42 lines
1.3 KiB
Python
42 lines
1.3 KiB
Python
import machine
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class accel():
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def __init__(self, i2c, addr=0x68):
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self.iic = i2c
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self.addr = addr
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self.iic.start()
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self.iic.writeto(self.addr, bytearray([107, 0]))
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self.iic.stop()
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def get_raw_values(self):
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self.iic.start()
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a = self.iic.readfrom_mem(self.addr, 0x3B, 14)
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self.iic.stop()
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return a
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def get_ints(self):
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b = self.get_raw_values()
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c = []
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for i in b:
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c.append(i)
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return c
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def bytes_toint(self, firstbyte, secondbyte):
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if not firstbyte & 0x80:
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return firstbyte << 8 | secondbyte
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return - (((firstbyte ^ 255) << 8) | (secondbyte ^ 255) + 1)
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def get_values(self):
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raw_ints = self.get_raw_values()
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vals = {}
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vals["AcX"] = self.bytes_toint(raw_ints[0], raw_ints[1])
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vals["AcY"] = self.bytes_toint(raw_ints[2], raw_ints[3])
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vals["AcZ"] = self.bytes_toint(raw_ints[4], raw_ints[5])
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vals["Tmp"] = self.bytes_toint(raw_ints[6], raw_ints[7]) / 340.00 + 36.53
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vals["GyX"] = self.bytes_toint(raw_ints[8], raw_ints[9])
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vals["GyY"] = self.bytes_toint(raw_ints[10], raw_ints[11])
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vals["GyZ"] = self.bytes_toint(raw_ints[12], raw_ints[13])
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return vals # returned in range of Int16
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# -32768 to 32767
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