def __init__(self, bus, address, name, samples=3, rate=4, gain=1, sampling_mode=0, x_offset=0, y_offset=0, z_offset=0):
self.bus = bus
self.address = address
self.name = name
self.samples = samples
self.gain = gain
self.sampling_mode = sampling_mode
self.x_offset = x_offset
self.y_offset = y_offset
self.z_offset = z_offset
# Set the number of samples
conf_a = (samples << 5) + (rate << 2)
I2CUtils.i2c_write_byte(self.bus, self.address, HMC5883L.CONF_REG_A, conf_a)
# Set the gain
conf_b = gain << 5
I2CUtils.i2c_write_byte(self.bus, self.address, HMC5883L.CONF_REG_B, conf_b)
# Set the operation mode
I2CUtils.i2c_write_byte(self.bus, self.address, HMC5883L.MODE_REG, self.sampling_mode)
self.raw_data = [0, 0, 0, 0, 0, 0]
# Now read all the values as the first read after a gain change returns the old value
self.read_raw_data()
def __init__(self, bus, address, name, fs_scale=FS_250, afs_scale=AFS_2g):
'''
Constructor
'''
self.bus = bus
self.address = address
self.name = name
self.fs_scale = fs_scale
self.afs_scale = afs_scale
self.raw_gyro_data = [0, 0, 0, 0, 0, 0]
self.raw_accel_data = [0, 0, 0, 0, 0, 0]
self.raw_temp_data = [0, 0]
self.gyro_raw_x = 0
self.gyro_raw_y = 0
self.gyro_raw_z = 0
self.gyro_scaled_x = 0
self.gyro_scaled_y = 0
self.gyro_scaled_z = 0
self.raw_temp = 0
self.scaled_temp = 0
self.accel_raw_x = 0
self.accel_raw_y = 0
self.accel_raw_z = 0
self.accel_scaled_x = 0
self.accel_scaled_y = 0
self.accel_scaled_z = 0
self.pitch = 0.0
self.roll = 0.0
# We need to wake up the module as it start in sleep mode
I2CUtils.i2c_write_byte(self.bus, self.address, MPU6050.PWR_MGMT_1, 0)
# Set the gryo resolution
I2CUtils.i2c_write_byte(self.bus, self.address, MPU6050.FS_SEL, self.fs_scale << 3)
# Set the accelerometer resolution
I2CUtils.i2c_write_byte(self.bus, self.address, MPU6050.AFS_SEL, self.afs_scale << 3)
def __init__(self,
bus,
address,
name,
samples=3,
rate=4,
gain=1,
sampling_mode=0,
x_offset=0,
y_offset=0,
z_offset=0):
self.bus = bus
self.address = address
self.name = name
self.samples = samples
self.gain = gain
self.sampling_mode = sampling_mode
self.x_offset = x_offset
self.y_offset = y_offset
self.z_offset = z_offset
# Set the number of samples
conf_a = (samples << 5) + (rate << 2)
I2CUtils.i2c_write_byte(self.bus, self.address, HMC5883L.CONF_REG_A,
conf_a)
# Set the gain
conf_b = gain << 5
I2CUtils.i2c_write_byte(self.bus, self.address, HMC5883L.CONF_REG_B,
conf_b)
# Set the operation mode
I2CUtils.i2c_write_byte(self.bus, self.address, HMC5883L.MODE_REG,
self.sampling_mode)
self.raw_data = [0, 0, 0, 0, 0, 0]
# Now read all the values as the first read after a gain change returns the old value
self.read_raw_data()
