def accel_filter_range(self):
try:
self._read(self.buf1, 0x1D, self.mpu_addr)
res = self.buf1[0] & 7
except OSError:
raise MPUException(self._I2Cerror)
return res
def accel_filter_range(self, filt):
if filt in range(8):
try:
self._write(filt, 0x1D, self.mpu_addr)
except OSError:
raise MPUException(self._I2Cerror)
else:
raise ValueError('Filter coefficient must be between 0 and 7')
def _magsetup(self):
try:
self._write(0x0F, 0x0A, self._mag_addr)
self._read(self.buf3, 0x10, self._mag_addr)
self._write(0, 0x0A, self._mag_addr)
self._write(0x16, 0x0A, self._mag_addr)
except OSError:
raise MPUException(self._I2Cerror)
mag_x = (0.5 * (self.buf3[0] - 128)) / 128 + 1
mag_y = (0.5 * (self.buf3[1] - 128)) / 128 + 1
mag_z = (0.5 * (self.buf3[2] - 128)) / 128 + 1
return (mag_x, mag_y, mag_z)
def _mag_callback(self):
try:
self._read(self.buf1, 0x02, self._mag_addr)
if self.buf1[0] & 1 == 0:
return self._mag
self._read(self.buf6, 0x03, self._mag_addr)
self._read(self.buf1, 0x09, self._mag_addr)
except OSError:
raise MPUException(self._I2Cerror)
if self.buf1[0] & 0x08 > 0:
self._mag_stale_count += 1
return
self._mag._ivector[1] = bytes_toint(self.buf6[1], self.buf6[0])
self._mag._ivector[0] = bytes_toint(self.buf6[3], self.buf6[2])
self._mag._ivector[2] = -bytes_toint(self.buf6[5], self.buf6[4])
scale = 0.15
self._mag._vector[
0] = self._mag._ivector[0] * self.mag_correction[0] * scale
self._mag._vector[
1] = self._mag._ivector[1] * self.mag_correction[1] * scale
self._mag._vector[
2] = self._mag._ivector[2] * self.mag_correction[2] * scale
self._mag_stale_count = 0
def temperature(self):
try:
self._read(self.buf2, 0x41, self.mpu_addr)
except OSError:
raise MPUException(self._I2Cerror)
return bytes_toint(self.buf2[0], self.buf2[1]) / 333.87 + 21