class BQ25883:
_pn = ROBits(4, _PART_INFO, 3, 1, False)
_fault_status = ROBits(8, _FAULT_STAT, 0, 1, False)
_chrgr_status1 = ROBits(8, _CHRG_STAT1, 0, 1, False)
_chrgr_status2 = ROBits(8, _CHRG_STAT2, 0, 1, False)
_chrg_status = ROBits(3, _CHRG_STAT1, 0, 1, False)
_otg_ctrl = ROBits(8, _OTG_CTRL, 0, 1, False)
_chrg_ctrl2 = ROBits(8, _CHRGR_CRTL2, 0, 1, False)
_wdt = RWBits(2, _CHRGR_CRTL1, 4, 1, False)
_ntc_stat = RWBits(3, _NTC_STAT, 0, 1, False)
_pfm_dis = RWBit(_CHRGR_CRTL3, 7, 1, False)
_en_chrg = RWBit(_CHRGR_CRTL2, 3, 1, False)
_reg_rst = RWBit(_PART_INFO, 7, 1, False)
_stat_dis = RWBit(_CHRGR_CRTL1, 6, 1, False)
_inlim = RWBit(_CHRGI_LIM, 6, 1, False)
def __init__(self, i2c_bus, addr=0x6B):
self.i2c_device = I2CDevice(i2c_bus, addr)
self.i2c_addr = addr
assert self._pn == 3, "Unable to find BQ25883"
@property
def status(self):
print('Fault:', bin(self._fault_status))
print('Charger Status 1:', bin(self._chrgr_status1))
print('Charger Status 2:', bin(self._chrgr_status2))
print('Charge Status:', bin(self._chrg_status))
print('Charge Control2:', bin(self._chrg_ctrl2))
print('NTC Status:', bin(self._ntc_stat))
print('OTG:', hex(self._otg_ctrl))
@property
def charging(self):
print('Charge Control2:', bin(self._chrg_ctrl2))
@charging.setter
def charging(self, value):
assert type(value) == bool
self._en_chrg = value
@property
def wdt(self):
print('Watchdog Timer:', bin(self._wdt))
@wdt.setter
def wdt(self, value):
if not value:
self._wdt = 0
else:
self._wdt = value
@property
def led(self):
print('Status LED:', bin(self._stat_dis))
@led.setter
def led(self, value):
assert type(value) == bool
self._stat_dis = not value
class LPS25(LPS2X):
"""Library for the ST LPS25 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.
"""
enabled = RWBit(_LPS25_CTRL_REG1, 7)
"""Controls the power down state of the sensor. Setting to `False` will shut the sensor down"""
_reset = RWBit(_LPS25_CTRL_REG2, 2)
_data_rate = RWBits(3, _LPS25_CTRL_REG1, 4)
def __init__(self, i2c_bus, address=_LPS2X_DEFAULT_ADDRESS):
Rate.add_values((
("LPS25_RATE_ONE_SHOT", 0, 0, None),
("LPS25_RATE_1_HZ", 1, 1, None),
("LPS25_RATE_7_HZ", 2, 7, None),
("LPS25_RATE_12_5_HZ", 3, 12.5, None),
("LPS25_RATE_25_HZ", 4, 25, None),
))
super().__init__(i2c_bus, address, chip_id=_LPS25HB_CHIP_ID)
self._temp_scaling = 480
self._temp_offset = 42.5
# self._inc_spi_flag = 0x40
def initialize(self):
"""Configure the sensor with the default settings. For use after calling `reset()`"""
self.enabled = True
self.data_rate = Rate.LPS25_RATE_25_HZ # pylint:disable=no-member
class LPS22(LPS2X):
"""Library for the ST LPS22 pressure sensors
:param ~busio.I2C i2c_bus: The I2C bus the LPS22HB 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.
"""
_reset = RWBit(_LPS22_CTRL_REG2, 2)
_data_rate = RWBits(3, _LPS22_CTRL_REG1, 4)
def __init__(self, i2c_bus, address=_LPS2X_DEFAULT_ADDRESS):
# Only adding Class-appropriate rates
Rate.add_values((
("LPS22_RATE_ONE_SHOT", 0, 0, None),
("LPS22_RATE_1_HZ", 1, 1, None),
("LPS22_RATE_10_HZ", 2, 10, None),
("LPS22_RATE_25_HZ", 3, 25, None),
("LPS22_RATE_50_HZ", 4, 50, None),
("LPS22_RATE_75_HZ", 5, 75, None),
))
super().__init__(i2c_bus, address, chip_id=_LPS22HB_CHIP_ID)
self._temp_scaling = 100
self._temp_offset = 0
def initialize(self):
"""Configure the sensor with the default settings. For use after calling `reset()`"""
self.data_rate = Rate.LPS22_RATE_75_HZ # pylint:disable=no-member
class DeviceControl: # pylint: disable-msg=too-few-public-methods
"""General LTR559 control registers"""
def __init__(self, i2c):
self.i2c_device = i2c # self.i2c_device required by RWBit class
sw_reset = RWBit(_LTR559_REG_ALS_CONTROL, 1)
part_number = ROBits(4, _LTR559_REG_PART_ID, 4)
revision = ROBits(4, _LTR559_REG_PART_ID, 0)
manufacturer_id = ROBits(8, _LTR559_REG_MANUFACTURER_ID, 0)
led_pulse_freq_khz = RWBits(3, _LTR559_REG_PS_LED, 5)
led_duty_cycle = RWBits(2, _LTR559_REG_PS_LED, 3)
led_current_ma = RWBits(3, _LTR559_REG_PS_LED, 0)
led_pulse_count = RWBits(4, _LTR559_REG_PS_N_PULSES, 0)
interrupt_polarity = RWBit(_LTR559_REG_INTERRUPT, 2)
interrupt_mode = RWBits(2, _LTR559_REG_INTERRUPT, 0)
class TempSensor:
def __init__(self, i2c):
self.i2c_device = i2c
alert_output_mode = RWBit(DEVICE_CONFIG_REG, 0, 2)
alert_output_polarity = RWBit(DEVICE_CONFIG_REG, 1, 2)
alert_output_select = RWBit(DEVICE_CONFIG_REG, 2, 2)
alert_output_control = RWBit(DEVICE_CONFIG_REG, 3, 2)
alert_output_status = RWBit(DEVICE_CONFIG_REG, 4, 2)
interrupt_clear = RWBit(DEVICE_CONFIG_REG, 5, 2)
win_lock = RWBit(DEVICE_CONFIG_REG, 6, 2)
crit_loc = RWBit(DEVICE_CONFIG_REG, 7, 2)
temp_value = ROBits(12, DEVICE_TEMP_REG, 0, 2)
temp_crit_flag = ROBit(DEVICE_TEMP_REG, 15, 2)
temp_upper_flag = ROBit(DEVICE_TEMP_REG, 14, 2)
temp_lower_flag = ROBit(DEVICE_TEMP_REG, 13, 2)
temp_upper_value = RWBits(11, DEVICE_UPPER_TEMP_REG, 2, 2)
temp_lower_value = RWBits(11, DEVICE_LOWER_TEMP_REG, 2, 2)
temp_crit_value = RWBits(11, DEVICE_CRIT_TEMP_REG, 2, 2)
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 PSControl: # pylint: disable-msg=too-few-public-methods
"""Control registers for the LTR559 proximity sensor"""
def __init__(self, i2c):
self.i2c_device = i2c # self.i2c_device required by RWBit class
saturation_indicator_enable = RWBit(_LTR559_REG_PS_CONTROL, 5)
active = RWBits(2, _LTR559_REG_PS_CONTROL, 0)
rate_ms = RWBits(4, _LTR559_REG_PS_MEAS_RATE, 0)
data_ch0 = ROBits(16, _LTR559_REG_PS_DATA_CH0, 0, register_width=2)
saturation = RWBit(_LTR559_REG_PS_DATA_SAT, 7)
threshold_lower = RWBits(16, _LTR559_REG_PS_THRESHOLD_LOWER, 0, register_width=2)
threshold_upper = RWBits(16, _LTR559_REG_PS_THRESHOLD_UPPER, 0, register_width=2)
offset = RWBits(10, _LTR559_REG_PS_OFFSET, 0, register_width=2)
interrupt_persist = RWBits(4, _LTR559_REG_INTERRUPT_PERSIST, 0)
new_data = ROBit(_LTR559_REG_ALS_PS_STATUS, 0)
interrupt_active = ROBit(_LTR559_REG_ALS_PS_STATUS, 1)
class ALSControl: # pylint: disable-msg=too-few-public-methods
"""Control registers for the LTR559 light sensor"""
def __init__(self, i2c):
self.i2c_device = i2c # self.i2c_device required by RWBit class
gain = RWBits(3, _LTR559_REG_ALS_CONTROL, 2)
mode = RWBit(_LTR559_REG_ALS_CONTROL, 0)
integration_time_ms = RWBits(3, _LTR559_REG_ALS_MEAS_RATE, 3)
repeat_rate_ms = RWBits(3, _LTR559_REG_ALS_MEAS_RATE, 0)
data = ROBits(32, _LTR559_REG_ALS_DATA_CH1, 0, register_width=4)
threshold_lower = RWBits(16, _LTR559_REG_ALS_THRESHOLD_LOWER, 0, register_width=2)
threshold_upper = RWBits(16, _LTR559_REG_ALS_THRESHOLD_UPPER, 0, register_width=2)
interrupt_persist = RWBits(4, _LTR559_REG_INTERRUPT_PERSIST, 4)
data_valid = ROBit(_LTR559_REG_ALS_PS_STATUS, 7)
data_gain = ROBits(3, _LTR559_REG_ALS_PS_STATUS, 4)
new_data = ROBit(_LTR559_REG_ALS_PS_STATUS, 2)
interrupt_active = ROBit(_LTR559_REG_ALS_PS_STATUS, 3)
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 LPS35HW: # pylint: disable=too-many-instance-attributes
"""Driver for the ST LPS35HW MEMS pressure sensor
:param ~busio.I2C i2c_bus: The I2C bus the LPS34HW 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.
"""
data_rate = RWBits(3, _CTRL_REG1, 4)
"""The rate at which the sensor measures ``pressure`` and ``temperature``. ``data_rate`` should
be set to one of the values of ``adafruit_lps35hw.DataRate``. Note that setting ``data_rate``
to ``DataRate.ONE_SHOT`` places the sensor into a low-power shutdown mode where measurements to
update ``pressure`` and ``temperature`` are only taken when ``take_measurement`` is called."""
low_pass_enabled = RWBit(_CTRL_REG1, 3)
"""True if the low pass filter is enabled. Setting to `True` will reduce the sensor bandwidth
from ``data_rate/2`` to ``data_rate/9``, filtering out high-frequency noise."""
_raw_temperature = ROBits(16, _TEMP_OUT_L, 0, 2)
_raw_pressure = ROBits(24, _PRESS_OUT_XL, 0, 3)
_reference_pressure = RWBits(24, _REF_P_XL, 0, 3)
_pressure_offset = RWBits(16, _RPDS_L, 0, 2)
_block_updates = RWBit(_CTRL_REG1, 1)
_reset = RWBit(_CTRL_REG2, 2)
_one_shot = RWBit(_CTRL_REG2, 0)
# registers for configuring INT pin behavior
_interrupt_cfg = UnaryStruct(_CTRL_REG3,
"<B") # to read all values for latching?
# INT status registers
_interrupt_active = RWBit(_INT_SOURCE, 2)
_pressure_low = RWBit(_INT_SOURCE, 1)
_pressure_high = RWBit(_INT_SOURCE, 0)
_auto_zero = RWBit(_INTERRUPT_CFG, 5)
_reset_zero = RWBit(_INTERRUPT_CFG, 4)
_interrupts_enabled = RWBit(_INTERRUPT_CFG, 3)
_interrupt_latch = RWBit(_INTERRUPT_CFG, 2)
_interrupt_low = RWBit(_INTERRUPT_CFG, 1)
_interrupt_high = RWBit(_INTERRUPT_CFG, 0)
_reset_filter = ROBits(8, _LPFP_RES, 0, 1)
_chip_id = UnaryStruct(_WHO_AM_I, "<B")
_pressure_threshold = UnaryStruct(_THS_P_L, "<H")
def __init__(self, i2c_bus, address=0x5D):
self.i2c_device = i2cdevice.I2CDevice(i2c_bus, address)
if self._chip_id != 0xB1:
raise RuntimeError("Failed to find LPS35HW! Chip ID 0x%x" %
self._chip_id)
self.reset()
# set data_rate to put the sensor in continuous mode
self.data_rate = DataRate.RATE_10_HZ
self._block_updates = True
self._interrupt_latch = True
@property
def pressure(self):
"""The current pressure measurement in hPa"""
# reset the filter to prevent spurious readings
self._reset_filter # pylint: disable=pointless-statement
# check for negative and convert
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"""
return self._raw_temperature / 100.0
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
def take_measurement(self):
"""Update the value of ``pressure`` and ``temperature`` by taking a single measurement.
Only meaningful if ``data_rate`` is set to ``ONE_SHOT``"""
self._one_shot = True
while self._one_shot:
pass
def zero_pressure(self):
"""Set the current pressure as zero and report the ``pressure`` relative to it"""
self._auto_zero = True
while self._auto_zero:
pass
def reset_pressure(self):
"""Reset ``pressure`` to be reported as the measured absolute value"""
self._reset_zero = True
@property
def pressure_threshold(self):
"""The high presure threshold. Use ``high_threshold_enabled`` or ``high_threshold_enabled``
to use it"""
return self._pressure_threshold / 16
@pressure_threshold.setter
def pressure_threshold(self, value):
"""The high value threshold"""
self._pressure_threshold = value * 16
@property
def high_threshold_enabled(self):
"""Set to `True` or `False` to enable or disable the high pressure threshold"""
return self._interrupts_enabled and self._interrupt_high
@high_threshold_enabled.setter
def high_threshold_enabled(self, value):
self._interrupts_enabled = value
self._interrupt_high = value
@property
def low_threshold_enabled(self):
"""Set to `True` or `False` to enable or disable the low pressure threshold. **Note the
low pressure threshold only works in relative mode**"""
return self._interrupts_enabled and self._interrupt_low
@low_threshold_enabled.setter
def low_threshold_enabled(self, value):
self._interrupts_enabled = value
self._interrupt_low = value
@property
def high_threshold_exceeded(self):
"""Returns `True` if the pressure high threshold has been exceeded. Must be enabled by
setting ``high_threshold_enabled`` to `True` and setting a ``pressure_threshold``."""
return self._pressure_high
@property
def low_threshold_exceeded(self):
"""Returns `True` if the pressure low threshold has been exceeded. Must be enabled by
setting ``high_threshold_enabled`` to `True` and setting a ``pressure_threshold``."""
return self._pressure_low
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 MCP9600:
"""Interface to the MCP9600 thermocouple amplifier breakout"""
# Shutdown mode options
NORMAL = 0b00
SHUTDOWN = 0b01
BURST = 0b10
# Burst mode sample options
BURST_SAMPLES_1 = 0b000
BURST_SAMPLES_2 = 0b001
BURST_SAMPLES_4 = 0b010
BURST_SAMPLES_8 = 0b011
BURST_SAMPLES_16 = 0b100
BURST_SAMPLES_32 = 0b101
BURST_SAMPLES_64 = 0b110
BURST_SAMPLES_128 = 0b111
# Alert temperature monitor options
AMBIENT = 1
THERMOCOUPLE = 0
# Temperature change type to trigger alert. Rising is heating up. Falling is cooling down.
RISING = 1
FALLING = 0
# Alert output options
ACTIVE_HIGH = 1
ACTIVE_LOW = 0
# Alert mode options
INTERRUPT = 1 # Interrupt clear option must be set when using this mode!
COMPARATOR = 0
# Ambient (cold-junction) temperature sensor resolution options
AMBIENT_RESOLUTION_0_0625 = 0 # 0.0625 degrees Celsius
AMBIENT_RESOLUTION_0_25 = 1 # 0.25 degrees Celsius
# STATUS - 0x4
burst_complete = RWBit(0x4, 7)
"""Burst complete."""
temperature_update = RWBit(0x4, 6)
"""Temperature update."""
input_range = ROBit(0x4, 4)
"""Input range."""
alert_1 = ROBit(0x4, 0)
"""Alert 1 status."""
alert_2 = ROBit(0x4, 1)
"""Alert 2 status."""
alert_3 = ROBit(0x4, 2)
"""Alert 3 status."""
alert_4 = ROBit(0x4, 3)
"""Alert 4 status."""
# Device Configuration - 0x6
ambient_resolution = RWBit(0x6, 7)
"""Ambient (cold-junction) temperature resolution. Options are ``AMBIENT_RESOLUTION_0_0625``
(0.0625 degrees Celsius) or ``AMBIENT_RESOLUTION_0_25`` (0.25 degrees Celsius)."""
burst_mode_samples = RWBits(3, 0x6, 2)
"""The number of samples taken during a burst in burst mode. Options are ``BURST_SAMPLES_1``,
``BURST_SAMPLES_2``, ``BURST_SAMPLES_4``, ``BURST_SAMPLES_8``, ``BURST_SAMPLES_16``,
``BURST_SAMPLES_32``, ``BURST_SAMPLES_64``, ``BURST_SAMPLES_128``."""
shutdown_mode = RWBits(2, 0x6, 0)
"""Shutdown modes. Options are ``NORMAL``, ``SHUTDOWN``, and ``BURST``."""
# Alert 1 Configuration - 0x8
_alert_1_interrupt_clear = RWBit(0x8, 7)
_alert_1_monitor = RWBit(0x8, 4)
_alert_1_temp_direction = RWBit(0x8, 3)
_alert_1_state = RWBit(0x8, 2)
_alert_1_mode = RWBit(0x8, 1)
_alert_1_enable = RWBit(0x8, 0)
# Alert 2 Configuration - 0x9
_alert_2_interrupt_clear = RWBit(0x9, 7)
_alert_2_monitor = RWBit(0x9, 4)
_alert_2_temp_direction = RWBit(0x9, 3)
_alert_2_state = RWBit(0x9, 2)
_alert_2_mode = RWBit(0x9, 1)
_alert_2_enable = RWBit(0x9, 0)
# Alert 3 Configuration - 0xa
_alert_3_interrupt_clear = RWBit(0xA, 7)
_alert_3_monitor = RWBit(0xA, 4)
_alert_3_temp_direction = RWBit(0xA, 3)
_alert_3_state = RWBit(0xA, 2)
_alert_3_mode = RWBit(0xA, 1)
_alert_3_enable = RWBit(0xA, 0)
# Alert 4 Configuration - 0xb
_alert_4_interrupt_clear = RWBit(0xB, 7)
_alert_4_monitor = RWBit(0xB, 4)
_alert_4_temp_direction = RWBit(0xB, 3)
_alert_4_state = RWBit(0xB, 2)
_alert_4_mode = RWBit(0xB, 1)
_alert_4_enable = RWBit(0xB, 0)
# Alert 1 Hysteresis - 0xc
_alert_1_hysteresis = UnaryStruct(0xC, ">H")
# Alert 2 Hysteresis - 0xd
_alert_2_hysteresis = UnaryStruct(0xD, ">H")
# Alert 3 Hysteresis - 0xe
_alert_3_hysteresis = UnaryStruct(0xE, ">H")
# Alert 4 Hysteresis - 0xf
_alert_4_hysteresis = UnaryStruct(0xF, ">H")
# Alert 1 Limit - 0x10
_alert_1_temperature_limit = UnaryStruct(0x10, ">H")
# Alert 2 Limit - 0x11
_alert_2_limit = UnaryStruct(0x11, ">H")
# Alert 3 Limit - 0x12
_alert_3_limit = UnaryStruct(0x12, ">H")
# Alert 4 Limit - 0x13
_alert_4_limit = UnaryStruct(0x13, ">H")
# Device ID/Revision - 0x20
_device_id = ROBits(8, 0x20, 8, register_width=2, lsb_first=False)
_revision_id = ROBits(8, 0x20, 0, register_width=2)
types = ("K", "J", "T", "N", "S", "E", "B", "R")
def __init__(self, i2c, address=_DEFAULT_ADDRESS, tctype="K", tcfilter=0):
self.buf = bytearray(3)
self.i2c_device = I2CDevice(i2c, address)
self.type = tctype
# is this a valid thermocouple type?
if tctype not in MCP9600.types:
raise Exception("invalid thermocouple type ({})".format(tctype))
# filter is from 0 (none) to 7 (max), can limit spikes in
# temperature readings
tcfilter = min(7, max(0, tcfilter))
ttype = MCP9600.types.index(tctype)
self.buf[0] = _REGISTER_THERM_CFG
self.buf[1] = tcfilter | (ttype << 4)
with self.i2c_device as tci2c:
tci2c.write(self.buf, end=2)
if self._device_id != 0x40:
raise RuntimeError("Failed to find MCP9600 - check wiring!")
def alert_config(self, *, alert_number, alert_temp_source,
alert_temp_limit, alert_hysteresis, alert_temp_direction,
alert_mode, alert_state):
"""Configure a specified alert pin. Alert is enabled by default when alert is configured.
To disable an alert pin, use ``alert_disable``.
:param int alert_number: The alert pin number. Must be 1-4.
:param alert_temp_source: The temperature source to monitor for the alert. Options are:
``THERMOCOUPLE`` (hot-junction) or ``AMBIENT`` (cold-junction).
Temperatures are in Celsius.
:param float alert_temp_limit: The temperature in degrees Celsius at which the alert should
trigger. For rising temperatures, the alert will trigger when
the temperature rises above this limit. For falling
temperatures, the alert will trigger when the temperature
falls below this limit.
:param float alert_hysteresis: The alert hysteresis range. Must be 0-255 degrees Celsius.
For rising temperatures, the hysteresis is below alert limit.
For falling temperatures, the hysteresis is above alert
limit. See data-sheet for further information.
:param alert_temp_direction: The direction the temperature must change to trigger the alert.
Options are ``RISING`` (heating up) or ``FALLING`` (cooling
down).
:param alert_mode: The alert mode. Options are ``COMPARATOR`` or ``INTERRUPT``. In
comparator mode, the pin will follow the alert, so if the temperature
drops, for example, the alert pin will go back low. In interrupt mode,
by comparison, once the alert goes off, you must manually clear it. If
setting mode to ``INTERRUPT``, use ``alert_interrupt_clear`` to clear the
interrupt flag.
:param alert_state: Alert pin output state. Options are ``ACTIVE_HIGH`` or ``ACTIVE_LOW``.
For example, to configure alert 1:
.. code-block:: python
import board
import busio
import digitalio
import adafruit_mcp9600
i2c = busio.I2C(board.SCL, board.SDA, frequency=100000)
mcp = adafruit_mcp9600.MCP9600(i2c)
alert_1 = digitalio.DigitalInOut(board.D5)
alert_1.switch_to_input()
mcp.alert_config(alert_number=1, alert_temp_source=mcp.THERMOCOUPLE,
alert_temp_limit=25, alert_hysteresis=0,
alert_temp_direction=mcp.RISING, alert_mode=mcp.COMPARATOR,
alert_state=mcp.ACTIVE_LOW)
"""
if alert_number not in (1, 2, 3, 4):
raise ValueError("Alert pin number must be 1-4.")
if not 0 <= alert_hysteresis < 256:
raise ValueError("Hysteresis value must be 0-255.")
setattr(self, "_alert_%d_monitor" % alert_number, alert_temp_source)
setattr(
self,
"_alert_%d_temperature_limit" % alert_number,
int(alert_temp_limit / 0.0625),
)
setattr(self, "_alert_%d_hysteresis" % alert_number, alert_hysteresis)
setattr(self, "_alert_%d_temp_direction" % alert_number,
alert_temp_direction)
setattr(self, "_alert_%d_mode" % alert_number, alert_mode)
setattr(self, "_alert_%d_state" % alert_number, alert_state)
setattr(self, "_alert_%d_enable" % alert_number, True)
def alert_disable(self, alert_number):
"""Configuring an alert using ``alert_config()`` enables the specified alert by default.
Use ``alert_disable`` to disable an alert pin.
:param int alert_number: The alert pin number. Must be 1-4.
"""
if alert_number not in (1, 2, 3, 4):
raise ValueError("Alert pin number must be 1-4.")
setattr(self, "_alert_%d_enable" % alert_number, False)
def alert_interrupt_clear(self, alert_number, interrupt_clear=True):
"""Turns off the alert flag in the MCP9600, and clears the pin state (not used if the alert
is in comparator mode). Required when ``alert_mode`` is ``INTERRUPT``.
:param int alert_number: The alert pin number. Must be 1-4.
:param bool interrupt_clear: The bit to write the interrupt state flag
"""
if alert_number not in (1, 2, 3, 4):
raise ValueError("Alert pin number must be 1-4.")
setattr(self, "_alert_%d_interrupt_clear" % alert_number,
interrupt_clear)
@property
def version(self):
""" MCP9600 chip version """
data = self._read_register(_REGISTER_VERSION, 2)
return unpack(">xH", data)[0]
@property
def ambient_temperature(self):
""" Cold junction/ambient/room temperature in Celsius """
data = self._read_register(_REGISTER_COLD_JUNCTION, 2)
value = unpack(">xH", data)[0] * 0.0625
if data[1] & 0x80:
value -= 4096
return value
@property
def temperature(self):
""" Hot junction temperature in Celsius """
data = self._read_register(_REGISTER_HOT_JUNCTION, 2)
value = unpack(">xH", data)[0] * 0.0625
if data[1] & 0x80:
value -= 4096
return value
@property
def delta_temperature(self):
""" Delta temperature in Celsius """
data = self._read_register(_REGISTER_DELTA_TEMP, 2)
value = unpack(">xH", data)[0] * 0.0625
if data[1] & 0x80:
value -= 4096
return value
def _read_register(self, reg, count=1):
self.buf[0] = reg
with self.i2c_device as i2c:
i2c.write_then_readinto(self.buf,
self.buf,
out_end=count,
in_start=1)
return self.buf
class APDS9960:
"""
APDS9900 provide basic driver services for the ASDS9960 breakout board
"""
_gesture_enable = RWBit(APDS9960_ENABLE, 6)
_gesture_valid = RWBit(APDS9960_GSTATUS, 0)
_gesture_mode = RWBit(APDS9960_GCONF4, 0)
_proximity_persistance = RWBits(4, APDS9960_PERS, 4)
def __init__(self,
i2c, *,
interrupt_pin=None,
address=0x39,
integration_time=0x01,
gain=0x01):
self.buf129 = None
self.buf2 = bytearray(2)
self.i2c_device = I2CDevice(i2c, address)
self._interrupt_pin = interrupt_pin
if interrupt_pin:
self._interrupt_pin.switch_to_input(pull=digitalio.Pull.UP)
if self._read8(APDS9960_ID) != 0xAB:
raise RuntimeError()
self.enable_gesture = False
self.enable_proximity = False
self.enable_color = False
self.enable_proximity_interrupt = False
self.clear_interrupt()
self.enable = False
time.sleep(0.010)
self.enable = True
time.sleep(0.010)
self.color_gain = gain
self.integration_time = integration_time
self.gesture_dimensions = 0x00 # all
self.gesture_fifo_threshold = 0x01 # fifo 4
self.gesture_gain = 0x02 # gain 4
self.gesture_proximity_threshold = 50
self._reset_counts()
# gesture pulse length=0x2 pulse count=0x3
self._write8(APDS9960_GPULSE, (0x2 << 6) | 0x3)
## BOARD
def _reset_counts(self):
"""Gesture detection internal counts"""
self._saw_down_start = 0
self._saw_up_start = 0
self._saw_left_start = 0
self._saw_right_start = 0
enable = RWBit(APDS9960_ENABLE, 0)
"""Board enable. True to enable, False to disable"""
enable_color = RWBit(APDS9960_ENABLE, 1)
"""Color detection enable flag.
True when color detection is enabled, else False"""
enable_proximity = RWBit(APDS9960_ENABLE, 2)
"""Enable of proximity mode"""
gesture_fifo_threshold = RWBits(2, APDS9960_GCONF1, 6)
"""Gesture fifo threshold value: range 0-3"""
gesture_gain = RWBits(2, APDS9960_GCONF2, 5)
"""Gesture gain value: range 0-3"""
color_gain = RWBits(2, APDS9960_CONTROL, 0)
"""Color gain value"""
enable_proximity_interrupt = RWBit(APDS9960_ENABLE, 5)
"""Proximity interrupt enable flag. True if enabled,
False to disable"""
## GESTURE DETECTION
@property
def enable_gesture(self):
"""Gesture detection enable flag. True to enable, False to disable.
Note that when disabled, gesture mode is turned off"""
return self._gesture_enable
@enable_gesture.setter
def enable_gesture(self, enable_flag):
if not enable_flag:
self._gesture_mode = False
self._gesture_enable = enable_flag
def gesture(self): #pylint: disable-msg=too-many-branches
"""Returns gesture code if detected. =0 if no gesture detected
=1 if an UP, =2 if a DOWN, =3 if an LEFT, =4 if a RIGHT
"""
# buffer to read of contents of device FIFO buffer
if not self.buf129:
self.buf129 = bytearray(129)
buffer = self.buf129
buffer[0] = APDS9960_GFIFO_U
if not self._gesture_valid:
return 0
time_mark = 0
gesture_received = 0
while True:
up_down_diff = 0
left_right_diff = 0
gesture_received = 0
time.sleep(0.030) # 30 ms
n_recs = self._read8(APDS9960_GFLVL)
if n_recs:
with self.i2c_device as i2c:
i2c.write(buffer, end=1, stop=False)
i2c.readinto(buffer, start=1, end=min(129, 1 + n_recs * 4))
upp, down, left, right = buffer[1:5]
if abs(upp - down) > 13:
up_down_diff = upp - down
if abs(left - right) > 13:
left_right_diff = left - right
if up_down_diff != 0:
if up_down_diff < 0:
# either leading edge of down movement
# or trailing edge of up movement
if self._saw_up_start:
gesture_received = 0x01 # up
else:
self._saw_down_start += 1
elif up_down_diff > 0:
# either leading edge of up movement
# or trailing edge of down movement
if self._saw_down_start:
gesture_received = 0x02 # down
else:
self._saw_up_start += 1
if left_right_diff != 0:
if left_right_diff < 0:
# either leading edge of right movement
# trailing edge of left movement
if self._saw_left_start:
gesture_received = 0x03 # left
else:
self._saw_right_start += 1
elif left_right_diff > 0:
# either leading edge of left movement
# trailing edge of right movement
if self._saw_right_start:
gesture_received = 0x04 #right
else:
self._saw_left_start += 1
# saw a leading or trailing edge; start timer
if up_down_diff or left_right_diff:
time_mark = time.monotonic()
# finished when a gesture is detected or ran out of time (300ms)
if gesture_received or time.monotonic() - time_mark > 0.300:
self._reset_counts()
break
return gesture_received
@property
def gesture_dimensions(self):
"""Gesture dimension value: range 0-3"""
return self._read8(APDS9960_GCONF3)
@gesture_dimensions.setter
def gesture_dimensions(self, dims):
self._write8(APDS9960_GCONF3, dims & 0x03)
@property
def color_data_ready(self):
"""Color data ready flag. zero if not ready, 1 is ready"""
return self._read8(APDS9960_STATUS) & 0x01
@property
def color_data(self):
"""Tuple containing r, g, b, c values"""
return self._color_data16(APDS9960_CDATAL + 2), \
self._color_data16(APDS9960_CDATAL + 4), \
self._color_data16(APDS9960_CDATAL + 6), \
self._color_data16(APDS9960_CDATAL)
### PROXIMITY
@property
def proximity_interrupt_threshold(self):
"""Tuple containing low and high threshold
followed by the proximity interrupt persistance.
When setting the proximity interrupt threshold values using a tuple of
zero to three values: low threshold, high threshold, persistance.
persistance defaults to 4 if not provided"""
return self._read8(APDS9960_PILT), \
self._read8(APDS9960_PIHT), \
self._proximity_persistance
@proximity_interrupt_threshold.setter
def proximity_interrupt_threshold(self, setting_tuple):
if setting_tuple:
self._write8(APDS9960_PILT, setting_tuple[0])
if len(setting_tuple) > 1:
self._write8(APDS9960_PIHT, setting_tuple[1])
persist = 4 # default 4
if len(setting_tuple) > 2:
persist = min(setting_tuple[2], 7)
self._proximity_persistance = persist
@property
def gesture_proximity_threshold(self):
"""Proximity threshold value: range 0-255"""
return self._read8(APDS9960_GPENTH)
@gesture_proximity_threshold.setter
def gesture_proximity_threshold(self, thresh):
self._write8(APDS9960_GPENTH, thresh & 0xff)
def proximity(self):
"""proximity value: range 0-255"""
return self._read8(APDS9960_PDATA)
def clear_interrupt(self):
"""Clear all interrupts"""
self._writecmdonly(APDS9960_AICLEAR)
@property
def integration_time(self):
"""Proximity integration time: range 0-255"""
return self._read8(APDS9960_ATIME)
@integration_time.setter
def integration_time(self, int_time):
self._write8(APDS9960_ATIME, int_time & 0xff)
# method for reading and writing to I2C
def _write8(self, command, abyte):
"""Write a command and 1 byte of data to the I2C device"""
buf = self.buf2
buf[0] = command
buf[1] = abyte
with self.i2c_device as i2c:
i2c.write(buf)
def _writecmdonly(self, command):
"""Writes a command and 0 bytes of data to the I2C device"""
buf = self.buf2
buf[0] = command
with self.i2c_device as i2c:
i2c.write(buf, end=1)
def _read8(self, command):
"""Sends a command and reads 1 byte of data from the I2C device"""
buf = self.buf2
buf[0] = command
with self.i2c_device as i2c:
i2c.write(buf, end=1)
i2c.readinto(buf, end=1)
return buf[0]
def _color_data16(self, command):
"""Sends a command and reads 2 bytes of data from the I2C device
The returned data is low byte first followed by high byte"""
buf = self.buf2
buf[0] = command
with self.i2c_device as i2c:
i2c.write(buf, end=1, stop=False)
i2c.readinto(buf)
return buf[1] << 8 | buf[0]
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 LSM303_Accel: #pylint:disable=too-many-instance-attributes
"""Driver for the LSM303's accelerometer."""
# Class-level buffer for reading and writing data with the sensor.
# This reduces memory allocations but means the code is not re-entrant or
# thread safe!
_chip_id = UnaryStruct(_REG_ACCEL_WHO_AM_I, "B")
_int2_int1_enable = RWBit(_REG_ACCEL_CTRL_REG6_A, 6)
_int2_int2_enable = RWBit(_REG_ACCEL_CTRL_REG6_A, 5)
_int1_latching = RWBit(_REG_ACCEL_CTRL_REG5_A, 3)
_int2_latching = RWBit(_REG_ACCEL_CTRL_REG5_A, 1)
_bdu = RWBit(_REG_ACCEL_CTRL_REG4_A, 7)
_int2_activity_enable = RWBit(_REG_ACCEL_CTRL_REG6_A, 3)
_int_pin_active_low = RWBit(_REG_ACCEL_CTRL_REG6_A, 1)
_act_threshold = UnaryStruct(_REG_ACCEL_ACT_THS_A, "B")
_act_duration = UnaryStruct(_REG_ACCEL_ACT_DUR_A, "B")
"""
.. code-block:: python
import board
i2c = board.I2C()
import adafruit_lsm303_accel
accel = adafruit_lsm303_accel.LSM303_Accel(i2c)
accel._act_threshold = 20
accel._act_duration = 1
accel._int2_activity_enable = True
# toggle pins, defaults to False
accel._int_pin_active_low = True
"""
_data_rate = RWBits(4, _REG_ACCEL_CTRL_REG1_A, 4)
_enable_xyz = RWBits(3, _REG_ACCEL_CTRL_REG1_A, 0)
_raw_accel_data = StructArray(_REG_ACCEL_OUT_X_L_A, "<h", 3)
_low_power = RWBit(_REG_ACCEL_CTRL_REG1_A, 3)
_high_resolution = RWBit(_REG_ACCEL_CTRL_REG4_A, 3)
_range = RWBits(2, _REG_ACCEL_CTRL_REG4_A, 4)
_int1_src = UnaryStruct(_REG_ACCEL_INT1_SOURCE_A, "B")
_tap_src = UnaryStruct(_REG_ACCEL_CLICK_SRC_A, "B")
_tap_interrupt_enable = RWBit(_REG_ACCEL_CTRL_REG3_A, 7, 1)
_tap_config = UnaryStruct(_REG_ACCEL_CLICK_CFG_A, "B")
_tap_interrupt_active = ROBit(_REG_ACCEL_CLICK_SRC_A, 6, 1)
_tap_threshold = UnaryStruct(_REG_ACCEL_CLICK_THS_A, "B")
_tap_time_limit = UnaryStruct(_REG_ACCEL_TIME_LIMIT_A, "B")
_tap_time_latency = UnaryStruct(_REG_ACCEL_TIME_LATENCY_A, "B")
_tap_time_window = UnaryStruct(_REG_ACCEL_TIME_WINDOW_A, "B")
_BUFFER = bytearray(6)
def __init__(self, i2c):
self._accel_device = I2CDevice(i2c, _ADDRESS_ACCEL)
self.i2c_device = self._accel_device
self._data_rate = 2
self._enable_xyz = 0b111
self._int1_latching = True
self._int2_latching = True
self._bdu = True
# self._write_register_byte(_REG_CTRL5, 0x80)
# time.sleep(0.01) # takes 5ms
self._cached_mode = 0
self._cached_range = 0
def set_tap(self,
tap,
threshold,
*,
time_limit=10,
time_latency=20,
time_window=255,
tap_cfg=None):
"""
The tap detection parameters.
:param int tap: 0 to disable tap detection, 1 to detect only single taps, and 2 to detect \
only double taps.
: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. Good values\
are 5-10 for 16G, 10-20 for 8G, 20-40 for 4G, and 40-80 for 2G.
:param int time_limit: TIME_LIMIT register value (default 10).
:param int time_latency: TIME_LATENCY register value (default 20).
:param int time_window: TIME_WINDOW register value (default 255).
:param int click_cfg: CLICK_CFG register value.
"""
if (tap < 0 or tap > 2) and tap_cfg is None:
raise ValueError(
'Tap must be 0 (disabled), 1 (single tap), or 2 (double tap)!')
if threshold > 127 or threshold < 0:
raise ValueError('Threshold out of range (0-127)')
if tap == 0 and tap_cfg is None:
# Disable click interrupt.
self._tap_interrupt_enable = False
self._tap_config = 0
return
self._tap_interrupt_enable = True
if tap_cfg is None:
if tap == 1:
tap_cfg = 0x15 # Turn on all axes & singletap.
if tap == 2:
tap_cfg = 0x2A # Turn on all axes & doubletap.
# Or, if a custom tap configuration register value specified, use it.
self._tap_config = tap_cfg
self._tap_threshold = threshold # why and?
self._tap_time_limit = time_limit
self._tap_time_latency = time_latency
self._tap_time_window = time_window
@property
def tapped(self):
"""
True if a tap was detected recently. Whether its a single tap or double tap is
determined by the tap param on ``set_tap``. ``tapped`` may be True over
multiple reads even if only a single tap or single double tap occurred.
"""
tap_src = self._tap_src
return tap_src & 0b1000000 > 0
@property
def _raw_acceleration(self):
self._read_bytes(self._accel_device, _REG_ACCEL_OUT_X_L_A | 0x80, 6,
self._BUFFER)
return struct.unpack_from('<hhh', self._BUFFER[0:6])
@property
def acceleration(self):
"""The measured accelerometer sensor values.
A 3-tuple of X, Y, Z axis values in m/s^2 squared that are signed floats.
"""
raw_accel_data = self._raw_acceleration
x = self._scale_data(raw_accel_data[0])
y = self._scale_data(raw_accel_data[1])
z = self._scale_data(raw_accel_data[2])
return (x, y, z)
def _scale_data(self, raw_measurement):
lsb, shift = self._lsb_shift()
return (raw_measurement >> shift) * lsb * _SMOLLER_GRAVITY
def _lsb_shift(self): #pylint:disable=too-many-branches
# the bit depth of the data depends on the mode, and the lsb value
# depends on the mode and range
lsb = -1 # the default, normal mode @ 2G
if self._cached_mode is Mode.MODE_HIGH_RESOLUTION: # 12-bit
shift = 4
if self._cached_range is Range.RANGE_2G:
lsb = 0.98
elif self._cached_range is Range.RANGE_4G:
lsb = 1.95
elif self._cached_range is Range.RANGE_8G:
lsb = 3.9
elif self._cached_range is Range.RANGE_16G:
lsb = 11.72
elif self._cached_mode is Mode.MODE_NORMAL: # 10-bit
shift = 6
if self._cached_range is Range.RANGE_2G:
lsb = 3.9
elif self._cached_range is Range.RANGE_4G:
lsb = 7.82
elif self._cached_range is Range.RANGE_8G:
lsb = 15.63
elif self._cached_range is Range.RANGE_16G:
lsb = 46.9
elif self._cached_mode is Mode.MODE_LOW_POWER: # 8-bit
shift = 8
if self._cached_range is Range.RANGE_2G:
lsb = 15.63
elif self._cached_range is Range.RANGE_4G:
lsb = 31.26
elif self._cached_range is Range.RANGE_8G:
lsb = 62.52
elif self._cached_range is Range.RANGE_16G:
lsb = 187.58
if lsb is -1:
raise AttributeError(
"'impossible' range or mode detected: range: %d mode: %d" %
(self._cached_range, self._cached_mode))
return (lsb, shift)
@property
def data_rate(self):
"""Select the rate at which the sensor takes measurements. Must be a `Rate`"""
return self._data_rate
@data_rate.setter
def data_rate(self, value):
if value < 0 or value > 9:
raise AttributeError("data_rate must be a `Rate`")
self._data_rate = value
@property
def 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 a `Range`"""
return self._cached_range
@range.setter
def range(self, value):
if value < 0 or value > 3:
raise AttributeError("range must be a `Range`")
self._range = value
self._cached_range = value
@property
def mode(self):
"""Sets the power mode of the sensor. The mode must be a `Mode`. Note that the
mode and range will both affect the accuracy of the sensor"""
return self._cached_mode
@mode.setter
def mode(self, value):
if value < 0 or value > 2:
raise AttributeError("mode must be a `Mode`")
self._high_resolution = value & 0b01
self._low_power = (value & 0b10) >> 1
self._cached_mode = value
def _read_u8(self, device, address):
with device as i2c:
self._BUFFER[0] = address & 0xFF
i2c.write_then_readinto(self._BUFFER,
self._BUFFER,
out_end=1,
in_end=1)
return self._BUFFER[0]
def _write_u8(self, device, address, val):
with device as i2c:
self._BUFFER[0] = address & 0xFF
self._BUFFER[1] = val & 0xFF
i2c.write(self._BUFFER, end=2)
@staticmethod
def _read_bytes(device, address, count, buf):
with device as i2c:
buf[0] = address & 0xFF
i2c.write_then_readinto(buf, buf, out_end=1, in_end=count)
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 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 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 BMX160:
"""
Driver for the BMX160 accelerometer, magnetometer, gyroscope.
In the buffer, bytes are allocated as follows:
- mag 0-5
- rhall 6-7 (not relevant?)
- gyro 8-13
- accel 14-19
- sensor time 20-22
"""
# multiplicative constants
# NOTE THESE FIRST TWO GET SET IN THE INIT SEQUENCE
ACC_SCALAR = 1/(AccelSensitivity2Gravity * g_TO_METERS_PER_SECOND_SQUARED) # 1 m/s^2 = 0.101971621 g
GYR_SCALAR = 1/GyroSensitivity2DegPerSec_values[4]
MAG_SCALAR = 1/16
TEMP_SCALAR = 0.5**9
_accel = Struct(BMX160_ACCEL_DATA_ADDR, '<hhh') # this is the default scalar, but it should get reset anyhow in init
_gyro = Struct(BMX160_GYRO_DATA_ADDR, '<hhh')
_mag = Struct(BMX160_MAG_DATA_ADDR, '<hhh')
_temp = Struct(BMX160_TEMP_DATA_ADDR, '<h')
### STATUS BITS
status = ROBits(8, BMX160_STATUS_ADDR, 0)
status_acc_pmu = ROBits(2, BMX160_PMU_STATUS_ADDR, 4)
status_gyr_pmu = ROBits(2, BMX160_PMU_STATUS_ADDR, 2)
status_mag_pmu = ROBits(2, BMX160_PMU_STATUS_ADDR, 0)
cmd = RWBits(8, BMX160_COMMAND_REG_ADDR, 0)
foc = RWBits(8, BMX160_FOC_CONF_ADDR, 0)
# see ERR_REG in section 2.11.2
_error_status = ROBits(8, BMX160_ERROR_REG_ADDR, 0)
error_code = ROBits(4, BMX160_ERROR_REG_ADDR, 1)
drop_cmd_err = ROBit(BMX160_ERROR_REG_ADDR, 6)
fatal_err = ROBit(BMX160_ERROR_REG_ADDR, 0)
# straight from the datasheet. Need to be renamed and better explained
@property
def drdy_acc(self): return (self.status >> 7) & 1
@property
def drdy_gyr(self): return (self.status >> 6) & 1
@property
def drdy_mag(self): return (self.status >> 5) & 1
@property
def nvm_rdy(self): return (self.status >> 4) & 1
@property
def foc_rdy(self): return (self.status >> 3) & 1
@property
def mag_man_op(self): return (self.status >> 2) & 1
@property
def gyro_self_test_ok(self): return (self.status >> 1) & 1
_BUFFER = bytearray(40)
_smallbuf = bytearray(6)
_gyro_range = RWBits(8, BMX160_GYRO_RANGE_ADDR, 0)
_accel_range = RWBits(8, BMX160_ACCEL_RANGE_ADDR, 0)
# _gyro_bandwidth = NORMAL
# _gyro_powermode = NORMAL
_gyro_odr = 25 # Hz
# _accel_bandwidth = NORMAL
# _accel_powermode = NORMAL
_accel_odr = 25 # Hz
# _mag_bandwidth = NORMAL
# _mag_powermode = NORMAL
_mag_odr = 25 # Hz
_mag_range = 250 # deg/sec
def __init__(self):
# soft reset & reboot
self.cmd = BMX160_SOFT_RESET_CMD
time.sleep(0.001)
# Check ID registers.
ID = self.read_u8(BMX160_CHIP_ID_ADDR)
if ID != BMX160_CHIP_ID:
raise RuntimeError('Could not find BMX160, check wiring!')
# print("status:", format_binary(self.status))
# set the default settings
self.init_mag()
self.init_accel()
self.init_gyro()
# print("status:", format_binary(self.status))
######################## SENSOR API ########################
def read_all(self):
return self.read_bytes(BMX160_MAG_DATA_ADDR, 20, self._BUFFER)
# synonymous
# @property
# def error_status(self):
# return format_binary(self._error_status)
@property
def query_error(self):
return format_binary(self._error_status)
### ACTUAL API
@property
def gyro(self):
# deg/s
return tuple(x * self.GYR_SCALAR for x in self._gyro)
@property
def accel(self):
# m/s^2
return tuple(x * self.ACC_SCALAR for x in self._accel)
@property
def mag(self):
# uT
return tuple(x * self.MAG_SCALAR for x in self._mag)
@property
def temperature(self):
return self._temp[0]*self.TEMP_SCALAR+23
@property
def temp(self):
return self._temp[0]*self.TEMP_SCALAR+23
@property
def sensortime(self):
tbuf = self.read_bytes(BMX160_SENSOR_TIME_ADDR, 3, self._smallbuf)
t0, t1, t2 = tbuf[:3]
t = (t2 << 16) | (t1 << 8) | t0
t *= 0.000039 # the time resolution is 39 microseconds
return t
######################## SETTINGS RELATED ########################
############## GYROSCOPE SETTINGS ##############
# NOTE still missing BW / OSR config, but those are more complicated
def init_gyro(self):
# BW doesn't have an interface yet
self._gyro_bwmode = BMX160_GYRO_BW_NORMAL_MODE
# These rely on the setters to do their magic.
self.gyro_range = BMX160_GYRO_RANGE_500_DPS
# self.GYR_SCALAR = 1
# self.GYR_SCALAR = 1/GyroSensitivity2DegPerSec_values[1]
self.gyro_odr = 25
self.gyro_powermode = BMX160_GYRO_NORMAL_MODE
@property
def gyro_range(self):
return self._gyro_range
@gyro_range.setter
def gyro_range(self, rangeconst):
"""
The input is expected to be the BMX160-constant associated with the range.
deg/s | bmxconst value | bmxconst_name
------------------------------------------------------
2000 | 0 | BMX160_GYRO_RANGE_2000_DPS
1000 | 1 | BMX160_GYRO_RANGE_1000_DPS
500 | 2 | BMX160_GYRO_RANGE_500_DPS
250 | 3 | BMX160_GYRO_RANGE_250_DPS
125 | 4 | BMX160_GYRO_RANGE_125_DPS
ex: bmx.gyro_range = BMX160_GYRO_RANGE_500_DPS
equivalent to: bmx.gyro_range = 2
BMX160_GYRO_RANGE_VALUES = [2000, 1000, 500, 250, 125]
"""
if rangeconst in BMX160_GYRO_RANGE_CONSTANTS:
self._gyro_range = rangeconst
# read out the value to see if it changed successfully
rangeconst = self._gyro_range
val = BMX160_GYRO_RANGE_VALUES[rangeconst]
self.GYR_SCALAR = (val / 32768.0)
else:
pass
@property
def gyro_odr(self):
return self._gyro_odr
@gyro_odr.setter
def gyro_odr(self, odr):
"""
Set the output data rate of the gyroscope. The possible ODRs are 1600, 800, 400, 200, 100,
50, 25, 12.5, 6.25, 3.12, 1.56, and 0.78 Hz. Note, setting a value between the listed ones
will round *downwards*.
"""
res = self.generic_setter(odr, BMX160_GYRO_ODR_VALUES,
BMX160_GYRO_ODR_CONSTANTS,
BMX160_GYRO_CONFIG_ADDR,
"gyroscope odr")
if res != None:
self._gyro_odr = res[1]
@property
def gyro_powermode(self):
return self._gyro_powermode
@gyro_powermode.setter
def gyro_powermode(self, powermode):
"""
Set the power mode of the gyroscope. Unlike other setters, this one has to directly take the
BMX160-const associated with the power mode. The possible modes are:
`BMX160_GYRO_SUSPEND_MODE`
`BMX160_GYRO_NORMAL_MODE`
`BMX160_GYRO_FASTSTARTUP_MODE`
"""
if powermode not in BMX160_GYRO_MODES:
print("Unknown gyroscope powermode: " + str(powermode))
return
self.write_u8(BMX160_COMMAND_REG_ADDR, powermode)
if int(self.query_error) == 0:
self._gyro_powermode = powermode
else:
settingswarning("gyroscope power mode")
# NOTE: this delay is a worst case. If we need repeated switching
# we can choose the delay on a case-by-case basis.
time.sleep(0.0081)
############## ACCELEROMETER SETTINGS ##############
def init_accel(self):
# BW doesn't have an interface yet
# self.write_u8(BMX160_ACCEL_CONFIG_ADDR, BMX160_ACCEL_BW_NORMAL_AVG4)
# self._accel_bwmode = BMX160_ACCEL_BW_NORMAL_AVG4
# These rely on the setters to do their magic.
self.accel_range = BMX160_ACCEL_RANGE_8G
self.accel_odr = 25
self.accel_powermode = BMX160_ACCEL_NORMAL_MODE
@property
def accel_range(self):
return self._accel_range
@accel_range.setter
def accel_range(self, rangeconst):
"""
The input is expected to be the BMX160-constant associated with the range.
deg/s | bmxconst value | bmxconst name
------------------------------------------------------
2 | 3 | BMX160_ACCEL_RANGE_2G
4 | 5 | BMX160_ACCEL_RANGE_4G
8 | 8 | BMX160_ACCEL_RANGE_8G
16 | 12 | BMX160_ACCEL_RANGE_16G
ex: bmx.accel_range = BMX160_ACCEL_RANGE_4G
equivalent to: bmx.accel_range = 5
"""
if rangeconst in BMX160_ACCEL_RANGE_CONSTANTS:
self._accel_range = rangeconst
# read out the value to see if it changed successfully
rangeconst = self._accel_range
# convert to 0-3 range for indexing
ind = rangeconst >> 2
val = BMX160_ACCEL_RANGE_VALUES[ind]
self.ACC_SCALAR = (val / 32768.0) / g_TO_METERS_PER_SECOND_SQUARED
else:
pass
@property
def accel_odr(self):
return self._accel_odr
@accel_odr.setter
def accel_odr(self, odr):
res = self.generic_setter(odr, BMX160_ACCEL_ODR_VALUES,
BMX160_ACCEL_ODR_CONSTANTS,
BMX160_ACCEL_CONFIG_ADDR,
"accelerometer odr")
if res != None:
self._accel_odr = res[1]
@property
def accel_powermode(self):
return self._accel_powermode
@accel_powermode.setter
def accel_powermode(self, powermode):
"""
Set the power mode of the accelerometer. Unlike other setters, this one has to directly take the
BMX160-const associated with the power mode. The possible modes are:
`BMI160_ACCEL_NORMAL_MODE`
`BMI160_ACCEL_LOWPOWER_MODE`
`BMI160_ACCEL_SUSPEND_MODE`
"""
if powermode not in BMX160_ACCEL_MODES:
print("Unknown accelerometer power mode: " + str(powermode))
return
self.write_u8(BMX160_COMMAND_REG_ADDR, powermode)
if int(self.query_error) == 0:
self._accel_powermode = powermode
else:
settingswarning("accelerometer power mode")
# NOTE: this delay is a worst case. If we need repeated switching
# we can choose the delay on a case-by-case basis.
time.sleep(0.005)
############## MAGENTOMETER SETTINGS ##############
def init_mag(self):
# see pg 25 of: https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BMX160-DS000.pdf
self.write_u8(BMX160_COMMAND_REG_ADDR, BMX160_MAG_NORMAL_MODE)
time.sleep(0.00065) # datasheet says wait for 650microsec
self.write_u8(BMX160_MAG_IF_0_ADDR, 0x80)
# put mag into sleep mode
self.write_u8(BMX160_MAG_IF_3_ADDR, 0x01)
self.write_u8(BMX160_MAG_IF_2_ADDR, 0x4B)
# set x-y to regular power preset
self.write_u8(BMX160_MAG_IF_3_ADDR, 0x04)
self.write_u8(BMX160_MAG_IF_2_ADDR, 0x51)
# set z to regular preset
self.write_u8(BMX160_MAG_IF_3_ADDR, 0x0E)
self.write_u8(BMX160_MAG_IF_2_ADDR, 0x52)
# prepare MAG_IF[1-3] for mag_if data mode
self.write_u8(BMX160_MAG_IF_3_ADDR, 0x02)
self.write_u8(BMX160_MAG_IF_2_ADDR, 0x4C)
self.write_u8(BMX160_MAG_IF_1_ADDR, 0x42)
# Set ODR to 25 Hz
self.write_u8(BMX160_MAG_ODR_ADDR, BMX160_MAG_ODR_25HZ)
self.write_u8(BMX160_MAG_IF_0_ADDR, 0x00)
# put in low power mode.
self.write_u8(BMX160_COMMAND_REG_ADDR, BMX160_MAG_LOWPOWER_MODE)
time.sleep(0.1) # takes this long to warm up (empirically)
@property
def mag_powermode(self):
return self._mag_powermode
@mag_powermode.setter
def mag_powermode(self, powermode):
"""
Set the power mode of the magnetometer. Unlike other setters, this one has to directly take the
BMX160-const associated with the power mode. The possible modes are:
`BMX160_`
`BMX160_`
`BMX160_`
"""
# if powermode not in BMX160_MAG_:
# print("Unknown gyroscope powermode: " + str(powermode))
# return
self.write_u8(BMX160_COMMAND_REG_ADDR, powermode)
if int(self.query_error) == 0:
self._mag_powermode = powermode
else:
settingswarning("mag power mode")
# NOTE: this delay is a worst case. If we need repeated switching
# we can choose the delay on a case-by-case basis.
time.sleep(0.001)
## UTILS:
def generic_setter(self, desired, possible_values, bmx_constants, config_addr, warning_interp = ""):
i = find_nearest_valid(desired, possible_values)
rounded = possible_values[i]
bmxconst = bmx_constants[i]
self.write_u8(config_addr, bmxconst)
e = self.error_code
if e == BMX160_OK:
return (i, rounded)
else:
settingswarning(warning_interp)
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 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 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 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 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 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 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 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 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
class AS7341: # pylint:disable=too-many-instance-attributes
"""Library for the AS7341 Sensor
:param ~busio.I2C i2c_bus: The I2C bus the AS7341 is connected to.
:param address: The I2C address of the sensor
"""
_device_id = ROBits(6, _AS7341_WHOAMI, 2)
_smux_enable_bit = RWBit(_AS7341_ENABLE, 4)
_led_control_enable_bit = RWBit(_AS7341_CONFIG, 3)
_color_meas_enabled = RWBit(_AS7341_ENABLE, 1)
_power_enabled = RWBit(_AS7341_ENABLE, 0)
_low_bank_active = RWBit(_AS7341_CFG0, 4)
_smux_command = RWBits(2, _AS7341_CFG6, 3)
_fd_status = UnaryStruct(_AS7341_FD_STATUS, "<B")
_channel_0_data = UnaryStruct(_AS7341_CH0_DATA_L, "<H")
_channel_1_data = UnaryStruct(_AS7341_CH1_DATA_L, "<H")
_channel_2_data = UnaryStruct(_AS7341_CH2_DATA_L, "<H")
_channel_3_data = UnaryStruct(_AS7341_CH3_DATA_L, "<H")
_channel_4_data = UnaryStruct(_AS7341_CH4_DATA_L, "<H")
_channel_5_data = UnaryStruct(_AS7341_CH5_DATA_L, "<H")
# "Reading the ASTATUS register (0x60 or 0x94) latches
# all 12 spectral data bytes to that status read." Datasheet Sec. 10.2.7
_all_channels = Struct(_AS7341_ASTATUS, "<BHHHHHH")
_led_current_bits = RWBits(7, _AS7341_LED, 0)
_led_enabled = RWBit(_AS7341_LED, 7)
atime = UnaryStruct(_AS7341_ATIME, "<B")
"""The integration time step count.
Total integration time will be ``(ATIME + 1) * (ASTEP + 1) * 2.78µS``
"""
astep = UnaryStruct(_AS7341_ASTEP_L, "<H")
""" The integration time step size in 2.78 microsecond increments"""
_gain = UnaryStruct(_AS7341_CFG1, "<B")
_data_ready_bit = RWBit(_AS7341_STATUS2, 6)
"""
* @brief
*
* @return true: success false: failure
"""
def __init__(self, i2c_bus, address=_AS7341_I2CADDR_DEFAULT):
self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
if not self._device_id in [_AS7341_DEVICE_ID]:
raise RuntimeError(
"Failed to find an AS7341 sensor - check your wiring!")
self.reset()
self.initialize()
self._buffer = bytearray(2)
self._low_channels_configured = False
self._high_channels_configured = False
self._flicker_detection_1k_configured = False
def initialize(self):
"""Configure the sensors with the default settings. For use after calling `reset()`"""
self._power_enabled = True
self._led_control_enabled = True
self.atime = 100
self.astep = 999
self.gain = Gain.GAIN_128X # pylint:disable=no-member
def reset(self):
"""Resets the internal registers and restores the default settings"""
@property
def all_channels(self):
"""The current readings for all six ADC channels"""
self._configure_f1_f4()
adc_reads_f1_f4 = self._all_channels
reads = adc_reads_f1_f4[1:-2]
self._configure_f5_f8()
adc_reads_f5_f8 = self._all_channels
reads += adc_reads_f5_f8[1:-2]
return reads
@property
def channel_415nm(self):
"""The current reading for the 415nm band"""
self._configure_f1_f4()
return self._channel_0_data
@property
def channel_445nm(self):
"""The current reading for the 445nm band"""
self._configure_f1_f4()
return self._channel_1_data
@property
def channel_480nm(self):
"""The current reading for the 480nm band"""
self._configure_f1_f4()
return self._channel_2_data
@property
def channel_515nm(self):
"""The current reading for the 515nm band"""
self._configure_f1_f4()
return self._channel_3_data
@property
def channel_555nm(self):
"""The current reading for the 555nm band"""
self._configure_f5_f8()
return self._channel_0_data
@property
def channel_590nm(self):
"""The current reading for the 590nm band"""
self._configure_f5_f8()
return self._channel_1_data
@property
def channel_630nm(self):
"""The current reading for the 630nm band"""
self._configure_f5_f8()
return self._channel_2_data
@property
def channel_680nm(self):
"""The current reading for the 680nm band"""
self._configure_f5_f8()
return self._channel_3_data
# TODO: Add clear and NIR accessors
def _wait_for_data(self, timeout=1.0):
"""Wait for sensor data to be ready"""
start = monotonic()
while not self._data_ready_bit:
if monotonic() - start > timeout:
raise RuntimeError("Timeout occoured waiting for sensor data")
sleep(0.001)
def _write_register(self, addr, data):
self._buffer[0] = addr
self._buffer[1] = data
with self.i2c_device as i2c:
i2c.write(self._buffer)
def _configure_f1_f4(self):
"""Configure the sensor to read from elements F1-F4, Clear, and NIR"""
# disable SP_EN bit while making config changes
if self._low_channels_configured:
return
self._high_channels_configured = False
self._flicker_detection_1k_configured = False
self._color_meas_enabled = False
# ENUM-ify
self._smux_command = 2
# Write new configuration to all the 20 registers
self._f1f4_clear_nir()
# Start SMUX command
self._smux_enabled = True
# Enable SP_EN bit
self._color_meas_enabled = True
self._low_channels_configured = True
self._wait_for_data()
def _configure_f5_f8(self):
"""Configure the sensor to read from elements F5-F8, Clear, and NIR"""
# disable SP_EN bit while making config changes
if self._high_channels_configured:
return
self._low_channels_configured = False
self._flicker_detection_1k_configured = False
self._color_meas_enabled = False
# ENUM-ify
self._smux_command = 2
# Write new configuration to all the 20 registers
self._f5f8_clear_nir()
# Start SMUX command
self._smux_enabled = True
# Enable SP_EN bit
self._color_meas_enabled = True
self._high_channels_configured = True
self._wait_for_data()
@property
def flicker_detected(self):
"""The flicker frequency detected in Hertz"""
if not self._flicker_detection_1k_configured:
AttributeError(
"Flicker detection must be enabled to access `flicker_detected`"
)
flicker_status = self._fd_status
if flicker_status == 45:
return 1000
if flicker_status == 46:
return 1200
return None
# if we haven't returned yet either there was an error or an unknown frequency was detected
@property
def flicker_detection_enabled(self):
"""The flicker detection status of the sensor. True if the sensor is configured\
to detect flickers. Currently only 1000Hz and 1200Hz flicker detection is supported
"""
return self._flicker_detection_1k_configured
@flicker_detection_enabled.setter
def flicker_detection_enabled(self, flicker_enable):
if flicker_enable:
self._configure_1k_flicker_detection()
else:
self._configure_f1_f4() # sane default
def _f1f4_clear_nir(self):
"""Configure SMUX for sensors F1-F4, Clear and NIR"""
self._set_smux(SMUX_IN.NC_F3L, SMUX_OUT.DISABLED, SMUX_OUT.ADC2)
self._set_smux(SMUX_IN.F1L_NC, SMUX_OUT.ADC0, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_NC0, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_F8L, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F6L_NC, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F2L_F4L, SMUX_OUT.ADC1, SMUX_OUT.ADC3)
self._set_smux(SMUX_IN.NC_F5L, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F7L_NC, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_CL, SMUX_OUT.DISABLED, SMUX_OUT.ADC4)
self._set_smux(SMUX_IN.NC_F5R, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F7R_NC, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_NC1, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_F2R, SMUX_OUT.DISABLED, SMUX_OUT.ADC1)
self._set_smux(SMUX_IN.F4R_NC, SMUX_OUT.ADC3, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F8R_F6R, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_F3R, SMUX_OUT.DISABLED, SMUX_OUT.ADC2)
self._set_smux(SMUX_IN.F1R_EXT_GPIO, SMUX_OUT.ADC0, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.EXT_INT_CR, SMUX_OUT.DISABLED, SMUX_OUT.ADC4)
self._set_smux(SMUX_IN.NC_DARK, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NIR_F, SMUX_OUT.ADC5, SMUX_OUT.DISABLED)
def _f5f8_clear_nir(self):
# SMUX Config for F5,F6,F7,F8,NIR,Clear
self._set_smux(SMUX_IN.NC_F3L, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F1L_NC, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_NC0, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_F8L, SMUX_OUT.DISABLED, SMUX_OUT.ADC3)
self._set_smux(SMUX_IN.F6L_NC, SMUX_OUT.ADC1, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F2L_F4L, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_F5L, SMUX_OUT.DISABLED, SMUX_OUT.ADC0)
self._set_smux(SMUX_IN.F7L_NC, SMUX_OUT.ADC2, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_CL, SMUX_OUT.DISABLED, SMUX_OUT.ADC4)
self._set_smux(SMUX_IN.NC_F5R, SMUX_OUT.DISABLED, SMUX_OUT.ADC0)
self._set_smux(SMUX_IN.F7R_NC, SMUX_OUT.ADC2, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_NC1, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_F2R, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F4R_NC, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F8R_F6R, SMUX_OUT.ADC3, SMUX_OUT.ADC1)
self._set_smux(SMUX_IN.NC_F3R, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F1R_EXT_GPIO, SMUX_OUT.DISABLED,
SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.EXT_INT_CR, SMUX_OUT.DISABLED, SMUX_OUT.ADC4)
self._set_smux(SMUX_IN.NC_DARK, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NIR_F, SMUX_OUT.ADC5, SMUX_OUT.DISABLED)
# TODO: Convert as much of this as possible to properties or named attributes
def _configure_1k_flicker_detection(self):
self._low_channels_configured = False
self._high_channels_configured = False
# RAM_BANK 0 select which RAM bank to access in register addresses 0x00-0x7f
self._write_register(_AS7341_CFG0, 0x00)
# The coefficient calculated are stored into the RAM bank 0 and RAM bank 1,
# they are used instead of 100Hz and 120Hz coefficients which are the default
# flicker detection coefficients
# write new coefficients to detect the 1000Hz and 1200Hz - part 1
self._write_register(0x04, 0x9E)
self._write_register(0x05, 0x36)
self._write_register(0x0E, 0x2E)
self._write_register(0x0F, 0x1B)
self._write_register(0x18, 0x7D)
self._write_register(0x19, 0x36)
self._write_register(0x22, 0x09)
self._write_register(0x23, 0x1B)
self._write_register(0x2C, 0x5B)
self._write_register(0x2D, 0x36)
self._write_register(0x36, 0xE5)
self._write_register(0x37, 0x1A)
self._write_register(0x40, 0x3A)
self._write_register(0x41, 0x36)
self._write_register(0x4A, 0xC1)
self._write_register(0x4B, 0x1A)
self._write_register(0x54, 0x18)
self._write_register(0x55, 0x36)
self._write_register(0x5E, 0x9C)
self._write_register(0x5F, 0x1A)
self._write_register(0x68, 0xF6)
self._write_register(0x69, 0x35)
self._write_register(0x72, 0x78)
self._write_register(0x73, 0x1A)
self._write_register(0x7C, 0x4D)
self._write_register(0x7D, 0x35)
# RAM_BANK 1 select which RAM bank to access in register addresses 0x00-0x7f
self._write_register(_AS7341_CFG0, 0x01)
# write new coefficients to detect the 1000Hz and 1200Hz - part 1
self._write_register(0x06, 0x54)
self._write_register(0x07, 0x1A)
self._write_register(0x10, 0xB3)
self._write_register(0x11, 0x35)
self._write_register(0x1A, 0x2F)
self._write_register(0x1B, 0x1A)
self._write_register(_AS7341_CFG0, 0x01)
# select RAM coefficients for flicker detection by setting
# fd_disable_constant_init to „1“ (FD_CFG0 register) in FD_CFG0 register -
# 0xD7
# fd_disable_constant_init=1
# fd_samples=4
self._write_register(_AS7341_FD_CFG0, 0x60)
# in FD_CFG1 register - 0xd8 fd_time(7:0) = 0x40
self._write_register(_AS7341_FD_TIME1, 0x40)
# in FD_CFG2 register - 0xd9 fd_dcr_filter_size=1 fd_nr_data_sets(2:0)=5
self._write_register(0xD9, 0x25)
# in FD_CFG3 register - 0xda fd_gain=9
self._write_register(_AS7341_FD_TIME2, 0x48)
# in CFG9 register - 0xb2 sien_fd=1
self._write_register(_AS7341_CFG9, 0x40)
# in ENABLE - 0x80 fden=1 and pon=1 are enabled
self._write_register(_AS7341_ENABLE, 0x41)
self._flicker_detection_1k_configured = True
def _smux_template(self):
# SMUX_OUT.DISABLED
# SMUX_OUT.ADC0
# SMUX_OUT.ADC1
# SMUX_OUT.ADC2
# SMUX_OUT.ADC3
# SMUX_OUT.ADC4
# SMUX_OUT.ADC5
self._set_smux(SMUX_IN.NC_F3L, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F1L_NC, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_NC0, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_F8L, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F6L_NC, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F2L_F4L, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_F5L, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F7L_NC, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_CL, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_F5R, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F7R_NC, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_NC1, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_F2R, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F4R_NC, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F8R_F6R, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_F3R, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.F1R_EXT_GPIO, SMUX_OUT.DISABLED,
SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.EXT_INT_CR, SMUX_OUT.DISABLED,
SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NC_DARK, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
self._set_smux(SMUX_IN.NIR_F, SMUX_OUT.DISABLED, SMUX_OUT.DISABLED)
def _set_smux(self, smux_addr, smux_out1, smux_out2):
"""Connect a pair of sensors to an ADC channel"""
low_nibble = smux_out1
high_nibble = smux_out2 << 4
smux_byte = high_nibble | low_nibble
self._write_register(smux_addr, smux_byte)
@property
def gain(self):
"""The ADC gain multiplier. Must be a valid `adafruit_as7341.Gain`"""
return self._gain
@gain.setter
def gain(self, gain_value):
if not Gain.is_valid(gain_value):
raise AttributeError(
"`gain` must be a valid `adafruit_as7341.Gain`")
self._gain = gain_value
@property
def _smux_enabled(self):
return self._smux_enable_bit
@_smux_enabled.setter
def _smux_enabled(self, enable_smux):
self._low_bank_active = False
self._smux_enable_bit = enable_smux
while self._smux_enable_bit is True:
sleep(0.001)
@property
@_low_bank
def led_current(self):
"""The maximum allowed current through the attached LED in milliamps.
Odd numbered values will be rounded down to the next lowest even number due
to the internal configuration restrictions"""
current_val = self._led_current_bits
return (current_val * 2) + 4
@led_current.setter
@_low_bank
def led_current(self, led_curent):
new_current = int((min(258, max(4, led_curent)) - 4) / 2)
self._led_current_bits = new_current
@property
@_low_bank
def led(self):
"""The attached LED. Set to True to turn on, False to turn off"""
return self._led_enabled
@led.setter
@_low_bank
def led(self, led_on):
self._led_enabled = led_on
@property
@_low_bank
def _led_control_enabled(self):
return self._led_control_enable_bit
@_led_control_enabled.setter
@_low_bank
def _led_control_enabled(self, enabled):
self._led_control_enable_bit = enabled
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
