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IMU_Combined.py
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#!/usr/bin/python3
import smbus
import time
from math import *
import numpy
bus = smbus.SMBus(1); # 0 for R-Pi Rev. 1, 1 for Rev. 2
# the following address is defined by datasheet
#HMC5883L (Magnetometer) constants
HMC5883L_ADDRESS = 0x1E # I2C address
HMC5883L_CRA = 0x00 # write CRA(00), Configuration Register A
HMC5883L_CRB = 0x01 # write CRB(01), Configuration Register B
HMC5883L_MR = 0x02 # write Mode(02)
HMC5883L_DO_X_H = 0x03 # Data Output
HMC5883L_DO_X_L = 0x04
HMC5883L_DO_Z_H = 0x05
HMC5883L_DO_Z_L = 0x06
HMC5883L_DO_Y_H = 0x07
HMC5883L_DO_Y_L = 0x08
EARTH_GRAVITY_MS2 = 9.80665 # m/s2
ADXL345_ADDRESS = 0x53
ADXL345_BW_RATE = 0x2C
ADXL345_POWER_CTL = 0x2D
ADXL345_DATA_FORMAT = 0x31
ADXL345_DATAX0 = 0x32
ADXL345_DATAY0 = 0x34
ADXL345_DATAZ0 = 0x36
ADXL345_SCALE_MULTIPLIER = 0.00390625 # G/LSP
ADXL345_BW_RATE_100HZ = 0x0A
ADXL345_MEASURE = 0x08
L3G4200D_ADDRESS = 0x69
L3G4200D_CTRL_REG1 = 0x20
L3G4200D_CTRL_REG4 = 0x23
L3G4200D_OUT_X_L = 0x28
L3G4200D_OUT_X_H = 0x29
L3G4200D_OUT_Y_L = 0x2A
L3G4200D_OUT_Y_H = 0x2B
L3G4200D_OUT_Z_L = 0x2C
L3G4200D_OUT_Z_H = 0x2D
STANDARD_PRESSURE = 1013.25 # hPa
#BMP180 (Barometer) constants
BMP180_ADDRESS = 0x77
# Calibration coefficients
BMP180_AC1 = 0xAA
BMP180_AC2 = 0xAC
BMP180_AC3 = 0xAE
BMP180_AC4 = 0xB0
BMP180_AC5 = 0xB2
BMP180_AC6 = 0xB4
BMP180_B1 = 0xB6
BMP180_B2 = 0xB8
BMP180_MB = 0xBA
BMP180_MC = 0xBC
BMP180_MD = 0xBE
class IMU(object):
def write_byte(self,adr, value):
bus.write_byte_data(self.ADDRESS, adr, value)
def read_byte(self,adr):
return bus.read_byte_data(self.ADDRESS, adr)
def read_word(self,adr,rf=1):
# rf=1 Little Endian Format, rf=0 Big Endian Format
if (rf == 1):
# acc, gyro
low = self.read_byte(adr)
high = self.read_byte(adr+1)
else:
# compass
high = self.read_byte(adr)
low = self.read_byte(adr+1)
print (high)
print (low)
val = (high << 8) + low
return val
def read_word_2c(self,adr,rf=1):
val = self.read_word(adr,rf)
if(val & (1 << 16 - 1)):
return val - (1<<16)
else:
return val
class gy801(object):
def __init__(self) :
self.compass = HMC5883L()
self.accel = ADXL345()
self.gyro = L3G4200D()
self.baro = BMP180()
class L3G4200D(IMU):
ADDRESS = L3G4200D_ADDRESS
def __init__(self) :
#Class Properties
self.Xraw = 0.0
self.Yraw = 0.0
self.Zraw = 0.0
self.X = 0.0
self.Y = 0.0
self.Z = 0.0
self.Xangle = 0.0
self.Yangle = 0.0
self.Zangle = 0.0
self.t0x = None
self.t0y = None
self.t0z = None
# set value
self.gain_std = 0.00875 # dps/digit
self.write_byte(L3G4200D_CTRL_REG1, 0x0F)
self.write_byte(L3G4200D_CTRL_REG4, 0x80)
self.setCalibration()
def setCalibration(self) :
gyr_r = self.read_byte(L3G4200D_CTRL_REG4)
self.gain = 2 ** ( gyr_r & 48 >> 4) * self.gain_std
def getRawX(self):
self.Xraw = self.read_word_2c(L3G4200D_OUT_X_L)
return self.Xraw
def getRawY(self):
self.Yraw = self.read_word_2c(L3G4200D_OUT_Y_L)
return self.Yraw
def getRawZ(self):
self.Zraw = self.read_word_2c(L3G4200D_OUT_Z_L)
return self.Zraw
def getX(self,plf = 1.0):
self.X = ( self.getRawX() * self.gain ) * plf + (1.0 - plf) * self.X
return self.X
def getY(self,plf = 1.0):
self.Y = ( self.getRawY() * self.gain ) * plf + (1.0 - plf) * self.Y
return self.Y
def getZ(self,plf = 1.0):
self.Z = ( self.getRawZ() * self.gain ) * plf + (1.0 - plf) * self.Z
return self.Z
def getXangle(self,plf = 1.0) :
if self.t0x is None : self.t0x = time.time()
t1x = time.time()
LP = t1x - self.t0x
self.t0x = t1x
self.Xangle = self.getX(plf) * LP
return self.Xangle
def getYangle(self,plf = 1.0) :
if self.t0y is None : self.t0y = time.time()
t1y = time.time()
LP = t1y - self.t0y
self.t0y = t1y
self.Yangle = self.getY(plf) * LP
return self.Yangle
def getZangle(self,plf = 1.0) :
if self.t0z is None : self.t0z = time.time()
t1z = time.time()
LP = t1z - self.t0z
self.t0z = t1z
self.Zangle = self.getZ(plf) * LP
return self.Zangle
# -----------------------------------------------------
class ADXL345(IMU):
ADDRESS = ADXL345_ADDRESS
def __init__(self) :
#Class Properties
self.Xoffset = 0.0
self.Yoffset = 0.0
self.Zoffset = 0.0
self.Xraw = 0.0
self.Yraw = 0.0
self.Zraw = 0.0
self.Xg = 0.0
self.Yg = 0.0
self.Zg = 0.0
self.X = 0.0
self.Y = 0.0
self.Z = 0.0
self.df_value = 0b00000000 # Self test disabled, 4-wire interface
# Full resolution, Range = +/-2g
self.Xcalibr = ADXL345_SCALE_MULTIPLIER
self.Ycalibr = ADXL345_SCALE_MULTIPLIER
self.Zcalibr = ADXL345_SCALE_MULTIPLIER
self.write_byte(ADXL345_BW_RATE, ADXL345_BW_RATE_100HZ) # Normal mode, Output data rate = 100 Hz
self.write_byte(ADXL345_POWER_CTL, ADXL345_MEASURE) # Auto Sleep disable
self.write_byte(ADXL345_DATA_FORMAT, self.df_value)
# RAW readings in LPS
def getRawX(self) :
self.Xraw = self.read_word_2c(ADXL345_DATAX0)
return self.Xraw
def getRawY(self) :
self.Yraw = self.read_word_2c(ADXL345_DATAY0)
return self.Yraw
def getRawZ(self) :
self.Zraw = self.read_word_2c(ADXL345_DATAZ0)
return self.Zraw
# G related readings in g
def getXg(self,plf = 1.0) :
self.Xg = (self.getRawX() * self.Xcalibr + self.Xoffset) * plf + (1.0 - plf) * self.Xg
return self.Xg
def getYg(self,plf = 1.0) :
self.Yg = (self.getRawY() * self.Ycalibr + self.Yoffset) * plf + (1.0 - plf) * self.Yg
return self.Yg
def getZg(self,plf = 1.0) :
self.Zg = (self.getRawZ() * self.Zcalibr + self.Zoffset) * plf + (1.0 - plf) * self.Zg
return self.Zg
# Absolute reading in m/s2
def getX(self,plf = 1.0) :
self.X = self.getXg(plf) * EARTH_GRAVITY_MS2
return self.X
def getY(self,plf = 1.0) :
self.Y = self.getYg(plf) * EARTH_GRAVITY_MS2
return self.Y
def getZ(self,plf = 1.0) :
self.Z = self.getZg(plf) * EARTH_GRAVITY_MS2
return self.Z
# -----------------------------------------------------
class HMC5883L(IMU):
ADDRESS = HMC5883L_ADDRESS
def __init__(self) :
#Class Properties
self.X = None
self.Y = None
self.Z = None
self.angle = None
self.Xoffset = 91.5
self.Yoffset = -67.5
self.Zoffset = 54.0
# Declination Angle
self.angle_offset = ( -1 * (4 + (32/60))) / (180 / pi)
# Formula: (deg + (min / 60.0)) / (180 / M_PI);
# ex: Hsinchu = Magnetic Declination: -4 deg, 32 min
# declinationAngle = ( -1 * (4 + (32/60))) / (180 / pi)
# http://www.magnetic-declination.com/
self.scale = 0.92 # convert bit value(LSB) to gauss. DigitalResolution
# Configuration Register A, write value(0x70): 0111 0000
self.write_byte(HMC5883L_CRA, 0b01110000)
# CRA6-CRA5 = 11 -> 8 samples per measurement
# CRA4-CRA2 = 100 -> Data Output Rate = 15Hz
# CRA1-CRA0 = 00 -> Normal measurement configuration (Default)
# Configuration Register B , write value(0x20): 0010 0000
self.write_byte(HMC5883L_CRB, 0b00100000)
# CRB7-CRB5 = 001 (Gain Configuration Bits) -> Gain=1090(LSb/Gauss), default
# ps. output range = -2048 to 2047
# Mode Register, write value: 0000 0000
self.write_byte(HMC5883L_MR, 0b00000000)
# MR1-MR0 = 00 (Mode Select Bits) -> Continuous-Measurement Mode.
def getX(self):
self.X = (self.read_word_2c(HMC5883L_DO_X_H, rf=0) - self.Xoffset) * self.scale
return self.X
def getY(self):
self.Y = (self.read_word_2c(HMC5883L_DO_Y_H, rf=0) - self.Yoffset) * self.scale
return self.Y
def getZ(self):
self.Z = (self.read_word_2c(HMC5883L_DO_Z_H, rf=0) - self.Zoffset) * self.scale
return self.Z
def getHeading(self):
bearing = degrees(atan2(self.getY(), self.getX()))
if (bearing < 0):
bearing += 360
if (bearing > 360):
bearing -= 360
self.angle = bearing + self.angle_offset
return self.angle
class BMP180(IMU):
ADDRESS = BMP180_ADDRESS
def __init__(self) :
#Class Properties
self.tempC = None
self.tempF = None
self.press = None
self.altitude = None
self.oversampling = 0 # 0,1,2,3
self._read_calibratio_params()
# read calibration data
def _read_calibratio_params(self) :
self.ac1_val = self.read_word_2c(BMP180_AC1,0)
self.ac2_val = self.read_word_2c(BMP180_AC2,0)
self.ac3_val = self.read_word_2c(BMP180_AC3,0)
self.ac4_val = self.read_word(BMP180_AC4,0)
self.ac5_val = self.read_word(BMP180_AC5,0)
self.ac6_val = self.read_word(BMP180_AC6,0)
self.b1_val = self.read_word_2c(BMP180_B1,0)
self.b2_val = self.read_word_2c(BMP180_B2,0)
self.mc_val = self.read_word_2c(BMP180_MC,0)
self.md_val = self.read_word_2c(BMP180_MD,0)
# read uncompensated temperature value
def getTempC(self) :
# print ("Calculating temperature...")
self.write_byte(0xF4, 0x2E)
time.sleep(0.005)
ut = self.read_word(0xF6,0)
# calculate true temperature
x1 = ((ut - self.ac6_val) * self.ac5_val) >> 15
x2 = (self.mc_val << 11) // (x1 + self.md_val)
# // = floor division
b5 = x1 + x2
self.tempC = ((b5 + 8) >> 4) / 10.0
return self.tempC
def getTempF(self) :
#print ("Calculating temperature (Fahrenheit)...")
self.tempF = self.getTempC() * 1.8 + 32
return self.tempF
# read uncompensated pressure value
def getPress(self) :
# print ("Calculating temperature...")
self.write_byte(0xF4, 0x34)
time.sleep(0.005)
ut = self.read_word(0xF6,0)
x1 = ((ut - self.ac6_val) * self.ac5_val) >> 15
x2 = (self.mc_val << 11) // (x1 + self.md_val)
b5 = x1 + x2
#print ("Calculating pressure...")
self.write_byte(0xF4, 0x34 + (self.oversampling << 6))
time.sleep(0.04)
msb = self.read_byte(0xF6)
lsb = self.read_byte(0xF7)
xsb = self.read_byte(0xF8)
up = ((msb << 16) + (lsb << 8) + xsb) >> (8 - self.oversampling)
# calculate true pressure
b6 = b5 - 4000
b62 = b6 * b6 >> 12
x1 = (self.b2_val * b62) >> 11
x2 = self.ac2_val * b6 >> 11
x3 = x1 + x2
b3 = (((self.ac1_val * 4 + x3) << self.oversampling) + 2) >> 2
x1 = self.ac3_val * b6 >> 13
x2 = (self.b1_val * b62) >> 16
x3 = ((x1 + x2) + 2) >> 2
b4 = (self.ac4_val * (x3 + 32768)) >> 15
b7 = (up - b3) * (50000 >> self.oversampling)
press = (b7 * 2) // b4
#press = (b7 / b4) * 2
x1 = (press >> 8) * (press >> 8)
x1 = (x1 * 3038) >> 16
x2 = (-7357 * press) >> 16
self.press = ( press + ((x1 + x2 + 3791) >> 4) ) / 100.0
return self.press
# calculate absolute altitude
def getAltitude(self) :
# print ("Calculating altitude...")
self.altitude = 44330 * (1 - ((self.getPress() / STANDARD_PRESSURE) ** 0.1903))
return self.altitude
try:
sensors = gy801()
compass = sensors.compass
adxl345 = sensors.accel
gyro = sensors.gyro
barometer = sensors.baro
pitch = 0
roll = 0
while True:
magx = compass.getX()
magy = compass.getY()
magz = compass.getZ()
adxl345.getX()
adxl345.getY()
adxl345.getZ()
gyro.getXangle()
gyro.getYangle()
gyro.getZangle()
tempC = barometer.getTempC()
tempF = barometer.getTempF()
press = barometer.getPress()
altitude = barometer.getAltitude()
#print ("Compass: " )
#print ("X = %d ," % ( magx )),
#print ("Y = %d ," % ( magy )),
#print ("Z = %d (gauss)" % ( magz ))
#print ("ACC: ")
#print ("x = %.3f m/s2" % ( adxl345.X ))
#print ("y = %.3f m/s2" % ( adxl345.Y ))
#print ("z = %.3f m/s2" % ( adxl345.Z ))
#print ("x = %.3fG" % ( adxl345.Xg ))
#print ("y = %.3fG" % ( adxl345.Yg ))
#print ("z = %.3fG" % ( adxl345.Zg ))
#print ("x = %.3f" % ( adxl345.Xraw ))
#print ("y = %.3f" % ( adxl345.Yraw ))
#print ("z = %.3f" % ( adxl345.Zraw ))
#print ("Gyro: ")
#print ("Xangle = %.3f deg" % ( gyro.getXangle() ))
#print ("Yangle = %.3f deg" % ( gyro.getYangle() ))
#print ("Zangle = %.3f deg" % ( gyro.getZangle() ))
#print ("Baro:" )
#print (" Temp: %f C (%f F)" %(tempC,tempF))
#print (" Press: %f (hPa)" %(press))
#print (" Altitude: %f m s.l.m" %(altitude))
print("Accleration = %.3f" % ( numpy.sqrt(pow(adxl345.X,2)+pow(adxl345.Y,2)+pow(adxl345.Z,2)) ))
rollacc = adxl345.Y / adxl345.Z
pitchacc = (-adxl345.X) / numpy.sqrt(pow(adxl345.Y,2)+pow(adxl345.Z,2))
#print(" Rollacc = %.3f" % (rollacc) )
#print(" Pitchacc = %.3f" % (pitchacc) )
pitch = (pitch + gyro.getXangle())*0.98 + pitchacc*0.02
roll = (roll + gyro.getYangle())*0.98 + rollacc*0.02
print(" Pitch = %.3f" % (pitch) )
print(" Roll = %.3f" % (roll) )
print(" Xh = %.3f" % ( magx*numpy.cos(pitch) + magz*numpy.sin(pitch) )
print(" Yh = %.3f" % ( magx*numpy.sin(roll)*numpy.sin(pitch) + magy*numpy.cos(roll) - magz*numpy.sin(roll)*numpy.cos(pitch
) ))
time.sleep(1)
except KeyboardInterrupt:
print("Cleanup")