def _mag_callback(self): ''' Update magnetometer Vector3d object (if data available) ''' try: # If read fails, returns last valid data and self._read(self.buf1, 0x02, self._mag_addr) # increments mag_stale_count if self.buf1[0] & 1 == 0: return self._mag # Data not ready: return last value self._read(self.buf6, 0x03, self._mag_addr) self._read(self.buf1, 0x09, self._mag_addr) except OSError: raise MPUException(self._I2Cerror) if self.buf1[0] & 0x08 > 0: # An overflow has occurred self._mag_stale_count += 1 # Error conditions retain last good value return # user should check for ever increasing stale_counts self._mag._ivector[1] = bytes_toint( self.buf6[1], self.buf6[0]) # Note axis twiddling and little endian self._mag._ivector[0] = bytes_toint(self.buf6[3], self.buf6[2]) self._mag._ivector[2] = -bytes_toint(self.buf6[5], self.buf6[4]) scale = 0.15 # scale is 0.15uT/LSB self._mag._vector[ 0] = self._mag._ivector[0] * self.mag_correction[0] * scale self._mag._vector[ 1] = self._mag._ivector[1] * self.mag_correction[1] * scale self._mag._vector[ 2] = self._mag._ivector[2] * self.mag_correction[2] * scale self._mag_stale_count = 0
def _mag_callback(self): ''' Update magnetometer Vector3d object (if data available) ''' try: # If read fails, returns last valid data if self.mag_ready: # Starts mag if necessary self._read(self.buf6, 0x03, self._mag_addr) self.mag_triggered = False else: self._mag_stale_count += 1 # Data not ready: retain last value return # but increment stale count self._read(self.buf6, 0x03, self._mag_addr) # Mag was ready self._read(self.buf1, 0x09, self._mag_addr) # Read ST2 except OSError: self.mag_triggered = False raise MPUException(self._I2Cerror) if self.buf1[0] & 0x0C > 0: # An overflow or data error has occurred self._mag_stale_count += 1 # transitory condition? User checks stale count. return self._mag._ivector[1] = bytes_toint( self.buf6[1], self.buf6[0]) # Note axis twiddling and little endian self._mag._ivector[0] = bytes_toint(self.buf6[3], self.buf6[2]) self._mag._ivector[2] = -bytes_toint(self.buf6[5], self.buf6[4]) scale = 0.3 # 0.3uT/LSB self._mag._vector[ 0] = self._mag._ivector[0] * self.mag_correction[0] * scale self._mag._vector[ 1] = self._mag._ivector[1] * self.mag_correction[1] * scale self._mag._vector[ 2] = self._mag._ivector[2] * self.mag_correction[2] * scale self._mag_stale_count = 0
def _mag_callback(self): ''' Update magnetometer Vector3d object (if data available) ''' try: # If read fails, returns last valid data if self.mag_ready: # Starts mag if necessary self._read(self.buf6, 0x03, self._mag_addr) self.mag_triggered = False else: self._mag_stale_count += 1 # Data not ready: retain last value return # but increment stale count self._read(self.buf6, 0x03, self._mag_addr) # Mag was ready self._read(self.buf1, 0x09, self._mag_addr) # Read ST2 except OSError: self.mag_triggered = False raise MPUException(self._I2Cerror) if self.buf1[0] & 0x0C > 0: # An overflow or data error has occurred self._mag_stale_count +=1 # transitory condition? User checks stale count. return self._mag._ivector[1] = bytes_toint(self.buf6[1], self.buf6[0]) # Note axis twiddling and little endian self._mag._ivector[0] = bytes_toint(self.buf6[3], self.buf6[2]) self._mag._ivector[2] = -bytes_toint(self.buf6[5], self.buf6[4]) scale = 0.3 # 0.3uT/LSB self._mag._vector[0] = self._mag._ivector[0]*self.mag_correction[0]*scale self._mag._vector[1] = self._mag._ivector[1]*self.mag_correction[1]*scale self._mag._vector[2] = self._mag._ivector[2]*self.mag_correction[2]*scale self._mag_stale_count = 0
def get_mag_irq(self): # Uncorrected values because floating point uses heap if not self.mag_triggered: # Can't do exception handling here self._write(1, 0x0A, self._mag_addr) self.mag_triggered = True self._read(self.buf1, 0x02, self._mag_addr) if self.buf1[0] == 1: self._read(self.buf6, 0x03, self._mag_addr) # Note axis twiddling self._mag._ivector[1] = bytes_toint(self.buf6[1], self.buf6[0]) self._mag._ivector[0] = bytes_toint(self.buf6[3], self.buf6[2]) self._mag._ivector[2] = -bytes_toint(self.buf6[5], self.buf6[4]) self.mag_triggered = False
def get_mag_irq( self): # Uncorrected values because floating point uses heap if not self.mag_triggered: # Can't do exception handling here self._write(1, 0x0A, self._mag_addr) self.mag_triggered = True self._read(self.buf1, 0x02, self._mag_addr) if self.buf1[0] == 1: self._read(self.buf6, 0x03, self._mag_addr) # Note axis twiddling self._mag._ivector[1] = bytes_toint(self.buf6[1], self.buf6[0]) self._mag._ivector[0] = bytes_toint(self.buf6[3], self.buf6[2]) self._mag._ivector[2] = -bytes_toint(self.buf6[5], self.buf6[4]) self.mag_triggered = False
def get_mag_irq(self): ''' Uncorrected values because floating point uses heap ''' self._read(self.buf1, 0x02, self._mag_addr) if self.buf1[0] == 1: # Data is ready self._read(self.buf6, 0x03, self._mag_addr) self._read(self.buf1, 0x09, self._mag_addr) # Mandatory status2 read self._mag._ivector[1] = 0 if self.buf1[0] & 0x08 == 0: # No overflow has occurred self._mag._ivector[1] = bytes_toint(self.buf6[1], self.buf6[0]) self._mag._ivector[0] = bytes_toint(self.buf6[3], self.buf6[2]) self._mag._ivector[2] = -bytes_toint(self.buf6[5], self.buf6[4])
def temperature(self): ''' Returns the temperature in degree C. ''' try: self._read(self.buf2, 0x41, self.mpu_addr) except OSError: raise MPUException(self._I2Cerror) return bytes_toint(self.buf2[0], self.buf2[1]) / 340 + 35 # I think
def temperature(self): ''' Returns the temperature in degree C. ''' try: self._read(self.buf2, 0x41, self.mpu_addr) except OSError: raise MPUException(self._I2Cerror) return bytes_toint(self.buf2[0], self.buf2[1])/340 + 35 # I think
def _mag_callback(self): ''' Update magnetometer Vector3d object (if data available) ''' try: # If read fails, returns last valid data and self._read(self.buf1, 0x02, self._mag_addr) # increments mag_stale_count if self.buf1[0] & 1 == 0: return self._mag # Data not ready: return last value self._read(self.buf6, 0x03, self._mag_addr) self._read(self.buf1, 0x09, self._mag_addr) except OSError: raise MPUException(self._I2Cerror) if self.buf1[0] & 0x08 > 0: # An overflow has occurred self._mag_stale_count += 1 # Error conditions retain last good value return # user should check for ever increasing stale_counts self._mag._ivector[1] = bytes_toint(self.buf6[1], self.buf6[0]) # Note axis twiddling and little endian self._mag._ivector[0] = bytes_toint(self.buf6[3], self.buf6[2]) self._mag._ivector[2] = -bytes_toint(self.buf6[5], self.buf6[4]) scale = 0.15 # scale is 0.15uT/LSB self._mag._vector[0] = self._mag._ivector[0]*self.mag_correction[0]*scale self._mag._vector[1] = self._mag._ivector[1]*self.mag_correction[1]*scale self._mag._vector[2] = self._mag._ivector[2]*self.mag_correction[2]*scale self._mag_stale_count = 0