def read_raw_data(self):
'''
Read the raw data from the sensor, scale it appropriately and store for later use
'''
self.raw_gyro_data = I2CUtils.i2c_read_block(self.bus, self.address,
MPU6050.GYRO_START_BLOCK,
6)
self.raw_accel_data = I2CUtils.i2c_read_block(
self.bus, self.address, MPU6050.ACCEL_START_BLOCK, 6)
self.raw_temp_data = I2CUtils.i2c_read_block(self.bus, self.address,
MPU6050.TEMP_START_BLOCK,
2)
self.gyro_raw_x = I2CUtils.twos_compliment(
self.raw_gyro_data[MPU6050.GYRO_XOUT_H],
self.raw_gyro_data[MPU6050.GYRO_XOUT_L])
self.gyro_raw_y = I2CUtils.twos_compliment(
self.raw_gyro_data[MPU6050.GYRO_YOUT_H],
self.raw_gyro_data[MPU6050.GYRO_YOUT_L])
self.gyro_raw_z = I2CUtils.twos_compliment(
self.raw_gyro_data[MPU6050.GYRO_ZOUT_H],
self.raw_gyro_data[MPU6050.GYRO_ZOUT_L])
self.accel_raw_x = I2CUtils.twos_compliment(
self.raw_accel_data[MPU6050.ACCEL_XOUT_H],
self.raw_accel_data[MPU6050.ACCEL_XOUT_L])
self.accel_raw_y = I2CUtils.twos_compliment(
self.raw_accel_data[MPU6050.ACCEL_YOUT_H],
self.raw_accel_data[MPU6050.ACCEL_YOUT_L])
self.accel_raw_z = I2CUtils.twos_compliment(
self.raw_accel_data[MPU6050.ACCEL_ZOUT_H],
self.raw_accel_data[MPU6050.ACCEL_ZOUT_L])
self.raw_temp = I2CUtils.twos_compliment(
self.raw_temp_data[MPU6050.TEMP_OUT_H],
self.raw_temp_data[MPU6050.TEMP_OUT_L])
# We convert these to radians for consistency and so we can easily combine later in the filter
self.gyro_scaled_x = math.radians(self.gyro_raw_x /
MPU6050.GYRO_SCALE[self.fs_scale][1])
self.gyro_scaled_y = math.radians(self.gyro_raw_y /
MPU6050.GYRO_SCALE[self.fs_scale][1])
self.gyro_scaled_z = math.radians(self.gyro_raw_z /
MPU6050.GYRO_SCALE[self.fs_scale][1])
self.scaled_temp = self.raw_temp / 340 + 36.53
self.accel_scaled_x = self.accel_raw_x / MPU6050.ACCEL_SCALE[
self.afs_scale][1]
self.accel_scaled_y = self.accel_raw_y / MPU6050.ACCEL_SCALE[
self.afs_scale][1]
self.accel_scaled_z = self.accel_raw_z / MPU6050.ACCEL_SCALE[
self.afs_scale][1]
self.pitch = self.read_x_rotation(self.read_scaled_accel_x(),
self.read_scaled_accel_y(),
self.read_scaled_accel_z())
self.roll = self.read_y_rotation(self.read_scaled_accel_x(),
self.read_scaled_accel_y(),
self.read_scaled_accel_z())
def read_raw_data(self):
self.raw_gyro_data = I2CUtils.i2c_read_block(self.bus, self.address, MPU6050.GYRO_START_BLOCK, 6)
self.raw_accel_data = I2CUtils.i2c_read_block(self.bus, self.address, MPU6050.ACCEL_START_BLOCK, 6)
self.raw_temp_data = I2CUtils.i2c_read_block(self.bus, self.address, MPU6050.TEMP_START_BLOCK, 2)
self.gyro_raw_x = I2CUtils.twos_compliment(self.raw_gyro_data[MPU6050.GYRO_XOUT_H], self.raw_gyro_data[MPU6050.GYRO_XOUT_L])
self.gyro_raw_y = I2CUtils.twos_compliment(self.raw_gyro_data[MPU6050.GYRO_YOUT_H], self.raw_gyro_data[MPU6050.GYRO_YOUT_L])
self.gyro_raw_z = I2CUtils.twos_compliment(self.raw_gyro_data[MPU6050.GYRO_ZOUT_H], self.raw_gyro_data[MPU6050.GYRO_ZOUT_L])
self.accel_raw_x = I2CUtils.twos_compliment(self.raw_accel_data[MPU6050.ACCEL_XOUT_H], self.raw_accel_data[MPU6050.ACCEL_XOUT_L])
self.accel_raw_y = I2CUtils.twos_compliment(self.raw_accel_data[MPU6050.ACCEL_YOUT_H], self.raw_accel_data[MPU6050.ACCEL_YOUT_L])
self.accel_raw_z = I2CUtils.twos_compliment(self.raw_accel_data[MPU6050.ACCEL_ZOUT_H], self.raw_accel_data[MPU6050.ACCEL_ZOUT_L])
self.raw_temp = I2CUtils.twos_compliment(self.raw_temp_data[MPU6050.TEMP_OUT_H], self.raw_temp_data[MPU6050.TEMP_OUT_L])
# We convert these to radians for consistency and so we can easily combine later in the filter
self.gyro_scaled_x = math.radians(self.gyro_raw_x / MPU6050.GYRO_SCALE[self.fs_scale][1])
self.gyro_scaled_y = math.radians(self.gyro_raw_y / MPU6050.GYRO_SCALE[self.fs_scale][1])
self.gyro_scaled_z = math.radians(self.gyro_raw_z / MPU6050.GYRO_SCALE[self.fs_scale][1])
self.scaled_temp = self.raw_temp / 340 + 36.53
self.accel_scaled_x = self.accel_raw_x / MPU6050.ACCEL_SCALE[self.afs_scale][1]
self.accel_scaled_y = self.accel_raw_y / MPU6050.ACCEL_SCALE[self.afs_scale][1]
self.accel_scaled_z = self.accel_raw_z / MPU6050.ACCEL_SCALE[self.afs_scale][1]
self.pitch = self.read_x_rotation(self.read_scaled_accel_x(),self.read_scaled_accel_y(),self.read_scaled_accel_z())
self.roll = self.read_y_rotation(self.read_scaled_accel_x(),self.read_scaled_accel_y(),self.read_scaled_accel_z())
def read_raw_data(self):
self.raw_accel_data = I2CUtils.i2c_read_block(self.bus, self.address, ADXL345.ACCEL_START_BLOCK, 6)
self.accel_raw_x = I2CUtils.twos_compliment(self.raw_accel_data[ADXL345.ACCEL_XOUT_H], self.raw_accel_data[ADXL345.ACCEL_XOUT_L])
self.accel_raw_y = I2CUtils.twos_compliment(self.raw_accel_data[ADXL345.ACCEL_YOUT_H], self.raw_accel_data[ADXL345.ACCEL_YOUT_L])
self.accel_raw_z = I2CUtils.twos_compliment(self.raw_accel_data[ADXL345.ACCEL_ZOUT_H], self.raw_accel_data[ADXL345.ACCEL_ZOUT_L])
self.accel_scaled_x = self.accel_raw_x * ADXL345.ACCEL_SCALE
self.accel_scaled_y = self.accel_raw_y * ADXL345.ACCEL_SCALE
self.accel_scaled_z = self.accel_raw_z * ADXL345.ACCEL_SCALE
def read_raw_data(self):
self.raw_data = I2CUtils.i2c_read_block(self.bus, self.address, HMC5883L.DATA_START_BLOCK, 6)
self.raw_x = I2CUtils.twos_compliment(self.raw_data[HMC5883L.DATA_XOUT_H], self.raw_data[HMC5883L.DATA_XOUT_L]) - self.x_offset
self.raw_y = I2CUtils.twos_compliment(self.raw_data[HMC5883L.DATA_YOUT_H], self.raw_data[HMC5883L.DATA_YOUT_L]) - self.y_offset
self.raw_z = I2CUtils.twos_compliment(self.raw_data[HMC5883L.DATA_ZOUT_H], self.raw_data[HMC5883L.DATA_ZOUT_L]) - self.z_offset
self.scaled_x = self.raw_x * HMC5883L.GAIN_SCALE[self.gain][2]
self.scaled_y = self.raw_y * HMC5883L.GAIN_SCALE[self.gain][2]
self.scaled_z = self.raw_z * HMC5883L.GAIN_SCALE[self.gain][2]
def read_raw_data(self):
self.raw_accel_data = I2CUtils.i2c_read_block(self.bus, self.address, ADXL345.ACCEL_START_BLOCK, 6)
self.accel_raw_x = I2CUtils.twos_compliment(self.raw_accel_data[ADXL345.ACCEL_XOUT_H], self.raw_accel_data[ADXL345.ACCEL_XOUT_L])
self.accel_raw_y = I2CUtils.twos_compliment(self.raw_accel_data[ADXL345.ACCEL_YOUT_H], self.raw_accel_data[ADXL345.ACCEL_YOUT_L])
self.accel_raw_z = I2CUtils.twos_compliment(self.raw_accel_data[ADXL345.ACCEL_ZOUT_H], self.raw_accel_data[ADXL345.ACCEL_ZOUT_L])
self.accel_scaled_x = self.accel_raw_x * ADXL345.ACCEL_SCALE
self.accel_scaled_y = self.accel_raw_y * ADXL345.ACCEL_SCALE
self.accel_scaled_z = self.accel_raw_z * ADXL345.ACCEL_SCALE
def __init__(self, bus, address, name, oss=3):
self.bus = bus
self.address = address
self.name = name
self.calibration = I2CUtils.i2c_read_block(bus, address, BMP085.CALIB_BLOCK_ADDRESS, BMP085.CALIB_BLOCK_SIZE)
self.oss = oss
self.temp_wait_period = 0.004
self.pressure_wait_period = 0.0255 # Conversion time
def read_raw_data(self):
'''
Read the raw data from the sensor, scale it appropriately and store for later use
'''
self.raw_data = I2CUtils.i2c_read_block(self.bus, self.address, HMC5883L.DATA_START_BLOCK, 6)
self.raw_x = I2CUtils.twos_compliment(self.raw_data[HMC5883L.DATA_XOUT_H], self.raw_data[HMC5883L.DATA_XOUT_L]) - self.x_offset
self.raw_y = I2CUtils.twos_compliment(self.raw_data[HMC5883L.DATA_YOUT_H], self.raw_data[HMC5883L.DATA_YOUT_L]) - self.y_offset
self.raw_z = I2CUtils.twos_compliment(self.raw_data[HMC5883L.DATA_ZOUT_H], self.raw_data[HMC5883L.DATA_ZOUT_L]) - self.z_offset
self.scaled_x = self.raw_x * HMC5883L.GAIN_SCALE[self.gain][2]
self.scaled_y = self.raw_y * HMC5883L.GAIN_SCALE[self.gain][2]
self.scaled_z = self.raw_z * HMC5883L.GAIN_SCALE[self.gain][2]
def read_raw_data(self):
'''
Read the raw data from the sensor, scale it appropriately and store for later use
'''
self.raw_data = I2CUtils.i2c_read_block(self.bus, self.address, HMC5883L.DATA_START_BLOCK, 6)
self.raw_x = I2CUtils.twos_compliment(self.raw_data[HMC5883L.DATA_XOUT_H], self.raw_data[HMC5883L.DATA_XOUT_L]) - self.x_offset
self.raw_y = I2CUtils.twos_compliment(self.raw_data[HMC5883L.DATA_YOUT_H], self.raw_data[HMC5883L.DATA_YOUT_L]) - self.y_offset
self.raw_z = I2CUtils.twos_compliment(self.raw_data[HMC5883L.DATA_ZOUT_H], self.raw_data[HMC5883L.DATA_ZOUT_L]) - self.z_offset
self.scaled_x = self.raw_x * HMC5883L.GAIN_SCALE[self.gain][2]
self.scaled_y = self.raw_y * HMC5883L.GAIN_SCALE[self.gain][2]
self.scaled_z = self.raw_z * HMC5883L.GAIN_SCALE[self.gain][2]
def __init__(self, bus, address, name, oss=3):
'''
Constructor
'''
self.bus = bus
self.address = address
self.name = name
self.calibration = I2CUtils.i2c_read_block(bus, address, BMP085.CALIB_BLOCK_ADDRESS, BMP085.CALIB_BLOCK_SIZE)
self.oss = oss
self.temp_wait_period = 0.004
self.pressure_wait_period = 0.0255 # Conversion time