def start(self):
if self.device == None:
self.log("ERROR", "Device not available")
return False
dev_board = self.device.board
self.log("INFO", "Configuring device")
lmw.mbl_mw_settings_set_connection_parameters(dev_board, 7.5, 7.5, 0,
6000)
time.sleep(1.5)
# Subscribe to accelerometer data
acc = lmw.mbl_mw_acc_get_acceleration_data_signal(dev_board)
lmw.mbl_mw_datasignal_subscribe(acc, None, self.callback_acc)
# Subscribe to gyro data
gyro = lmw.mbl_mw_gyro_bmi160_get_rotation_data_signal(dev_board)
lmw.mbl_mw_datasignal_subscribe(gyro, None, self.callback_gyr)
self.log("INFO", "Starting device...")
# Enable accelerometer sampling
lmw.mbl_mw_acc_enable_acceleration_sampling(dev_board)
lmw.mbl_mw_acc_start(dev_board)
# Enable gyrp sampling
lmw.mbl_mw_gyro_bmi160_enable_rotation_sampling(dev_board)
lmw.mbl_mw_gyro_bmi160_start(dev_board)
self.log("INFO", "Device started.")
return True
def setup(self):
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
self.device.board)
signals = (c_void_p * 1)()
signals[0] = gyro
libmetawear.mbl_mw_dataprocessor_fuser_create(acc, signals, 1, None,
fn_wrapper)
e.wait()
libmetawear.mbl_mw_datasignal_subscribe(self.processor, None,
self.callback)
def setup(self):
libmetawear.mbl_mw_settings_set_connection_parameters(self.device.board, 7.5, 7.5, 0, 600)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
# set accelerometer to 100Hz sampling rate and range to +/- 16 g's
libmetawear.mbl_mw_acc_set_odr(s.device.board, 100.0)
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0)
libmetawear.mbl_mw_acc_write_acceleration_config(s.device.board)
# set gyro to 100Hz sampling rate and +/- 1000 deg/sec.
libmetawear.mbl_mw_gyro_bmi160_set_odr(s.device.board, MBL_MW_GYRO_BMI160_ODR_100Hz)
libmetawear.mbl_mw_gyro_bmi160_set_range(s.device.board, MBL_MW_GYRO_BMI160_RANGE_1000dps)
libmetawear.mbl_mw_gyro_bmi160_write_config(s.device.board)
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(self.device.board)
gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(self.device.board)
signals = (c_void_p * 1)()
signals[0] = gyro
# libmetawear.mbl_mw_dataprocessor_accounter_create(signals, None, fn_wrapper)
fuser = create_voidp(lambda fn: libmetawear.mbl_mw_dataprocessor_fuser_create(acc, signals, 1, None, fn), resource = "fuser", event = e)
accounter = create_voidp(lambda fn: libmetawear.mbl_mw_dataprocessor_accounter_create(fuser, None, fn), resource = "accounter", event = e)
# libmetawear.mbl_mw_datasignal_subscribe(self.processor, None, self.callback)
libmetawear.mbl_mw_datasignal_subscribe(accounter, None, self.callback)
def stop(self):
for s in self.states:
# Disable acceleration
libmetawear.mbl_mw_acc_stop(s.device.board)
libmetawear.mbl_mw_acc_disable_acceleration_sampling(
s.device.board)
signal_acceleration = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal_acceleration)
# Disable gyro
libmetawear.mbl_mw_gyro_bmi160_stop(s.device.board)
libmetawear.mbl_mw_gyro_bmi160_disable_rotation_sampling(
s.device.board)
signal_gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal_gyro)
# Disable magnometer
libmetawear.mbl_mw_mag_bmm150_stop(s.device.board)
libmetawear.mbl_mw_mag_bmm150_disable_b_field_sampling(
s.device.board)
# Disconnect board and turn off LED
libmetawear.mbl_mw_debug_disconnect(s.device.board)
return
def setup(self):
# set BLE connection params (min connect interval, max interval,
# latency, timeout) all in milliseconds
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
# set BLE advertising strength (higher strength = higher power consumption
# but theoretically better connectivity)
libmetawear.mbl_mw_settings_set_tx_power(self.device.board, 4)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = metacbindings.FnVoid_VoidP_VoidP(processor_created)
# set accelerometer to 100Hz sampling rate and range to +/- 16 g's
libmetawear.mbl_mw_acc_set_odr(s.device.board, 100.0)
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0)
libmetawear.mbl_mw_acc_write_acceleration_config(s.device.board)
# set gyro to 100Hz sampling rate and +/- 1000 deg/sec.
libmetawear.mbl_mw_gyro_bmi160_set_odr(s.device.board,
MBL_MW_GYRO_BMI160_ODR_100Hz)
libmetawear.mbl_mw_gyro_bmi160_set_range(
s.device.board, MBL_MW_GYRO_BMI160_RANGE_1000dps)
libmetawear.mbl_mw_gyro_bmi160_write_config(s.device.board)
# get pointers referencing the acc and gyro data signals
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
self.device.board)
signals = (c_void_p * 1)()
signals[0] = gyro
# //libmetawear.mbl_mw_dataprocessor_accounter_create(signals, None, fn_wrapper)
# chain two processors together (fuser and accounter) to get timestamped acc+gyro data
# create a fuser "data processor" which packages the acc and gyro signals into same packets before sending
fuser = create_voidp(
lambda fn: libmetawear.mbl_mw_dataprocessor_fuser_create(
acc, signals, 1, None, fn),
resource="fuser",
event=e)
# accounter processor adds correct epoch data to BLE packets, necessary for timestamping stream-mode data
accounter = create_voidp(
lambda fn: libmetawear.mbl_mw_dataprocessor_accounter_create(
fuser, None, fn),
resource="accounter",
event=e)
# //libmetawear.mbl_mw_datasignal_subscribe(self.processor, None, self.callback)
libmetawear.mbl_mw_datasignal_subscribe(accounter, None, self.callback)
def setup(self):
#Set up file
self.file.write(
"Time, Time from start (s), Acc x, Acc y, Acc z, Gyro x, Gyro y, Gyro z, Mag x, Mag y, Mag z \n"
)
#Set up board
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
#Acceleration sampling frequency
libmetawear.mbl_mw_acc_set_odr(s.device.board,
100.0) #fastest frequency is 400 Hz
#range of acceleration
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0)
#write acceleration config
libmetawear.mbl_mw_acc_write_acceleration_config(s.device.board)
#Gyro sampling frequency
libmetawear.mbl_mw_gyro_bmi160_set_odr(self.device.board,
8) #9 = 200Hz, 8 = 100Hz
#Gyro range
libmetawear.mbl_mw_gyro_bmi160_set_range(
self.device.board, 0) #0 = 2000 dps, 1 = 1000 dps
#Write gyro config
libmetawear.mbl_mw_gyro_bmi160_write_config(self.device.board)
libmetawear.mbl_mw_mag_bmm150_set_preset(self.device.board, 3)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
self.device.board)
mag = libmetawear.mbl_mw_mag_bmm150_get_b_field_data_signal(
self.device.board)
signals = (c_void_p * 2)()
signals[0] = gyro
signals[1] = mag
libmetawear.mbl_mw_dataprocessor_fuser_create(acc, signals, 2, None,
fn_wrapper)
e.wait()
libmetawear.mbl_mw_datasignal_subscribe(self.processor, None,
self.callback)
def setup(self):
# s represents a device's MAC address
for s in self.states:
# Device configuration
print("Configuring device...")
# Not sure what these parameters are for, but they're synchronized with the rest of the settings.
libmetawear.mbl_mw_settings_set_connection_parameters(
s.device.board, 7.5, 7.5, 0, 6000)
# Acceleration
libmetawear.mbl_mw_acc_set_odr(s.device.board,
25.0) # 25 Hz data collection rate
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0) # Unsure
libmetawear.mbl_mw_acc_write_acceleration_config(
s.device.board) # Save to the board's configuration
signal_acceleration = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal_acceleration,
s.callback_accel)
libmetawear.mbl_mw_acc_enable_acceleration_sampling(s.device.board)
# Gyrometer
libmetawear.mbl_mw_gyro_bmi160_set_odr(s.device.board,
6) # 6 is index for 25 Hz
libmetawear.mbl_mw_gyro_bmi160_write_config(s.device.board)
signal_gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal_gyro,
s.callback_gyro)
libmetawear.mbl_mw_gyro_bmi160_enable_rotation_sampling(
s.device.board)
# Magnometer
libmetawear.mbl_mw_mag_bmm150_configure(s.device.board, 1, 1,
6) # 6 is index for 25 Hz
signal_mag = libmetawear.mbl_mw_mag_bmm150_get_b_field_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal_mag, s.callback_mag)
# Run LED - Stays green until IMUs / system starts with a pulse
pattern = LedPattern(repeat_count=Const.LED_REPEAT_INDEFINITELY)
libmetawear.mbl_mw_led_load_preset_pattern(byref(pattern),
LedPreset.SOLID)
libmetawear.mbl_mw_led_write_pattern(s.device.board,
byref(pattern),
LedColor.GREEN)
libmetawear.mbl_mw_led_play(s.device.board)
return
def setDevice(mmr):
libmetawear.mbl_mw_settings_set_connection_parameters(
mmr.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
# Get the signal from i2c communication
# (device.board address, the size of data(byte), id : Numerical value identifying the data)
mmr.i2c_signal = libmetawear.mbl_mw_i2c_get_data_signal(
mmr.device.board, 3, 0xa)
# Get the signal from Acceleration
acc_signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
mmr.device.board)
# get the signal from Gyro
gyro_signal = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
mmr.device.board)
# Subscribe the i2c signal
# (i2c signal value, context(Pointer to additional data for the call back function
# , Callback function to handle data received from the signal))
libmetawear.mbl_mw_datasignal_subscribe(mmr.i2c_signal, None,
mmr.callback_i2c)
# Subscribe the acc acc_signal
# libmetawear.mbl_mw_datasignal_subscribe(acc_signal, None, mmr.callback_acc)
# Subscribe the gyro gyro acc_signal
# libmetawear.mbl_mw_datasignal_subscribe(gyro_signal, None, mmr.callback_gyro)
# device_addr = 7bit(the slave device address) + 1bit(W : 0 / R : 1)
# Parameter : (device address, register address : CAP DATA REGISTER(0x01))
# libmetawear.mbl_mw_i2c_write(mmr.device.board, AD7745_ADDR_WRITE, RESET_ADDR, value, 1)
# Setup the configuration for I2C Communication
libmetawear.mbl_mw_i2c_write(mmr.device.board, AD7745_ADDR, REG_CAP_SETUP,
c_uint8(CAP_SETUP_PROP), 1)
sleep(0.5)
libmetawear.mbl_mw_i2c_write(mmr.device.board, AD7745_ADDR, REG_EXC_SETUP,
c_uint8(EXC_SETUP_PROP), 1)
sleep(0.5)
libmetawear.mbl_mw_i2c_write(mmr.device.board,
AD7745_ADDR, REG_CONFIGURATION,
c_uint8(CONFIGURATION_PROP), 1)
sleep(0.5)
libmetawear.mbl_mw_i2c_write(mmr.device.board, AD7745_ADDR, REG_CAP_DAC_A,
c_uint8(CAP_DAC_A_PROP), 1)
sleep(0.5)
def stop(self):
if self.device == None:
self.log("ERROR", "Device not available")
return False
dev_board = self.device.board
self.log("INFO", "Stopping device...")
lmw.mbl_mw_acc_stop(dev_board)
lmw.mbl_mw_acc_disable_acceleration_sampling(dev_board)
lmw.mbl_mw_gyro_bmi160_stop(dev_board)
lmw.mbl_mw_gyro_bmi160_disable_rotation_sampling(dev_board)
# Unsubscribe from accelerometer data
acc = lmw.mbl_mw_acc_get_acceleration_data_signal(dev_board)
lmw.mbl_mw_datasignal_unsubscribe(acc)
# Unsubscribe from gyro data
gyro = lmw.mbl_mw_gyro_bmi160_get_rotation_data_signal(dev_board)
lmw.mbl_mw_datasignal_unsubscribe(gyro)
self.log("INFO", "Device stopped.")
return True
for i in range(len(sys.argv) - 1):
d = MetaWear(sys.argv[i + 1])
d.connect()
print("Connected to " + d.address)
states.append(State(d))
for s in states:
print("Configuring device")
libmetawear.mbl_mw_settings_set_connection_parameters(
s.device.board, 1.5, 1.5, 0, 6000)
libmetawear.mbl_mw_gyro_bmi160_set_odr(s.device.board, AccBmi160Odr._50Hz)
libmetawear.mbl_mw_gyro_bmi160_set_range(s.device.board,
AccBoschRange._125dps)
libmetawear.mbl_mw_gyro_bmi160_write_config(s.device.board)
signal = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal, None, s.callback)
libmetawear.mbl_mw_gyro_bmi160_enable_rotation_sampling(s.device.board)
libmetawear.mbl_mw_gyro_bmi160_start(s.device.board)
sleep(10.0)
for s in states:
libmetawear.mbl_mw_gyro_bmi160_stop(s.device.board)
libmetawear.libmetawear.mbl_mw_gyro_bmi160_disable_rotation_sampling(
s.device.board)
signal = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal)
