import time
import board
from adafruit_lsm6ds import LSM6DSOX as LSM6DS
# To use LSM6DS33, comment out the LSM6DSOX import line
# and uncomment the next line
# from adafruit_lsm6ds import LSM6DS33 as LSM6DS
# To use ISM330DHCX, comment out the LSM6DSOX import line
# and uncomment the next line
# from adafruit_lsm6ds import ISM330DHCX as LSM6DS
from adafruit_lis3mdl import LIS3MDL
accel_gyro = LSM6DS(board.I2C())
mag = LIS3MDL(board.I2C())
while True:
acceleration = accel_gyro.acceleration
gyro = accel_gyro.gyro
magnetic = mag.magnetic
print("Acceleration: X:{0:7.2f}, Y:{1:7.2f}, Z:{2:7.2f} m/s^2".format(
*acceleration))
print(
"Gyro X:{0:7.2f}, Y:{1:7.2f}, Z:{2:7.2f} rad/s".format(*gyro))
print("Magnetic X:{0:7.2f}, Y:{1:7.2f}, Z:{2:7.2f} uT".format(
*magnetic))
print("")
time.sleep(0.5)
# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT
""" Test Each Data Rate """
# pylint: disable=no-member
import time
import board
import busio
from adafruit_lis3mdl import LIS3MDL, Rate, PerformanceMode
i2c = busio.I2C(board.SCL, board.SDA)
sensor = LIS3MDL(i2c)
current_rate = Rate.RATE_155_HZ
sensor.data_rate = current_rate
start_time = time.monotonic()
print("data_rate is", Rate.string[sensor.data_rate], "HZ")
print("performance_mode is", PerformanceMode.string[sensor.performance_mode])
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))
# sleep for enough time so that we'll read the value twice per measurement
sleep_time = 1 / (Rate.string[current_rate] * 2)
time.sleep(sleep_time)
# exit loop after a second to prevent hard to stop loops with short delays
if (time.monotonic() - start_time) > 1:
break
import time
import board
from adafruit_lsm6ds.lsm6dsox import LSM6DSOX as LSM6DS
# To use LSM6DS33, comment out the LSM6DSOX import line
# and uncomment the next line
# from adafruit_lsm6ds.lsm6ds33 import LSM6DS33 as LSM6DS
# To use ISM330DHCX, comment out the LSM6DSOX import line
# and uncomment the next line
# from adafruit_lsm6ds.lsm330dhcx import ISM330DHCX as LSM6DS
from adafruit_lis3mdl import LIS3MDL
i2c = board.I2C() # uses board.SCL and board.SDA
accel_gyro = LSM6DS(i2c)
mag = LIS3MDL(i2c)
while True:
acceleration = accel_gyro.acceleration
gyro = accel_gyro.gyro
magnetic = mag.magnetic
print(
"Acceleration: X:{0:7.2f}, Y:{1:7.2f}, Z:{2:7.2f} m/s^2".format(*acceleration)
)
print("Gyro X:{0:7.2f}, Y:{1:7.2f}, Z:{2:7.2f} rad/s".format(*gyro))
print("Magnetic X:{0:7.2f}, Y:{1:7.2f}, Z:{2:7.2f} uT".format(*magnetic))
print("")
time.sleep(0.5)
from adafruit_lsm6ds.lsm6dsox import LSM6DSOX as LSM6DS
from adafruit_lis3mdl import LIS3MDL
from scipy.spatial.transform import Rotation as R
import board
import numpy as np
import time
import math
accel_gyro = LSM6DS(board.I2C())
magnetic = LIS3MDL(board.I2C())
GRAVITY = 9.802 # The gravity acceleration in New York City
# Calibration outcomes
GYRO_X_OFFSET = 0.01465514
GYRO_Y_OFFSET = 0.00873888
GYRO_Z_OFFSET = -0.01110159
ACCEL_X_OFFSET = 0.11090005
ACCEL_Y_OFFSET = -0.11273523
ACCEL_Z_OFFSET = 9.89793281
magn_ellipsoid_center = np.array([-0.71882994, -1.47720803, 2.13276772])
magn_ellipsoid_transform = np.array([[ 0.99220953, -0.01757624, -0.03020328],
[-0.01757624, 0.81745802, -0.02563071],
[-0.03020328, -0.02563071, 0.8702554]])
time_former = 0
q = [1, 0, 0, 0]
def main():
# pylint: disable=too-many-locals, too-many-statements
i2c = busio.I2C(board.SCL, board.SDA)
gyro_accel = LSM6DSOX(i2c)
magnetometer = LIS3MDL(i2c)
key_listener = KeyListener()
key_listener.start()
############################
# Magnetometer Calibration #
############################
print("Magnetometer Calibration")
print("Start moving the board in all directions")
print("When the magnetic Hard Offset values stop")
print("changing, press ENTER to go to the next step")
print("Press ENTER to continue...")
while not key_listener.pressed:
pass
mag_x, mag_y, mag_z = magnetometer.magnetic
min_x = max_x = mag_x
min_y = max_y = mag_y
min_z = max_z = mag_z
while not key_listener.pressed:
mag_x, mag_y, mag_z = magnetometer.magnetic
print("Magnetometer: X: {0:8.2f}, Y:{1:8.2f}, Z:{2:8.2f} uT".format(
mag_x, mag_y, mag_z))
min_x = min(min_x, mag_x)
min_y = min(min_y, mag_y)
min_z = min(min_z, mag_z)
max_x = max(max_x, mag_x)
max_y = max(max_y, mag_y)
max_z = max(max_z, mag_z)
offset_x = (max_x + min_x) / 2
offset_y = (max_y + min_y) / 2
offset_z = (max_z + min_z) / 2
field_x = (max_x - min_x) / 2
field_y = (max_y - min_y) / 2
field_z = (max_z - min_z) / 2
print("Hard Offset: X: {0:8.2f}, Y:{1:8.2f}, Z:{2:8.2f} uT".format(
offset_x, offset_y, offset_z))
print("Field: X: {0:8.2f}, Y:{1:8.2f}, Z:{2:8.2f} uT".format(
field_x, field_y, field_z))
print("")
time.sleep(0.01)
mag_calibration = (offset_x, offset_y, offset_z)
print(
"Final Magnetometer Calibration: X: {0:8.2f}, Y:{1:8.2f}, Z:{2:8.2f} uT"
.format(offset_x, offset_y, offset_z))
#########################
# Gyroscope Calibration #
#########################
gyro_x, gyro_y, gyro_z = gyro_accel.gyro
min_x = max_x = gyro_x
min_y = max_y = gyro_y
min_z = max_z = gyro_z
print("")
print("")
print("Gyro Calibration")
print("Place your gyro on a FLAT stable surface.")
print("Press ENTER to continue...")
while not key_listener.pressed:
pass
for _ in range(SAMPLE_SIZE):
gyro_x, gyro_y, gyro_z = gyro_accel.gyro
print("Gyroscope: X: {0:8.2f}, Y:{1:8.2f}, Z:{2:8.2f} rad/s".format(
gyro_x, gyro_y, gyro_z))
min_x = min(min_x, gyro_x)
min_y = min(min_y, gyro_y)
min_z = min(min_z, gyro_z)
max_x = max(max_x, gyro_x)
max_y = max(max_y, gyro_y)
max_z = max(max_z, gyro_z)
offset_x = (max_x + min_x) / 2
offset_y = (max_y + min_y) / 2
offset_z = (max_z + min_z) / 2
noise_x = max_x - min_x
noise_y = max_y - min_y
noise_z = max_z - min_z
print("Zero Rate Offset: X: {0:8.2f}, Y:{1:8.2f}, Z:{2:8.2f} rad/s".
format(offset_x, offset_y, offset_z))
print("Rad/s Noise: X: {0:8.2f}, Y:{1:8.2f}, Z:{2:8.2f} rad/s".
format(noise_x, noise_y, noise_z))
print("")
gyro_calibration = (offset_x, offset_y, offset_z)
print("Final Zero Rate Offset: X: {0:8.2f}, Y:{1:8.2f}, Z:{2:8.2f} rad/s".
format(offset_x, offset_y, offset_z))
print("")
print(
"------------------------------------------------------------------------"
)
print("Final Magnetometer Calibration Values: ", mag_calibration)
print("Final Gyro Calibration Values: ", gyro_calibration)
import time
import subprocess
import board
import busio
from adafruit_lis3mdl import LIS3MDL
from adafruit_lsm6ds.lsm6ds33 import LSM6DS33
i2c = busio.I2C(board.SCL, board.SDA)
senseMag = LIS3MDL(i2c)
senseGyro = LSM6DS33(i2c)
cmd = "hostname -I | cut -d' ' -f1"
IP = subprocess.check_output(cmd, shell=True).decode("utf-8")
while True:
print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" %
(senseGyro.acceleration))
print("Gyro X:%.2f, Y: %.2f, Z: %.2f radians/s" % (senseGyro.gyro))
print("")
#mag_x, mag_y, mag_z = senseMag.magnetic
print("Magnetic X:{0:10.2f}, Y:{1:10.2f}, Z:{2:10.2f} uT" % (
senseMag.magnetic))
time.sleep(0.5)