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GY521.py
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GY521.py
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#driver for gy-521 Accelerometer
#Translated by Guy Carver from the MPU6050 sample code.
import pyb
def setvalue( aOriginal, aPosBits, aValue ) :
'''Set a specific bit on a variable. aPosBits = 0xpm (p = pos, m = # mask bits).'''
mask = (1 << (aPosBits & 0xf)) - 1
pos = aPosBits >> 4
aOriginal &= ~(mask << pos)
return aOriginal | (aValue & mask) << pos
def getvalue( aOriginal, aPosBits ) :
'''Get a specific bit from a variable. aPosBits = 0xpm (p = pos, m = # mask bits).'''
mask = (1 << (aPosBits & 0xf)) - 1
pos = aPosBits >> 4
return (aOriginal >> pos) & mask
class accel(object) :
"""gy-521 Accelerometer."""
_ADDRESS_LOW = const(0x68) #address pin low (GND), default for InvenSense evaluation board
_ADDRESS_HIGH = const(0x69) #address pin high (VCC)
# _RA_XG_OFFS_TC = const(0x00) #[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
# _RA_YG_OFFS_TC = const(0x01) #[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
# _RA_ZG_OFFS_TC = const(0x02) #[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
# _RA_X_FINE_GAIN = const(0x03) #[7:0] X_FINE_GAIN
# _RA_Y_FINE_GAIN = const(0x04) #[7:0] Y_FINE_GAIN
# _RA_Z_FINE_GAIN = const(0x05) #[7:0] Z_FINE_GAIN
# _RA_XA_OFFS_H = const(0x06) #[15:0] XA_OFFS
# _RA_XA_OFFS_L_TC = const(0x07)
# _RA_YA_OFFS_H = const(0x08) #[15:0] YA_OFFS
# _RA_YA_OFFS_L_TC = const(0x09)
# _RA_ZA_OFFS_H = const(0x0A) #[15:0] ZA_OFFS
# _RA_ZA_OFFS_L_TC = const(0x0B)
# _RA_XG_OFFS_USRH = const(0x13) #[15:0] XG_OFFS_USR
# _RA_XG_OFFS_USRL = const(0x14)
# _RA_YG_OFFS_USRH = const(0x15) #[15:0] YG_OFFS_USR
# _RA_YG_OFFS_USRL = const(0x16)
# _RA_ZG_OFFS_USRH = const(0x17) #[15:0] ZG_OFFS_USR
# _RA_ZG_OFFS_USRL = const(0x18)
_RA_SMPLRT_DIV = const(0x19)
_RA_CONFIG = const(0x1A)
_RA_GYRO_CONFIG = const(0x1B)
_RA_ACCEL_CONFIG = const(0x1C)
_RA_FF_THR = const(0x1D)
_RA_FF_DUR = const(0x1E)
_RA_MOT_THR = const(0x1F)
_RA_MOT_DUR = const(0x20)
_RA_ZRMOT_THR = const(0x21)
_RA_ZRMOT_DUR = const(0x22)
_RA_FIFO_EN = const(0x23)
_RA_I2C_MST_CTRL = const(0x24)
# _RA_I2C_SLV0_ADDR = const(0x25)
# _RA_I2C_SLV0_REG = const(0x26)
# _RA_I2C_SLV0_CTRL = const(0x27)
# _RA_I2C_SLV1_ADDR = const(0x28)
# _RA_I2C_SLV1_REG = const(0x29)
# _RA_I2C_SLV1_CTRL = const(0x2A)
# _RA_I2C_SLV2_ADDR = const(0x2B)
# _RA_I2C_SLV2_REG = const(0x2C)
# _RA_I2C_SLV2_CTRL = const(0x2D)
# _RA_I2C_SLV3_ADDR = const(0x2E)
# _RA_I2C_SLV3_REG = const(0x2F)
# _RA_I2C_SLV3_CTRL = const(0x30)
# _RA_I2C_SLV4_ADDR = const(0x31)
# _RA_I2C_SLV4_REG = const(0x32)
# _RA_I2C_SLV4_DO = const(0x33)
# _RA_I2C_SLV4_CTRL = const(0x34)
# _RA_I2C_SLV4_DI = const(0x35)
# _RA_I2C_MST_STATUS = const(0x36)
_RA_INT_PIN_CFG = const(0x37)
# _RA_INT_ENABLE = const(0x38)
# _RA_DMP_INT_STATUS = const(0x39)
# _RA_INT_STATUS = const(0x3A)
_RA_ACCEL_XOUT_H = const(0x3B)
# _RA_ACCEL_XOUT_L = const(0x3C)
# _RA_ACCEL_YOUT_H = const(0x3D)
# _RA_ACCEL_YOUT_L = const(0x3E)
# _RA_ACCEL_ZOUT_H = const(0x3F)
# _RA_ACCEL_ZOUT_L = const(0x40)
# _RA_TEMP_OUT_H = const(0x41)
# _RA_TEMP_OUT_L = const(0x42)
_RA_GYRO_XOUT_H = const(0x43)
# _RA_GYRO_XOUT_L = const(0x44)
# _RA_GYRO_YOUT_H = const(0x45)
# _RA_GYRO_YOUT_L = const(0x46)
# _RA_GYRO_ZOUT_H = const(0x47)
# _RA_GYRO_ZOUT_L = const(0x48)
# _RA_EXT_SENS_DATA_00 = const(0x49)
# _RA_EXT_SENS_DATA_01 = const(0x4A)
# _RA_EXT_SENS_DATA_02 = const(0x4B)
# _RA_EXT_SENS_DATA_03 = const(0x4C)
# _RA_EXT_SENS_DATA_04 = const(0x4D)
# _RA_EXT_SENS_DATA_05 = const(0x4E)
# _RA_EXT_SENS_DATA_06 = const(0x4F)
# _RA_EXT_SENS_DATA_07 = const(0x50)
# _RA_EXT_SENS_DATA_08 = const(0x51)
# _RA_EXT_SENS_DATA_09 = const(0x52)
# _RA_EXT_SENS_DATA_10 = const(0x53)
# _RA_EXT_SENS_DATA_11 = const(0x54)
# _RA_EXT_SENS_DATA_12 = const(0x55)
# _RA_EXT_SENS_DATA_13 = const(0x56)
# _RA_EXT_SENS_DATA_14 = const(0x57)
# _RA_EXT_SENS_DATA_15 = const(0x58)
# _RA_EXT_SENS_DATA_16 = const(0x59)
# _RA_EXT_SENS_DATA_17 = const(0x5A)
# _RA_EXT_SENS_DATA_18 = const(0x5B)
# _RA_EXT_SENS_DATA_19 = const(0x5C)
# _RA_EXT_SENS_DATA_20 = const(0x5D)
# _RA_EXT_SENS_DATA_21 = const(0x5E)
# _RA_EXT_SENS_DATA_22 = const(0x5F)
# _RA_EXT_SENS_DATA_23 = const(0x60)
# _RA_MOT_DETECT_STATUS = const(0x61)
# _RA_I2C_SLV0_DO = const(0x63)
# _RA_I2C_SLV1_DO = const(0x64)
# _RA_I2C_SLV2_DO = const(0x65)
# _RA_I2C_SLV3_DO = const(0x66)
# _RA_I2C_MST_DELAY_CTRL = const(0x67)
# _RA_SIGNAL_PATH_RESET = const(0x68)
# _RA_MOT_DETECT_CTRL = const(0x69)
_RA_USER_CTRL = const(0x6A)
_RA_PWR_MGMT_1 = const(0x6B)
# _RA_PWR_MGMT_2 = const(0x6C)
# _RA_BANK_SEL = const(0x6D)
# _RA_MEM_START_ADDR = const(0x6E)
# _RA_MEM_R_W = const(0x6F)
# _RA_DMP_CFG_1 = const(0x70)
# _RA_DMP_CFG_2 = const(0x71)
# _RA_FIFO_COUNTH = const(0x72)
# _RA_FIFO_COUNTL = const(0x73)
# _RA_FIFO_R_W = const(0x74)
# _RA_WHO_AM_I = const(0x75)
#Value Location data.
#Following are the bytes describing the data packed into each 8 bit value on the chip.
#Nibble 1 = position, 0 = bits
#NOTE: Commented out currently unused locations.
# _TC_OTP_BNK_VLD = const(0x01)
# _TC_OFFSET = const(0x16)
# _TC_PWR_MODE = const(0x71)
_CFG_DLPF_CFG = const(0x03)
# _CFG_EXT_SYNC_SET = const(0x33)
_GCONFIG_FS_SEL = const(0x32)
# _ACONFIG_ACCEL_HPF = const(0x03)
_ACONFIG_AFS_SEL = const(0x32)
# _ACONFIG_ZA_ST = const(0x51)
# _ACONFIG_YA_ST = const(0x61)
# _ACONFIG_XA_ST = const(0x71)
# _SLV0_FIFO_EN = const(0X01)
# _SLV1_FIFO_EN = const(0X11)
# _SLV2_FIFO_EN = const(0X21)
_ACCEL_FIFO_EN = const(0X31)
_ZG_FIFO_EN = const(0X41)
_YG_FIFO_EN = const(0X51)
_XG_FIFO_EN = const(0X61)
_TEMP_FIFO_EN = const(0X71)
_I2C_MST_CLK = const(0X04)
# _I2C_MST_P_NSR = const(0X41)
# _SLV_3_FIFO_EN = const(0X51)
# _WAIT_FOR_ES = const(0X61)
# _MULT_MST_EN = const(0X71)
# _I2C_SLV_LEN = const(0X04)
# _I2C_SLV_GRP = const(0X41)
# _I2C_SLV_REG_DIS = const(0X51)
# _I2C_SLV_BYTE_SW = const(0X61)
# _I2C_SLV_EN = const(0X71)
# _I2C_SLV_ADDR = const(0X07)
# _I2C_SLV_RW = const(0X71)
# _I2C_SLV4_MST_DLY = const(0X05)
# _I2C_SLV4_REG_DIS = const(0X51)
# _I2C_SLV4_INT_EN = const(0X61)
# _I2C_SLV4_EN = const(0X71)
# _I2C_SLV4_ADDR = const(0X07)
# _I2C_SLV4_RW = const(0X71)
# _MST_I2C_SLV0_NACK = const(0X01)
# _MST_I2C_SLV1_NACK = const(0X11)
# _MST_I2C_SLV2_NACK = const(0X21)
# _MST_I2C_SLV3_NACK = const(0X31)
# _MST_I2C_SLV4_NACK = const(0X41)
# _MST_I2C_LOST_ARB = const(0X51)
# _MST_I2C_SLV4_DONE = const(0X61)
# _MST_PASS_THROUGH = const(0X71)
# _INTERRUPT_DATA_RDY = const(0X01)
# _INTERRUPT_DMP_INT = const(0X11)
# _INTERRUPT_PLL_RDY_INT = const(0X21)
# _INTERRUPT_I2C_MST_INT = const(0X31)
# _INTERRUPT_FIFO_OFLOW = const(0X41)
# _INTERRUPT_ZMOT = const(0X51)
# _INTERRUPT_MOT = const(0X61)
# _INTERRUPT_FF = const(0X71)
# TODO: figure out what these actually do
# UMPL source code is not very obivous
# _DMPINT_0 = const(0X01)
# _DMPINT_1 = const(0X11)
# _DMPINT_2 = const(0X21)
# _DMPINT_3 = const(0X31)
# _DMPINT_4 = const(0X41)
# _DMPINT_5 = const(0X51)
# _MOTION_MOT_ZRMOT = const(0X01)
# _MOTION_MOT_ZPOS = const(0X21)
# _MOTION_MOT_ZNEG = const(0X31)
# _MOTION_MOT_YPOS = const(0X41)
# _MOTION_MOT_YNEG = const(0X51)
# _MOTION_MOT_XPOS = const(0X61)
# _MOTION_MOT_XNEG = const(0X71)
# _DELAYCTRL_I2C_SLV0_DLY_EN = const(0X01)
# _DELAYCTRL_I2C_SLV1_DLY_EN = const(0X11)
# _DELAYCTRL_I2C_SLV2_DLY_EN = const(0X21)
# _DELAYCTRL_I2C_SLV3_DLY_EN = const(0X31)
# _DELAYCTRL_I2C_SLV4_DLY_EN = const(0X41)
# _DELAYCTRL_DELAY_ES_SHADOW = const(0X71)
# _PATHRESET_TEMP_RESET = const(0X01)
# _PATHRESET_ACCEL_RESET = const(0X11)
# _PATHRESET_GYRO_RESET = const(0X21)
# _DETECT_MOT_COUNT = const(0X02)
# _DETECT_FF_COUNT = const(0X22)
# _DETECT_ACCEL_ON_DELAY = const(0X42)
# _INTCFG_CLKOUT_EN = const(0X01)
# _INTCFG_I2C_BYPASS_EN = const(0X11)
# _INTCFG_FSYNC_INT_EN = const(0X21)
# _INTCFG_FSYNC_INT_LEVEL = const(0X31)
_INTCFG_INT_RD_CLEAR = const(0X41)
_INTCFG_LATCH_INT_EN = const(0X51)
_INTCFG_INT_OPEN = const(0X61)
_INTCFG_INT_LEVEL = const(0X71)
# _USERCTRL_SIG_COND_RESET = const(0X01)
# _USERCTRL_I2C_MST_RESET = const(0X11)
# _USERCTRL_FIFO_RESET = const(0X21)
# _USERCTRL_DMP_RESET = const(0X31)
# _USERCTRL_I2C_IF_DIS = const(0X41)
# _USERCTRL_I2C_MST_EN = const(0X51)
_USERCTRL_FIFO_EN = const(0X61)
# _USERCTRL_DMP_EN = const(0X71)
_PWR1_CLKSEL = const(0X03)
# _PWR1_TEMP_DIS = const(0X31)
# _PWR1_CYCLE = const(0X51)
_PWR1_SLEEP = const(0X61)
_PWR1_DEVICE_RESET = const(0X71)
# _PWR2_STBY_ZG = const(0X01)
# _PWR2_STBY_YG = const(0X11)
# _PWR2_STBY_XG = const(0X21)
# _PWR2_STBY_ZA = const(0X31)
# _PWR2_STBY_YA = const(0X41)
# _PWR2_STBY_XA = const(0X51)
# _PWR2_LP_WAKE_CTRL = const(0X62)
# _BANKSEL_MEM_SEL = const(0X05)
# _BANKSEL_CFG_USER_BANK = const(0X51)
# _BANKSEL_PRFTCH_EN = const(0X61)
# _WHO_AM_I = const(0X06)
#Values, not currently in use.
# _DLPF_BW_256 = const(0)
# _DLPF_BW_188 = const(1)
# _DLPF_BW_98 = const(2)
# _DLPF_BW_42 = const(3)
# _DLPF_BW_20 = const(4)
# _DLPF_BW_10 = const(5)
# _DLPF_BW_5 = const(6)
# _DHPF_RESET = const(0)
# _DHPF_5 = const(1)
# _DHPF_2P5 = const(2)
# _DHPF_1P25 = const(3)
# _DHPF_0P63 = const(4)
# _DHPF_HOLD = const(7)
_GYRO_FS_250 = const(0)
# _GYRO_FS_500 = const(1)
# _GYRO_FS_1000 = const(2)
# _GYRO_FS_2000 = const(3)
#
_ACCEL_FS_2 = const(0)
# _ACCEL_FS_4 = const(1)
# _ACCEL_FS_8 = const(2)
# _ACCEL_FS_16 = const(3)
#
#
# _CLOCK_DIV_348 = const(0x0)
# _CLOCK_DIV_333 = const(0x1)
# _CLOCK_DIV_320 = const(0x2)
# _CLOCK_DIV_308 = const(0x3)
# _CLOCK_DIV_296 = const(0x4)
# _CLOCK_DIV_286 = const(0x5)
# _CLOCK_DIV_276 = const(0x6)
# _CLOCK_DIV_267 = const(0x7)
# _CLOCK_DIV_258 = const(0x8)
# _CLOCK_DIV_500 = const(0x9)
# _CLOCK_DIV_471 = const(0xA)
# _CLOCK_DIV_444 = const(0xB)
# _CLOCK_DIV_421 = const(0xC)
# _CLOCK_DIV_400 = const(0xD)
# _CLOCK_DIV_381 = const(0xE)
# _CLOCK_DIV_364 = const(0xF)
#
# _INTMODE_ACTIVEHIGH = const(0)
# _INTMODE_ACTIVELOW = const(1)
#
# _INTDRV_PUSHPULL = const(0)
# _INTDRV_OPENDRAIN = const(1)
#
# _INTLATCH_50USPULSE = const(0)
# _INTLATCH_WAITCLEAR = const(1)
#
# _INTCLEAR_STATUSREAD = const(0)
# _INTCLEAR_ANYREAD = const(1)
#
# _DETECT_DECREMENT_RESET = const(0)
# _DETECT_DECREMENT_1 = const(1)
# _DETECT_DECREMENT_2 = const(2)
# _DETECT_DECREMENT_4 = const(3)
#
# _WAKE_FREQ_1P25 = const(0)
# _WAKE_FREQ_2P5 = const(1)
# _WAKE_FREQ_5 = const(2)
# _WAKE_FREQ_10 = const(3)
#
# _DMP_MEMORY_BANKS = const(8)
# _DMP_MEMORY_BANK_SIZE = const(256)
# _DMP_MEMORY_CHUNK_SIZE = const(16)
# _VDDIO_LEVEL_VLOGIC = const(0)
# _VDDIO_LEVEL_VDD = const(1)
# _EXT_SYNC_DISABLED = const(0)
# _EXT_SYNC_TEMP_OUT_L = const(1)
# _EXT_SYNC_GYRO_XOUT_L = const(2)
# _EXT_SYNC_GYRO_YOUT_L = const(3)
# _EXT_SYNC_GYRO_ZOUT_L = const(4)
# _EXT_SYNC_ACCEL_XOUT_L = const(5)
# _EXT_SYNC_ACCEL_YOUT_L = const(6)
# _EXT_SYNC_ACCEL_ZOUT_L = const(7)
# _CLOCK_INTERNAL = const(0)
_CLOCK_PLL_XGYRO = const(1)
# _CLOCK_PLL_YGYRO = const(2)
# _CLOCK_PLL_ZGYRO = const(3)
# _CLOCK_PLL_EXT32K = const(4)
# _CLOCK_PLL_EXT19M = const(5)
# _CLOCK_KEEP_RESET = const(7)
def __init__( self, aLoc, aAddress = _ADDRESS_LOW ) :
"""aLoc I2C pin location is either 1, 'X', 2 or 'Y'.
aAddress is either ADDRESS_LOW or ADDRESS_HIGH."""
self._data = bytearray(1)
self._data6 = bytearray(6)
self._data14 = bytearray(14)
self._address = aAddress
self._i2c = pyb.I2C(aLoc, pyb.I2C.MASTER, baudrate = 400000)
self.setclocksource(_CLOCK_PLL_XGYRO)
self.setfullscalegyrorange(_GYRO_FS_250)
self.setfulscaleaccelrange(_ACCEL_FS_2)
self.setsleepenabled(False)
def getrate( self ) :
self._readdata(_RA_SMPLRT_DIV, self._data)
return self._data[0]
def setrate( self, aRate ) :
self._writedata(_RA_SMPLRT_DIV, aRate)
def getDLPF( self ) :
return self._readbits(_RA_CONFIG, _CFG_DLPF_CFG)
def setDLPF( self, aMode ) :
self._writebits(_RA_CONFIG, _CFG_DLPF_CFG, aMode)
def setclocksource( self, aSource ) :
self._writebits(_RA_PWR_MGMT_1, _PWR1_CLKSEL, aSource)
def getfullscalegyrorange( self ) :
return self._readbits(_RA_GYRO_CONFIG, _GCONFIG_FS_SEL)
def setfullscalegyrorange( self, aRange ) :
self._writebits(_RA_GYRO_CONFIG, _GCONFIG_FS_SEL, aRange)
def getfullscaleaccelrange( self ) :
self._readbits(_RA_ACCEL_CONFIG, _ACONFIG_AFS_SEL)
def setfullscaleaccelrange( self, aRange ) :
self._writebits(_RA_ACCEL_CONFIG, _ACONFIG_AFS_SEL, aRange)
def getsleepenabled( self ) :
self._readbits(_RA_PWR_MGMT_1, _PWR1_SLEEP)
def setsleepenabled( self, aTF ) :
self._writebits(_RA_PWR_MGMT_1, _PWR1_SLEEP, aTF)
def getfreefalldetectionthreshold( self ) :
self._readdata(_RA_FF_THR, self._data)
return self._data[0]
def setfreefalldetectionthreshold( self, aValue ) :
self._writedata(_RA_FF_THR, aValue)
def getfreefalldetectionduration( self ) :
self._readdata(_RA_FF_DUR, self._data)
return self._data[0]
def setfreefalldetectionduration( self, aValue ) :
self._writedata(_RA_FF_DUR, aValue)
def getmotiondetectionthreshold( self ) :
self._readdata(_RA_MOT_THR, self._data)
return self._data[0]
def setmotiondetectionthreshold( self, aValue ) :
self._writedata(_RA_MOT_THR, aValue)
def getmotiondetectionduration( self ) :
self._readdata(_RA_MOT_DUR, self._data)
return self._data[0]
def setmotiondetectionduration( self, aValue ) :
self._writedata(_RA_MOT_DUR, aValue)
def getzeromotiondetectionthreshold( self ) :
self._readdata(_RA_ZRMOT_THR, self._data)
return self._data[0]
def setzeromotiondetectionthreshold( self, aValue ) :
self._writedata(_RA_ZRMOT_THR, aValue)
def getzeromotiondetectionduration( self ) :
self._readdata(_RA_ZRMOT_DUR, self._data)
return self._data[0]
def setzeromotiondetectionduration( self, aValue ) :
self._writedata(_RA_ZRMOT_DUR, aValue)
def getFIFOenabled( self ) :
return self._readbits(_RA_USER_CTRL, _USERCTRL_FIFO_EN)
def setFIFOenabled( self, aTF ) :
self._writebits(_RA_USER_CTRL, _USERCTRL_FIFO_EN, aTF)
def gettempFIFOenabled( self ) :
return self._readbits(_RA_FIFO_EN, _TEMP_FIFO_EN)
def settempFIFFOenabled( self, aTF ) :
self._writebits(_RA_FIFO_EN, _TEMP_FIFO_EN, aTF)
def getxgyroFIFOenabled( self ) :
return self._readbits(_RA_FIFO_EN, _XG_FIFO_EN)
def setxgyroFIFOenabled( self, aTF ) :
self._writebits(_RA_FIFO_EN, _XG_FIFO_EN, aTF)
def getygyroFIFOenabled( self ) :
return self._readbits(_RA_FIFO_EN, _YG_FIFO_EN)
def setygyroFIFOenabled( self, aTF ) :
self._writebits(_RA_FIFO_EN, _YG_FIFO_EN, aTF)
def getzgyroFIFOenabled( self ) :
return self._readbits(_RA_FIFO_EN, _ZG_FIFO_EN)
def setzgyroFIFOenabled( self, aTF ) :
self._writebits(_RA_FIFO_EN, _ZG_FIFO_EN, aTF)
def getaccelFIFOenabled( self ) :
return self._readbits(_RA_FIFO_EN, _ACCEL_FIFO_EN)
def setaccelFIFOenabled( self, aTF ) :
self._writebits(_RA_FIFO_EN, _ACCEL_FIFO_EN, aTF)
def getmasterclockspeed( self ) :
return self._readbits(_RA_I2C_MST_CTRL, _I2C_MST_CLK)
def setmasterclockspeed( self, aValue ) :
self._writebits(_RA_I2C_MST_CTRL, _I2C_MST_CLK, aValue)
def getinterruptmode( self ) :
return self._readbits(_RA_INT_PIN_CFG, _INTCFG_INT_LEVEL)
def setinterruptmode( self, aValue ) :
self._writebits(_RA_INT_PIN_CFG, _INTCFG_INT_LEVEL, aValue)
def getinterruptdrive( self ) :
return self._readbits(_RA_INT_PIN_CFG, _INTCFG_INT_OPEN)
def setinterruptdrive( self, aValue ) :
self._writebits(_RA_INT_PIN_CFG, _INTCFG_INT_OPEN, aValue)
def getinterruptlatch( self ) :
return self._readbits(_RA_INT_PIN_CFG, _INTCFG_LATCH_INT_EN)
def setinterruptlatch( self, aValue ) :
self._writebits(_RA_INT_PIN_CFG, _INTCFG_LATCH_INT_EN, aValue)
def getinterruptlatchclear( self ) :
return self._readbits(_RA_INT_PIN_CFG, _INTCFG_INT_RD_CLEAR)
def setinterruptlatchclear( self, aValue ) :
self._writebits(_RA_INT_PIN_CFG, _INTCFG_INT_RD_CLEAR, aValue)
def getacceltemprot( self ) :
self._readdata(_RA_ACCEL_XOUT_H, self._data14)
return [(self._data14[i] << 8) | self._data14[i + 1] for i in range(0, len(self._data14), 2)]
def getacceleration( self ) :
self._readdata(_RA_ACCEL_XOUT_H, self._data6)
return [(self._data6[i] << 8) | self._data6[i + 1] for i in range(0, len(self._data6), 2)]
def getrotation( self ) :
self._readdata(_RA_GYRO_XOUT_H, self.data6)
return [(self._data6[i] << 8) | self._data6[i + 1] for i in range(0, len(self._data6), 2)]
def reset( self ) :
self._writebits(_RA_PWR_MGMT_1, _PWR1_DEVICE_RESET, True)
def _writedata( self, aAddress, aData ) :
self._i2c.mem_write(aData, self._address, aAddress)
def _readdata( self, aAddress, aData ) :
self._i2c.mem_read(aData, self._address, aAddress)
# @micropython.native
def _readbits( self, aAddress, aPosBits ) :
self._readdata(aAddress, self._data)
return getvalue(self._data[0], aPosBits)
# @micropython.native
def _writebits( self, aAddress, aPosBits, aValue ) :
self._readdata(aAddress, self._data)
self._data[0] = setvalue(self._data[0], aPosBits, aValue)
self._writedata(aAddress, self._data)