GrovePi i2c帮助-6轴加速度传感器/陀螺仪-LSM6DS3

Question

我一直在与grovepi +一起使用grove 6轴加速度计/陀螺仪。在下面的代码中，没有一个功能读取加速度计或陀螺仪，并且输出为“ None”。这对于该类中的所有函数都是相同的。

import sys
import time
import math
import smbus2 as smbus
import grovepi

#This  will setup the correct i2c according to the pi version
rev = GPIO.RPI_REVISION
if rev == 2 or rev == 3:
    bus = smbus.SMBus(1)
else:
    bus = smbus.SMBus(0)


class LSM6DS3:
#This is the physical address of the sensor
        address = 0x6a

#Sensor supply voltage(5v)
        ADC_ref = 5.0

#Voltage calibration at 0g
        zero_x = 1.569
        zero_y = 1.569
        zero_z = 1.569

#Standard Sensitivity: -300 mV/g
        sensitivity_x = 0.3
        sensitivity_y = 0.3
        sensitivity_z = 0.3

#Starting variables
        i2c = None
        tempvar = 0
        global accel_center_x
        accel_center_x = 0
        global accel_center_y
        accel_center_y = 0
        global accel_center_z
        accel_center_z = 0

#Sensor setup
        def __init__(self, address=0x6a):
                self.address = address
                self.i2c = bus
                self.write_reg(0x4A, 0x10)           #Writing to register 0x10, CTRL1_XL, 0x4a, or 01001010, setting
                                                     #the accel ODR to 104Hz, +- 4g, 100hz antialiasing

                self.write_reg(0x46, 0x11)           #Writing to register 0x11, CTRL2_G, 0x46, or 01000110, setting
                                                     #the gyro ODR to 104hz, 500dps, enabled   !!Check last bit!!

                self.write_reg(0x80, 0x13)           #Writing to register 0x13, CTRL4_C, 0x80, or 10000000, setting
                                                     #the bandwidth to be determined by CTRL1, previously set
 accel_center_x = self.read_reg(0x28)
                accel_center_y = self.read_reg(0x2A)
                accel_center_y = self.read_reg(0x2C)
                time.sleep(.005)

#               THIS SECTION IS CONVERTING RPi.GPIO TO
#               ADAFRUIT_GPIO.I2C, USING THE EXAMPLE

#This is to write to a register
        def write_reg(self, data, reg):
                bus.write_byte_data(self.address, reg, data)

#This is to read a register
        def read_reg(self, reg):
                bus.read_byte_data(self.address, reg)

#this is to read an unassigned 16-bit value from the register
        def readU16(self, reg, little_endian=True):
                result = self.bus.read_word_data(self.address, reg) & 0xFFFF
                if not little_endian:
                        result = ((result << 8) & 0xFF00) + (result >> 8)
                return result

#This is to read a signed 16-bit value from the register
        def readS16(self, reg, little_endian=True):
                result = self.readU16(reg, litte_endian)
                if result > 32767:
                        result -= 65536
                return result

#               END OF SECTION






        def readRawAccelX(self):
                output = self.read_reg(0x28)

        def readRawAccelY(self):
                output = self.read_reg(0x2A)

        def readRawAccelZ(self):
                output = self.read_reg(0x2C)

        def getXRotation(self):
                value_y = self.readRawAccelY()
                value_z = self.readRawAccelZ()

                yv=(value_y / 1024.0*ADC_ref - zero_y) / self.sensitivity_y
                zv=(value_z / 1024.0*ADC_ref - zero_z) / self.sensitivity_z

#Calculate the angle between vectors Y and Z. *57.2957795 is for conversion from radians to degrees.
#+180 is the offset.
                angle_x =math.atan2(-yv,-zv)*57.2957795+180
return angle_x;
        def readRawGyroX(self):
                output = self.read_reg(0x22)
                return output

gyro = LSM6DS3()
while True:
        print(gyro.readRawAccelX())

任何对grovepi +和芯片有帮助的东西都会受到赞赏。