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47 lines
1.3 KiB
Python
47 lines
1.3 KiB
Python
from mpos.imu.constants import GRAVITY
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from mpos.imu.drivers.base import IMUDriverBase
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class QMI8658Driver(IMUDriverBase):
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"""Wrapper for QMI8658 IMU (Waveshare board)."""
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def __init__(self, i2c_bus, address):
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super().__init__()
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from drivers.imu_sensor.qmi8658 import QMI8658
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_ACCELSCALE_RANGE_8G = 0b10
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_GYROSCALE_RANGE_256DPS = 0b100
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self.sensor = QMI8658(
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i2c_bus,
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address=address,
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accel_scale=_ACCELSCALE_RANGE_8G,
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gyro_scale=_GYROSCALE_RANGE_256DPS,
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)
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def _raw_acceleration_mps2(self):
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ax, ay, az = self.sensor.acceleration
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return (ax * GRAVITY, ay * GRAVITY, az * GRAVITY)
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def _raw_gyroscope_dps(self):
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gx, gy, gz = self.sensor.gyro
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return (gx, gy, gz)
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def read_acceleration(self):
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ax, ay, az = self._raw_acceleration_mps2()
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return (
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ax - self.accel_offset[0],
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ay - self.accel_offset[1],
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az - self.accel_offset[2],
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)
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def read_gyroscope(self):
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gx, gy, gz = self._raw_gyroscope_dps()
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return (
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gx - self.gyro_offset[0],
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gy - self.gyro_offset[1],
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gz - self.gyro_offset[2],
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)
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def read_temperature(self):
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return self.sensor.temperature
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