def get_accel_mag():
theDict = {}
i2c = busio.I2C(board.SCL, board.SDA)
theDict["magnetic"] = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c).magnetic
theDict["acceleration"] = adafruit_lsm303_accel.LSM303_Accel(
i2c).acceleration
return theDict
def open(self):
i2c_busio = busio.I2C(board.SCL, board.SDA)
self.sensor_mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c_busio)
self.sensor_accel = adafruit_lsm303_accel.LSM303_Accel(i2c_busio)
i2c_luma = luma_i2c(port=1, address=0x3c)
self.lcd = sh1106(i2c_luma, width=128, height=64)
self.font = ImageFont.truetype("FreeSans.ttf", 16)
print("Opened interface")
def init_magnetometer_accelerometer(configuration: Configuration):
"""Initialize the sensor for magnetic and acceleration"""
assignments = configuration.get_pin_assignments("lsm303")
if not assignments:
return None, None
i2c = busio.I2C(assignments.get("scl"), assignments.get("sda"))
mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c)
accel = adafruit_lsm303_accel.LSM303_Accel(i2c)
return mag, accel
def __init__(self,path):
self.i2c=busio.I2C(board.SCL,board.SDA)
self.accel=adafruit_lsm303_accel.LSM303_Accel(self.i2c)
self.mag=adafruit_lsm303dlh_mag.LSM303DLH_Mag(self.i2c)
# Creation d'une base de donnees
self.conn=sqlite3.connect(path + 'Compas_' + str(time.time()) + '.db')
self.c=self.conn.cursor()
#c.execute("DROP TABLE CARBOT")
self.c.execute('''CREATE TABLE Compas (time REAL, acc_x REAL, acc_y REAL,acc_z REAL,mag_x REAL,mag_y REAL,mag_z REAL);''')
def init_magnetometer_accelerometer(configuration: Configuration):
"""Initialize the sensor for magnetic and acceleration"""
try:
logging.info("Initializing magnetometer/accelerometer")
assignments = configuration.get_pin_assignments("lsm303")
if not assignments:
return None, None
i2c = busio.I2C(assignments.get("scl"), assignments.get("sda"))
mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c)
accel = adafruit_lsm303_accel.LSM303_Accel(i2c)
return mag, accel
except Exception as ex: # pylint: disable=broad-except
mag = DummyMag()
accel = DummyAccel()
logging.exception(ex)
return mag, accel
# SPDX-FileCopyrightText: 2019 Bryan Siepert for Adafruit Industries
#
# SPDX-License-Identifier: MIT
from time import sleep
import board
import busio
import adafruit_lsm303_accel
import adafruit_lis2mdl
i2c = busio.I2C(board.SCL, board.SDA)
mag = adafruit_lis2mdl.LIS2MDL(i2c)
accel = adafruit_lsm303_accel.LSM303_Accel(i2c)
while True:
print("Acceleration (m/s^2): X=%0.3f Y=%0.3f Z=%0.3f"%accel.acceleration)
print("Magnetometer (micro-Teslas)): X=%0.3f Y=%0.3f Z=%0.3f"%mag.magnetic)
print("")
sleep(0.5)
import adafruit_bme280
from PIL import Image, ImageDraw, ImageFont
import os, sys, struct, array
from fcntl import ioctl
import RPi.GPIO as GPIO
#I2C address for the PWM driver board retrieved automatically
i2c_pwm = board.I2C()
pwm = adafruit_pca9685.PCA9685(i2c_pwm)
pwm.frequency = 1600
i2c_lsm = board.I2C()
mag_sensor = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c_lsm)
accel_sensor = adafruit_lsm303_accel.LSM303_Accel(i2c_lsm)
#gyro_sensor = adafruit_l3gd20.L3GD20_I2C(i2c_lsm,rng=1,address=0x6B)
#I2C address for the OLED screen is 0x3c
i2c_oled = board.I2C()
oled = adafruit_ssd1306.SSD1306_I2C(128,64, i2c_oled,addr=0x3c,reset=[])
#I2C address for the temp, humidity and pressure sensor is 0x76
i2c_bme = board.I2C()
bme280 = adafruit_bme280.Adafruit_BME280_I2C(i2c_bme,0x76)
def sensor_read(arg1):
while True:
global yy
global xx
def __init__(self):
i2c = busio.I2C(24, 23)
self._sensor_accel = adafruit_lsm303_accel.LSM303_Accel(i2c=i2c,
address=0x18)
self._sensor_mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c=i2c)
def read(self):
accel = adafruit_lsm303_accel.LSM303_Accel(self.i2c)
return accel.acceleration
def __init__(self):
i2c = busio.I2C(board.SCL, board.SDA)
self.mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c)
self.accel = adafruit_lsm303_accel.LSM303_Accel(i2c)
def initializeHardware(display_diagnostics=False,
ce_pin=board.D8,
csn_pin=board.D17,
button_pin=16,
ch=76):
if cfg.config['has_radio']:
from circuitpython_nrf24l01 import RF24
import digitalio as dio
global address, spi, nrf
try:
address = b'1Node'
ce = dio.DigitalInOut(ce_pin)
csn = dio.DigitalInOut(csn_pin)
spi = board.SPI() # init spi bus object
#Initialize the nRF24L01 on the spi bus object
nrf = RF24(spi,
csn,
ce,
ard=2000,
arc=15,
data_rate=1,
auto_ack=True,
channel=ch)
if display_diagnostics:
nrf.what_happened(True)
else:
printOK("Radio Initialized")
except:
printCRIT("Radio required to proceed. Exiting.")
quit()
else:
printCRIT("Radio required to proceed. Exiting.")
quit()
if cfg.config['has_accel']:
import adafruit_lsm303_accel
import adafruit_lsm303dlh_mag
import busio
global mag, accel, i2c
try:
i2c = busio.I2C(board.SCL, board.SDA)
mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c)
accel = adafruit_lsm303_accel.LSM303_Accel(i2c)
calibrateAccel(cycles=25)
printOK("Accel Initialized")
except:
printERR("Accel Error, Check Connections")
else:
printBYP("No Accel Installed... Bypassing")
if cfg.config['has_GPS']:
import serial
import adafruit_gps
global gps
try:
uart = serial.Serial("/dev/ttyS0", baudrate=9600, timeout=10)
gps = adafruit_gps.GPS(uart, debug=False)
gps.send_command(b'PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0')
gps.send_command(b'PMTK220,200')
if display_diagnostics:
gps.update()
getGPSLock()
else:
printOK("GPS Initialized")
except:
printERROR("GPS Error, Check Connections")
else:
printBYP("No GPS Installed... Bypassing")
if cfg.config['has_button']:
GPIO.setmode(GPIO.BCM)
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
if display_diagnostics:
print(interupt())
else:
printOK("Button Initialized")
else:
printBYP("No Button Installed... Bypassing")
printOK("System Ready")
print("=" * 40)
