obniz/dist/src/parts/MovementSensor/MPU6050/index.js

obniz sdk for javascript

"use strict";
/**
 * @packageDocumentation
 * @module Parts.MPU6050
 */
var __importDefault = (this && this.__importDefault) || function (mod) {
    return (mod && mod.__esModule) ? mod : { "default": mod };
};
Object.defineProperty(exports, "__esModule", { value: true });
const i2cImu6_1 = __importDefault(require("../../i2cImu6"));
class MPU6050 extends i2cImu6_1.default {
    constructor() {
        super();
        this.i2cinfo = {
            address: 0x68,
            clock: 100000,
            voltage: '3v',
            pull: '3v',
        };
    }
    static info() {
        return {
            name: 'MPU6050',
        };
    }
    calcTemp(data) {
        if (typeof data === 'undefined' || data === null) {
            return null;
        }
        return data / 333.87 + 21;
    }
    wired(obniz) {
        super.wired(obniz);
        this.init();
    }
    init() {
        this.write(MPU6050.commands.pwr_mgmt_1, 0x00);
        this.obniz.wait(10);
        // set dlpf
        this.obniz.wait(1);
        this.write(MPU6050.commands.config, 0x01);
        // set samplerate div
        this.obniz.wait(1);
        this.write(MPU6050.commands.smplrt_div, 0x05);
        // interrupt enable
        this.obniz.wait(1);
        this.write(MPU6050.commands.int_enable, 0x00);
        this.obniz.wait(1);
        this.write(MPU6050.commands.user_ctrl, 0x00);
        this.obniz.wait(1);
        this.write(MPU6050.commands.fifo_en, 0x00);
        this.obniz.wait(1);
        this.write(MPU6050.commands.int_pin_cfg, 0x22);
        this.obniz.wait(1);
        this.write(MPU6050.commands.int_enable, 0x01);
        this.obniz.wait(1);
        this.setConfig(2, 250);
    }
    async sleepWait() {
        await this.writeFlagWait(MPU6050.commands.pwr_mgmt_1, 6);
    }
    async wakeWait() {
        await this.clearFlagWait(MPU6050.commands.pwr_mgmt_1, 6);
    }
    async resetWait() {
        await this.writeFlagWait(MPU6050.commands.pwr_mgmt_1, 7);
    }
    async configDlpfWait() {
        // do nothing.
    }
    async bypassMagnetometerWait(flag = true) {
        // Enable I2C bypass to access for MPU9250 magnetometer access.
        if (flag === true) {
            await this.writeFlagWait(MPU6050.commands.int_pin_cfg, 1);
        }
        else {
            await this.clearFlagWait(MPU6050.commands.int_pin_cfg, 1);
        }
        // this.i2c.write(this.address, [MPU6050.commands.int_pin_cfg]);
        // const data =  await this.i2c!.readWait(this.address, 1);
        // data[0] |= MPU6050.commands.intPinConfigMask.bypass_en;
        // this.i2c.write(this.address, [MPU6050.commands.int_pin_cfg, data[0]]);
    }
    async whoamiWait() {
        const result = await this.readWait(MPU6050.commands.whoami, 1);
        return result[0];
    }
    async getAccelAdcWait() {
        const raw = await this.readWait(MPU6050.commands.accel_x_h, 6);
        return MPU6050.charArrayToXyz(raw, 'b');
    }
    async getGyroAdcWait() {
        const raw = await this.readWait(MPU6050.commands.gyro_x_h, 6);
        return MPU6050.charArrayToXyz(raw, 'b');
    }
    async getTempAdcWait() {
        const raw = await this.readWait(MPU6050.commands.temp_h, 2);
        return MPU6050.charArrayToInt16(raw, 'b');
    }
    async getAllAdcWait() {
        const raw = await this.readWait(MPU6050.commands.accel_x_h, 14);
        return {
            accelerometer: MPU6050.charArrayToXyz(raw.slice(0, 6), 'b'),
            gyroscope: MPU6050.charArrayToXyz(raw.slice(8, 14), 'b'),
            temperature: MPU6050.charArrayToInt16(raw.slice(6, 8), 'b'),
        };
    }
    setAccelRange(accel_range) {
        if (accel_range in MPU6050.commands.accel_fs_sel) {
            this.write(MPU6050.commands.accel_config, MPU6050.commands.accel_fs_sel[accel_range]);
            this.accel_so = accel_range;
        }
        else {
            throw new Error(`Invalid accel range. Valid values are: ${Object.keys(MPU6050.commands.accel_fs_sel).join()}`);
        }
    }
    setGyroRange(gyro_range) {
        if (gyro_range in MPU6050.commands.gyro_fs_sel) {
            this.write(MPU6050.commands.gyro_config, MPU6050.commands.gyro_fs_sel[gyro_range]);
            this.gyro_so = gyro_range;
        }
        else {
            throw new Error(`Invalid gyro range. Valid values are: ${Object.keys(MPU6050.commands.gyro_fs_sel).join()}`);
        }
    }
    setConfig(accelerometer_range, gyroscope_range, ADC_cycle) {
        // accel range set (0x00:2g, 0x08:4g, 0x10:8g, 0x18:16g)
        switch (accelerometer_range) {
            case 2:
                this.setAccelRange('2g');
                break;
            case 4:
                this.setAccelRange('4g');
                break;
            case 8:
                this.setAccelRange('8g');
                break;
            case 16:
                this.setAccelRange('16g');
                break;
            default:
                throw new Error('accel_range variable 2,4,8,16 setting');
        }
        // gyro range & LPF set (0x00:250, 0x08:500, 0x10:1000, 0x18:2000[deg/s])
        switch (gyroscope_range) {
            case 250:
                this.setGyroRange('250dps');
                break;
            case 500:
                this.setGyroRange('500dps');
                break;
            case 1000:
                this.setGyroRange('1000dps');
                break;
            case 2000:
                this.setGyroRange('2000dps');
                break;
            default:
                throw new Error('accel_range variable 250,500,1000,2000 setting');
        }
    }
}
exports.default = MPU6050;
MPU6050.commands = {
    whoami: 0x75,
    whoami_result: 0x71,
    pwr_mgmt_1: 0x6b,
    pwr_mgmt_2: 0x6c,
    smplrt_div: 0x19,
    int_pin_cfg: 0x37,
    int_enable: 0x38,
    user_ctrl: 0x6a,
    config: 0x1a,
    fifo_en: 0x23,
    accel_x_h: 0x3b,
    accel_x_l: 0x3c,
    accel_y_h: 0x3d,
    accel_y_l: 0x3e,
    accel_z_h: 0x3f,
    accel_z_l: 0x40,
    temp_h: 0x41,
    temp_l: 0x42,
    gyro_x_h: 0x43,
    gyro_x_l: 0x44,
    gyro_y_h: 0x45,
    gyro_y_l: 0x46,
    gyro_z_h: 0x47,
    gyro_z_l: 0x48,
    gyro_config: 0x1b,
    accel_config: 0x1c,
    accel_fs_sel: {
        '2g': 0x00,
        '4g': 0x08,
        '8g': 0x10,
        '16g': 0x18,
    },
    gyro_fs_sel: {
        '250dps': 0x00,
        '500dps': 0x08,
        '1000dps': 0x10,
        '2000dps': 0x18,
    },
};