def mpu_raw_acc_to_ug(rawval, abs_fullscale):
"""
mpu9150 acceleration is stored as a 16 bit signed value
abs_fullscale: The RM-MPU manual is not clear on this.
The full scale ranges are (+/- 2, 4, 8 16g) in 16 bits.
'abs_fullscale' is one half of the total +/- range.
for +/- 2 g the total range is [-2,2] which is 4g.
This should mean:
abs_fullscale LSB Sensitivity
2 61ug/bit (16384bits/g)
4 122ug/bit
8 244ug/bit
16 488ug/bit
"""
rawval = int(rawval)
rawval = u.twos_comp(rawval&0xffff,16)
accdata = 0.0
if(abs_fullscale==2):
accdata = rawval * 61e-6
elif(abs_fullscale==4):
accdata = rawval * 122e-6
elif(abs_fullscale==8):
accdata = rawval * 244e-6
elif(abs_fullscale==16):
accdata = rawval * 488.3e-6
else:
raise TypeError("abs_fullscale must be 2, 4, 8 or 16")
return accdata
def mpu_raw_gyro_to_dps(rawval, abs_fullscale):
"""
mpu9150 gyro rate is stored as a 16 bit twos compliment value
abs_fullscale:
The full scale ranges are (+/- 250, 500, 1000, 2000 dps) in 16 bits.
'abs_fullscale' is one half of the total +/- range.
for +/- 250 g the total range is [-250,250] which is 500dps.
This should mean:
abs_fullscale LSB Sensitivity
250 0.00764(degrees/bit)/s ((131 LSB/degree)/s)
500 0.01527(degrees/bit)/s ((65.5 LSB/degree)/s)
1000 0.03049(degrees/bit)/s ((32.8 LSB/degree)/s)
2000 0.06098(degrees/bit)/s ((16.4 LSB/degree)/s)
"""
rawval = int(rawval)
rawval = u.twos_comp(rawval & 0xffff, 16)
gyrodata = 0.0
if (abs_fullscale == 250):
gyrodata = rawval * 0.00764
elif (abs_fullscale == 500):
gyrodata = rawval * 0.01527
elif (abs_fullscale == 1000):
gyrodata = rawval * 0.03049
elif (abs_fullscale == 2000):
gyrodata = rawval * 0.06098
else:
raise TypeError("abs_fullscale must be 250, 500, 1000 or 2000")
return gyrodata
def mpu_raw_gyro_to_dps(rawval, abs_fullscale):
"""
mpu9150 gyro rate is stored as a 16 bit twos compliment value
abs_fullscale:
The full scale ranges are (+/- 250, 500, 1000, 2000 dps) in 16 bits.
'abs_fullscale' is one half of the total +/- range.
for +/- 250 g the total range is [-250,250] which is 500dps.
This should mean:
abs_fullscale LSB Sensitivity
250 0.00764(degrees/bit)/s ((131 LSB/degree)/s)
500 0.01527(degrees/bit)/s ((65.5 LSB/degree)/s)
1000 0.03049(degrees/bit)/s ((32.8 LSB/degree)/s)
2000 0.06098(degrees/bit)/s ((16.4 LSB/degree)/s)
"""
rawval = int(rawval)
rawval = u.twos_comp(rawval&0xffff,16)
gyrodata = 0.0
if(abs_fullscale==250):
gyrodata = rawval * 0.00764
elif(abs_fullscale==500):
gyrodata = rawval * 0.01527
elif(abs_fullscale==1000):
gyrodata = rawval * 0.03049
elif(abs_fullscale==2000):
gyrodata = rawval * 0.06098
else:
raise TypeError("abs_fullscale must be 250, 500, 1000 or 2000")
return gyrodata
def mpu_raw_acc_to_ug(rawval, abs_fullscale):
"""
mpu9150 acceleration is stored as a 16 bit signed value
abs_fullscale: The RM-MPU manual is not clear on this.
The full scale ranges are (+/- 2, 4, 8 16g) in 16 bits.
'abs_fullscale' is one half of the total +/- range.
for +/- 2 g the total range is [-2,2] which is 4g.
This should mean:
abs_fullscale LSB Sensitivity
2 61ug/bit (16384bits/g)
4 122ug/bit
8 244ug/bit
16 488ug/bit
"""
rawval = int(rawval)
rawval = u.twos_comp(rawval & 0xffff, 16)
accdata = 0.0
if (abs_fullscale == 2):
accdata = rawval * 61e-6
elif (abs_fullscale == 4):
accdata = rawval * 122e-6
elif (abs_fullscale == 8):
accdata = rawval * 244e-6
elif (abs_fullscale == 16):
accdata = rawval * 488.3e-6
else:
raise TypeError("abs_fullscale must be 2, 4, 8 or 16")
return accdata
def adis_raw_gyro_to_dps(rawval):
"""
adis gyro is 14 bit twos complement
0.05 dps per bit
"""
rawval = int(rawval)
rawval = u.twos_comp(rawval&0x3fff,14)
gyrodata_dps = rawval * 0.05
return gyrodata_dps
def adis_raw_magn_to_ugauss(rawval):
"""
adis gyro is 14 bit twos complement
0.5 mgauss per bit 500ugauss per bit
"""
rawval = int(rawval)
rawval = u.twos_comp(rawval&0x3fff,14)
magndata_ugauss = rawval * 500
return magndata_ugauss
def adis_raw_gyro_to_dps(rawval):
"""
adis gyro is 14 bit twos complement
0.05 dps per bit
"""
rawval = int(rawval)
rawval = u.twos_comp(rawval & 0x3fff, 14)
gyrodata_dps = rawval * 0.05
return gyrodata_dps
def adis_raw_magn_to_ugauss(rawval):
"""
adis gyro is 14 bit twos complement
0.5 mgauss per bit 500ugauss per bit
"""
rawval = int(rawval)
rawval = u.twos_comp(rawval & 0x3fff, 14)
magndata_ugauss = rawval * 500
return magndata_ugauss
def mpu_raw_temp_to_dC(rawval):
"""
mpu9150 temperature is stored as a 16 bit signed value
The conversion to temperature in C is in RM-MPU9150.pdf
"""
rawval = int(rawval)
tdata_twos = u.twos_comp(rawval&0xffff,16)
tdata = float(tdata_twos)
tdata = (tdata/340.0) + 35.0
return tdata
def mpu_raw_temp_to_dC(rawval):
"""
mpu9150 temperature is stored as a 16 bit signed value
The conversion to temperature in C is in RM-MPU9150.pdf
"""
rawval = int(rawval)
tdata_twos = u.twos_comp(rawval & 0xffff, 16)
tdata = float(tdata_twos)
tdata = (tdata / 340.0) + 35.0
return tdata
def adis_raw_acc_to_ug(rawval):
"""
adis accel data is 14 bit twos complement.
3.3mg per bit or 3330ug per bit
return value in ug (micro-g)
"""
rawval = int(rawval)
rawval = u.twos_comp(rawval&0x3fff,14)
accdata_ug = rawval * 3330
return accdata_ug
def adis_raw_acc_to_ug(rawval):
"""
adis accel data is 14 bit twos complement.
3.3mg per bit or 3330ug per bit
return value in ug (micro-g)
"""
rawval = int(rawval)
rawval = u.twos_comp(rawval & 0x3fff, 14)
accdata_ug = rawval * 3330
return accdata_ug
def mpl_raw_temp_to_dC(rawval):
"""
mpl3115a2 temperature is represented as a
signed 8 bit integer and a fractional 4 bit
component.
"""
if not isinstance(rawval, np.int64):
print(type(rawval))
raise TypeError("rawval must be an numpy.int64")
tdata_8 = 0.0
tdata_8_twos = u.twos_comp((rawval>>8)&0xff, 8)
tdata_frac = (rawval&0xf0) >> 4
tdata_8 = float(tdata_8_twos)
if((tdata_frac & 0b1000)!=0):
tdata_8 += 0.5
if((tdata_frac & 0b0100)!=0):
tdata_8 += 0.25
if((tdata_frac & 0b0010)!=0):
tdata_8 += 0.125
if((tdata_frac & 0b0001)!=0):
tdata_8 += 0.0625
return tdata_8
def mpl_raw_temp_to_dC(rawval):
"""
mpl3115a2 temperature is represented as a
signed 8 bit integer and a fractional 4 bit
component.
"""
if not isinstance(rawval, np.int64):
print(type(rawval))
raise TypeError("rawval must be an numpy.int64")
tdata_8 = 0.0
tdata_8_twos = u.twos_comp((rawval >> 8) & 0xff, 8)
tdata_frac = (rawval & 0xf0) >> 4
tdata_8 = float(tdata_8_twos)
if ((tdata_frac & 0b1000) != 0):
tdata_8 += 0.5
if ((tdata_frac & 0b0100) != 0):
tdata_8 += 0.25
if ((tdata_frac & 0b0010) != 0):
tdata_8 += 0.125
if ((tdata_frac & 0b0001) != 0):
tdata_8 += 0.0625
return tdata_8
