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mpu6050.py
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mpu6050.py
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import math
import Util as I2CUtils
class MPU6050(object):
'''
Simple MPU-6050 implementation
'''
PWR_MGMT_1 = 0x6b
FS_SEL = 0x1b
FS_250 = 0
FS_500 = 1
FS_1000 = 2
FS_2000 = 3
AFS_SEL = 0x1c
AFS_2g = 0
AFS_4g = 1
AFS_8g = 2
AFS_16g = 3
ACCEL_START_BLOCK = 0x3b
ACCEL_XOUT_H = 0
ACCEL_XOUT_L = 1
ACCEL_YOUT_H = 2
ACCEL_YOUT_L = 3
ACCEL_ZOUT_H = 4
ACCEL_ZOUT_L = 5
ACCEL_SCALE = { AFS_2g : [ 2, 16384.0], AFS_4g : [ 4, 8192.0], AFS_8g : [ 8, 4096.0], AFS_16g : [16, 2048.0] }
TEMP_START_BLOCK = 0x41
TEMP_OUT_H = 0
TEMP_OUT_L = 1
GYRO_START_BLOCK = 0x43
GYRO_XOUT_H = 0
GYRO_XOUT_L = 1
GYRO_YOUT_H = 2
GYRO_YOUT_L = 3
GYRO_ZOUT_H = 4
GYRO_ZOUT_L = 5
GYRO_SCALE = { FS_250 : [ 250, 131.0], FS_500 : [ 500, 65.5], FS_1000 : [1000, 32.8], FS_2000 : [2000, 16.4] }
K = 0.98
K1 = 1 - K
def __init__(self, bus, address, name, fs_scale=FS_250, afs_scale=AFS_2g):
'''
Constructor
'''
self.bus = bus
self.address = address
self.name = name
self.fs_scale = fs_scale
self.afs_scale = afs_scale
self.raw_gyro_data = [0, 0, 0, 0, 0, 0]
self.raw_accel_data = [0, 0, 0, 0, 0, 0]
self.raw_temp_data = [0, 0]
self.gyro_raw_x = 0
self.gyro_raw_y = 0
self.gyro_raw_z = 0
self.gyro_scaled_x = 0
self.gyro_scaled_y = 0
self.gyro_scaled_z = 0
self.raw_temp = 0
self.scaled_temp = 0
self.accel_raw_x = 0
self.accel_raw_y = 0
self.accel_raw_z = 0
self.accel_scaled_x = 0
self.accel_scaled_y = 0
self.accel_scaled_z = 0
self.pitch = 0.0
self.roll = 0.0
# We need to wake up the module as it start in sleep mode
I2CUtils.i2c_write_byte(self.bus, self.address, MPU6050.PWR_MGMT_1, 0)
# Set the gryo resolution
I2CUtils.i2c_write_byte(self.bus, self.address, MPU6050.FS_SEL, self.fs_scale << 3)
# Set the accelerometer resolution
I2CUtils.i2c_write_byte(self.bus, self.address, MPU6050.AFS_SEL, self.afs_scale << 3)
def read_raw_data(self):
'''
Read the raw data from the sensor, scale it appropriately and store for later use
'''
self.raw_gyro_data = I2CUtils.i2c_read_block(self.bus, self.address, MPU6050.GYRO_START_BLOCK, 6)
self.raw_accel_data = I2CUtils.i2c_read_block(self.bus, self.address, MPU6050.ACCEL_START_BLOCK, 6)
self.raw_temp_data = I2CUtils.i2c_read_block(self.bus, self.address, MPU6050.TEMP_START_BLOCK, 2)
self.gyro_raw_x = I2CUtils.twos_compliment(self.raw_gyro_data[MPU6050.GYRO_XOUT_H], self.raw_gyro_data[MPU6050.GYRO_XOUT_L])
self.gyro_raw_y = I2CUtils.twos_compliment(self.raw_gyro_data[MPU6050.GYRO_YOUT_H], self.raw_gyro_data[MPU6050.GYRO_YOUT_L])
self.gyro_raw_z = I2CUtils.twos_compliment(self.raw_gyro_data[MPU6050.GYRO_ZOUT_H], self.raw_gyro_data[MPU6050.GYRO_ZOUT_L])
self.accel_raw_x = I2CUtils.twos_compliment(self.raw_accel_data[MPU6050.ACCEL_XOUT_H], self.raw_accel_data[MPU6050.ACCEL_XOUT_L])
self.accel_raw_y = I2CUtils.twos_compliment(self.raw_accel_data[MPU6050.ACCEL_YOUT_H], self.raw_accel_data[MPU6050.ACCEL_YOUT_L])
self.accel_raw_z = I2CUtils.twos_compliment(self.raw_accel_data[MPU6050.ACCEL_ZOUT_H], self.raw_accel_data[MPU6050.ACCEL_ZOUT_L])
self.raw_temp = I2CUtils.twos_compliment(self.raw_temp_data[MPU6050.TEMP_OUT_H], self.raw_temp_data[MPU6050.TEMP_OUT_L])
# We convert these to radians for consistency and so we can easily combine later in the filter
#self.gyro_scaled_x = math.radians(self.gyro_raw_x / MPU6050.GYRO_SCALE[self.fs_scale][1])
#self.gyro_scaled_y = math.radians(self.gyro_raw_y / MPU6050.GYRO_SCALE[self.fs_scale][1])
#self.gyro_scaled_z = math.radians(self.gyro_raw_z / MPU6050.GYRO_SCALE[self.fs_scale][1])
self.gyro_scaled_x = self.gyro_raw_x / MPU6050.GYRO_SCALE[self.fs_scale][1]
self.gyro_scaled_y = self.gyro_raw_y / MPU6050.GYRO_SCALE[self.fs_scale][1]
self.gyro_scaled_z = self.gyro_raw_z / MPU6050.GYRO_SCALE[self.fs_scale][1]
self.scaled_temp = self.raw_temp / 340 + 36.53
self.accel_scaled_x = self.accel_raw_x / MPU6050.ACCEL_SCALE[self.afs_scale][1]
self.accel_scaled_y = self.accel_raw_y / MPU6050.ACCEL_SCALE[self.afs_scale][1]
self.accel_scaled_z = self.accel_raw_z / MPU6050.ACCEL_SCALE[self.afs_scale][1]
self.pitch = self.read_x_rotation(self.read_scaled_accel_x(),self.read_scaled_accel_y(),self.read_scaled_accel_z())
self.roll = self.read_y_rotation(self.read_scaled_accel_x(),self.read_scaled_accel_y(),self.read_scaled_accel_z())
def distance(self, x, y):
'''Returns the distance between two point in 2d space'''
return math.sqrt((x * x) + (y * y))
def read_x_rotation(self, x, y, z):
'''Returns the rotation around the X axis in radians'''
return math.atan2(y, self.distance(x, z))
def read_y_rotation(self, x, y, z):
'''Returns the rotation around the Y axis in radians'''
return -math.atan2(x, self.distance(y, z))
def read_raw_accel_x(self):
'''Return the RAW X accelerometer value'''
return self.accel_raw_x
def read_raw_accel_y(self):
'''Return the RAW Y accelerometer value'''
return self.accel_raw_y
def read_raw_accel_z(self):
'''Return the RAW Z accelerometer value'''
return self.accel_raw_z
def read_scaled_accel_x(self):
'''Return the SCALED X accelerometer value'''
return self.accel_scaled_x
def read_scaled_accel_y(self):
'''Return the SCALED Y accelerometer value'''
return self.accel_scaled_y
def read_scaled_accel_z(self):
'''Return the SCALED Z accelerometer value'''
return self.accel_scaled_z
def read_raw_gyro_x(self):
'''Return the RAW X gyro value'''
return self.gyro_raw_x
def read_raw_gyro_y(self):
'''Return the RAW Y gyro value'''
return self.gyro_raw_y
def read_raw_gyro_z(self):
'''Return the RAW Z gyro value'''
return self.gyro_raw_z
def read_scaled_gyro_x(self):
'''Return the SCALED X gyro value in radians/second'''
return self.gyro_scaled_x
def read_scaled_gyro_y(self):
'''Return the SCALED Y gyro value in radians/second'''
return self.gyro_scaled_y
def read_scaled_gyro_z(self):
'''Return the SCALED Z gyro value in radians/second'''
return self.gyro_scaled_z
def read_temp(self):
'''Return the temperature'''
return self.scaled_temp
def read_pitch(self):
'''Return the current pitch value in radians'''
return self.pitch
def read_roll(self):
'''Return the current roll value in radians'''
return self.roll
def read_all(self):
'''Return pitch and roll in radians and the scaled x, y & z values from the gyroscope and accelerometer'''
self.read_raw_data()
return (self.pitch, self.roll, self.gyro_scaled_x, self.gyro_scaled_y, self.gyro_scaled_z, self.accel_scaled_x, self.accel_scaled_y, self.accel_scaled_z)