Add QMI8685 accelerometer driver

install.sh

@@ -4,6 +4,7 @@ pkill -f "python.*mpremote"
 ~/sources/lvgl_micropython/lib/micropython/tools/mpremote/mpremote.py fs cp main.py :/main.py
 
 ~/sources/lvgl_micropython/lib/micropython/tools/mpremote/mpremote.py fs cp -r apps :/
+~/sources/lvgl_micropython/lib/micropython/tools/mpremote/mpremote.py fs cp -r lib :/
 ~/sources/lvgl_micropython/lib/micropython/tools/mpremote/mpremote.py fs cp -r resources :/
 
 ~/sources/lvgl_micropython/lib/micropython/tools/mpremote/mpremote.py reset

lib/qmi8685.py

@@ -0,0 +1,144 @@
+# A simple driver for the QMI8658 IMU.
+# From https://github.com/echo-lalia/qmi8658-micropython
+# But removed the multi line comments that were causing problems.
+
+import struct
+import time
+
+from machine import I2C
+
+
+# Sensor constants
+_QMI8685_PARTID = const(0x05)
+_REG_PARTID = const(0x00)
+_REG_REVISION = const(0x01)
+
+_REG_CTRL1 = const(0x02)  # Serial interface and sensor enable
+_REG_CTRL2 = const(0x03)  # Accelerometer settings
+_REG_CTRL3 = const(0x04)  # Gyroscope settings
+_REG_CTRL4 = const(0x05)  # Magnetomer settings (support not implemented in this driver yet)
+_REG_CTRL5 = const(0x06)  # Sensor data processing settings
+_REG_CTRL6 = const(0x07)  # Attitude Engine ODR and Motion on Demand
+_REG_CTRL7 = const(0x08)  # Enable Sensors and Configure Data Reads
+
+_REG_TEMP = const(0x33)  # Temperature sensor.
+
+_REG_AX_L = const(0x35)  # Read accelerometer
+_REG_AX_H = const(0x36)
+_REG_AY_L = const(0x37)
+_REG_AY_H = const(0x38)
+_REG_AZ_L = const(0x39)
+_REG_AZ_H = const(0x3A)
+
+_REG_GX_L = const(0x3B)  # read gyro
+_REG_GX_H = const(0x3C)
+_REG_GY_L = const(0x3D)
+_REG_GY_H = const(0x3E)
+_REG_GZ_L = const(0x3F)
+_REG_GZ_H = const(0x40)
+
+_QMI8658_I2CADDR_DEFAULT = const(0X6B)
+
+
+_ACCELSCALE_RANGE_2G = const(0b00)
+_ACCELSCALE_RANGE_4G = const(0b01)
+_ACCELSCALE_RANGE_8G = const(0b10)
+_ACCELSCALE_RANGE_16G = const(0b11)
+
+_GYROSCALE_RANGE_16DPS = const(0b000)
+_GYROSCALE_RANGE_32DPS = const(0b001)
+_GYROSCALE_RANGE_64DPS = const(0b010)
+_GYROSCALE_RANGE_128DPS = const(0b011)
+_GYROSCALE_RANGE_256DPS = const(0b100)
+_GYROSCALE_RANGE_512DPS = const(0b101)
+_GYROSCALE_RANGE_1024DPS = const(0b110)
+_GYROSCALE_RANGE_2048DPS = const(0b111)
+
+_ODR_8000HZ = const(0b0000)
+_ODR_4000HZ = const(0b0001)
+_ODR_2000HZ = const(0b0010)
+_ODR_1000HZ = const(0b0011)
+_ODR_500HZ = const(0b0100)
+_ODR_250HZ = const(0b0101)
+_ODR_125HZ = const(0b0110)
+_ODR_62_5HZ = const(0b0111)
+
+
+class QMI8658:
+
+    def __init__(
+            self,
+            i2c_bus: I2C,
+            address: int = _QMI8658_I2CADDR_DEFAULT,
+            accel_scale: int = _ACCELSCALE_RANGE_8G,
+            gyro_scale: int = _GYROSCALE_RANGE_256DPS):
+        """Read from a sensor on the given I2C bus, at the given address."""
+        self.i2c = i2c_bus
+        self.address = address
+
+        # Verify sensor part ID
+        if self._read_u8(_REG_PARTID) != _QMI8685_PARTID:
+            raise AttributeError("Cannot find a QMI8658")
+
+        # Setup initial configuration
+        self._configure_sensor(accel_scale, gyro_scale)
+
+        # Configure scales/divisors for the driver
+        self.acc_scale_divisor = {
+            _ACCELSCALE_RANGE_2G: 1 << 14,
+            _ACCELSCALE_RANGE_4G: 1 << 13,
+            _ACCELSCALE_RANGE_8G: 1 << 12,
+            _ACCELSCALE_RANGE_16G: 1 << 11,
+        }[accel_scale]
+
+        self.gyro_scale_divisor = {
+            _GYROSCALE_RANGE_16DPS: 2048,
+            _GYROSCALE_RANGE_32DPS: 1024,
+            _GYROSCALE_RANGE_64DPS: 512,
+            _GYROSCALE_RANGE_128DPS: 256,
+            _GYROSCALE_RANGE_256DPS: 128,
+            _GYROSCALE_RANGE_512DPS: 64,
+            _GYROSCALE_RANGE_1024DPS: 32,
+            _GYROSCALE_RANGE_2048DPS: 16,
+        }[gyro_scale]
+
+
+    def _configure_sensor(self, accel_scale: int, gyro_scale: int):
+        # Initialize accelerometer and gyroscope settings
+        self._write_u8(_REG_CTRL1, 0x60)  # Set SPI auto increment and big endian (Ctrl 1)
+        self._write_u8(_REG_CTRL2, (accel_scale << 4) | _ODR_1000HZ)  # Accel Config
+        self._write_u8(_REG_CTRL3, (gyro_scale << 4) | _ODR_1000HZ)  # Gyro Config
+        self._write_u8(_REG_CTRL5, 0x01)  # Low-pass filter enable
+        self._write_u8(_REG_CTRL7, 0x03)  # Enable accel and gyro
+        time.sleep_ms(100)
+
+
+    # Helper functions for register operations
+    def _read_u8(self, reg:int) -> int:
+        return self.i2c.readfrom_mem(self.address, reg, 1)[0]
+
+    def _read_xyz(self, reg:int) -> tuple[int, int, int]:
+        data = self.i2c.readfrom_mem(self.address, reg, 6)
+        return struct.unpack('<hhh', data)
+
+    def _write_u8(self, reg: int, value: int):
+        self.i2c.writeto_mem(self.address, reg, bytes([value]))
+
+
+    @property
+    def temperature(self) -> float:
+        """Get the device temperature."""
+        temp_raw = self._read_u8(_REG_TEMP)
+        return temp_raw / 256
+
+    @property
+    def acceleration(self) -> tuple[float, float, float]:
+        """Get current acceleration reading."""
+        raw_accel = self._read_xyz(_REG_AX_L)
+        return tuple(val / self.acc_scale_divisor for val in raw_accel)
+
+    @property
+    def gyro(self) -> tuple[float, float, float]:
+        """Get current gyroscope reading."""
+        raw_gyro = self._read_xyz(_REG_GX_L)
+        return tuple(val / self.gyro_scale_divisor for val in raw_gyro)