├── .github
├── FUNDING.yml
├── ISSUE_TEMPLATE
│ └── bug_report.md
└── workflows
│ ├── jekyll-gh-pages.yml
│ └── publish-to-test-pypi.yml
├── .gitignore
├── .vscode
├── extensions.json
└── settings.json
├── LICENSE.txt
├── README.md
├── _config.yml
├── doc
├── MPU-9250 Product Specification Revision 1.1.pdf
└── MPU-9250 Register Map and Descriptions Revision 1.6.pdf
├── examples
├── basic-usage
│ ├── master-only-mode.py
│ └── master-slave-mode.py
└── thread-sampling
│ ├── run.py
│ ├── sampling.py
│ └── sensors.py
├── mpu9250_jmdev
├── __init__.py
├── fake_smbus.py
├── mpu_9250.py
└── registers.py
├── requirements.txt
└── setup.py
/.github/FUNDING.yml:
--------------------------------------------------------------------------------
1 | # These are supported funding model platforms
2 |
3 | github: [jefmenegazzo]
4 | custom: ['https://www.paypal.com/donate/?hosted_button_id=QA7BLD3X842W6']
5 |
--------------------------------------------------------------------------------
/.github/ISSUE_TEMPLATE/bug_report.md:
--------------------------------------------------------------------------------
1 | ---
2 | name: Bug report
3 | about: Create a report to help us improve
4 | title: ''
5 | labels: ''
6 | assignees: ''
7 |
8 | ---
9 |
10 | **Describe the bug**
11 | A clear and concise description of what the bug is.
12 |
13 | **To Reproduce**
14 | Steps to reproduce the behavior:
15 | 1. Go to '...'
16 | 2. Click on '....'
17 | 3. Scroll down to '....'
18 | 4. See error
19 |
20 | **Expected behavior**
21 | A clear and concise description of what you expected to happen.
22 |
23 | **Screenshots**
24 | If applicable, add screenshots to help explain your problem.
25 |
26 | **Desktop (please complete the following information):**
27 | - OS: [e.g. iOS]
28 | - Browser [e.g. chrome, safari]
29 | - Version [e.g. 22]
30 |
31 | **Smartphone (please complete the following information):**
32 | - Device: [e.g. iPhone6]
33 | - OS: [e.g. iOS8.1]
34 | - Browser [e.g. stock browser, safari]
35 | - Version [e.g. 22]
36 |
37 | **Additional context**
38 | Add any other context about the problem here.
39 |
--------------------------------------------------------------------------------
/.github/workflows/jekyll-gh-pages.yml:
--------------------------------------------------------------------------------
1 | # Sample workflow for building and deploying a Jekyll site to GitHub Pages
2 | name: Deploy Jekyll with GitHub Pages dependencies preinstalled
3 |
4 | on:
5 | # Runs on pushes targeting the default branch
6 | push:
7 | branches: ["master"]
8 |
9 | # Allows you to run this workflow manually from the Actions tab
10 | workflow_dispatch:
11 |
12 | # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
13 | permissions:
14 | contents: read
15 | pages: write
16 | id-token: write
17 |
18 | # Allow one concurrent deployment
19 | concurrency:
20 | group: "pages"
21 | cancel-in-progress: true
22 |
23 | jobs:
24 | # Build job
25 | build:
26 | runs-on: ubuntu-latest
27 | steps:
28 | - name: Checkout
29 | uses: actions/checkout@v3
30 | - name: Setup Pages
31 | uses: actions/configure-pages@v3
32 | - name: Build with Jekyll
33 | uses: actions/jekyll-build-pages@v1
34 | with:
35 | source: ./
36 | destination: ./_site
37 | - name: Upload artifact
38 | uses: actions/upload-pages-artifact@v1
39 |
40 | # Deployment job
41 | deploy:
42 | environment:
43 | name: github-pages
44 | url: ${{ steps.deployment.outputs.page_url }}
45 | runs-on: ubuntu-latest
46 | needs: build
47 | steps:
48 | - name: Deploy to GitHub Pages
49 | id: deployment
50 | uses: actions/deploy-pages@v1
51 |
--------------------------------------------------------------------------------
/.github/workflows/publish-to-test-pypi.yml:
--------------------------------------------------------------------------------
1 | name: Publish Python 🐍 distributions 📦 to PyPI and TestPyPI
2 |
3 | on: push
4 |
5 | jobs:
6 | build-n-publish:
7 | name: Build and publish Python 🐍 distributions 📦 to PyPI and TestPyPI
8 | runs-on: ubuntu-latest
9 | steps:
10 | - uses: actions/checkout@master
11 | - name: Set up Python 3.10
12 | uses: actions/setup-python@v3
13 | with:
14 | python-version: "3.10"
15 | - name: Install pypa/build
16 | run: >-
17 | python -m
18 | pip install
19 | build
20 | --user
21 | - name: Build a binary wheel and a source tarball
22 | run: >-
23 | python -m
24 | build
25 | --sdist
26 | --wheel
27 | --outdir dist/
28 | .
29 | - name: Publish distribution 📦 to Test PyPI
30 | uses: pypa/gh-action-pypi-publish@release/v1
31 | with:
32 | password: ${{ secrets.TEST_PYPI_API_TOKEN }}
33 | repository_url: https://test.pypi.org/legacy/
34 | - name: Publish distribution 📦 to PyPI
35 | if: startsWith(github.ref, 'refs/tags')
36 | uses: pypa/gh-action-pypi-publish@release/v1
37 | with:
38 | password: ${{ secrets.PYPI_API_TOKEN }}
39 |
--------------------------------------------------------------------------------
/.gitignore:
--------------------------------------------------------------------------------
1 | **/__pycache__
2 | build
3 | dist
4 | mpu9250_jmdev.egg-info
--------------------------------------------------------------------------------
/.vscode/extensions.json:
--------------------------------------------------------------------------------
1 | {
2 | "recommendations": [
3 | "ms-python.anaconda-extension-pack",
4 | "ms-python.python"
5 | ]
6 | }
7 |
--------------------------------------------------------------------------------
/.vscode/settings.json:
--------------------------------------------------------------------------------
1 | {
2 | "files.exclude": {
3 | "**/.git": true,
4 | "**/__pycache__": true,
5 | ".github": true,
6 | ".gitignore": true,
7 | "dist": true,
8 | "build": true,
9 | "mpu9250_jmdev.egg-info": true,
10 | },
11 | "python.pythonPath": "C:\\ProgramData\\Anaconda3\\python.exe"
12 | }
--------------------------------------------------------------------------------
/LICENSE.txt:
--------------------------------------------------------------------------------
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/README.md:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
10 |
11 |
12 |
13 |
14 | 🙌 Use [donations](#Sponsors-and-Donations) to help support your projects! 🙌
15 |
16 |
17 |
18 |
19 |
20 | [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect)
21 | [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect)
22 | [](LICENSE.txt)
23 | [](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=QYV4NEUSVWZCY&source=url)
24 | 
25 | 
26 | 
27 | [](https://doi.org/10.5281/zenodo.3960441)
28 | [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/issues)
29 | [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/network/members)
30 | [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/stargazers)
31 | [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/watchers)
32 | [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/graphs/contributors/)
33 | [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect)
34 | [](https://pypi.org/project/mpu9250_jmdev)
35 |
36 | # MPU-9250 (MPU-6500 + AK8963) I2C Driver in Python
37 |
38 | **MPU-9250** is a multi-chip module (MCM) consisting of two dies integrated into a single QFN package. One die the **MPU-6500** houses the 3-Axis gyroscope, the 3-Axis accelerometer and temperature sensor. The other die houses the **AK8963** 3-Axis magnetometer. Hence, the MPU-9250 is a 9-axis MotionTracking device that combines a 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer and a Digital Motion Processor™ (DMP). The hardware documentation for MPU-9250 can be found at [Product Specification](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/blob/master/doc/MPU-9250%20Product%20Specification%20Revision%201.1.pdf) and [Register Map and Descriptions](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/blob/master/doc/MPU-9250%20Register%20Map%20and%20Descriptions%20Revision%201.6.pdf).
39 |
40 | ## Table of Contents
41 | - [Instalation](#Instalation)
42 | - [How To Use](#How-To-Use)
43 | - [Getting Data](#Getting-Data)
44 | - [Calibrating Sensors](#Calibrating-Sensors)
45 | - [Reset Registers](#Reset-Registers)
46 | - [Final Notes](#Final-Notes)
47 | - [Sponsors and Donations](#Sponsors-and-Donations)
48 | - [What We're Working on Now](#What-We're-Working-on-Now)
49 | - [How To Cite](#How-To-Cite)
50 | - [License](#License)
51 |
52 | ## Instalation
53 |
54 | To install via pip use:
55 |
56 | ```bash
57 | pip install mpu9250-jmdev
58 | ```
59 |
60 | To use the package for development purposes use:
61 |
62 | ```bash
63 | git clone https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect.git MPU9250
64 | cd MPU9250
65 | pip install -e .
66 | pip install -r requirements.txt
67 | ```
68 |
69 | ### Known Issues
70 |
71 | > :information_source: Notice that this package requires Python 3.6 or higher.
72 |
73 | > :warning: If you have both Python 2 and 3 installed on your machine, use ```pip3``` to install and ```python3``` to run instead.
74 |
75 | > :warning: If you run your python source-code with ```sudo```, remember to use ```sudo``` with ```pip install``` commands as well.
76 |
77 | > :warning: If you get zero values and the message **Using Fake SMBus**, the **smbus2** requirement has not been installed correctly. Try installing manually with the command ```pip install -r requirements.txt``` or ```python -mpip install smbus2```.
78 |
79 | > :exclamation: Any other problem or questions, **open an issue in this repository [clicking here](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/issues), do not send me an e-mail!**
80 |
81 | ## How To Use
82 |
83 | With I2C Bus, you can use the MPU-9250 in two ways: simple mode or advanced mode. The example source-codes are in **examples** folder.
84 |
85 | ### Simple Mode - Master Only
86 |
87 | In this mode, the MPU-9250 connects directly to Raspberry GPIOs. There are two physical addresses available for the MPU-9250, being 0x68 and 0x69. Therefore, on each I2C Bus you can have up to two MPU-9250 connected. The connection between GPIOs and MPU-9250 is as follows:
88 |
89 | | MPU9250 | Raspberry | Note |
90 | |---|---|---|
91 | | VDD | 3.3V | On some models of the MPU-9250 5V can be used. |
92 | | AD0 | 3.3V | If used, the MPU-9250's address is changed to 0x69. Otherwise, the address is 0x68. |
93 | | GND | GND | |
94 | | SDA | SDA | |
95 | | SCL | SCL | |
96 |
97 | Below simple code to test the execution with never ending loop:
98 |
99 | ```python
100 | import time
101 | from mpu9250_jmdev.registers import *
102 | from mpu9250_jmdev.mpu_9250 import MPU9250
103 |
104 | mpu = MPU9250(
105 | address_ak=AK8963_ADDRESS,
106 | address_mpu_master=MPU9050_ADDRESS_68, # In 0x68 Address
107 | address_mpu_slave=None,
108 | bus=1,
109 | gfs=GFS_1000,
110 | afs=AFS_8G,
111 | mfs=AK8963_BIT_16,
112 | mode=AK8963_MODE_C100HZ)
113 |
114 | mpu.configure() # Apply the settings to the registers.
115 |
116 | while True:
117 |
118 | print("|.....MPU9250 in 0x68 Address.....|")
119 | print("Accelerometer", mpu.readAccelerometerMaster())
120 | print("Gyroscope", mpu.readGyroscopeMaster())
121 | print("Magnetometer", mpu.readMagnetometerMaster())
122 | print("Temperature", mpu.readTemperatureMaster())
123 | print("\n")
124 |
125 | time.sleep(1)
126 | ```
127 |
128 | ### Advanced Mode - Master-Slave
129 |
130 | If you want to have more than two MPU-9250 on one I2C Bus, you must use Master-Slave mode. In this case, first configure the MPU-9250 according to the previous section, they will be used as Master. To configure the MPU-9250 Slaves, connect as follows:
131 |
132 | | MPU9250 Slave | MPU9250 Master | Raspberry PI | Note |
133 | |---|---|---|---|
134 | | VDD | | 3.3V | On some models of the MPU-9250 5V can be used. |
135 | | AD0 | | 3.3V | If used, the MPU-9250's address is changed to 0x69. Otherwise, the address is 0x68. |
136 | | GND | | GND | |
137 | | SDA | EDA | |
138 | | SCL | ECL | |
139 |
140 | This way you will have an MPU-9250 Master connecting SDA and SLC directly to the GPIO in Raspberry PI, and an MPU-9250 Slave connecting SDA and SLC to the EDA and ELC in MPU-9250 Master.
141 |
142 | Below simple code to test the execution with never ending loop:
143 |
144 | ```python
145 | import time
146 | from mpu9250_jmdev.registers import *
147 | from mpu9250_jmdev.mpu_9250 import MPU9250
148 |
149 | mpu = MPU9250(
150 | address_ak=AK8963_ADDRESS,
151 | address_mpu_master=MPU9050_ADDRESS_68, # Master has 0x68 Address
152 | address_mpu_slave=MPU9050_ADDRESS_68, # Slave has 0x68 Address
153 | bus=1,
154 | gfs=GFS_1000,
155 | afs=AFS_8G,
156 | mfs=AK8963_BIT_16,
157 | mode=AK8963_MODE_C100HZ)
158 |
159 | mpu.configure() # Apply the settings to the registers.
160 |
161 | while True:
162 |
163 | print("|.....MPU9250 in 0x68 I2C Bus - Master.....|")
164 | print("Accelerometer", mpu.readAccelerometerMaster())
165 | print("Gyroscope", mpu.readGyroscopeMaster())
166 | print("Magnetometer", mpu.readMagnetometerMaster())
167 | print("Temperature", mpu.readTemperatureMaster())
168 | print("\n")
169 |
170 | print("|.....MPU9250 in 0x68 I2C Bus - Slave in 0x68 auxiliary sensor address.....|")
171 | print("Accelerometer", mpu.readAccelerometerSlave())
172 | print("Gyroscope", mpu.readGyroscopeSlave())
173 | print("Temperature", mpu.readTemperatureSlave())
174 | print("\n")
175 |
176 | time.sleep(1)
177 | ```
178 |
179 | ## Getting Data
180 |
181 | All sensors and measurement units of the MPU-9250 are described below:
182 |
183 | | Sensor | Unit |
184 | |---|---|
185 | | Accelerometer | g (1g = 9.80665 m/s²) |
186 | | Gyroscope | degrees per second (°/s) |
187 | | Magnetometer | microtesla (μT) |
188 | | Temperature | celsius degrees (°C) |
189 |
190 | Before read the sensor data, make sure that you have executed the command:
191 |
192 | ```python
193 | mpu.configure() # Apply the settings to the registers.
194 | ```
195 |
196 | ### Reading Accelerometer
197 |
198 | The accelerometer measures acceleration in three axes (X, Y, Z). To read your data, use the commands:
199 |
200 | ```python
201 | masterData = mpu.readAccelerometerMaster()
202 | slaveData = mpu.readAccelerometerSlave() # If there is a slave
203 | ```
204 |
205 | ### Reading Gyroscope
206 |
207 | The gyroscope measures rotation rate in three axes (X, Y, Z). To read your data, use the commands:
208 |
209 | ```python
210 | masterData = mpu.readGyroscopeMaster()
211 | slaveData = mpu.readGyroscopeSlave() # If there is a slave
212 | ```
213 |
214 | ### Reading Magnetometer
215 |
216 | The magnetometer measures geomagnetic field in three axes (X, Y, Z). To read your data, use the command:
217 |
218 | ```python
219 | masterData = mpu.readMagnetometerMaster()
220 | ```
221 |
222 | When used in Simple Mode (Master Only), the magnetometer will be available on the I2C Bus with address 0x0C. When in Advanced Mode (Master-Slave), the magnetometer will also behave as a slave, and address 0x0C will not appear on the I2C Bus, acting as an auxiliary sensor.
223 |
224 | ### Reading Temperature
225 |
226 | The temperature sensor measures data in Celsius degrees. To read your data, use the command:
227 |
228 | ```python
229 | masterData = mpu.readTemperatureMaster()
230 | slaveData = mpu.readTemperatureSlave() # If there is a slave
231 | ```
232 |
233 | ### Reading All Data
234 |
235 | If you want to read data from all sensors (master and slave) at the same time, use the commands below (useful for saving to csv):
236 |
237 | ```python
238 | labels = mpu.getAllDataLabels() # return labels with data description for each array position
239 | data = mpu.getAllData() # returns a array with data from all sensors
240 | ```
241 |
242 | ### Reading All Settings
243 |
244 | If you want to read settings (biases, resolutions, scale factors) from all sensors (master and slave) at the same time, use the commands below (useful for saving to csv):
245 |
246 | ```python
247 | labels = mpu.getAllSettingsLabels() # return labels with settings description for each array position
248 | data = mpu.getAllSettings() # returns a array with settings from all sensors
249 | ```
250 |
251 | ## Calibrating Sensors
252 |
253 | This library has functions ready for calibration accelerometer, gyroscope and magnetometer sensors. To calibrate all sensors at once, use the command:
254 |
255 | ```python
256 | mpu.calibrate() # Calibrate sensors
257 | mpu.configure() # The calibration function resets the sensors, so you need to reconfigure them
258 | ```
259 |
260 | ### Accelerometer and Gyroscope
261 |
262 | To calibrate the accelerometer and gyroscope sensors, make sure that the sensors remain fixed and stationary. Align the accelerometer's Z axis with gravity, i.e., gravity (1g) should only appear on the sensor's Z axis (place the sensor in a flat place). To perform calibration run the command:
263 |
264 | ```python
265 | mpu.calibrateMPU6500() # Calibrate sensors
266 | mpu.configure() # The calibration function resets the sensors, so you need to reconfigure them
267 |
268 | abias = mpu.abias # Get the master accelerometer biases
269 | abias_slave = mpu.abias_slave # Get the slave accelerometer biases
270 | gbias = mpu.gbias # Get the master gyroscope biases
271 | gbias_slave = mpu.gbias_slave # Get the slave gyroscope biases
272 | ```
273 |
274 | The biases are programmatically applied to the sensor data. Therefore, when reading the sensor data, the biases will be applied internally, returning corrected data. If you have calculated the biases of these sensors once, and want the controller to use them, simply parameterize as follows:
275 |
276 | ```python
277 | mpu.abias = [0, 0, 0] # Set the master accelerometer biases
278 | mpu.abias_slave = [0, 0, 0] # Set the slave accelerometer biases
279 | mpu.gbias = [0, 0, 0] # Set the master gyroscope biases
280 | mpu.gbias_slave = [0, 0, 0] # Set the slave gyroscope biases
281 | ```
282 |
283 | ### Magnetometer
284 |
285 | To perform calibration run the command:
286 |
287 | ```python
288 | mpu.calibrateAK8963() # Calibrate sensors
289 | mpu.configure() # The calibration function resets the sensors, so you need to reconfigure them
290 |
291 | magScale = mpu.magScale # Get magnetometer soft iron distortion
292 | mbias = mpu.mbias # Get magnetometer hard iron distortion
293 | ```
294 |
295 | If you have calculated the biases of these sensor once, and want the controller to use them, simply parameterize as follows:
296 |
297 | ```python
298 | mpu.magScale = [0, 0, 0] # Set magnetometer soft iron distortion
299 | mpu.mbias = [0, 0, 0] # Set magnetometer hard iron distortion
300 | ```
301 |
302 | ## Reset Registers
303 |
304 | If you want to reset the values in all registers of all sensors in all MPU-9250, execute the command below:
305 |
306 | ```python
307 | mpu.reset() # Reset sensors
308 | mpu.configure() # After resetting you need to reconfigure the sensors
309 | ```
310 |
311 | ## Final Notes
312 |
313 | The folder **mpu9250** consist of the high level library. The folder **examples** contains files with basic execution and threaded examples.
314 |
315 | ## Sponsors and Donations
316 |
317 | This project does not have any funding. To help maintain the project, consider making a donation 🙌.
318 |
319 | [](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=QYV4NEUSVWZCY&source=url)
320 |
321 | ## What We're Working on Now
322 |
323 | New features are currently under development:
324 | - V2: new major version will be released soon, much more robust than the current one. It will supports several MPU models, such as 9250, 9150, 6050, 6500.
325 | - Complete support documentation for configuring RPi, I2C, VNC, SSH, etc.
326 |
327 | ## How To Cite
328 |
329 | To cite this repository, use the reference below:
330 |
331 | ```bibtex
332 | @software{menegazzo3960441,
333 | author = {Jeferson Menegazzo and Aldo von Wangenheim},
334 | title = {{MPU-9250 Sensors Data Collect}},
335 | month = jul,
336 | year = 2020,
337 | publisher = {Zenodo},
338 | version = {1.0.12},
339 | doi = {10.5281/zenodo.3960441},
340 | url = {https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/}
341 | }
342 | ```
343 |
344 | ## License
345 |
346 | This project is under Attribution-NonCommercial-NoDerivatives 4.0 International License (CC BY-NC-ND 4.0). Please see [License File](LICENSE.txt) for more information.
347 |
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/examples/basic-usage/master-only-mode.py:
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1 | #####################################################################
2 | # Author: Jeferson Menegazzo #
3 | # Year: 2020 #
4 | # License: CC BY-NC-ND 4.0 #
5 | #####################################################################
6 |
7 | import sys
8 | sys.path.append("")
9 |
10 | import time
11 | from mpu9250_jmdev.registers import *
12 | from mpu9250_jmdev.mpu_9250 import MPU9250
13 |
14 | ##################################################
15 | # Create #
16 | ##################################################
17 |
18 | mpu = MPU9250(
19 | address_ak=AK8963_ADDRESS,
20 | address_mpu_master=MPU9050_ADDRESS_68, # In 0x68 Address
21 | address_mpu_slave=None,
22 | bus=1,
23 | gfs=GFS_1000,
24 | afs=AFS_8G,
25 | mfs=AK8963_BIT_16,
26 | mode=AK8963_MODE_C100HZ)
27 |
28 | ##################################################
29 | # Configure #
30 | ##################################################
31 | mpu.configure() # Apply the settings to the registers.
32 |
33 | ##################################################
34 | # Calibrate #
35 | ##################################################
36 | # mpu.calibrate() # Calibrate sensors
37 | # mpu.configure() # The calibration function resets the sensors, so you need to reconfigure them
38 |
39 | ##################################################
40 | # Get Calibration #
41 | ##################################################
42 | # abias = mpu.abias # Get the master accelerometer biases
43 | # gbias = mpu.gbias # Get the master gyroscope biases
44 | # magScale = mpu.magScale # Get magnetometer soft iron distortion
45 | # mbias = mpu.mbias # Get magnetometer hard iron distortion
46 |
47 | # print("|.....MPU9250 in 0x68 Biases.....|")
48 | # print("Accelerometer", abias)
49 | # print("Gyroscope", gbias)
50 | # print("Magnetometer SID", magScale)
51 | # print("Magnetometer HID", mbias)
52 | # print("\n")
53 |
54 | ##################################################
55 | # Set Calibration #
56 | ##################################################
57 | # mpu.abias = [-0.08004239710365854, 0.458740234375, 0.2116996951219512]
58 | # mpu.gbias = [0.8958025676448171, 0.45292551924542684, 0.866773651867378]
59 | # mpu.magScale = [1.0104166666666667, 0.9797979797979799, 1.0104166666666667]
60 | # mpu.mbias = [2.6989010989010986, 2.7832417582417586, 2.6989010989010986]
61 |
62 | ##################################################
63 | # Show Values #
64 | ##################################################
65 | while True:
66 |
67 | print("|.....MPU9250 in 0x68 Address.....|")
68 | print("Accelerometer", mpu.readAccelerometerMaster())
69 | print("Gyroscope", mpu.readGyroscopeMaster())
70 | print("Magnetometer", mpu.readMagnetometerMaster())
71 | print("Temperature", mpu.readTemperatureMaster())
72 | print("\n")
73 |
74 | time.sleep(1)
75 |
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/examples/basic-usage/master-slave-mode.py:
--------------------------------------------------------------------------------
1 | #####################################################################
2 | # Author: Jeferson Menegazzo #
3 | # Year: 2020 #
4 | # License: CC BY-NC-ND 4.0 #
5 | #####################################################################
6 |
7 | import sys
8 | sys.path.append("")
9 |
10 | import time
11 | from mpu9250_jmdev.registers import *
12 | from mpu9250_jmdev.mpu_9250 import MPU9250
13 |
14 | ##################################################
15 | # Create #
16 | ##################################################
17 |
18 | mpu = MPU9250(
19 | address_ak=AK8963_ADDRESS,
20 | address_mpu_master=MPU9050_ADDRESS_68, # In 0x68 Address
21 | address_mpu_slave=MPU9050_ADDRESS_68,
22 | bus=1,
23 | gfs=GFS_1000,
24 | afs=AFS_8G,
25 | mfs=AK8963_BIT_16,
26 | mode=AK8963_MODE_C100HZ)
27 |
28 | ##################################################
29 | # Configure #
30 | ##################################################
31 | mpu.configure() # Apply the settings to the registers.
32 |
33 | ##################################################
34 | # Calibrate #
35 | ##################################################
36 | # mpu.calibrate() # Calibrate sensors
37 | # mpu.configure() # The calibration function resets the sensors, so you need to reconfigure them
38 |
39 | ##################################################
40 | # Get Calibration #
41 | ##################################################
42 | # abias = mpu.abias # Get the master accelerometer biases
43 | # abias_slave = mpu.abias_slave # Get the slave accelerometer biases
44 | # gbias = mpu.gbias # Get the master gyroscope biases
45 | # gbias_slave = mpu.gbias_slave # Get the slave gyroscope biases
46 | # magScale = mpu.magScale # Get magnetometer soft iron distortion
47 | # mbias = mpu.mbias # Get magnetometer hard iron distortion
48 |
49 | # print("|.....MPU9250 in 0x68 Biases.....|")
50 | # print("Accelerometer Master", abias)
51 | # print("Accelerometer Slave", abias_slave)
52 | # print("Gyroscope Master", gbias)
53 | # print("Gyroscope Slave", gbias_slave)
54 | # print("Magnetometer SID", magScale)
55 | # print("Magnetometer HID", mbias)
56 | # print("\n")
57 |
58 | ##################################################
59 | # Set Calibration #
60 | ##################################################
61 | # mpu.abias = [0.073846435546875, 0.104925537109375, -0.007580566406250044]
62 | # mpu.abias_slave = [-0.05669294084821429, -0.022966657366071428, 0.34601120721726186]
63 | # mpu.gbias = [0.6832122802734375, -0.2918243408203125, -0.7152557373046875]
64 | # mpu.gbias_slave = [-0.946044921875, -0.13242449079241073, -0.7113502139136905]
65 | # mpu.magScale = [0.6847826086956522, 1.0327868852459017, 1.75]
66 | # mpu.mbias = [8.19041514041514, 8.991651404151403, 14.696359890109889]
67 |
68 | ##################################################
69 | # Show Values #
70 | ##################################################
71 | while True:
72 |
73 | print("|.....MPU9250 in 0x68 I2C Bus - Master.....|")
74 | print("Accelerometer", mpu.readAccelerometerMaster())
75 | print("Gyroscope", mpu.readGyroscopeMaster())
76 | print("Magnetometer", mpu.readMagnetometerMaster())
77 | print("Temperature", mpu.readTemperatureMaster())
78 | print("\n")
79 |
80 | print("|.....MPU9250 in 0x68 I2C Bus - Slave in 0x68 auxiliary sensor address.....|")
81 | print("Accelerometer", mpu.readAccelerometerSlave())
82 | print("Gyroscope", mpu.readGyroscopeSlave())
83 | print("Temperature", mpu.readTemperatureSlave())
84 | print("\n")
85 |
86 | time.sleep(1)
87 |
--------------------------------------------------------------------------------
/examples/thread-sampling/run.py:
--------------------------------------------------------------------------------
1 | #####################################################################
2 | # Author: Jeferson Menegazzo #
3 | # Year: 2020 #
4 | # License: CC BY-NC-ND 4.0 #
5 | #####################################################################
6 |
7 | from sensors import Sensors
8 |
9 | # Simple comand-line interface
10 | def __init__():
11 |
12 | sensors = None # type: Sensors
13 |
14 | while True:
15 |
16 | print("""
17 | [1] Sensors - Create/Recreate
18 | [2] Sensors - Apply Configuration
19 | [3] Sensors - Reset Configuration
20 | [4] Sensors - Calibrate
21 | [5] Sampling - Start
22 | [6] Sampling - Stop
23 | [7] Sampling - View Current
24 | [0] Exit
25 | """)
26 |
27 | option = input("Choice: ")
28 |
29 | if option == "0":
30 |
31 | if not(sensors is None) and sensors.running:
32 | sensors.stop()
33 |
34 | print("Exiting")
35 | break
36 |
37 | elif option == "1":
38 | sensors = Sensors()
39 | print("Sensors created")
40 |
41 | elif sensors is None:
42 | print("Not created sensors")
43 |
44 | elif option == "2":
45 | sensors.configure()
46 | print("Configuration applied to sensors")
47 |
48 | elif option == "3":
49 | sensors.reset()
50 | print("Sensor configurations reseted")
51 |
52 | elif option == "4":
53 | sensors.calibrate()
54 | print("Calibrated sensors")
55 |
56 | elif option == "5":
57 | sensors.start()
58 | print("Sampling started")
59 |
60 | elif option == "6":
61 | sensors.stop()
62 | print("Sampling stoped")
63 |
64 | elif option == "7":
65 | sensors.showCurrent()
66 |
67 | else:
68 | print("Invalid Choice.")
69 |
70 | if __name__ == "__main__":
71 |
72 | try:
73 | __init__()
74 | except KeyboardInterrupt:
75 | print("Exit")
76 |
--------------------------------------------------------------------------------
/examples/thread-sampling/sampling.py:
--------------------------------------------------------------------------------
1 | #####################################################################
2 | # Author: Jeferson Menegazzo #
3 | # Year: 2020 #
4 | # License: CC BY-NC-ND 4.0 #
5 | #####################################################################
6 |
7 | import csv
8 | import datetime
9 | import os
10 | import sys
11 | import time
12 | from threading import Thread
13 | import sys
14 | sys.path.append("")
15 |
16 | from mpu9250_jmdev.mpu_9250 import MPU9250
17 |
18 | class Sampling(Thread):
19 |
20 | mpu = None
21 | folder = "../data"
22 | file = None
23 | running = False
24 | sleepStart = 5 # In seconds
25 | # sampling_rate = 0.01 # 100 Hz
26 |
27 | def __init__(self, address_ak, address_mpu_master, address_mpu_slave, bus, gfs, afs, mfs, mode):
28 | Thread.__init__(self)
29 | self.mpu = MPU9250(address_ak, address_mpu_master, address_mpu_slave, bus, gfs, afs, mfs, mode)
30 |
31 | def configure(self):
32 | self.mpu.configure()
33 |
34 | def reset(self):
35 | self.mpu.reset()
36 |
37 | def calibrate(self):
38 | self.mpu.calibrate()
39 |
40 | def getAllData(self):
41 | return self.mpu.getAllData()
42 |
43 | def getAllDataLabels(self):
44 | return self.mpu.getAllDataLabels()
45 |
46 | def getAllSettings(self):
47 | return self.mpu.getAllSettings()
48 |
49 | def getAllSettingsLabels(self):
50 | return self.mpu.getAllSettingsLabels()
51 |
52 | def startSampling(self, timeSync):
53 |
54 | if not os.path.exists(self.folder):
55 | os.makedirs(self.folder)
56 |
57 | fileSuffix = str(hex(self.mpu.address_mpu_master)) + " " + datetime.datetime.fromtimestamp(timeSync).strftime('%d-%m-%Y %H-%M-%S') + ".csv"
58 | self.file = self.folder + "/data-set-mpu-" + fileSuffix
59 | settings = self.folder + "/settings-mpu-" + fileSuffix
60 |
61 | with open(settings, "w+") as csvfile:
62 | spamwriter = csv.writer(csvfile, quotechar='|', quoting=csv.QUOTE_MINIMAL)
63 | spamwriter.writerow(self.getAllSettingsLabels())
64 | spamwriter.writerow(self.getAllSettings())
65 |
66 | self.timeSync = timeSync
67 | self.running = True
68 | self.start()
69 |
70 | def stopSampling(self):
71 | self.running = False
72 | self.join()
73 |
74 | def run(self):
75 |
76 | with open(self.file, "w+") as csvfile:
77 |
78 | spamwriter = csv.writer(csvfile, quotechar='|', quoting=csv.QUOTE_MINIMAL)
79 |
80 | # Writing Labels
81 | row = self.getAllDataLabels()
82 | spamwriter.writerow(row)
83 |
84 | # Start threads at same time
85 | sleepTime = self.sleepStart + (self.timeSync - int(self.timeSync))
86 | time.sleep(sleepTime)
87 |
88 | # lastTime = time.time()
89 |
90 | while self.running:
91 |
92 | row = self.getAllData()
93 | spamwriter.writerow(row)
94 |
95 | # sleepTime = self.sampling_rate - (row[0] - lastTime)
96 |
97 | # if(sleepTime > 0):
98 | # time.sleep(sleepTime)
99 |
100 | # lastTime = row[0]
101 |
--------------------------------------------------------------------------------
/examples/thread-sampling/sensors.py:
--------------------------------------------------------------------------------
1 | #####################################################################
2 | # Author: Jeferson Menegazzo #
3 | # Year: 2020 #
4 | # License: CC BY-NC-ND 4.0 #
5 | #####################################################################
6 |
7 | import time
8 | import sys
9 | sys.path.append("")
10 |
11 | from sampling import Sampling
12 | from mpu9250_jmdev.registers import *
13 |
14 | # Class that handles the entire sensor network.
15 | class Sensors:
16 |
17 | sampling_mpu_0x68 = None
18 | sampling_mpu_0x69 = None
19 |
20 | running = False
21 |
22 | def __init__(self,):
23 | self.sampling_mpu_0x68 = Sampling(AK8963_ADDRESS, MPU9050_ADDRESS_68, MPU9050_ADDRESS_68, 1, GFS_1000, AFS_8G, AK8963_BIT_16, AK8963_MODE_C100HZ)
24 | self.sampling_mpu_0x69 = Sampling(AK8963_ADDRESS, MPU9050_ADDRESS_69, None, 1, GFS_1000, AFS_8G, AK8963_BIT_16, AK8963_MODE_C100HZ)
25 | # self.calibrate()
26 |
27 | def configure(self):
28 | self.sampling_mpu_0x68.configure()
29 | self.sampling_mpu_0x69.configure()
30 |
31 | def reset(self):
32 | self.sampling_mpu_0x68.reset()
33 | self.sampling_mpu_0x69.reset()
34 | # self.configure()
35 |
36 | def calibrate(self):
37 | self.sampling_mpu_0x68.calibrate()
38 | self.sampling_mpu_0x69.calibrate()
39 | # self.configure()
40 |
41 | def start(self):
42 | timeSync = time.time()
43 | self.sampling_mpu_0x68.startSampling(timeSync)
44 | self.sampling_mpu_0x69.startSampling(timeSync)
45 | self.running = True
46 |
47 | def stop(self):
48 |
49 | if self.running:
50 | self.sampling_mpu_0x68.stopSampling()
51 | self.sampling_mpu_0x69.stopSampling()
52 | self.running = False
53 |
54 | def showCurrent(self):
55 |
56 | def formatValue(array, index):
57 |
58 | format = "{: 4.17f}"
59 |
60 | if len(array) > index:
61 | return format.format(array[index])
62 | else:
63 | " null "
64 |
65 | def formatLabel(value):
66 | return value.center(20)
67 |
68 | data_0x68 = self.sampling_mpu_0x68.getAllData()
69 | data_0x69 = self.sampling_mpu_0x69.getAllData()
70 |
71 | print(
72 | "----------------------------------------------------------------------------------------------------------", "\n",
73 | "Time: ", time.time(), "\n",
74 | "----------------------------------------------------------------------------------------------------------", "\n",
75 | "MPU = ", formatLabel("0x68_master"), " | ", formatLabel("0x68_slave_of_0x68"), " | ", formatLabel("0x69_master"), " | ", formatLabel("0x68_slave_of_0x69"), "\n",
76 | "----------------------------------------------------------------------------------------------------------", "\n",
77 | "A_X = ", formatValue(data_0x68, 1), " | ", formatValue(data_0x68, 7), " | ", formatValue(data_0x69, 1), " | ", formatValue(data_0x69, 7), "\n",
78 | "A_Y = ", formatValue(data_0x68, 2), " | ", formatValue(data_0x68, 8), " | ", formatValue(data_0x69, 2), " | ", formatValue(data_0x69, 8), "\n",
79 | "A_Z = ", formatValue(data_0x68, 3), " | ", formatValue(data_0x68, 9), " | ", formatValue(data_0x69, 3), " | ", formatValue(data_0x69, 9), "\n",
80 | "----------------------------------------------------------------------------------------------------------", "\n",
81 | "G_X = ", formatValue(data_0x68, 4), " | ", formatValue(data_0x68, 10), " | ", formatValue(data_0x69, 4), " | ", formatValue(data_0x69, 10), "\n",
82 | "G_Y = ", formatValue(data_0x68, 5), " | ", formatValue(data_0x68, 11), " | ", formatValue(data_0x69, 5), " | ", formatValue(data_0x69, 11), "\n",
83 | "G_Z = ", formatValue(data_0x68, 6), " | ", formatValue(data_0x68, 12), " | ", formatValue(data_0x69, 6), " | ", formatValue(data_0x69, 12), "\n",
84 | "----------------------------------------------------------------------------------------------------------", "\n",
85 | "M_X = ", formatValue(data_0x68, 13), " | ", " null ", " | " , formatValue(data_0x69, 13), " | ", " null ", "\n",
86 | "M_Y = ", formatValue(data_0x68, 14), " | ", " null ", " | " , formatValue(data_0x69, 14), " | ", " null ", "\n",
87 | "M_Z = ", formatValue(data_0x68, 15), " | ", " null ", " | " , formatValue(data_0x69, 15), " | ", " null ", "\n",
88 | "----------------------------------------------------------------------------------------------------------", "\n",
89 | )
90 |
--------------------------------------------------------------------------------
/mpu9250_jmdev/__init__.py:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/jefmenegazzo/mpu-i2c-drivers-python/841b83ee5577667c1111b76b87e2f0f2070f0759/mpu9250_jmdev/__init__.py
--------------------------------------------------------------------------------
/mpu9250_jmdev/fake_smbus.py:
--------------------------------------------------------------------------------
1 | #####################################################################
2 | # Author: Jeferson Menegazzo #
3 | # Year: 2020 #
4 | # License: CC BY-NC-ND 4.0 #
5 | #####################################################################
6 |
7 | # Class for code testing without I2C access.
8 | class FakeSmbus(object):
9 |
10 | class SMBus(object):
11 |
12 | def __init__(self, bus):
13 | pass
14 |
15 | def write_byte_data(self, a, b, c):
16 | pass
17 |
18 | def read_byte_data(self, a, b):
19 | return 0
20 |
21 | def read_i2c_block_data(self, a, b, c):
22 | return [0] * c
23 |
24 | def close(self):
25 | pass
--------------------------------------------------------------------------------
/mpu9250_jmdev/mpu_9250.py:
--------------------------------------------------------------------------------
1 | #####################################################################
2 | # Author: Jeferson Menegazzo #
3 | # Year: 2020 #
4 | # License: CC BY-NC-ND 4.0 #
5 | #####################################################################
6 |
7 | """
8 | Based on:
9 | https://github.com/nickcoutsos/MPU-6050-Python/blob/master/MPU6050.py
10 | https://github.com/Tijndagamer/mpu6050/blob/master/mpu6050/mpu6050.py
11 | https://github.com/FaBoPlatform/FaBo9AXIS-MPU9250-Python/blob/master/FaBo9Axis_MPU9250/MPU9250.py
12 | https://github.com/kriswiner/MPU6050/blob/master/MPU6050IMU.ino
13 | https://github.com/kriswiner/MPU6050/wiki/Simple-and-Effective-Magnetometer-Calibration
14 | https://github.com/kriswiner/MPU9250/blob/master/MPU9250_MS5637_AHRS_t3.ino
15 | """
16 |
17 | try:
18 | # smbus2 is faster than smbus
19 | # import smbus
20 | import smbus2 as smbus
21 | except ImportError:
22 | print("\n", "Using Fake SMBus", "\n", "Install requirements.", "\n")
23 | from mpu9250_jmdev.fake_smbus import FakeSmbus as smbus
24 |
25 | from mpu9250_jmdev.registers import *
26 | import time
27 |
28 | class MPU9250:
29 |
30 | # Address Settings
31 | address_ak = None
32 | address_mpu_master = None
33 | address_mpu_slave = None
34 | bus = None
35 |
36 | # Sensor Full Scale
37 | gfs = None # Gyroscope
38 | afs = None # Accelerometer
39 | mfs = None # Magnetometer
40 | mode = None # Magnetometer Mode
41 |
42 | # Sensor Resolution - Scale Factor
43 | gres = None # Gyroscope
44 | ares = None # Accelerometer
45 | mres = None # Magnetometer
46 |
47 | # Factory Magnetometer Calibration and Bias
48 | magCalibration = [0, 0, 0]
49 |
50 | # Magnetometer Soft Iron Distortion
51 | magScale = [1, 1, 1]
52 |
53 | # Master and Slave Biases
54 | gbias = [0, 0, 0] # Gyroscope Master Bias
55 | gbias_slave = [0, 0, 0] # Gyroscope Slave Bias
56 | abias = [0, 0, 0] # Accelerometer Master Bias
57 | abias_slave = [0, 0, 0] # Accelerometer Slave Bias
58 | mbias = [0, 0, 0] # Magnetometer Hard Iron Distortion
59 |
60 | # Constructor
61 | # @param [in] self - The object pointer.
62 | # @param [in] address_ak - AK8963 I2C slave address (default:AK8963_ADDRESS[0x0C]).
63 | # @param [in] address_mpu_master - MPU-9250 I2C address (default:MPU9050_ADDRESS_68[0x68]).
64 | # @param [in] address_mpu_slave - MPU-9250 I2C slave address (default:[None]).
65 | # @param [in] bus - I2C bus board (default:Board Revision 2[1]).
66 | # @param [in] gfs - Gyroscope full scale select (default:GFS_2000[2000dps]).
67 | # @param [in] afs - Accelerometer full scale select (default:AFS_16G[16g]).
68 | # @param [in] mfs - Magnetometer scale select (default:AK8963_BIT_16[16bit])
69 | # @param [in] mode - Magnetometer mode select (default:AK8963_MODE_C100HZ[Continous 100Hz])
70 | def __init__(self,
71 | address_ak=AK8963_ADDRESS,
72 | address_mpu_master=MPU9050_ADDRESS_68,
73 | address_mpu_slave=None,
74 | bus=1,
75 | gfs=GFS_2000,
76 | afs=AFS_16G,
77 | mfs=AK8963_BIT_16,
78 | mode=AK8963_MODE_C100HZ
79 | ):
80 | self.address_ak = address_ak
81 | self.address_mpu_master = address_mpu_master
82 | self.address_mpu_slave = address_mpu_slave
83 | self.bus = smbus.SMBus(bus)
84 | self.gfs = gfs
85 | self.afs = afs
86 | self.mfs = mfs
87 | self.mode = mode
88 |
89 | # Configure MPU-9250
90 | # @param [in] self - The object pointer.
91 | # @param [in] retry - number of retries.
92 | def configure(self, retry=3):
93 |
94 | try:
95 | self.configureMPU6500(self.gfs, self.afs)
96 | self.configureAK8963(self.mfs, self.mode)
97 |
98 | except OSError as err:
99 |
100 | if(retry > 1):
101 | self.configure(retry - 1)
102 |
103 | else:
104 | raise err
105 |
106 | # Configure MPU-6500
107 | # @param [in] self - The object pointer.
108 | # @param [in] gfs - Gyroscope full scale select.
109 | # @param [in] afs - Accelerometer full scale select.
110 | def configureMPU6500(self, gfs, afs):
111 |
112 | if gfs == GFS_250:
113 | self.gres = GYRO_SCALE_MODIFIER_250DEG
114 | elif gfs == GFS_500:
115 | self.gres = GYRO_SCALE_MODIFIER_500DEG
116 | elif gfs == GFS_1000:
117 | self.gres = GYRO_SCALE_MODIFIER_1000DEG
118 | elif gfs == GFS_2000:
119 | self.gres = GYRO_SCALE_MODIFIER_2000DEG
120 | else:
121 | raise Exception('Gyroscope scale modifier not found.')
122 |
123 | if afs == AFS_2G:
124 | self.ares = ACCEL_SCALE_MODIFIER_2G
125 | elif afs == AFS_4G:
126 | self.ares = ACCEL_SCALE_MODIFIER_4G
127 | elif afs == AFS_8G:
128 | self.ares = ACCEL_SCALE_MODIFIER_8G
129 | elif afs == AFS_16G:
130 | self.ares = ACCEL_SCALE_MODIFIER_16G
131 | else:
132 | raise Exception('Accelerometer scale modifier not found.')
133 |
134 | # sleep off
135 | self.writeMaster(PWR_MGMT_1, 0x00, 0.1)
136 |
137 | # auto select clock source
138 | self.writeMaster(PWR_MGMT_1, 0x01, 0.1)
139 |
140 | # DLPF_CFG
141 | self.writeMaster(CONFIG, 0x00)
142 | # self.writeMaster(CONFIG, 0x03)
143 |
144 | # sample rate divider
145 | self.writeMaster(SMPLRT_DIV, 0x00)
146 | # self.writeMaster(SMPLRT_DIV, 0x04)
147 |
148 | # gyro full scale select
149 | self.writeMaster(GYRO_CONFIG, gfs << 3)
150 |
151 | # accel full scale select
152 | self.writeMaster(ACCEL_CONFIG, afs << 3)
153 |
154 | # A_DLPFCFG
155 | self.writeMaster(ACCEL_CONFIG_2, 0x00)
156 | # self.writeMaster(ACCEL_CONFIG_2, 0x03)
157 |
158 | if not(self.hasSlave()):
159 |
160 | # BYPASS_EN enable
161 | self.writeMaster(INT_PIN_CFG, 0x02, 0.1)
162 |
163 | # Disable master
164 | self.writeMaster(USER_CTRL, 0x00, 0.1)
165 |
166 | else:
167 |
168 | # BYPASS_EN disabled
169 | self.writeMaster(INT_PIN_CFG, 0x00, 0.1)
170 | # self.writeMaster(INT_PIN_CFG, 0x22, 0.1)
171 |
172 | # Enable Master
173 | self.writeMaster(USER_CTRL, 0x20, 0.1)
174 |
175 | # Write to MPU Slave
176 | self.setSlaveToWrite()
177 |
178 | # sleep off
179 | self.writeSlave(PWR_MGMT_1, 0x00, 0.1)
180 |
181 | # auto select clock source
182 | self.writeSlave(PWR_MGMT_1, 0x01, 0.1)
183 |
184 | # DLPF_CFG
185 | self.writeSlave(CONFIG, 0x00)
186 | # self.writeSlave(CONFIG, 0x03)
187 |
188 | # sample rate divider
189 | self.writeSlave(SMPLRT_DIV, 0x00)
190 | # self.writeSlave(SMPLRT_DIV, 0x04)
191 |
192 | # gyro full scale select
193 | self.writeSlave(GYRO_CONFIG, gfs << 3)
194 |
195 | # accel full scale select
196 | self.writeSlave(ACCEL_CONFIG, afs << 3)
197 |
198 | # A_DLPFCFG
199 | self.writeSlave(ACCEL_CONFIG_2, 0x00)
200 | # self.writeSlave(ACCEL_CONFIG_2, 0x03)
201 | # self.writeSlave(ACCEL_CONFIG_2, 0x05)
202 |
203 | # BYPASS_EN enable
204 | self.writeSlave(INT_PIN_CFG, 0x02, 0.1)
205 |
206 | # Disable master
207 | self.writeSlave(USER_CTRL, 0x00, 0.1)
208 |
209 | # Read from MPU Slave
210 | self.writeMaster(I2C_SLV0_ADDR, self.address_mpu_slave | 0x80) # 0xE8
211 | self.writeMaster(I2C_SLV0_REG, ACCEL_OUT)
212 | self.writeMaster(I2C_SLV0_CTRL, 0x8E) # read 14 bytes Acc(6) + Gyro(6) + Temp(2)
213 |
214 | # Configure AK8963
215 | # @param [in] self - The object pointer.
216 | # @param [in] mfs - Magnetometer full scale select.
217 | # @param [in] mode - Magnetometer mode select.
218 | def configureAK8963(self, mfs, mode):
219 |
220 | if mfs == AK8963_BIT_14:
221 | self.mres = MAGNOMETER_SCALE_MODIFIER_BIT_14
222 | elif mfs == AK8963_BIT_16:
223 | self.mres = MAGNOMETER_SCALE_MODIFIER_BIT_16
224 | else:
225 | raise Exception('Magnetometer scale modifier not found.')
226 |
227 | data = []
228 |
229 | if not(self.hasSlave()):
230 |
231 | # set power down mode
232 | self.writeAK(AK8963_CNTL1, 0x00, 0.1)
233 |
234 | # set read FuseROM mode
235 | self.writeAK(AK8963_CNTL1, 0x0F, 0.1)
236 |
237 | # read coef data
238 | data = self.readAK(AK8963_ASAX, 3)
239 |
240 | # set power down mode
241 | self.writeAK(AK8963_CNTL1, 0x00, 0.1)
242 |
243 | # set scale and continous mode
244 | self.writeAK(AK8963_CNTL1, (mfs << 4 | mode), 0.1)
245 |
246 | else:
247 |
248 | # Set to write MPU Slave
249 | self.setSlaveToWrite(self.address_ak)
250 |
251 | # set power down mode
252 | self.writeSlave(AK8963_CNTL1, 0x00, 0.1)
253 |
254 | # set read FuseROM mode
255 | self.writeSlave(AK8963_CNTL1, 0x0F, 0.1)
256 |
257 | # Address to read MPU Slave
258 | self.setSlaveToRead(self.address_ak)
259 |
260 | # read coef data
261 | data.append(self.readSlave(AK8963_ASAX))
262 | data.append(self.readSlave(AK8963_ASAY))
263 | data.append(self.readSlave(AK8963_ASAZ))
264 |
265 | # Set to write MPU Slave
266 | self.setSlaveToWrite(self.address_ak)
267 |
268 | # set power down mode
269 | self.writeSlave(AK8963_CNTL1, 0x00, 0.1)
270 |
271 | # set scale and continous mode
272 | self.writeSlave(AK8963_CNTL1, (mfs << 4 | mode), 0.1)
273 |
274 | # Read from MPU Slave
275 | self.writeMaster(I2C_SLV1_ADDR, self.address_ak | 0x80)
276 | self.writeMaster(I2C_SLV1_REG, AK8963_MAGNET_OUT)
277 | self.writeMaster(I2C_SLV1_CTRL, 0x87) # read 7 bytes
278 |
279 | self.magCalibration = [
280 | (data[0] - 128) / 256.0 + 1.0,
281 | (data[1] - 128) / 256.0 + 1.0,
282 | (data[2] - 128) / 256.0 + 1.0
283 | ]
284 |
285 | # Resets the values of the sensor registers.
286 | # @param [in] self - The object pointer.
287 | # @param [in] retry - number of retries.
288 | def reset(self, retry=3):
289 |
290 | try:
291 |
292 | if self.hasSlave():
293 | self.resetMPU9250Slave()
294 |
295 | self.resetMPU9250Master()
296 |
297 | except OSError as err:
298 |
299 | if(retry > 1):
300 | self.reset(retry - 1)
301 |
302 | else:
303 | raise err
304 |
305 | # Reset all master registers to default.
306 | # @param [in] self - The object pointer.
307 | def resetMPU9250Master(self):
308 | self.writeMaster(PWR_MGMT_1, 0x80, 0.1)
309 |
310 | # Reset all slave registers to default.
311 | # @param [in] self - The object pointer.
312 | def resetMPU9250Slave(self):
313 | self.setSlaveToWrite()
314 | self.writeSlave(PWR_MGMT_1, 0x80, 0.1)
315 |
316 | # Read accelerometer from master.
317 | # @param [in] self - The object pointer.
318 | # @retval [x, y, z] - acceleration data.
319 | def readAccelerometerMaster(self):
320 |
321 | try:
322 |
323 | data = self.readMaster(ACCEL_OUT, 6)
324 | return self.convertAccelerometer(data, self.abias)
325 |
326 | except OSError:
327 | return self.getDataError()
328 |
329 | # Read accelerometer from slave.
330 | # @param [in] self - The object pointer.
331 | # @retval [x, y, z] - acceleration data.
332 | def readAccelerometerSlave(self):
333 |
334 | if self.hasSlave():
335 |
336 | try:
337 |
338 | data = self.readMaster(EXT_SENS_DATA_00, 6)
339 | return self.convertAccelerometer(data, self.abias_slave)
340 |
341 | except OSError:
342 | return self.getDataError()
343 |
344 | else:
345 | return self.getDataError()
346 |
347 | # Convert accelerometer byte block to apply scale factor and biases.
348 | # @param [in] self - The object pointer.
349 | # @param [in] data - accelerometer 6-byte block.
350 | # @param [in] abias - biases.
351 | # @retval [x, y, z] - acceleration data.
352 | def convertAccelerometer(self, data, abias):
353 |
354 | x = (self.dataConv(data[1], data[0]) * self.ares) - abias[0]
355 | y = (self.dataConv(data[3], data[2]) * self.ares) - abias[1]
356 | z = (self.dataConv(data[5], data[4]) * self.ares) - abias[2]
357 |
358 | return [x, y, z]
359 |
360 | # Read gyroscope from master.
361 | # @param [in] self - The object pointer.
362 | # @retval [x, y, z] - gyroscope data.
363 | def readGyroscopeMaster(self):
364 |
365 | try:
366 |
367 | data = self.readMaster(GYRO_OUT, 6)
368 | return self.convertGyroscope(data, self.gbias)
369 |
370 | except OSError:
371 | return self.getDataError()
372 |
373 | # Read gyroscope from slave.
374 | # @param [in] self - The object pointer.
375 | # @retval [x, y, z] - gyroscope data.
376 | def readGyroscopeSlave(self):
377 |
378 | if self.hasSlave():
379 |
380 | try:
381 |
382 | data = self.readMaster(EXT_SENS_DATA_08, 6)
383 | return self.convertGyroscope(data, self.gbias_slave)
384 |
385 | except OSError:
386 | return self.getDataError()
387 |
388 | else:
389 | return self.getDataError()
390 |
391 | # Convert gyroscope byte block to apply scale factor and biases.
392 | # @param [in] self - The object pointer.
393 | # @param [in] data - gyroscope 6-byte block.
394 | # @param [in] gbias - biases.
395 | # @retval [x, y, z] - gyroscope data.
396 | def convertGyroscope(self, data, gbias):
397 |
398 | x = (self.dataConv(data[1], data[0]) * self.gres) - gbias[0]
399 | y = (self.dataConv(data[3], data[2]) * self.gres) - gbias[1]
400 | z = (self.dataConv(data[5], data[4]) * self.gres) - gbias[2]
401 |
402 | return [x, y, z]
403 |
404 | # Read magnetometer from master.
405 | # @param [in] self - The object pointer.
406 | # @retval [x, y, z] - magnetometer data.
407 | def readMagnetometerMaster(self):
408 |
409 | try:
410 |
411 | data = None
412 |
413 | if self.hasSlave():
414 | data = self.readMaster(EXT_SENS_DATA_14, 7)
415 |
416 | else:
417 | data = self.readAK(AK8963_MAGNET_OUT, 7)
418 |
419 | return self.convertMagnetometer(data)
420 |
421 | except OSError:
422 | return self.getDataError()
423 |
424 | # Convert magnetometer byte block to apply scale factor, biases and coeficiente.
425 | # @param [in] self - The object pointer.
426 | # @param [in] data - magnetometer 7-byte block.
427 | # @retval [x, y, z] - magnetometer data.
428 | def convertMagnetometer(self, data):
429 |
430 | # check overflow
431 | if (data[6] & 0x08) != 0x08:
432 | x = (self.dataConv(data[0], data[1]) * self.mres * self.magCalibration[0]) - self.mbias[0]
433 | y = (self.dataConv(data[2], data[3]) * self.mres * self.magCalibration[1]) - self.mbias[1]
434 | z = (self.dataConv(data[4], data[5]) * self.mres * self.magCalibration[2]) - self.mbias[2]
435 | x *= self.magScale[0]
436 | y *= self.magScale[1]
437 | z *= self.magScale[2]
438 | return [x, y, z]
439 |
440 | else:
441 | return self.getDataError()
442 |
443 | # Read temperature from master.
444 | # @param [in] self - The object pointer.
445 | # @retval temperature - temperature(degrees C).
446 | def readTemperatureMaster(self):
447 |
448 | try:
449 |
450 | data = self.readMaster(TEMP_OUT, 2)
451 | return self.convertTemperature(data)
452 |
453 | except OSError:
454 | return 0
455 |
456 | # Read temperature from slave.
457 | # @param [in] self - The object pointer.
458 | # @retval temperature - temperature(degrees C).
459 | def readTemperatureSlave(self):
460 |
461 | try:
462 |
463 | data = self.readMaster(EXT_SENS_DATA_06, 2)
464 | return self.convertTemperature(data)
465 |
466 | except OSError:
467 | return 0
468 |
469 | # Convert temperature byte block to apply to a value in measure unit degrees Centigrade (º C).
470 | # @param [in] self - The object pointer.
471 | # @param [in] data - temperature 2-byte block.
472 | # @retval temperature - temperature data.
473 | def convertTemperature(self, data):
474 | temp = self.dataConv(data[1], data[0])
475 | temp = (temp / 333.87 + 21.0)
476 | return temp
477 |
478 | # Get array with data from all sensors obtained at same time.
479 | # @param [in] self - The object pointer.
480 | # @retval [[timestamp], [accMaster], [gyroMaster], [accSlave], [gyroSlave], [dataAK], [tempMaster], [tempSlave] ] - all sensors data.
481 | def getAllData(self):
482 |
483 | timestamp = time.time()
484 |
485 | try:
486 |
487 | dataMPU = self.readMaster(FIRST_DATA_POSITION, 28)
488 | dataAK = self.readMagnetometerMaster()
489 |
490 | accMaster = self.convertAccelerometer(dataMPU[0:6], self.abias)
491 | tempMaster = self.convertTemperature(dataMPU[6:8])
492 | gyroMaster = self.convertGyroscope(dataMPU[8:14], self.gbias)
493 |
494 | if self.hasSlave():
495 | accSlave = self.convertAccelerometer(dataMPU[14:20], self.abias_slave)
496 | tempSlave = self.convertTemperature(dataMPU[20:22])
497 | gyroSlave = self.convertGyroscope(dataMPU[22:28], self.gbias_slave)
498 |
499 | else:
500 | accSlave = self.getDataError()
501 | tempSlave = 0
502 | gyroSlave = self.getDataError()
503 |
504 | return [timestamp] + accMaster + gyroMaster + accSlave + gyroSlave + dataAK + [tempMaster] + [tempSlave]
505 |
506 | except OSError:
507 | return [timestamp] + self.getDataError() + self.getDataError() + self.getDataError() + self.getDataError() + self.getDataError() + [0, 0]
508 |
509 | # Get array with labels for data obtained from getAllData.
510 | # @param [in] self - The object pointer.
511 | # @retval labels.
512 | def getAllDataLabels(self):
513 |
514 | return [
515 | "timestamp",
516 | "master_acc_x",
517 | "master_acc_y",
518 | "master_acc_z",
519 | "master_gyro_x",
520 | "master_gyro_y",
521 | "master_gyro_z",
522 | "slave_acc_x",
523 | "slave_acc_y",
524 | "slave_acc_z",
525 | "slave_gyro_x",
526 | "slave_gyro_y",
527 | "slave_gyro_z",
528 | "mag_x",
529 | "mag_y",
530 | "mag_z",
531 | "master_temp",
532 | "slave_temp"
533 | ]
534 |
535 | # When data is not available/error when read, is returned an array with 0.
536 | # @param [in] self - The object pointer.
537 | def getDataError(self):
538 | return [0, 0, 0]
539 |
540 | # Data Convert
541 | # @param [in] self - The object pointer.
542 | # @param [in] data1 - LSB
543 | # @param [in] data2 - MSB
544 | # @retval Value: MSB+LSB(int 16bit)
545 | def dataConv(self, data1, data2):
546 |
547 | value = data1 | (data2 << 8)
548 |
549 | if(value & (1 << 16 - 1)):
550 | value -= (1 << 16)
551 |
552 | return value
553 |
554 | # Search MPU Device master.
555 | # @param [in] self - The object pointer.
556 | # @retval true - device connected
557 | # @retval false - device error
558 | def searchMPUDevice(self):
559 | who_am_i = self.readMaster(WHO_AM_I, 1)[0]
560 | return who_am_i == DEVICE_ID
561 |
562 | # Check MPU data ready master.
563 | # @param [in] self - The object pointer.
564 | # @retval true - data is ready
565 | # @retval false - data is not ready
566 | def checkMPUDataReady(self):
567 | drdy = self.readMaster(INT_STATUS, 1)[0]
568 | return drdy & 0x01
569 |
570 | # Check AK data ready.
571 | # @param [in] self - The object pointer.
572 | # @retval true - data is ready
573 | # @retval false - data is not ready
574 | def checkAKDataReady(self):
575 | drdy = self.readAK(AK8963_ST1, 1)[0]
576 | return drdy & 0x01
577 |
578 | # Check if MPU has slave.
579 | # @param [in] self - The object pointer.
580 | # @retval true - if has slave (another MPU)
581 | # @retval false - if has not slave
582 | def hasSlave(self):
583 | return not(self.address_mpu_slave is None)
584 |
585 | # Calibrate all sensors.
586 | # @param [in] self - The object pointer.
587 | # @param [in] retry - number of retries.
588 | def calibrate(self, retry=3):
589 |
590 | try:
591 | print("Calibrating", hex(self.address_mpu_master), "- AK8963")
592 | self.calibrateAK8963()
593 | print("Calibrating", hex(self.address_mpu_master), "- MPU6500")
594 | self.calibrateMPU6500()
595 |
596 | except OSError as err:
597 |
598 | if(retry > 1):
599 | self.calibrate(retry - 1)
600 |
601 | else:
602 | raise err
603 |
604 | # This function calibrate MPU6500 and load biases to params in this class.
605 | # To calibrate, you must correctly position the MPU so that gravity is all along the z axis of the accelerometer.
606 | # This function accumulates gyro and accelerometer data after device initialization. It calculates the average
607 | # of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
608 | # This function reset sensor registers. Configure must be called after.
609 | # @param [in] self - The object pointer.
610 | def calibrateMPU6500(self):
611 |
612 | # reset device
613 | self.reset()
614 |
615 | # get stable time source; Auto select clock source to be PLL gyroscope reference if ready, else use the internal oscillator, bits 2:0 = 001
616 | self.writeMaster(PWR_MGMT_1, 0x01)
617 | self.writeMaster(PWR_MGMT_2, 0x00, 0.2)
618 |
619 | # Configure device for bias calculation
620 | self.writeMaster(INT_ENABLE, 0x00) # Disable all interrupts
621 | self.writeMaster(FIFO_EN, 0x00) # Disable FIFO
622 | self.writeMaster(PWR_MGMT_1, 0x00) # Turn on internal clock source
623 | self.writeMaster(I2C_MST_CTRL, 0x00) # Disable I2C master
624 | self.writeMaster(USER_CTRL, 0x00) # Disable FIFO and I2C master modes
625 | self.writeMaster(USER_CTRL, 0x0C, 0.015) # Reset FIFO and DMP
626 |
627 | # Configure MPU6500 gyro and accelerometer for bias calculation
628 | self.writeMaster(CONFIG, 0x01) # Set low-pass filter to 188 Hz
629 | self.writeMaster(SMPLRT_DIV, 0x00) # Set sample rate to 1 kHz
630 | self.writeMaster(GYRO_CONFIG, 0x00) # Set gyro full-scale to 250 degrees per second, maximum sensitivity
631 | self.writeMaster(ACCEL_CONFIG, 0x00) # Set accelerometer full-scale to 2G, maximum sensitivity
632 |
633 | # Configure FIFO to capture accelerometer and gyro data for bias calculation
634 | self.writeMaster(USER_CTRL, 0x40) # Enable FIFO
635 | self.writeMaster(FIFO_EN, 0x78, 0.04) # Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9150) # 0.4 - accumulate 40 samples in 40 milliseconds = 480 bytes
636 |
637 | # At end of sample accumulation, turn off FIFO sensor read
638 | self.writeMaster(FIFO_EN, 0x00) # Disable gyro and accelerometer sensors for FIFO
639 |
640 | # read FIFO sample count
641 | data = self.readMaster(FIFO_COUNTH, 2)
642 | fifo_count = self.dataConv(data[1], data[0])
643 | packet_count = int(fifo_count / 12); # How many sets of full gyro and accelerometer data for averaging
644 |
645 | index = 0
646 | accel_bias = [0, 0, 0]
647 | gyro_bias = [0, 0, 0]
648 |
649 | while index < packet_count:
650 |
651 | # read data for averaging
652 | data = self.readMaster(FIFO_R_W, 12)
653 |
654 | # Form signed 16-bit integer for each sample in FIFO
655 | # Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
656 | accel_bias[0] += self.dataConv(data[1], data[0])
657 | accel_bias[1] += self.dataConv(data[3], data[2])
658 | accel_bias[2] += self.dataConv(data[5], data[4])
659 | gyro_bias[0] += self.dataConv(data[7], data[6])
660 | gyro_bias[1] += self.dataConv(data[9], data[8])
661 | gyro_bias[2] += self.dataConv(data[11], data[10])
662 |
663 | index += 1
664 |
665 | # Normalize sums to get average count biases
666 | accel_bias[0] /= packet_count
667 | accel_bias[1] /= packet_count
668 | accel_bias[2] /= packet_count
669 | gyro_bias[0] /= packet_count
670 | gyro_bias[1] /= packet_count
671 | gyro_bias[2] /= packet_count
672 |
673 | # Remove gravity from the z-axis accelerometer bias calculation
674 | if accel_bias[2] > 0:
675 | accel_bias[2] -= ACCEL_SCALE_MODIFIER_2G_DIV
676 | else:
677 | accel_bias[2] += ACCEL_SCALE_MODIFIER_2G_DIV
678 |
679 | # Output scaled gyro biases for display in the main program
680 | self.gbias = [
681 | (gyro_bias[0] / GYRO_SCALE_MODIFIER_250DEG_DIV),
682 | (gyro_bias[1] / GYRO_SCALE_MODIFIER_250DEG_DIV),
683 | (gyro_bias[2] / GYRO_SCALE_MODIFIER_250DEG_DIV)
684 | ]
685 |
686 | # Output scaled accelerometer biases for manual subtraction in the main program
687 | self.abias = [
688 | (accel_bias[0] / ACCEL_SCALE_MODIFIER_2G_DIV),
689 | (accel_bias[1] / ACCEL_SCALE_MODIFIER_2G_DIV),
690 | (accel_bias[2] / ACCEL_SCALE_MODIFIER_2G_DIV)
691 | ]
692 |
693 | if self.hasSlave():
694 |
695 | # Reset all
696 | self.reset()
697 |
698 | # BYPASS_EN disabled
699 | self.writeMaster(INT_PIN_CFG, 0x00, 0.1)
700 |
701 | # Enable Master
702 | self.writeMaster(USER_CTRL, 0x20, 0.1)
703 |
704 | # Address to write MPU Slave
705 | self.setSlaveToWrite()
706 |
707 | # get stable time source; Auto select clock source to be PLL gyroscope reference if ready, else use the internal oscillator, bits 2:0 = 001
708 | self.writeSlave(PWR_MGMT_1, 0x01)
709 | self.writeSlave(PWR_MGMT_2, 0x00, 0.2)
710 |
711 | # Configure device for bias calculation
712 | self.writeSlave(INT_ENABLE, 0x00) # Disable all interrupts
713 | self.writeSlave(FIFO_EN, 0x00) # Disable FIFO
714 | self.writeSlave(PWR_MGMT_1, 0x00) # Turn on internal clock source
715 | self.writeSlave(I2C_MST_CTRL, 0x00) # Disable I2C master
716 | self.writeSlave(USER_CTRL, 0x00) # Disable FIFO and I2C master modes
717 | self.writeSlave(USER_CTRL, 0x0C, 0.015) # Reset FIFO and DMP
718 |
719 | # Configure MPU6500 gyro and accelerometer for bias calculation
720 | self.writeSlave(CONFIG, 0x01) # Set low-pass filter to 188 Hz
721 | self.writeSlave(SMPLRT_DIV, 0x00) # Set sample rate to 1 kHz
722 | self.writeSlave(GYRO_CONFIG, 0x00) # Set gyro full-scale to 250 degrees per second, maximum sensitivity
723 | self.writeSlave(ACCEL_CONFIG, 0x00) # Set accelerometer full-scale to 2G, maximum sensitivity
724 |
725 | # Configure FIFO to capture accelerometer and gyro data for bias calculation
726 | self.writeSlave(USER_CTRL, 0x40) # Enable FIFO
727 | self.writeSlave(FIFO_EN, 0x78, 0.04) # Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9150) # 0.4 - accumulate 40 samples in 40 milliseconds = 480 bytes
728 |
729 | # At end of sample accumulation, turn off FIFO sensor read
730 | self.writeSlave(FIFO_EN, 0x00) # Disable gyro and accelerometer sensors for FIFO
731 |
732 | # Slave to read
733 | self.setSlaveToRead()
734 |
735 | # read FIFO sample count
736 | data = [
737 | self.readSlave(FIFO_COUNTH),
738 | self.readSlave(FIFO_COUNTL)
739 | ]
740 |
741 | fifo_count = self.dataConv(data[1], data[0])
742 | packet_count = int(fifo_count / 12); # How many sets of full gyro and accelerometer data for averaging
743 |
744 | if fifo_count == 0:
745 | print("Could not connect to slave to calibrate")
746 |
747 | else:
748 |
749 | index = 0
750 | accel_bias = [0, 0, 0]
751 | gyro_bias = [0, 0, 0]
752 |
753 | while index < packet_count:
754 |
755 | i = 0
756 | data = []
757 |
758 | while i < 12:
759 | data.append(self.readSlave(FIFO_R_W)) # read data for averaging
760 | i += 1
761 |
762 | # Form signed 16-bit integer for each sample in FIFO
763 | # Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
764 | accel_bias[0] += self.dataConv(data[1], data[0])
765 | accel_bias[1] += self.dataConv(data[3], data[2])
766 | accel_bias[2] += self.dataConv(data[5], data[4])
767 | gyro_bias[0] += self.dataConv(data[7], data[6])
768 | gyro_bias[1] += self.dataConv(data[9], data[8])
769 | gyro_bias[2] += self.dataConv(data[11], data[10])
770 |
771 | index += 1
772 |
773 | # Normalize sums to get average count biases
774 | accel_bias[0] /= packet_count
775 | accel_bias[1] /= packet_count
776 | accel_bias[2] /= packet_count
777 | gyro_bias[0] /= packet_count
778 | gyro_bias[1] /= packet_count
779 | gyro_bias[2] /= packet_count
780 |
781 | # Remove gravity from the z-axis accelerometer bias calculation
782 | if accel_bias[2] > 0:
783 | accel_bias[2] -= ACCEL_SCALE_MODIFIER_2G_DIV
784 | else:
785 | accel_bias[2] += ACCEL_SCALE_MODIFIER_2G_DIV
786 |
787 | self.abias_slave = [
788 | (accel_bias[0] / ACCEL_SCALE_MODIFIER_2G_DIV),
789 | (accel_bias[1] / ACCEL_SCALE_MODIFIER_2G_DIV),
790 | (accel_bias[2] / ACCEL_SCALE_MODIFIER_2G_DIV)
791 | ]
792 |
793 | self.gbias_slave = [
794 | (gyro_bias[0] / GYRO_SCALE_MODIFIER_250DEG_DIV),
795 | (gyro_bias[1] / GYRO_SCALE_MODIFIER_250DEG_DIV),
796 | (gyro_bias[2] / GYRO_SCALE_MODIFIER_250DEG_DIV)
797 | ]
798 |
799 | self.reset()
800 |
801 | # This function calibrate AK8963 and load biases to params in this class.
802 | # This function reset sensor registers. Configure must be called after.
803 | # @param [in] self - The object pointer.
804 | def calibrateAK8963(self):
805 |
806 | self.configureAK8963(self.mfs, self.mode)
807 |
808 | index = 0
809 | sample_count = 0
810 | mag_bias = [0, 0, 0]
811 | mag_scale = [0, 0, 0]
812 | mag_max = [-32767, -32767, -32767]
813 | mag_min = [32767, 32767, 32767]
814 | mag_temp = [0, 0, 0]
815 |
816 | # shoot for ~fifteen seconds of mag data
817 | if (self.mode == AK8963_MODE_C8HZ):
818 | sample_count = 128; # at 8 Hz ODR, new mag data is available every 125 ms
819 |
820 | if (self.mode == AK8963_MODE_C100HZ):
821 | sample_count = 1500; # at 100 Hz ODR, new mag data is available every 10 ms
822 |
823 | index = 0
824 |
825 | while index < sample_count:
826 |
827 | index += 1
828 | data = None
829 |
830 | if self.hasSlave():
831 | data = self.readMaster(EXT_SENS_DATA_14, 7)
832 |
833 | else:
834 | data = self.readAK(AK8963_MAGNET_OUT, 7)
835 |
836 | # check overflow
837 | if (data[6] & 0x08) != 0x08:
838 |
839 | mag_temp = [
840 | self.dataConv(data[0], data[1]),
841 | self.dataConv(data[2], data[3]),
842 | self.dataConv(data[4], data[5])
843 | ]
844 |
845 | else:
846 | mag_temp = self.getDataError()
847 |
848 | indexAxes = 0
849 |
850 | while indexAxes < 3:
851 |
852 | if (mag_temp[indexAxes] > mag_max[indexAxes]):
853 | mag_max[indexAxes] = mag_temp[indexAxes]
854 |
855 | if (mag_temp[indexAxes] < mag_min[indexAxes]):
856 | mag_min[indexAxes] = mag_temp[indexAxes]
857 |
858 | indexAxes += 1
859 |
860 | if (self.mode == AK8963_MODE_C8HZ):
861 | time.sleep(0.135) # at 8 Hz ODR, new mag data is available every 125 ms
862 |
863 | if (self.mode == AK8963_MODE_C100HZ):
864 | time.sleep(0.012); # at 100 Hz ODR, new mag data is available every 10 ms
865 |
866 | # Get hard iron correction
867 | mag_bias[0] = (mag_max[0] + mag_min[0]) / 2 # get average x mag bias in counts
868 | mag_bias[1] = (mag_max[1] + mag_min[1]) / 2 # get average y mag bias in counts
869 | mag_bias[2] = (mag_max[2] + mag_min[2]) / 2 # get average z mag bias in counts
870 |
871 | # save mag biases in G for main program
872 | self.mbias = [
873 | mag_bias[0] * self.mres * self.magCalibration[0],
874 | mag_bias[1] * self.mres * self.magCalibration[1],
875 | mag_bias[2] * self.mres * self.magCalibration[2]
876 | ]
877 |
878 | # Get soft iron correction estimate
879 | mag_scale[0] = (mag_max[0] - mag_min[0]) / 2 # get average x axis max chord length in counts
880 | mag_scale[1] = (mag_max[1] - mag_min[1]) / 2 # get average y axis max chord length in counts
881 | mag_scale[2] = (mag_max[2] - mag_min[2]) / 2 # get average z axis max chord length in counts
882 |
883 | avg_rad = mag_scale[0] + mag_scale[1] + mag_scale[2]
884 | avg_rad /= 3.0
885 |
886 | self.magScale = [
887 | avg_rad / mag_scale[0],
888 | avg_rad / mag_scale[1],
889 | avg_rad / mag_scale[2]
890 | ]
891 |
892 | # Get array with settings from all sensors obtained at same time.
893 | # @param [in] self - The object pointer.
894 | # @retval [[timestamp], [addresses], [fullScale], [resolution], [gbias], [gbias_slave], [abias], [abias_slave], [magCalibration], [magScale], [mbias] ] - all sensors settings.
895 | def getAllSettings(self):
896 |
897 | data = [
898 | time.time(),
899 |
900 | None if self.address_mpu_master is None else str(hex(self.address_mpu_master)),
901 | None if self.address_mpu_slave is None else str(hex(self.address_mpu_slave)),
902 | None if self.address_ak is None else str(hex(self.address_ak)),
903 |
904 | self.getGyroscoleFullScaleLabel(),
905 | self.getAccelerometerFullScaleLabel(),
906 | self.getMagnetometerFullScaleLabel(),
907 |
908 | self.gres,
909 | self.ares,
910 | self.mres
911 | ] + self.gbias + self.gbias_slave + self.abias + self.abias_slave + self.magCalibration + self.magScale + self.mbias
912 |
913 | return data
914 |
915 | # Get array with labels for settings obtained from getAllSettings.
916 | # @param [in] self - The object pointer.
917 | # @retval labels.
918 | def getAllSettingsLabels(self):
919 |
920 | return [
921 | "timestamp",
922 |
923 | "address_mpu_master",
924 | "address_mpu_slave",
925 | "address_ak",
926 |
927 | "gyroscope_full_scale",
928 | "accelerometer_full_scale",
929 | "magnetometer_full_scale",
930 |
931 | "gyroscope_resolution",
932 | "accelerometer_resolution",
933 | "magnetometer_resolution",
934 |
935 | "gyroscope_master_bias_x",
936 | "gyroscope_master_bias_y",
937 | "gyroscope_master_bias_z",
938 |
939 | "gyroscope_slave_bias_x",
940 | "gyroscope_slave_bias_y",
941 | "gyroscope_slave_bias_z",
942 |
943 | "accelerometer_master_bias_x",
944 | "accelerometer_master_bias_y",
945 | "accelerometer_master_bias_z",
946 |
947 | "accelerometer_slave_bias_x",
948 | "accelerometer_slave_bias_y",
949 | "accelerometer_slave_bias_z",
950 |
951 | "magnetometer_factory_sensitivity_x",
952 | "magnetometer_factory_sensitivity_y",
953 | "magnetometer_factory_sensitivity_z",
954 |
955 | "magnetometer_soft_iron_distortion_x",
956 | "magnetometer_soft_iron_distortion_y",
957 | "magnetometer_soft_iron_distortion_z",
958 |
959 | "magnetometer_hard_iron_distortion_x",
960 | "magnetometer_hard_iron_distortion_y",
961 | "magnetometer_hard_iron_distortion_z"
962 | ]
963 |
964 | # Get label for gyroscope full scale value.
965 | # @param [in] self - The object pointer.
966 | # @retval label.
967 | def getGyroscoleFullScaleLabel(self):
968 |
969 | if self.gfs == GFS_250:
970 | return "GFS_250"
971 | elif self.gfs == GFS_500:
972 | return "GFS_500"
973 | elif self.gfs == GFS_1000:
974 | return "GFS_1000"
975 | elif self.gfs == GFS_2000:
976 | return "GFS_2000"
977 | else:
978 | return None
979 |
980 | # Get label for accelerometer full scale value.
981 | # @param [in] self - The object pointer.
982 | # @retval label.
983 | def getAccelerometerFullScaleLabel(self):
984 |
985 | if self.afs == AFS_2G:
986 | return "AFS_2G"
987 | elif self.afs == AFS_4G:
988 | return "AFS_4G"
989 | elif self.afs == AFS_8G:
990 | return "AFS_8G"
991 | elif self.afs == AFS_16G:
992 | return "AFS_16G"
993 | else:
994 | return None
995 |
996 | # Get label for magnetometer full scale value.
997 | # @param [in] self - The object pointer.
998 | # @retval label.
999 | def getMagnetometerFullScaleLabel(self):
1000 |
1001 | if self.mfs == AK8963_BIT_14:
1002 | return "AK8963_BIT_14"
1003 | elif self.mfs == AK8963_BIT_16:
1004 | return "AK8963_BIT_16"
1005 | else:
1006 | return None
1007 |
1008 | ################################################################## Master Methods ##################################################################
1009 |
1010 | def writeAK(self, register, value, sleep = 0):
1011 |
1012 | self.bus.write_byte_data(self.address_ak, register, value)
1013 |
1014 | if sleep > 0:
1015 | time.sleep(sleep)
1016 |
1017 | def readAK(self, register, quantity):
1018 | return self.bus.read_i2c_block_data(self.address_ak, register, quantity)
1019 |
1020 | def writeMaster(self, register, value, sleep = 0):
1021 |
1022 | self.bus.write_byte_data(self.address_mpu_master, register, value)
1023 |
1024 | if sleep > 0:
1025 | time.sleep(sleep)
1026 |
1027 | def readMaster(self, register, quantity):
1028 | return self.bus.read_i2c_block_data(self.address_mpu_master, register, quantity)
1029 |
1030 | ################################################################## Slave Methods ##################################################################
1031 |
1032 | # Set to write MPU Slave
1033 | def setSlaveToWrite(self, address=None):
1034 |
1035 | if address is None:
1036 | address = self.address_mpu_slave
1037 |
1038 | self.bus.write_byte_data(self.address_mpu_master, I2C_SLV4_ADDR, address)
1039 |
1040 | # Write in slave
1041 | def writeSlave(self, register, value, sleep = 0):
1042 | self.bus.write_byte_data(self.address_mpu_master, I2C_SLV4_REG, register)
1043 | self.bus.write_byte_data(self.address_mpu_master, I2C_SLV4_DO, value)
1044 | self.bus.write_byte_data(self.address_mpu_master, I2C_SLV4_CTRL, 0x80)
1045 |
1046 | if sleep > 0:
1047 | time.sleep(sleep)
1048 |
1049 | # Set to read MPU Slave
1050 | def setSlaveToRead(self, address=None):
1051 |
1052 | if address is None:
1053 | address = self.address_mpu_slave
1054 |
1055 | self.bus.write_byte_data(self.address_mpu_master, I2C_SLV4_ADDR, address | 0x80)
1056 |
1057 | # Read from slave
1058 | def readSlave(self, register):
1059 | self.bus.write_byte_data(self.address_mpu_master, I2C_SLV4_REG, register)
1060 | self.bus.write_byte_data(self.address_mpu_master, I2C_SLV4_CTRL, 0x80)
1061 | return self.bus.read_byte_data(self.address_mpu_master, I2C_SLV4_DI)
1062 |
--------------------------------------------------------------------------------
/mpu9250_jmdev/registers.py:
--------------------------------------------------------------------------------
1 | #####################################################################
2 | # Author: Jeferson Menegazzo #
3 | # Year: 2020 #
4 | # License: CC BY-NC-ND 4.0 #
5 | #####################################################################
6 |
7 | ###########################################################
8 | # Register Map for Gyroscope and Accelerometer - MPU 9250
9 | ###########################################################
10 |
11 | # Gyroscope Self-Test Registers
12 | SELF_TEST_X_GYRO = 0x00
13 | SELF_TEST_Y_GYRO = 0x01
14 | SELF_TEST_Z_GYRO = 0x02
15 |
16 | # Accelerometer Self-Test Registers
17 | SELF_TEST_X_ACCEL = 0x0D
18 | SELF_TEST_Y_ACCEL = 0x0E
19 | SELF_TEST_Z_ACCEL = 0x0F
20 |
21 | # Gyro Offset Registers
22 | XG_OFFSET_H = 0x13
23 | XG_OFFSET_L = 0x14
24 | YG_OFFSET_H = 0x15
25 | YG_OFFSET_L = 0x16
26 | ZG_OFFSET_H = 0x17
27 | ZG_OFFSET_L = 0x18
28 |
29 | # Accelerometer Offset Registers
30 | XA_OFFSET_H = 0x77
31 | XA_OFFSET_L = 0x78
32 | YA_OFFSET_H = 0x7A
33 | YA_OFFSET_L = 0x7B
34 | ZA_OFFSET_H = 0x7D
35 | ZA_OFFSET_L = 0x7E
36 |
37 | # Sample Rate Divider
38 | SMPLRT_DIV = 0x19
39 |
40 | # Configuration
41 | CONFIG = 0x1A
42 |
43 | # Gyroscope Configuration
44 | GYRO_CONFIG = 0x1B
45 |
46 | # Accelerometer Configuration
47 | ACCEL_CONFIG = 0x1C
48 |
49 | # Accelerometer Configuration 2
50 | ACCEL_CONFIG_2 = 0x1D
51 |
52 | # Low Power Accelerometer ODR Control
53 | LP_ACCEL_ODR = 0x1E
54 |
55 | # Wake-on Motion Threshold
56 | WOM_THR = 0x1F
57 |
58 | # FIFO Enable
59 | FIFO_EN = 0x23
60 |
61 | # I2C Master Control
62 | I2C_MST_CTRL = 0x24
63 |
64 | # I2C Slave 0 Control
65 | I2C_SLV0_ADDR = 0x25
66 | I2C_SLV0_REG = 0x26
67 | I2C_SLV0_DO = 0x63
68 | I2C_SLV0_CTRL = 0x27
69 |
70 | # I2C Slave 1 Control
71 | I2C_SLV1_ADDR = 0x28
72 | I2C_SLV1_REG = 0x29
73 | I2C_SLV1_DO = 0x64
74 | I2C_SLV1_CTRL = 0x2A
75 |
76 | # I2C Slave 2 Control
77 | I2C_SLV2_ADDR = 0x2B
78 | I2C_SLV2_REG = 0x2C
79 | I2C_SLV2_DO = 0x65
80 | I2C_SLV2_CTRL = 0x2D
81 |
82 | # I2C Slave 3 Control
83 | I2C_SLV3_ADDR = 0x2E
84 | I2C_SLV3_REG = 0x2F
85 | I2C_SLV3_DO = 0x66
86 | I2C_SLV3_CTRL = 0x30
87 |
88 | # I2C Slave 4 Control
89 | I2C_SLV4_ADDR = 0x31
90 | I2C_SLV4_REG = 0x32
91 | I2C_SLV4_DO = 0x33
92 | I2C_SLV4_CTRL = 0x34
93 | I2C_SLV4_DI = 0x35
94 |
95 | # I2C Master Status
96 | I2C_MST_STATUS = 0x36
97 |
98 | # INT Pin / Bypass Enable Configuration
99 | ## BYPASS_EN[1]:
100 | ### When asserted, the i2c_master interface pins(ES_CL and ES_DA) will go into ‘bypass mode’ when the i2c master interface is disabled.
101 | ### The pins will float high due to the internal pull-up if not enabled and the i2c master interface is disabled.
102 | INT_PIN_CFG = 0x37
103 |
104 | # Interrupt Enable
105 | INT_ENABLE = 0x38
106 |
107 | # Interrupt Status
108 | INT_STATUS = 0x3A
109 |
110 | # Accelerometer Measurements - High byte and low byte
111 | ACCEL_XOUT_H = 0x3B
112 | ACCEL_XOUT_L = 0x3C
113 | ACCEL_YOUT_H = 0x3D
114 | ACCEL_YOUT_L = 0x3E
115 | ACCEL_ZOUT_H = 0x3F
116 | ACCEL_ZOUT_L = 0x40
117 |
118 | # Temperature Measurement
119 | TEMP_OUT_H = 0x41
120 | TEMP_OUT_L = 0x42
121 |
122 | # Gyroscope Measurements - High byte and low byte
123 | GYRO_XOUT_H = 0x43
124 | GYRO_XOUT_L = 0x44
125 | GYRO_YOUT_H = 0x45
126 | GYRO_YOUT_L = 0x46
127 | GYRO_ZOUT_H = 0x47
128 | GYRO_ZOUT_L = 0x48
129 |
130 | # External Sensor Data
131 | EXT_SENS_DATA_00 = 0x49
132 | EXT_SENS_DATA_01 = 0x4A
133 | EXT_SENS_DATA_02 = 0x4B
134 | EXT_SENS_DATA_03 = 0x4C
135 | EXT_SENS_DATA_04 = 0x4D
136 | EXT_SENS_DATA_05 = 0x4E
137 | EXT_SENS_DATA_06 = 0x4F
138 | EXT_SENS_DATA_07 = 0x50
139 | EXT_SENS_DATA_08 = 0x51
140 | EXT_SENS_DATA_09 = 0x52
141 | EXT_SENS_DATA_10 = 0x53
142 | EXT_SENS_DATA_11 = 0x54
143 | EXT_SENS_DATA_12 = 0x55
144 | EXT_SENS_DATA_13 = 0x56
145 | EXT_SENS_DATA_14 = 0x57
146 | EXT_SENS_DATA_15 = 0x58
147 | EXT_SENS_DATA_16 = 0x59
148 | EXT_SENS_DATA_17 = 0x5A
149 | EXT_SENS_DATA_18 = 0x5B
150 | EXT_SENS_DATA_19 = 0x5C
151 | EXT_SENS_DATA_20 = 0x5D
152 | EXT_SENS_DATA_21 = 0x5E
153 | EXT_SENS_DATA_22 = 0x5F
154 | EXT_SENS_DATA_23 = 0x60
155 |
156 | # I2C Master Delay Control
157 | I2C_MST_DELAY_CTRL = 0x67
158 |
159 | # Signal Path Reset
160 | SIGNAL_PATH_RESET = 0x68
161 |
162 | # Accelerometer Interrupt Control
163 | MOT_DETECT_CTRL = 0x69
164 |
165 | # User Control
166 | ## I2C_MST_EN[5]:
167 | ### 1 – Enable the I2C Master I/F module; pins ES_DA and ES_SCL are isolated from pins SDA/SDI and SCL/ SCLK.
168 | ### 0 – Disable I2C Master I/F module; pins ES_DA and ES_SCL are logically driven by pins SDA/SDI and SCL/ SCLK.
169 | USER_CTRL = 0x6A
170 |
171 | # Power Management 1
172 | PWR_MGMT_1 = 0x6B
173 |
174 | # Power Management 2
175 | PWR_MGMT_2 = 0x6C
176 |
177 | # FIFO Count Registers
178 | FIFO_COUNTH = 0x72
179 | FIFO_COUNTL = 0x73
180 |
181 | # FIFO Read Write
182 | FIFO_R_W = 0x74
183 |
184 | # Who Am I
185 | WHO_AM_I = 0x75
186 |
187 | # Gyro Full Scale Select
188 | GFS_250 = 0x00 # 250dps
189 | GFS_500 = 0x01 # 500dps
190 | GFS_1000 = 0x02 # 1000dps
191 | GFS_2000 = 0x03 # 2000dps
192 |
193 | # Accel Full Scale Select
194 | AFS_2G = 0x00 # 2G
195 | AFS_4G = 0x01 # 4G
196 | AFS_8G = 0x02 # 8G
197 | AFS_16G = 0x03 # 16G
198 |
199 | ###########################################################
200 | # Register Map for Magnetometer - AK8963
201 | ###########################################################
202 |
203 | # Device ID
204 | AK8963_WIA = 0x00
205 |
206 | # Information
207 | AK8963_INFO = 0x01
208 |
209 | # Status 1
210 | AK8963_ST1 = 0x02
211 |
212 | # Measurement Data
213 | AK8963_HXL = 0x03
214 | AK8963_HXH = 0x04
215 | AK8963_HYL = 0x05
216 | AK8963_HYH = 0x06
217 | AK8963_HZL = 0x07
218 | AK8963_HZH = 0x08
219 |
220 | # Status 2
221 | AK8963_ST2 = 0x09
222 |
223 | # Control 1
224 | #AK8963_CNTL = 0x0A
225 | AK8963_CNTL1 = 0x0A
226 | # Control 2
227 | # AK8963_RSV = 0x0B
228 | AK8963_CNTL2 = 0x0B
229 |
230 | # Self-Test Control
231 | AK8963_ASTC = 0x0C
232 |
233 | # Test 1, 2
234 | AK8963_TS1 = 0x0D
235 | AK8963_TS2 = 0x0E
236 |
237 | # I2C Disable
238 | AK8963_I2CDIS = 0x0F
239 |
240 | # Sensitivity Adjustment values
241 | AK8963_ASAX = 0x10
242 | AK8963_ASAY = 0x11
243 | AK8963_ASAZ = 0x12
244 |
245 | # CNTL1 Mode select
246 | # Power down mode
247 | AK8963_MODE_DOWN = 0x00
248 |
249 | # One shot data output
250 | AK8963_MODE_ON = 0x01
251 |
252 | # Magneto Scale Select
253 | AK8963_BIT_14 = 0x00 # 14bit output
254 | AK8963_BIT_16 = 0x01 # 16bit output
255 |
256 | # Continous data output
257 | AK8963_MODE_C8HZ = 0x02 # 8Hz
258 | AK8963_MODE_C100HZ = 0x06 # 100Hz
259 |
260 | ###########################################################
261 | # Others
262 | ###########################################################
263 |
264 | FIRST_DATA_POSITION = ACCEL_XOUT_H
265 | ACCEL_OUT = ACCEL_XOUT_H
266 | GYRO_OUT = GYRO_XOUT_H
267 | TEMP_OUT = TEMP_OUT_H
268 | AK8963_MAGNET_OUT = AK8963_HXL
269 |
270 | # Device ID
271 | DEVICE_ID = 0x71
272 |
273 | # Accelerometer Scale Modifiers
274 | ACCEL_SCALE_MODIFIER_2G = 2.0/32768.0
275 | ACCEL_SCALE_MODIFIER_4G = 4.0/32768.0
276 | ACCEL_SCALE_MODIFIER_8G = 8.0/32768.0
277 | ACCEL_SCALE_MODIFIER_16G = 16.0/32768.0
278 |
279 | ACCEL_SCALE_MODIFIER_2G_DIV = 32768.0/2.0
280 | ACCEL_SCALE_MODIFIER_4G_DIV = 32768.0/4.0
281 | ACCEL_SCALE_MODIFIER_8G_DIV = 32768.0/8.0
282 | ACCEL_SCALE_MODIFIER_16G_DIV = 32768.0/16.0
283 |
284 | # Gyroscope Scale Modifiers
285 | GYRO_SCALE_MODIFIER_250DEG = 250.0/32768.0
286 | GYRO_SCALE_MODIFIER_500DEG = 500.0/32768.0
287 | GYRO_SCALE_MODIFIER_1000DEG = 1000.0/32768.0
288 | GYRO_SCALE_MODIFIER_2000DEG = 2000.0/32768.0
289 |
290 | GYRO_SCALE_MODIFIER_250DEG_DIV = 32768.0/250.0
291 | GYRO_SCALE_MODIFIER_500DEG_DIV = 32768.0/500.0
292 | GYRO_SCALE_MODIFIER_1000DEG_DIV = 32768.0/1000.0
293 | GYRO_SCALE_MODIFIER_2000DEG_DIV = 32768.0/2000.0
294 |
295 | # Magnetometer Scale Modifiers
296 | MAGNOMETER_SCALE_MODIFIER_BIT_14 = 4912.0/8190.0
297 | MAGNOMETER_SCALE_MODIFIER_BIT_16 = 4912.0/32760.0
298 |
299 | MAGNOMETER_SCALE_MODIFIER_BIT_14_DIV = 8190.0/4912.0
300 | MAGNOMETER_SCALE_MODIFIER_BIT_16_DIV = 32760.0/4912.0
301 |
302 | # Gravity
303 | GRAVITY = 9.80665
304 |
305 | # Default I2C Address
306 | MPU9050_ADDRESS_68 = 0x68
307 | MPU9050_ADDRESS_69 = 0x69
308 | AK8963_ADDRESS = 0x0C
--------------------------------------------------------------------------------
/requirements.txt:
--------------------------------------------------------------------------------
1 | smbus2==0.3.0
--------------------------------------------------------------------------------
/setup.py:
--------------------------------------------------------------------------------
1 | import setuptools
2 |
3 | with open("README.md", "r") as fh:
4 | long_description = fh.read()
5 |
6 | # Remove Emojis
7 | long_description = long_description.replace(":information_source: ", "")
8 | long_description = long_description.replace(":warning: ", "")
9 | long_description = long_description.replace(":exclamation: ", "")
10 |
11 | setuptools.setup(
12 | name="mpu9250_jmdev",
13 | version="1.0.12",
14 | author="Jeferson Menegazzo",
15 | author_email="jef.menegazzo@outlook.com",
16 | description="MPU-9250 (MPU-6500 + AK8963) I2C Driver in Python for Raspbery PI",
17 | long_description=long_description,
18 | long_description_content_type="text/markdown",
19 | url="https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect",
20 | packages=setuptools.find_packages(),
21 | classifiers=[
22 | "Programming Language :: Python :: 3",
23 | "License :: OSI Approved :: CC BY-NC-ND 4.0 License",
24 | "Operating System :: OS Independent",
25 | ],
26 | python_requires='>=3.6',
27 | install_requires=[
28 | "smbus2>=0.3.0",
29 | ]
30 | )
--------------------------------------------------------------------------------
10 |
11 |
12 |