def __init__(self, i2c=None):
super().__init__('rtf_lis3mdl')
if i2c is None:
self.i2c = busio.I2C(board.SCL, board.SDA)
else:
self.i2c = i2c
self.lis = adafruit_lis3mdl.LIS3MDL(
self.i2c) # 155 Hz, 4 gauss, continuous
self.lis.data_rate = adafruit_lis3mdl.Rate.RATE_155_HZ
self.timer_mag = self.create_timer(1 / 100, self.callback)
self.pub_mag = self.create_publisher(MagneticField, 'magnetic', 10)
self.mags_bias = self.declare_parameter('mags_bias', [0., 0., 0.])
frame_id = self.declare_parameter('frame_id', "base_imu_link").value
self.mag_msg = MagneticField()
self.mag_msg.header.frame_id = frame_id
mc = 0.01
self.mag_msg.magnetic_field_covariance = [
mc, 0.0, 0.0, 0.0, mc, 0.0, 0.0, 0.0, mc
]
self.calibrate = False
def __init__(self):
# Define I2C:
self._i2c = board.I2C()
# Define touch:
# Initially, self._touches stores the pin used for a particular touch. When that touch is
# used for the first time, the pin is replaced with the corresponding TouchIn object.
# This saves a little RAM over using a separate read-only pin tuple.
# For example, after `clue.touch_2`, self._touches is equivalent to:
# [board.D0, board.D1, touchio.TouchIn(board.D2)]
self._touches = [board.D0, board.D1, board.D2]
self._touch_threshold_adjustment = 0
# Define buttons:
self._a = digitalio.DigitalInOut(board.BUTTON_A)
self._a.switch_to_input(pull=digitalio.Pull.UP)
self._b = digitalio.DigitalInOut(board.BUTTON_B)
self._b.switch_to_input(pull=digitalio.Pull.UP)
self._gamepad = gamepad.GamePad(self._a, self._b)
# Define LEDs:
self._white_leds = digitalio.DigitalInOut(board.WHITE_LEDS)
self._white_leds.switch_to_output()
self._pixel = neopixel.NeoPixel(board.NEOPIXEL, 1)
self._red_led = digitalio.DigitalInOut(board.L)
self._red_led.switch_to_output()
# Define audio:
self._mic = audiobusio.PDMIn(
board.MICROPHONE_CLOCK,
board.MICROPHONE_DATA,
sample_rate=16000,
bit_depth=16,
)
self._sample = None
self._samples = None
self._sine_wave = None
self._sine_wave_sample = None
# Define sensors:
# Accelerometer/gyroscope:
self._accelerometer = adafruit_lsm6ds.LSM6DS33(self._i2c)
# Magnetometer:
self._magnetometer = adafruit_lis3mdl.LIS3MDL(self._i2c)
# DGesture/proximity/color/light sensor:
self._sensor = adafruit_apds9960.apds9960.APDS9960(self._i2c)
# Humidity sensor:
self._humidity = adafruit_sht31d.SHT31D(self._i2c)
# Barometric pressure sensor:
self._pressure = adafruit_bmp280.Adafruit_BMP280_I2C(self._i2c)
# Create displayio object for passing.
self.display = board.DISPLAY
def detect_motion_lis3mdl(self):
try:
import board
import busio
import adafruit_lis3mdl
self.sensor_lis3mdl = adafruit_lis3mdl.LIS3MDL(
busio.I2C(board.SCL, board.SDA))
return True
except:
return False
def __init__(self):
# Define I2C:
self._i2c = cutebot._i2c
# Define buttons:
self._a = digitalio.DigitalInOut(board.BUTTON_A)
self._a.switch_to_input(pull=digitalio.Pull.UP)
self._b = digitalio.DigitalInOut(board.BUTTON_B)
self._b.switch_to_input(pull=digitalio.Pull.UP)
self._gamepad = gamepad.GamePad(self._a, self._b)
# Define LEDs:
self._white_leds = digitalio.DigitalInOut(board.WHITE_LEDS)
self._white_leds.switch_to_output()
self._pixel = neopixel.NeoPixel(board.NEOPIXEL, 1)
self._red_led = digitalio.DigitalInOut(board.L)
self._red_led.switch_to_output()
# Define audio:
self._mic = audiobusio.PDMIn(
board.MICROPHONE_CLOCK,
board.MICROPHONE_DATA,
sample_rate=16000,
bit_depth=16,
)
self._sample = None
self._samples = None
self._sine_wave = None
self._sine_wave_sample = None
# Define sensors:
# Accelerometer/gyroscope:
self._accelerometer = adafruit_lsm6ds.lsm6ds33.LSM6DS33(self._i2c)
# Magnetometer:
self._magnetometer = adafruit_lis3mdl.LIS3MDL(self._i2c)
# DGesture/proximity/color/light sensor:
self._sensor = adafruit_apds9960.apds9960.APDS9960(self._i2c)
# Humidity sensor:
self._humidity = adafruit_sht31d.SHT31D(self._i2c)
# Barometric pressure sensor:
self._pressure = adafruit_bmp280.Adafruit_BMP280_I2C(self._i2c)
# Create displayio object for passing.
self.display = board.DISPLAY
def magnetometer():
i2c = board.I2C() # uses board.SCL and board.SDA
sensor = adafruit_lis3mdl.LIS3MDL(i2c)
rospy.loginfo("Initializing mag publisher")
mag_pub = rospy.Publisher('/mag', MagneticField, queue_size=5)
rospy.loginfo("Publishing MagneticField at: " + mag_pub.resolved_name)
rospy.init_node('mag_node')
rate = rospy.Rate(10) # 50hz
while not rospy.is_shutdown():
mag_x, mag_y, mag_z = sensor.magnetic
mag_x, mag_y, mag_z = calibrate(mag_x, mag_y, mag_z)
rospy.loginfo('X:{0:10.2f}, Y:{1:10.2f}, Z:{2:10.2f} uT'.format(mag_x, mag_y, mag_z))
rospy.loginfo("")
mag = MagneticField()
mag.header.stamp = rospy.Time.now()
mag.header.frame_id = 'LIS3MDL Triple-axis Magnetometer'
mag.magnetic_field_covariance = 0
mag.magnetic_field = create_vector3(mag_x, mag_y, mag_z)
mag_pub.publish(mag)
rate.sleep()
"""This uses the Feather Sense as a Bluetooth LE sensor node."""
import time
import adafruit_ble_broadcastnet
import board
import adafruit_lsm6ds # accelerometer
import adafruit_sht31d # humidity sensor
import adafruit_bmp280 # barometric sensor
import adafruit_lis3mdl # magnetic sensor
i2c = board.I2C()
sense_accel = adafruit_lsm6ds.LSM6DS33(i2c)
sense_humid = adafruit_sht31d.SHT31D(i2c)
sense_barometric = adafruit_bmp280.Adafruit_BMP280_I2C(i2c)
sense_magnet = adafruit_lis3mdl.LIS3MDL(i2c)
print("This is BroadcastNet Feather Sense sensor:", adafruit_ble_broadcastnet.device_address)
while True:
measurement = adafruit_ble_broadcastnet.AdafruitSensorMeasurement()
measurement.temperature = sense_barometric.temperature
measurement.pressure = sense_barometric.pressure
measurement.relative_humidity = sense_humid.relative_humidity
measurement.acceleration = sense_accel.acceleration
measurement.magnetic = sense_magnet.magnetic
# print(measurement)
adafruit_ble_broadcastnet.broadcast(measurement)
time.sleep(60)
# import adafruit_apds9960.apds9960
import adafruit_lis3mdl
import adafruit_lsm6ds
import adafruit_ble_broadcastnet
print("This is BroadcastNet sensor:", adafruit_ble_broadcastnet.device_address)
i2c = board.I2C()
# Define sensors:
# Accelerometer/gyroscope:
lsm6ds = adafruit_lsm6ds.LSM6DS33(i2c)
# Magnetometer:
lis3mdl = adafruit_lis3mdl.LIS3MDL(i2c)
# DGesture/proximity/color/light sensor:
# TODO: How do we get the light level?
# apds9960 = adafruit_apds9960.apds9960.APDS9960(i2c)
# apds9960.enable_color = True
# Humidity sensor:
sht31d = adafruit_sht31d.SHT31D(i2c)
# Barometric pressure sensor:
bmp280 = adafruit_bmp280.Adafruit_BMP280_I2C(i2c)
while True:
measurement = adafruit_ble_broadcastnet.AdafruitSensorMeasurement()
measurement.temperature = (sht31d.temperature, bmp280.temperature)
""" Display magnetometer data once per second """
import time
import board
import busio
import adafruit_lis3mdl
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_lis3mdl.LIS3MDL(i2c)
while True:
mag_x, mag_y, mag_z = sensor.magnetic
print("X:{0:10.2f}, Y:{1:10.2f}, Z:{2:10.2f} uT".format(
mag_x, mag_y, mag_z))
print("")
time.sleep(1.0)
import adafruit_lsm6ds.lsm6ds33 # motion
import adafruit_lis3mdl # magnetometer
import adafruit_apds9960.apds9960 # light
core_service = CoreService()
last_update = 0
ble = BLERadio()
i2c = board.I2C()
# dummy_sensor = DummySensor()
battery = analogio.AnalogIn(board.VOLTAGE_MONITOR)
motion = adafruit_lsm6ds.lsm6ds33.LSM6DS33(i2c)
magnetometer = adafruit_lis3mdl.LIS3MDL(i2c)
light = adafruit_apds9960.apds9960.APDS9960(i2c)
light.enable_color = True
microphone = audiobusio.PDMIn(board.MICROPHONE_CLOCK, board.MICROPHONE_DATA,
sample_rate=16000, bit_depth=16)
def normalized_rms(values):
minbuf = int(sum(values) / len(values))
return int(math.sqrt(sum(float(sample - minbuf) *
(sample - minbuf) for sample in values) / len(values)))
adv = PhysBrykServerAdvertisement()
adv.complete_name = "PhysBrykAlpha"
while True:
# Advertise when not connected.
rad2deg = 180 / pi
thumb = False
bag = BagIt(Pickle)
hz = 20
# rate = Rate(hz)
i2c = busio.I2C(board.SCL, board.SDA, 100000)
# 'RANGE_1000_DPS', 'RANGE_125_DPS', 'RANGE_2000_DPS', 'RANGE_250_DPS', 'RANGE_4000_DPS', 'RANGE_500_DPS'
imu = LSM6DS33(i2c)
imu.accelerometer_range = AccelRange.RANGE_2G # pylint: disable=no-member
imu.gyro_range = GyroRange.RANGE_1000_DPS
lps = adafruit_lps2x.LPS22(i2c)
lis = adafruit_lis3mdl.LIS3MDL(i2c) # 155 Hz, 4 gauss, continuous
lis.data_rate = adafruit_lis3mdl.Rate.RATE_560_HZ
start = time.monotonic()
last = start
cnt = 0
m, p, t = 0, 0, 0
try:
while True:
# ts = time.time()
# ts = time.monotonic()
# dt = ts - last
# mhz = int(1/dt)
# last = ts
import board
import adafruit_lsm6ds
import adafruit_lis3mdl
import adafruit_apds9960.apds9960
import adafruit_sht31d
import adafruit_bmp280
import adafruit_rockblock
# RockBlock setup
uart = board.UART()
uart.baudrate = 19200
rb = adafruit_rockblock.RockBlock(uart)
# all the sensors
accelo = adafruit_lsm6ds.LSM6DS33(board.I2C())
magno = adafruit_lis3mdl.LIS3MDL(board.I2C())
prox = adafruit_apds9960.apds9960.APDS9960(board.I2C())
sht = adafruit_sht31d.SHT31D(board.I2C())
bmp = adafruit_bmp280.Adafruit_BMP280_I2C(board.I2C())
# build data
# can decode on other end with struct.unpack("<6fB5f", data)
data = struct.pack("3f", *accelo.acceleration)
data += struct.pack("3f", *magno.magnetic)
data += struct.pack("B", prox.proximity())
data += struct.pack("2f", sht.relative_humidity, sht.temperature)
data += struct.pack("3f", bmp.pressure, bmp.altitude, bmp.temperature)
# send data
rb.data_out = data
print("Talking to satellite...")
def main():
DEBUG = True
BOARD = True #flag indicating whether attached to a board.
try:
import board
except NotImplementedError:
# no board attached so mock sensors, services etc
import mock as mk
print('No valid board. Using mock sensors and services')
BOARD = False
# sensors
import adafruit_lsm6ds.lsm6ds33 # motion
import adafruit_lis3mdl # magnetometer
import adafruit_apds9960.apds9960 # EMR
import time
dummy_sensor = DummySensor()
if BOARD: # valid board present use real sensors
import analogio
battery = analogio.AnalogIn(board.VOLTAGE_MONITOR)
motion = adafruit_lsm6ds.lsm6ds33.LSM6DS33(board.I2C())
magnet = adafruit_lis3mdl.LIS3MDL(board.I2C())
emr = adafruit_apds9960.apds9960.APDS9960(board.I2C())
# emr.enable_proximity = True
emr.enable_color = True
# Create and initialize the available services.
ble = BLERadio()
battery_svc = BatteryService()
motion_svc = MotionService()
magnet_svc = MagnetService()
emr_svc = EMRService()
dummy_svc = DummyService()
adv = PhysBrykServerAdvertisement()
else: #use mock sensors and services
# Accelerometer and gyro
motion = mk.Sensor()
magnet = mk.Sensor()
emr = mk.Sensor()
battery = mk.Sensor()
ble = mk.Service()
battery_svc = mk.Service()
motion_svc = mk.Service()
magnet_svc = mk.Service()
emr_svc = mk.Service()
dummy_svc = mk.Service()
adv = mk.Service()
ble.name = "PhysBryk_Alpha"
last_update = 0
while True:
# Advertise when not connected.
ble.start_advertising(adv)
if DEBUG: print('Connecting...')
while not ble.connected:
pass
ble.stop_advertising()
if DEBUG:
print('Connected!')
while ble.connected:
now_msecs = time.monotonic_ns() // 1000000 # pylint: disable=no-member
if now_msecs - last_update >= MEASUREMENT_PERIOD:
battery_svc.voltage = battery_svc.get_voltage(battery)
motion_svc.acceleration = motion.acceleration # m/s/s
motion_svc.gyro = motion.gyro # rad/s
magnet_svc.magnetic = magnet.magnetic # microT
emr_svc.intensity = emr_svc.get_lux(emr.color_data)
emr_svc.spectrum = emr.color_data
emr_svc.proximity = emr.proximity
dummy_svc.value = 42
dummy_sensor.update()
last_update = now_msecs
if DEBUG:
print(f'motion acceleration: {motion_svc.acceleration}')
print(f'motion gyro: {motion_svc.gyro}')
print(f'magnet magnet: {magnet_svc.magnetic}')
print(f'emr intensity: {emr_svc.intensity}')
print(f'emr spectrum: {emr_svc.spectrum}')
print(f'emr proximity: {emr_svc.proximity}')
print(f'battery: {battery_svc.voltage}')
print(f'dummy: {dummy_svc.value}')
if not BOARD:
for s in mk.sensors:
s.update()
import busio
import adafruit_blinka
from adafruit_bus_device.i2c_device import I2CDevice
import adafruit_lis3mdl as lis3mdl
import time
from math import atan2, degrees
i2c = busio.I2C()
sensor = lis3mdl.LIS3MDL(i2c, address=30) # lis address = 30 decimal
def vector_2_degrees(x, y):
angle = degrees(atan2(y, x))
if angle < 0:
angle += 360
return angle
def get_heading(_sensor):
magnet_x, magnet_y, _ = _sensor.magnetic
return vector_2_degrees(magnet_x, magnet_y)
while True:
print("heading: {:.2f} degrees".format(get_heading(sensor)))
time.sleep(0.2)
