def _init_gyroscope(self):
"""Initialize the gyroscope according to the settings document sent in."""
# TODO: Better init handling!
reg1_value = (
LSM9DS0.get_gyroscope_data_rate_bits(self._gyro_setup.get('data_rate')) +
LSM9DS0.get_gyroscope_bandwidth_bits(self._gyro_setup.get('bandwidth_level')) +
('0' if self._gyro_setup.get('powerdown_mode') else '1') +
('1' if self._gyro_setup.get('enabled_z') else '0') +
('1' if self._gyro_setup.get('enabled_y') else '0') +
('1' if self._gyro_setup.get('enabled_x') else '0')
)
self._write(LSM9DS0.GYR_ADDRESS, LSM9DS0.CTRL_REG1_G, int(reg1_value, 2))
# TODO: Add setup for high-pass filter, LSM9DS0.CTRL_REG2_G and LSM9DS0.CTRL_REG5_G
reg4_value = (
('0' if self._gyro_setup.get('continuous_update') else '1') +
('1' if self._gyro_setup.get('little_endian') else '0') +
LSM9DS0.get_gyroscope_full_scale_bits(self._gyro_setup.get('full_scale')) +
'0' + # Unused bit.
LSM9DS0.get_gyroscope_self_test_bits(self._gyro_setup.get('self_test')) +
'0' # SPI Serial Interface Mode selection
)
self._write(LSM9DS0.GYR_ADDRESS, LSM9DS0.CTRL_REG4_G, int(reg4_value, 2))
def _init_magnetometer(self):
"""Initialize the magnetometer according to the settings document sent in."""
reg5_value = (
('1' if self._mag_setup.get('enabled_temp') else '0') +
('11' if self._mag_setup.get('high_resolution') else '00') +
LSM9DS0.get_magnetometer_data_rate_bits(self._mag_setup.get('data_rate')) +
'00' # Latch interrupts disabled right.
)
self._write(LSM9DS0.MAG_ADDRESS, LSM9DS0.CTRL_REG5_XM, int(reg5_value, 2))
reg6_value = (
'0' + # Unused bits
LSM9DS0.get_magnetometer_full_scale_bits(self._mag_setup.get('full_scale')) +
'00000' # Unused bits
)
self._write(LSM9DS0.MAG_ADDRESS, LSM9DS0.CTRL_REG6_XM, int(reg6_value, 2))
reg7_value = (
'00' + # Accelerometer high-pass filter disabled.
'0' + # Filtered acceleration data selection bypassed.
'00' + # Unused bits
('1' if self._mag_setup.get('lowpower_mode') else '0') +
LSM9DS0.get_magnetometer_sensor_mode_bits(self._mag_setup.get('sensor_mode'))
)
self._write(LSM9DS0.MAG_ADDRESS, LSM9DS0.CTRL_REG7_XM, int(reg7_value, 2))
def _init_accelerometer(self):
"""Initialize the accelerometer according to the settings document sent in."""
# TODO: Better init handling!
reg1_value = (
LSM9DS0.get_accelerometer_data_rate_bits(self._acc_setup.get('data_rate')) +
('0' if self._acc_setup.get('continuous_update') else '1') +
('1' if self._acc_setup.get('enabled_z') else '0') +
('1' if self._acc_setup.get('enabled_y') else '0') +
('1' if self._acc_setup.get('enabled_x') else '0')
)
# Write data rate, enabled axes and block data update.
self._write(LSM9DS0.ACC_ADDRESS, LSM9DS0.CTRL_REG1_XM, int(reg1_value, 2))
reg2_value = (
LSM9DS0.get_accelerometer_anti_alias_filter_bits(self._acc_setup.get('anti_alias')) +
LSM9DS0.get_accelerometer_full_scale_bits(self._acc_setup.get('full_scale')) +
LSM9DS0.get_accelerometer_self_test_bits(self._acc_setup.get('self_test')) +
'0' # SPI Serial Interface Mode selection
)
# Write anti-alias filter bandwidth, acceleration full scale and self-test mode.
self._write(LSM9DS0.ACC_ADDRESS, LSM9DS0.CTRL_REG2_XM, int(reg2_value, 2))
