUnaryStruct(_LPS2X_TEMP_OUT_L, "<h")
_raw_pressure = ROBits(24, _LPS2X_PRESS_OUT_XL, 0, 3)
def __init__(self, i2c_bus, address=_LPS2X_DEFAULT_ADDRESS, chip_id=None):
self.i2c_device = i2cdevice.I2CDevice(i2c_bus, address)
if not self._chip_id in [chip_id]:
raise RuntimeError("Failed to find LPS2X! Found chip ID 0x%x" %
self._chip_id)
self.reset()
self.initialize()
sleep(0.010) # delay 10ms for first reading
def initialize(self): # pylint: disable=no-self-use
"""Configure the sensor with the default settings. For use after calling `reset()`"""
raise RuntimeError(
"LPS2X Base class cannot be instantiated directly. Use LPS22 or LPS25 instead"
) # override in subclass
def reset(self):
"""Reset the sensor, restoring all configuration registers to their defaults"""
self._reset = True
# wait for the reset to finish
while self._reset:
pass
@property
def pressure(self):
"""The current pressure measurement in hPa"""
raw = self._raw_pressure
if raw & (1 << 23) != 0:
raw = raw - (1 << 24)
return raw / 4096.0
@property
def temperature(self):
"""The current temperature measurement in degrees C"""
raw_temperature = self._raw_temperature
return (raw_temperature / self._temp_scaling # pylint:disable=no-member
) + self._temp_offset # pylint:disable=no-member
@property
def data_rate(self):
"""The rate at which the sensor measures ``pressure`` and ``temperature``. ``data_rate``
shouldbe set to one of the values of ``adafruit_lps2x.Rate``."""
return self._data_rate
@data_rate.setter
def data_rate(self, value):
if not Rate.is_valid(value):
raise AttributeError("data_rate must be a `Rate`")
self._data_rate = value
class MSA301:#pylint: disable=too-many-instance-attributes
"""Driver for the MSA301 Accelerometer.
:param ~busio.I2C i2c_bus: The I2C bus the MSA is connected to.
"""
_part_id = ROUnaryStruct(_MSA301_REG_PARTID, "<B")
def __init__(self, i2c_bus):
self.i2c_device = i2cdevice.I2CDevice(i2c_bus, _MSA301_I2CADDR_DEFAULT)
if self._part_id != 0x13:
raise AttributeError("Cannot find a MSA301")
self._disable_x = self._disable_y = self._disable_z = False
self.power_mode = Mode.NORMAL
self.data_rate = DataRate.RATE_500_HZ
self.bandwidth = BandWidth.WIDTH_250_HZ
self.range = Range.RANGE_4_G
self.resolution = Resolution.RESOLUTION_14_BIT
self._tap_count = 0
_disable_x = RWBit(_MSA301_REG_ODR, 7)
_disable_y = RWBit(_MSA301_REG_ODR, 6)
_disable_z = RWBit(_MSA301_REG_ODR, 5)
_xyz_raw = ROBits(48, _MSA301_REG_OUT_X_L, 0, 6)
# tap INT enable and status
_single_tap_int_en = RWBit(_MSA301_REG_INTSET0, 5)
_double_tap_int_en = RWBit(_MSA301_REG_INTSET0, 4)
_motion_int_status = ROUnaryStruct(_MSA301_REG_MOTIONINT, "B")
# tap interrupt knobs
_tap_quiet = RWBit(_MSA301_REG_TAPDUR, 7)
_tap_shock = RWBit(_MSA301_REG_TAPDUR, 6)
_tap_duration = RWBits(3, _MSA301_REG_TAPDUR, 0)
_tap_threshold = RWBits(5, _MSA301_REG_TAPTH, 0)
reg_tapdur = ROUnaryStruct(_MSA301_REG_TAPDUR, "B")
# general settings knobs
power_mode = RWBits(2, _MSA301_REG_POWERMODE, 6)
bandwidth = RWBits(4, _MSA301_REG_POWERMODE, 1)
data_rate = RWBits(4, _MSA301_REG_ODR, 0)
range = RWBits(2, _MSA301_REG_RESRANGE, 0)
resolution = RWBits(2, _MSA301_REG_RESRANGE, 2)
@property
def acceleration(self):
"""The x, y, z acceleration values returned in a 3-tuple and are in m / s ^ 2."""
# read the 6 bytes of acceleration data
# zh, zl, yh, yl, xh, xl
raw_data = self._xyz_raw
acc_bytes = bytearray()
# shift out bytes, reversing the order
for shift in range(6):
bottom_byte = (raw_data >>(8*shift) & 0xFF)
acc_bytes.append(bottom_byte)
# unpack three LE, signed shorts
x, y, z = struct.unpack_from("<hhh", acc_bytes)
current_range = self.range
scale = 1.0
if current_range == 3:
scale = 512.0
if current_range == 2:
scale = 1024.0
if current_range == 1:
scale = 2048.0
if current_range == 0:
scale = 4096.0
# shift down to the actual 14 bits and scale based on the range
x_acc = ((x>>2) / scale) * _STANDARD_GRAVITY
y_acc = ((y>>2) / scale) * _STANDARD_GRAVITY
z_acc = ((z>>2) / scale) * _STANDARD_GRAVITY
return (x_acc, y_acc, z_acc)
def enable_tap_detection(self, *,
tap_count=1,
threshold=25,
long_initial_window=True,
long_quiet_window=True,
double_tap_window=TapDuration.DURATION_250_MS):
"""
Enables tap detection with configurable parameters.
:param int tap_count: 1 to detect only single taps, or 2 to detect only double taps.\
default is 1
:param int threshold: A threshold for the tap detection.\
The higher the value the less sensitive the detection. This changes based on the\
accelerometer range. Default is 25.
:param int long_initial_window: This sets the length of the window of time where a\
spike in acceleration must occour in before being followed by a quiet period.\
`True` (default) sets the value to 70ms, False to 50ms. Default is `True`
:param int long_quiet_window: The length of the "quiet" period after an acceleration\
spike where no more spikes can occour for a tap to be registered.\
`True` (default) sets the value to 30ms, False to 20ms. Default is `True`.
:param int double_tap_window: The length of time after an initial tap is registered\
in which a second tap must be detected to count as a double tap. Setting a lower\
value will require a faster double tap. The value must be a\
``TapDuration``. Default is ``TapDuration.DURATION_250_MS``.
If you wish to set them yourself rather than using the defaults,
you must use keyword arguments::
msa.enable_tap_detection(tap_count=2,
threshold=25,
double_tap_window=TapDuration.DURATION_700_MS)
"""
self._tap_shock = not long_initial_window
self._tap_quiet = long_quiet_window
self._tap_threshold = threshold
self._tap_count = tap_count
if double_tap_window > 7 or double_tap_window < 0:
raise ValueError("double_tap_window must be a TapDuration")
if tap_count == 1:
self._single_tap_int_en = True
elif tap_count == 2:
self._tap_duration = double_tap_window
self._double_tap_int_en = True
else:
raise ValueError("tap must be 1 for single tap, or 2 for double tap")
@property
def tapped(self):
"""`True` if a single or double tap was detected, depending on the value of the\
``tap_count`` argument passed to ``enable_tap_detection``"""
if self._tap_count == 0:
return False
motion_int_status = self._motion_int_status
if motion_int_status == 0: # no interrupts triggered
return False
if self._tap_count == 1 and motion_int_status & 1<<5:
return True
if self._tap_count == 2 and motion_int_status & 1<<4:
return True
return False
class TLA2024: # pylint:disable=too-many-instance-attributes
"""
I2C Interface for analog voltage measurements using the TI TLA2024 12-bit 4-channel ADC
:param ~I2C i2c_bus: The I2C bus that the ADC is on.
:param int address: The I2C address for the ADC. Defaults to ~0x48
"""
_raw_adc_read = ROUnaryStruct(_DATA_REG, ">h")
_os = RWBit(_CONFIG_REG, 15, 2, lsb_first=False)
_mux = RWBits(3, _CONFIG_REG, 12, 2, lsb_first=False)
_pga = RWBits(3, _CONFIG_REG, 9, 2, lsb_first=False)
_mode = RWBit(_CONFIG_REG, 8, 2, lsb_first=False)
_data_rate = RWBits(3, _CONFIG_REG, 5, 2, lsb_first=False)
def __init__(self,
i2c_bus: I2C,
address: int = _TLA_DEFAULT_ADDRESS) -> None:
# pylint:disable=no-member
self.i2c_device = I2CDevice(i2c_bus, address)
self._last_one_shot = None
self.mode = Mode.CONTINUOUS
self.mux = Mux.MUX_AIN0_GND
# default to widest range and highest sample rate
self.data_rate = DataRate.RATE_3300SPS
self.range = Range.RANGE_6_144V
@property
def voltage(self) -> float:
"""The voltage between the two selected inputs"""
if self.mode == Mode.ONE_SHOT: # pylint:disable=no-member
return self._last_one_shot
return self._read_volts()
@property
def input_channel(self) -> int:
"""The input channel number (0-4) to measure the voltage at, referenced to GND."""
return self._mux
@input_channel.setter
def input_channel(self, channel: int) -> None:
if channel not in range(4):
raise AttributeError(
"input_channel must be set to a number from 0 to 3")
self._mux = 4 + channel
@property
def mode(self) -> int:
"""The measurement mode of the sensor. Must be a :py:const:`~Mode`. See the documentation
for :py:const:`~Mode` for more information"""
return self._mode
@mode.setter
def mode(self, mode: int) -> None:
if not Mode.is_valid(mode):
raise AttributeError("mode must be a valid Mode")
if mode == Mode.CONTINUOUS: # pylint:disable=no-member
self._mode = mode
return
# One Shot mode; switch mode, take a measurement and store it
self._mode = mode
self._os = True
while self._os:
pass
self._last_one_shot = self._read_volts()
@property
def range(self) -> int:
"""The measurement range of the ADC, changed by adjusting the Programmable Gain Amplifier
`range` must be a :py:const:`~Range`. See the documentation for :py:const:`~Range`
for more information"""
return self._pga
@range.setter
def range(self, measurement_range: int) -> None:
if not Range.is_valid(measurement_range):
raise AttributeError("range must be a valid Range")
self._pga = measurement_range
@property
def data_rate(self) -> int:
"""Selects the rate at which measurement samples are taken. Must be a :py:const:`~DataRate`
. See the documentation for :py:const:`~DataRate` for more information"""
return self._data_rate
@data_rate.setter
def data_rate(self, rate: int) -> None:
if not DataRate.is_valid(rate): # pylint:disable=no-member
raise AttributeError("data_rate must be a valid DataRate")
self._data_rate = rate
@property
def mux(self) -> int:
"""selects the inputs that voltage will be measured between. Must be a
:py:const:`~adafruit_tla202x.Mux`. See the :py:const:`~adafruit_tla202x.Mux` documentation
for more information about the available options"""
return self._mux
@mux.setter
def mux(self, mux_connection: int) -> None:
if not Mux.is_valid(mux_connection): # pylint:disable=no-member
raise AttributeError("mux must be a valid Mux")
self._mux = mux_connection
def read(self, channel: int) -> int:
"""Switch to the given channel and take a single ADC reading in One Shot mode
:param int channel: The channel number to switch to, from 0-3
"""
if not self.input_channel == channel:
self.input_channel = channel
self.mode = Mode.ONE_SHOT # pylint:disable=no-member
return self._read_adc()
def _read_volts(self) -> float:
value_lsb = self._read_adc()
return value_lsb * Range.lsb[self.range] / 1000.0
def _read_adc(self) -> int:
value_lsb = self._raw_adc_read
value_lsb >>= 4
if value_lsb & (1 << 11):
value_lsb |= 0xF000
else:
value_lsb &= ~0xF000
return value_lsb
class VCNL4040: # pylint: disable=too-few-public-methods
"""Driver for the VCNL4040 proximity and ambient light sensor.
:param busio.I2C i2c_bus: The I2C bus the VCNL4040 is connected to.
"""
# Ambient light sensor integration times
ALS_80MS = const(0x0)
ALS_160MS = const(0x1)
ALS_320MS = const(0x2)
ALS_640MS = const(0x3)
# Proximity sensor integration times
PS_1T = const(0x0)
PS_1_5T = const(0x1)
PS_2T = const(0x2)
PS_2_5T = const(0x3)
PS_3T = const(0x4)
PS_3_5T = const(0x5)
PS_4T = const(0x6)
PS_8T = const(0x7)
# LED current settings
LED_50MA = const(0x0)
LED_75MA = const(0x1)
LED_100MA = const(0x2)
LED_120MA = const(0x3)
LED_140MA = const(0x4)
LED_160MA = const(0x5)
LED_180MA = const(0x6)
LED_200MA = const(0x7)
# LED duty cycle settings
LED_1_40 = const(0x0)
LED_1_80 = const(0x1)
LED_1_160 = const(0x2)
LED_1_320 = const(0x3)
# Proximity sensor interrupt enable/disable options
PS_INT_DISABLE = const(0x0)
PS_INT_CLOSE = const(0x1)
PS_INT_AWAY = const(0x2)
PS_INT_CLOSE_AWAY = const(0x3)
# Offsets into interrupt status register for different types
ALS_IF_L = const(0x0D)
ALS_IF_H = const(0x0C)
PS_IF_CLOSE = const(0x09)
PS_IF_AWAY = const(0x08)
# ID_LM - Device ID, address
_device_id = UnaryStruct(0x0C, "<H")
"""The device ID."""
# PS_Data_LM - PS output data
proximity = ROUnaryStruct(0x08, "<H")
"""Proximity data.
This example prints the proximity data. Move your hand towards the sensor to see the values
change.
.. code-block:: python
import time
import board
import busio
import adafruit_vcnl4040
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_vcnl4040.VCNL4040(i2c)
while True:
print("Proximity:", sensor.proximity)
time.sleep(0.1)
"""
# PS_CONF1 - PS duty ratio, integration time, persistence, enable/disable
# PS_CONF2 - PS output resolution selection, interrupt trigger method
# PS_CONF3 - PS smart persistence, active force mode
proximity_shutdown = RWBit(0x03, 0, register_width=2)
"""Proximity sensor shutdown. When ``True``, proximity data is disabled."""
proximity_integration_time = RWBits(3, 0x03, 1, register_width=2)
"""Proximity sensor integration time setting. Integration times are 1T, 1.5T, 2T, 2.5T, 3T,
3.5T, 4T, and 8T. Options are: PS_1T, PS_1_5T, PS_2T, PS_2_5T, PS_3T, PS_3_5T, PS_4T, PS_8T.
"""
proximity_interrupt = RWBits(2, 0x03, 8, register_width=2)
"""Interrupt enable. Interrupt setting are close, away, close and away, or disabled. Options
are: PS_INT_DISABLE, PS_INT_CLOSE, PS_INT_AWAY, PS_INT_CLOSE_AWAY."""
proximity_bits = RWBit(0x03, 11, register_width=2)
"""Proximity data output setting. ``0`` when proximity sensor output is 12 bits, ``1`` when
proximity sensor output is 16 bits."""
# PS_THDL_LM - PS low interrupt threshold setting
proximity_low_threshold = UnaryStruct(0x06, "<H")
"""Proximity sensor interrupt low threshold setting."""
# PS_THDH_LM - PS high interrupt threshold setting
proximity_high_threshold = UnaryStruct(0x07, "<H")
"""Proximity sensor interrupt high threshold setting."""
interrupt_state = ROUnaryStruct(0x0B, "<H")
# INT_FLAG - PS interrupt flag
@property
def proximity_high_interrupt(self):
"""If interrupt is set to ``PS_INT_CLOSE`` or ``PS_INT_CLOSE_AWAY``, trigger event when
proximity rises above high threshold interrupt."""
return self._get_and_clear_cached_interrupt_state(self.PS_IF_CLOSE)
@property
def proximity_low_interrupt(self):
"""If interrupt is set to ``PS_INT_AWAY`` or ``PS_INT_CLOSE_AWAY``, trigger event when
proximity drops below low threshold."""
return self._get_and_clear_cached_interrupt_state(self.PS_IF_AWAY)
led_current = RWBits(3, 0x04, 8, register_width=2)
"""LED current selection setting, in mA. Options are LED_50MA, LED_75MA, LED_100MA, LED_120MA,
LED_140MA, LED_160MA, LED_180MA, LED_200MA."""
led_duty_cycle = RWBits(2, 0x03, 6, register_width=2)
"""Proximity sensor LED duty ratio setting. Ratios are 1/40, 1/80, 1/160, and 1/320. Options
are: LED_1_40, LED_1_80, LED_1_160, LED_1_320."""
light = ROUnaryStruct(0x09, "<H")
"""Raw ambient light data. The raw ambient light data which will change with integration time
and gain settings changes. Use ``lux`` to get the correctly scaled value for the current
integration time and gain settings
"""
@property
def lux(self):
"""Ambient light data in lux. Represents the raw sensor data scaled according to the current
integration time and gain settings.
This example prints the ambient light data. Cover the sensor to see the values change.
.. code-block:: python
import time
import board
import busio
import adafruit_vcnl4040
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_vcnl4040.VCNL4040(i2c)
while True:
print("Ambient light: %.2f lux"%sensor.lux)
time.sleep(0.1)
"""
return self.light * (0.1 / (1 << self.light_integration_time))
# ALS_CONF - ALS integration time, persistence, interrupt, function enable/disable
light_shutdown = RWBit(0x00, 0, register_width=2)
"""Ambient light sensor shutdown. When ``True``, ambient light data is disabled."""
_light_integration_time = RWBits(2, 0x00, 6, register_width=2)
@property
def light_integration_time(self):
"""Ambient light sensor integration time setting. Longer time has higher sensitivity.
Can be: ALS_80MS, ALS_160MS, ALS_320MS or ALS_640MS.
This example sets the ambient light integration time to 640ms and prints the ambient light
sensor data.
.. code-block:: python
import time
import board
import busio
import adafruit_vcnl4040
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_vcnl4040.VCNL4040(i2c)
sensor.light_integration_time = sensor.ALS_640MS
while True:
print("Ambient light:", sensor.light)
"""
return self._light_integration_time
@light_integration_time.setter
def light_integration_time(self, new_it):
from time import sleep # pylint: disable=import-outside-toplevel
# IT values are in 0-3 -> 80-640ms
old_it_ms = (8 << self._light_integration_time) * 10
new_it_ms = (8 << new_it) * 10
it_delay_seconds = (old_it_ms + new_it_ms + 1) * 0.001
self._light_integration_time = new_it
sleep(it_delay_seconds)
light_interrupt = RWBit(0x00, 1, register_width=2)
"""Ambient light sensor interrupt enable. ``True`` to enable, and ``False`` to disable."""
# ALS_THDL_LM - ALS low interrupt threshold setting
light_low_threshold = UnaryStruct(0x02, "<H")
"""Ambient light interrupt low threshold."""
# ALS_THDH_LM - ALS high interrupt threshold setting
light_high_threshold = UnaryStruct(0x01, "<H")
"""Ambient light interrupt high threshold."""
# INT_FLAG - ALS interrupt flag
@property
def light_high_interrupt(self):
"""High interrupt event. Triggered when ambient light value exceeds high threshold."""
return self._get_and_clear_cached_interrupt_state(self.ALS_IF_H)
@property
def light_low_interrupt(self):
"""Low interrupt event. Triggered when ambient light value drops below low threshold."""
return self._get_and_clear_cached_interrupt_state(self.ALS_IF_L)
_raw_white = ROUnaryStruct(0x0A, "<H")
@property
def white(self):
"""White light data scaled according to the current integration time and gain settings.
This example prints the white light data. Cover the sensor to see the values change.
.. code-block:: python
import time
import board
import busio
import adafruit_vcnl4040
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_vcnl4040.VCNL4040(i2c)
while True:
print("White light:", sensor.white)
time.sleep(0.1)
"""
return self._raw_white * (0.1 / (1 << self.light_integration_time))
# PS_MS - White channel enable/disable, PS mode, PS protection setting, LED current
# White_EN - PS_MS_H, 7th bit - White channel enable/disable
white_shutdown = RWBit(0x04, 15, register_width=2)
"""White light channel shutdown. When ``True``, white light data is disabled."""
def __init__(self, i2c, address=0x60):
self.i2c_device = i2cdevice.I2CDevice(i2c, address)
if self._device_id != 0x186:
raise RuntimeError("Failed to find VCNL4040 - check wiring!")
self.cached_interrupt_state = {
self.ALS_IF_L: False,
self.ALS_IF_H: False,
self.PS_IF_CLOSE: False,
self.PS_IF_AWAY: False,
}
self.proximity_shutdown = False
self.light_shutdown = False
self.white_shutdown = False
def _update_interrupt_state(self):
interrupts = [
self.PS_IF_AWAY, self.PS_IF_CLOSE, self.ALS_IF_H, self.ALS_IF_L
]
new_interrupt_state = self.interrupt_state
for interrupt in interrupts:
new_state = new_interrupt_state & (1 << interrupt) > 0
if new_state:
self.cached_interrupt_state[interrupt] = new_state
def _get_and_clear_cached_interrupt_state(self, interrupt_offset):
self._update_interrupt_state()
new_interrupt_state = self.cached_interrupt_state[interrupt_offset]
self.cached_interrupt_state[interrupt_offset] = False
return new_interrupt_state
class INA219:
"""Driver for the INA219 current sensor"""
# Basic API:
# INA219( i2c_bus, addr) Create instance of INA219 sensor
# :param i2c_bus The I2C bus the INA219is connected to
# :param addr (0x40) Address of the INA219 on the bus (default 0x40)
# shunt_voltage RO : shunt voltage scaled to Volts
# bus_voltage RO : bus voltage (V- to GND) scaled to volts (==load voltage)
# current RO : current through shunt, scaled to mA
# power RO : power consumption of the load, scaled to Watt
# set_calibration_32V_2A() Initialize chip for 32V max and up to 2A (default)
# set_calibration_32V_1A() Initialize chip for 32V max and up to 1A
# set_calibration_16V_400mA() Initialize chip for 16V max and up to 400mA
# Advanced API:
# config register break-up
# reset WO : Write Reset.RESET to reset the chip (must recalibrate)
# bus_voltage_range RW : Bus Voltage Range field (use BusVoltageRange.XXX constants)
# gain RW : Programmable Gain field (use Gain.XXX constants)
# bus_adc_resolution RW : Bus ADC resolution and averaging modes (ADCResolution.XXX)
# shunt_adc_resolution RW : Shunt ADC resolution and averaging modes (ADCResolution.XXX)
# mode RW : operating modes in config register (use Mode.XXX constants)
# raw_shunt_voltage RO : Shunt Voltage register (not scaled)
# raw_bus_voltage RO : Bus Voltage field in Bus Voltage register (not scaled)
# conversion_ready RO : Conversion Ready bit in Bus Voltage register
# overflow RO : Math Overflow bit in Bus Voltage register
# raw_power RO : Power register (not scaled)
# raw_current RO : Current register (not scaled)
# calibration RW : calibration register (note: value is cached)
def __init__(self, i2c_bus, addr=0x40):
self.i2c_device = I2CDevice(i2c_bus, addr)
self.i2c_addr = addr
# Set chip to known config values to start
self._cal_value = 0
self._current_lsb = 0
self._power_lsb = 0
self.set_calibration_32V_2A()
# config register break-up
reset = RWBits(1, _REG_CONFIG, 15, 2, False)
bus_voltage_range = RWBits(1, _REG_CONFIG, 13, 2, False)
gain = RWBits(2, _REG_CONFIG, 11, 2, False)
bus_adc_resolution = RWBits(4, _REG_CONFIG, 7, 2, False)
shunt_adc_resolution = RWBits(4, _REG_CONFIG, 3, 2, False)
mode = RWBits(3, _REG_CONFIG, 0, 2, False)
# shunt voltage register
raw_shunt_voltage = ROUnaryStruct(_REG_SHUNTVOLTAGE, ">h")
# bus voltage register
raw_bus_voltage = ROBits(13, _REG_BUSVOLTAGE, 3, 2, False)
conversion_ready = ROBit(_REG_BUSVOLTAGE, 1, 2, False)
overflow = ROBit(_REG_BUSVOLTAGE, 0, 2, False)
# power and current registers
raw_power = ROUnaryStruct(_REG_POWER, ">H")
raw_current = ROUnaryStruct(_REG_CURRENT, ">h")
# calibration register
_raw_calibration = UnaryStruct(_REG_CALIBRATION, ">H")
@property
def calibration(self):
"""Calibration register (cached value)"""
return self._cal_value # return cached value
@calibration.setter
def calibration(self, cal_value):
self._cal_value = (
cal_value # value is cached for ``current`` and ``power`` properties
)
self._raw_calibration = self._cal_value
@property
def shunt_voltage(self):
"""The shunt voltage (between V+ and V-) in Volts (so +-.327V)"""
# The least signficant bit is 10uV which is 0.00001 volts
return self.raw_shunt_voltage * 0.00001
@property
def bus_voltage(self):
"""The bus voltage (between V- and GND) in Volts"""
# Shift to the right 3 to drop CNVR and OVF and multiply by LSB
# Each least signficant bit is 4mV
return self.raw_bus_voltage * 0.004
@property
def current(self):
"""The current through the shunt resistor in milliamps."""
# Sometimes a sharp load will reset the INA219, which will
# reset the cal register, meaning CURRENT and POWER will
# not be available ... always setting a cal
# value even if it's an unfortunate extra step
self._raw_calibration = self._cal_value
# Now we can safely read the CURRENT register!
return self.raw_current * self._current_lsb
@property
def power(self):
"""The power through the load in Watt."""
# Sometimes a sharp load will reset the INA219, which will
# reset the cal register, meaning CURRENT and POWER will
# not be available ... always setting a cal
# value even if it's an unfortunate extra step
self._raw_calibration = self._cal_value
# Now we can safely read the CURRENT register!
return self.raw_power * self._power_lsb
def set_calibration_32V_2A(self): # pylint: disable=invalid-name
"""Configures to INA219 to be able to measure up to 32V and 2A of current. Counter
overflow occurs at 3.2A.
..note :: These calculations assume a 0.1 shunt ohm resistor is present
"""
# By default we use a pretty huge range for the input voltage,
# which probably isn't the most appropriate choice for system
# that don't use a lot of power. But all of the calculations
# are shown below if you want to change the settings. You will
# also need to change any relevant register settings, such as
# setting the VBUS_MAX to 16V instead of 32V, etc.
# VBUS_MAX = 32V (Assumes 32V, can also be set to 16V)
# VSHUNT_MAX = 0.32 (Assumes Gain 8, 320mV, can also be 0.16, 0.08, 0.04)
# RSHUNT = 0.1 (Resistor value in ohms)
# 1. Determine max possible current
# MaxPossible_I = VSHUNT_MAX / RSHUNT
# MaxPossible_I = 3.2A
# 2. Determine max expected current
# MaxExpected_I = 2.0A
# 3. Calculate possible range of LSBs (Min = 15-bit, Max = 12-bit)
# MinimumLSB = MaxExpected_I/32767
# MinimumLSB = 0.000061 (61uA per bit)
# MaximumLSB = MaxExpected_I/4096
# MaximumLSB = 0,000488 (488uA per bit)
# 4. Choose an LSB between the min and max values
# (Preferrably a roundish number close to MinLSB)
# CurrentLSB = 0.0001 (100uA per bit)
self._current_lsb = 0.1 # Current LSB = 100uA per bit
# 5. Compute the calibration register
# Cal = trunc (0.04096 / (Current_LSB * RSHUNT))
# Cal = 4096 (0x1000)
self._cal_value = 4096
# 6. Calculate the power LSB
# PowerLSB = 20 * CurrentLSB
# PowerLSB = 0.002 (2mW per bit)
self._power_lsb = 0.002 # Power LSB = 2mW per bit
# 7. Compute the maximum current and shunt voltage values before overflow
#
# Max_Current = Current_LSB * 32767
# Max_Current = 3.2767A before overflow
#
# If Max_Current > Max_Possible_I then
# Max_Current_Before_Overflow = MaxPossible_I
# Else
# Max_Current_Before_Overflow = Max_Current
# End If
#
# Max_ShuntVoltage = Max_Current_Before_Overflow * RSHUNT
# Max_ShuntVoltage = 0.32V
#
# If Max_ShuntVoltage >= VSHUNT_MAX
# Max_ShuntVoltage_Before_Overflow = VSHUNT_MAX
# Else
# Max_ShuntVoltage_Before_Overflow = Max_ShuntVoltage
# End If
# 8. Compute the Maximum Power
# MaximumPower = Max_Current_Before_Overflow * VBUS_MAX
# MaximumPower = 3.2 * 32V
# MaximumPower = 102.4W
# Set Calibration register to 'Cal' calculated above
self._raw_calibration = self._cal_value
# Set Config register to take into account the settings above
self.bus_voltage_range = BusVoltageRange.RANGE_32V
self.gain = Gain.DIV_8_320MV
self.bus_adc_resolution = ADCResolution.ADCRES_12BIT_1S
self.shunt_adc_resolution = ADCResolution.ADCRES_12BIT_1S
self.mode = Mode.SANDBVOLT_CONTINUOUS
def set_calibration_32V_1A(self): # pylint: disable=invalid-name
"""Configures to INA219 to be able to measure up to 32V and 1A of current. Counter overflow
occurs at 1.3A.
.. note:: These calculations assume a 0.1 ohm shunt resistor is present"""
# By default we use a pretty huge range for the input voltage,
# which probably isn't the most appropriate choice for system
# that don't use a lot of power. But all of the calculations
# are shown below if you want to change the settings. You will
# also need to change any relevant register settings, such as
# setting the VBUS_MAX to 16V instead of 32V, etc.
# VBUS_MAX = 32V (Assumes 32V, can also be set to 16V)
# VSHUNT_MAX = 0.32 (Assumes Gain 8, 320mV, can also be 0.16, 0.08, 0.04)
# RSHUNT = 0.1 (Resistor value in ohms)
# 1. Determine max possible current
# MaxPossible_I = VSHUNT_MAX / RSHUNT
# MaxPossible_I = 3.2A
# 2. Determine max expected current
# MaxExpected_I = 1.0A
# 3. Calculate possible range of LSBs (Min = 15-bit, Max = 12-bit)
# MinimumLSB = MaxExpected_I/32767
# MinimumLSB = 0.0000305 (30.5uA per bit)
# MaximumLSB = MaxExpected_I/4096
# MaximumLSB = 0.000244 (244uA per bit)
# 4. Choose an LSB between the min and max values
# (Preferrably a roundish number close to MinLSB)
# CurrentLSB = 0.0000400 (40uA per bit)
self._current_lsb = 0.04 # In milliamps
# 5. Compute the calibration register
# Cal = trunc (0.04096 / (Current_LSB * RSHUNT))
# Cal = 10240 (0x2800)
self._cal_value = 10240
# 6. Calculate the power LSB
# PowerLSB = 20 * CurrentLSB
# PowerLSB = 0.0008 (800uW per bit)
self._power_lsb = 0.0008
# 7. Compute the maximum current and shunt voltage values before overflow
#
# Max_Current = Current_LSB * 32767
# Max_Current = 1.31068A before overflow
#
# If Max_Current > Max_Possible_I then
# Max_Current_Before_Overflow = MaxPossible_I
# Else
# Max_Current_Before_Overflow = Max_Current
# End If
#
# ... In this case, we're good though since Max_Current is less than MaxPossible_I
#
# Max_ShuntVoltage = Max_Current_Before_Overflow * RSHUNT
# Max_ShuntVoltage = 0.131068V
#
# If Max_ShuntVoltage >= VSHUNT_MAX
# Max_ShuntVoltage_Before_Overflow = VSHUNT_MAX
# Else
# Max_ShuntVoltage_Before_Overflow = Max_ShuntVoltage
# End If
# 8. Compute the Maximum Power
# MaximumPower = Max_Current_Before_Overflow * VBUS_MAX
# MaximumPower = 1.31068 * 32V
# MaximumPower = 41.94176W
# Set Calibration register to 'Cal' calculated above
self._raw_calibration = self._cal_value
# Set Config register to take into account the settings above
self.bus_voltage_range = BusVoltageRange.RANGE_32V
self.gain = Gain.DIV_8_320MV
self.bus_adc_resolution = ADCResolution.ADCRES_12BIT_1S
self.shunt_adc_resolution = ADCResolution.ADCRES_12BIT_1S
self.mode = Mode.SANDBVOLT_CONTINUOUS
def set_calibration_16V_400mA(self): # pylint: disable=invalid-name
"""Configures to INA219 to be able to measure up to 16V and 400mA of current. Counter
overflow occurs at 1.6A.
.. note:: These calculations assume a 0.1 ohm shunt resistor is present"""
# Calibration which uses the highest precision for
# current measurement (0.1mA), at the expense of
# only supporting 16V at 400mA max.
# VBUS_MAX = 16V
# VSHUNT_MAX = 0.04 (Assumes Gain 1, 40mV)
# RSHUNT = 0.1 (Resistor value in ohms)
# 1. Determine max possible current
# MaxPossible_I = VSHUNT_MAX / RSHUNT
# MaxPossible_I = 0.4A
# 2. Determine max expected current
# MaxExpected_I = 0.4A
# 3. Calculate possible range of LSBs (Min = 15-bit, Max = 12-bit)
# MinimumLSB = MaxExpected_I/32767
# MinimumLSB = 0.0000122 (12uA per bit)
# MaximumLSB = MaxExpected_I/4096
# MaximumLSB = 0.0000977 (98uA per bit)
# 4. Choose an LSB between the min and max values
# (Preferrably a roundish number close to MinLSB)
# CurrentLSB = 0.00005 (50uA per bit)
self._current_lsb = 0.05 # in milliamps
# 5. Compute the calibration register
# Cal = trunc (0.04096 / (Current_LSB * RSHUNT))
# Cal = 8192 (0x2000)
self._cal_value = 8192
# 6. Calculate the power LSB
# PowerLSB = 20 * CurrentLSB
# PowerLSB = 0.001 (1mW per bit)
self._power_lsb = 0.001
# 7. Compute the maximum current and shunt voltage values before overflow
#
# Max_Current = Current_LSB * 32767
# Max_Current = 1.63835A before overflow
#
# If Max_Current > Max_Possible_I then
# Max_Current_Before_Overflow = MaxPossible_I
# Else
# Max_Current_Before_Overflow = Max_Current
# End If
#
# Max_Current_Before_Overflow = MaxPossible_I
# Max_Current_Before_Overflow = 0.4
#
# Max_ShuntVoltage = Max_Current_Before_Overflow * RSHUNT
# Max_ShuntVoltage = 0.04V
#
# If Max_ShuntVoltage >= VSHUNT_MAX
# Max_ShuntVoltage_Before_Overflow = VSHUNT_MAX
# Else
# Max_ShuntVoltage_Before_Overflow = Max_ShuntVoltage
# End If
#
# Max_ShuntVoltage_Before_Overflow = VSHUNT_MAX
# Max_ShuntVoltage_Before_Overflow = 0.04V
# 8. Compute the Maximum Power
# MaximumPower = Max_Current_Before_Overflow * VBUS_MAX
# MaximumPower = 0.4 * 16V
# MaximumPower = 6.4W
# Set Calibration register to 'Cal' calculated above
self._raw_calibration = self._cal_value
# Set Config register to take into account the settings above
self.bus_voltage_range = BusVoltageRange.RANGE_16V
self.gain = Gain.DIV_1_40MV
self.bus_adc_resolution = ADCResolution.ADCRES_12BIT_1S
self.shunt_adc_resolution = ADCResolution.ADCRES_12BIT_1S
self.mode = Mode.SANDBVOLT_CONTINUOUS
def set_calibration_16V_5A(self): # pylint: disable=invalid-name
"""Configures to INA219 to be able to measure up to 16V and 5000mA of current. Counter
overflow occurs at 8.0A.
.. note:: These calculations assume a 0.02 ohm shunt resistor is present"""
# Calibration which uses the highest precision for
# current measurement (0.1mA), at the expense of
# only supporting 16V at 5000mA max.
# VBUS_MAX = 16V
# VSHUNT_MAX = 0.16 (Assumes Gain 3, 160mV)
# RSHUNT = 0.02 (Resistor value in ohms)
# 1. Determine max possible current
# MaxPossible_I = VSHUNT_MAX / RSHUNT
# MaxPossible_I = 8.0A
# 2. Determine max expected current
# MaxExpected_I = 5.0A
# 3. Calculate possible range of LSBs (Min = 15-bit, Max = 12-bit)
# MinimumLSB = MaxExpected_I/32767
# MinimumLSB = 0.0001529 (uA per bit)
# MaximumLSB = MaxExpected_I/4096
# MaximumLSB = 0.0012207 (uA per bit)
# 4. Choose an LSB between the min and max values
# (Preferrably a roundish number close to MinLSB)
# CurrentLSB = 0.00016 (uA per bit)
self._current_lsb = 0.1524 # in milliamps
# 5. Compute the calibration register
# Cal = trunc (0.04096 / (Current_LSB * RSHUNT))
# Cal = 13434 (0x347a)
self._cal_value = 13434
# 6. Calculate the power LSB
# PowerLSB = 20 * CurrentLSB
# PowerLSB = 0.003 (3.048mW per bit)
self._power_lsb = 0.003048
# 7. Compute the maximum current and shunt voltage values before overflow
#
# 8. Compute the Maximum Power
#
# Set Calibration register to 'Cal' calcutated above
self._raw_calibration = self._cal_value
# Set Config register to take into account the settings above
self.bus_voltage_range = BusVoltageRange.RANGE_16V
self.gain = Gain.DIV_4_160MV
self.bus_adc_resolution = ADCResolution.ADCRES_12BIT_1S
self.shunt_adc_resolution = ADCResolution.ADCRES_12BIT_1S
self.mode = Mode.SANDBVOLT_CONTINUOUS
class PCT2075:
"""Driver for the PCT2075 Digital Temperature Sensor and Thermal Watchdog.
:param ~busio.I2C i2c_bus: The I2C bus the PCT2075 is connected to.
:param int address: The I2C device address. Default is :const:`0x37`
**Quickstart: Importing and using the PCT2075 temperature sensor**
Here is an example of using the :class:`PCT2075` class.
First you will need to import the libraries to use the sensor
.. code-block:: python
import board
import adafruit_pct2075
Once this is done you can define your `board.I2C` object and define your sensor object
.. code-block:: python
i2c = board.I2C() # uses board.SCL and board.SDA
pct = adafruit_pct2075.PCT2075(i2c)
Now you have access to the temperature using the attribute :attr:`temperature`.
.. code-block:: python
temperature = pct.temperature
"""
def __init__(self,
i2c_bus: I2C,
address: int = PCT2075_DEFAULT_ADDRESS) -> None:
self.i2c_device = i2cdevice.I2CDevice(i2c_bus, address)
_temperature = ROUnaryStruct(PCT2075_REGISTER_TEMP, ">h")
mode = RWBit(PCT2075_REGISTER_CONFIG, 1, register_width=1)
"""Sets the alert mode. In comparator mode, the sensor acts like a thermostat and will activate
the INT pin according to `high_temp_active_high` when an alert is triggered. The INT pin will be
deactivated when the temperature falls below :attr:`temperature_hysteresis`.
In interrupt mode the INT pin is activated once when a temperature fault
is detected, and once more when the temperature falls below
:attr:`temperature_hysteresis`. In interrupt mode, the alert is cleared by
reading a property"""
shutdown = RWBit(PCT2075_REGISTER_CONFIG, 0, 1)
"""Set to True to turn off the temperature measurement circuitry in the sensor. While shut down
the configurations properties can still be read or written but the temperature will not be
measured"""
_fault_queue_length = RWBits(2,
PCT2075_REGISTER_CONFIG,
3,
register_width=1)
_high_temperature_threshold = UnaryStruct(PCT2075_REGISTER_TOS, ">h")
_temp_hysteresis = UnaryStruct(PCT2075_REGISTER_THYST, ">h")
_idle_time = RWBits(5, PCT2075_REGISTER_TIDLE, 0, register_width=1)
high_temp_active_high = RWBit(PCT2075_REGISTER_CONFIG, 2, register_width=1)
"""Sets the alert polarity. When False the INT pin will be tied to ground when an alert is
triggered. If set to True it will be disconnected from ground when an alert is triggered."""
@property
def temperature(self) -> float:
"""Returns the current temperature in degrees Celsius.
Resolution is 0.125 degrees Celsius"""
return (self._temperature >> 5) * 0.125
@property
def high_temperature_threshold(self) -> float:
"""The temperature in degrees celsius that will trigger an alert on the INT pin if it is
exceeded. Resolution is 0.5 degrees Celsius"""
return (self._high_temperature_threshold >> 7) * 0.5
@high_temperature_threshold.setter
def high_temperature_threshold(self, value: float) -> None:
self._high_temperature_threshold = int(value * 2) << 7
@property
def temperature_hysteresis(self) -> float:
"""The temperature hysteresis value defines the bottom
of the temperature range in degrees Celsius in which
the temperature is still considered high.
:attr:`temperature_hysteresis` must be lower than
:attr:`high_temperature_threshold`.
Resolution is 0.5 degrees Celsius
"""
return (self._temp_hysteresis >> 7) * 0.5
@temperature_hysteresis.setter
def temperature_hysteresis(self, value: float) -> None:
if value >= self.high_temperature_threshold:
raise ValueError(
"temperature_hysteresis must be less than high_temperature_threshold"
)
self._temp_hysteresis = int(value * 2) << 7
@property
def faults_to_alert(self) -> int:
"""The number of consecutive high temperature faults required to raise an alert. An fault
is tripped each time the sensor measures the temperature to be greater than
:attr:`high_temperature_threshold`. The rate at which the sensor measures the temperature
is defined by :attr:`delay_between_measurements`.
"""
return self._fault_queue_length
@faults_to_alert.setter
def faults_to_alert(self, value: int) -> None:
if value > 4 or value < 1:
raise ValueError(
"faults_to_alert must be an adafruit_pct2075.FaultCount")
self._fault_queue_length = value
@property
def delay_between_measurements(self) -> int:
"""The amount of time between measurements made by the sensor in milliseconds. The value
must be between 100 and 3100 and a multiple of 100"""
return self._idle_time * 100
@delay_between_measurements.setter
def delay_between_measurements(self, value: int) -> None:
if value > 3100 or value < 100 or value % 100 > 0:
raise AttributeError(
""""delay_between_measurements must be >= 100 or <= 3100\
and a multiple of 100""")
self._idle_time = int(value / 100)
class 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 int address: TThe I2C device address. Defaults to :const:`0x6A`
"""
# ROUnaryStructs:
_chip_id = ROUnaryStruct(_LSM6DS_WHOAMI, "<b")
# Structs
_raw_accel_data = Struct(_LSM6DS_OUTX_L_A, "<hhh")
_raw_gyro_data = Struct(_LSM6DS_OUTX_L_G, "<hhh")
# RWBits:
_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)
_sw_reset = RWBit(_LSM6DS_CTRL3_C, 0)
_bdu = RWBit(_LSM6DS_CTRL3_C, 6)
_high_pass_filter = RWBits(2, _LSM6DS_CTRL8_XL, 5)
_i3c_disable = RWBit(_LSM6DS_CTRL9_XL, 1)
_pedometer_reset = RWBit(_LSM6DS_CTRL10_C, 1)
_func_enable = RWBit(_LSM6DS_CTRL10_C, 2)
_ped_enable = RWBit(_LSM6DS_TAP_CFG, 6)
pedometer_steps = ROUnaryStruct(_LSM6DS_STEP_COUNTER, "<h")
"""The number of steps detected by the pedometer. You must enable with `pedometer_enable`
before calling. Use `pedometer_reset` to reset the number of steps"""
CHIP_ID = None
def __init__(self, i2c_bus, address=LSM6DS_DEFAULT_ADDRESS):
self._cached_accel_range = None
self._cached_gyro_range = None
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()
if not hasattr(GyroRange, "string"):
self._add_gyro_ranges()
self._bdu = True
self._add_accel_ranges()
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"
self._sw_reset = True
while self._sw_reset:
sleep(0.001)
@staticmethod
def _add_gyro_ranges():
GyroRange.add_values(
(
("RANGE_125_DPS", 125, 125, 4.375),
("RANGE_250_DPS", 0, 250, 8.75),
("RANGE_500_DPS", 1, 500, 17.50),
("RANGE_1000_DPS", 2, 1000, 35.0),
("RANGE_2000_DPS", 3, 2000, 70.0),
)
)
@staticmethod
def _add_accel_ranges():
AccelRange.add_values(
(
("RANGE_2G", 0, 2, 0.061),
("RANGE_16G", 1, 16, 0.488),
("RANGE_4G", 2, 4, 0.122),
("RANGE_8G", 3, 8, 0.244),
)
)
@property
def acceleration(self):
"""The x, y, z acceleration values returned in a 3-tuple and are in m / s ^ 2."""
raw_accel_data = self._raw_accel_data
x = self._scale_xl_data(raw_accel_data[0])
y = self._scale_xl_data(raw_accel_data[1])
z = self._scale_xl_data(raw_accel_data[2])
return (x, y, z)
@property
def gyro(self):
"""The x, y, z angular velocity values returned in a 3-tuple and are in radians / second"""
raw_gyro_data = self._raw_gyro_data
x, y, z = [radians(self._scale_gyro_data(i)) for i in raw_gyro_data]
return (x, y, z)
def _scale_xl_data(self, raw_measurement):
return (
raw_measurement
* AccelRange.lsb[self._cached_accel_range]
* _MILLI_G_TO_ACCEL
)
def _scale_gyro_data(self, raw_measurement):
return raw_measurement * GyroRange.lsb[self._cached_gyro_range] / 1000
@property
def accelerometer_range(self):
"""Adjusts the range of values that the sensor can measure, from +/- 2G to +/-16G
Note that larger ranges will be less accurate. Must be an ``AccelRange``"""
return self._cached_accel_range
# pylint: disable=no-member
@accelerometer_range.setter
def accelerometer_range(self, value):
if not AccelRange.is_valid(value):
raise AttributeError("range must be an `AccelRange`")
self._accel_range = value
self._cached_accel_range = value
sleep(0.2) # needed to let new range settle
@property
def gyro_range(self):
"""Adjusts the range of values that the sensor can measure, from 125 Degrees/s to 2000
degrees/s. Note that larger ranges will be less accurate. Must be a ``GyroRange``."""
return self._cached_gyro_range
@gyro_range.setter
def gyro_range(self, value):
self._set_gyro_range(value)
sleep(0.2)
def _set_gyro_range(self, value):
if not GyroRange.is_valid(value):
raise AttributeError("range must be a `GyroRange`")
# range uses `FS_G` enum
if value <= GyroRange.RANGE_2000_DPS: # pylint: disable=no-member
self._gyro_range_125dps = False
self._gyro_range = value
# range uses the `FS_125` bit
if value is GyroRange.RANGE_125_DPS: # pylint: disable=no-member
self._gyro_range_125dps = True
self._cached_gyro_range = value # needed to let new range settle
@property
def accelerometer_data_rate(self):
"""Select the rate at which the accelerometer takes measurements. Must be a ``Rate``"""
return self._accel_data_rate
@accelerometer_data_rate.setter
def accelerometer_data_rate(self, value):
if not Rate.is_valid(value):
raise AttributeError("accelerometer_data_rate must be a `Rate`")
self._accel_data_rate = value
# sleep(.2) # needed to let new range settle
@property
def gyro_data_rate(self):
"""Select the rate at which the gyro takes measurements. Must be a ``Rate``"""
return self._gyro_data_rate
@gyro_data_rate.setter
def gyro_data_rate(self, value):
if not Rate.is_valid(value):
raise AttributeError("gyro_data_rate must be a `Rate`")
self._gyro_data_rate = value
# sleep(.2) # needed to let new range settle
@property
def pedometer_enable(self):
""" Whether the pedometer function on the accelerometer is enabled"""
return self._ped_enable and self._func_enable
@pedometer_enable.setter
def pedometer_enable(self, enable):
self._ped_enable = enable
self._func_enable = enable
self._pedometer_reset = enable
@property
def high_pass_filter(self):
"""The high pass filter applied to accelerometer data"""
return self._high_pass_filter
@high_pass_filter.setter
def high_pass_filter(self, value):
if not AccelHPF.is_valid(value):
raise AttributeError("range must be an `AccelHPF`")
self._high_pass_filter = value
class ICM20X: # pylint:disable=too-many-instance-attributes
"""Library for the ST ICM-20X Wide-Range 6-DoF Accelerometer and Gyro Family
:param ~busio.I2C i2c_bus: The I2C bus the ICM20X is connected to.
:param address: The I2C slave address of the sensor
"""
# Bank 0
_device_id = ROUnaryStruct(_ICM20X_WHO_AM_I, ">B")
_bank_reg = UnaryStruct(_ICM20X_REG_BANK_SEL, ">B")
_reset = RWBit(_ICM20X_PWR_MGMT_1, 7)
_sleep_reg = RWBit(_ICM20X_PWR_MGMT_1, 6)
_low_power_en = RWBit(_ICM20X_PWR_MGMT_1, 5)
_clock_source = RWBits(3, _ICM20X_PWR_MGMT_1, 0)
_raw_accel_data = Struct(_ICM20X_ACCEL_XOUT_H, ">hhh") # ds says LE :|
_raw_gyro_data = Struct(_ICM20X_GYRO_XOUT_H, ">hhh")
_lp_config_reg = UnaryStruct(_ICM20X_LP_CONFIG, ">B")
_i2c_master_cycle_en = RWBit(_ICM20X_LP_CONFIG, 6)
_accel_cycle_en = RWBit(_ICM20X_LP_CONFIG, 5)
_gyro_cycle_en = RWBit(_ICM20X_LP_CONFIG, 4)
# Bank 2
_gyro_dlpf_enable = RWBits(1, _ICM20X_GYRO_CONFIG_1, 0)
_gyro_range = RWBits(2, _ICM20X_GYRO_CONFIG_1, 1)
_gyro_dlpf_config = RWBits(3, _ICM20X_GYRO_CONFIG_1, 3)
_accel_dlpf_enable = RWBits(1, _ICM20X_ACCEL_CONFIG_1, 0)
_accel_range = RWBits(2, _ICM20X_ACCEL_CONFIG_1, 1)
_accel_dlpf_config = RWBits(3, _ICM20X_ACCEL_CONFIG_1, 3)
# this value is a 12-bit register spread across two bytes, big-endian first
_accel_rate_divisor = UnaryStruct(_ICM20X_ACCEL_SMPLRT_DIV_1, ">H")
_gyro_rate_divisor = UnaryStruct(_ICM20X_GYRO_SMPLRT_DIV, ">B")
AccelDLPFFreq.add_values(
(
(
"DISABLED",
-1,
"Disabled",
None,
), # magical value that we will use do disable
("FREQ_246_0HZ_3DB", 1, 246.0, None),
("FREQ_111_4HZ_3DB", 2, 111.4, None),
("FREQ_50_4HZ_3DB", 3, 50.4, None),
("FREQ_23_9HZ_3DB", 4, 23.9, None),
("FREQ_11_5HZ_3DB", 5, 11.5, None),
("FREQ_5_7HZ_3DB", 6, 5.7, None),
("FREQ_473HZ_3DB", 7, 473, None),
)
)
GyroDLPFFreq.add_values(
(
(
"DISABLED",
-1,
"Disabled",
None,
), # magical value that we will use do disable
("FREQ_196_6HZ_3DB", 0, 196.6, None),
("FREQ_151_8HZ_3DB", 1, 151.8, None),
("FREQ_119_5HZ_3DB", 2, 119.5, None),
("FREQ_51_2HZ_3DB", 3, 51.2, None),
("FREQ_23_9HZ_3DB", 4, 23.9, None),
("FREQ_11_6HZ_3DB", 5, 11.6, None),
("FREQ_5_7HZ_3DB", 6, 5.7, None),
("FREQ_361_4HZ_3DB", 7, 361.4, None),
)
)
@property
def _bank(self):
return self._bank_reg >> 4
@_bank.setter
def _bank(self, value):
self._bank_reg = value << 4
def __init__(self, i2c_bus, address):
self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
self._bank = 0
if not self._device_id in [_ICM20649_DEVICE_ID, _ICM20948_DEVICE_ID]:
raise RuntimeError("Failed to find an ICM20X sensor - check your wiring!")
self.reset()
self.initialize()
def initialize(self):
"""Configure the sensors with the default settings. For use after calling `reset()`"""
self._sleep = False
self.accelerometer_range = AccelRange.RANGE_8G # pylint: disable=no-member
self.gyro_range = GyroRange.RANGE_500_DPS # pylint: disable=no-member
self.accelerometer_data_rate_divisor = 20 # ~53.57Hz
self.gyro_data_rate_divisor = 10 # ~100Hz
def reset(self):
"""Resets the internal registers and restores the default settings"""
self._bank = 0
sleep(0.005)
self._reset = True
sleep(0.005)
while self._reset:
sleep(0.005)
@property
def _sleep(self):
self._bank = 0
sleep(0.005)
self._sleep_reg = False
sleep(0.005)
@_sleep.setter
def _sleep(self, sleep_enabled):
self._bank = 0
sleep(0.005)
self._sleep_reg = sleep_enabled
sleep(0.005)
@property
def acceleration(self):
"""The x, y, z acceleration values returned in a 3-tuple and are in m / s ^ 2."""
self._bank = 0
raw_accel_data = self._raw_accel_data
sleep(0.005)
x = self._scale_xl_data(raw_accel_data[0])
y = self._scale_xl_data(raw_accel_data[1])
z = self._scale_xl_data(raw_accel_data[2])
return (x, y, z)
@property
def gyro(self):
"""The x, y, z angular velocity values returned in a 3-tuple and are in degrees / second"""
self._bank = 0
raw_gyro_data = self._raw_gyro_data
x = self._scale_gyro_data(raw_gyro_data[0])
y = self._scale_gyro_data(raw_gyro_data[1])
z = self._scale_gyro_data(raw_gyro_data[2])
return (x, y, z)
def _scale_xl_data(self, raw_measurement):
sleep(0.005)
return raw_measurement / AccelRange.lsb[self._cached_accel_range] * G_TO_ACCEL
def _scale_gyro_data(self, raw_measurement):
return (
raw_measurement / GyroRange.lsb[self._cached_gyro_range]
) * _ICM20X_RAD_PER_DEG
@property
def accelerometer_range(self):
"""Adjusts the range of values that the sensor can measure, from +/- 4G to +/-30G
Note that larger ranges will be less accurate. Must be an `AccelRange`"""
return self._cached_accel_range
@accelerometer_range.setter
def accelerometer_range(self, value): # pylint: disable=no-member
if not AccelRange.is_valid(value):
raise AttributeError("range must be an `AccelRange`")
self._bank = 2
sleep(0.005)
self._accel_range = value
sleep(0.005)
self._cached_accel_range = value
self._bank = 0
@property
def gyro_range(self):
"""Adjusts the range of values that the sensor can measure, from 500 Degrees/second to 4000
degrees/s. Note that larger ranges will be less accurate. Must be a `GyroRange`"""
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`")
self._bank = 2
sleep(0.005)
self._gyro_range = value
sleep(0.005)
self._cached_gyro_range = value
self._bank = 0
sleep(0.100) # needed to let new range settle
@property
def accelerometer_data_rate_divisor(self):
"""The divisor for the rate at which accelerometer measurements are taken in Hz
Note: The data rates are set indirectly by setting a rate divisor according to the
following formula: ``accelerometer_data_rate = 1125/(1+divisor)``
This function sets the raw rate divisor.
"""
self._bank = 2
raw_rate_divisor = self._accel_rate_divisor
sleep(0.005)
self._bank = 0
# rate_hz = 1125/(1+raw_rate_divisor)
return raw_rate_divisor
@accelerometer_data_rate_divisor.setter
def accelerometer_data_rate_divisor(self, value):
# check that value <= 4095
self._bank = 2
sleep(0.005)
self._accel_rate_divisor = value
sleep(0.005)
@property
def gyro_data_rate_divisor(self):
"""The divisor for the rate at which gyro measurements are taken in Hz
Note: The data rates are set indirectly by setting a rate divisor according to the
following formula: ``gyro_data_rate = 1100/(1+divisor)``
This function sets the raw rate divisor.
"""
self._bank = 2
raw_rate_divisor = self._gyro_rate_divisor
sleep(0.005)
self._bank = 0
# rate_hz = 1100/(1+raw_rate_divisor)
return raw_rate_divisor
@gyro_data_rate_divisor.setter
def gyro_data_rate_divisor(self, value):
# check that value <= 255
self._bank = 2
sleep(0.005)
self._gyro_rate_divisor = value
sleep(0.005)
def _accel_rate_calc(self, divisor): # pylint:disable=no-self-use
return 1125 / (1 + divisor)
def _gyro_rate_calc(self, divisor): # pylint:disable=no-self-use
return 1100 / (1 + divisor)
@property
def accelerometer_data_rate(self):
"""The rate at which accelerometer measurements are taken in Hz
Note: The data rates are set indirectly by setting a rate divisor according to the
following formula: ``accelerometer_data_rate = 1125/(1+divisor)``
This function does the math to find the divisor from a given rate but it will not be
exactly as specified.
"""
return self._accel_rate_calc(self.accelerometer_data_rate_divisor)
@accelerometer_data_rate.setter
def accelerometer_data_rate(self, value):
if value < self._accel_rate_calc(4095) or value > self._accel_rate_calc(0):
raise AttributeError(
"Accelerometer data rate must be between 0.27 and 1125.0"
)
self.accelerometer_data_rate_divisor = value
@property
def gyro_data_rate(self):
"""The rate at which gyro measurements are taken in Hz
Note: The data rates are set indirectly by setting a rate divisor according to the
following formula: ``gyro_data_rate = 1100/(1+divisor)``
This function does the math to find the divisor from a given rate but it will not
be exactly as specified.
"""
return self._gyro_rate_calc(self.gyro_data_rate_divisor)
@gyro_data_rate.setter
def gyro_data_rate(self, value):
if value < self._gyro_rate_calc(4095) or value > self._gyro_rate_calc(0):
raise AttributeError("Gyro data rate must be between 4.30 and 1100.0")
divisor = round(((1125.0 - value) / value))
self.gyro_data_rate_divisor = divisor
@property
def accel_dlpf_cutoff(self):
"""The cutoff frequency for the accelerometer's digital low pass filter. Signals
above the given frequency will be filtered out. Must be an ``AccelDLPFCutoff``.
Use AccelDLPFCutoff.DISABLED to disable the filter
**Note** readings immediately following setting a cutoff frequency will be
inaccurate due to the filter "warming up" """
self._bank = 2
return self._accel_dlpf_config
@accel_dlpf_cutoff.setter
def accel_dlpf_cutoff(self, cutoff_frequency):
if not AccelDLPFFreq.is_valid(cutoff_frequency):
raise AttributeError("accel_dlpf_cutoff must be an `AccelDLPFFreq`")
self._bank = 2
# check for shutdown
if cutoff_frequency is AccelDLPFFreq.DISABLED: # pylint: disable=no-member
self._accel_dlpf_enable = False
return
self._accel_dlpf_enable = True
self._accel_dlpf_config = cutoff_frequency
@property
def gyro_dlpf_cutoff(self):
"""The cutoff frequency for the gyro's digital low pass filter. Signals above the
given frequency will be filtered out. Must be a ``GyroDLPFFreq``. Use
GyroDLPFCutoff.DISABLED to disable the filter
**Note** readings immediately following setting a cutoff frequency will be
inaccurate due to the filter "warming up" """
self._bank = 2
return self._gyro_dlpf_config
@gyro_dlpf_cutoff.setter
def gyro_dlpf_cutoff(self, cutoff_frequency):
if not GyroDLPFFreq.is_valid(cutoff_frequency):
raise AttributeError("gyro_dlpf_cutoff must be a `GyroDLPFFreq`")
self._bank = 2
# check for shutdown
if cutoff_frequency is GyroDLPFFreq.DISABLED: # pylint: disable=no-member
self._gyro_dlpf_enable = False
return
self._gyro_dlpf_enable = True
self._gyro_dlpf_config = cutoff_frequency
@property
def _low_power(self):
self._bank = 0
return self._low_power_en
@_low_power.setter
def _low_power(self, enabled):
self._bank = 0
self._low_power_en = enabled
class VEML7700:
"""Driver for the VEML7700 ambient light sensor.
:param busio.I2C i2c_bus: The I2C bus the VEML7700 is connected to.
"""
# Ambient light sensor gain settings
ALS_GAIN_1 = const(0x0)
ALS_GAIN_2 = const(0x1)
ALS_GAIN_1_8 = const(0x2)
ALS_GAIN_1_4 = const(0x3)
# Ambient light integration time settings
ALS_25MS = const(0xC)
ALS_50MS = const(0x8)
ALS_100MS = const(0x0)
ALS_200MS = const(0x1)
ALS_400MS = const(0x2)
ALS_800MS = const(0x3)
# Gain value integers
gain_values = {
ALS_GAIN_2: 2,
ALS_GAIN_1: 1,
ALS_GAIN_1_4: 0.25,
ALS_GAIN_1_8: 0.125,
}
# Integration time value integers
integration_time_values = {
ALS_25MS: 25,
ALS_50MS: 50,
ALS_100MS: 100,
ALS_200MS: 200,
ALS_400MS: 400,
ALS_800MS: 800,
}
# ALS - Ambient light sensor high resolution output data
light = ROUnaryStruct(0x04, "<H")
"""Ambient light data.
This example prints the ambient light data. Cover the sensor to see the values change.
.. code-block:: python
import time
import board
import busio
import adafruit_veml7700
i2c = busio.I2C(board.SCL, board.SDA)
veml7700 = adafruit_veml7700.VEML7700(i2c)
while True:
print("Ambient light:", veml7700.light)
time.sleep(0.1)
"""
# WHITE - White channel output data
white = ROUnaryStruct(0x05, "<H")
"""White light data.
This example prints the white light data. Cover the sensor to see the values change.
.. code-block:: python
import time
import board
import busio
import adafruit_veml7700
i2c = busio.I2C(board.SCL, board.SDA)
veml7700 = adafruit_veml7700.VEML7700(i2c)
while True:
print("White light:", veml7700.white)
time.sleep(0.1)
"""
# ALS_CONF_0 - ALS gain, integration time, interrupt and shutdown.
light_shutdown = RWBit(0x00, 0, register_width=2)
"""Ambient light sensor shutdown. When ``True``, ambient light sensor is disabled."""
light_interrupt = RWBit(0x00, 1, register_width=2)
"""Enable interrupt. ``True`` to enable, ``False`` to disable."""
light_gain = RWBits(2, 0x00, 11, register_width=2)
"""Ambient light gain setting. Gain settings are 2, 1, 1/4 and 1/8. Settings options are:
ALS_GAIN_2, ALS_GAIN_1, ALS_GAIN_1_4, ALS_GAIN_1_8.
This example sets the ambient light gain to 2 and prints the ambient light sensor data.
.. code-block:: python
import time
import board
import busio
import adafruit_veml7700
i2c = busio.I2C(board.SCL, board.SDA)
veml7700 = adafruit_vcnl4040.VCNL4040(i2c)
veml7700.light_gain = veml7700.ALS_GAIN_2
while True:
print("Ambient light:", veml7700.light)
time.sleep(0.1)
"""
light_integration_time = RWBits(4, 0x00, 6, register_width=2)
"""Ambient light integration time setting. Longer time has higher sensitivity. Can be:
ALS_25MS, ALS_50MS, ALS_100MS, ALS_200MS, ALS_400MS, ALS_800MS.
This example sets the ambient light integration time to 400ms and prints the ambient light
sensor data.
.. code-block:: python
import time
import board
import busio
import adafruit_veml7700
i2c = busio.I2C(board.SCL, board.SDA)
veml7700 = adafruit_vcnl4040.VCNL4040(i2c)
veml7700.light_integration_time = veml7700.ALS_400MS
while True:
print("Ambient light:", veml7700.light)
time.sleep(0.1)
"""
# ALS_WH - ALS high threshold window setting
light_high_threshold = UnaryStruct(0x01, "<H")
"""Ambient light sensor interrupt high threshold setting."""
# ALS_WL - ALS low threshold window setting
light_low_threshold = UnaryStruct(0x02, "<H")
"""Ambient light sensor interrupt low threshold setting."""
# ALS_INT - ALS INT trigger event
light_interrupt_high = ROBit(0x06, 14, register_width=2)
"""Ambient light high threshold interrupt flag. Triggered when high threshold exceeded."""
light_interrupt_low = ROBit(0x06, 15, register_width=2)
"""Ambient light low threshold interrupt flag. Triggered when low threshold exceeded."""
def __init__(self, i2c_bus, address=0x10):
self.i2c_device = i2cdevice.I2CDevice(i2c_bus, address)
self.light_shutdown = False # Enable the ambient light sensor
def integration_time_value(self):
"""Integration time value in integer form. Used for calculating ``resolution``."""
integration_time = self.light_integration_time
return self.integration_time_values[integration_time]
def gain_value(self):
"""Gain value in integer form. Used for calculating ``resolution``."""
gain = self.light_gain
return self.gain_values[gain]
def resolution(self):
"""Calculate the ``resolution`` necessary to calculate lux. Based on integration time and
gain settings."""
resolution_at_max = 0.0036
gain_max = 2
integration_time_max = 800
if (self.gain_value() == gain_max
and self.integration_time_value() == integration_time_max):
return resolution_at_max
return (resolution_at_max *
(integration_time_max / self.integration_time_value()) *
(gain_max / self.gain_value()))
@property
def lux(self):
"""Light value in lux.
This example prints the light data in lux. Cover the sensor to see the values change.
.. code-block:: python
import time
import board
import busio
import adafruit_veml7700
i2c = busio.I2C(board.SCL, board.SDA)
veml7700 = adafruit_veml7700.VEML7700(i2c)
while True:
print("Lux:", veml7700.lux)
time.sleep(0.1)
"""
return self.resolution() * self.light
class MPU6050:
"""Driver for the MPU6050 6-DoF accelerometer and gyroscope.
:param ~busio.I2C i2c_bus: The I2C bus the MPU6050 is connected to.
:param address: The I2C slave address of the sensor
"""
def __init__(self, i2c_bus, address=_MPU6050_DEFAULT_ADDRESS):
self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
if self._device_id != _MPU6050_DEVICE_ID:
raise RuntimeError("Failed to find MPU6050 - check your wiring!")
self.reset()
self._sample_rate_divisor = 0
self._filter_bandwidth = Bandwidth.BAND_260_HZ
self._gyro_range = GyroRange.RANGE_500_DPS
self._accel_range = Range.RANGE_2_G
sleep(0.100)
self._clock_source = 1 # set to use gyro x-axis as reference
sleep(0.100)
self.sleep = False
sleep(0.010)
def reset(self):
"""Reinitialize the sensor"""
self._reset = True
while self._reset is True:
sleep(0.001)
sleep(0.100)
_signal_path_reset = 0b111 # reset all sensors
sleep(0.100)
_clock_source = RWBits(3, _MPU6050_PWR_MGMT_1, 0)
_device_id = ROUnaryStruct(_MPU6050_WHO_AM_I, ">B")
_reset = RWBit(_MPU6050_PWR_MGMT_1, 7, 1)
_signal_path_reset = RWBits(3, _MPU6050_SIG_PATH_RESET, 3)
_gyro_range = RWBits(2, _MPU6050_GYRO_CONFIG, 3)
_accel_range = RWBits(2, _MPU6050_ACCEL_CONFIG, 3)
_filter_bandwidth = RWBits(2, _MPU6050_CONFIG, 3)
_raw_accel_data = StructArray(_MPU6050_ACCEL_OUT, ">h", 3)
_raw_gyro_data = StructArray(_MPU6050_GYRO_OUT, ">h", 3)
_raw_temp_data = ROUnaryStruct(_MPU6050_TEMP_OUT, ">h")
_cycle = RWBit(_MPU6050_PWR_MGMT_1, 5)
_cycle_rate = RWBits(2, _MPU6050_PWR_MGMT_2, 6, 1)
sleep = RWBit(_MPU6050_PWR_MGMT_1, 6, 1)
"""Shuts down the accelerometers and gyroscopes, saving power. No new data will
be recorded until the sensor is taken out of sleep by setting to `False`"""
sample_rate_divisor = UnaryStruct(_MPU6050_SMPLRT_DIV, ">B")
"""The sample rate divisor. See the datasheet for additional detail"""
@property
def temperature(self):
"""The current temperature in º C"""
raw_temperature = self._raw_temp_data
temp = (raw_temperature / 340.0) + 36.53
return temp
@property
def acceleration(self):
"""Acceleration X, Y, and Z axis data in m/s^2"""
raw_data = self._raw_accel_data
raw_x = raw_data[0][0]
raw_y = raw_data[1][0]
raw_z = raw_data[2][0]
accel_range = self._accel_range
accel_scale = 1
if accel_range == Range.RANGE_16_G:
accel_scale = 2048
if accel_range == Range.RANGE_8_G:
accel_scale = 4096
if accel_range == Range.RANGE_4_G:
accel_scale = 8192
if accel_range == Range.RANGE_2_G:
accel_scale = 16384
# setup range dependant scaling
accel_x = (raw_x / accel_scale) * STANDARD_GRAVITY
accel_y = (raw_y / accel_scale) * STANDARD_GRAVITY
accel_z = (raw_z / accel_scale) * STANDARD_GRAVITY
return (accel_x, accel_y, accel_z)
@property
def gyro(self):
"""Gyroscope X, Y, and Z axis data in º/s"""
raw_data = self._raw_gyro_data
raw_x = raw_data[0][0]
raw_y = raw_data[1][0]
raw_z = raw_data[2][0]
gyro_scale = 1
gyro_range = self._gyro_range
if gyro_range == GyroRange.RANGE_250_DPS:
gyro_scale = 131
if gyro_range == GyroRange.RANGE_500_DPS:
gyro_scale = 65.5
if gyro_range == GyroRange.RANGE_1000_DPS:
gyro_scale = 32.8
if gyro_range == GyroRange.RANGE_2000_DPS:
gyro_scale = 16.4
# setup range dependant scaling
gyro_x = (raw_x / gyro_scale)
gyro_y = (raw_y / gyro_scale)
gyro_z = (raw_z / gyro_scale)
return (gyro_x, gyro_y, gyro_z)
@property
def cycle(self):
"""Enable or disable perodic measurement at a rate set by `cycle_rate`.
If the sensor was in sleep mode, it will be waken up to cycle"""
return self._cycle
@cycle.setter
def cycle(self, value):
self.sleep = not value
self._cycle = value
@property
def gyro_range(self):
"""The measurement range of all gyroscope axes. Must be a `GyroRange`"""
return self._gyro_range
@gyro_range.setter
def gyro_range(self, value):
if (value < 0) or (value > 3):
raise ValueError("gyro_range must be a GyroRange")
self._gyro_range = value
sleep(0.01)
@property
def accelerometer_range(self):
"""The measurement range of all accelerometer axes. Must be a `Range`"""
return self._accel_range
@accelerometer_range.setter
def accelerometer_range(self, value):
if (value < 0) or (value > 3):
raise ValueError("accelerometer_range must be a Range")
self._accel_range = value
sleep(0.01)
@property
def filter_bandwidth(self):
"""The bandwidth of the gyroscope Digital Low Pass Filter. Must be a `GyroRange`"""
return self._filter_bandwidth
@filter_bandwidth.setter
def filter_bandwidth(self, value):
if (value < 0) or (value > 6):
raise ValueError("filter_bandwidth must be a Bandwidth")
self._filter_bandwidth = value
sleep(0.01)
@property
def cycle_rate(self):
"""The rate that measurements are taken while in `cycle` mode. Must be a `Rate`"""
return self._cycle_rate
@cycle_rate.setter
def cycle_rate(self, value):
if (value < 0) or (value > 3):
raise ValueError("cycle_rate must be a Rate")
self._cycle_rate = value
sleep(0.01)
class DPS310:
# pylint: disable=too-many-instance-attributes
"""Library for the DPS310 Precision Barometric Pressure Sensor.
Depending on your board memory availability you could use DPS310_Advanced.
:param ~busio.I2C i2c_bus: The I2C bus the DPS310 is connected to.
:param int address: The I2C device address. Defaults to :const:`0x77`
**Quickstart: Importing and using the DPS310**
Here is an example of using the :class:`DPS310` class.
First you will need to import the libraries to use the sensor
.. code-block:: python
import board
from adafruit_dps310.basic import DPS310
Once this is done you can define your `board.I2C` object and define your sensor object
.. code-block:: python
i2c = board.I2C() # uses board.SCL and board.SDA
dps310 = DPS310(i2c)
Now you have access to the :attr:`temperature` and :attr:`pressure` attributes.
.. code-block:: python
temperature = dps310.temperature
pressure = dps310.pressure
"""
# Register definitions
_device_id = ROUnaryStruct(_DPS310_PRODREVID, ">B")
_reset_register = UnaryStruct(_DPS310_RESET, ">B")
_mode_bits = RWBits(3, _DPS310_MEASCFG, 0) #
_pressure_osbits = RWBits(4, _DPS310_PRSCFG, 0)
_temp_osbits = RWBits(4, _DPS310_TMPCFG, 0)
_temp_measurement_src_bit = RWBit(_DPS310_TMPCFG, 7)
_pressure_shiftbit = RWBit(_DPS310_CFGREG, 2)
_temp_shiftbit = RWBit(_DPS310_CFGREG, 3)
_coefficients_ready = RWBit(_DPS310_MEASCFG, 7)
_sensor_ready = RWBit(_DPS310_MEASCFG, 6)
_temp_ready = RWBit(_DPS310_MEASCFG, 5)
_pressure_ready = RWBit(_DPS310_MEASCFG, 4)
_raw_pressure = ROBits(24, _DPS310_PRSB2, 0, 3, lsb_first=False)
_raw_temperature = ROBits(24, _DPS310_TMPB2, 0, 3, lsb_first=False)
_calib_coeff_temp_src_bit = ROBit(_DPS310_TMPCOEFSRCE, 7)
_reg0e = RWBits(8, 0x0E, 0)
_reg0f = RWBits(8, 0x0F, 0)
_reg62 = RWBits(8, 0x62, 0)
def __init__(self, i2c_bus, address=_DPS310_DEFAULT_ADDRESS):
self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
if self._device_id != _DPS310_DEVICE_ID:
raise RuntimeError("Failed to find DPS310 - check your wiring!")
self._pressure_scale = None
self._temp_scale = None
self._c0 = None
self._c1 = None
self._c00 = None
self._c00 = None
self._c10 = None
self._c10 = None
self._c01 = None
self._c11 = None
self._c20 = None
self._c21 = None
self._c30 = None
self._oversample_scalefactor = (
524288,
1572864,
3670016,
7864320,
253952,
516096,
1040384,
2088960,
)
self._sea_level_pressure = 1013.25
self.initialize()
def initialize(self):
"""Initialize the sensor to continuous measurement"""
self.reset()
self._pressure_osbits = 6
self._pressure_shiftbit = True
self._pressure_scale = self._oversample_scalefactor[6]
self._temp_osbits = 6
self._temp_scale = self._oversample_scalefactor[6]
self._temp_shiftbit = True
self._mode_bits = 7
# wait until we have at least one good measurement
self.wait_temperature_ready()
self.wait_pressure_ready()
# (https://github.com/Infineon/DPS310-Pressure-Sensor#temperature-measurement-issue)
# similar to DpsClass::correctTemp(void) from infineon's c++ library
def _correct_temp(self):
"""Correct temperature readings on ICs with a fuse bit problem"""
self._reg0e = 0xA5
self._reg0f = 0x96
self._reg62 = 0x02
self._reg0e = 0
self._reg0f = 0
# perform a temperature measurement
# the most recent temperature will be saved internally
# and used for compensation when calculating pressure
_unused = self._raw_temperature
def reset(self):
"""Reset the sensor"""
self._reset_register = 0x89
# wait for hardware reset to finish
sleep(0.010)
while not self._sensor_ready:
sleep(0.001)
self._correct_temp()
self._read_calibration()
# make sure we're using the temperature source used for calibration
self._temp_measurement_src_bit = self._calib_coeff_temp_src_bit
@property
def pressure(self):
"""Returns the current pressure reading in kPA"""
temp_reading = self._raw_temperature
raw_temperature = self._twos_complement(temp_reading, 24)
pressure_reading = self._raw_pressure
raw_pressure = self._twos_complement(pressure_reading, 24)
_scaled_rawtemp = raw_temperature / self._temp_scale
_temperature = _scaled_rawtemp * self._c1 + self._c0 / 2.0
p_red = raw_pressure / self._pressure_scale
pres_calc = (self._c00 + p_red * (self._c10 + p_red *
(self._c20 + p_red * self._c30)) +
_scaled_rawtemp * (self._c01 + p_red *
(self._c11 + p_red * self._c21)))
final_pressure = pres_calc / 100
return final_pressure
@property
def altitude(self):
"""The altitude based on the sea level pressure (:attr:`sea_level_pressure`) -
which you must enter ahead of time)"""
return 44330 * (
1.0 - math.pow(self.pressure / self._sea_level_pressure, 0.1903))
@property
def temperature(self):
"""The current temperature reading in degrees Celsius"""
_scaled_rawtemp = self._raw_temperature / self._temp_scale
_temperature = _scaled_rawtemp * self._c1 + self._c0 / 2.0
return _temperature
@property
def sea_level_pressure(self):
"""The local sea level pressure in hectoPascals (aka millibars). This is used
for calculation of :attr:`altitude`. Values are typically in the range
980 - 1030."""
return self._sea_level_pressure
@sea_level_pressure.setter
def sea_level_pressure(self, value):
self._sea_level_pressure = value
def wait_temperature_ready(self):
"""Wait until a temperature measurement is available."""
while self._temp_ready is False:
sleep(0.001)
def wait_pressure_ready(self):
"""Wait until a pressure measurement is available"""
while self._pressure_ready is False:
sleep(0.001)
@staticmethod
def _twos_complement(val, bits):
if val & (1 << (bits - 1)):
val -= 1 << bits
return val
def _read_calibration(self):
while not self._coefficients_ready:
sleep(0.001)
buffer = bytearray(19)
coeffs = [None] * 18
for offset in range(18):
buffer = bytearray(2)
buffer[0] = 0x10 + offset
with self.i2c_device as i2c:
i2c.write_then_readinto(buffer, buffer, out_end=1, in_start=1)
coeffs[offset] = buffer[1]
self._c0 = (coeffs[0] << 4) | ((coeffs[1] >> 4) & 0x0F)
self._c0 = self._twos_complement(self._c0, 12)
self._c1 = self._twos_complement(((coeffs[1] & 0x0F) << 8) | coeffs[2],
12)
self._c00 = (coeffs[3] << 12) | (coeffs[4] << 4) | (
(coeffs[5] >> 4) & 0x0F)
self._c00 = self._twos_complement(self._c00, 20)
self._c10 = ((coeffs[5] & 0x0F) << 16) | (coeffs[6] << 8) | coeffs[7]
self._c10 = self._twos_complement(self._c10, 20)
self._c01 = self._twos_complement((coeffs[8] << 8) | coeffs[9], 16)
self._c11 = self._twos_complement((coeffs[10] << 8) | coeffs[11], 16)
self._c20 = self._twos_complement((coeffs[12] << 8) | coeffs[13], 16)
self._c21 = self._twos_complement((coeffs[14] << 8) | coeffs[15], 16)
self._c30 = self._twos_complement((coeffs[16] << 8) | coeffs[17], 16)
class LIS331:
# pylint:disable=too-many-instance-attributes
"""Base class for the LIS331 family of 3-axis accelerometers.
**Cannot be instantiated directly**
:param ~busio.I2C i2c_bus: The I2C bus the LIS331 is connected to.
:param address: The I2C slave address of the sensor
"""
_chip_id = ROUnaryStruct(_LIS331_REG_WHOAMI, "<B")
_mode_and_odr_bits = RWBits(5, _LIS331_REG_CTRL1, 3)
_power_mode_bits = RWBits(3, _LIS331_REG_CTRL1, 5)
_data_rate_lpf_bits = RWBits(2, _LIS331_REG_CTRL1, 3)
_range_bits = RWBits(2, _LIS331_REG_CTRL4, 4)
_raw_acceleration = ROByteArray((_LIS331_REG_OUT_X_L | 0x80), "<hhh", 6)
_reference_value = UnaryStruct(_LIS331_REG_REFERENCE, "<b")
_zero_hpf = ROUnaryStruct(_LIS331_REG_HP_FILTER_RESET, "<b")
_hpf_mode_bits = RWBit(_LIS331_REG_CTRL2, 5)
_hpf_enable_bit = RWBit(_LIS331_REG_CTRL2, 4)
_hpf_cutoff = RWBits(2, _LIS331_REG_CTRL2, 0)
def __init__(self, i2c_bus, address=_LIS331_DEFAULT_ADDRESS):
if (not isinstance(self, LIS331HH)) and (not isinstance(
self, H3LIS331)):
raise RuntimeError(
"Base class LIS331 cannot be instantiated directly. Use LIS331HH or H3LIS331"
)
self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
if self._chip_id != _LIS331_CHIP_ID:
raise RuntimeError("Failed to find %s - check your wiring!" %
self.__class__.__name__)
self._range_class = None
self.enable_hpf(False)
@property
def lpf_cutoff(self):
"""The frequency above which signals will be filtered out"""
if self.mode == Mode.NORMAL: # pylint: disable=no-member
raise RuntimeError(
"lpf_cuttoff cannot be read while a NORMAL data rate is in use"
)
return self._data_rate_lpf_bits
@lpf_cutoff.setter
def lpf_cutoff(self, cutoff_freq):
if not Frequency.is_valid(cutoff_freq):
raise AttributeError("lpf_cutoff must be a `Frequency`")
if self.mode == Mode.NORMAL: # pylint: disable=no-member
raise RuntimeError(
"lpf_cuttoff cannot be set while a NORMAL data rate is in use")
self._data_rate_lpf_bits = cutoff_freq
@property
def hpf_reference(self):
"""The reference value to offset measurements when using the High-pass filter. To use,
``use_reference`` must be set to true when enabling the high-pass filter. The value
is a signed 8-bit number from -128 to 127. The value of each increment of 1 depends on the
currently set measurement range and is approximate:
#pylint: disable=line-too-long
+-------------------------------------------------------------+-------------------------------+
| Range | Incremental value (LSB value) |
+-------------------------------------------------------------+-------------------------------+
| ``LIS331HHRange.RANGE_6G`` or ``H3LIS331Range.RANGE_100G`` | ~16mg |
+-------------------------------------------------------------+-------------------------------+
| ``LIS331HHRange.RANGE_12G`` or ``H3LIS331Range.RANGE_200G`` | ~31mg |
+-------------------------------------------------------------+-------------------------------+
| ``LIS331HHRange.RANGE_24G`` or ``H3LIS331Range.RANGE_400G`` | ~63mg |
+-------------------------------------------------------------+-------------------------------+
#pylint: enable=line-too-long
"""
return self._reference_value
@hpf_reference.setter
def hpf_reference(self, reference_value):
if reference_value < -128 or reference_value > 127:
raise AttributeError("`hpf_reference` must be from -128 to 127")
self._reference_value = reference_value
def zero_hpf(self):
"""When the high-pass filter is enabled with ``use_reference=False``, calling ``zero_hpf``
will set all measurements to zero immediately, avoiding the normal settling time seen when
using the high-pass filter without a ``hpf_reference``
"""
self._zero_hpf # pylint: disable=pointless-statement
def enable_hpf(self,
enabled=True,
cutoff=RateDivisor.ODR_DIV_50,
use_reference=False): # pylint: disable=no-member
"""Enable or disable the high-pass filter.
:param enabled: Enable or disable the filter. Default is `True` to enable
:param ~RateDivisor cutoff: A `RateDivisor` to set the high-pass cutoff frequency. Default\
is ``RateDivisor.ODR_DIV_50``. See ``RateDivisor`` for more information
:param use_reference: Determines if the filtered measurements are offset by a reference\
value. Default is false.
See section **4** of the LIS331DLH application note for more information `LIS331DLH application\
note for more information <https://www.st.com/content/ccc/resource/technical/document/\
application_note/b5/8e/58/69/cb/87/45/55/CD00215823.pdf/files/CD00215823.pdf/jcr:content/\
translations/en.CD00215823.pdf>`_
"""
self._hpf_mode_bits = use_reference
self._hpf_cutoff = cutoff
self._hpf_enable_bit = enabled
@property
def data_rate(self):
"""Select the rate at which the accelerometer takes measurements. Must be a `Rate`"""
return self._cached_data_rate
@data_rate.setter
def data_rate(self, new_rate_bits):
if not Rate.is_valid(new_rate_bits):
raise AttributeError("data_rate must be a `Rate`")
# to determine what to be set we'll look at the mode to so we don't overwrite the filter
new_mode = self._mode_and_rate(new_rate_bits)[0]
if new_mode == Mode.NORMAL: # pylint: disable=no-member
self._mode_and_odr_bits = new_rate_bits
else:
self._power_mode_bits = new_mode
self._cached_data_rate = new_mode << 2 | new_rate_bits
@property
def mode(self):
"""The `Mode` power mode that the sensor is set to, as determined by the current
`data_rate`. To set the mode, use `data_rate` and the approprite `Rate`"""
mode_bits = self._mode_and_rate()[0]
return mode_bits
def _mode_and_rate(self, data_rate=None):
if data_rate is None:
data_rate = self._cached_data_rate
pm_value = (data_rate & 0x1C) >> 2
dr_value = data_rate & 0x3
if pm_value is Mode.LOW_POWER: # pylint: disable=no-member
dr_value = 0
return (pm_value, dr_value)
@property
def range(self):
"""Adjusts the range of values that the sensor can measure, Note that larger ranges will be
less accurate. Must be a `H3LIS331Range` or `LIS331HHRange`"""
return self._range_bits
@range.setter
def range(self, new_range):
if not self._range_class.is_valid(new_range): # pylint: disable=no-member
raise AttributeError("range must be a `%s`" %
self._range_class.__qualname__)
self._range_bits = new_range
self._cached_accel_range = new_range
sleep(0.010) # give time for the new rate to settle
@property
def acceleration(self):
"""The x, y, z acceleration values returned in a 3-tuple and are in m / s ^ 2."""
raw_acceleration_bytes = self._raw_acceleration
return (
self._scale_acceleration(raw_acceleration_bytes[0]),
self._scale_acceleration(raw_acceleration_bytes[1]),
self._scale_acceleration(raw_acceleration_bytes[2]),
)
def _scale_acceleration(self, value):
# The measurements are 12 bits left justified to preserve the sign bit
# so we'll shift them back to get the real value
right_justified = value >> 4
lsb_value = self._range_class.lsb[self._cached_accel_range]
return right_justified * lsb_value
class INA260:
"""Driver for the INA260 power and current sensor.
:param ~busio.I2C i2c_bus: The I2C bus the INA260 is connected to.
:param int address: The I2C device address for the sensor. Default is ``0x40``.
"""
def __init__(self, i2c_bus: I2C, address: int = 0x40) -> None:
self.i2c_device = i2cdevice.I2CDevice(i2c_bus, address)
if self._manufacturer_id != self.TEXAS_INSTRUMENT_ID:
raise RuntimeError(
"Failed to find Texas Instrument ID, read " +
f"{self._manufacturer_id} while expected {self.TEXAS_INSTRUMENT_ID}"
" - check your wiring!")
if self._device_id != self.INA260_ID:
raise RuntimeError(
"Failed to find INA260 ID, read {self._device_id} while expected {self.INA260_ID}"
" - check your wiring!")
_raw_current = ROUnaryStruct(_REG_CURRENT, ">h")
_raw_voltage = ROUnaryStruct(_REG_BUSVOLTAGE, ">H")
_raw_power = ROUnaryStruct(_REG_POWER, ">H")
# MASK_ENABLE fields
overcurrent_limit = RWBit(_REG_MASK_ENABLE, 15, 2, False)
"""Setting this bit high configures the ALERT pin to be asserted if the current measurement
following a conversion exceeds the value programmed in the Alert Limit Register.
"""
under_current_limit = RWBit(_REG_MASK_ENABLE, 14, 2, False)
"""Setting this bit high configures the ALERT pin to be asserted if the current measurement
following a conversion drops below the value programmed in the Alert Limit Register.
"""
bus_voltage_over_voltage = RWBit(_REG_MASK_ENABLE, 13, 2, False)
"""Setting this bit high configures the ALERT pin to be asserted if the bus voltage measurement
following a conversion exceeds the value programmed in the Alert Limit Register.
"""
bus_voltage_under_voltage = RWBit(_REG_MASK_ENABLE, 12, 2, False)
"""Setting this bit high configures the ALERT pin to be asserted if the bus voltage measurement
following a conversion drops below the value programmed in the Alert Limit Register.
"""
power_over_limit = RWBit(_REG_MASK_ENABLE, 11, 2, False)
"""Setting this bit high configures the ALERT pin to be asserted if the Power calculation
made following a bus voltage measurement exceeds the value programmed in the
Alert Limit Register.
"""
conversion_ready = RWBit(_REG_MASK_ENABLE, 10, 2, False)
"""Setting this bit high configures the ALERT pin to be asserted when the Conversion Ready Flag,
Bit 3, is asserted indicating that the device is ready for the next conversion.
"""
# from 5 to 9 are not used
alert_function_flag = ROBit(_REG_MASK_ENABLE, 4, 2, False)
"""While only one Alert Function can be monitored at the ALERT pin at time, the
Conversion Ready can also be enabled to assert the ALERT pin.
Reading the Alert Function Flag following an alert allows the user to determine if the Alert
Function was the source of the Alert.
When the Alert Latch Enable bit is set to Latch mode, the Alert Function Flag bit
clears only when the Mask/Enable Register is read.
When the Alert Latch Enable bit is set to Transparent mode, the Alert Function Flag bit
is cleared following the next conversion that does not result in an Alert condition.
"""
_conversion_ready_flag = ROBit(_REG_MASK_ENABLE, 3, 2, False)
"""Bit to help coordinate one-shot or triggered conversion. This bit is set after all
conversion, averaging, and multiplication are complete.
Conversion Ready flag bit clears when writing the configuration register or
reading the Mask/Enable register.
"""
math_overflow_flag = ROBit(_REG_MASK_ENABLE, 2, 2, False)
"""This bit is set to 1 if an arithmetic operation resulted in an overflow error.
"""
alert_polarity_bit = RWBit(_REG_MASK_ENABLE, 1, 2, False)
"""Active-high open collector when True, Active-low open collector when false (default).
"""
alert_latch_enable = RWBit(_REG_MASK_ENABLE, 0, 2, False)
"""Configures the latching feature of the ALERT pin and Alert Flag Bits.
"""
reset_bit = RWBit(_REG_CONFIG, 15, 2, False)
"""Setting this bit t 1 generates a system reset. Reset all registers to default values."""
averaging_count = RWBits(3, _REG_CONFIG, 9, 2, False)
"""The window size of the rolling average used in continuous mode"""
voltage_conversion_time = RWBits(3, _REG_CONFIG, 6, 2, False)
"""The conversion time taken for the bus voltage measurement"""
current_conversion_time = RWBits(3, _REG_CONFIG, 3, 2, False)
"""The conversion time taken for the current measurement"""
mode = RWBits(3, _REG_CONFIG, 0, 2, False)
"""The mode that the INA260 is operating in. Must be one of
``Mode.CONTINUOUS``, ``Mode.TRIGGERED``, or ``Mode.SHUTDOWN``
"""
mask_enable = RWBits(16, _REG_MASK_ENABLE, 0, 2, False)
"""The Mask/Enable Register selects the function that is enabled to control the ALERT pin as
well as how that pin functions.
If multiple functions are enabled, the highest significant bit
position Alert Function (D15-D11) takes priority and responds to the Alert Limit Register.
"""
alert_limit = RWBits(16, _REG_ALERT_LIMIT, 0, 2, False)
"""The Alert Limit Register contains the value used to compare to the register selected in the
Mask/Enable Register to determine if a limit has been exceeded.
The format for this register will match the format of the register that is selected for
comparison.
"""
TEXAS_INSTRUMENT_ID = const(0x5449)
INA260_ID = const(0x227)
_manufacturer_id = ROUnaryStruct(_REG_MFG_UID, ">H")
"""Manufacturer identification bits"""
_device_id = ROBits(12, _REG_DIE_UID, 4, 2, False)
"""Device identification bits"""
revision_id = ROBits(4, _REG_DIE_UID, 0, 2, False)
"""Device revision identification bits"""
@property
def current(self) -> float:
"""The current (between V+ and V-) in mA"""
if self.mode == Mode.TRIGGERED:
while self._conversion_ready_flag == 0:
pass
return self._raw_current * 1.25
@property
def voltage(self) -> float:
"""The bus voltage in V"""
if self.mode == Mode.TRIGGERED:
while self._conversion_ready_flag == 0:
pass
return self._raw_voltage * 0.00125
@property
def power(self) -> int:
"""The power being delivered to the load in mW"""
if self.mode == Mode.TRIGGERED:
while self._conversion_ready_flag == 0:
pass
return self._raw_power * 10