def get_temp(i2c: busio.I2C) -> int:
"""
MSB 0x31
LSB 0x31
8 LSB / deg - 12 bit resolution
"""
read_temp = bytearray(2)
i2c.writeto_then_readfrom(MAG_DEVICE_ADDRESS, bytes(
[TEMP_OUT_H_M]), read_temp, stop=True)
# print(f"Raw Temp: {hex(read_temp[0])} : {hex(read_temp[1])}")
p = (read_temp[0] << 8) | (read_temp[1] >> 3)
return (p >> 4)
def get_magnetometer(i2c: busio.I2C):
read_mag = bytearray(6)
i2c.writeto_then_readfrom(MAG_DEVICE_ADDRESS, bytes(
[OUT_X_H_M]), read_mag, stop=True)
# print(f"Raw Magnetometer: {hex(read_mag[1])} : {hex(read_mag[0])}")
# print(f"Raw Magnetometer: {hex(read_mag[3])} : {hex(read_mag[2])}")
# print(f"Raw Magnetometer: {hex(read_mag[5])} : {hex(read_mag[4])}")
mag_x = read_mag[1] << 8 | read_mag[0]
mag_z = read_mag[3] << 8 | read_mag[2]
mag_y = read_mag[5] << 8 | read_mag[4]
return (mag_x, mag_y, mag_z)
def get_accelerometer(i2c: busio.I2C):
read_acc = bytearray(6)
i2c.writeto_then_readfrom(ACC_DEVICE_ADDRESS, bytes(
[OUT_X_L_A]), read_acc, stop=True)
# 0x1000 0000
# print(f"Raw Accelerometer: {hex(read_acc[1])} : {hex(read_acc[0])}")
# print(f"Raw Accelerometer: {hex(read_acc[3])} : {hex(read_acc[2])}")
# print(f"Raw Accelerometer: {hex(read_acc[5])} : {hex(read_acc[4])}")
acc_x = read_acc[1] << 8 | read_acc[0]
acc_y = read_acc[3] << 8 | read_acc[2]
acc_z = read_acc[5] << 8 | read_acc[4]
return (acc_x, acc_y, acc_z)
def init(i2c: busio.I2C):
ctrl_reg1_a_value = ((9 << 4) | (1 << 0) | (1 << 1) | (1 << 2))
i2c.writeto(ACC_DEVICE_ADDRESS, bytes([CTRL_REG1_A, ctrl_reg1_a_value]))
ctrl_reg4_a_value = (1 << 3)
i2c.writeto(ACC_DEVICE_ADDRESS, bytes([CTRL_REG4_A, ctrl_reg4_a_value]))
cra_reg_m = (1 << 7) | (0x4 << 2)
i2c.writeto(MAG_DEVICE_ADDRESS, bytes([CRA_REG_M, cra_reg_m]))
crb_read_m_data = bytearray(1)
i2c.writeto_then_readfrom(MAG_DEVICE_ADDRESS, bytes(
[CRB_REG_M]), crb_read_m_data, stop=True)
print(f"CRB_REG_M: {hex(crb_read_m_data[0])}")
mr_reg_m = (0)
i2c.writeto(MAG_DEVICE_ADDRESS, bytes([MR_REG_M, mr_reg_m]))
def _eeprom_i2c_read_byte(i2c: busio.I2C,
i2c_addr: int,
mem_addr: int,
timeout: float = 1.0) -> Tuple[bool, bytearray]:
# Make sure address is only one byte:
if mem_addr > 255:
return False, bytearray()
# Try writing to address (EEPROM is unresponsive while writing)
if not _eeprom_i2c_wait(i2c, i2c_addr, mem_addr, timeout):
return False, bytearray()
# Finish the read
buf = bytearray(1)
i2c.writeto_then_readfrom(i2c_addr, bytearray([mem_addr]), buf)
return True, buf