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lsm9ds1.py
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lsm9ds1.py
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"""
LSM9DS1 driver code is placed under the BSD license.
Copyright (c) 2017, Emlid Limited, emlid.com
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Emlid Limited nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
"""
import spidev
import time
import array
import struct
class LSM9DS1:
__DEVICE_ACC_GYRO = 3
__DEVICE_MAGNETOMETER = 2
G_SI = 9.80665
PI = 3.14159
# who am I values
__WHO_AM_I_ACC_GYRO = 0x68
__WHO_AM_I_MAG = 0x3D
# Accelerometer and Gyroscope registers
__LSM9DS1XG_ACT_THS = 0x04
__LSM9DS1XG_ACT_DUR = 0x05
__LSM9DS1XG_INT_GEN_CFG_XL = 0x06
__LSM9DS1XG_INT_GEN_THS_X_XL = 0x07
__LSM9DS1XG_INT_GEN_THS_Y_XL = 0x08
__LSM9DS1XG_INT_GEN_THS_Z_XL = 0x09
__LSM9DS1XG_INT_GEN_DUR_XL = 0x0A
__LSM9DS1XG_REFERENCE_G = 0x0B
__LSM9DS1XG_INT1_CTRL = 0x0C
__LSM9DS1XG_INT2_CTRL = 0x0D
__LSM9DS1XG_WHO_AM_I = 0x0F # should return = 0x68
__LSM9DS1XG_CTRL_REG1_G = 0x10
__LSM9DS1XG_CTRL_REG2_G = 0x11
__LSM9DS1XG_CTRL_REG3_G = 0x12
__LSM9DS1XG_ORIENT_CFG_G = 0x13
__LSM9DS1XG_INT_GEN_SRC_G = 0x14
__LSM9DS1XG_OUT_TEMP_L = 0x15
__LSM9DS1XG_OUT_TEMP_H = 0x16
__LSM9DS1XG_STATUS_REG = 0x17
__LSM9DS1XG_OUT_X_L_G = 0x18
__LSM9DS1XG_OUT_X_H_G = 0x19
__LSM9DS1XG_OUT_Y_L_G = 0x1A
__LSM9DS1XG_OUT_Y_H_G = 0x1B
__LSM9DS1XG_OUT_Z_L_G = 0x1C
__LSM9DS1XG_OUT_Z_H_G = 0x1D
__LSM9DS1XG_CTRL_REG4 = 0x1E
__LSM9DS1XG_CTRL_REG5_XL = 0x1F
__LSM9DS1XG_CTRL_REG6_XL = 0x20
__LSM9DS1XG_CTRL_REG7_XL = 0x21
__LSM9DS1XG_CTRL_REG8 = 0x22
__LSM9DS1XG_CTRL_REG9 = 0x23
__LSM9DS1XG_CTRL_REG10 = 0x24
__LSM9DS1XG_INT_GEN_SRC_XL = 0x26
__LSM9DS1XG_OUT_X_L_XL = 0x28
__LSM9DS1XG_OUT_X_H_XL = 0x29
__LSM9DS1XG_OUT_Y_L_XL = 0x2A
__LSM9DS1XG_OUT_Y_H_XL = 0x2B
__LSM9DS1XG_OUT_Z_L_XL = 0x2C
__LSM9DS1XG_OUT_Z_H_XL = 0x2D
__LSM9DS1XG_FIFO_CTRL = 0x2E
__LSM9DS1XG_FIFO_SRC = 0x2F
__LSM9DS1XG_INT_GEN_CFG_G = 0x30
__LSM9DS1XG_INT_GEN_THS_XH_G = 0x31
__LSM9DS1XG_INT_GEN_THS_XL_G = 0x32
__LSM9DS1XG_INT_GEN_THS_YH_G = 0x33
__LSM9DS1XG_INT_GEN_THS_YL_G = 0x34
__LSM9DS1XG_INT_GEN_THS_ZH_G = 0x35
__LSM9DS1XG_INT_GEN_THS_ZL_G = 0x36
__LSM9DS1XG_INT_GEN_DUR_G = 0x37
# Magnetometer registers
__LSM9DS1M_OFFSET_X_REG_L_M = 0x05
__LSM9DS1M_OFFSET_X_REG_H_M = 0x06
__LSM9DS1M_OFFSET_Y_REG_L_M = 0x07
__LSM9DS1M_OFFSET_Y_REG_H_M = 0x08
__LSM9DS1M_OFFSET_Z_REG_L_M = 0x09
__LSM9DS1M_OFFSET_Z_REG_H_M = 0x0A
__LSM9DS1M_WHO_AM_I = 0x0F # should return = 0x3D
__LSM9DS1M_CTRL_REG1_M = 0x20
__LSM9DS1M_CTRL_REG2_M = 0x21
__LSM9DS1M_CTRL_REG3_M = 0x22
__LSM9DS1M_CTRL_REG4_M = 0x23
__LSM9DS1M_CTRL_REG5_M = 0x24
__LSM9DS1M_STATUS_REG_M = 0x27
__LSM9DS1M_OUT_X_L_M = 0x28
__LSM9DS1M_OUT_X_H_M = 0x29
__LSM9DS1M_OUT_Y_L_M = 0x2A
__LSM9DS1M_OUT_Y_H_M = 0x2B
__LSM9DS1M_OUT_Z_L_M = 0x2C
__LSM9DS1M_OUT_Z_H_M = 0x2D
__LSM9DS1M_INT_CFG_M = 0x30
__LSM9DS1M_INT_SRC_M = 0x31
__LSM9DS1M_INT_THS_L_M = 0x32
__LSM9DS1M_INT_THS_H_M = 0x33
# Configuration bits Accelerometer and Gyroscope
__BITS_XEN_G = 0x08
__BITS_YEN_G = 0x10
__BITS_ZEN_G = 0x20
__BITS_XEN_XL = 0x08
__BITS_YEN_XL = 0x10
__BITS_ZEN_XL = 0x20
__BITS_ODR_G_14900mHZ = 0x20
__BITS_ODR_G_59500mHZ = 0x40
__BITS_ODR_G_119HZ = 0x60
__BITS_ODR_G_238HZ = 0x80
__BITS_ODR_G_476HZ = 0xA0
__BITS_ODR_G_952HZ = 0xC0
__BITS_ODR_XL_10HZ = 0x20
__BITS_ODR_XL_50HZ = 0x40
__BITS_ODR_XL_119HZ = 0x60
__BITS_ODR_XL_238HZ = 0x80
__BITS_ODR_XL_476HZ = 0xA0
__BITS_ODR_XL_952HZ = 0xC0
__BITS_FS_G_MASK = 0xE3
__BITS_FS_G_245DPS = 0x00
__BITS_FS_G_500DPS = 0x08
__BITS_FS_G_2000DPS = 0x18
__BITS_FS_XL_MASK = 0xE7
__BITS_FS_XL_2G = 0x00
__BITS_FS_XL_4G = 0x10
__BITS_FS_XL_8G = 0x18
__BITS_FS_XL_16G = 0x08
# Configuration bits Magnetometer
__BITS_TEMP_COMP = 0x80
__BITS_OM_LOW = 0x00
__BITS_OM_MEDIUM = 0x20
__BITS_OM_HIGH = 0x40
__BITS_OM_ULTRA_HIGH = 0x60
__BITS_ODR_M_625mHZ = 0x00
__BITS_ODR_M_1250mHZ = 0x04
__BITS_ODR_M_250mHZ = 0x08
__BITS_ODR_M_5HZ = 0x0C
__BITS_ODR_M_10HZ = 0x10
__BITS_ODR_M_20HZ = 0x14
__BITS_ODR_M_40HZ = 0x18
__BITS_ODR_M_80HZ = 0x1C
__BITS_FS_M_MASK = 0x0C
__BITS_FS_M_4Gs = 0x00
__BITS_FS_M_8Gs = 0x20
__BITS_FS_M_12Gs = 0x40
__BITS_FS_M_16Gs = 0x60
__BITS_MD_CONTINUOUS = 0x00
__BITS_MD_SINGLE = 0x01
__BITS_MD_POWERDOWN = 0x02
__BITS_OMZ_LOW = 0x00
__BITS_OMZ_MEDIUM = 0x04
__BITS_OMZ_HIGH = 0x08
__BITS_OMZ_ULTRA_HIGH = 0x0C
__READ_FLAG = 0x80
__MULTIPLE_READ = 0x40
def __init__(self, spi_bus_number = 0):
self.bus = spidev.SpiDev()
self.spi_bus_number = spi_bus_number
self.gyro_scale = None
self.acc_scale = None
self.mag_scale = None
self.gyroscope_data = [0.0, 0.0, 0.0]
self.accelerometer_data = [0.0, 0.0, 0.0]
self.magnetometer_data = [0.0, 0.0, 0.0]
self.temperature = 0.0
def bus_open(self, dev_number):
self.bus.open(self.spi_bus_number, dev_number)
self.bus.max_speed_hz = 10000000
def testConnection(self):
responseXG = self.readReg(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_WHO_AM_I)
responseM = self.readReg(self.__DEVICE_MAGNETOMETER, self.__LSM9DS1M_WHO_AM_I)
if (responseXG == self.__WHO_AM_I_ACC_GYRO and responseM == self.__WHO_AM_I_MAG):
return True
return False
def writeReg(self, dev_number, reg_address, data):
self.bus_open(dev_number)
tx = [reg_address, data]
rx = self.bus.xfer2(tx)
self.bus.close()
return rx
def readReg(self, dev_number, reg_address):
self.bus_open(dev_number)
tx = [reg_address | self.__READ_FLAG, 0x00]
rx = self.bus.xfer2(tx)
self.bus.close()
return rx[1]
def readRegs(self, dev_number, reg_address, length):
self.bus_open(dev_number)
tx = [0] * (length + 1)
tx[0] = reg_address | self.__READ_FLAG
if dev_number==self.__DEVICE_MAGNETOMETER:
tx[0] |= self.__MULTIPLE_READ
rx = self.bus.xfer2(tx)
self.bus.close()
return rx[1:len(rx)]
def initialize(self):
#--------Accelerometer and Gyroscope---------
# enable the 3-axes of the gyroscope
self.writeReg(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_CTRL_REG4, self.__BITS_XEN_G | self.__BITS_YEN_G | self.__BITS_ZEN_G)
# configure the gyroscope
self.writeReg(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_CTRL_REG1_G, self.__BITS_ODR_G_952HZ | self.__BITS_FS_G_2000DPS)
time.sleep(0.1)
# enable the three axes of the accelerometer
self.writeReg(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_CTRL_REG5_XL, self.__BITS_XEN_XL | self.__BITS_YEN_XL | self.__BITS_ZEN_XL)
# configure the accelerometer-specify bandwidth selection with Abw
self.writeReg(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_CTRL_REG6_XL, self.__BITS_ODR_XL_952HZ | self.__BITS_FS_XL_16G)
time.sleep(0.1)
#------------Magnetometer----------------
self.writeReg(self.__DEVICE_MAGNETOMETER, self.__LSM9DS1M_CTRL_REG1_M, self.__BITS_TEMP_COMP | self.__BITS_OM_HIGH | self.__BITS_ODR_M_80HZ)
self.writeReg(self.__DEVICE_MAGNETOMETER, self.__LSM9DS1M_CTRL_REG2_M, self.__BITS_FS_M_16Gs)
# continuous conversion mode
self.writeReg(self.__DEVICE_MAGNETOMETER, self.__LSM9DS1M_CTRL_REG3_M, self.__BITS_MD_CONTINUOUS)
self.writeReg(self.__DEVICE_MAGNETOMETER, self.__LSM9DS1M_CTRL_REG4_M, self.__BITS_OMZ_HIGH)
self.writeReg(self.__DEVICE_MAGNETOMETER, self.__LSM9DS1M_CTRL_REG5_M, 0x00 )
time.sleep(0.1)
self.set_gyro_scale(self.__BITS_FS_G_2000DPS)
self.set_acc_scale(self.__BITS_FS_XL_16G)
self.set_mag_scale(self.__BITS_FS_M_16Gs)
def set_gyro_scale(self, scale):
reg = self.__BITS_FS_G_MASK & self.readReg(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_CTRL_REG1_G)
self.writeReg(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_CTRL_REG1_G,reg | scale)
if (scale == self.__BITS_FS_G_245DPS):
self.gyro_scale = 0.00875
if (scale == self.__BITS_FS_G_500DPS):
self.gyro_scale = 0.0175
if (scale == self.__BITS_FS_G_2000DPS):
self.gyro_scale = 0.07
def set_acc_scale(self, scale):
reg = self.__BITS_FS_XL_MASK & self.readReg(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_CTRL_REG6_XL)
self.writeReg(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_CTRL_REG6_XL, reg | scale)
if (scale == self.__BITS_FS_XL_2G):
self.acc_scale = 0.000061
if (scale == self.__BITS_FS_XL_4G):
self.acc_scale = 0.000122
if (scale == self.__BITS_FS_XL_8G):
self.acc_scale = 0.000244
if (scale == self.__BITS_FS_XL_16G):
self.acc_scale = 0.000732
def set_mag_scale(self, scale):
reg = self.__BITS_FS_M_MASK & self.readReg(self.__DEVICE_MAGNETOMETER, self.__LSM9DS1M_CTRL_REG2_M)
self.writeReg(self.__DEVICE_MAGNETOMETER, self.__LSM9DS1M_CTRL_REG2_M, reg | scale)
if (scale == self.__BITS_FS_M_4Gs):
self.mag_scale = 0.00014
if (scale == self.__BITS_FS_M_8Gs):
self.mag_scale = 0.00029
if (scale == self.__BITS_FS_M_12Gs):
self.mag_scale = 0.00043
if (scale == self.__BITS_FS_M_16Gs):
self.mag_scale = 0.00058
def read_acc(self):
# Read accelerometer
response = self.readRegs(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_OUT_X_L_XL, 6)
for i in xrange(3):
self.accelerometer_data[i] = self.G_SI * (self.byte_to_float_le(response[2*i:2*i+2]) * self.acc_scale)
self.accelerometer_data = [-self.accelerometer_data[1], -self.accelerometer_data[0], self.accelerometer_data[2]]
def read_gyro(self):
# Read gyroscope
response = self.readRegs(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_OUT_X_L_G, 6)
for i in xrange(3):
self.gyroscope_data[i] = (self.PI / 180.0) * (self.byte_to_float_le(response[2*i:2*i+2]) * self.gyro_scale)
self.gyroscope_data = [-self.gyroscope_data[1], -self.gyroscope_data[0], self.gyroscope_data[2]]
def read_mag(self):
# Read magnetometer
response = self.readRegs(self.__DEVICE_MAGNETOMETER, self.__LSM9DS1M_OUT_X_L_M, 6)
for i in xrange(3):
self.magnetometer_data[i] = 100.0 * (self.byte_to_float_le(response[2*i:2*i+2]) * self.mag_scale)
self.magnetometer_data[1] *=-1
self.magnetometer_data[2] *=-1
def read_temp(self):
# Read temperature
response = self.readRegs(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_OUT_TEMP_L, 2)
self.temperature = self.byte_to_float_le(response) / 256.0 + 25.0
def read_all(self):
# Read temperature
response = self.readRegs(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_OUT_TEMP_L, 2)
self.temperature = self.byte_to_float_le(response) / 256.0 + 25.0
# Read accelerometer
response = self.readRegs(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_OUT_X_L_XL, 6)
for i in xrange(3):
self.accelerometer_data[i] = self.G_SI * (self.byte_to_float_le(response[2*i:2*i+2]) * self.acc_scale)
# Read gyroscope
response = self.readRegs(self.__DEVICE_ACC_GYRO, self.__LSM9DS1XG_OUT_X_L_G, 6)
for i in xrange(3):
self.gyroscope_data[i] = (self.PI / 180.0) * (self.byte_to_float_le(response[2*i:2*i+2]) * self.gyro_scale)
# Read magnetometer
response = self.readRegs(self.__DEVICE_MAGNETOMETER, self.__LSM9DS1M_OUT_X_L_M, 6)
for i in xrange(3):
self.magnetometer_data[i] = 100.0 * (self.byte_to_float_le(response[2*i:2*i+2]) * self.mag_scale)
# Change rotation of LSM9DS1 like in MPU-9250
self.rotate()
def getMotion9(self):
self.read_all()
m9a = self.accelerometer_data
m9g = self.gyroscope_data
m9m = self.magnetometer_data
return m9a, m9g, m9m
def getMotion6(self):
self.read_acc()
self.read_gyro()
m6a = self.accelerometer_data
m6g = self.gyroscope_data
return m6a, m6g
def byte_to_float(self, input_buffer):
byte_array = array.array("B", input_buffer)
signed_16_bit_int, = struct.unpack(">h", byte_array)
return float(signed_16_bit_int)
def byte_to_float_le(self, input_buffer):
byte_array = array.array("B", input_buffer)
signed_16_bit_int, = struct.unpack("<h", byte_array)
return float(signed_16_bit_int)
def rotate(self):
self.accelerometer_data = [-self.accelerometer_data[1], -self.accelerometer_data[0], self.accelerometer_data[2]]
self.gyroscope_data = [-self.gyroscope_data[1], -self.gyroscope_data[0], self.gyroscope_data[2]]
self.magnetometer_data[1] *=-1
self.magnetometer_data[2] *=-1