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56 lines
1.7 KiB
Python
56 lines
1.7 KiB
Python
# !/usr/bin/python
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import smbus
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import math
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# Register
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power_mgmt_1 = 0x6b
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power_mgmt_2 = 0x6c
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bus = smbus.SMBus(1)
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address = 0x68
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bus.write_byte_data(address, power_mgmt_1, 0)
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def read_byte(reg):
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return bus.read_byte_data(address, reg)
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def read_word(reg):
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h = bus.read_byte_data(address, reg)
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l = bus.read_byte_data(address, reg + 1)
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value = (h << 8) + l
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return value
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def read_word_2c(reg):
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val = read_word(reg)
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if (val >= 0x8000):
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return -((65535 - val) + 1)
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else:
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return val
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def dist(a, b):
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return math.sqrt((a * a) + (b * b))
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def get_y_rotation(x, y, z):
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radians = math.atan2(x, dist(y, z))
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return -math.degrees(radians)
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def get_x_rotation(x, y, z):
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radians = math.atan2(y, dist(x, z))
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return math.degrees(radians)
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def getAllOut():
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gyroskop_xout = read_word_2c(0x43)
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gyroskop_yout = read_word_2c(0x45)
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gyroskop_zout = read_word_2c(0x47)
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beschleunigung_xout = read_word_2c(0x3b)
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beschleunigung_yout = read_word_2c(0x3d)
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beschleunigung_zout = read_word_2c(0x3f)
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beschleunigung_xout_skaliert = round(beschleunigung_xout / 16384.0,3)
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beschleunigung_yout_skaliert = round(beschleunigung_yout / 16384.0,3)
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beschleunigung_zout_skaliert = round(beschleunigung_zout / 16384.0,3)
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x_rotation = round(get_x_rotation(beschleunigung_xout_skaliert, beschleunigung_yout_skaliert, beschleunigung_zout_skaliert),0)
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y_rotation = round(get_y_rotation(beschleunigung_xout_skaliert, beschleunigung_yout_skaliert, beschleunigung_zout_skaliert),0)
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return {'acc':[beschleunigung_xout,beschleunigung_yout,beschleunigung_zout], 'acc_sca':[beschleunigung_xout_skaliert,beschleunigung_yout_skaliert,beschleunigung_zout_skaliert],'rot':[x_rotation,y_rotation]} |