lib: add gyrometer library and README

lib/sensor/click_boards/gyro3/README.md

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+I3G4250D Library
+===============
+
+MicroPython library for I2C interface to Texas Instruments I3G4250D gyrometer
+and temperature sensor.
+
+Supported platforms
+-------------------
+
+* Digi XBee3 Zigbee 3 - minimum firmware version: 1006
+* Digi XBee3 802.15.4 - minimum firmware version: 2003
+* Digi XBee3 DigiMesh 2.4 - minimum firmware version: 3002
+* Digi XBee3 Cellular LTE-M/NB-IoT - minimum firmware version: 11410
+* Digi XBee3 Cellular LTE Cat 1 - minimum firmware version: x10
+* Digi XBee Cellular 3G - minimum firmware version: 1130B
+* Digi XBee Cellular LTE Cat 1 - minimum firmware version: 100B

lib/sensor/click_boards/gyro3/gyro3.py

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+from machine import I2C
+import sys
+import time
+
+# CONSTANTS
+I3G4250D_ADDR = 0X68
+
+# REGISTER ADDRESSES
+
+REG_WHO_AM_I = 0x0F
+CTRL_REG_1 = 0x20
+CTRL_REG_2 = 0x21
+CTRL_REG_3 = 0x22
+CTRL_REG_4 = 0x23
+CTRL_REG_5 = 0x24
+REG_TEMP = 0x26
+STATUS = 0X27
+FIFO_CTRL_REG = 0x2E
+
+OUT_X_LSB = 0x28  # X low - Output register
+OUT_X_MSB = 0x29  # X high - Output register
+OUT_Y_LSB = 0x2A  # Y low - Output register
+OUT_Y_MSB = 0x2B  # Y high - Output register
+OUT_Z_LSB = 0x2C  # Z low - Output register
+OUT_Z_MSB = 0x2D  # Z high - Output register
+
+
+# Measurement range set by user (by default measurement range is 2000 dps)
+def gyro_meas_range(meas_range=2000):
+    if meas_range == 245:
+        scale_const = 8.75
+    elif meas_range == 500:
+        scale_const = 17.5
+    else:
+        scale_const = 70.0
+
+    return scale_const
+
+
+# Transform to degrees per second based on measurement range setting
+def transform_meas(data1, data2, meas_range):
+    data = to_signed_2b(data2 << 8 | data1)
+
+    scale_const = gyro_meas_range(meas_range)
+    return data * scale_const / 1000.0
+
+
+# Transforms a 2-bytes value into signed
+def to_signed_2b(n):
+    n = n & 0xFFFF
+    return n | (-(n & 0x8000))
+
+
+# Transforms a 1-byte value into signed
+def to_signed_1b(n):
+    n = n & 0xFF
+    return n | (-(n & 0x80))
+
+
+class I3G4250D:
+    # We initialize the process
+    def __init__(self, i2c, I3G4250D_ADDR):
+        devices = i2c.scan()  # Scans several devices and makes a list of the ones who respond
+        print(devices)
+
+        # In case the slave address is not contained in the list, shows the error message
+        if I3G4250D_ADDR not in devices:
+            print("Couldn't find the sensor")
+            sys.exit(1)
+
+        # Assign the variables to self
+        self.i2c = i2c
+        self.address = I3G4250D_ADDR
+
+    # ---------------------------------------------------------- #
+    #                      Helping methods                       #
+    # ---------------------------------------------------------- #
+
+    def read_from_reg(self, register, n_bytes):
+        time.sleep_ms(100)
+        self.i2c.writeto(self.address, bytearray([register]))
+        time.sleep_ms(100)
+        data = self.i2c.readfrom(self.address, n_bytes)
+        return data
+
+    def data_update(self, register, n_hex):
+        time.sleep_ms(100)
+        data = bytearray(2)
+        data[0] = register
+        data[1] = n_hex
+        self.i2c.writeto(self.address, data)
+        time.sleep_ms(100)
+
+    # -----------------------------------------------------------#
+
+    def who_am_i(self):
+        """
+        Checks if the identity of the sensor is correct
+
+        :return: boolean
+        """
+        data = self.read_from_reg(REG_WHO_AM_I, 1)
+        data = int.from_bytes(data, "big")
+        print(data)
+        if data == 0xD3:
+            return True
+        else:
+            return False
+
+    def gyro_setting(self):
+        """
+        Sets the basic configuration in the control registers
+        """
+        # Enables all the axis and sets a frequency of 200 Hz with a cutoff of 12.5
+        self.data_update(CTRL_REG_1, 0x4F)
+        time.sleep_ms(100)
+
+        # Filter mode and filter cutoff freq configuration
+        self.data_update(CTRL_REG_2, 0x39)
+        time.sleep_ms(100)
+
+        # Interrupt configuration
+        self.data_update(CTRL_REG_3, 0xA8)
+        time.sleep_ms(100)
+
+        # Scale selection
+        self.data_update(CTRL_REG_4, 0x30)
+        time.sleep_ms(100)
+
+        # High pass filter enable and out selection config
+        self.data_update(CTRL_REG_5, 0x1F)
+        time.sleep_ms(100)
+
+        # Set bypass mode
+        self.data_update(FIFO_CTRL_REG, 0x00)
+        time.sleep_ms(100)
+
+    def read_x(self, meas_range):
+        """
+        Reads the x axis and applies a sensitivity factor
+
+        :param meas_range: measurement range (user selectable) -245-500-2000-
+        """
+        data1 = self.read_from_reg(OUT_X_LSB, 1)[0]
+        data2 = self.read_from_reg(OUT_X_MSB, 1)[0]
+
+        return transform_meas(data1, data2, meas_range)
+
+    def read_y(self, meas_range):
+        """
+        Reads the y axis and applies a sensitivity factor
+
+        :param meas_range: measurement range (user selectable) -245-500-2000-
+        """
+        data1 = self.read_from_reg(OUT_Y_LSB, 1)[0]
+        data2 = self.read_from_reg(OUT_Y_MSB, 1)[0]
+
+        return transform_meas(data1, data2, meas_range)
+
+    def read_z(self, meas_range):
+        """
+        Reads the z axis and applies a sensitivity factor
+
+        :param meas_range: measurement range (user selectable) -245-500-2000-
+        """
+        data1 = self.read_from_reg(OUT_Z_LSB, 1)[0]
+        data2 = self.read_from_reg(OUT_Z_MSB, 1)[0]
+
+        return transform_meas(data1, data2, meas_range)
+
+    def read_temp(self):
+        """
+        Reads the temperature
+        """
+        data = self.read_from_reg(REG_TEMP, 1)
+        data = to_signed_1b(int.from_bytes(data, "big"))
+
+        return data
+
+    def gyro_status(self):
+        """
+        Checks the status of the axis (which are enabled and receiving data)
+
+        Recommended: If 255 then is **everything enabled**
+        """
+        data = self.read_from_reg(STATUS, 1)
+        data = int.from_bytes(data, "big")
+
+        return data