def get_accel_mag():
theDict = {}
i2c = busio.I2C(board.SCL, board.SDA)
theDict["magnetic"] = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c).magnetic
theDict["acceleration"] = adafruit_lsm303_accel.LSM303_Accel(
i2c).acceleration
return theDict
def open(self):
i2c_busio = busio.I2C(board.SCL, board.SDA)
self.sensor_mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c_busio)
self.sensor_accel = adafruit_lsm303_accel.LSM303_Accel(i2c_busio)
i2c_luma = luma_i2c(port=1, address=0x3c)
self.lcd = sh1106(i2c_luma, width=128, height=64)
self.font = ImageFont.truetype("FreeSans.ttf", 16)
print("Opened interface")
def init_magnetometer_accelerometer(configuration: Configuration):
"""Initialize the sensor for magnetic and acceleration"""
assignments = configuration.get_pin_assignments("lsm303")
if not assignments:
return None, None
i2c = busio.I2C(assignments.get("scl"), assignments.get("sda"))
mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c)
accel = adafruit_lsm303_accel.LSM303_Accel(i2c)
return mag, accel
def __init__(self,path):
self.i2c=busio.I2C(board.SCL,board.SDA)
self.accel=adafruit_lsm303_accel.LSM303_Accel(self.i2c)
self.mag=adafruit_lsm303dlh_mag.LSM303DLH_Mag(self.i2c)
# Creation d'une base de donnees
self.conn=sqlite3.connect(path + 'Compas_' + str(time.time()) + '.db')
self.c=self.conn.cursor()
#c.execute("DROP TABLE CARBOT")
self.c.execute('''CREATE TABLE Compas (time REAL, acc_x REAL, acc_y REAL,acc_z REAL,mag_x REAL,mag_y REAL,mag_z REAL);''')
def anglesCompas() : #init LSM303DHL i2c = busio.I2C(board.SCL, board.SDA) mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c) # angle between x and y alphaxy = math.atan2(mag.magnetic[0],mag.magnetic[1]) rxy = math.sqrt(mag.magnetic[0]**2+mag.magnetic[1]**2) #angle between z and plan xy alphaz = math.atan2(rxy,mag.magnetic[2]) return alphaxy , alphaz
def init_magnetometer_accelerometer(configuration: Configuration):
"""Initialize the sensor for magnetic and acceleration"""
try:
logging.info("Initializing magnetometer/accelerometer")
assignments = configuration.get_pin_assignments("lsm303")
if not assignments:
return None, None
i2c = busio.I2C(assignments.get("scl"), assignments.get("sda"))
mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c)
accel = adafruit_lsm303_accel.LSM303_Accel(i2c)
return mag, accel
except Exception as ex: # pylint: disable=broad-except
mag = DummyMag()
accel = DummyAccel()
logging.exception(ex)
return mag, accel
# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT
""" Read data from the magnetometer and print it out, ASAP! """
import board
import busio
import adafruit_lsm303dlh_mag
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c)
while True:
mag_x, mag_y, mag_z = sensor.magnetic
print("{0:10.3f} {1:10.3f} {2:10.3f}".format(mag_x, mag_y, mag_z))
def __init__(self):
logger.info('MAG: initializing magnometer')
i2c = busio.I2C(board.SCL, board.SDA)
self.sensor = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c)
def __init__(self):
i2c = busio.I2C(24, 23)
self._sensor_accel = adafruit_lsm303_accel.LSM303_Accel(i2c=i2c,
address=0x18)
self._sensor_mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c=i2c)
def __init__(self):
i2c = busio.I2C(board.SCL, board.SDA)
self.mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c)
self.accel = adafruit_lsm303_accel.LSM303_Accel(i2c)
import adafruit_lsm303_accel
import adafruit_lsm303dlh_mag
import math
stp = 20 #GPIO_20
dir = 21 #GPIO_21
Boardpin = 23 #GPIO_23
pot_channel = 0 #ADC channel
sleepTime = 1
spi = spidev.SpiDev() #setup SPI bus for communicating with MCP3008 ADC
spi.open(0, 0)
spi.max_speed_hz = 1000000
i2c = busio.I2C(board.SCL, board.SDA) #setup I2C configuration
mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c) #read LMS303 magnetomoter data
pi = pigpio.pi() #setup dir and step as output for Easy driver
pi.set_mode(dir, pigpio.OUTPUT)
pi.set_mode(stp, pigpio.OUTPUT)
def move(duty, direction): #stepping motor motion function
pi.write(dir, direction)
pi.set_PWM_dutycycle(stp, duty)
pi.set_PWM_frequency(stp, 500)
sleep(.05)
def readADCch(channel): #Read ADC data from MCP008
adc = spi.xfer2([1, (8 + channel) << 4, 0])
# Optionally set an encryption key (16 byte AES key). MUST match both
# on the transmitter and receiver (or be set to None to disable/the default).
rfm69.encryption_key = b'\x01\x02\x03\x04\x05\x06\x07\x08\x01\x02\x03\x04\x05\x06\x07\x08'
rfm69Celsius = rfm69.temperature
rfm69Fahrenheit = round(rfm69Celsius * 1.8 + 32, 1)
# Print out some RFM69 chip state:
print("RFM69 Radio Data")
print(' Temperature: {0}°F ({1}°C)'.format(rfm69Fahrenheit, rfm69Celsius))
print(' Frequency: {0} MHz'.format(round(rfm69.frequency_mhz, 0)))
print(' Bit rate: {0} kbit/s'.format(rfm69.bitrate / 1000))
print(' Frequency deviation: {0} kHz'.format(rfm69.frequency_deviation / 1000))
# Initialize the LSM303
lsmMag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c)
lsmAcc = adafruit_lsm303_accel.LSM303_Accel(i2c)
# Initialize the NXP IMU
nxpAcc = adafruit_fxos8700.FXOS8700(i2c)
nxpGyro = adafruit_fxas21002c.FXAS21002C(i2c)
loopCount = 0
print()
while True:
blinkLED(onBoardLED)
loopCount += 1
if DEBUG:
print("Loop #{0:6d}".format(loopCount))
def initializeHardware(display_diagnostics=False,
ce_pin=board.D8,
csn_pin=board.D17,
button_pin=16,
ch=76):
if cfg.config['has_radio']:
from circuitpython_nrf24l01 import RF24
import digitalio as dio
global address, spi, nrf
try:
address = b'1Node'
ce = dio.DigitalInOut(ce_pin)
csn = dio.DigitalInOut(csn_pin)
spi = board.SPI() # init spi bus object
#Initialize the nRF24L01 on the spi bus object
nrf = RF24(spi,
csn,
ce,
ard=2000,
arc=15,
data_rate=1,
auto_ack=True,
channel=ch)
if display_diagnostics:
nrf.what_happened(True)
else:
printOK("Radio Initialized")
except:
printCRIT("Radio required to proceed. Exiting.")
quit()
else:
printCRIT("Radio required to proceed. Exiting.")
quit()
if cfg.config['has_accel']:
import adafruit_lsm303_accel
import adafruit_lsm303dlh_mag
import busio
global mag, accel, i2c
try:
i2c = busio.I2C(board.SCL, board.SDA)
mag = adafruit_lsm303dlh_mag.LSM303DLH_Mag(i2c)
accel = adafruit_lsm303_accel.LSM303_Accel(i2c)
calibrateAccel(cycles=25)
printOK("Accel Initialized")
except:
printERR("Accel Error, Check Connections")
else:
printBYP("No Accel Installed... Bypassing")
if cfg.config['has_GPS']:
import serial
import adafruit_gps
global gps
try:
uart = serial.Serial("/dev/ttyS0", baudrate=9600, timeout=10)
gps = adafruit_gps.GPS(uart, debug=False)
gps.send_command(b'PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0')
gps.send_command(b'PMTK220,200')
if display_diagnostics:
gps.update()
getGPSLock()
else:
printOK("GPS Initialized")
except:
printERROR("GPS Error, Check Connections")
else:
printBYP("No GPS Installed... Bypassing")
if cfg.config['has_button']:
GPIO.setmode(GPIO.BCM)
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
if display_diagnostics:
print(interupt())
else:
printOK("Button Initialized")
else:
printBYP("No Button Installed... Bypassing")
printOK("System Ready")
print("=" * 40)
