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Code Editor : lsm303d.py
import math import struct import time ### LSM303 Address ### ADDR = 0x1D # Assuming SA0 grounded ### LSM303 Register definitions ### TEMP_OUT_L = 0x05 TEMP_OUT_H = 0x06 STATUS_REG_M = 0x07 OUT_X_L_M = 0x08 OUT_X_H_M = 0x09 OUT_Y_L_M = 0x0A OUT_Y_H_M = 0x0B OUT_Z_L_M = 0x0C OUT_Z_H_M = 0x0D WHO_AM_I = 0x0F INT_CTRL_M = 0x12 INT_SRC_M = 0x13 INT_THS_L_M = 0x14 INT_THS_H_M = 0x15 OFFSET_X_L_M = 0x16 OFFSET_X_H_M = 0x17 OFFSET_Y_L_M = 0x18 OFFSET_Y_H_M = 0x19 OFFSET_Z_L_M = 0x1A OFFSET_Z_H_M = 0x1B REFERENCE_X = 0x1C REFERENCE_Y = 0x1D REFERENCE_Z = 0x1E CTRL_REG0 = 0x1F CTRL_REG1 = 0x20 CTRL_REG2 = 0x21 CTRL_REG3 = 0x22 CTRL_REG4 = 0x23 CTRL_REG5 = 0x24 CTRL_REG6 = 0x25 CTRL_REG7 = 0x26 STATUS_REG_A = 0x27 OUT_X_L_A = 0x28 OUT_X_H_A = 0x29 OUT_Y_L_A = 0x2A OUT_Y_H_A = 0x2B OUT_Z_L_A = 0x2C OUT_Z_H_A = 0x2D FIFO_CTRL = 0x2E FIFO_SRC = 0x2F IG_CFG1 = 0x30 IG_SRC1 = 0x31 IG_THS1 = 0x32 IG_DUR1 = 0x33 IG_CFG2 = 0x34 IG_SRC2 = 0x35 IG_THS2 = 0x36 IG_DUR2 = 0x37 CLICK_CFG = 0x38 CLICK_SRC = 0x39 CLICK_THS = 0x3A TIME_LIMIT = 0x3B TIME_LATENCY = 0x3C TIME_WINDOW = 0x3D ACT_THS = 0x3E ACT_DUR = 0x3F ### Mag scales ### MAG_SCALE_2 = 0x00 # full-scale is +/- 2 Gauss MAG_SCALE_4 = 0x20 # +/- 4 Guass MAG_SCALE_8 = 0x40 # +/- 8 Guass MAG_SCALE_12 = 0x60 # +/- 12 Guass ACCEL_SCALE = 2 # +/- 2g X = 0 Y = 1 Z = 2 def twos_comp(val, bits): # Calculate the 2s complement of int:val # if val&(1<<(bits-1)) != 0: val = val - (1<<bits) return val class vector: def __init__(self, x, y=None, z=None): if type(x) == list and len(x) == 3: y = x[1] z = x[2] x = x[0] self.x = x self.y = y self.z = z def __getitem__(self, index): return (self.x, self.y, self.z)[index] def __str__(self): return str((self.x, self.y, self.z)) class lsm303d: _mag = [0,0,0] _accel = [0,0,0] _tiltcomp = [0,0,0] _heading=0 _heading_degrees=0 _tilt_heading=0 _tilt_heading_degrees=0 def __init__(self, i2c_bus=None, addr=ADDR): self.i2c_bus = i2c_bus if not hasattr(i2c_bus, "write_byte_data") or not hasattr(i2c_bus, "read_byte_data"): raise TypeError("Object given for i2c_bus must implement write_byte_data and read_byte_data methods") self.addr = addr self._is_setup = False def setup(self): if self._is_setup: return self._is_setup = True whoami = self.i2c_bus.read_byte_data(self.addr, WHO_AM_I) if whoami == 0x49: self.i2c_bus.write_byte_data(self.addr, CTRL_REG1, 0x57) # 0x57 = ODR=50hz, all accel axes on ## maybe 0x27 is Low Res? self.i2c_bus.write_byte_data(self.addr, CTRL_REG2, (3<<6)|(0<<3)) # set full scale +/- 2g self.i2c_bus.write_byte_data(self.addr, CTRL_REG3, 0x00) # no interrupt self.i2c_bus.write_byte_data(self.addr, CTRL_REG4, 0x00) # no interrupt self.i2c_bus.write_byte_data(self.addr, CTRL_REG5, (4<<2)) # 0x10 = mag 50Hz output rate self.i2c_bus.write_byte_data(self.addr, CTRL_REG6, MAG_SCALE_2) # Magnetic Scale +/1 1.3 Guass self.i2c_bus.write_byte_data(self.addr, CTRL_REG7, 0x00) # 0x00 continuous conversion mode else: raise IOError("No lsm303d detected") def magnetometer(self): """Read the magnetomter and return the raw x, y and z magnetic readings as a vector. The returned vector will have properties x, y and z. """ self.setup() self._mag[X] = twos_comp(self.i2c_bus.read_byte_data(self.addr, OUT_X_H_M) << 8 | self.i2c_bus.read_byte_data(self.addr, OUT_X_L_M), 16) self._mag[Y] = twos_comp(self.i2c_bus.read_byte_data(self.addr, OUT_Y_H_M) << 8 | self.i2c_bus.read_byte_data(self.addr, OUT_Y_L_M), 16) self._mag[Z] = twos_comp(self.i2c_bus.read_byte_data(self.addr, OUT_Z_H_M) << 8 | self.i2c_bus.read_byte_data(self.addr, OUT_Z_L_M), 16) return vector(self._mag) def accelerometer(self): """Read the accelerometer and return the x, y and z acceleration as a vector in Gs. The returned vector will have properties x, y and z. """ self.setup() accel = [0,0,0] accel[X] = twos_comp(self.i2c_bus.read_byte_data(self.addr, OUT_X_H_A) << 8 | self.i2c_bus.read_byte_data(self.addr, OUT_X_L_A), 16) accel[Y] = twos_comp(self.i2c_bus.read_byte_data(self.addr, OUT_Y_H_A) << 8 | self.i2c_bus.read_byte_data(self.addr, OUT_Y_L_A), 16) accel[Z] = twos_comp(self.i2c_bus.read_byte_data(self.addr, OUT_Z_H_A) << 8 | self.i2c_bus.read_byte_data(self.addr, OUT_Z_L_A), 16) for i in range(X, Z+1): self._accel[i] = accel[i] / math.pow(2, 15) * ACCEL_SCALE return vector(self._accel) def raw_heading(self): """Return a raw compas heading calculated from the magnetometer data.""" self._heading = math.atan2(self._mag[X], self._mag[Y]) if self._heading < 0: self._heading += 2*math.pi if self._heading > 2*math.pi: self._heading -= 2*math.pi self._heading_degrees = round(math.degrees(self._heading),2) return self._heading_degrees def heading(self): """Return a tilt compensated heading calculated from the magnetometer data. Returns None in the case of a calculation error. """ self.update() truncate = [0,0,0] for i in range(X, Z+1): truncate[i] = math.copysign(min(math.fabs(self._accel[i]), 1.0), self._accel[i]) try: pitch = math.asin(-1*truncate[X]) roll = math.asin(truncate[Y]/math.cos(pitch)) if abs(math.cos(pitch)) >= abs(truncate[Y]) else 0 # set roll to zero if pitch approaches -1 or 1 self._tiltcomp[X] = self._mag[X] * math.cos(pitch) + self._mag[Z] * math.sin(pitch) self._tiltcomp[Y] = self._mag[X] * math.sin(roll) * math.sin(pitch) + \ self._mag[Y] * math.cos(roll) - self._mag[Z] * math.sin(roll) * math.cos(pitch) self._tiltcomp[Z] = self._mag[X] * math.cos(roll) * math.sin(pitch) + \ self._mag[Y] * math.sin(roll) + \ self._mag[Z] * math.cos(roll) * math.cos(pitch) self._tilt_heading = math.atan2(self._tiltcomp[Y], self._tiltcomp[X]) if self._tilt_heading < 0: self._tilt_heading += 2*math.pi if self._tilt_heading > 2*math.pi: self._heading -= 2*math.pi self._tilt_heading_degrees = round(math.degrees(self._tilt_heading),2) return self._tilt_heading_degrees except Exception: return None def is_mag_ready(self): return (self.i2c_bus.read_byte_data(self.addr, STATUS_REG_M) & 0x03) > 0 def update(self): """Update both the accelerometer and magnetometer data.""" self.accelerometer() self.magnetometer()
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