import board
import busio
import adafruit_bno055
import serial
# Use these lines for I2C
# i2c = busio.I2C(board.SCL, board.SDA)
# sensor = adafruit_bno055.BNO055_I2C(i2c)
# Use these lines for UART except Linux devices
# uart = busio.UART(board.TX, board.RX)
# sensor = adafruit_bno055.BNO055_UART(uart)
# Use these lines for UART on Linux (e.g., for Raspberry Pi)
uart = serial.Serial("/dev/ttyS0", baudrate=9600, timeout=1000)
sensor = adafruit_bno055.BNO055_UART(uart)
last_val = 0xFFFF
sensor.mode = 0x08
AXIS_REMAP_X = 0x00
AXIS_REMAP_Y = 0x01
AXIS_REMAP_Z = 0x02
AXIS_REMAP_POSITIVE = 0x00
AXIS_REMAP_NEGATIVE = 0x01
remap = (0x01, 0x00, 0x02, 0x00, 0x01, 0x00)
sensor.axis_remap = remap
def temperature():
global last_val # pylint: disable=global-statement
def __init__(self):
self.uart = serial.Serial("/dev/serial0")
self.sensor = adafruit_bno055.BNO055_UART(self.uart)
self.theta = 0
def activate(self, quiet=False):
self.uart = serial.Serial(self.port)
self.dev = None
sys.stdout.write('\tEstablishing connection to BNO055')
t0 = time.time()
while self.dev is None:
try:
self.dev = adafruit_bno055.BNO055_UART(self.uart)
except:
time.sleep(0.1)
sys.stdout.write(".")
sys.stdout.flush()
if time.time() - t0 > 10:
raise pyLabDataLoggerIOError(
"Timeout attempting to talk to BNO055 - Try power cycling")
sys.stdout.write('\n')
sys.stdout.flush()
self.name = "BNO055 9-axis sensor"
# These are constants that we don't expect to change during a run. Record at startup only.
nonvars = ['axis_remap','accel_bandwidth','accel_mode','accel_range','gyro_bandwidth','gyro_mode','gyro_range',\
'magnet_mode','magnet_operation_mode','magnet_rate','mode','offsets_accelerometer','offsets_gyroscope',\
'offsets_magnetometer','radius_accelerometer','radius_magnetometer','calibrated', 'use_external_crystal',\
'external_crystal', 'calibration_status']
self.config['channel_names'] = [
x for x in dir(self.dev) if ((x[0] != '_') and (not x in nonvars))
]
self.params['raw_units'] = [''] * len(self.config['channel_names'])
self.config['eng_units'] = [''] * len(self.config['channel_names'])
self.config['scale'] = [1.] * len(self.config['channel_names'])
self.config['offset'] = [0.] * len(self.config['channel_names'])
self.params['n_channels'] = len(self.config['channel_names'])
for i in range(self.params['n_channels']):
c = self.config['channel_names'][i]
if 'temperature' in c: self.params['raw_units'][i] = 'C'
if 'acceleration' in c: self.params['raw_units'][i] = 'm/s^2'
if 'magne' in c: self.params['raw_units'][i] = 'microtesla'
if 'gyro' in c: self.params['raw_units'][i] = 'deg/s'
if 'gravity' in c: self.params['raw_units'][i] = 'm/s^2'
self.config['eng_units'][i] = self.params['raw_units'][i]
for v in nonvars:
vv = np.nan
t0 = time.time()
while (np.any(np.isnan(vv)) and ((time.time() - t0) <= 3)):
try:
vv = getattr(self.dev, v)
except:
time.sleep(.025)
if not self.quiet: print("\t%s = %s" % (v, vv))
self.params[v] = vv
self.driverConnected = True
# Make first query to get units, description, etc.
self.query(reset=True)
if not quiet: self.pprint()
return