ism330dl: Auto-trigger conversion when reading after power down.

Author: nedseb

lib/ism330dl/ism330dl/device.py

@@ -14,7 +14,9 @@ def __init__(self, i2c, address=ISM330DL_I2C_DEFAULT_ADDR):
         self._buffer_1 = bytearray(1)
 
         self._accel_scale = ACCEL_FS_2G
+        self._accel_odr = ACCEL_ODR_104HZ
         self._gyro_scale = GYRO_FS_250DPS
+        self._gyro_odr = GYRO_ODR_104HZ
 
         self._temp_gain = 1.0
         self._temp_offset = 0.0
@@ -101,6 +103,8 @@ def configure_accel(self, odr, scale):
         if scale not in ACCEL_FS_BITS:
             raise ISM330DLConfigError("Invalid accel scale")
         self._accel_scale = scale
+        if odr != ACCEL_ODR_POWER_DOWN:
+            self._accel_odr = odr
         value = (odr << 4) | (ACCEL_FS_BITS[scale] << 2)
         self._write_u8(REG_CTRL1_XL, value)
 
@@ -114,19 +118,41 @@ def configure_gyro(self, odr, scale):
                 raise ISM330DLConfigError("Invalid gyro scale")
             value = (odr << 4) | (GYRO_FS_BITS[scale] << 2)
         self._gyro_scale = scale
+        if odr != GYRO_ODR_POWER_DOWN:
+            self._gyro_odr = odr
         self._write_u8(REG_CTRL2_G, value)
 
+    # --------------------------------------------------
+    # Auto-trigger
+    # --------------------------------------------------
+
+    def _is_power_down(self):
+        """Return True if both accel and gyro ODR are 0 (power-down)."""
+        ctrl1 = self._read_u8(REG_CTRL1_XL)
+        ctrl2 = self._read_u8(REG_CTRL2_G)
+        return (ctrl1 & 0xF0) == 0 and (ctrl2 & 0xF0) == 0
+
+    def _ensure_data(self):
+        """Restore previous ODR and wait for data if in power-down mode."""
+        if self._is_power_down():
+            self.configure_accel(self._accel_odr, self._accel_scale)
+            self.configure_gyro(self._gyro_odr, self._gyro_scale)
+            sleep_ms(100)
+
     # --------------------------------------------------
     # Raw readings
     # --------------------------------------------------
 
     def acceleration_raw(self):
+        self._ensure_data()
         return self._read_vector(REG_OUTX_L_XL)
 
     def gyroscope_raw(self):
+        self._ensure_data()
         return self._read_vector(REG_OUTX_L_G)
 
     def temperature_raw(self):
+        self._ensure_data()
         return self._read_i16(REG_OUT_TEMP_L)
 
     # --------------------------------------------------

tests/scenarios/ism330dl.yaml

@@ -297,6 +297,46 @@ tests:
     expect_true: true
     mode: [mock]
 
+  # ----- Auto-trigger -----
+
+  - name: "Acceleration readable after power down"
+    action: script
+    script: |
+      dev.power_down()
+      ax, ay, az = dev.acceleration_g()
+      result = isinstance(ax, float) and isinstance(ay, float) and isinstance(az, float)
+    expect_true: true
+    mode: [mock]
+
+  - name: "Gyroscope readable after power down"
+    action: script
+    script: |
+      dev.power_down()
+      gx, gy, gz = dev.gyroscope_dps()
+      result = isinstance(gx, float) and isinstance(gy, float) and isinstance(gz, float)
+    expect_true: true
+    mode: [mock]
+
+  - name: "Temperature readable after power down"
+    action: script
+    script: |
+      dev.power_down()
+      t = dev.temperature_c()
+      result = isinstance(t, float)
+    expect_true: true
+    mode: [mock]
+
+  - name: "Auto-trigger restores ODR after power down"
+    action: script
+    script: |
+      dev.power_down()
+      dev.acceleration_raw()
+      ctrl1 = i2c.readfrom_mem(dev.address, 0x10, 1)[0]
+      ctrl2 = i2c.readfrom_mem(dev.address, 0x11, 1)[0]
+      result = (ctrl1 & 0xF0) != 0 and (ctrl2 & 0xF0) != 0
+    expect_true: true
+    mode: [mock]
+
   # ----- Hardware manual -----
 
   - name: "Sensor readings feel correct"