def __init__(self, address = 0x2A, timeout = 0.5, bus = "RPI_1SW"):
self.i2c_bus = di_i2c.DI_I2C(bus = bus, address = address)
try:
self.i2c_bus.write_reg_8(SOFT_RESET_GO2_SOFT_RESET_N, 0x00) # try resetting from 0x2A
time.sleep(0.002)
except IOError:
pass
self.ADDRESS = ADDRESS_DEFAULT
self.i2c_bus.set_address(self.ADDRESS)
self.i2c_bus.write_reg_8(SOFT_RESET_GO2_SOFT_RESET_N, 0x00) # reset default 0x29
time.sleep(0.005)
# delay added because threaded instantiation would fail,even with mutex in place
self.i2c_bus.write_reg_8(SOFT_RESET_GO2_SOFT_RESET_N, 0x01) # release reset
time.sleep(0.005)
# delay added because threaded instantiation would fail,even with mutex in place
self.set_address(address)
self.init() # initialize the sensor
self.set_timeout(timeout) # set the timeout
def __init__(self, bus = "RPI_1SW"):
"""
Constructor for initializing an object to interface with the `Line Follower Sensor (black board)`_.
:param str bus = "RPI_1SW": The bus to which the `Line Follower Sensor (black board)`_ is connected to. By default, it's set to ``"RPI_1SW"``. Check the :ref:`hardware specs <hardware-interface-section>` for more information about the ports.
"""
# create an I2C bus object and set the address
self.i2c_bus = di_i2c.DI_I2C(bus = bus, address = 0x06)
def __init__(self, integration_time=0.0024, gain=GAIN_16X, bus="RPI_1SW"):
"""Initialize the sensor
Keyword arguments:
integration_time (default 0.0024 seconds) -- Time in seconds for each sample. 0.0024 second (2.4ms) increments. Clipped to the range of 0.0024 to 0.6144 seconds.
gain (default GAIN_16X) -- The gain constant. Valid values are GAIN_1X, GAIN_4X, GAIN_16X, and GAIN_60X
bus (default "RPI_1SW") -- The I2C bus"""
self.i2c_bus = di_i2c.DI_I2C(bus=bus,
address=ADDRESS,
big_endian=False)
# Make sure we're connected to the right sensor.
chip_id = self.i2c_bus.read_8((COMMAND_BIT | ID))
if chip_id != 0x44:
raise RuntimeError('Incorrect chip ID.')
# Set default integration time and gain.
self.set_integration_time(integration_time)
self.set_gain(gain)
# Enable the device (by default, the device is in power down mode on bootup).
self.enable()
def set_bus(bus): global i2c i2c = di_i2c.DI_I2C(bus = bus, address = address)
def __init__(self, address, bus="RPI_1"):
self.i2c_bus = di_i2c.DI_I2C(bus, address, big_endian=False)
def __init__(self,
bus="RPI_1SW",
address=ADDRESS_A,
mode=OPERATION_MODE_NDOF,
units=0):
"""Initialize the sensor
Keyword arguments:
bus (default "RPI_1SW") -- The I2C bus
address (default ADDRESS_A) -- The BNO055 I2C address
mode (default OPERATION_MODE_NDOF) -- The operation mode
units (default 0) -- The value unit selection bits"""
# create an I2C bus object and set the address
self.i2c_bus = di_i2c.DI_I2C(bus=bus, address=address)
self._mode = mode
# Send a thow-away command and ignore any response or I2C errors
# just to make sure the BNO055 is in a good state and ready to accept
# commands (this seems to be necessary after a hard power down).
try:
self.i2c_bus.write_reg_8(REG_PAGE_ID, 0)
except IOError:
# pass on an I2C IOError
pass
# switch to config mode
self._config_mode()
self.i2c_bus.write_reg_8(REG_PAGE_ID, 0)
# check the chip ID
if ID != self.i2c_bus.read_8(REG_CHIP_ID):
raise RuntimeError("BNO055 failed to respond")
if self.i2c_bus.read_8(REG_TEMP_SOURCE) != 0x01:
# print("Doing init")
# reset the device using the reset command
self.i2c_bus.write_reg_8(REG_SYS_TRIGGER, 0x20)
# wait 650ms after reset for chip to be ready (recommended in datasheet)
time.sleep(0.65)
# set to normal power mode
self.i2c_bus.write_reg_8(REG_PWR_MODE, POWER_MODE_NORMAL)
# default to internal oscillator
self.i2c_bus.write_reg_8(REG_SYS_TRIGGER, 0x00)
# set temperature source to gyroscope, as it seems to be more accurate.
self.i2c_bus.write_reg_8(REG_TEMP_SOURCE, 0x01)
else:
pass
# print("Skipping init")
# set the unit selection bits
self.i2c_bus.write_reg_8(REG_UNIT_SEL, units)
# set temperature source to gyroscope, as it seems to be more accurate.
self.i2c_bus.write_reg_8(REG_TEMP_SOURCE, 0x01)
# switch to normal operation mode
self._operation_mode()
def __init__(self,
bus="RPI_1SW",
t_mode=OSAMPLE_1,
h_mode=OSAMPLE_1,
p_mode=OSAMPLE_1,
standby=STANDBY_250,
filter=FILTER_off):
"""Initialize the sensor
Keyword arguments:
bus (default "RPI_1SW") -- The I2C bus
t_mode (default OSAMPLE_1) -- The temperature measurement mode
h_mode (default OSAMPLE_1) -- The humidity measurement mode
p_mode (default OSAMPLE_1) -- The pressure measurement mode
standby (default STANDBY_250) -- The delay constant for waiting between taking readings
filter (default FILTER_off) -- The filter mode"""
# confirm that all the values are valid
if t_mode not in [
OSAMPLE_1, OSAMPLE_2, OSAMPLE_4, OSAMPLE_8, OSAMPLE_16
]:
raise ValueError(
'Unexpected t_mode %d. Valid modes are OSAMPLE_1, OSAMPLE_2, OSAMPLE_4, OSAMPLE_8, and OSAMPLE_16.'
% t_mode)
self._t_mode = t_mode
if h_mode not in [
OSAMPLE_1, OSAMPLE_2, OSAMPLE_4, OSAMPLE_8, OSAMPLE_16
]:
raise ValueError(
'Unexpected h_mode %d. Valid modes are OSAMPLE_1, OSAMPLE_2, OSAMPLE_4, OSAMPLE_8, and OSAMPLE_16.'
% h_mode)
self._h_mode = h_mode
if p_mode not in [
OSAMPLE_1, OSAMPLE_2, OSAMPLE_4, OSAMPLE_8, OSAMPLE_16
]:
raise ValueError(
'Unexpected p_mode %d. Valid modes are OSAMPLE_1, OSAMPLE_2, OSAMPLE_4, OSAMPLE_8, and OSAMPLE_16.'
% p_mode)
self._p_mode = p_mode
if standby not in [
STANDBY_0p5, STANDBY_62p5, STANDBY_125, STANDBY_250,
STANDBY_500, STANDBY_1000, STANDBY_10, STANDBY_20
]:
raise ValueError(
'Unexpected standby value %d. Valid values are STANDBY_0p5, STANDBY_10, STANDBY_20, STANDBY_62p5, STANDBY_125, STANDBY_250, STANDBY_500, and STANDBY_1000.'
% standby)
self._standby = standby
if filter not in [FILTER_off, FILTER_2, FILTER_4, FILTER_8, FILTER_16]:
raise ValueError(
'Unexpected filter value %d. Valid values are FILTER_off, FILTER_2, FILTER_4, FILTER_8, and FILTER_16'
% filter)
self._filter = filter
# create an I2C bus object and set the address
self.i2c_bus = di_i2c.DI_I2C(bus=bus,
address=ADDRESS,
big_endian=False) # little endian
# load calibration values.
self._load_calibration()
self.i2c_bus.write_reg_8(REG_CONTROL, 0x24) # Sleep mode
time.sleep(0.002)
# set the standby time
self.i2c_bus.write_reg_8(REG_CONFIG, ((standby << 5) | (filter << 2)))
time.sleep(0.002)
# set the sample modes
self.i2c_bus.write_reg_8(REG_CONTROL_HUM,
h_mode) # Set Humidity Oversample
self.i2c_bus.write_reg_8(
REG_CONTROL,
((t_mode << 5) | (p_mode << 2)
| 3)) # Set Temp/Pressure Oversample and enter Normal mode
self.t_fine = 0.0
def __init__(self, bus="RPI_1SW"):
"""Initialize the I2C output expander
Keyword arguments:
bus (default RPI_1SW) -- The I2C bus"""
self.i2c_bus = di_i2c.DI_I2C(bus=bus, address=ADDRESS)
