def init_accelerometer(i2c, range=2):
# default is 2G, but you can use 4G or 8G values):
if range == 2:
sensor = adafruit_fxos8700.FXOS8700(i2c)
elif range == 4:
gyroscope = adafruit_fxos8700.FXOS8700(
i2c, accel_range=adafruit_fxos8700.ACCEL_RANGE_4G)
elif range == 8:
gyroscope = adafruit_fxos8700.FXOS8700(
i2c, accel_range=adafruit_fxos8700.ACCEL_RANGE_8G)
return sensor
def __init__(self, delay):
# Initialize I2C bus and device.
self.i2c = busio.I2C(board.SCL, board.SDA)
self.sensor = adafruit_fxos8700.FXOS8700(self.i2c)
self.delay = delay
threading.Thread.__init__(self)
def __SetupSensors(self):
i2c = busio.I2C(board.SCL, board.SDA)
fxos = fxoslib.FXOS8700(
i2c,
accel_range=fxoslib.ACCEL_RANGE_2G) # accelerometer, magnetometer
fxas = fxaslib.FXAS21002C(i2c) # gyro
return fxos, fxas
def __init__(self, config, queue, level):
self._log = Logger("nxp9dof", level)
if config is None:
raise ValueError("no configuration provided.")
self._config = config
self._queue = queue
_config = self._config['ros'].get('nxp9dof')
self._quaternion_accept = _config.get(
'quaternion_accept') # permit Quaternion once calibrated
self._loop_delay_sec = _config.get('loop_delay_sec')
# verbose will print some start-up info on the IMU sensors
self._imu = IMU(gs=4, dps=2000, verbose=True)
# setting a bias correction for the accel only; the mags/gyros are not getting a bias correction
self._imu.setBias((0.0, 0.0, 0.0), None, None)
# self._imu.setBias((0.1,-0.02,.25), None, None)
_i2c = busio.I2C(board.SCL, board.SDA)
self._fxos = adafruit_fxos8700.FXOS8700(_i2c)
self._log.info('accelerometer and magnetometer ready.')
self._fxas = adafruit_fxas21002c.FXAS21002C(_i2c)
self._log.info('gyroscope ready.')
self._thread = None
self._enabled = False
self._closed = False
self._heading = None
self._pitch = None
self._roll = None
self._is_calibrated = False
self._log.info('ready.')
def run(self):
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_fxos8700.FXOS8700(i2c)
i2c2 = busio.I2C(board.SCL, board.SDA)
sensor2 = adafruit_fxas21002c.FXAS21002C(i2c2)
while True:
if(Settings.tag_index == 0):
accel_x, accel_y, accel_z = sensor.accelerometer
Settings.ACC_X_text= "{0:.2f}".format(accel_x)
Settings.ACC_Y_text= "{0:.2f}".format(accel_y)
Settings.ACC_Z_text= "{0:.2f}".format(accel_z)
elif(Settings.tag_index == 1):
gyro_x, gyro_y, gyro_z = sensor2.gyroscope
Settings.GYRO_X_text= "{0:.2f}".format(gyro_x)
Settings.GYRO_Y_text= "{0:.2f}".format(gyro_y)
Settings.GYRO_Z_text= "{0:.2f}".format(gyro_z)
else:
mag_x, mag_y, mag_z = sensor.magnetometer
Settings.MAG_X_text= "{0:.2f}".format(mag_x)
Settings.MAG_Y_text= "{0:.2f}".format(mag_y)
Settings.MAG_Z_text= "{0:.2f}".format(mag_z)
self.update.emit()
sleep(0.1)
def init():
global i2c
global fxos
global fxas
global mpl
i2c = busio.I2C(board.SCL, board.SDA)
fxos = adafruit_fxos8700.FXOS8700(i2c)
fxas = adafruit_fxas21002c.FXAS21002C(i2c)
def __init__(self):
self.Q = [1., 0., 0., 0.]
self.i2c = busio.I2C(board.SCL, board.SDA)
# fxos contains data of the accelerometer and the magnetometer
self.fxos = adafruit_fxos8700.FXOS8700(self.i2c)
self.fxas = adafruit_fxas21002c.FXAS21002C(self.i2c)
self.d2g = ahrs.common.DEG2RAD
# TODO: make sure the correct frequency is set here
self.madgwick = ahrs.filters.Madgwick(frequency=10.0)
def init():
global i2c
global fxos
global fxas
global mpl
i2c = busio.I2C(board.SCL, board.SDA)
fxos = adafruit_fxos8700.FXOS8700(i2c)
fxas = adafruit_fxas21002c.FXAS21002C(i2c)
mpl = adafruit_mpl3115a2.MPL3115A2(i2c)
mpl.sealevel_pressure = 102250
def main():
i2c = busio.I2C(board.SCL_1, board.SDA_1)
print("I2C 1 ok!")
acc_magn_sensor = adafruit_fxos8700.FXOS8700(i2c)
print("acc magn ok!")
gyro_sensor = adafruit_fxas21002c.FXAS21002C(i2c)
print("gyro ok!")
while True:
imu_data(gyro_sensor, acc_magn_sensor)
time.sleep(1.0)
def Accgyro_Init():
#initalize I2C for fxos8700 and fxas21002c
i2c = busio.I2C(board.SCL, board.SDA)
fxos = adafruit_fxos8700.FXOS8700(i2c)
fxas = adafruit_fxas21002c.FXAS21002C(i2c)
print('Acceleration (m/s^2): ({0:0.3f},{1:0.3f},{2:0.3f})'.format(
*fxos.accelerometer))
print('Magnetometer (uTesla): ({0:0.3f},{1:0.3f},{2:0.3f})'.format(
*fxos.magnetometer))
print('Gyroscope (radians/s): ({0:0.3f},{1:0.3f},{2:0.3f})'.format(
*fxas.gyroscope))
# time.sleep(1)
return (fxos, fxas)
def readSensor():
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_fxos8700.FXOS8700(i2c)
now = dt.datetime.now()
sec = now.second
minute = now.minute
hour = now.hour
microsec = now.microsecond
totaltime = ((hour * 3600) + (minute * 60) + (sec)) * 1000 + microsec
accelx, accely, accelz = sensor.accelerometer
df = pd.DataFrame.from_dict({
'Time': [totaltime],
'X': [accelx],
'Y': [accely],
'Z': [accelz]
})
db = sqlite3.connect("accelerationDB.db")
cursor = db.cursor()
cursor.execute("DROP TABLE IF EXISTS acceleration")
df.to_sql(name='acceleration', con=db)
def __init__(self):
i2c = busio.I2C(board.SCL, board.SDA)
self.fxos = adafruit_fxos8700.FXOS8700(i2c)
self.fxas = adafruit_fxas21002c.FXAS21002C(i2c, gyro_range=GYRO_RANGE)
# Simple demo of the FXOS8700 accelerometer and magnetometer.
# Will print the acceleration and magnetometer values every second.
import time
import board
import busio
import adafruit_fxos8700
# Initialize I2C bus and device.
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_fxos8700.FXOS8700(i2c)
# Optionally create the sensor with a different accelerometer range (the
# default is 2G, but you can use 4G or 8G values):
# sensor = adafruit_fxos8700.FXOS8700(i2c, accel_range=adafruit_fxos8700.ACCEL_RANGE_4G)
# sensor = adafruit_fxos8700.FXOS8700(i2c, accel_range=adafruit_fxos8700.ACCEL_RANGE_8G)
# Main loop will read the acceleration and magnetometer values every second
# and print them out.
while True:
# Read acceleration & magnetometer.
accel_x, accel_y, accel_z = sensor.accelerometer
mag_x, mag_y, mag_z = sensor.magnetometer
# Print values.
print("Acceleration (m/s^2): ({0:0.3f}, {1:0.3f}, {2:0.3f})".format(
accel_x, accel_y, accel_z))
print("Magnetometer (uTesla): ({0:0.3f}, {1:0.3f}, {2:0.3f})".format(
mag_x, mag_y, mag_z))
# Delay for a second.
time.sleep(1.0)
# program prints turning direction
import board
import busio
import adafruit_fxos8700
import adafruit_fxas21002c
import time
# assign variables
mag_x = 0
# initialize I2C bus and devices
i2c = busio.I2C(board.SCL, board.SDA)
fxos = adafruit_fxos8700.FXOS8700(i2c)
fxas = adafruit_fxas21002c.FXAS21002C(i2c)
# main loop reads values and prints them out
while True:
# read acceleration, magnetometer and gyroscope
prev_mag_x = mag_x
mag_x, mag_y, mag_z = fxos.magnetometer
difference = mag_x - prev_mag_x
# print x values
if mag_x > prev_mag_x:
print("Left: " + str(difference))
elif mag_x < prev_mag_x:
print("Right: " + str(difference))
else:
print("None")
# second time delay
time.sleep(1)
def __init__(self):
self.i2c = busio.I2C(board.SCL, board.SDA)
self.accelerometer = adafruit_fxos8700.FXOS8700(
self.i2c, accel_range=adafruit_fxos8700.ACCEL_RANGE_8G)
import board
import busio
import adafruit_fxos8700
import adafruit_fxas21002c
i2c = busio.I2C(board.SCL, board.SDA)
sensor1 = adafruit_fxos8700.FXOS8700(i2c)#accel and mag
sensor2 = adafruit_fxas21002c.FXAS21002C(i2c)#gyro
# class sensor1(object):#mock sensor data
# accelerometer = [1,2,3]
# magnetometer = [1,2,3]
# class sensor2(object):#mock sensor data
# gyroscope = [1,2,3]
def AccelArray():
return sensor1.accelerometer
def AccelX():
return sensor1.accelerometer[0]
def AccelY():
return sensor1.accelerometer[1]
def AccelZ():
return sensor1.accelerometer[2]
def MagArray():
return sensor1.magnetometer
def __init__(self):
self.i2c = busio.I2C(board.SCL, board.SDA)
self.sensor_acc_mag = adafruit_fxos8700.FXOS8700(self.i2c)
self.sensor_gyro = adafruit_fxas21002c.FXAS21002C(self.i2c)
self.data = {'roll': 0, 'pitch': 0, 'yaw': 0}
import adafruit_fxas21002c # The values for offset aftee this calibration were # # Gyroscope offset: (mean, std) # X: 0.1323125 0.18466651785466298 # Y: 0.2090625 0.14371279766242798 # Z: 0.143375 0.1347482057541174 # # Magnetometer offset: # X: 25.93526 7.08914 # Y: -30.51872 12.36429 # Z: -14.57492 10.45313 i2c = busio.I2C(board.SCL, board.SDA) sensor_acc_mag = adafruit_fxos8700.FXOS8700(i2c) sensor_gyro = adafruit_fxas21002c.FXAS21002C(i2c, gyro_range=2000) T, dt = 10, 0.01 gyro_x_data = [] gyro_y_data = [] gyro_z_data = [] mag_x_data = [] mag_y_data = [] mag_z_data = [] k = 0 for i in range(int(T/dt)): mag_x, mag_y, mag_z = sensor_acc_mag.magnetometer # (uTesla)
# bmp = BMP085(0x77, debug=True)
bmp = BMP085(0x77)
# To specify a different operating mode, uncomment one of the following:
# bmp = BMP085(0x77, 0) # ULTRALOWPOWER Mode
# bmp = BMP085(0x77, 1) # STANDARD Mode
# bmp = BMP085(0x77, 2) # HIRES Mode
# bmp = BMP085(0x77, 3) # ULTRAHIRES Mode
# Initialize I2C bus and device.
i2c = busio.I2C(board.SCL, board.SDA)
# sensor = adafruit_fxos8700.FXOS8700(i2c)
# Optionally create the sensor with a different accelerometer range (the
# default is 2G, but you can use 4G or 8G values):
# sensor = adafruit_fxos8700.FXOS8700(i2c, accel_range=adafruit_fxos8700.ACCEL_RANGE_4G)
sensor = adafruit_fxos8700.FXOS8700(
i2c, accel_range=adafruit_fxos8700.ACCEL_RANGE_8G)
sensor1 = adafruit_fxas21002c.FXAS21002C(
i2c, gyro_range=adafruit_fxas21002c.GYRO_RANGE_2000DPS)
time_start = datetime.now()
file_name = 'rocket-data-' + str(datetime.now().hour) + '-' + str(
datetime.now().minute) + '.csv'
with open(file_name, 'w', newline='') as datafile:
datawriter = csv.writer(datafile, delimiter=';')
# Main loop will read the acceleration and magnetometer values every second
# and print them out.
while True:
# Read acceleration & magnetometer.
accel_x, accel_y, accel_z = sensor.accelerometer
from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg import threading import time import math import board import busio import adafruit_fxos8700 import adafruit_fxas21002c #Temp, Humidity, Pressure Sensor import adafruit_bme280 i2c_nxp = board.I2C() mag_accel_sensor = adafruit_fxos8700.FXOS8700(i2c_nxp) gyro_sensor = adafruit_fxas21002c.FXAS21002C(i2c_nxp) #I2C address for the temp, humidity and pressure sensor is 0x76 i2c_bme = board.I2C() bme280 = adafruit_bme280.Adafruit_BME280_I2C(i2c_bme, 0x76) ############################################################################### # Parameters and global variables # Parameters update_interval = 100 # Time (ms) between polling/animation updates max_elements = 1440 # Maximum number of elements to store in plot lists # Declare global variables root = None dfont = None
rfm69Celsius = rfm69.temperature
rfm69Fahrenheit = round(rfm69Celsius * 1.8 + 32, 1)
# Print out some RFM69 chip state:
print("RFM69 Radio Data")
print(' Temperature: {0}°F ({1}°C)'.format(rfm69Fahrenheit, rfm69Celsius))
print(' Frequency: {0} MHz'.format(round(rfm69.frequency_mhz, 0)))
print(' Bit rate: {0} kbit/s'.format(rfm69.bitrate / 1000))
print(' Frequency deviation: {0} kHz'.format(rfm69.frequency_deviation / 1000))
# Initialize the LSM303
lsmMag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c)
lsmAcc = adafruit_lsm303_accel.LSM303_Accel(i2c)
# Initialize the NXP IMU
nxpAcc = adafruit_fxos8700.FXOS8700(i2c)
nxpGyro = adafruit_fxas21002c.FXAS21002C(i2c)
loopCount = 0
print()
while True:
blinkLED(onBoardLED)
loopCount += 1
if DEBUG:
print("Loop #{0:6d}".format(loopCount))
print()
lsm_acc_x, lsm_acc_y, lsm_acc_z = lsmAcc.acceleration
lsm_mag_x, lsm_mag_y, lsm_mag_z = lsmMag.magnetic
import os
import sys
import time
import smbus
import busio
import board
import numpy as np
import adafruit_fxos8700
import adafruit_fxas21002c
from imusensor.filters import kalman
# Initialize I2C bus and device.
i2c = busio.I2C(board.SCL, board.SDA)
mag_accel = adafruit_fxos8700.FXOS8700(i2c)
gyro = adafruit_fxas21002c.FXAS21002C(i2c)
sensorfusion = kalman.Kalman()
def read():
# Read acceleration & magnetometer.
accel_x, accel_y, accel_z = mag_accel.accelerometer
mag_x, mag_y, mag_z = mag_accel.magnetometer
gyro_x, gyro_y, gyro_z = gyro.gyroscope
return accel_x, accel_y, accel_z, mag_x, mag_y, mag_z, gyro_x, gyro_y, gyro_z
# accel_x, accel_y, accel_z, mag_x, mag_y, mag_z = read()
logging.info('GPS Enabled')
# Adafruit Barometric Altimeter MPL3115A2
altimeter = None
if args.altimeter:
altimeter = adafruit_mpl3115a2.MPL3115A2(i2c)
altimeter.sealevel_pressure = 102520
logging.info('Altimeter Enabled, Pressure: %d',
altimeter.sealevel_pressure)
# Adafruit 9-DOF Accelerometer
accelerometer = None
if args.accelerometer:
accelerometer = adafruit_fxos8700.FXOS8700(i2c)
logging.info('9-DOF Enabled')
######################################################################
# TRANSMIT FUNCTION
######################################################################
def transmit(aprs_info, num_transmissions):
# write APRS message as wave audio file
subprocess.run([
script_path + '/afsk/aprs', '-c', CALLSIGN, '--destination', 'APCSU1',
'-o', '/tmp/packet' + str(num_transmissions % 5) + '.wav', aprs_info
])
def __init__(self):
# Initialize I2C bus and device.
self.i2c = busio.I2C(board.SCL, board.SDA)
self.sensor = adafruit_fxos8700.FXOS8700(self.i2c)
