ISM330DHCX Module

This module contains the driver for STMicroelectronics ISM330DHCX 3-axis accelerometer and gyroscope.

In the ISM330DHCX, the sensing elements of the accelerometer and of the gyroscope are implemented on the same silicon die, thus guaranteeing superior stability and robustness. (datasheet).

class ISM330DHCX(spidrv, pin_cs, clk=5000000)

Class which provides a simple interface to ISM330DHCX features.

Creates an instance of ISM330DHCX class, using the specified SPI settings and initial device configuration

Parameters:

• spidrv – the SPI driver to use (SPI0, ...)
• pin_cs – Chip select pin to access the ISM330DHCX chip
• clk – Clock speed, default 5 MHz

Example:

from stm.ism330dhcx import ism330dhcx

...

accgyro = ism330dhcx.ISM330DHCX(SPI0, D10)
acc = accgyro.get_acc_data()
gyro = accgyro.get_gyro_data()

reset()

Reset the device using the internal register flag.

enable_acc(odr=ISM330DHCX_ODR_417Hz, fs=0)

Sets the device’s configuration registers for accelerometer.

Parameters:

• odr : sets the Output Data Rate of the device. Available values are:

  Value	Output Data Rate	Constant Name
  0x00	OFF	ISM330DHCX_ODR_OFF
  0x01	12.5 Hz	ISM330DHCX_ODR_12Hz5
  0x02	26 Hz	ISM330DHCX_ODR_26Hz
  0x03	52 Hz	ISM330DHCX_ODR_52Hz
  0x04	104 Hz	ISM330DHCX_ODR_104Hz
  0x05	208 Hz	ISM330DHCX_ODR_208Hz
  0x06	417 Hz	ISM330DHCX_ODR_417Hz
  0x07	833 Hz	ISM330DHCX_ODR_833Hz
  0x08	1.667 KHz	ISM330DHCX_ODR_1667Hz
  0x09	3.333 KHz	ISM330DHCX_ODR_3333Hz
  0x0A	6.667 KHz	ISM330DHCX_ODR_6667Hz
  0x0B	6.5 Hz	ISM330DHCX_ODR_6Hz5

• fs : sets the Device Full Scale. Available values are:

  Value	Full Scale	Costant Name	in mg/LSB
  0x00	±2g	ISM330DHCX_ACC_SENS_FS_2G	0.061 mg/LSB
  0x01	±4g	ISM330DHCX_ACC_SENS_FS_4G	0.122 mg/LSB
  0x02	±8g	ISM330DHCX_ACC_SENS_FS_8G	0.244 mg/LSB
  0x03	±16g	ISM330DHCX_ACC_SENS_FS_16G	0.488 mg/LSB

Returns True if configuration is successful, False otherwise.

disable_acc()

Disables the accelerator sensor.

Returns True if configuration is successful, False otherwise.

enable_gyro(odr=ISM330DHCX_ODR_417Hz, fs=0)

Sets the device’s configuration registers for gyroscope.

Parameters:

• odr : sets the Output Data Rate of the device. Available values are:

  Value	Output Data Rate	Constant Name
  0x00	OFF	ISM330DHCX_ODR_OFF
  0x01	12.5 Hz	ISM330DHCX_ODR_12Hz5
  0x02	26 Hz	ISM330DHCX_ODR_26Hz
  0x03	52 Hz	ISM330DHCX_ODR_52Hz
  0x04	104 Hz	ISM330DHCX_ODR_104Hz
  0x05	208 Hz	ISM330DHCX_ODR_208Hz
  0x06	417 Hz	ISM330DHCX_ODR_417Hz
  0x07	833 Hz	ISM330DHCX_ODR_833Hz
  0x08	1.667 KHz	ISM330DHCX_ODR_1667Hz
  0x09	3.333 KHz	ISM330DHCX_ODR_3333Hz
  0x0A	6.667 KHz	ISM330DHCX_ODR_6667Hz

• fs : sets the Device Full Scale. Available values are:

  Value	Full Scale	Costant Name	in mdps/LSB
  0x00	±125 dps	ISM330DHCX_GYRO_SENS_FS_125DPS	4.375 mdps/LSB
  0x01	±250 dps	ISM330DHCX_GYRO_SENS_FS_250DPS	8.750 mdps/LSB
  0x02	±500 dps	ISM330DHCX_GYRO_SENS_FS_500DPS	17.500 mdps/LSB
  0x03	±1000 dps	ISM330DHCX_GYRO_SENS_FS_1000DPS	35.000 mdps/LSB
  0x04	±2000 dps	ISM330DHCX_GYRO_SENS_FS_2000DPS	70.000 mdps/LSB
  0x05	±4000 dps	ISM330DHCX_GYRO_SENS_FS_4000DPS	140.000 mdps/LSB

Returns True if configuration is successful, False otherwise.

disable_gyro()

Disables the gyroscope sensor.

Returns True if configuration is successful, False otherwise.

whoami()

Value of the ISM330DHCX_WHO_AM_I register (0x6B).

get_acc_data(ms2=True, raw=False)

Retrieves accelerometer data in one call.

Parameters:

• ms2 – If ms2 flag is True, returns data converted in m/s^2; otherwise in mg (default True)
• raw – If raw flag is True, returns raw register values (default False)

Returns acc_x, acc_y, acc_z

get_gyro_data(dps=True, raw=False)

Retrieves gyroscope data in one call.

Parameters:

• dps – If dps flag is True, returns data converted in dps; otherwise in mdps (default True)
• raw – If raw flag is True, returns raw register values (default False)

Returns gyro_x, gyro_y, gyro_z

get_temp()

Retrieves temperature in one call; if raw flag is enabled, returns raw register values.

Returns temp

get_fast()

Retrieves all data sensors in one call in fast way (c-code acquisition).

• Temperature in °C
• Acceleration in m/s^2
• Angular Velocity in dps (degrees per second)

Returns temp, acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z

set_event_interrupt(pin_int, sensor, enable)

Enables the interrupt pins. When data from sensor selected will be ready, the related interrupt pin configured will be set to high.

Parameters:

• pin_int – ID of the interrupt pin to be enabled/disabled. Available values are 1 o 2.
• sensor – Data Ready flag selector. Available values are “acc” or “gyro”.
• enable – If enable flag is True, interrupt pin will be enabled, otherwise will be disabled.

Returns True if configuration is successful, False otherwise.