def __init__(self, bus=None):
if bus is None:
bus = smbus.SMBus(i2c_raspberry_pi_bus_number())
#Default ADXL345 range +/- 2g is ideal for telescope use
self.accel = ADXL345(bus, 0x53, name="accel")
self.gyro = L3G4200D(bus, 0x69, name="gyro")
self.compass = HMC5883L(bus, 0x1e, name="compass")
self.barometer = BMP085(bus, 0x77, name="barometer")
self._last_gyro_time = 0 #needed for interpreting gyro
self.read_gyro_delta() #Discard first reading
q_start = self.current_orientation_quaternion_mag_acc_only()
self._q_start = q_start
self._current_hybrid_orientation_q = q_start
self._current_gyro_only_q = q_start
def __init__(self, bus=None):
if bus is None:
bus = smbus.SMBus(i2c_raspberry_pi_bus_number())
#Default ADXL345 range +/- 2g is ideal for telescope use
self.accel = ADXL345(bus, 0x53, name="accel")
self.gyro = L3G4200D(bus, 0x69, name="gyro")
self.compass = HMC5883L(bus, 0x1e, name="compass")
self.barometer = BMP085(bus, 0x77, name="barometer")
self._last_gyro_time = 0 #needed for interpreting gyro
self.read_gyro_delta() #Discard first reading
q_start = self.current_orientation_quaternion_mag_acc_only()
self._q_start = q_start
self._current_hybrid_orientation_q = q_start
self._current_gyro_only_q = q_start
#!/usr/bin/env python
import web
import smbus
import imu
from i2cutils import i2c_raspberry_pi_bus_number
import math
urls = (
'/', 'index'
)
bus = smbus.SMBus(i2c_raspberry_pi_bus_number())
imu_controller = imu.IMU(bus, 0x69, 0x53, 0x1e, "IMU")
imu_controller.set_compass_offsets(9, -10, -140)
app = web.application(urls, globals())
class index:
def GET(self):
(pitch, roll, yaw) = imu_controller.read_pitch_roll_yaw()
#result = "%.2f %.2f %.2f" % (-1 * pitch, -1 * roll, yaw - math.pi / 2)
result = str(-1 * pitch) + ' ' + str(-1 * roll) + ' ' + str(yaw - math.pi / 2)
print(result)
return result
if __name__ == "__main__":
app.run()
def read_scaled_accel_y(self):
'''Return the SCALED Y accelerometer value'''
return self.accel_scaled_y
def read_scaled_accel_z(self):
'''Return the SCALED Z accelerometer value'''
return self.accel_scaled_z
def read_pitch(self):
'''Calculate the current pitch value in radians'''
x = self.read_scaled_accel_x()
y = self.read_scaled_accel_y()
z = self.read_scaled_accel_z()
return self.read_x_rotation(x, y, z)
def read_roll(self):
'''Calculate the current roll value in radians'''
x = self.read_scaled_accel_x()
y = self.read_scaled_accel_y()
z = self.read_scaled_accel_z()
return self.read_y_rotation(x, y, z)
if __name__ == "__main__":
bus = smbus.SMBus(I2CUtils.i2c_raspberry_pi_bus_number())
adxl345 = ADXL345(bus, 0x53, "accel")
adxl345.read_raw_data()
print(adxl345.read_scaled_accel_x())
print(adxl345.read_scaled_accel_y())
print(adxl345.read_scaled_accel_z())
b4 = ac4 * (x3 + 32768) >> 15
b7 = (pressure_raw - b3) * (50000 >> oss)
if (b7 < 0x80000000):
p = (b7 * 2) / b4
else:
p = (b7 / b4) * 2
x1 = (p >> 8) * (p >> 8)
x1 = (x1 * 3038) >> 16
x2 = (-7357 * p) >> 16
p = p + ((x1 + x2 + 3791) >> 4)
return(t / 10., p / 100.)
def read_pressure(self):
(temperature, pressure) = self.calculate()
return pressure
def read_temperature(self):
(temperature, pressure) = self.calculate()
return temperature
def read_temperature_and_pressure(self):
return self.calculate()
if __name__ == "__main__":
bus = smbus.SMBus(I2CUtils.i2c_raspberry_pi_bus_number())
bmp085 = BMP085(bus, 0x77 , "BMP085")
print bmp085.read_temperature_and_pressure()
import smbus
import time
import math
# Local import
from i2cutils import i2c_raspberry_pi_bus_number
bus = smbus.SMBus(i2c_raspberry_pi_bus_number())
address = 0x5c
def read_byte(adr):
return bus.read_byte_data(address, adr)
def read_word(adr):
high = bus.read_byte_data(address, adr)
low = bus.read_byte_data(address, adr + 1)
val = (high << 8) + low
return val
def read_word_2c(adr):
val = read_word(adr)
if (val >= 0x8000):
return -((65535 - val) + 1)
else:
return val
def write_byte(adr, value):
