Merge pull request #52 from jerryneedell/jerryn_mlc

Add access to MLC for LSM6DSOX

adafruit_lsm6ds/__init__.py

@@ -55,14 +55,15 @@
 __version__ = "0.0.0-auto.0"
 __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_LSM6DS.git"
 
+import struct
 from time import sleep
 from math import radians
 from micropython import const
 from adafruit_bus_device import i2c_device
 
 from adafruit_register.i2c_struct import ROUnaryStruct, Struct
 from adafruit_register.i2c_bits import RWBits
-from adafruit_register.i2c_bit import RWBit
+from adafruit_register.i2c_bit import RWBit, ROBit
 
 try:
     from typing import Tuple, Optional
@@ -139,22 +140,34 @@ class AccelHPF(CV):
 
 LSM6DS_CHIP_ID = const(0x6C)
 
+_LSM6DS_MLC_INT1 = const(0x0D)
 _LSM6DS_WHOAMI = const(0xF)
 _LSM6DS_CTRL1_XL = const(0x10)
 _LSM6DS_CTRL2_G = const(0x11)
 _LSM6DS_CTRL3_C = const(0x12)
 _LSM6DS_CTRL8_XL = const(0x17)
 _LSM6DS_CTRL9_XL = const(0x18)
 _LSM6DS_CTRL10_C = const(0x19)
+_LSM6DS_ALL_INT_SRC = const(0x1A)
 _LSM6DS_OUT_TEMP_L = const(0x20)
 _LSM6DS_OUTX_L_G = const(0x22)
 _LSM6DS_OUTX_L_A = const(0x28)
+_LSM6DS_MLC_STATUS = const(0x38)
 _LSM6DS_STEP_COUNTER = const(0x4B)
+_LSM6DS_TAP_CFG0 = const(0x56)
 _LSM6DS_TAP_CFG = const(0x58)
-
+_LSM6DS_MLC0_SRC = const(0x70)
 _MILLI_G_TO_ACCEL = 0.00980665
 
 
+_LSM6DS_EMB_FUNC_EN_A = const(0x04)
+_LSM6DS_EMB_FUNC_EN_B = const(0x05)
+_LSM6DS_FUNC_CFG_ACCESS = const(0x01)
+_LSM6DS_FUNC_CFG_BANK_USER = const(0)
+_LSM6DS_FUNC_CFG_BANK_HUB = const(1)
+_LSM6DS_FUNC_CFG_BANK_EMBED = const(2)
+
+
 class LSM6DS:  # pylint: disable=too-many-instance-attributes
 
     """Driver for the LSM6DSOX 6-axis accelerometer and gyroscope.
@@ -171,7 +184,9 @@ class LSM6DS:  # pylint: disable=too-many-instance-attributes
     _raw_accel_data = Struct(_LSM6DS_OUTX_L_A, "<hhh")
     _raw_gyro_data = Struct(_LSM6DS_OUTX_L_G, "<hhh")
     _raw_temp_data = Struct(_LSM6DS_OUT_TEMP_L, "<h")
-
+    _emb_func_en_a = Struct(_LSM6DS_EMB_FUNC_EN_A, "<b")
+    _emb_func_en_b = Struct(_LSM6DS_EMB_FUNC_EN_B, "<b")
+    _mlc0_src = Struct(_LSM6DS_MLC0_SRC, "<bbbbbbbb")
     # RWBits:
     _accel_range = RWBits(2, _LSM6DS_CTRL1_XL, 2)
     _accel_data_rate = RWBits(4, _LSM6DS_CTRL1_XL, 4)
@@ -187,13 +202,22 @@ class LSM6DS:  # pylint: disable=too-many-instance-attributes
     _i3c_disable = RWBit(_LSM6DS_CTRL9_XL, 1)
     _pedometer_reset = RWBit(_LSM6DS_CTRL10_C, 1)
     _func_enable = RWBit(_LSM6DS_CTRL10_C, 2)
+    _mem_bank = RWBit(_LSM6DS_FUNC_CFG_ACCESS, 7)
+    _mlc_status = ROBit(_LSM6DS_MLC_STATUS, 0)
+    _i3c_disable = RWBit(_LSM6DS_CTRL9_XL, 0)
+    _block_data_enable = RWBit(_LSM6DS_CTRL3_C, 4)
+    _route_int1 = RWBit(_LSM6DS_MLC_INT1, 0)
+    _tap_latch = RWBit(_LSM6DS_TAP_CFG0, 0)
+    _tap_clear = RWBit(_LSM6DS_TAP_CFG0, 6)
     _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: I2C, address: int = LSM6DS_DEFAULT_ADDRESS) -> None:
+    def __init__(
+        self, i2c_bus: I2C, address: int = LSM6DS_DEFAULT_ADDRESS, ucf: str = None
+    ) -> None:
         self._cached_accel_range = None
         self._cached_gyro_range = None
 
@@ -215,6 +239,9 @@ def __init__(self, i2c_bus: I2C, address: int = LSM6DS_DEFAULT_ADDRESS) -> None:
 
         self.accelerometer_range = AccelRange.RANGE_4G  # pylint: disable=no-member
         self.gyro_range = GyroRange.RANGE_250_DPS  # pylint: disable=no-member
+        # Load and configure MLC if UCF file is provided
+        if ucf is not None:
+            self.load_mlc(ucf)
 
     def reset(self) -> None:
         "Resets the sensor's configuration into an initial state"
@@ -376,3 +403,62 @@ def temperature(self) -> float:
             return (temp - 2 ** 13) * 0.0625
 
         return temp * 0.0625
+
+    def _set_embedded_functions(self, enable, emb_ab=None):
+        """Enable/disable embedded functions - returns prior settings when disabled"""
+        self._mem_bank = 1
+        if enable:
+            self._emb_func_en_a = emb_ab[0]
+            self._emb_func_en_b = emb_ab[1]
+        else:
+            emb_a = self._emb_func_en_a
+            emb_b = self._emb_func_en_b
+            self._emb_func_en_a = (emb_a[0] & 0xC7,)
+            self._emb_func_en_b = (emb_b[0] & 0xE6,)
+            emb_ab = (emb_a, emb_b)
+
+        self._mem_bank = 0
+        return emb_ab
+
+    def load_mlc(self, ucf):
+        """Load MLC configuration file into sensor"""
+        buf = bytearray(2)
+        with self.i2c_device as i2c:
+            # Load MLC config from file
+            with open(ucf, "r") as ucf_file:
+                for line in ucf_file:
+                    if line.startswith("Ac"):
+                        command = [int(v, 16) for v in line.strip().split(" ")[1:3]]
+                        buf[0] = command[0]
+                        buf[1] = command[1]
+                        i2c.write(buf)
+
+        # Disable embudded function -- save current settings
+        emb_ab = self._set_embedded_functions(False)
+
+        # Disable I3C interface
+        self._i3c_disable = 1
+
+        # Enable Block Data Update
+        self._block_data_enable = 1
+
+        # Route signals on interrupt pin 1
+        self._mem_bank = 1
+        self._route_int1 &= 1
+        self._mem_bank = 0
+
+        # Configure interrupt pin mode
+        self._tap_latch = 1
+        self._tap_clear = 1
+
+        # Enabble Embedded Functions using previously stored settings
+        self._set_embedded_functions(True, emb_ab)
+
+    def read_mlc_output(self):
+        """Read MLC results"""
+        buf = None
+        if self._mlc_status:
+            self._mem_bank = 1
+            buf = self._mlc0_src
+            self._mem_bank = 0
+        return buf

adafruit_lsm6ds/lsm6dsox.py

@@ -50,6 +50,8 @@ class LSM6DSOX(LSM6DS):  # pylint: disable=too-many-instance-attributes
 
     CHIP_ID = LSM6DS_CHIP_ID
 
-    def __init__(self, i2c_bus: I2C, address: int = LSM6DS_DEFAULT_ADDRESS) -> None:
-        super().__init__(i2c_bus, address)
+    def __init__(
+        self, i2c_bus: I2C, address: int = LSM6DS_DEFAULT_ADDRESS, ucf: str = None
+    ) -> None:
+        super().__init__(i2c_bus, address, ucf)
         self._i3c_disable = True

examples/lsm6ds_lsm6dsox_mlc_test.py

@@ -0,0 +1,59 @@
+# SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries
+#
+# SPDX-License-Identifier: MIT
+# LSM6DSOX IMU MLC (Machine Learning Core) Example.
+# Download the raw UCF file, copy to storage and reset.
+
+# NOTE: The pre-trained models (UCF files) for the examples can be found here:
+# https://github.com/STMicroelectronics/STMems_Machine_Learning_Core/tree/master/application_examples/lsm6dsox
+
+import time
+import board
+from adafruit_lsm6ds.lsm6dsox import LSM6DSOX
+from adafruit_lsm6ds import Rate, AccelRange, GyroRange
+
+i2c = board.STEMMA_I2C()  # uses board.SCL and board.SDA
+
+
+# Vibration detection example
+UCF_FILE = "lsm6dsox_vibration_monitoring.ucf"
+UCF_LABELS = {0: "no vibration", 1: "low vibration", 2: "high vibration"}
+# NOTE: Selected data rate and scale must match the MLC data rate and scale.
+lsm = LSM6DSOX(i2c, ucf=UCF_FILE)
+lsm.gyro_range = GyroRange.RANGE_2000_DPS
+lsm.accelerometer_range = AccelRange.RANGE_4G
+lsm.accelerometer_data_rate = Rate.RATE_26_HZ
+lsm.gyro_data_rate = Rate.RATE_26_HZ
+
+
+# Head gestures example
+# UCF_FILE = "lsm6dsox_head_gestures.ucf"
+# UCF_LABELS = {0:"Nod", 1:"Shake", 2:"Stationary", 3:"Swing", 4:"Walk"}
+# NOTE: Selected data rate and scale must match the MLC data rate and scale.
+# lsm = LSM6DSOX(i2c, ucf=UCF_FILE)
+# lsm.gyro_range = GyroRange.RANGE_250_DPS
+# lsm.accelerometer_range = AccelRange.RANGE_2G
+# lsm.accelerometer_data_rate = Rate.RATE_26_HZ
+# lsm.gyro_data_rate = Rate.RATE_26_HZ
+
+# 6 DOF Position example
+# UCF_FILE = "lsm6dsox_six_d_position.ucf"
+# UCF_LABELS = {0:"None", 1:"X-UP", 2:"X-DOWN", 3:"Y-UP", 4:"Y-DOWN", 5:"Z-UP", 6:"Z-DOWN"}
+# NOTE: Selected data rate and scale must match the MLC data rate and scale.
+# lsm = LSM6DSOX(i2c, ucf=UCF_FILE)
+# lsm.gyro_range = GyroRange.RANGE_250_DPS
+# lsm.accelerometer_range = AccelRange.RANGE_2G
+# lsm.accelerometer_data_rate = Rate.RATE_26_HZ
+# lsm.gyro_data_rate = Rate.RATE_26_HZ
+
+
+print("MLC configured...")
+
+while True:
+    buf = lsm.read_mlc_output()
+    if buf is not None:
+        print(UCF_LABELS[buf[0]])
+        # delay to allow interrupt flag to clear
+        # interrupt stays high for one sample interval
+        # (38.4 ms @ 26 Hz ot 19.2 ms @ 52Hz)
+        time.sleep(0.05)