[lsm6ds] Add LSM6DS component (LSM6DSOX/LSM6DS3TR-C)
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import esphome.codegen as cg
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import esphome.config_validation as cv
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from esphome.components import i2c, spi
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from esphome.const import CONF_ID
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from .const import (
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lsm6ds_ns,
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LSM6DSComponent,
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CONF_ACCEL_RANGE,
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CONF_GYRO_RANGE,
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CONF_ACCEL_ODR,
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CONF_GYRO_ODR,
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LSM6DS_ACCEL_RANGE_2G,
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LSM6DS_ACCEL_RANGE_4G,
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LSM6DS_ACCEL_RANGE_8G,
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LSM6DS_ACCEL_RANGE_16G,
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LSM6DS_GYRO_RANGE_125DPS,
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LSM6DS_GYRO_RANGE_250DPS,
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LSM6DS_GYRO_RANGE_500DPS,
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LSM6DS_GYRO_RANGE_1000DPS,
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LSM6DS_GYRO_RANGE_2000DPS,
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LSM6DS_ACCEL_ODR_OFF,
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LSM6DS_ACCEL_ODR_12_5HZ,
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LSM6DS_ACCEL_ODR_26HZ,
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LSM6DS_ACCEL_ODR_52HZ,
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LSM6DS_ACCEL_ODR_104HZ,
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LSM6DS_ACCEL_ODR_208HZ,
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LSM6DS_ACCEL_ODR_416HZ,
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LSM6DS_ACCEL_ODR_833HZ,
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LSM6DS_ACCEL_ODR_1_66KHZ,
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LSM6DS_ACCEL_ODR_3_33KHZ,
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LSM6DS_ACCEL_ODR_6_66KHZ,
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)
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DEPENDENCIES = ["i2c"]
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AUTO_LOAD = ["sensor"]
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LSM6DSI2CDevice = lsm6ds_ns.class_("LSM6DSI2CDevice", LSM6DSComponent, i2c.I2CDevice)
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ACCEL_RANGES = {
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"2G": LSM6DS_ACCEL_RANGE_2G,
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"4G": LSM6DS_ACCEL_RANGE_4G,
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"8G": LSM6DS_ACCEL_RANGE_8G,
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"16G": LSM6DS_ACCEL_RANGE_16G,
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}
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GYRO_RANGES = {
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"125DPS": LSM6DS_GYRO_RANGE_125DPS,
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"250DPS": LSM6DS_GYRO_RANGE_250DPS,
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"500DPS": LSM6DS_GYRO_RANGE_500DPS,
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"1000DPS": LSM6DS_GYRO_RANGE_1000DPS,
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"2000DPS": LSM6DS_GYRO_RANGE_2000DPS,
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}
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ODRS = {
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"0HZ": LSM6DS_ACCEL_ODR_OFF,
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"12.5HZ": LSM6DS_ACCEL_ODR_12_5HZ,
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"26HZ": LSM6DS_ACCEL_ODR_26HZ,
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"52HZ": LSM6DS_ACCEL_ODR_52HZ,
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"104HZ": LSM6DS_ACCEL_ODR_104HZ,
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"208HZ": LSM6DS_ACCEL_ODR_208HZ,
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"416HZ": LSM6DS_ACCEL_ODR_416HZ,
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"833HZ": LSM6DS_ACCEL_ODR_833HZ,
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"1.66KHZ": LSM6DS_ACCEL_ODR_1_66KHZ,
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"3.33KHZ": LSM6DS_ACCEL_ODR_3_33KHZ,
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"6.66KHZ": LSM6DS_ACCEL_ODR_6_66KHZ,
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}
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BASE_SCHEMA = cv.Schema({
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cv.Optional(CONF_ACCEL_RANGE, default="2G"): cv.enum(ACCEL_RANGES, upper=True),
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cv.Optional(CONF_GYRO_RANGE, default="250DPS"): cv.enum(GYRO_RANGES, upper=True),
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cv.Optional(CONF_ACCEL_ODR, default="104HZ"): cv.enum(ODRS, upper=True),
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cv.Optional(CONF_GYRO_ODR, default="104HZ"): cv.enum(ODRS, upper=True),
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}).extend(cv.polling_component_schema("60s"))
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CONFIG_SCHEMA = cv.Schema({
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cv.GenerateID(): cv.declare_id(LSM6DSI2CDevice),
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}).extend(BASE_SCHEMA).extend(i2c.i2c_device_schema(None))
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async def to_code(config):
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var = cg.new_Pvariable(config[CONF_ID])
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await cg.register_component(var, config)
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await i2c.register_i2c_device(var, config)
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accel_range = ACCEL_RANGES[config[CONF_ACCEL_RANGE]]
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gyro_range = GYRO_RANGES[config[CONF_GYRO_RANGE]]
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accel_odr = ODRS[config[CONF_ACCEL_ODR]]
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gyro_odr = ODRS[config[CONF_GYRO_ODR]]
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cg.add(var.set_accel_range(accel_range))
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cg.add(var.set_gyro_range(gyro_range))
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cg.add(var.set_accel_odr(accel_odr))
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cg.add(var.set_gyro_odr(gyro_odr))
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@@ -0,0 +1,55 @@
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import esphome.codegen as cg
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# Registers
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LSM6DS_WHO_AM_I = 0x0F
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LSM6DS_CTRL1_XL = 0x10
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LSM6DS_CTRL2_G = 0x11
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LSM6DS_CTRL3_C = 0x12
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LSM6DS_STATUS_REG = 0x1E
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LSM6DS_OUT_TEMP_L = 0x20
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LSM6DS_OUTX_L_G = 0x22
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LSM6DS_OUTX_L_A = 0x28
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# WHO_AM_I Values for different variants
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LSM6DSOX_WHO_AM_I_VALUE = 0x6C
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LSM6DS3TR_WHO_AM_I_VALUE = 0x6A
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lsm6ds_ns = cg.esphome_ns.namespace("lsm6ds")
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LSM6DSComponent = lsm6ds_ns.class_("LSM6DSComponent", cg.PollingComponent)
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LSM6DSAccelRange = lsm6ds_ns.enum("LSM6DSAccelRange")
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LSM6DS_ACCEL_RANGE_2G = LSM6DSAccelRange.LSM6DS_ACCEL_RANGE_2G
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LSM6DS_ACCEL_RANGE_16G = LSM6DSAccelRange.LSM6DS_ACCEL_RANGE_16G
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LSM6DS_ACCEL_RANGE_4G = LSM6DSAccelRange.LSM6DS_ACCEL_RANGE_4G
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LSM6DS_ACCEL_RANGE_8G = LSM6DSAccelRange.LSM6DS_ACCEL_RANGE_8G
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LSM6DSGyroRange = lsm6ds_ns.enum("LSM6DSGyroRange")
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LSM6DS_GYRO_RANGE_250DPS = LSM6DSGyroRange.LSM6DS_GYRO_RANGE_250DPS
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LSM6DS_GYRO_RANGE_500DPS = LSM6DSGyroRange.LSM6DS_GYRO_RANGE_500DPS
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LSM6DS_GYRO_RANGE_1000DPS = LSM6DSGyroRange.LSM6DS_GYRO_RANGE_1000DPS
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LSM6DS_GYRO_RANGE_2000DPS = LSM6DSGyroRange.LSM6DS_GYRO_RANGE_2000DPS
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LSM6DS_GYRO_RANGE_125DPS = LSM6DSGyroRange.LSM6DS_GYRO_RANGE_125DPS
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LSM6DSODR = lsm6ds_ns.enum("LSM6DSODR")
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LSM6DS_ACCEL_ODR_OFF = LSM6DSODR.LSM6DS_ODR_OFF
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LSM6DS_ACCEL_ODR_12_5HZ = LSM6DSODR.LSM6DS_ODR_12_5HZ
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LSM6DS_ACCEL_ODR_26HZ = LSM6DSODR.LSM6DS_ODR_26HZ
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LSM6DS_ACCEL_ODR_52HZ = LSM6DSODR.LSM6DS_ODR_52HZ
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LSM6DS_ACCEL_ODR_104HZ = LSM6DSODR.LSM6DS_ODR_104HZ
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LSM6DS_ACCEL_ODR_208HZ = LSM6DSODR.LSM6DS_ODR_208HZ
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LSM6DS_ACCEL_ODR_416HZ = LSM6DSODR.LSM6DS_ODR_416HZ
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LSM6DS_ACCEL_ODR_833HZ = LSM6DSODR.LSM6DS_ODR_833HZ
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LSM6DS_ACCEL_ODR_1_66KHZ = LSM6DSODR.LSM6DS_ODR_1_66KHZ
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LSM6DS_ACCEL_ODR_3_33KHZ = LSM6DSODR.LSM6DS_ODR_3_33KHZ
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LSM6DS_ACCEL_ODR_6_66KHZ = LSM6DSODR.LSM6DS_ODR_6_66KHZ
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CONF_ACCEL_X = "accel_x"
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CONF_ACCEL_Y = "accel_y"
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CONF_ACCEL_Z = "accel_z"
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CONF_GYRO_X = "gyro_x"
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CONF_GYRO_Y = "gyro_y"
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CONF_GYRO_Z = "gyro_z"
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CONF_ACCEL_RANGE = "accel_range"
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CONF_GYRO_RANGE = "gyro_range"
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CONF_ACCEL_ODR = "accel_odr"
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CONF_GYRO_ODR = "gyro_odr"
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@@ -0,0 +1,129 @@
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#include "lsm6ds.h"
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#include "esphome/core/log.h"
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#include "esphome/core/helpers.h"
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namespace esphome {
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namespace lsm6ds {
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static const char *const TAG = "lsm6ds";
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void LSM6DSComponent::setup() {
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uint8_t who_am_i;
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if (!this->read_register(0x0F, &who_am_i, 1)) {
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this->mark_failed();
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ESP_LOGE(TAG, "Communication failed");
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return;
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}
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if (who_am_i == 0x6C) {
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ESP_LOGI(TAG, "Detected LSM6DSOX");
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} else if (who_am_i == 0x6A) {
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ESP_LOGI(TAG, "Detected LSM6DS3TR-C");
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} else {
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this->mark_failed();
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ESP_LOGE(TAG, "Unknown chip ID: 0x%02X", who_am_i);
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return;
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}
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// SW Reset
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this->write_register(0x12, 0x01);
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uint8_t ctrl3;
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uint32_t start = millis();
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do {
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delay(10);
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this->read_register(0x12, &ctrl3, 1);
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} while ((ctrl3 & 0x01) && (millis() - start < 100));
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if (ctrl3 & 0x01) {
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ESP_LOGW(TAG, "SW Reset timed out");
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}
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// Enable BDU (Block Data Update)
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this->write_register(0x12, 0x40 | 0x04); // BDU=1, IF_INC=1
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// Configure Accel
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uint8_t ctrl1_xl = (this->accel_odr_ << 4) | (this->accel_range_ << 2);
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this->write_register(0x10, ctrl1_xl);
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switch (this->accel_range_) {
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case LSM6DS_ACCEL_RANGE_2G: accel_sensitivity_ = 0.061e-3f; break;
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case LSM6DS_ACCEL_RANGE_4G: accel_sensitivity_ = 0.122e-3f; break;
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case LSM6DS_ACCEL_RANGE_8G: accel_sensitivity_ = 0.244e-3f; break;
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case LSM6DS_ACCEL_RANGE_16G: accel_sensitivity_ = 0.488e-3f; break;
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default: accel_sensitivity_ = 0; break;
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}
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// Configure Gyro
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uint8_t ctrl2_g = (this->gyro_odr_ << 4);
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if (this->gyro_range_ == LSM6DS_GYRO_RANGE_125DPS) {
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ctrl2_g |= 0x02; // FS_125 = 1
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gyro_sensitivity_ = 4.375e-3f;
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} else {
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ctrl2_g |= (this->gyro_range_ << 2);
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switch (this->gyro_range_) {
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case LSM6DS_GYRO_RANGE_250DPS: gyro_sensitivity_ = 8.75e-3f; break;
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case LSM6DS_GYRO_RANGE_500DPS: gyro_sensitivity_ = 17.50e-3f; break;
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case LSM6DS_GYRO_RANGE_1000DPS: gyro_sensitivity_ = 35.0e-3f; break;
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case LSM6DS_GYRO_RANGE_2000DPS: gyro_sensitivity_ = 70.0e-3f; break;
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default: gyro_sensitivity_ = 0; break;
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}
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}
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this->write_register(0x11, ctrl2_g);
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}
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void LSM6DSComponent::update() {
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uint8_t status;
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if (!this->read_register(0x1E, &status, 1)) return;
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if (status & 0x01) { // GDA - Gyroscope data available
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uint8_t data[6];
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if (this->read_register(0x22, data, 6)) {
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int16_t gx = encode_uint16(data[1], data[0]);
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int16_t gy = encode_uint16(data[3], data[2]);
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int16_t gz = encode_uint16(data[5], data[4]);
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if (this->gyro_x_sensor_) this->gyro_x_sensor_->publish_state(gx * gyro_sensitivity_);
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if (this->gyro_y_sensor_) this->gyro_y_sensor_->publish_state(gy * gyro_sensitivity_);
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if (this->gyro_z_sensor_) this->gyro_z_sensor_->publish_state(gz * gyro_sensitivity_);
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}
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}
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if (status & 0x02) { // XLDA - Accelerometer data available
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uint8_t data[6];
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if (this->read_register(0x28, data, 6)) {
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int16_t ax = encode_uint16(data[1], data[0]);
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int16_t ay = encode_uint16(data[3], data[2]);
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int16_t az = encode_uint16(data[5], data[4]);
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float grav = 9.80665f;
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if (this->accel_x_sensor_) this->accel_x_sensor_->publish_state(ax * accel_sensitivity_ * grav);
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if (this->accel_y_sensor_) this->accel_y_sensor_->publish_state(ay * accel_sensitivity_ * grav);
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if (this->accel_z_sensor_) this->accel_z_sensor_->publish_state(az * accel_sensitivity_ * grav);
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}
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}
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if (status & 0x04) { // TDA - Temperature data available
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uint8_t data[2];
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if (this->read_register(0x20, data, 2)) {
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int16_t temp = encode_uint16(data[1], data[0]);
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if (this->temperature_sensor_) this->temperature_sensor_->publish_state(25.0f + (temp / 256.0f));
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}
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}
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}
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void LSM6DSComponent::dump_config() {
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ESP_LOGCONFIG(TAG, "LSM6DS (LSM6DSOX/LSM6DS3TR-C):");
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LOG_UPDATE_INTERVAL(this);
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if (this->is_failed()) {
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ESP_LOGCONFIG(TAG, " Connection failed!");
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return;
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}
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LOG_SENSOR(" ", "Accel X", this->accel_x_sensor_);
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LOG_SENSOR(" ", "Accel Y", this->accel_y_sensor_);
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LOG_SENSOR(" ", "Accel Z", this->accel_z_sensor_);
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LOG_SENSOR(" ", "Gyro X", this->gyro_x_sensor_);
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LOG_SENSOR(" ", "Gyro Y", this->gyro_y_sensor_);
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LOG_SENSOR(" ", "Gyro Z", this->gyro_z_sensor_);
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LOG_SENSOR(" ", "Temperature", this->temperature_sensor_);
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}
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} // namespace lsm6ds
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} // namespace esphome
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@@ -0,0 +1,115 @@
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#pragma once
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#include "esphome/core/component.h"
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#include "esphome/components/sensor/sensor.h"
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#include "esphome/components/i2c/i2c.h"
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#ifdef USE_SPI
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#include "esphome/components/spi/spi.h"
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#endif
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namespace esphome {
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namespace lsm6ds {
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enum LSM6DSAccelRange {
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LSM6DS_ACCEL_RANGE_2G = 0x00,
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LSM6DS_ACCEL_RANGE_16G = 0x01,
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LSM6DS_ACCEL_RANGE_4G = 0x02,
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LSM6DS_ACCEL_RANGE_8G = 0x03,
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};
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enum LSM6DSGyroRange {
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LSM6DS_GYRO_RANGE_250DPS = 0x00,
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LSM6DS_GYRO_RANGE_500DPS = 0x01,
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LSM6DS_GYRO_RANGE_1000DPS = 0x02,
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LSM6DS_GYRO_RANGE_2000DPS = 0x03,
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LSM6DS_GYRO_RANGE_125DPS = 0x04,
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};
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enum LSM6DSODR {
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LSM6DS_ODR_OFF = 0x00,
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LSM6DS_ODR_12_5HZ = 0x01,
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LSM6DS_ODR_26HZ = 0x02,
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LSM6DS_ODR_52HZ = 0x03,
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LSM6DS_ODR_104HZ = 0x04,
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LSM6DS_ODR_208HZ = 0x05,
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LSM6DS_ODR_416HZ = 0x06,
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LSM6DS_ODR_833HZ = 0x07,
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LSM6DS_ODR_1_66KHZ = 0x08,
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LSM6DS_ODR_3_33KHZ = 0x09,
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LSM6DS_ODR_6_66KHZ = 0x0A,
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};
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class LSM6DSComponent : public PollingComponent {
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public:
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void setup() override;
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void dump_config() override;
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void update() override;
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float get_setup_priority() const override { return setup_priority::DATA; }
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void set_accel_x_sensor(sensor::Sensor *accel_x) { accel_x_sensor_ = accel_x; }
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void set_accel_y_sensor(sensor::Sensor *accel_y) { accel_y_sensor_ = accel_y; }
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void set_accel_z_sensor(sensor::Sensor *accel_z) { accel_z_sensor_ = accel_z; }
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void set_gyro_x_sensor(sensor::Sensor *gyro_x) { gyro_x_sensor_ = gyro_x; }
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void set_gyro_y_sensor(sensor::Sensor *gyro_y) { gyro_y_sensor_ = gyro_y; }
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void set_gyro_z_sensor(sensor::Sensor *gyro_z) { gyro_z_sensor_ = gyro_z; }
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void set_temperature_sensor(sensor::Sensor *temp) { temperature_sensor_ = temp; }
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void set_accel_range(LSM6DSAccelRange range) { accel_range_ = range; }
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void set_gyro_range(LSM6DSGyroRange range) { gyro_range_ = range; }
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void set_accel_odr(LSM6DSODR odr) { accel_odr_ = odr; }
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void set_gyro_odr(LSM6DSODR odr) { gyro_odr_ = odr; }
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protected:
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virtual bool read_register(uint8_t reg, uint8_t *data, size_t len) = 0;
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virtual bool write_register(uint8_t reg, uint8_t data) = 0;
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sensor::Sensor *accel_x_sensor_{nullptr};
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sensor::Sensor *accel_y_sensor_{nullptr};
|
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sensor::Sensor *accel_z_sensor_{nullptr};
|
||||
sensor::Sensor *gyro_x_sensor_{nullptr};
|
||||
sensor::Sensor *gyro_y_sensor_{nullptr};
|
||||
sensor::Sensor *gyro_z_sensor_{nullptr};
|
||||
sensor::Sensor *temperature_sensor_{nullptr};
|
||||
|
||||
LSM6DSAccelRange accel_range_;
|
||||
LSM6DSGyroRange gyro_range_;
|
||||
LSM6DSODR accel_odr_;
|
||||
LSM6DSODR gyro_odr_;
|
||||
|
||||
float accel_sensitivity_;
|
||||
float gyro_sensitivity_;
|
||||
};
|
||||
|
||||
class LSM6DSI2CDevice : public LSM6DSComponent, public i2c::I2CDevice {
|
||||
public:
|
||||
bool read_register(uint8_t reg, uint8_t *data, size_t len) override {
|
||||
return this->read_bytes(reg, data, len);
|
||||
}
|
||||
bool write_register(uint8_t reg, uint8_t data) override {
|
||||
return this->write_byte(reg, data);
|
||||
}
|
||||
};
|
||||
|
||||
#ifdef USE_SPI
|
||||
class LSM6DSSPIDevice : public LSM6DSComponent, public spi::SPIDevice {
|
||||
public:
|
||||
bool read_register(uint8_t reg, uint8_t *data, size_t len) override {
|
||||
this->enable();
|
||||
this->transfer_byte(reg | 0x80);
|
||||
this->transfer_bytes(nullptr, data, len);
|
||||
this->disable();
|
||||
return true;
|
||||
}
|
||||
bool write_register(uint8_t reg, uint8_t data) override {
|
||||
this->enable();
|
||||
this->transfer_byte(reg & 0x7F);
|
||||
this->transfer_byte(data);
|
||||
this->disable();
|
||||
return true;
|
||||
}
|
||||
};
|
||||
#endif
|
||||
|
||||
} // namespace lsm6ds
|
||||
} // namespace esphome
|
||||
@@ -0,0 +1,74 @@
|
||||
import esphome.codegen as cg
|
||||
import esphome.config_validation as cv
|
||||
from esphome.components import sensor
|
||||
from esphome.const import (
|
||||
STATE_CLASS_MEASUREMENT,
|
||||
UNIT_METER_PER_SECOND_SQUARED,
|
||||
UNIT_DEGREE_PER_SECOND,
|
||||
UNIT_CELSIUS,
|
||||
ICON_ACCELERATION,
|
||||
ICON_THERMOMETER,
|
||||
ICON_SCREEN_ROTATION,
|
||||
CONF_ID,
|
||||
)
|
||||
from .const import (
|
||||
CONF_ACCEL_X, CONF_ACCEL_Y, CONF_ACCEL_Z,
|
||||
CONF_GYRO_X, CONF_GYRO_Y, CONF_GYRO_Z,
|
||||
LSM6DSComponent,
|
||||
)
|
||||
|
||||
CONFIG_SCHEMA = cv.Schema({
|
||||
cv.GenerateID(CONF_ID): cv.use_id(LSM6DSComponent),
|
||||
cv.Optional(CONF_ACCEL_X): sensor.sensor_schema(
|
||||
unit_of_measurement=UNIT_METER_PER_SECOND_SQUARED,
|
||||
icon=ICON_ACCELERATION,
|
||||
accuracy_decimals=2,
|
||||
state_class=STATE_CLASS_MEASUREMENT,
|
||||
),
|
||||
cv.Optional(CONF_ACCEL_Y): sensor.sensor_schema(
|
||||
unit_of_measurement=UNIT_METER_PER_SECOND_SQUARED,
|
||||
icon=ICON_ACCELERATION,
|
||||
accuracy_decimals=2,
|
||||
state_class=STATE_CLASS_MEASUREMENT,
|
||||
),
|
||||
cv.Optional(CONF_ACCEL_Z): sensor.sensor_schema(
|
||||
unit_of_measurement=UNIT_METER_PER_SECOND_SQUARED,
|
||||
icon=ICON_ACCELERATION,
|
||||
accuracy_decimals=2,
|
||||
state_class=STATE_CLASS_MEASUREMENT,
|
||||
),
|
||||
cv.Optional(CONF_GYRO_X): sensor.sensor_schema(
|
||||
unit_of_measurement=UNIT_DEGREE_PER_SECOND,
|
||||
icon=ICON_SCREEN_ROTATION,
|
||||
accuracy_decimals=2,
|
||||
state_class=STATE_CLASS_MEASUREMENT,
|
||||
),
|
||||
cv.Optional(CONF_GYRO_Y): sensor.sensor_schema(
|
||||
unit_of_measurement=UNIT_DEGREE_PER_SECOND,
|
||||
icon=ICON_SCREEN_ROTATION,
|
||||
accuracy_decimals=2,
|
||||
state_class=STATE_CLASS_MEASUREMENT,
|
||||
),
|
||||
cv.Optional(CONF_GYRO_Z): sensor.sensor_schema(
|
||||
unit_of_measurement=UNIT_DEGREE_PER_SECOND,
|
||||
icon=ICON_SCREEN_ROTATION,
|
||||
accuracy_decimals=2,
|
||||
state_class=STATE_CLASS_MEASUREMENT,
|
||||
),
|
||||
cv.Optional("temperature"): sensor.sensor_schema(
|
||||
unit_of_measurement=UNIT_CELSIUS,
|
||||
icon=ICON_THERMOMETER,
|
||||
accuracy_decimals=1,
|
||||
state_class=STATE_CLASS_MEASUREMENT,
|
||||
),
|
||||
})
|
||||
|
||||
async def to_code(config):
|
||||
hub = await cg.get_variable(config[CONF_ID])
|
||||
|
||||
for key in [CONF_ACCEL_X, CONF_ACCEL_Y, CONF_ACCEL_Z,
|
||||
CONF_GYRO_X, CONF_GYRO_Y, CONF_GYRO_Z,
|
||||
"temperature"]:
|
||||
if key in config:
|
||||
sens = await sensor.new_sensor(config[key])
|
||||
cg.add(getattr(hub, f"set_{key}_sensor")(sens))
|
||||
Reference in new issue
Block a user