res = [0, 0, 0]
# Read the magnetometer
list = self.mag.readList(self.LSM303_REGISTER_MAG_OUT_X_H_M, 6)
res = [ self.mag16(list, 0),
self.mag16(list, 2),
self.mag16(list, 4) ]
return res
def setMagGain(gain=LSM303_MAGGAIN_1_3):
self.mag.write8( LSM303_REGISTER_MAG_CRB_REG_M, gain)
if __name__ == '__main__':
from time import sleep
import os
from process_compass import getMag
import accel as ac
mag = Magnetometer()
accel = ac.Accelerometer()
timer = 0
sleeptime = 0.5
while True:
os.system('clear')
raw = mag.read()
m = getMag(accel.read(), raw)
print raw
sleep(sleeptime)
def process(self, index):
print "Processing"
cursor = self.db.cursor()
cursor.execute("SELECT * FROM rawEX")
count = cursor.rowcount
row = []
date = []
time = []
lat = []
lon = []
altitude = []
speed = []
temperature = []
pressure = []
heading = []
gyroscope = []
acceler = []
acc_angle = []
gyr_rate = [0,0,0]
cf_angle = [0,0,0]
for x in range(self.prev_index, count):
instr = "SELECT * FROM rawEX WHERE ID = %s" % (x)
cursor.execute(instr)
line = cursor.fetchone()
row.append( line[0] )
#if line[1] != None:
# date.append( dataFormat.convertDate("mm/dd/yyyy", 0, str(line[1])) )
#else:
# date.append( line[1] )
date.append( line[1] )
#if line[2] != None:
# time.append( dataFormat.convertTime("am/pm", "EST", line[2]) )
time.append( line[2] )
lat.append( line[3] )
lon.append( line[4] )
#altitude.append( line[5] )
speed.append( line[6] )
temperature.append( self.bmp.procTemp(int(line[7])) )
pr = self.bmp.procPress(int(line[8]), int(line[7]))
altitude.append( process_press_extra.getAltitude(pr) )
pressure.append( pr )
accel = [ line[9], line[10], line[11] ]
mag = [ line[12], line[13], line[14] ]
gyro = [ line[15], line[16], line[17] ]
heading.append(process_compass.getMag(accel, mag))
gyroscope.append(process_gyro.accumGyro(gyro,gyr_rate))
gyr_rate = [ gyroscope[0][0], gyroscope[0][1], gyroscope[0][2] ]
cf_angle = process_ag.getAG( accel, cf_angle, gyr_rate )
acceler.append( cf_angle )
#print row
#print date
#print time
#print lat
#print lon
#print altitude
#print speed
#print temperature
#print pressure
#print heading
#print gyroscope
#print acceler
ret_date = self.err_process( date )
ret_time = self.err_process( time )
ret_lat = self.better_process( lat )
ret_lon = self.better_process( lon )
ret_alt = self.better_process( altitude )
ret_sp = self.better_process( speed )
ret_temp = self.better_process( temperature )
ret_press = self.better_process( pressure )
ret_head = self.better_process( heading )
ret_gy = self.err_process( gyroscope )
ret_ac = self.err_process( acceler )
self.prev_index = count
print "End processing"
ret = [ ret_date, ret_time, ret_lat, ret_lon, ret_alt, ret_sp, ret_temp, ret_press, ret_head, ret_gy, ret_ac, count ]
self.prev_data = ret
return ret
