def magnetometer(): #I2C code for reading the magnetometer counter = 0 global Zmag_raw global Ymag_raw global Xmag_raw global Zmag global Ymag global Xmag global mag_vector for counter in xrange(0,10): #send the commands several times to ensure Magnetometer receives the command Adafruit_I2C.write8(i2c, 0x00, 0x18) # 1 Average, 15 Hz, normal measurement Adafruit_I2C.write8(i2c, 0x01, 0x20) # Set Gain Adafruit_I2C.write8(i2c, 0x02, 0x00) # Continuous measurement counter += 1 z_l = Adafruit_I2C.readU8(i2c, Z_lsb) #Data is stored in 2 registers on the chip, the Least significant and the z_m = Adafruit_I2C.readS8(i2c, Z_msb) #most significant. Both must be read and the two combined into the actual number Zmag_raw = z_m << 8 | z_l Zmag = Zmag_raw/2048.0 * 1.3 #Calculate Gauss value from the raw 12 bit number y_l = Adafruit_I2C.readU8(i2c, Y_lsb) #rinse and repeat for each axis y_m = Adafruit_I2C.readS8(i2c, Y_msb) Ymag_raw = y_m << 8 | y_l Ymag = Ymag_raw/2048.0 * 1.3 x_l = Adafruit_I2C.readU8(i2c, X_lsb) x_m = Adafruit_I2C.readS8(i2c, X_msb) Xmag_raw = x_m << 8 | x_l Xmag = Xmag_raw/2048.0 * 1.3 mag_vector = np.array([Xmag,Ymag,Zmag]) return
def read_sensor(self): hival = Adafruit_I2C.write8(self.sensor_address, self.MEASURE_REG, self.MEASURE_VAL) sleep(.02) loval = Adafruit_I2C.readU8(self.sensor_address, self.DISTANCE_REG_LO) hival = Adafruit_I2C.readS8(self.sensor_address, self.DISTANCE_REG_HI) return ((hival << 8) + loval)
def magnetometer():
#I2C code for reading the magnetometer
counter = 0
global Zmag_raw
global Ymag_raw
global Xmag_raw
global Zmag
global Ymag
global Xmag
global mag_vector
for counter in xrange(
0, 10
): #send the commands several times to ensure Magnetometer receives the command
Adafruit_I2C.write8(i2c, 0x00,
0x18) # 1 Average, 15 Hz, normal measurement
Adafruit_I2C.write8(i2c, 0x01, 0x20) # Set Gain
Adafruit_I2C.write8(i2c, 0x02, 0x00) # Continuous measurement
counter += 1
z_l = Adafruit_I2C.readU8(
i2c, Z_lsb
) #Data is stored in 2 registers on the chip, the Least significant and the
z_m = Adafruit_I2C.readS8(
i2c, Z_msb
) #most significant. Both must be read and the two combined into the actual number
Zmag_raw = z_m << 8 | z_l
Zmag = Zmag_raw / 2048.0 * 1.3 #Calculate Gauss value from the raw 12 bit number
y_l = Adafruit_I2C.readU8(i2c, Y_lsb) #rinse and repeat for each axis
y_m = Adafruit_I2C.readS8(i2c, Y_msb)
Ymag_raw = y_m << 8 | y_l
Ymag = Ymag_raw / 2048.0 * 1.3
x_l = Adafruit_I2C.readU8(i2c, X_lsb)
x_m = Adafruit_I2C.readS8(i2c, X_msb)
Xmag_raw = x_m << 8 | x_l
Xmag = Xmag_raw / 2048.0 * 1.3
mag_vector = np.array([Xmag, Ymag, Zmag])
return
# I2C code for reading the magnetometer
counter = 0
for counter in xrange(
0, 10
): #send the commands several times to ensure Magnetometer receives the command
Adafruit_I2C.write8(i2c, 0x00,
0x18) # 1 Average, 15 Hz, normal measurement
Adafruit_I2C.write8(i2c, 0x01, 0x20) # Set Gain
Adafruit_I2C.write8(i2c, 0x02, 0x00) # Continuous measurement
counter += 1
z_l = Adafruit_I2C.readU8(
i2c, Z_lsb
) #Data is stored in 2 registers on the chip, the Least significant and the
z_m = Adafruit_I2C.readS8(
i2c, Z_msb
) #most significant. Both must be read and the two combined into the actual number
Zmag_raw = z_m << 8 | z_l
Zmag = Zmag_raw / 2048.0 * 1.3 #Calculate Gauss value from the raw 12 bit number
y_l = Adafruit_I2C.readU8(i2c, Y_lsb) #rinse and repeat for each axis
y_m = Adafruit_I2C.readS8(i2c, Y_msb)
Ymag_raw = y_m << 8 | y_l
Ymag = Ymag_raw / 2048.0 * 1.3
x_l = Adafruit_I2C.readU8(i2c, X_lsb)
x_m = Adafruit_I2C.readS8(i2c, X_msb)
Xmag_raw = x_m << 8 | x_l
Xmag = Xmag_raw / 2048.0 * 1.3
mag_vector = np.array([Xmag, Ymag, Zmag])
i2c = Adafruit_I2C(mag_addr)
#i2c_read = Adafruit_I2C(mag_read_addr)
#i2c_write = Adafruit_I2C(mag_write_addr)
while 1:
x = 0
time.sleep(1)
for x in xrange(0, 10):
Adafruit_I2C.write8(i2c, 0x00,
0x18) # 1 Average, 15 Hz, normal measurement
Adafruit_I2C.write8(i2c, 0x01, 0x20) # Set Gain
Adafruit_I2C.write8(i2c, 0x02, 0x00) # Continuous measurement
x += 1
z_l = Adafruit_I2C.readU8(i2c, Z_lsb)
z_m = Adafruit_I2C.readS8(i2c, Z_msb)
z = z_m << 8 | z_l
z = z / 2048.0 * 1.3
y_l = Adafruit_I2C.readU8(i2c, Y_lsb)
y_m = Adafruit_I2C.readS8(i2c, Y_msb)
y = y_m << 8 | y_l
y = y / 2048.0 * 1.3
x_l = Adafruit_I2C.readU8(i2c, X_lsb)
x_m = Adafruit_I2C.readS8(i2c, X_msb)
x = x_m << 8 | x_l
x = x / 2048.0 * 1.3
a = np.array([x, y, z])
print 'Norm = ' + str(np.linalg.norm(a))
i2c = Adafruit_I2C(mag_addr)
#i2c_read = Adafruit_I2C(mag_read_addr)
#i2c_write = Adafruit_I2C(mag_write_addr)
while 1:
x = 0
time.sleep(1)
for x in xrange(0,10):
Adafruit_I2C.write8(i2c, 0x00, 0x18) # 1 Average, 15 Hz, normal measurement
Adafruit_I2C.write8(i2c, 0x01, 0x20) # Set Gain
Adafruit_I2C.write8(i2c, 0x02, 0x00) # Continuous measurement
x += 1
z_l = Adafruit_I2C.readU8(i2c, Z_lsb)
z_m = Adafruit_I2C.readS8(i2c, Z_msb)
z = z_m << 8 | z_l
z = z/2048.0 * 1.3
y_l = Adafruit_I2C.readU8(i2c, Y_lsb)
y_m = Adafruit_I2C.readS8(i2c, Y_msb)
y = y_m << 8 | y_l
y = y/2048.0 * 1.3
x_l = Adafruit_I2C.readU8(i2c, X_lsb)
x_m = Adafruit_I2C.readS8(i2c, X_msb)
x = x_m << 8 | x_l
x = x/2048.0 * 1.3
a = np.array([x,y,z])
print 'Norm = ' + str(np.linalg.norm(a));
# get gps data
gps = ser.readline()
while(not gps.startswith('$GPRMC')):
gps = ser.readline()
gprmc.parse(gps)
# I2C code for reading the magnetometer
counter = 0
for counter in xrange(0,10): #send the commands several times to ensure Magnetometer receives the command
Adafruit_I2C.write8(i2c, 0x00, 0x18) # 1 Average, 15 Hz, normal measurement
Adafruit_I2C.write8(i2c, 0x01, 0x20) # Set Gain
Adafruit_I2C.write8(i2c, 0x02, 0x00) # Continuous measurement
counter += 1
z_l = Adafruit_I2C.readU8(i2c, Z_lsb) #Data is stored in 2 registers on the chip, the Least significant and the
z_m = Adafruit_I2C.readS8(i2c, Z_msb) #most significant. Both must be read and the two combined into the actual number
Zmag_raw = z_m << 8 | z_l
Zmag = Zmag_raw/2048.0 * 1.3 #Calculate Gauss value from the raw 12 bit number
y_l = Adafruit_I2C.readU8(i2c, Y_lsb) #rinse and repeat for each axis
y_m = Adafruit_I2C.readS8(i2c, Y_msb)
Ymag_raw = y_m << 8 | y_l
Ymag = Ymag_raw/2048.0 * 1.3
x_l = Adafruit_I2C.readU8(i2c, X_lsb)
x_m = Adafruit_I2C.readS8(i2c, X_msb)
Xmag_raw = x_m << 8 | x_l
Xmag = Xmag_raw/2048.0 * 1.3
mag_vector = np.array([Xmag,Ymag,Zmag])
# print 'Norm = ' + str(np.linalg.norm(mag_vector));