B-L475E-IOT01A-mousetest.py

import machine
import struct
import utime

I2C_2 = machine.I2C(2)

LSM6DSL_ADDR = 106

LSM6DSL_REG_CTRL1_XL = 0x10
LSM6DSL_REG_CTRL2_G = 0x11

LSM6DSL_REG_OUT_TEMP_H = 0x21
LSM6DSL_REG_OUT_TEMP_L = 0x20

LSM6DSL_REG_OUTX_L_G = 0x22
LSM6DSL_REG_OUTX_H_G = 0x23
LSM6DSL_REG_OUTY_L_G = 0x24
LSM6DSL_REG_OUTY_H_G = 0x25
LSM6DSL_REG_OUTZ_L_G = 0x26
LSM6DSL_REG_OUTZ_H_G = 0x27

LSM6DSL_REG_OUTX_L_XL = 0x28
LSM6DSL_REG_OUTX_H_XL = 0x29
LSM6DSL_REG_OUTY_L_XL = 0x2A
LSM6DSL_REG_OUTY_H_XL = 0x2B
LSM6DSL_REG_OUTZ_L_XL = 0x2C
LSM6DSL_REG_OUTZ_H_XL = 0x2D

HIGH_PERF_416HZ = b'\x60'
HIGH_PERF_6KHZ = b'\xA0'

XL_SCALE_2G = 0.061

XL_NEG_OFFSET = 3.997739

G_SCALE_245 = 0.00875043752188

G_NEG_OFFSET = 573.46867343388304


def init():
	I2C_2.writeto_mem(LSM6DSL_ADDR, LSM6DSL_REG_CTRL1_XL, HIGH_PERF_6KHZ)
	I2C_2.writeto_mem(LSM6DSL_ADDR, LSM6DSL_REG_CTRL2_G, HIGH_PERF_6KHZ)


def _read_hl_registers(addr, reg_h, reg_l):
	hb = I2C_2.readfrom_mem(LSM6DSL_ADDR, reg_h, 1)
	lb = I2C_2.readfrom_mem(LSM6DSL_ADDR, reg_l, 1)
	byte_value = struct.unpack('>H', hb+lb)[0]
	return byte_value, hb[0], lb[0]

def get_accel():
	x_byte_val, x_hb, x_lb = _read_hl_registers(LSM6DSL_ADDR, LSM6DSL_REG_OUTX_H_XL, LSM6DSL_REG_OUTX_L_XL)
	y_byte_val, y_hb, y_lb = _read_hl_registers(LSM6DSL_ADDR, LSM6DSL_REG_OUTY_H_XL, LSM6DSL_REG_OUTY_L_XL)
	z_byte_val, z_hb, z_lb = _read_hl_registers(LSM6DSL_ADDR, LSM6DSL_REG_OUTZ_H_XL, LSM6DSL_REG_OUTZ_L_XL)
	
	x_val = (x_byte_val * XL_SCALE_2G) / 1000.0 #from milligraviy to gravity (mg -> g)
	y_val = (y_byte_val * XL_SCALE_2G) / 1000.0
	z_val = (z_byte_val * XL_SCALE_2G) / 1000.0

	if x_hb & 0x80:
		x_val -= XL_NEG_OFFSET

	if y_hb & 0x80:
		y_val -= XL_NEG_OFFSET

	if z_hb & 0x80:
		z_val -= XL_NEG_OFFSET

	return x_val, y_val, z_val

init()

import pyb
hid = pyb.USB_HID()
sw = pyb.Switch()
def mousetest(n,d):
  for i in range(n):
    x,y,z = get_accel()
    btn = 1 if sw.value() else 0
    hid.send((btn, int(10 * x), int(10 * y), 0))
    pyb.delay(d)

mousetest(10000,10)