IIM42652¶

This module contains the I2C driver for IIM-42652 6-axis SmartIndustrial™ MotionTracking device that supports an extended operating temperature range. The IIM-42652 combines a 3-axis gyroscope (up to ±2000 degrees/sec), and a 3-axis accelerometer (up to ±16g) and features a 2K-byte FIFO that can lower the traffic on the serial bus interface and reduce power consumption by allowing the system processor to burst read sensor data and then go into a low-power mode.

datasheet

class IIM42652¶

IIM42652(drv=I2C0, addr=0x69, clk=1000000)

• drv is the I2C drive to use. Default is I2C0;
• addr is the I2C address of the device. Default is 0x69;
• clk is the I2C clock speed to use. Default is 1000000.

method soft_reset¶

soft_reset()

method set_drive¶

set_drive(i2c_sr)

• i2c_sr is the desired I2C slew rate.

method setup¶

setup()

method get_temp¶

get_temp()

method get_accel_x¶

get_accel_x(raw=False)

method get_accel_y¶

get_accel_y(raw=False)

method get_accel_z¶

get_accel_z(raw=False)

method get_gyro_x¶

get_gyro_x(raw=False)

method get_gyro_y¶

get_gyro_x(raw=False)

method get_gyro_z¶

get_gyro_x(raw=False)

method set_pwr_cfg¶

set_pwr_cfg(acc, gyro, idle=0, tmp=0)

• acc is the accelerometer power configuration. Reset value is 0b00.

  acc	Mode
  0b00	Off
  0b01	Off
  0b10	Low Power
  0b11	Low Noise

• gyro is the gyroscope power configuration. Reset value is 0b00.

  gyro	Mode
  0b00	Off
  0b01	Off
  0b10	Low Power
  0b11	Low Noise

• idle set to 1 to keep the RC Oscillator always on. Default value is 0, reset value is 0.

• tmp_dis set to 1 to disable the temperature sensor. Default value is 0, reset value is 0.

method set_accel_cfg¶

set_accel_cfg(odr, fs)

• odr is the Output Data Rate. Reset value is 0b0110 (32 kHz). possible odr values are:

  odr	Value [Hz]
  0b0001	32000
  0b0010	16000
  0b0011	8000
  0b0100	4000
  0b0101	2000
  0b0110	1000
  0b0111	200
  0b1000	100
  0b1001	50
  0b1010	25
  0b1011	12.5
  0b1100	6.25
  0b1101	3.125
  0b1110	1.5625
  0b1111	500

• fs is the Full Scale. Reset value is 0b000 (±16 g). possible fs value are:

  fs	Value [g]
  0b000	± 16
  0b001	± 8
  0b010	± 4
  0b011	± 2

method set_gyro_cfg¶

set_gyro_cfg(odr, fs)

• odr is the Output Data Rate. Reset value is 0b0110 (32 kHz). possible odr values are:

  odr	Value [Hz]
  0b0001	32000
  0b0010	16000
  0b0011	8000
  0b0100	4000
  0b0101	2000
  0b0110	1000
  0b0111	200
  0b1000	100
  0b1001	50
  0b1010	25
  0b1011	12.5
  0b1111	500

• fs is the Full Scale. Reset value is 0b000 (±2000 degrees/sec). possible fs value are:

  fs	Value [dps]
  0b000	± 2000
  0b001	± 1000
  0b010	± 500
  0b011	± 250
  0b100	± 125
  0b101	± 62.5
  0b110	± 31.25
  0b111	± 15.625
  ### method set_fifo_cfg
  set_fifo_cfg(accel_en, gyro_en, tmp_en=False, tmst_en=False, hires_en=False, wm_gt_th=False, res_rd=False)
  Set the fifo configuration to select data saved on the fifo. For additional information, see register FIFO_CONFIG1 on IIM-42652 datasheet.

• accel_en if set to True allows accelerations data of the 3-axis to go to the fifo.

• gyro_en if set to True allows gyro data of the 3-axis to go to the fifo.

• tmp_en if set to True allows temperature data to go to the fifo. Default False.

• tmst_en if set to True allows time stamp data to go to the fifo. Default False.

• hires_en if set to True enable the high resolutions data on the fifo. Default False.

• wm_gt_th if set to True enables fifo watermark on every ODR if data on fifo are over watermark. Default False.

• res_rd if set to True allows partial read from the fifo. Reading again will resume from the last byte read. Default False

method fifo_cnt¶

fifo_cnt()

method set_fifo_mode¶

set_fifo_mode(mode)

• mode is the mode of the fifo. Reset value is 0b00.

  mode	Mode
  0b00	Bypass
  0b01	Stream-to-FIFO
  0b10	STOP-on-FULL
  0b11	STOP-on-FULL

method handle_fifo¶

handle_fifo(buf, raw=False)

• buf is the buffer to get the first packet from.

Return a tuple with the following fromat. ( n_bytes, header, measure_1, measure_2, ..., measure_n)

• n_bytes number of bytes that contained the packet.

• header is the header of the packet.

• measure_# are the measures, depending on the fifo configuration.

method set_fsync_cfg¶

set_fsync_cfg(pol, ui_clear_flag, ui)

• pol is the polarity of the fsync pulse.

• ui_clear_flag if set to 1 fysnc flag is cleared when ui sensor register is updated.

• ui select the fysnc flag tag.

method get_fifo¶

get_fifo(n)

• n is the number of bytes to get from the fifo.

Returns a bytearray with n bytes.

method set_signal_path¶

set_signal_path(fifo_flush, tmst_strobe, abort_n_reset, dmp_mem_rst=False, dmp_init_en=False)

• fifo_flush if set to True the fifo is flushed.

• tmst_strobe if set to True time stamp counter is latched into time stamp register.

• abort_n_reset if set to True signal path is reset an ODR restarted.

• dmp_mem_rst if set to True the DMP memory is reset. Default False.

• dmp_init_en if set to True the DMP memory is enabled. Default False.

method set_fifo_decimation¶

set_fifo_decimation(dec)

• dec is the decimation to set. Range 0-127.

method set_fifo_wm¶

set_fifo_wm(wm)

• wm is the watermark value to set.

method set_int_cfg¶

set_int_cfg(int_pin, mode, drive, polarity)

• int_pinis the pin of IIM42652 to configure.

• mode is the mode of the interrupt. 0 for pulsed, 1 for latched.

• drive is the drive configuration. 0 open drain, 1 push pull.

• polarity is the polarity of the pin. 0 active low, 1 active high.

method set_int_sources¶

set_int_sources(int_pin, fifo_full, fifo_ths, ui_acg_rdy=False, ui_drdy=False, reset_done=False, pll_rdy=False, ui_fsync=False)

• int_pin is the pin of IIM42652 to configure.

• fifo_full if set to True interrupt is triggered when fifo is full.

• fifo_ths if set to True interrupt is triggered when fifo watermark is reached. Default False.

• ui_acg_rdy if set to True interrupt is triggered if UI AGC is ready. Default False.

• ui_drdy if set to True interrupt is triggered if UI data are ready. Default False.

• reset_done if set to True interrupt is triggered if reset is completed. Default False.

• pll_rdy if set to True interrupt is triggered if PLL is ready. Default False.

• ui_fsync if set to True interrupt is triggered if UI fsync is triggered. Default False.

method get_int_status¶

get_int_status(get_list=False)

• get_list if set to True the interrupt status is returned as a list. The list members correspond to the related bit in the status register. E.g.: element 0 is the bit 0, element 1 is the bit 1, and so forth.

method set_int_clear_cfg¶

set_int_clear_cfg(fifo_full, fifo_ths, ui_drdy)

For additional information, see register INT_CONFIG0 on IIM-42652 datasheet.

• fifo_full is the clear method of fifo full interrupt.

• fifo_ths is the clear method of fifo watermark threshold interrupt.

• ui_drdy is the clear method of ui data ready interrupt.

Example¶

from bsp import board
from components.iim42652 import iim42652
# Create a iim42652 class with i2c
iim = iim42652.IIM42652()
sleep(500)
# Software reset of the iim42652
iim.soft_reset()
# Set up the device for I2C communication
iim.setup()
# Set accel and config
# Accel ODR = 2khz, full scale = 16 g
iim.set_accel_cfg(0b0101, 0b000)
# Set fifo in stream mode
iim.set_fifo_mode(0b01)
# Power accels and gyros on low noise mode
iim.set_pwr_cfg(3, 0, 0, 0)
while True:
    sleep(1000)
    print("accel x:", iim.get_accel_x())
    print("accel y:", iim.get_accel_y())
    print("accel z:", iim.get_accel_z())