def poll_th():
#data polling thread is main thread
#setup gyro and altimeter
alt = BMP180.BMP180(POWER_ON_ALT)
#motion = LSM9DS0.LSM9DS0()
gyro = LSM9DS0.LSM9DS0_GYRO()
accel = LSM9DS0.LSM9DS0_ACCEL()
f_log = open(DATA_LOG, 'a')
f_log.write("starting log\n")
last_measure = POWER_ON_ALT
#sensors are up, start the xbee thread
start_new_thread(xbee_th, ())
while True:
try:
dict['time'] = datetime.datetime.utcnow()
dict['agl'] = alt.read_agl()
dict['temp'] = alt.read_temperature()
last_measure = dict['agl']
(x, y, z) = accel.read_accel()
dict['a_x'] = x
dict['a_y'] = y
dict['a_z'] = z
(x, y, z) = gyro.read()
dict['g_x'] = x
dict['g_y'] = y
dict['g_z'] = z
(x, y, z) = accel.read_magnetometer()
dict['m_x'] = x
dict['m_y'] = y
dict['m_z'] = z
dict['new_dat_flag'] = 1
f_log.write(str(dict) + "\n")
except IOError as e:
try:
logging.exception('Got I2C exception on main handler' +
str(dict['time']))
alt = BMP180.BMP180(last_measure)
accel = LSM9DS0.LSM9DS0_ACCEL()
gyro = LSM9DS0.LSM9DS0_GYRO()
except:
logging.exception('Gotexception on recovery attempt')
except KeyboardInterrupt:
break
except:
logging.exception('Got an exception on main handler')
import LSM9DS0
from time import sleep
import sys
import datetime
f_log = open('/home/osu_rocketry/python/high_rev.out', 'r')
while True:
try:
gyro = LSM9DS0.LSM9DS0_GYRO(LSM9DS0.LSM9DS0_GYRODR_95HZ | LSM9DS0.LSM9DS0_GYRO_CUTOFF_1, LSM9DS0.LSM9DS0_GYROSCALE_2000DPS)
(x, y, z) = gyro.read()
accel = LSM9DS0.LSM9DS0_ACCEL(LSM9DS0.LSM9DS0_GYRODR_95HZ | LSM9DS0.LSM9DS0_GYRO_CUTOFF_1, LSM9DS0.LSM9DS0_GYROSCALE_2000DPS)
(x_mag, y_mag, z_mag) = accel.read_magnetometer()
t = datetime.datetime.utcnow()
dat = str(t) + "x: " + str(x) + " y: " + str(y) + " z: " + str(z)
dat_mag = str(t) + "x_mag:" + str(x_mag) + "y_mag:" + str(y_mag) + "z_mag:" + str(z_mag)
print "Gyro:"
print dat
print "Magnetometer:"
print dat_mag
sleep(1)
f_log.write(dat)
except KeyboardInterrupt:
f_log.close()
sys.exit()
except IOError:
i = 1
def poll_th():
#data polling thread is main thread
#setup gyro and altimeter
alt = BMP180.BMP180(POWER_ON_ALT)
#motion = LSM9DS0.LSM9DS0()
gyro = LSM9DS0.LSM9DS0_GYRO(
LSM9DS0.LSM9DS0_GYRODR_95HZ | LSM9DS0.LSM9DS0_GYRO_CUTOFF_1,
LSM9DS0.LSM9DS0_GYROSCALE_2000DPS)
accel = LSM9DS0.LSM9DS0_ACCEL()
f_log = open(DATA_LOG, 'a')
f_log.write("starting log\n")
#sensor are up, start the xbee and gps threads
start_new_thread(xbee_th, ())
start_new_thread(gps_th, ())
# start_new_thread(log_th, ())
while True:
try:
trx_data['time'] = datetime.datetime.utcnow()
trx_data['agl'] = alt.read_agl()
trx_data['temp'] = alt.read_temperature()
(x, y, z) = accel.read_accel()
trx_data['a_x'] = x
trx_data['a_y'] = y
trx_data['a_z'] = z
(x, y, z) = gyro.read()
trx_data['g_x'] = x
trx_data['g_y'] = y
trx_data['g_z'] = z
f_log.write(str(trx_data) + "\n")
except IOError as e:
try:
logging.exception('Got I2C exception on main handler' +
str(trx_data['time']))
err_lock.acquire()
trx_data['xbee_errors'] += 1
error_trace['error'] += e + '\n'
err_lock.release()
alt = BMP180.BMP180(trx_data['agl'])
accel = LSM9DS0.LSM9DS0_ACCEL()
gyro = LSM9DS0.LSM9DS0_GYRO(
LSM9DS0.LSM9DS0_GYRODR_95HZ
| LSM9DS0.LSM9DS0_GYRO_CUTOFF_1,
LSM9DS0.LSM9DS0_GYROSCALE_2000DPS)
except:
logging.exception('Gotexception on recovery attempt')
err_lock.acquire()
trx_data['xbee_errors'] += 1
error_trace[
'error'] += 'error in recovery attempt of ' + e + '\n'
err_lock.release()
except KeyboardInterrupt:
break
except:
logging.exception('Got an exception on main handler')
def poll_th():
#data polling thread is main thread
#setup gyro and altimeter
alt = BMP180.BMP180(POWER_ON_ALT)
#motion = LSM9DS0.LSM9DS0()
gyro = LSM9DS0.LSM9DS0_GYRO(
LSM9DS0.LSM9DS0_GYRODR_95HZ | LSM9DS0.LSM9DS0_GYRO_CUTOFF_1,
LSM9DS0.LSM9DS0_GYROSCALE_2000DPS)
accel = LSM9DS0.LSM9DS0_ACCEL()
f_log = open(DATA_LOG, 'a')
f_log.write("starting log\n")
last_measure = POWER_ON_ALT
#sensor are up, start the xbee and gps threads
start_new_thread(xbee_th, ())
start_new_thread(gps_th, ())
#start_new_thread(log_th, ())
#for servo testing
#remove this part after testing
#TODO
#start_new_thread(nav_th, ())
while True:
try:
dict['time'] = datetime.datetime.utcnow()
temp_agl = alt.read_agl()
if abs(dict['agl'] - last_measure) < 60:
dict['agl'] = temp_agl
dict['temp'] = alt.read_temperature()
#act on altimeter, in case accel fails in some way
if (dict['agl'] > MIN_ALT) and (last_measure >
MIN_ALT) and (not dict['arm_cut']):
dict['arm_cut'] = 1
f_log.write("armed cutter\n")
if dict['arm_cut'] and (not dict['start_cut']):
if dict['agl'] <= CHUTE_DEPLOY and last_measure <= CHUTE_DEPLOY:
dict['start_cut'] = 1
start_new_thread(nav_th, ())
last_measure = temp_agl
(x, y, z) = accel.read_accel()
dict['a_x'] = x
dict['a_y'] = y
dict['a_z'] = z
(x, y, z) = gyro.read()
dict['g_x'] = x
dict['g_y'] = y
dict['g_z'] = z
(x, y, z) = accel.read_magnetometer()
dict['m_x'] = x
dict['m_y'] = y
dict['m_z'] = z
dict['new_dat_flag'] = 1
f_log.write(str(dict) + "\n")
except IOError as e:
try:
logging.exception('Got I2C exception on main handler' +
str(dict['time']))
err_lock.acquire()
dict['xbee_errors'] += 1
error_trace['error'] += e + '\n'
err_lock.release()
alt = BMP180.BMP180(last_measure)
accel = LSM9DS0.LSM9DS0_ACCEL()
gyro = LSM9DS0.LSM9DS0_GYRO()
except:
logging.exception('Gotexception on recovery attempt')
err_lock.aqcuire()
dict['xbee_errors'] += 1
error_trace[
'error'] += 'error in recovery attempt of ' + e + '\n'
err_lock.release()
except KeyboardInterrupt:
break
except:
logging.exception('Got an exception on main handler')
#RTC = DS3231( 0x68, "DS3231") #BotTempAddr = 0x4F #TopTempAddr = 0x4B #InertialAddr = 0x1D # SAGAN MODULE from PCF85263A import * RTC = PCF85263A( 0x51, "PCF85263A") BotTempAddr = 0x48 TopTempAddr = 0x49 InertialAddr = 0x1E #One object for each sensor on the device BotTemp = LM75B(BotTempAddr, "LM75B") TopTemp = LM75B(TopTempAddr, "LM75B") Inertial = LSM9DS0(InertialAddr, "LSM9DSO") Barometer = BME280( 0x76, "BME280") IR_RGB_ALS = APDS_9250( 0x52, "APDS-9250") UV = VEML6070( 0x38, "VEML6070") Arducam = Camera() #Generic sensor information class, describes the sensor class SenInfo: Sensor = None Parameters = None #Defines the class def __init__(self, Sensor, Parameters): self.Sensor = Sensor self.Parameters = Parameters
import LSM9DS0 g = LSM9DS0.LSM9DS0_GYRO() #that is it! isn't it so cool! :)
def poll_th():
#data polling thread is main thread
#setup gyro and altimeter
alt = BMP180.BMP180(POWER_ON_ALT)
gyro = LSM9DS0.LSM9DS0_GYRO(LSM9DS0.LSM9DS0_GYRODR_95HZ | LSM9DS0.LSM9DS0_GYRO_CUTOFF_1, LSM9DS0.LSM9DS0_GYROSCALE_2000DPS)
accel = LSM9DS0.LSM9DS0_ACCEL()
f_log = open(DATA_LOG, 'a')
f_log.write("starting log\n")
agl_arr = [0] * 10
i = 0
#sensor are up, start the xbee and gps threads
start_new_thread(xbee_th, ())
start_new_thread(gps_th, ())
#start_new_thread(log_th, ())
#for servo testing
#remove this part after testing
#TODO
#start_new_thread(nav_th, ())
while True:
try:
dict['time'] = datetime.datetime.utcnow()
dict['agl'] = round(alt.read_agl(), 2)
dict['temp'] = alt.read_temperature()
#act on altimeter, in case accel fails in some way
agl_arr[i] = dict['agl']
agl_avg = sum(agl_arr)/10
dict['agl_avg'] = agl_avg
i += 1
if i == 10:
i = 0
if PAYLOAD == 1:
if (agl_avg > MIN_ALT) and (not dict['arm_cut']):
dict['arm_cut'] = 1
f_log.write("armed cutter\n")
if dict['arm_cut'] and (not dict['start_cut']):
if agl_avg <= CHUTE_DEPLOY:
dict['start_cut'] = 1
start_new_thread(nav_th, ())
(x, y, z) = accel.read_accel()
dict['a_x'] = round(x, 5)
dict['a_y'] = round(y, 5)
dict['a_z'] = round(z, 5)
(x, y, z) = gyro.read()
dict['g_x'] = round(x, 5)
dict['g_y'] = round(y, 5)
dict['g_z'] = round(z, 5)
(x, y, z) = accel.read_magnetometer()
dict['m_x'] = round(x, 5)
dict['m_y'] = round(y, 5)
dict['m_z'] = round(z, 5)
#dict['new_dat_flag'] = 1
f_log.write(str(dict) + "\n")
#f_log.write("track:" + str(dict['track']) + " speed:" + str(dict['speed']) + "\n")
except IOError as e:
try:
logging.exception('Got I2C exception on main handler' + str(dict['time']))
err_lock.acquire()
dict['xbee_errors'] += 1
error_trace['error'] += e + '\n'
err_lock.release()
alt = BMP180.BMP180(last_measure)
accel = LSM9DS0.LSM9DS0_ACCEL()
gyro = LSM9DS0.LSM9DS0_GYRO()
except:
logging.exception('Gotexception on recovery attempt')
err_lock.aqcuire()
dict['xbee_errors'] += 1
error_trace['error'] += 'error in recovery attempt of ' + e + '\n'
err_lock.release()
except KeyboardInterrupt:
break
except:
logging.exception('Got an exception on main handler')