def __init__( self ):
''' '''
self._mpu = MPU9250(
address_ak=AK8963_ADDRESS,
address_mpu_master=MPU9050_ADDRESS_68, # In 0x68 Address
address_mpu_slave=None,
bus=1,
gfs=GFS_1000,
afs=AFS_8G,
mfs=AK8963_BIT_16,
mode=AK8963_MODE_C100HZ)
# self._mpu.calibrate()
self._mpu.configure() # Apply the settings to the registers.
a = self._mpu.readAccelerometerMaster()
g = self._mpu.readGyroscopeMaster()
m = self._mpu.readMagnetometerMaster()
self._ypr = mwick.updateypr(g[0], g[1], g[2], a[0], a[1], a[2], m[0], m[1], m[2], 0.1)
self._prevtime = perf_counter()
self._minext = 0.0
self._maxext = 0.0
def __init__(self):
super().__init__()
self.sumGyroZ = 0
self.mpuComVal = 0.0004
self.mpu = MPU9250(
address_ak=AK8963_ADDRESS,
address_mpu_master=MPU9050_ADDRESS_68, # In 0x68 Address
address_mpu_slave=None,
bus=1,
gfs=GFS_1000,
afs=AFS_8G,
mfs=AK8963_BIT_16,
mode=AK8963_MODE_C100HZ)
self.mpu.configure() # Apply the settings to the registers.
# #enter accBiases:
#print("accBiases", self.calibrateAccOffset(2000))
self.accBiases = [
0.4439825439453125, 0.352824462890625, -1.9188690185546875
]
#gyroCalibration
calibrationData = self.calibrateGyro(2000)
self.gyroBiases = calibrationData[0:3]
self.sumGyroX, self.sumGyroY = calibrationData[3]
#print(self.sumGyroX,self.sumGyroY)
#set Mpu Frequency
self.freq = 100
def __init__(self):
self._mpu = MPU9250(
address_ak=AK8963_ADDRESS,
address_mpu_master=MPU9050_ADDRESS_68, # In 0x68 Address
address_mpu_slave=None,
bus=1,
gfs=GFS_1000,
afs=AFS_8G,
mfs=AK8963_BIT_16,
mode=AK8963_MODE_C8HZ)
self._mpu.configure()
self._mpu.abias = [
-0.14861613948170732, 0.04269483612804878, 0.0027867759146340543
]
self._mpu.gbias = [
-1.9508920064786586, -0.5945345250571646, -0.7832224776105182
]
self._mpu.magbias = [
0.7719651240778002, 0.826867816091954, 2.0192982456140354
]
self._mpu.mbias = [
42.44004407051282, 19.4276365995116, -94.42522512210013
]
class Gyro:
mpu = MPU9250(
address_ak=AK8963_ADDRESS,
address_mpu_master=MPU9050_ADDRESS_68, # In 0x68 Address
address_mpu_slave=None,
bus=1,
gfs=GFS_1000,
afs=AFS_8G,
mfs=AK8963_BIT_16,
mode=AK8963_MODE_C100HZ)
def __init__(self):
super().__init__()
self.mpu2 = self.mpu
def getOrientation(self):
self.mpu2.configure # Apply the settings to the registers.
result = self.mpu2.readMagnetometerMaster()
degree = atan2(result[1], result[0]) * (180 / pi)
return (str(degree))
def __init__(self, calibrate=False):
self.mpu = MPU9250(address_ak=AK8963_ADDRESS,
address_mpu_master=MPU9050_ADDRESS_68,
address_mpu_slave=None,
bus=1,
gfs=GFS_1000,
afs=AFS_4G,
mfs=AK8963_BIT_16,
mode=AK8963_MODE_C100HZ)
if calibrate:
# self.mpu.calibrate()
self.mpu.calibrateMPU6500()
self.mpu.configure()
self.mpu.writeMaster(CONFIG, 0x04)
def __init__(self):
self.mpu9250 = MPU9250(
address_ak=AK8963_ADDRESS,
address_mpu_master=MPU9050_ADDRESS_68,
address_mpu_slave=None,
bus=1,
gfs=GFS_1000,
afs=AFS_8G,
mfs=AK8963_BIT_16,
mode=AK8963_MODE_C100HZ,
)
# Status Values
self.is_updating = False
self.has_position = False
self.position_stable = False
self.is_mag_calibrating = False
self.mag_calibrated = False
self.mpu_calibrated = False
# Position Values
self.roll_raw = 0.0
self.pitch_raw = 0.0
self.yaw_raw = 0.0
self.roll_filtered = 0.0
self.pitch_filtered = 0.0
self.yaw_filtered = 0.0
self.roll_smoothed = 0.0
self.pitch_smoothed = 0.0
self.yaw_smoothed = 0.0
# How many degrees of variance can be tolerated in stability detection?
self.stability_threshold = 0.5 # @TODO: Make configurable
# Manual Mag Calibration
# @TODO: Make configurable
self.mpu9250.mbias = [
20.7454594017094,
10.134935897435899,
-11.132967032967032,
]
def __init__(self,
addr=0x68,
poll_delay=0.0166,
sensor=SENSOR_MPU6050,
dlp_setting=DLP_SETTING_DISABLED):
self.sensortype = sensor
if self.sensortype == SENSOR_MPU6050:
from mpu6050 import mpu6050 as MPU6050
self.sensor = MPU6050(addr)
if (dlp_setting > 0):
self.sensor.bus.write_byte_data(self.sensor.address,
CONFIG_REGISTER, dlp_setting)
else:
from mpu9250_jmdev.registers import AK8963_ADDRESS, GFS_1000, AFS_4G, AK8963_BIT_16, AK8963_MODE_C100HZ
from mpu9250_jmdev.mpu_9250 import MPU9250
self.sensor = MPU9250(
address_ak=AK8963_ADDRESS,
address_mpu_master=addr, # In 0x68 Address
address_mpu_slave=None,
bus=1,
gfs=GFS_1000,
afs=AFS_4G,
mfs=AK8963_BIT_16,
mode=AK8963_MODE_C100HZ)
if (dlp_setting > 0):
self.sensor.writeSlave(CONFIG_REGISTER, dlp_setting)
self.sensor.calibrateMPU6500()
self.sensor.configure()
self.accel = {'x': 0., 'y': 0., 'z': 0.}
self.gyro = {'x': 0., 'y': 0., 'z': 0.}
self.mag = {'x': 0., 'y': 0., 'z': 0.}
self.temp = 0.
self.poll_delay = poll_delay
self.on = True
def setup(self):
mpu = MPU9250(
address_ak=AK8963_ADDRESS,
address_mpu_master=MPU9050_ADDRESS_68, # In 0x68 Address
address_mpu_slave=None,
bus=1,
gfs=GFS_1000,
afs=AFS_8G,
mfs=AK8963_BIT_16,
mode=AK8963_MODE_C100HZ)
# mpu.calibrate() # Calibrate sensors
mpu.configure() # Apply the settings to the registers.
mpu.calibrateMPU6500() # Calibrate sensors
mpu.configure(
) # The calibration function resets the sensors, so you need to reconfigure them
abias = mpu.abias # Get the master accelerometer biases
abias_slave = mpu.abias_slave # Get the slave accelerometer biases
gbias = mpu.gbias # Get the master gyroscope biases
gbias_slave = mpu.gbias_slave # Get the slave gyroscope biases
mpu.abias = [0, 0, 0] # Set the master accelerometer biases
mpu.abias_slave = [0, 0, 0] # Set the slave accelerometer biases
mpu.gbias = [0, 0, 0] # Set the master gyroscope biases
mpu.gbias_slave = [0, 0, 0] # Set the slave gyroscope biases
return mpu
from mpu9250_jmdev.mpu_9250 import MPU9250
def get_roll_pitch(mpu):
x, y, z = mpu.readAccelerometerMaster()
roll = atan2(x, z)
pitch = atan2(y, z)
return roll, pitch
if __name__ == "__main__":
mpu = MPU9250(
address_ak=AK8963_ADDRESS,
address_mpu_master=MPU9050_ADDRESS_68, # In 0x68 Address
address_mpu_slave=None,
bus=1,
gfs=GFS_1000,
afs=AFS_4G,
mfs=AK8963_BIT_16,
mode=AK8963_MODE_C100HZ)
mpu.calibrate()
mpu.configure()
while True:
print("|.....MPU9250 in 0x68 Address.....|")
print("Accelerometer", mpu.readAccelerometerMaster())
print("Gyroscope", mpu.readGyroscopeMaster())
print("Magnetometer", mpu.readMagnetometerMaster())
print("Temperature", mpu.readTemperatureMaster())
def GY91():
'''
from time import *
from colorama import init, Fore, Back, Style
from mpu9250_jmdev.registers import *
from mpu9250_jmdev.mpu_9250 import MPU9250
import os
'''
os.system('clear')
counter = 0
hr = 0
min = 0
sec = 0
# Script for have a time's follow up
sec += 1
if sec == 60:
min += 1
sec = 0
if min == 60:
hr += 1
min = 0
mpu = MPU9250(
address_ak=AK8963_ADDRESS,
address_mpu_master=MPU9050_ADDRESS_68, # In 0x68 Address
address_mpu_slave=None,
bus=1,
gfs=GFS_1000,
afs=AFS_8G,
mfs=AK8963_BIT_16,
mode=AK8963_MODE_C100HZ)
mpu.configure()
while True:
watch = f'{hr}:{min}:{sec}'
accelerometer = mpu.readAccelerometerMaster()
gyroscope = mpu.readGyroscopeMaster()
magnetometer = mpu.readMagnetometerMaster()
temperature = mpu.readTemperatureMaster()
#Accelerometer sorted values if [0][1][2] are X,Y,Z axis respectively
xA = round(accelerometer[0], 6)
yA = round(accelerometer[1], 6)
zA = round(accelerometer[2], 6)
outA = [xA, yA, zA]
#Gyroscope sorted values if [0][1][2] are X,Y,Z axis respectively
xG = round(gyroscope[0], 6)
yG = round(gyroscope[1], 6)
zG = round(gyroscope[2], 6)
outG = [xG, yG, zG]
#Magnetometer sorted values if [0][1][2] are X,Y,Z axis respectively
xM = round(magnetometer[0], 6)
yM = round(magnetometer[1], 6)
zM = round(magnetometer[2], 6)
outM = [xM, yM, zM]
try:
print('\t#.....MPU9250 in 0x68 Address at ' + Fore.GREEN + f'{watch}' + Style.RESET_ALL + '.....#\n')
print(Back.WHITE + Fore.BLACK + "Accelerometer: " + str(outA) + Style.RESET_ALL)
print(Back.WHITE + Fore.BLACK + "Gyroscope: " + str(outG) + Style.RESET_ALL)
print(Back.WHITE + Fore.BLACK + "Magnetometer: " + str(outM) + Style.RESET_ALL)
print(Back.WHITE + Fore.BLACK + "(C) Temperature: " + str(round(temperature, 6)) + Style.RESET_ALL )
print('\n')
counter += 1
sleep(1)
- Giroscopio
- Magnetómetro
- Presión
- Temperatura
'''
#Configurar desde Rasp con algunos de los siguientes:
#https://pypi.org/project/mpu9250-jmdev/
#http://www.pibits.net/code/raspberry-pi-and-bmp280-sensor-example.php
#https://makersportal.com/blog/2019/11/11/raspberry-pi-python-accelerometer-gyroscope-magnetometer#simple-plots
#MPU9250
import time
from mpu9250_jmdev.registers import *
from mpu9250_jmdev.mpu_9250 import MPU9250
mpu = MPU9250(
address_ak=AK8963_ADDRESS,
address_mpu_master=MPU9050
# Use it any way you want, profit or free, provided it fits in the licenses of its associated works.
# BMP280
# This code is designed to work with the BMP280_I2CS I2C Mini Module available from ControlEverything.com.
# https://www.controleverything.com/content/Barometer?sku=BMP280_I2CSs#tabs-0-product_tabset-2
import smbus
import time
# Get I2C bus
bus = smbus.SMBus(1)
# BMP280 address, 0x76(118)
# Read data back from 0x88(136), 24 bytes
b1 = bus.read_i2c_block_data(0x76, 0x88, 24)
# Convert the data
# Temp coefficents
dig_T1 = b1[1] * 256 + b1[0]
def __init__(self, address_ak, address_mpu_master, address_mpu_slave, bus, gfs, afs, mfs, mode):
Thread.__init__(self)
self.mpu = MPU9250(address_ak, address_mpu_master, address_mpu_slave, bus, gfs, afs, mfs, mode)
def scan(self, scan_prefix='', timeout=0, revisit=1):
"""Execute BLE beacon scan.
Args:
scan_prefix (str): Scan output file prefix. Final output file name
will be appended with first scan start timestamp. Defaults to
configuration value.
timeout (int, float): Time (s) for which to advertise beacon. If
specified as None then advertises till user commanded stop via
control file. Defaults to configuration value.
revisit (int): Time interval (s) between consecutive scans.
Defaults to 1.
Returns:
Filtered advertisements organized in a pandas.DataFrame by address
first, timestamp second, and then remainder of advertisement
payload, e.g., UUID, major, minor, etc.
"""
#Printing Test
bucket_start_time = datetime.now()
print(bucket_start_time)
# Parse inputs
if scan_prefix == '':
scan_prefix = self.scan_prefix
if timeout == 0:
timeout = self.timeout
# Update control file and scan output file
with open(self.__control_file, 'w') as f:
f.write("0")
scan_file = Path(f"{scan_prefix}_{datetime.now():%Y%m%dT%H%M%S}.csv")
# Start advertising
self.__logger.info(f"Starting beacon scanner with timeout {timeout}.")
self.__control_file_handle = self.__control_file.open(mode='r+')
run = True
timestamps = defaultdict(list)
scans = defaultdict(list)
scan_count = 0
current_bucket_id = 0
#9250
mpu = MPU9250(
address_ak=AK8963_ADDRESS,
address_mpu_master=MPU9050_ADDRESS_68, # In 0x68 Address
address_mpu_slave=None,
bus=1,
gfs=GFS_1000,
afs=AFS_8G,
mfs=AK8963_BIT_16,
mode=AK8963_MODE_C100HZ)
mpu.configure()
mpu.calibrate()
print("Done Calibration")
mpu.configure()
start_time = time.monotonic()
while run:
scan_count += 1
self.__logger.debug(f"Performing scan #{scan_count} at revisit "
f"{self.revisit}.")
ble_scan = self.__service.scan(self.revisit)
diff = datetime.now() - bucket_start_time
bucket_id = diff.seconds // TIME_INTERVAL
if ble_scan:
accel = mpu.readAccelerometerMaster()
gyro = mpu.readMagnetometerMaster()
mag = mpu.readGyroscopeMaster()
if current_bucket_id != bucket_id:
print("New bucket created")
current_bucket_id = bucket_id
scans[current_bucket_id].append([ble_scan, accel, gyro, mag])
timestamps[current_bucket_id].append(datetime.now())
# Stop advertising based on either timeout or control file
if timeout is not None:
if (time.monotonic() - start_time) > timeout:
self.__logger.debug("Beacon scanner timed out.")
run = False
self.__control_file_handle.seek(0)
control_flag = self.__control_file_handle.read()
if control_flag != "0":
self.__logger.debug("Beacon scanner control flag set to stop.")
run = False
self.__logger.info("Stopping beacon scanner.")
# Cleanup
self.__control_file_handle.close()
with self.__control_file.open('w') as f:
f.write("0")
# Process, filter, and output received scans
advertisements = self.process_scans(scans, timestamps)
advertisements = self.filter_advertisements(advertisements)
advertisements.to_csv(scan_file, index_label='SCAN')
return advertisements
