Skip to content

Commit

Permalink
some code are refactored
Browse files Browse the repository at this point in the history
  • Loading branch information
Taiki Komoda committed Dec 18, 2023
1 parent 7e4613e commit 268161e
Show file tree
Hide file tree
Showing 2 changed files with 70 additions and 74 deletions.
1 change: 1 addition & 0 deletions examples/qmi8658c_simpletest.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -20,5 +20,6 @@
print(f"Acceleration: X:{ac[0]:.2f}, Y:{ac[1]:.2f}, Z:{ac[2]:.2f} m/s^2")
print(f"Gyro X:{gy[0]:.2f}, Y:{gy[1]:.2f}, Z:{gy[2]:.2f} rad/s")
print(f"Temperature: {sensor.temperature:.2f} C")
print(f"Timestamp: {sensor.timestamp}")

time.sleep(1)
143 changes: 69 additions & 74 deletions qmi8658c.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -30,8 +30,8 @@

from math import radians
from time import sleep
from adafruit_register.i2c_struct import ROUnaryStruct
from adafruit_register.i2c_struct_array import StructArray
from micropython import const
from adafruit_register.i2c_struct import ROUnaryStruct, Struct
from adafruit_register.i2c_bits import RWBits
from adafruit_bus_device import i2c_device

Expand All @@ -41,13 +41,13 @@
except ImportError:
pass

_QMI8658C_WHO_AM_I = 0x0 # WHO_AM_I register
_QMI8658C_REVISION_ID = 0x1 # Divice ID register
_QMI8658C_WHO_AM_I = const(0x0) # WHO_AM_I register
_QMI8658C_REVISION_ID = const(0x1) # Divice ID register

_QMI8658C_TIME_OUT = 0x30 # time data byte register
_QMI8658C_TEMP_OUT = 0x33 # temp data byte register
_QMI8658C_ACCEL_OUT = 0x35 # base address for sensor data reads
_QMI8658C_GYRO_OUT = 0x3B # base address for sensor data reads
_QMI8658C_TIME_OUT = const(0x30) # time data byte register
_QMI8658C_TEMP_OUT = const(0x33) # temp data byte register
_QMI8658C_ACCEL_OUT = const(0x35) # base address for sensor data reads
_QMI8658C_GYRO_OUT = const(0x3B) # base address for sensor data reads

STANDARD_GRAVITY = 9.80665

Expand All @@ -62,10 +62,10 @@ class AccRange: # pylint: disable=too-few-public-methods
"""

RANGE_2_G = 0 # +/- 2g
RANGE_4_G = 1 # +/- 4g
RANGE_8_G = 2 # +/- 8g (default value)
RANGE_16_G = 3 # +/- 16g
RANGE_2_G = const(0) # +/- 2g
RANGE_4_G = const(1) # +/- 4g
RANGE_8_G = const(2) # +/- 8g (default value)
RANGE_16_G = const(3) # +/- 16g


class GyroRange: # pylint: disable=too-few-public-methods
Expand All @@ -82,14 +82,14 @@ class GyroRange: # pylint: disable=too-few-public-methods
"""

RANGE_16_DPS = 0 # +/- 16 deg/s
RANGE_32_DPS = 1 # +/- 32 deg/s
RANGE_64_DPS = 2 # +/- 64 deg/s
RANGE_128_DPS = 3 # +/- 128 deg/s
RANGE_256_DPS = 4 # +/- 256 deg/s (default value)
RANGE_512_DPS = 5 # +/- 512 deg/s
RANGE_1024_DPS = 6 # +/- 1024 deg/s
RANGE_2048_DPS = 7 # +/- 2048 deg/s
RANGE_16_DPS = const(0) # +/- 16 deg/s
RANGE_32_DPS = const(1) # +/- 32 deg/s
RANGE_64_DPS = const(2) # +/- 64 deg/s
RANGE_128_DPS = const(3) # +/- 128 deg/s
RANGE_256_DPS = const(4) # +/- 256 deg/s (default value)
RANGE_512_DPS = const(5) # +/- 512 deg/s
RANGE_1024_DPS = const(6) # +/- 1024 deg/s
RANGE_2048_DPS = const(7) # +/- 2048 deg/s


class AccRate: # pylint: disable=too-few-public-methods
Expand All @@ -112,45 +112,45 @@ class AccRate: # pylint: disable=too-few-public-methods
"""

RATE_8000_HZ = 0
RATE_4000_HZ = 1
RATE_2000_HZ = 2
RATE_1000_HZ = 3
RATE_500_HZ = 4
RATE_250_HZ = 5
RATE_125_HZ = 6 # (default value)
RATE_62_HZ = 7
RATE_31_HZ = 8
RATE_LP_128_HZ = 12
RATE_LP_21_HZ = 13
RATE_LP_11_HZ = 14
RATE_LP_3_HZ = 15
RATE_8000_HZ = const(0)
RATE_4000_HZ = const(1)
RATE_2000_HZ = const(2)
RATE_1000_HZ = const(3)
RATE_500_HZ = const(4)
RATE_250_HZ = const(5)
RATE_125_HZ = const(6) # (default value)
RATE_62_HZ = const(7)
RATE_31_HZ = const(8)
RATE_LP_128_HZ = const(12)
RATE_LP_21_HZ = const(13)
RATE_LP_11_HZ = const(14)
RATE_LP_3_HZ = const(15)


class GyroRate: # pylint: disable=too-few-public-methods
"""Allowed values for :py:attr:`gyro_rate`.
* :py:attr:`GyroRate.RATE_8000_HZ`
* :py:attr:`GyroRate.RATE_4000_HZ`
* :py:attr:`GyroRate.RATE_2000_HZ`
* :py:attr:`GyroRate.RATE_1000_HZ`
* :py:attr:`GyroRate.RATE_500_HZ`
* :py:attr:`GyroRate.RATE_250_HZ`
* :py:attr:`GyroRate.RATE_125_HZ`
* :py:attr:`GyroRate.RATE_62_HZ`
* :py:attr:`GyroRate.RATE_31_HZ`
* :py:attr:`GyroRate.RATE_G_8000_HZ`
* :py:attr:`GyroRate.RATE_G_4000_HZ`
* :py:attr:`GyroRate.RATE_G_2000_HZ`
* :py:attr:`GyroRate.RATE_G_1000_HZ`
* :py:attr:`GyroRate.RATE_G_500_HZ`
* :py:attr:`GyroRate.RATE_G_250_HZ`
* :py:attr:`GyroRate.RATE_G_125_HZ`
* :py:attr:`GyroRate.RATE_G_62_HZ`
* :py:attr:`GyroRate.RATE_G_31_HZ`
"""

RATE_8000_HZ = 0
RATE_4000_HZ = 1
RATE_2000_HZ = 2
RATE_1000_HZ = 3
RATE_500_HZ = 4
RATE_250_HZ = 5
RATE_125_HZ = 6 # (default value)
RATE_62_HZ = 7
RATE_31_HZ = 8
RATE_G_8000_HZ = const(0)
RATE_G_4000_HZ = const(1)
RATE_G_2000_HZ = const(2)
RATE_G_1000_HZ = const(3)
RATE_G_500_HZ = const(4)
RATE_G_250_HZ = const(5)
RATE_G_125_HZ = const(6) # (default value)
RATE_G_62_HZ = const(7)
RATE_G_31_HZ = const(8)


class QMI8658C: # pylint: disable=too-many-instance-attributes
Expand Down Expand Up @@ -203,11 +203,11 @@ class QMI8658C: # pylint: disable=too-many-instance-attributes
_accelerometer_enable = RWBits(1, 0x08, 0)
_gyro_enable = RWBits(1, 0x08, 1)

_raw_time_data = StructArray(_QMI8658C_TIME_OUT, "<H", 3)
_raw_temp_data = StructArray(_QMI8658C_TEMP_OUT, "B", 2) #
_raw_accel_data = StructArray(_QMI8658C_ACCEL_OUT, "<h", 6)
_raw_gyro_data = StructArray(_QMI8658C_GYRO_OUT, "<h", 6)
_raw_accel_gyro_data = StructArray(_QMI8658C_ACCEL_OUT, "<h", 12)
_raw_time_data = Struct(_QMI8658C_TIME_OUT, "BBB")
_raw_temp_data = Struct(_QMI8658C_TEMP_OUT, "BB")
_raw_accel_data = Struct(_QMI8658C_ACCEL_OUT, "<hhh")
_raw_gyro_data = Struct(_QMI8658C_GYRO_OUT, "<hhh")
_raw_accel_gyro_data = Struct(_QMI8658C_ACCEL_OUT, "<hhhhhh")

# these vars are called very frequently
_acc_scale = 1
Expand All @@ -233,7 +233,7 @@ def __init__(self, i2c_bus: I2C, address=0x6B) -> None:
# self._ctrl3 = (5 << 4) + 0b0110
self.gyro_range = GyroRange.RANGE_512_DPS
sleep(0.01)
self.gyro_rate = GyroRate.RATE_125_HZ
self.gyro_rate = GyroRate.RATE_G_125_HZ
sleep(0.01)
# REG CTRL4 : No magnetometer
self._ctrl4 = 0x00
Expand All @@ -253,22 +253,19 @@ def __init__(self, i2c_bus: I2C, address=0x6B) -> None:
def timestamp(self) -> int:
"""Timestamp from boot up"""
raw_timestamp = self._raw_time_data
return raw_timestamp[0][0]
return raw_timestamp[0] + (raw_timestamp[1] << 8) + (raw_timestamp[2] << 16)

@property
def temperature(self) -> float:
"""Chip temperature"""
raw_temperature = self._raw_temp_data
temp = raw_temperature[0][0] / 256 + raw_temperature[1][0]
temp = raw_temperature[0] / 256 + raw_temperature[1]
return temp

@property
def acceleration(self) -> Tuple[float, float, float]:
"""Acceleration X, Y, and Z axis data in :math:`m/s^2`"""
raw_data = self._raw_accel_data
raw_x = raw_data[0][0]
raw_y = raw_data[1][0]
raw_z = raw_data[2][0]
raw_x, raw_y, raw_z = self._raw_accel_data

# setup range dependant scaling
accel_x = (raw_x / self._acc_scale) * STANDARD_GRAVITY
Expand All @@ -280,10 +277,7 @@ def acceleration(self) -> Tuple[float, float, float]:
@property
def gyro(self) -> Tuple[float, float, float]:
"""Gyroscope X, Y, and Z axis data in :math:`rad/s`"""
raw_data = self._raw_gyro_data
raw_x = raw_data[0][0]
raw_y = raw_data[1][0]
raw_z = raw_data[2][0]
raw_x, raw_y, raw_z = self._raw_gyro_data

# setup range dependant scaling
gyro_x = radians(raw_x / self._gyro_scale)
Expand All @@ -298,12 +292,12 @@ def raw_acc_gyro(self) -> Tuple[float, float, float, float, float, float]:
raw_data = self._raw_accel_gyro_data

return (
raw_data[0][0],
raw_data[1][0],
raw_data[2][0],
raw_data[3][0],
raw_data[4][0],
raw_data[5][0],
raw_data[0],
raw_data[1],
raw_data[2],
raw_data[3],
raw_data[4],
raw_data[5],
)

@property
Expand Down Expand Up @@ -339,7 +333,8 @@ def accelerometer_rate(self, value: int) -> None:
raise ValueError("accelerometer_rate must be a AccRate")

if 12 <= value <= 15 and self._gyro_enable == 1:
raise ValueError("accelerometer low power mode must be a gyro disabled")
raise ValueError(
"accelerometer low power mode must be a gyro disabled")

self._accelerometer_rate = value
sleep(0.01)
Expand Down

0 comments on commit 268161e

Please sign in to comment.