Jimmy
397d48a43a
Wire LSM6DS3 readings into the runtime telemetry stream, expose them over web endpoints, and render live voltage/IMU data in the dashboard with websocket updates. Made-with: Cursor
65 lines
1.7 KiB
Python
65 lines
1.7 KiB
Python
"""LSM6DS3 accelerometer / gyroscope over I2C (MicroPython)."""
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import struct
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WHO_AM_I_REG = 0x0F
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WHO_AM_I_LSM6DS3 = 0x69
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CTRL1_XL = 0x10
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CTRL2_G = 0x11
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OUT_TEMP_L = 0x20
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# Default CTRL1_XL = 0x60: 104 Hz ODR, ±2 g, anti-aliasing filter BW ~100 Hz
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# Default CTRL2_G = 0x40: 104 Hz ODR, 245 dps full scale
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_DEFAULT_XL = b"\x60"
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_DEFAULT_G = b"\x40"
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# LSB scaling for default full-scale settings above
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_G_PER_LSB = 0.000061
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_DPS_PER_LSB = 0.00875
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def is_lsm6ds3(who_am_i: int) -> bool:
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return who_am_i == WHO_AM_I_LSM6DS3
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class LSM6DS3:
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def __init__(self, i2c, addr=0x6A):
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self.i2c = i2c
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self.addr = addr
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def who_am_i(self) -> int:
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return self.i2c.readfrom_mem(self.addr, WHO_AM_I_REG, 1)[0]
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def configure(self, ctrl1_xl=_DEFAULT_XL, ctrl2_g=_DEFAULT_G) -> None:
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self.i2c.writeto_mem(self.addr, CTRL1_XL, ctrl1_xl)
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self.i2c.writeto_mem(self.addr, CTRL2_G, ctrl2_g)
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def read_raw(self):
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"""Returns (temp_raw, gx, gy, gz, ax, ay, az) as signed 16-bit values."""
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data = self.i2c.readfrom_mem(self.addr, OUT_TEMP_L, 14)
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return struct.unpack("<hhhhhhh", data)
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def read(self):
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"""
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Scaled readings for default ±2 g / 245 dps configuration.
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Returns:
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temp_c: float, degrees C
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accel_g: (ax, ay, az) in g
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gyro_dps: (gx, gy, gz) in degrees per second
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"""
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temp, gx, gy, gz, ax, ay, az = self.read_raw()
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temp_c = 25.0 + temp / 16.0
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accel_g = (
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ax * _G_PER_LSB,
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ay * _G_PER_LSB,
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az * _G_PER_LSB,
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)
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gyro_dps = (
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gx * _DPS_PER_LSB,
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gy * _DPS_PER_LSB,
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gz * _DPS_PER_LSB,
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)
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return temp_c, accel_g, gyro_dps
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