def __init__(self):
threading.Thread.__init__(self)
self.ADDRESS_DEVICE = 0x5A
self.ADDRESS_OBJECT1 = 0x07
self.sensor = I2C.Device(self.ADDRESS_DEVICE, 1)
self.corriendo = True
self.temperturaOrgano = None
def __init__(self, address=__INA219_ADDRESS, debug=False):
# self.i2c = Adafruit_I2C(address, debug=False)
self.i2c = I2C.Device(address, 1)
self.address = address
self.debug = debug
self.ina219SetCalibration_32V_2A()
def __init__(self, address=0x18, bus=1, debug=False):
self.isDebug = debug
self.debug("Initialising LIS3DH")
self.i2c = I2C.Device(address, busnum=bus)
self.address = address
try:
val = self.i2c.readU8(self.REG_WHOAMI)
if val!=self.DEVICE_ID:
raise Exception("Device ID incorrect - expected 0x%X, got 0x%X at address 0x%X" % (self.DEVICE_ID, val, self.address))
self.debug("Successfully connected to LIS3DH at address 0x%X" % (self.address))
except Exception as e:
print "Error establishing connection with LIS3DH"
print e
# Enable all axis
self.setAxisStatus(self.AXIS_X, True)
self.setAxisStatus(self.AXIS_Y, True)
self.setAxisStatus(self.AXIS_Z, True)
# Set 400Hz refresh rate
self.setDataRate(self.DATARATE_400HZ)
self.setHighResolution()
self.setBDU()
self.setRange(self.RANGE_16G)
def begin(self, addr=0x70, bus=-1):
"""Initialize the Trellis at the provided I2C address and bus number."""
self._i2c = I2C.Device(addr, bus)
self._i2c.writeList(0x21, []) # Turn on the oscillator.
self.blinkRate(HT16K33_BLINK_OFF)
self.setBrightness(15) # Max brightness.
self._i2c.writeList(0xA1, []) # Turn on interrupt, active high.
def __init__(self, address):
#Setup the I2C component
self.i2c = I2C.Device(0x76, 2)
#Verify the ID
if (self.ID() != 0x60):
print "ERROR! Got an invalid ID: " + hex(self.ID())
#Perform a soft reset
self.SoftReset()
#set data acquisition options
self.i2c.write8(self.CTRL_HUMIDITY_REG,
0x01) #x1 humidity oversampling
self.i2c.write8(
self.CTRL_MEAS_REG,
0xAB) # 10101011 - 16x pressure, 2x temperature, normal mode
self.i2c.write8(self.CONFIG_REG,
0x08) # 0001000 - filter 16, t_standby 0.5ms
#Read in calibration data
print "Initialization complete. Waiting for first valid measurement."
time.sleep(0.007125) #sleep 7.125ms for acquisition
self.GetCalibrationValues()
[p, t, h] = self.GetUncompensatedValues()
while p == t:
time.sleep(0.5)
[p, t, h] = self.GetUncompensatedValues()
print "Sensor ready."
def htu21df_read():
# https://www.adafruit.com/product/1899
# https://github.com/adafruit/Adafruit_HTU21DF_Library/
# https://github.com/dalexgray/RaspberryPI_HTU21DF/
import Adafruit_GPIO.I2C as I2C
temp_read = 0xE3
hum_read = 0xE5
write_reg = 0xE6
soft_reset = 0xFE
htu_addy = 0x40
bus = 0
array = [0x00, 0x00]
dev0 = I2C.Device(htu_addy, bus)
dev0.write8(soft_reset,
write_reg) # does this actually reset it? prly not....
time.sleep(0.2)
array = dev0.readList(temp_read, 2)
t0 = (array[0] * 256.0) + array[1]
temp = ((t0 * 175.72) / 65536) - 46.85
array = dev0.readList(hum_read, 2)
h0 = (array[0] * 256.0) + array[1]
hum = ((h0 * 125) / 65536) - 6
return (temp, hum)
def ad9577_init(self):
self.i2c = I2C.Device(AD9577_I2C_ADDR, 1)
self.i2c.write8(0x40, 0x02) # enable i2c, set EnI2C on register C0
self.i2c.write8(
0x3A, 0x0f
) # enable CH2 and CH3, LVDS on CH2 and CH3, CMOS for CH0 and CH1 on register DR1
self.i2c.write8(0x3B, 0x00) # enable refout, set PDRefOut on DR2 to 0
self.i2c.write8(0x11, 0x03) # power down CH0 and CH1
# fpfd = 26 MHz
# fout = fpfd * n / (v * d)
# vco from 2.15 GHz to 2.55 GHz
# n is 80 to 131
# v from 2 to 6
# d from 1 to 31
# configure ppl1 (int mode)
self.i2c.write8(0x18,
0x0a) # set n to 90 in register AF0 (vco of 2340 MHz)
self.i2c.write8(0x22, 0x8d) # set v0 to 4, d0 to 13 on register ADV0
self.i2c.write8(0x23, 0x8d) # set v1 to 4, d1 to 13 on register ADV1
# configure pll2 (int mode)
self.i2c.write8(0x1C,
0x05) # set n to 85 in register BF3 (vco of 2210 MHz)
self.i2c.write8(0x25, 0x4d) # set v2 to 2, d2 to 13 on register BDV0
self.i2c.write8(0x26, 0x4d) # set v2 to 2, d2 to 13 on register BDV1
# finish configuration
self.i2c.write8(0x1F, 0x00)
self.i2c.write8(0x1F, 0x01) # force new acquisition by toggling NewAcq
self.i2c.write8(0x1F, 0x00)
def __init__(self, address=0x18, bus=-1):
log.debug("Initialising LIS3DH")
self.i2c = I2C.Device(address, busnum=bus)
self.address = address
try:
val = self.i2c.readU8(self.REG_WHOAMI)
if val != self.DEVICE_ID:
raise Exception(
"Device ID incorrect - expected 0x%X, got 0x%X at address 0x%X"
% (self.DEVICE_ID, val, self.address))
log.debug("Successfully connected to LIS3DH at address 0x%X" %
self.address)
except Exception:
raise Exception("Error establishing connection with LIS3DH")
# Enable all axis
self.set_axis_status(self.AXIS_X, True)
self.set_axis_status(self.AXIS_Y, True)
self.set_axis_status(self.AXIS_Z, True)
# Set 400Hz refresh rate
self.set_data_rate(self.DATARATE_400HZ)
self.set_high_resolution()
self.set_bdu()
self.set_range(self.RANGE_2G)
def __init__(self, address=I2C_DEFAULT, bus=BUS_NUMBER,
g_range=RANGE_DEFAULT, datarate=DATARATE_DEFAULT,
debug=False):
self.isDebug = debug
self.debug("Initialising LIS3DH")
# self.i2c = Adafruit_I2C(address, busnum=bus)
self.i2c = I2C.Device(address, busnum=bus)
self.address = address
try:
val = self.i2c.readU8(self.REG_WHOAMI)
if val != self.DEVICE_ID:
raise Exception(("Device ID incorrect - expected 0x{:x}, " +
"got 0x{:x} at address 0x{:x}").format(self.DEVICE_ID, val, self.address))
self.debug(("Successfully connected to LIS3DH " +
"at address 0x{:x}").format(self.address))
except Exception as e:
print("Error establishing connection with LIS3DH")
print(e)
# Enable all axis
self.setAxisStatus(self.AXIS_X, True)
self.setAxisStatus(self.AXIS_Y, True)
self.setAxisStatus(self.AXIS_Z, True)
# Set refresh rate (default: 400Hz)
self.setDataRate(datarate)
self.setHighResolution()
self.setBDU()
self.setRange(g_range)
def __init__(self, deviceAddr, busNum, interface, bitSize):
"""
this class initiate and inject the value into the class,implementing
dependency injection pattern
"""
self.sensorConfig["interface"] = interface
self.sensorConfig["bitSize"] = bitSize
self.sensorConfig["i2c"] = I2C.Device(deviceAddr, busNum)
def setup_i2c(self):
if not self.device_on:
try:
self._i2c = I2C.Device(TEPERATURE_ADDRESS, busnum=1)
self.device_on = True
except:
logging.error('[Temperature sensor] cannot start device')
self.device_on = False
def __init__(self):
#step 1: set cmd for both accel and gyro
self.Device = I2C.Device(address=0x69,
busnum=2) #i2c address and busNum in BB
#self.Device.writeList(0x7E,bytearray(b'\x11\x15\x18'))
self.Device.write8(0x7E, 0x11) #write to gyro
self.Device.write8(0x7E, 0x15) #write to accel
self.Device.write8(0x7E, 0x18) #write to accel
time.sleep(0.1) #sensor need time of 100ms to set
def create_device(address, busnum):
# Mock the smbus module and inject it into the global namespace so the
# Adafruit_GPIO.I2C module can be imported. Also inject a mock SMBus
# instance to be returned by smbus.SMBus function calls.
smbus = Mock()
mockbus = MockSMBus()
smbus.SMBus.return_value = mockbus
with patch.dict('sys.modules', {'smbus': smbus}):
import Adafruit_GPIO.I2C as I2C
return (I2C.Device(address, busnum), smbus, mockbus)
def __init__(self, deviceAddr=0x47, busNum=2, interface=None, bitSize=10):
super().__init__(deviceAddr, busNum, interface, bitSize)
self.device = I2C.Device(address=0x47, busnum=2)
self.device.writeList(
0x01, bytearray(b'\xc4\x10')
) #configure the mode (refer to datasheet configuration table)
#0x01 - config adr
#0xc4 - full scale, 100ms conv. time, contiue measuring
#0x10 - latch
time.sleep(0.1) #wait for 100ml for the sensor to take place
def __init__(self, address=0x48, mode=1, debug=False):
self.i2c = I2C.Device(address, busnum=1)
self.address = address
self.debug = debug
# Make sure the specified mode is in the appropriate range
if ((mode < 0) | (mode > 3)):
if (self.debug):
print "Invalid Mode: Using STANDARD by default"
self.mode = self.__BMP085_STANDARD
else:
self.mode = mode
def __init__(self, mode=BMP085_STANDARD, address=BMP085_I2CADDR,
busnum=I2C.get_default_bus()):
self._logger = logging.getLogger('Adafruit_BMP.BMP085')
# Check that mode is valid.
if mode not in [BMP085_ULTRALOWPOWER, BMP085_STANDARD, BMP085_HIGHRES, BMP085_ULTRAHIGHRES]:
raise ValueError('Unexpected mode value {0}. Set mode to one of BMP085_ULTRALOWPOWER, BMP085_STANDARD, BMP085_HIGHRES, or BMP085_ULTRAHIGHRES'.format(mode))
self._mode = mode
# Create I2C device.
self._device = I2C.Device(address, busnum)
# Load calibration values.
self._load_calibration()
def __init__(self, address=SI1145_ADDR, busnum=I2C.get_default_bus()):
self._logger = logging.getLogger('SI1145')
# Create I2C device.
self._device = I2C.Device(address, busnum)
# reset device
self._reset()
# Load calibration values.
self._load_calibration()
def __init__(self, mode=TMP007_CFG_16SAMPLE, address=TMP007_I2CADDR,
busnum=I2C.get_default_bus()):
self._logger = logging.getLogger('TMP007')
# Check that mode is valid.
if mode not in [TMP007_CFG_1SAMPLE, TMP007_CFG_2SAMPLE, TMP007_CFG_4SAMPLE, TMP007_CFG_8SAMPLE, TMP007_CFG_16SAMPLE]:
raise ValueError('Unexpected mode value {0}. Set mode to one of TMP007_CFG_1SAMPLE, TMP007_CFG_2SAMPLE, TMP007_CFG_4SAMPLE, TMP007_CFG_8SAMPLE or TMP007_CFG_16SAMPLE'.format(mode))
self._mode = mode
# Create I2C device.
self._device = I2C.Device(address, busnum)
# Load calibration values.
self._load_calibration()
def __init__(self, addr=0x39, debug=False):
self._debug = debug
if (self._debug == True): print "__init__"
self._addr = addr
self._tsl2561Initialised = False
self._tsl2561AutoGain = False
self._tsl2561IntegrationTime = self.TSL2561_INTEGRATIONTIME_13MS
self._tsl2561Gain = self.TSL2561_GAIN_1X
self._i2c = I2C.Device(self._addr, 1)
self._luminosity = 0
self._broadband = 0
self._ir = 0
if (self._debug == True): print "__init___end"
def __init__(self, address, busnum=I2C.get_default_bus()):
"""Initialize MCP230xx at specified I2C address and bus number. If bus
is not specified it will default to the appropriate platform detected bus.
"""
self._i2c = I2C.Device(address, busnum)
# Assume starting in ICON.BANK = 0 mode (sequential access).
# Compute how many bytes are needed to store count of GPIO.
self.gpio_bytes = int(math.ceil(self.NUM_GPIO / 8.0))
# Buffer register values so they can be changed without reading.
self.iodir = [0x00
] * self.gpio_bytes # Default direction to all inputs.
self.gppu = [0x00] * self.gpio_bytes # Default to pullups disabled.
self.gpio = [0x00] * self.gpio_bytes
# Write current direction and pullup buffer state.
self.write_iodir()
self.write_gppu()
def __init__(self, address=SI1145_ADDR, busnum=I2C.get_default_bus()):
try:
self._logger = logging.getLogger('SI1145')
# Create I2C device.
self._device = I2C.Device(address, busnum)
#reset device
self._reset()
# Load calibration values.
self._load_calibration()
isFound = True
except:
logging.info("si1145 not found.")
def __init__(self, address=LTC2946_I2CADDR, i2c=None):
# Create I2C device.
if i2c is None:
raise ValueError('Error I2C object is required.')
# Create device, catch permission errors
self.i2c = i2c
self.address = address
result = self.address in self.i2c.scan()
if result is False:
print("Unable to communicate with sensor, check connections.")
exit()
import Adafruit_GPIO.I2C as I2C
self._device = I2C.Device(address, i2c)
def __init__(self, address=SI1145_ADDR, busnum=I2C.get_default_bus()):
''' (default [I2C address of SI1145=0x60], [I2C bus number])
intitalizes to default mode (UV,Vis,IR and Prox 1)
enables all interupts and starts in autonomous mode'''
self._logger = logging.getLogger('SI1145')
# Create I2C device.
self._device = I2C.Device(address, busnum)
#reset device
self._reset()
# Load calibration values, default settings, enables interupts
# and starts in autonomous mode.
self._load_setup()
def __init__(self, mode=BMP085_STANDARD, address=BMP085_I2CADDR,
busnum=I2C.get_default_bus()):
self._logger = logging.getLogger('Adafruit_BMP.BMP085')
# Check that mode is valid.
if mode not in [BMP085_ULTRALOWPOWER, BMP085_STANDARD, BMP085_HIGHRES, BMP085_ULTRAHIGHRES]:
raise ValueError('Unexpected mode value {0}. Set mode to one of BMP085_ULTRALOWPOWER, BMP085_STANDARD, BMP085_HIGHRES, or BMP085_ULTRAHIGHRES'.format(mode))
self._mode = mode
# Create I2C device.
self._device = I2C.Device(address, busnum)
#(chip_id, version) = bus.read_i2c_block_data(addr, 0xD0, 2)
chip_id = self._device.readU8(0xD0)
version = self._device.readU8(0xD0 + 1)
self._logger.debug('Chip Id: {0} Version: {1}'.format(chip_id, version))
# Load calibration values.
self._load_calibration()
self._compute_polynomials()
self.temperature=None
def __init__(self,
width,
height,
rst,
dc=None,
sclk=None,
din=None,
cs=None,
gpio=None,
spi=None,
i2c_bus=I2C.get_default_bus(),
i2c_address=SSD1306_I2C_ADDRESS):
self._log = logging.getLogger('Adafruit_SSD1306.SSD1306Base')
self._spi = None
self._i2c = None
self.width = width
self.height = height
self._pages = height / 8
self._buffer = [0] * (width * self._pages)
# Default to platform GPIO if not provided.
self._gpio = gpio if gpio is not None else GPIO.get_platform_gpio()
# Setup reset pin.
self._rst = rst
self._gpio.setup(self._rst, GPIO.OUT)
# Handle hardware SPI
if spi is not None:
self._log.debug('Using hardware SPI')
self._spi = spi
# Handle software SPI
elif sclk is not None and din is not None and cs is not None:
self._log.debug('Using software SPI')
self._spi = SPI.BitBang(self._gpio, sclk, din, None, cs)
# Handle hardware I2C
elif i2c_bus is not None:
self._log.debug('Using hardware I2C')
self._i2c = I2C.Device(i2c_address, i2c_bus)
else:
raise ValueError('Unable to determine if using SPI or I2C.')
# Initialize DC pin if using SPI.
if self._spi is not None:
if dc is None:
raise ValueError('DC pin must be provided when using SPI.')
self._dc = dc
self._gpio.setup(self._dc, GPIO.OUT)
def __init__(self, address=_TSL2591_ADDR, i2c=None):
self.i2c = i2c
self.address = address
self._integration_time = 0
self._gain = 0
self._device = I2C.Device(address,i2c)
# Verify the chip ID.
result = self.address in self.i2c.scan()
if result is False:
#raise RuntimeError('Failed to find TSL2591, check wiring!')
print("Unable to communicate with sensor, check connections.")
exit()
#if self._device.readU8(_TSL2591_REGISTER_DEVICE_ID) != 0x50:
# raise RuntimeError('Failed to find TSL2591, check wiring!')
# Set default gain and integration times.
self.gain = GAIN_MED
self.integration_time = INTEGRATIONTIME_100MS
# Put the device in a powered on state after initialization.
self.enable()
def start_daq(time_step,num_sample): # create an instance of a sensor connected to i2c sensor = I2C.Device(MPUADDR, BUSNUM) # wake up the sensor sensor.write8(PWR_MGMT_1, 0) ax_list = [] ay_list = [] az_list = [] dt_list = [] for i in range(num_sample): ax_list.append(sensor.readS16(ACC_X, False) / ACC_SF) ay_list.append(sensor.readS16(ACC_Y, False) / ACC_SF) az_list.append(sensor.readS16(ACC_Z, False) / ACC_SF) dt_list.append(datetime.datetime.now()) time.sleep(time_step) return dt_list,ax_list,ay_list,az_list
def __init__(self, address, num_gpios, busnum=-1):
assert num_gpios >= 0 and num_gpios <= 16, "Number of GPIOs must be between 0 and 16"
# busnum being negative will have Adafruit_I2C figure out what is appropriate for your Pi
self.i2c = I2C.Device(address=address, busnum=busnum)
self.address = address
self.num_gpios = num_gpios
# set defaults
self.i2c.write8(MCP23017_IODIRA, 0xFF) # all inputs on port A
self.i2c.write8(MCP23017_IODIRB, 0xFF) # all inputs on port B
# read the current direction of all pins into instance variable
# self.direction used for assertions in a few methods methods
self.direction = self.i2c.readU8(MCP23017_IODIRA)
self.direction |= self.i2c.readU8(MCP23017_IODIRB) << 8
# disable the pull-ups on all ports
self.i2c.write8(MCP23017_GPPUA, 0x00)
self.i2c.write8(MCP23017_GPPUB, 0x00)
# clear the IOCON configuration register, which is chip default
self.i2c.write8(MCP23017_IOCON, 0x00)
##### interrupt defaults
# disable interrupts on all pins by default
self.i2c.write8(MCP23017_GPINTENA, 0x00)
self.i2c.write8(MCP23017_GPINTENB, 0x00)
# interrupt on change register set to compare to previous value by default
self.i2c.write8(MCP23017_INTCONA, 0x00)
self.i2c.write8(MCP23017_INTCONB, 0x00)
# interrupt compare value registers
self.i2c.write8(MCP23017_DEFVALA, 0x00)
self.i2c.write8(MCP23017_DEFVALB, 0x00)
# clear any interrupts to start fresh
self.i2c.readU8(MCP23017_GPIOA)
self.i2c.readU8(MCP23017_GPIOB)
'''
# Debugging Options
verbose = False
log_output_location = "./scuttle_debugging.log"
# ADC Settings
valid_adc_pins = ("AIN0", "AIN1", "AIN2", "AIN3")
# IMU Settings
# Compass Settings
comapss_i2c = Adafruit_I2C.Device(0x1e, 1) # I2C Bus Device Location
compass_write_registers = (0x00, 0x02) # Registers to Write Data to
compass_write_registers_data = (0x70, 0x01) # Data to Write to Registers
# Rotary Encoder Settings
right_encoder = Adafruit_I2C.Device(
0x40, 1
) # Power the Rotary Encoder Address Select Pin to change the address of the left encoder
left_encoder = Adafruit_I2C.Device(
0x41, 1
) # Power pin A0 to set address to 0x41 (default) or power pin A1 to set address to 0x42
# Motor Controller Settings
def __init__(self, address=0x5A):
self._i2c = I2C.Device(address, busnum=1)
