def __init__(self, address=0x77, mode=3):
self.i2c = PyComms(address)
self.address = address
# Make sure the specified mode is in the appropriate range
if ((mode < 0) | (mode > 3)):
self.mode = self.__BMP085_STANDARD
else:
self.mode = mode
# Read the calibration data
self.readCalibrationData()
def __init__(self, address=0x77, mode=3):
self.i2c = PyComms(address)
self.address = address
# Make sure the specified mode is in the appropriate range
if (mode < 0) | (mode > 3):
self.mode = self.__BMP085_STANDARD
else:
self.mode = mode
# Read the calibration data
self.readCalibrationData()
def __init__(self, address=HMC5883L_DEFAULT_ADDRESS):
self.i2c = PyComms(address)
self.address = address
class HMC5883L:
# Register map based on Jeff Rowberg <*****@*****.**> source code at
# https://github.com/jrowberg/i2cdevlib/
HMC5883L_ADDRESS = 0x1E # this device only has one address
HMC5883L_DEFAULT_ADDRESS = 0x1E
HMC5883L_RA_CONFIG_A = 0x00
HMC5883L_RA_CONFIG_B = 0x01
HMC5883L_RA_MODE = 0x02
HMC5883L_RA_DATAX_H = 0x03
HMC5883L_RA_DATAX_L = 0x04
HMC5883L_RA_DATAZ_H = 0x05
HMC5883L_RA_DATAZ_L = 0x06
HMC5883L_RA_DATAY_H = 0x07
HMC5883L_RA_DATAY_L = 0x08
HMC5883L_RA_STATUS = 0x09
HMC5883L_RA_ID_A = 0x0A
HMC5883L_RA_ID_B = 0x0B
HMC5883L_RA_ID_C = 0x0C
HMC5883L_CRA_AVERAGE_BIT = 6
HMC5883L_CRA_AVERAGE_LENGTH = 2
HMC5883L_CRA_RATE_BIT = 4
HMC5883L_CRA_RATE_LENGTH = 3
HMC5883L_CRA_BIAS_BIT = 1
HMC5883L_CRA_BIAS_LENGTH = 2
HMC5883L_AVERAGING_1 = 0x00
HMC5883L_AVERAGING_2 = 0x01
HMC5883L_AVERAGING_4 = 0x02
HMC5883L_AVERAGING_8 = 0x03
HMC5883L_RATE_0P75 = 0x00
HMC5883L_RATE_1P5 = 0x01
HMC5883L_RATE_3 = 0x02
HMC5883L_RATE_7P5 = 0x03
HMC5883L_RATE_15 = 0x04
HMC5883L_RATE_30 = 0x05
HMC5883L_RATE_75 = 0x06
HMC5883L_BIAS_NORMAL = 0x00
HMC5883L_BIAS_POSITIVE = 0x01
HMC5883L_BIAS_NEGATIVE = 0x02
HMC5883L_CRB_GAIN_BIT = 7
HMC5883L_CRB_GAIN_LENGTH = 3
HMC5883L_GAIN_1370 = 0x00
HMC5883L_GAIN_1090 = 0x01
HMC5883L_GAIN_820 = 0x02
HMC5883L_GAIN_660 = 0x03
HMC5883L_GAIN_440 = 0x04
HMC5883L_GAIN_390 = 0x05
HMC5883L_GAIN_330 = 0x06
HMC5883L_GAIN_220 = 0x07
HMC5883L_MODEREG_BIT = 1
HMC5883L_MODEREG_LENGTH = 2
HMC5883L_MODE_CONTINUOUS = 0x00
HMC5883L_MODE_SINGLE = 0x01
HMC5883L_MODE_IDLE = 0x02
HMC5883L_STATUS_LOCK_BIT = 1
HMC5883L_STATUS_READY_BIT = 0
mode = 0
def __init__(self, address=HMC5883L_DEFAULT_ADDRESS):
self.i2c = PyComms(address)
self.address = address
def initialize(self):
# write CONFIG_A register
self.i2c.write8(
self.HMC5883L_RA_CONFIG_A,
(self.HMC5883L_AVERAGING_8 <<
(self.HMC5883L_CRA_AVERAGE_BIT -
self.HMC5883L_CRA_AVERAGE_LENGTH + 1)) |
(self.HMC5883L_RATE_15 <<
(self.HMC5883L_CRA_RATE_BIT - self.HMC5883L_CRA_RATE_LENGTH + 1))
|
(self.HMC5883L_BIAS_NORMAL <<
(self.HMC5883L_CRA_BIAS_BIT - self.HMC5883L_CRA_BIAS_LENGTH + 1)))
# write CONFIG_B register
self.setGain(self.HMC5883L_GAIN_1090)
# write MODE register
self.setMode(self.HMC5883L_MODE_SINGLE)
def testConnection(self):
pass
def getSampleAveraging(self):
pass
def setSampleAveraging(self, value):
self.i2c.writeBits(self.HMC5883L_RA_CONFIG_A,
self.HMC5883L_CRA_AVERAGE_BIT,
self.HMC5883L_CRA_AVERAGE_LENGTH, value)
def getDataRate(self):
pass
def setDataRate(self, value):
self.i2c.writeBits(self.HMC5883L_RA_CONFIG_A,
self.HMC5883L_CRA_RATE_BIT,
self.HMC5883L_CRA_RATE_LENGTH, value)
def getMeasurementBias(self):
pass
def setMeasurementBias(self, value):
self.i2c.writeBits(self.HMC5883L_RA_CONFIG_A,
self.HMC5883L_CRA_BIAS_BIT,
self.HMC5883L_CRA_BIAS_LENGTH, value)
def getGain(self):
pass
def setGain(self, value):
self.i2c.write8(
self.HMC5883L_RA_CONFIG_B, value <<
(self.HMC5883L_CRB_GAIN_BIT - self.HMC5883L_CRB_GAIN_LENGTH + 1))
def getMode(self):
pass
def setMode(self, newMode):
# use this method to guarantee that bits 7-2 are set to zero, which is a
# requirement specified in the datasheet
self.i2c.write8(
self.HMC5883L_RA_MODE, self.mode <<
(self.HMC5883L_MODEREG_BIT - self.HMC5883L_MODEREG_LENGTH + 1))
self.mode = newMode # track to tell if we have to clear bit 7 after a read
def getHeading(self):
packet = self.i2c.readBytesListS(self.HMC5883L_RA_DATAX_H, 6)
if (self.mode == self.HMC5883L_MODE_SINGLE):
self.i2c.write8(
self.HMC5883L_RA_MODE, self.HMC5883L_MODE_SINGLE <<
(self.HMC5883L_MODEREG_BIT - self.HMC5883L_MODEREG_LENGTH + 1))
data = {
'x': ((packet[0] << 8) | packet[1]),
'y': ((packet[4] << 8) | packet[5]),
'z': ((packet[2] << 8) | packet[3])
}
return data
def getHeadingX(self):
# each axis read requires that ALL axis registers be read, even if only
# one is used; this was not done ineffiently in the code by accident
packet = self.i2c.readBytesListS(self.HMC5883L_RA_DATAX_H, 6)
if (self.mode == self.HMC5883L_MODE_SINGLE):
self.i2c.write8(
self.HMC5883L_RA_MODE, self.HMC5883L_MODE_SINGLE <<
(self.HMC5883L_MODEREG_BIT - self.HMC5883L_MODEREG_LENGTH + 1))
return ((packet[0] << 8) | packet[1])
def getHeadingY(self):
# each axis read requires that ALL axis registers be read, even if only
# one is used; this was not done ineffiently in the code by accident
packet = self.i2c.readBytesListS(self.HMC5883L_RA_DATAX_H, 6)
if (self.mode == self.HMC5883L_MODE_SINGLE):
self.i2c.write8(
self.HMC5883L_RA_MODE, self.HMC5883L_MODE_SINGLE <<
(self.HMC5883L_MODEREG_BIT - self.HMC5883L_MODEREG_LENGTH + 1))
return ((packet[4] << 8) | packet[5])
def getHeadingZ(self):
# each axis read requires that ALL axis registers be read, even if only
# one is used; this was not done ineffiently in the code by accident
packet = self.i2c.readBytesListS(self.HMC5883L_RA_DATAX_H, 6)
if (self.mode == self.HMC5883L_MODE_SINGLE):
self.i2c.write8(
self.HMC5883L_RA_MODE, self.HMC5883L_MODE_SINGLE <<
(self.HMC5883L_MODEREG_BIT - self.HMC5883L_MODEREG_LENGTH + 1))
return ((packet[2] << 8) | packet[3])
def getLockStatus(self):
result = self.i2c.readBit(self.HMC5883L_RA_STATUS,
self.HMC5883L_STATUS_LOCK_BIT)
return result
def getReadyStatus(self):
result = self.i2c.readBit(self.HMC5883L_RA_STATUS,
self.HMC5883L_STATUS_READY_BIT)
return result
def getIDA(self):
result = self.i2c.readByte(self.HMC5883L_RA_ID_A)
return result
def getIDB(self):
result = self.i2c.readByte(self.HMC5883L_RA_ID_B)
return result
def getIDC(self):
result = self.i2c.readByte(self.HMC5883L_RA_ID_C)
return result
def __init__(self, address = HMC5883L_DEFAULT_ADDRESS):
self.i2c = PyComms(address)
self.address = address
class HMC5883L:
# Register map based on Jeff Rowberg <*****@*****.**> source code at
# https://github.com/jrowberg/i2cdevlib/
HMC5883L_ADDRESS = 0x1E # this device only has one address
HMC5883L_DEFAULT_ADDRESS = 0x1E
HMC5883L_RA_CONFIG_A = 0x00
HMC5883L_RA_CONFIG_B = 0x01
HMC5883L_RA_MODE = 0x02
HMC5883L_RA_DATAX_H = 0x03
HMC5883L_RA_DATAX_L = 0x04
HMC5883L_RA_DATAZ_H = 0x05
HMC5883L_RA_DATAZ_L = 0x06
HMC5883L_RA_DATAY_H = 0x07
HMC5883L_RA_DATAY_L = 0x08
HMC5883L_RA_STATUS = 0x09
HMC5883L_RA_ID_A = 0x0A
HMC5883L_RA_ID_B = 0x0B
HMC5883L_RA_ID_C = 0x0C
HMC5883L_CRA_AVERAGE_BIT = 6
HMC5883L_CRA_AVERAGE_LENGTH = 2
HMC5883L_CRA_RATE_BIT = 4
HMC5883L_CRA_RATE_LENGTH = 3
HMC5883L_CRA_BIAS_BIT = 1
HMC5883L_CRA_BIAS_LENGTH = 2
HMC5883L_AVERAGING_1 = 0x00
HMC5883L_AVERAGING_2 = 0x01
HMC5883L_AVERAGING_4 = 0x02
HMC5883L_AVERAGING_8 = 0x03
HMC5883L_RATE_0P75 = 0x00
HMC5883L_RATE_1P5 = 0x01
HMC5883L_RATE_3 = 0x02
HMC5883L_RATE_7P5 = 0x03
HMC5883L_RATE_15 = 0x04
HMC5883L_RATE_30 = 0x05
HMC5883L_RATE_75 = 0x06
HMC5883L_BIAS_NORMAL = 0x00
HMC5883L_BIAS_POSITIVE = 0x01
HMC5883L_BIAS_NEGATIVE = 0x02
HMC5883L_CRB_GAIN_BIT = 7
HMC5883L_CRB_GAIN_LENGTH = 3
HMC5883L_GAIN_1370 = 0x00
HMC5883L_GAIN_1090 = 0x01
HMC5883L_GAIN_820 = 0x02
HMC5883L_GAIN_660 = 0x03
HMC5883L_GAIN_440 = 0x04
HMC5883L_GAIN_390 = 0x05
HMC5883L_GAIN_330 = 0x06
HMC5883L_GAIN_220 = 0x07
HMC5883L_MODEREG_BIT = 1
HMC5883L_MODEREG_LENGTH = 2
HMC5883L_MODE_CONTINUOUS = 0x00
HMC5883L_MODE_SINGLE = 0x01
HMC5883L_MODE_IDLE = 0x02
HMC5883L_STATUS_LOCK_BIT = 1
HMC5883L_STATUS_READY_BIT = 0
mode = 0
def __init__(self, address = HMC5883L_DEFAULT_ADDRESS):
self.i2c = PyComms(address)
self.address = address
def initialize(self):
# write CONFIG_A register
self.i2c.write8(self.HMC5883L_RA_CONFIG_A,
(self.HMC5883L_AVERAGING_8 << (self.HMC5883L_CRA_AVERAGE_BIT - self.HMC5883L_CRA_AVERAGE_LENGTH + 1)) |
(self.HMC5883L_RATE_15 << (self.HMC5883L_CRA_RATE_BIT - self.HMC5883L_CRA_RATE_LENGTH + 1)) |
(self.HMC5883L_BIAS_NORMAL << (self.HMC5883L_CRA_BIAS_BIT - self.HMC5883L_CRA_BIAS_LENGTH + 1)))
# write CONFIG_B register
self.setGain(self.HMC5883L_GAIN_1090);
# write MODE register
self.setMode(self.HMC5883L_MODE_SINGLE);
def testConnection(self):
pass
def getSampleAveraging(self):
pass
def setSampleAveraging(self, value):
self.i2c.writeBits(self.HMC5883L_RA_CONFIG_A, self.HMC5883L_CRA_AVERAGE_BIT, self.HMC5883L_CRA_AVERAGE_LENGTH, value)
def getDataRate(self):
pass
def setDataRate(self, value):
self.i2c.writeBits(self.HMC5883L_RA_CONFIG_A, self.HMC5883L_CRA_RATE_BIT, self.HMC5883L_CRA_RATE_LENGTH, value)
def getMeasurementBias(self):
pass
def setMeasurementBias(self, value):
self.i2c.writeBits(self.HMC5883L_RA_CONFIG_A, self.HMC5883L_CRA_BIAS_BIT, self.HMC5883L_CRA_BIAS_LENGTH, value);
def getGain(self):
pass
def setGain(self, value):
self.i2c.write8(self.HMC5883L_RA_CONFIG_B, value << (self.HMC5883L_CRB_GAIN_BIT - self.HMC5883L_CRB_GAIN_LENGTH + 1))
def getMode(self):
pass
def setMode(self, newMode):
# use this method to guarantee that bits 7-2 are set to zero, which is a
# requirement specified in the datasheet
self.i2c.write8(self.HMC5883L_RA_MODE, self.mode << (self.HMC5883L_MODEREG_BIT - self.HMC5883L_MODEREG_LENGTH + 1))
self.mode = newMode # track to tell if we have to clear bit 7 after a read
def getHeading(self):
packet = self.i2c.readBytesListS(self.HMC5883L_RA_DATAX_H, 6)
if (self.mode == self.HMC5883L_MODE_SINGLE):
self.i2c.write8(self.HMC5883L_RA_MODE, self.HMC5883L_MODE_SINGLE << (self.HMC5883L_MODEREG_BIT - self.HMC5883L_MODEREG_LENGTH + 1))
data = {
'x' : ((packet[0] << 8) | packet[1]),
'y' : ((packet[4] << 8) | packet[5]),
'z' : ((packet[2] << 8) | packet[3])}
return data
def getHeadingX(self):
# each axis read requires that ALL axis registers be read, even if only
# one is used; this was not done ineffiently in the code by accident
packet = self.i2c.readBytesListS(self.HMC5883L_RA_DATAX_H, 6)
if (self.mode == self.HMC5883L_MODE_SINGLE):
self.i2c.write8(self.HMC5883L_RA_MODE, self.HMC5883L_MODE_SINGLE << (self.HMC5883L_MODEREG_BIT - self.HMC5883L_MODEREG_LENGTH + 1))
return ((packet[0] << 8) | packet[1])
def getHeadingY(self):
# each axis read requires that ALL axis registers be read, even if only
# one is used; this was not done ineffiently in the code by accident
packet = self.i2c.readBytesListS(self.HMC5883L_RA_DATAX_H, 6)
if (self.mode == self.HMC5883L_MODE_SINGLE):
self.i2c.write8(self.HMC5883L_RA_MODE, self.HMC5883L_MODE_SINGLE << (self.HMC5883L_MODEREG_BIT - self.HMC5883L_MODEREG_LENGTH + 1))
return ((packet[4] << 8) | packet[5])
def getHeadingZ(self):
# each axis read requires that ALL axis registers be read, even if only
# one is used; this was not done ineffiently in the code by accident
packet = self.i2c.readBytesListS(self.HMC5883L_RA_DATAX_H, 6)
if (self.mode == self.HMC5883L_MODE_SINGLE):
self.i2c.write8(self.HMC5883L_RA_MODE, self.HMC5883L_MODE_SINGLE << (self.HMC5883L_MODEREG_BIT - self.HMC5883L_MODEREG_LENGTH + 1))
return ((packet[2] << 8) | packet[3])
def getLockStatus(self):
result = self.i2c.readBit(self.HMC5883L_RA_STATUS, self.HMC5883L_STATUS_LOCK_BIT)
return result
def getReadyStatus(self):
result = self.i2c.readBit(self.HMC5883L_RA_STATUS, self.HMC5883L_STATUS_READY_BIT)
return result
def getIDA(self):
result = self.i2c.readByte(self.HMC5883L_RA_ID_A)
return result
def getIDB(self):
result = self.i2c.readByte(self.HMC5883L_RA_ID_B)
return result
def getIDC(self):
result = self.i2c.readByte(self.HMC5883L_RA_ID_C)
return result
class BMP085:
i2c = None
# Operating Modes
__BMP085_ULTRALOWPOWER = 0
__BMP085_STANDARD = 1
__BMP085_HIGHRES = 2
__BMP085_ULTRAHIGHRES = 3
# BMP085 Registers
__BMP085_CAL_AC1 = 0xAA # R Calibration data (16 bits)
__BMP085_CAL_AC2 = 0xAC # R Calibration data (16 bits)
__BMP085_CAL_AC3 = 0xAE # R Calibration data (16 bits)
__BMP085_CAL_AC4 = 0xB0 # R Calibration data (16 bits)
__BMP085_CAL_AC5 = 0xB2 # R Calibration data (16 bits)
__BMP085_CAL_AC6 = 0xB4 # R Calibration data (16 bits)
__BMP085_CAL_B1 = 0xB6 # R Calibration data (16 bits)
__BMP085_CAL_B2 = 0xB8 # R Calibration data (16 bits)
__BMP085_CAL_MB = 0xBA # R Calibration data (16 bits)
__BMP085_CAL_MC = 0xBC # R Calibration data (16 bits)
__BMP085_CAL_MD = 0xBE # R Calibration data (16 bits)
__BMP085_CONTROL = 0xF4
__BMP085_TEMPDATA = 0xF6
__BMP085_PRESSUREDATA = 0xF6
__BMP085_READTEMPCMD = 0x2E
__BMP085_READPRESSURECMD = 0x34
# Private Fields
_cal_AC1 = 0
_cal_AC2 = 0
_cal_AC3 = 0
_cal_AC4 = 0
_cal_AC5 = 0
_cal_AC6 = 0
_cal_B1 = 0
_cal_B2 = 0
_cal_MB = 0
_cal_MC = 0
_cal_MD = 0
def __init__(self, address=0x77, mode=3):
self.i2c = PyComms(address)
self.address = address
# Make sure the specified mode is in the appropriate range
if (mode < 0) | (mode > 3):
self.mode = self.__BMP085_STANDARD
else:
self.mode = mode
# Read the calibration data
self.readCalibrationData()
def readCalibrationData(self):
# Reads the calibration data from the IC
self._cal_AC1 = self.i2c.readS16(self.__BMP085_CAL_AC1) # INT16
self._cal_AC2 = self.i2c.readS16(self.__BMP085_CAL_AC2) # INT16
self._cal_AC3 = self.i2c.readS16(self.__BMP085_CAL_AC3) # INT16
self._cal_AC4 = self.i2c.readU16(self.__BMP085_CAL_AC4) # UINT16
self._cal_AC5 = self.i2c.readU16(self.__BMP085_CAL_AC5) # UINT16
self._cal_AC6 = self.i2c.readU16(self.__BMP085_CAL_AC6) # UINT16
self._cal_B1 = self.i2c.readS16(self.__BMP085_CAL_B1) # INT16
self._cal_B2 = self.i2c.readS16(self.__BMP085_CAL_B2) # INT16
self._cal_MB = self.i2c.readS16(self.__BMP085_CAL_MB) # INT16
self._cal_MC = self.i2c.readS16(self.__BMP085_CAL_MC) # INT16
self._cal_MD = self.i2c.readS16(self.__BMP085_CAL_MD) # INT16
def readRawTemp(self):
# Reads the raw (uncompensated) temperature from the sensor
self.i2c.write8(self.__BMP085_CONTROL, self.__BMP085_READTEMPCMD)
time.sleep(0.005) # Wait 5ms
raw = self.i2c.readU16(self.__BMP085_TEMPDATA)
return raw
def readRawPressure(self):
# Reads the raw (uncompensated) pressure level from the sensor
self.i2c.write8(self.__BMP085_CONTROL, self.__BMP085_READPRESSURECMD + (self.mode << 6))
if self.mode == self.__BMP085_ULTRALOWPOWER:
time.sleep(0.005)
elif self.mode == self.__BMP085_HIGHRES:
time.sleep(0.014)
elif self.mode == self.__BMP085_ULTRAHIGHRES:
time.sleep(0.026)
else:
time.sleep(0.008)
msb = self.i2c.readU8(self.__BMP085_PRESSUREDATA)
lsb = self.i2c.readU8(self.__BMP085_PRESSUREDATA + 1)
xlsb = self.i2c.readU8(self.__BMP085_PRESSUREDATA + 2)
raw = ((msb << 16) + (lsb << 8) + xlsb) >> (8 - self.mode)
return raw
def readTemperature(self):
# Gets the compensated temperature in degrees celcius
UT = 0
X1 = 0
X2 = 0
B5 = 0
temp = 0.0
# Read raw temp before aligning it with the calibration values
UT = self.readRawTemp()
X1 = ((UT - self._cal_AC6) * self._cal_AC5) >> 15
X2 = (self._cal_MC << 11) / (X1 + self._cal_MD)
B5 = X1 + X2
temp = ((B5 + 8) >> 4) / 10.0
return temp
def readPressure(self):
# Gets the compensated pressure in pascal
UT = 0
UP = 0
B3 = 0
B5 = 0
B6 = 0
X1 = 0
X2 = 0
X3 = 0
p = 0
B4 = 0
B7 = 0
UT = self.readRawTemp()
UP = self.readRawPressure()
# True Temperature Calculations
X1 = ((UT - self._cal_AC6) * self._cal_AC5) >> 15
X2 = (self._cal_MC << 11) / (X1 + self._cal_MD)
B5 = X1 + X2
# Pressure Calculations
B6 = B5 - 4000
X1 = (self._cal_B2 * (B6 * B6) >> 12) >> 11
X2 = (self._cal_AC2 * B6) >> 11
X3 = X1 + X2
B3 = (((self._cal_AC1 * 4 + X3) << self.mode) + 2) / 4
X1 = (self._cal_AC3 * B6) >> 13
X2 = (self._cal_B1 * ((B6 * B6) >> 12)) >> 16
X3 = ((X1 + X2) + 2) >> 2
B4 = (self._cal_AC4 * (X3 + 32768)) >> 15
B7 = (UP - B3) * (50000 >> self.mode)
if B7 < 0x80000000:
p = (B7 * 2) / B4
else:
p = (B7 / B4) * 2
X1 = (p >> 8) * (p >> 8)
X1 = (X1 * 3038) >> 16
X2 = (-7375 * p) >> 16
p = p + ((X1 + X2 + 3791) >> 4)
return p
def readAltitude(self, seaLevelPressure=101325):
# Calculates the altitude in meters
altitude = 0.0
pressure = float(self.readPressure())
altitude = 44330.0 * (1.0 - pow(pressure / seaLevelPressure, 0.1903))
return altitude
return 0
def __init__(self, address=0x40):
self.i2c = PyComms(address)
self.address = address
self.i2c.write8(self.__MODE1, 0x00)
class PCA9685():
i2c = None
# Registers/etc.
__SUBADR1 = 0x02
__SUBADR2 = 0x03
__SUBADR3 = 0x04
__MODE1 = 0x00
__PRESCALE = 0xFE
__LED0_ON_L = 0x06
__LED0_ON_H = 0x07
__LED0_OFF_L = 0x08
__LED0_OFF_H = 0x09
__ALLLED_ON_L = 0xFA
__ALLLED_ON_H = 0xFB
__ALLLED_OFF_L = 0xFC
__ALLLED_OFF_H = 0xFD
def __init__(self, address=0x40):
self.i2c = PyComms(address)
self.address = address
self.i2c.write8(self.__MODE1, 0x00)
def setPWMFreq(self, freq):
# Sets the PWM frequency"
prescaleval = 25000000.0 # 25MHz
prescaleval /= 4096.0 # 12-bit
prescaleval /= float(freq)
prescaleval -= 1.0
prescale = math.floor(prescaleval + 0.5)
oldmode = self.i2c.readU8(self.__MODE1);
newmode = (oldmode & 0x7F) | 0x10 # sleep
self.i2c.write8(self.__MODE1, newmode) # go to sleep
self.i2c.write8(self.__PRESCALE, int(math.floor(prescale)))
self.i2c.write8(self.__MODE1, oldmode)
time.sleep(0.005)
self.i2c.write8(self.__MODE1, oldmode | 0x80)
def setPWM(self, channel, on, off):
# Sets a single PWM channel
self.i2c.write8(self.__LED0_ON_L + 4 * channel, on & 0xFF)
self.i2c.write8(self.__LED0_ON_H + 4 * channel, on >> 8)
self.i2c.write8(self.__LED0_OFF_L + 4 * channel, off & 0xFF)
self.i2c.write8(self.__LED0_OFF_H + 4 * channel, off >> 8)
def __init__(self, address=0x40):
self.i2c = PyComms(address)
self.address = address
self.i2c.write8(self.__MODE1, 0x00)
class PCA9685():
i2c = None
# Registers/etc.
__SUBADR1 = 0x02
__SUBADR2 = 0x03
__SUBADR3 = 0x04
__MODE1 = 0x00
__PRESCALE = 0xFE
__LED0_ON_L = 0x06
__LED0_ON_H = 0x07
__LED0_OFF_L = 0x08
__LED0_OFF_H = 0x09
__ALLLED_ON_L = 0xFA
__ALLLED_ON_H = 0xFB
__ALLLED_OFF_L = 0xFC
__ALLLED_OFF_H = 0xFD
def __init__(self, address=0x40):
self.i2c = PyComms(address)
self.address = address
self.i2c.write8(self.__MODE1, 0x00)
def setPWMFreq(self, freq):
# Sets the PWM frequency"
prescaleval = 25000000.0 # 25MHz
prescaleval /= 4096.0 # 12-bit
prescaleval /= float(freq)
prescaleval -= 1.0
prescale = math.floor(prescaleval + 0.5)
oldmode = self.i2c.readU8(self.__MODE1)
newmode = (oldmode & 0x7F) | 0x10 # sleep
self.i2c.write8(self.__MODE1, newmode) # go to sleep
self.i2c.write8(self.__PRESCALE, int(math.floor(prescale)))
self.i2c.write8(self.__MODE1, oldmode)
time.sleep(0.005)
self.i2c.write8(self.__MODE1, oldmode | 0x80)
def setPWM(self, channel, on, off):
# Sets a single PWM channel
self.i2c.write8(self.__LED0_ON_L + 4 * channel, on & 0xFF)
self.i2c.write8(self.__LED0_ON_H + 4 * channel, on >> 8)
self.i2c.write8(self.__LED0_OFF_L + 4 * channel, off & 0xFF)
self.i2c.write8(self.__LED0_OFF_H + 4 * channel, off >> 8)
def __init__(self, address = HMC5883L_DEFAULT_ADDRESS, channel=1):
self.i2c = PyComms(address, channel)
self.address = address
class BMP085:
i2c = None
# Operating Modes
__BMP085_ULTRALOWPOWER = 0
__BMP085_STANDARD = 1
__BMP085_HIGHRES = 2
__BMP085_ULTRAHIGHRES = 3
# BMP085 Registers
__BMP085_CAL_AC1 = 0xAA # R Calibration data (16 bits)
__BMP085_CAL_AC2 = 0xAC # R Calibration data (16 bits)
__BMP085_CAL_AC3 = 0xAE # R Calibration data (16 bits)
__BMP085_CAL_AC4 = 0xB0 # R Calibration data (16 bits)
__BMP085_CAL_AC5 = 0xB2 # R Calibration data (16 bits)
__BMP085_CAL_AC6 = 0xB4 # R Calibration data (16 bits)
__BMP085_CAL_B1 = 0xB6 # R Calibration data (16 bits)
__BMP085_CAL_B2 = 0xB8 # R Calibration data (16 bits)
__BMP085_CAL_MB = 0xBA # R Calibration data (16 bits)
__BMP085_CAL_MC = 0xBC # R Calibration data (16 bits)
__BMP085_CAL_MD = 0xBE # R Calibration data (16 bits)
__BMP085_CONTROL = 0xF4
__BMP085_TEMPDATA = 0xF6
__BMP085_PRESSUREDATA = 0xF6
__BMP085_READTEMPCMD = 0x2E
__BMP085_READPRESSURECMD = 0x34
# Private Fields
_cal_AC1 = 0
_cal_AC2 = 0
_cal_AC3 = 0
_cal_AC4 = 0
_cal_AC5 = 0
_cal_AC6 = 0
_cal_B1 = 0
_cal_B2 = 0
_cal_MB = 0
_cal_MC = 0
_cal_MD = 0
def __init__(self, address=0x77, mode=3):
self.i2c = PyComms(address)
self.address = address
# Make sure the specified mode is in the appropriate range
if ((mode < 0) | (mode > 3)):
self.mode = self.__BMP085_STANDARD
else:
self.mode = mode
# Read the calibration data
self.readCalibrationData()
def readCalibrationData(self):
# Reads the calibration data from the IC
self._cal_AC1 = self.i2c.readS16(self.__BMP085_CAL_AC1) # INT16
self._cal_AC2 = self.i2c.readS16(self.__BMP085_CAL_AC2) # INT16
self._cal_AC3 = self.i2c.readS16(self.__BMP085_CAL_AC3) # INT16
self._cal_AC4 = self.i2c.readU16(self.__BMP085_CAL_AC4) # UINT16
self._cal_AC5 = self.i2c.readU16(self.__BMP085_CAL_AC5) # UINT16
self._cal_AC6 = self.i2c.readU16(self.__BMP085_CAL_AC6) # UINT16
self._cal_B1 = self.i2c.readS16(self.__BMP085_CAL_B1) # INT16
self._cal_B2 = self.i2c.readS16(self.__BMP085_CAL_B2) # INT16
self._cal_MB = self.i2c.readS16(self.__BMP085_CAL_MB) # INT16
self._cal_MC = self.i2c.readS16(self.__BMP085_CAL_MC) # INT16
self._cal_MD = self.i2c.readS16(self.__BMP085_CAL_MD) # INT16
def readRawTemp(self):
# Reads the raw (uncompensated) temperature from the sensor
self.i2c.write8(self.__BMP085_CONTROL, self.__BMP085_READTEMPCMD)
time.sleep(0.005) # Wait 5ms
raw = self.i2c.readU16(self.__BMP085_TEMPDATA)
return raw
def readRawPressure(self):
# Reads the raw (uncompensated) pressure level from the sensor
self.i2c.write8(self.__BMP085_CONTROL,
self.__BMP085_READPRESSURECMD + (self.mode << 6))
if (self.mode == self.__BMP085_ULTRALOWPOWER):
time.sleep(0.005)
elif (self.mode == self.__BMP085_HIGHRES):
time.sleep(0.014)
elif (self.mode == self.__BMP085_ULTRAHIGHRES):
time.sleep(0.026)
else:
time.sleep(0.008)
msb = self.i2c.readU8(self.__BMP085_PRESSUREDATA)
lsb = self.i2c.readU8(self.__BMP085_PRESSUREDATA + 1)
xlsb = self.i2c.readU8(self.__BMP085_PRESSUREDATA + 2)
raw = ((msb << 16) + (lsb << 8) + xlsb) >> (8 - self.mode)
return raw
def readTemperature(self):
# Gets the compensated temperature in degrees celcius
UT = 0
X1 = 0
X2 = 0
B5 = 0
temp = 0.0
# Read raw temp before aligning it with the calibration values
UT = self.readRawTemp()
X1 = ((UT - self._cal_AC6) * self._cal_AC5) >> 15
X2 = (self._cal_MC << 11) / (X1 + self._cal_MD)
B5 = X1 + X2
temp = ((B5 + 8) >> 4) / 10.0
return temp
def readPressure(self):
# Gets the compensated pressure in pascal
UT = 0
UP = 0
B3 = 0
B5 = 0
B6 = 0
X1 = 0
X2 = 0
X3 = 0
p = 0
B4 = 0
B7 = 0
UT = self.readRawTemp()
UP = self.readRawPressure()
# True Temperature Calculations
X1 = ((UT - self._cal_AC6) * self._cal_AC5) >> 15
X2 = (self._cal_MC << 11) / (X1 + self._cal_MD)
B5 = X1 + X2
# Pressure Calculations
B6 = B5 - 4000
X1 = (self._cal_B2 * (B6 * B6) >> 12) >> 11
X2 = (self._cal_AC2 * B6) >> 11
X3 = X1 + X2
B3 = (((self._cal_AC1 * 4 + X3) << self.mode) + 2) / 4
X1 = (self._cal_AC3 * B6) >> 13
X2 = (self._cal_B1 * ((B6 * B6) >> 12)) >> 16
X3 = ((X1 + X2) + 2) >> 2
B4 = (self._cal_AC4 * (X3 + 32768)) >> 15
B7 = (UP - B3) * (50000 >> self.mode)
if (B7 < 0x80000000):
p = (B7 * 2) / B4
else:
p = (B7 / B4) * 2
X1 = (p >> 8) * (p >> 8)
X1 = (X1 * 3038) >> 16
X2 = (-7375 * p) >> 16
p = p + ((X1 + X2 + 3791) >> 4)
return p
def readAltitude(self, seaLevelPressure=101325):
# Calculates the altitude in meters
altitude = 0.0
pressure = float(self.readPressure())
altitude = 44330.0 * (1.0 - pow(pressure / seaLevelPressure, 0.1903))
return altitude
return 0
def __init__(self, address=HMC5883L_DEFAULT_ADDRESS, channel=1):
self.i2c = PyComms(address, channel)
self.address = address
