obniz/dist/src/parts/MovementSensor/SH200Q/index.js

obniz sdk for javascript

"use strict";
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 SH200Q extends i2cImu6_1.default {
    constructor() {
        super();
        this.i2cinfo = {
            address: 0x6c,
            clock: 100000,
            voltage: '3v',
            pull: '3v',
        };
    }
    static info() {
        return {
            name: 'SH200Q',
        };
    }
    wired(obniz) {
        super.wired(obniz);
    }
    _reset() {
        // do nothing.
    }
    async whoamiWait() {
        const result = await this.readWait(SH200Q.commands.whoami, 1);
        return result[0];
    }
    async initWait() {
        await this.resetAdcWait();
        await this.writeFlagWait(0xd8, 7);
        await this.obniz.wait(1);
        await this.clearFlagWait(0xd8, 7);
        this.write(0x78, 0x61);
        await this.obniz.wait(1);
        this.write(0x78, 0x00);
        // set acc odr 256hz
        this.write(SH200Q.commands.acc_config, 0x91);
        // set gyro odr 500hz
        this.write(SH200Q.commands.gyro_config, 0x13);
        // set gyro dlpf 50hz
        this.write(SH200Q.commands.gyro_dlpf, 0x03);
        // set no buffer mode
        this.write(SH200Q.commands.fifo_config, 0x00);
        this.setConfig(8, 2000);
        this.write(SH200Q.commands.reg_set1, 0xc0);
        // ADC Reset
        await this.writeFlagWait(SH200Q.commands.reg_set2, 4);
        await this.obniz.wait(1);
        await this.clearFlagWait(SH200Q.commands.reg_set2, 4);
        await this.obniz.wait(10);
    }
    setConfig(accelerometer_range, gyroscope_range) {
        switch (accelerometer_range) {
            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 4,8,16 setting');
        }
        switch (gyroscope_range) {
            case 125:
                this.setGyroRange('125dps');
                break;
            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('gyroscope_range variable 125,250,500,1000,2000 setting');
        }
    }
    async resetAdcWait() {
        // set 0xC2 bit2 1-->0
        const tempdata = await this.readWait(SH200Q.commands.adc_reset, 1);
        tempdata[0] = tempdata[0] | 0x04; // tempdata[0] = 0x0E; //CC
        this.write(SH200Q.commands.adc_reset, tempdata);
        await this.obniz.wait(1);
        tempdata[0] = tempdata[0] & 0xfb; // tempdata[0] = 0x0A; //C8
        this.write(SH200Q.commands.adc_reset, tempdata);
    }
    setAccelRange(accel_range) {
        if (accel_range in SH200Q.commands.accel_fs_sel) {
            this.write(SH200Q.commands.acc_range, SH200Q.commands.accel_fs_sel[accel_range]);
            this.accel_so = accel_range;
        }
        else {
            throw new Error(`Invalid accel range. Valid values are: ${Object.keys(SH200Q.commands.accel_fs_sel).join()}`);
        }
    }
    setGyroRange(gyro_range) {
        if (gyro_range in SH200Q.commands.gyro_fs_sel) {
            this.write(SH200Q.commands.gyro_range, SH200Q.commands.gyro_fs_sel[gyro_range]);
            this.gyro_so = gyro_range;
        }
        else {
            throw new Error(`Invalid gyro range. Valid values are: ${Object.keys(SH200Q.commands.gyro_fs_sel).join()}`);
        }
    }
    calcTemp(data) {
        if (typeof data === 'undefined' || data === null) {
            return null;
        }
        return data / 333.87 + 21.0;
    }
    async getAccelAdcWait() {
        const raw = await this.readWait(SH200Q.commands.output_acc, 6);
        return SH200Q.charArrayToXyz(raw, 'l');
    }
    async getGyroAdcWait() {
        const raw = await this.readWait(SH200Q.commands.output_gyro, 6);
        return SH200Q.charArrayToXyz(raw, 'l');
    }
    async getTempAdcWait() {
        const raw = await this.readWait(SH200Q.commands.output_temp, 2);
        return SH200Q.charArrayToInt16(raw, 'l');
    }
    async getAllAdcWait() {
        const raw = await this.readWait(SH200Q.commands.output_acc, 14); // request all data
        return {
            accelerometer: SH200Q.charArrayToXyz(raw.slice(0, 6), 'l'),
            gyroscope: SH200Q.charArrayToXyz(raw.slice(6, 12), 'l'),
            temperature: SH200Q.charArrayToInt16(raw.slice(12, 14), 'l'),
        };
    }
}
exports.default = SH200Q;
SH200Q.commands = {
    whoami: 0x30,
    whoami_result: 0x18,
    acc_config: 0x0e,
    gyro_config: 0x0f,
    gyro_dlpf: 0x11,
    fifo_config: 0x12,
    acc_range: 0x16,
    gyro_range: 0x2b,
    output_acc: 0x00,
    output_gyro: 0x06,
    output_temp: 0x0c,
    reg_set1: 0xba,
    reg_set2: 0xca,
    adc_reset: 0xc2,
    soft_reset: 0x7f,
    reset: 0x75,
    accel_fs_sel: {
        '4g': 0b00,
        '8g': 0b01,
        '16g': 0b10,
    },
    gyro_fs_sel: {
        '125dps': 0b100,
        '250dps': 0b011,
        '500dps': 0b010,
        '1000dps': 0b001,
        '2000dps': 0b000,
    },
};