CE_PYTHON_LIB/LIS3DHTR.py at master · ControlEverythingCommunity/CE_PYTHON_LIB · GitHub

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# Distributed with a free-will license.
# Use it any way you want, profit or free, provided it fits in the licenses of its associated works.
# LIS3DHTR
# This code is designed to work with the LIS3DHTR_I2CS I2C Mini Module available from ControlEverything.com.
# https://www.controleverything.com/content/Accelorometer?sku=LIS3DHTR_I2CS#tabs-0-product_tabset-2

import smbus
import time

# Get I2C bus
bus = smbus.SMBus(1)

# I2C address of the device
LIS3DHTR_DEFAULT_ADDRESS			= 0x18

# LIS3DHTR Register Map
LIS3DHTR_REG_WHOAMI					= 0x0F # Who Am I Register
LIS3DHTR_REG_CTRL1					= 0x20 # Control Register-1
LIS3DHTR_REG_CTRL2					= 0x21 # Control Register-2
LIS3DHTR_REG_CTRL3					= 0x22 # Control Register-3
LIS3DHTR_REG_CTRL4					= 0x23 # Control Register-4
LIS3DHTR_REG_CTRL5					= 0x24 # Control Register-5
LIS3DHTR_REG_CTRL6					= 0x25 # Control Register-6
LIS3DHTR_REG_REFERENCE				= 0x26 # Reference
LIS3DHTR_REG_STATUS					= 0x27 # Status Register
LIS3DHTR_REG_OUT_X_L				= 0x28 # X-Axis LSB
LIS3DHTR_REG_OUT_X_H				= 0x29 # X-Axis MSB
LIS3DHTR_REG_OUT_Y_L				= 0x2A # Y-Axis LSB
LIS3DHTR_REG_OUT_Y_H				= 0x2B # Y-Axis MSB
LIS3DHTR_REG_OUT_Z_L				= 0x2C # Z-Axis LSB
LIS3DHTR_REG_OUT_Z_H				= 0x2D # Z-Axis MSB

# Accl Datarate configuration
LIS3DHTR_ACCL_DR_PD					= 0x00 # Power down mode
LIS3DHTR_ACCL_DR_1					= 0x10 # ODR = 1 Hz
LIS3DHTR_ACCL_DR_10					= 0x20 # ODR = 10 Hz
LIS3DHTR_ACCL_DR_25					= 0x30 # ODR = 25 Hz
LIS3DHTR_ACCL_DR_50					= 0x40 # ODR = 50 Hz
LIS3DHTR_ACCL_DR_100				= 0x50 # ODR = 100 Hz
LIS3DHTR_ACCL_DR_200				= 0x60 # ODR = 200 Hz
LIS3DHTR_ACCL_DR_400				= 0x70 # ODR = 400 Hz
LIS3DHTR_ACCL_DR_1620				= 0x80 # ODR = 1.620 KHz
LIS3DHTR_ACCL_DR_1344				= 0x90 # ODR = 1.344 KHz

# Accl Data update & Axis configuration
LIS3DHTR_ACCL_LPEN					= 0x00 # Normal Mode, Axis disabled
LIS3DHTR_ACCL_XAXIS					= 0x04 # X-Axis enabled
LIS3DHTR_ACCL_YAXIS					= 0x02 # Y-Axis enabled
LIS3DHTR_ACCL_ZAXIS					= 0x01 # Z-Axis enabled

# Acceleration Full-scale selection
LIS3DHTR_BDU_CONT					= 0x00 # Continuous update, Normal Mode, 4-Wire Interface
LIS3DHTR_BDU_NOT_CONT				= 0x80 # Output registers not updated until MSB and LSB reading
LIS3DHTR_ACCL_BLE_MSB				= 0x40 # MSB first
LIS3DHTR_ACCL_RANGE_16G				= 0x30 # Full scale = +/-16g
LIS3DHTR_ACCL_RANGE_8G				= 0x20 # Full scale = +/-8g
LIS3DHTR_ACCL_RANGE_4G				= 0x10 # Full scale = +/-4g
LIS3DHTR_ACCL_RANGE_2G				= 0x00 # Full scale = +/-2g, LSB first
LIS3DHTR_HR_DS						= 0x00 # High-Resolution Disabled
LIS3DHTR_HR_EN						= 0x08 # High-Resolution Enabled
LIS3DHTR_ST_0						= 0x02 # Self Test 0
LIS3DHTR_ST_1						= 0x04 # Self Test 1
LIS3DHTR_SIM_3						= 0x01 # 3-Wire Interface


class LIS3DHTR():
	def __init__ (self):
		self.select_datarate()
		self.select_data_config()

	def select_datarate(self):
		"""Select the data rate of the accelerometer from the given provided values"""
		DATARATE_CONFIG = (LIS3DHTR_ACCL_DR_10 | LIS3DHTR_ACCL_XAXIS | LIS3DHTR_ACCL_YAXIS | LIS3DHTR_ACCL_ZAXIS)
		bus.write_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_CTRL1, DATARATE_CONFIG)

	def select_data_config(self):
		"""Select the data configuration of the accelerometer from the given provided values"""
		DATA_CONFIG = (LIS3DHTR_ACCL_RANGE_2G | LIS3DHTR_BDU_CONT | LIS3DHTR_HR_DS)
		bus.write_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_CTRL4, DATA_CONFIG)

	def read_accl(self):
		"""Read data back from LIS3DHTR_REG_OUT_X_L(0x28), 2 bytes
		X-Axis Accl LSB, X-Axis Accl MSB"""
		data0 = bus.read_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_OUT_X_L)
		data1 = bus.read_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_OUT_X_H)

		xAccl = data1 * 256 + data0
		if xAccl > 32767 :
			xAccl -= 65536

		"""Read data back from LIS3DHTR_REG_OUT_Y_L(0x2A), 2 bytes
		Y-Axis Accl LSB, Y-Axis Accl MSB"""
		data0 = bus.read_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_OUT_Y_L)
		data1 = bus.read_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_OUT_Y_H)

		yAccl = data1 * 256 + data0
		if yAccl > 32767 :
			yAccl -= 65536

		"""Read data back from LIS3DHTR_REG_OUT_Z_L(0x2C), 2 bytes
		Z-Axis Accl LSB, Z-Axis Accl MSB"""
		data0 = bus.read_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_OUT_Z_L)
		data1 = bus.read_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_OUT_Z_H)

		zAccl = data1 * 256 + data0
		if zAccl > 32767 :
			zAccl -= 65536

		return {'x' : xAccl, 'y' : yAccl, 'z' : zAccl}

from LIS3DHTR import LIS3DHTR
lis3dhtr = LIS3DHTR()

while True:
	lis3dhtr.select_datarate()
	lis3dhtr.select_data_config()
	time.sleep(0.1)
	accl = lis3dhtr.read_accl()
	print "Acceleration in X-Axis : %d" %(accl['x'])
	print "Acceleration in Y-Axis : %d" %(accl['y'])
	print "Acceleration in Z-Axis : %d" %(accl['z'])
	print " ************************************ "
	time.sleep(1)