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64 lines
1.6 KiB
Python
64 lines
1.6 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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acceleration_xout = read_word_2c(0x3b)
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acceleration_yout = read_word_2c(0x3d)
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acceleration_zout = read_word_2c(0x3f)
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acceleration_xout_scaled = round(acceleration_xout / 16384.0, 3)
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acceleration_yout_scaled = round(acceleration_yout / 16384.0, 3)
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acceleration_zout_scaled = round(acceleration_zout / 16384.0, 3)
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x_rotation = round(
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get_x_rotation(acceleration_xout_scaled, acceleration_yout_scaled, acceleration_zout_scaled), 0)
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y_rotation = round(
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get_y_rotation(acceleration_xout_scaled, acceleration_yout_scaled, acceleration_zout_scaled), 0)
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return {'acc': [acceleration_xout, acceleration_yout, acceleration_zout],
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'acc_sca': [acceleration_xout_scaled, acceleration_yout_scaled, acceleration_zout_scaled],
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'rot': [x_rotation, y_rotation]}
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