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'''!
@file DFRobot_BMX160.py
@brief define DFRobot_BMX160 class infrastructure, the implementation of basic methods
@copyright Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
@license The MIT License (MIT)
@author [luoyufeng] (yufeng.luo@dfrobot.com)
@maintainer [Fary](feng.yang@dfrobot.com)
@version V1.0
@date 2021-10-20
@url https://github.com/DFRobot/DFRobot_BMX160
'''
import sys
sys.path.append('../')
import smbus
import time
class BMX160:
_BMX160_CHIP_ID_ADDR = (0x00)
_BMX160_ERROR_REG_ADDR = (0x02)
_BMX160_MAG_DATA_ADDR = (0x04)
_BMX160_GYRO_DATA_ADDR = (0x0C)
_BMX160_ACCEL_DATA_ADDR = (0x12)
_BMX160_STATUS_ADDR = (0x1B)
_BMX160_INT_STATUS_ADDR = (0x1C)
_BMX160_FIFO_LENGTH_ADDR = (0x22)
_BMX160_FIFO_DATA_ADDR = (0x24)
_BMX160_ACCEL_CONFIG_ADDR = (0x40)
_BMX160_ACCEL_RANGE_ADDR = (0x41)
_BMX160_GYRO_CONFIG_ADDR = (0x42)
_BMX160_GYRO_RANGE_ADDR = (0x43)
_BMX160_MAGN_CONFIG_ADDR = (0x44)
_BMX160_FIFO_DOWN_ADDR = (0x45)
_BMX160_FIFO_CONFIG_0_ADDR = (0x46)
_BMX160_FIFO_CONFIG_1_ADDR = (0x47)
_BMX160_MAGN_RANGE_ADDR = (0x4B)
_BMX160_MAGN_IF_0_ADDR = (0x4C)
_BMX160_MAGN_IF_1_ADDR = (0x4D)
_BMX160_MAGN_IF_2_ADDR = (0x4E)
_BMX160_MAGN_IF_3_ADDR = (0x4F)
_BMX160_INT_ENABLE_0_ADDR = (0x50)
_BMX160_INT_ENABLE_1_ADDR = (0x51)
_BMX160_INT_ENABLE_2_ADDR = (0x52)
_BMX160_INT_OUT_CTRL_ADDR = (0x53)
_BMX160_INT_LATCH_ADDR = (0x54)
_BMX160_INT_MAP_0_ADDR = (0x55)
_BMX160_INT_MAP_1_ADDR = (0x56)
_BMX160_INT_MAP_2_ADDR = (0x57)
_BMX160_INT_DATA_0_ADDR = (0x58)
_BMX160_INT_DATA_1_ADDR = (0x59)
_BMX160_INT_LOWHIGH_0_ADDR = (0x5A)
_BMX160_INT_LOWHIGH_1_ADDR = (0x5B)
_BMX160_INT_LOWHIGH_2_ADDR = (0x5C)
_BMX160_INT_LOWHIGH_3_ADDR = (0x5D)
_BMX160_INT_LOWHIGH_4_ADDR = (0x5E)
_BMX160_INT_MOTION_0_ADDR = (0x5F)
_BMX160_INT_MOTION_1_ADDR = (0x60)
_BMX160_INT_MOTION_2_ADDR = (0x61)
_BMX160_INT_MOTION_3_ADDR = (0x62)
_BMX160_INT_TAP_0_ADDR = (0x63)
_BMX160_INT_TAP_1_ADDR = (0x64)
_BMX160_INT_ORIENT_0_ADDR = (0x65)
_BMX160_INT_ORIENT_1_ADDR = (0x66)
_BMX160_INT_FLAT_0_ADDR = (0x67)
_BMX160_INT_FLAT_1_ADDR = (0x68)
_BMX160_FOC_CONF_ADDR = (0x69)
_BMX160_CONF_ADDR = (0x6A)
_BMX160_IF_CONF_ADDR = (0x6B)
_BMX160_SELF_TEST_ADDR = (0x6D)
_BMX160_OFFSET_ADDR = (0x71)
_BMX160_OFFSET_CONF_ADDR = (0x77)
_BMX160_INT_STEP_CNT_0_ADDR = (0x78)
_BMX160_INT_STEP_CONFIG_0_ADDR = (0x7A)
_BMX160_INT_STEP_CONFIG_1_ADDR = (0x7B)
_BMX160_COMMAND_REG_ADDR = (0x7E)
BMX160_SOFT_RESET_CMD = (0xb6)
BMX160_MAGN_UT_LSB = (0.3)
_BMX160_ACCEL_MG_LSB_2G = (0.000061035)
_BMX160_ACCEL_MG_LSB_4G = (0.000122070)
_BMX160_ACCEL_MG_LSB_8G = (0.000244141)
_BMX160_ACCEL_MG_LSB_16G = (0.000488281)
_BMX160_GYRO_SENSITIVITY_125DPS = (0.0038110)
_BMX160_GYRO_SENSITIVITY_250DPS = (0.0076220)
_BMX160_GYRO_SENSITIVITY_500DPS = (0.0152439)
_BMX160_GYRO_SENSITIVITY_1000DPS = (0.0304878)
_BMX160_GYRO_SENSITIVITY_2000DPS = (0.0609756)
GyroRange_125DPS = (0x00)
GyroRange_250DPS = (0x01)
GyroRange_500DPS = (0x02)
GyroRange_1000DPS = (0x03)
GyroRange_2000DPS = (0x04)
AccelRange_2G = (0x00)
AccelRange_4G = (0x01)
AccelRange_8G = (0x02)
AccelRange_16G = (0x03)
accelRange = _BMX160_ACCEL_MG_LSB_2G
gyroRange = _BMX160_GYRO_SENSITIVITY_250DPS
def __init__(self, bus):
self.i2cbus = smbus.SMBus(bus)
self.i2c_addr = 0x68
time.sleep(0.16)
def begin(self):
'''!
@brief initialization the i2c.
@return returns the initialization status
@retval True Initialization succeeded
@retval False Initialization failed
'''
if not self.scan():
return False
else:
self.soft_reset()
self.write_bmx_reg(self._BMX160_COMMAND_REG_ADDR, 0x11)
time.sleep(0.05)
self.write_bmx_reg(self._BMX160_COMMAND_REG_ADDR, 0x15)
time.sleep(0.1)
self.write_bmx_reg(self._BMX160_COMMAND_REG_ADDR, 0x19)
time.sleep(0.01)
self.set_magn_conf()
return True
def set_low_power(self):
'''!
@brief disabled the the magn, gyro sensor to reduce power consumption
'''
self.soft_reset()
time.sleep(0.1)
self.set_magn_conf()
time.sleep(0.1)
self.write_bmx_reg(self._BMX160_COMMAND_REG_ADDR, 0x12)
time.sleep(0.1)
self.write_bmx_reg(self._BMX160_COMMAND_REG_ADDR, 0x17)
time.sleep(0.1)
self.write_bmx_reg(self._BMX160_COMMAND_REG_ADDR, 0x1B)
time.sleep(0.1)
def wake_up(self):
'''!
@brief enabled the the magn, gyro sensor
'''
self.soft_reset()
time.sleep(0.1)
self.set_magn_conf()
time.sleep(0.1)
self.write_bmx_reg(self._BMX160_COMMAND_REG_ADDR, 0x11)
time.sleep(0.1)
self.write_bmx_reg(self._BMX160_COMMAND_REG_ADDR, 0x15)
time.sleep(0.1)
self.write_bmx_reg(self._BMX160_COMMAND_REG_ADDR, 0x19)
time.sleep(0.1)
def soft_reset(self):
'''!
@brief reset bmx160 hardware
@return returns the reset status
@retval True reset succeeded
@retval False reset failed
'''
data = self.BMX160_SOFT_RESET_CMD
self.write_bmx_reg(self._BMX160_COMMAND_REG_ADDR, data)
time.sleep(0.015)
#self.defaultParamSettg()
return True
def set_magn_conf(self):
'''!
@brief set magnetometer Config
'''
self.write_bmx_reg(self._BMX160_MAGN_IF_0_ADDR, 0x80)
time.sleep(0.05)
self.write_bmx_reg(self._BMX160_MAGN_IF_3_ADDR, 0x01)
self.write_bmx_reg(self._BMX160_MAGN_IF_2_ADDR, 0x4B)
self.write_bmx_reg(self._BMX160_MAGN_IF_3_ADDR, 0x04)
self.write_bmx_reg(self._BMX160_MAGN_IF_2_ADDR, 0x51)
self.write_bmx_reg(self._BMX160_MAGN_IF_3_ADDR, 0x0E)
self.write_bmx_reg(self._BMX160_MAGN_IF_2_ADDR, 0x52)
self.write_bmx_reg(self._BMX160_MAGN_IF_3_ADDR, 0x02)
self.write_bmx_reg(self._BMX160_MAGN_IF_2_ADDR, 0x4C)
self.write_bmx_reg(self._BMX160_MAGN_IF_1_ADDR, 0x42)
self.write_bmx_reg(self._BMX160_MAGN_CONFIG_ADDR, 0x08)
self.write_bmx_reg(self._BMX160_MAGN_IF_0_ADDR, 0x03)
time.sleep(0.05)
def set_gyro_range(self, bits):
'''!
@brief set gyroscope angular rate range and resolution.
@param bits
@n GyroRange_125DPS Gyroscope sensitivity at 125dps
@n GyroRange_250DPS Gyroscope sensitivity at 250dps
@n GyroRange_500DPS Gyroscope sensitivity at 500dps
@n GyroRange_1000DPS Gyroscope sensitivity at 1000dps
@n GyroRange_2000DPS Gyroscope sensitivity at 2000dps
'''
if bits == 0:
self.gyroRange = self._BMX160_GYRO_SENSITIVITY_125DPS
elif bits == 1:
self.gyroRange = self._BMX160_GYRO_SENSITIVITY_250DPS
elif bits == 2:
self.gyroRange = self._BMX160_GYRO_SENSITIVITY_500DPS
elif bits == 3:
self.gyroRange = self._BMX160_GYRO_SENSITIVITY_1000DPS
elif bits == 4:
self.gyroRange = self._BMX160_GYRO_SENSITIVITY_2000DPS
else:
self.gyroRange = self._BMX160_GYRO_SENSITIVITY_250DPS
def set_accel_range(self, bits):
'''!
@brief allow the selection of the accelerometer g-range.
@param bits
@n AccelRange_2G Macro for mg per LSB at +/- 2g sensitivity (1 LSB = 0.000061035mg)
@n AccelRange_4G Macro for mg per LSB at +/- 4g sensitivity (1 LSB = 0.000122070mg)
@n AccelRange_8G Macro for mg per LSB at +/- 8g sensitivity (1 LSB = 0.000244141mg)
@n AccelRange_16G Macro for mg per LSB at +/- 16g sensitivity (1 LSB = 0.000488281mg)
'''
if bits == 0:
self.accelRange = self._BMX160_ACCEL_MG_LSB_2G
elif bits == 1:
self.accelRange = self._BMX160_ACCEL_MG_LSB_4G
elif bits == 2:
self.accelRange = self._BMX160_ACCEL_MG_LSB_8G
elif bits == 3:
self.accelRange = self._BMX160_ACCEL_MG_LSB_16G
else:
self.accelRange = self._BMX160_ACCEL_MG_LSB_2G
def get_all_data(self):
'''!
@brief get the magn, gyro and accel data
@return all data
'''
data = self.read_bmx_reg(self._BMX160_MAG_DATA_ADDR)
if (data[1] & 0x80):
magnx = - 0x10000 + ((data[1] << 8) | (data[0]))
else:
magnx = (data[1] << 8) | (data[0])
if (data[3] & 0x80):
magny = - 0x10000 + ((data[3] << 8) | (data[2]))
else:
magny = (data[3] << 8) | (data[2])
if (data[5] & 0x80):
magnz = - 0x10000 + ((data[5] << 8) | (data[4]))
else:
magnz = (data[5] << 8) | (data[4])
if (data[9] & 0x80):
gyrox = - 0x10000 + ((data[9] << 8) | (data[8]))
else:
gyrox = (data[9] << 8) | (data[8])
if (data[11] & 0x80):
gyroy = - 0x10000 + ((data[11] << 8) | (data[10]))
else:
gyroy = (data[11] << 8) | (data[10])
if (data[13] & 0x80):
gyroz = - 0x10000 + ((data[13] << 8) | (data[12]))
else:
gyroz = (data[13] << 8) | (data[12])
if (data[15] & 0x80):
accelx = - 0x10000 + ((data[15] << 8) | (data[14]))
else:
accelx = (data[15] << 8) | (data[14])
if (data[17] & 0x80):
accely = - 0x10000 + ((data[17] << 8) | (data[16]))
else:
accely = (data[17] << 8) | (data[16])
if (data[19] & 0x80):
accelz = - 0x10000 + ((data[19] << 8) | (data[18]))
else:
accelz = (data[19] << 8) | (data[18])
magnx *= self.BMX160_MAGN_UT_LSB
magny *= self.BMX160_MAGN_UT_LSB
magnz *= self.BMX160_MAGN_UT_LSB
gyrox *= self.gyroRange
gyroy *= self.gyroRange
gyroz *= self.gyroRange
accelx *= self.accelRange * 9.8
accely *= self.accelRange * 9.8
accelz *= self.accelRange * 9.8
out_put = []
out_put.append(magnx)
out_put.append(magny)
out_put.append(magnz)
out_put.append(gyrox)
out_put.append(gyroy)
out_put.append(gyroz)
out_put.append(accelx)
out_put.append(accely)
out_put.append(accelz)
return out_put
def write_bmx_reg(self, register, value):
'''!
@brief Write data to the BMX register
@param register register
@param value Data written to the BMX register
@return return the actually written length
'''
self.i2cbus.write_byte_data(self.i2c_addr, register, value)
def read_bmx_reg(self, register):
'''!
@brief Read BMX register data
@param register register
@return data
'''
return self.i2cbus.read_i2c_block_data(self.i2c_addr, register)
def scan(self):
'''!
@brief iic scan function
@return scan result
@retval True sensor exist
@retval False There is no sensor
'''
try:
self.i2cbus.read_byte(self.i2c_addr)
return True
except:
print("I2C init fail")
return False
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