-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathMPU6050.py
206 lines (157 loc) · 7.4 KB
/
MPU6050.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
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)