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October 18, 2015 14:52
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| # -*- coding: utf-8 -*- | |
| #!/usr/bin/python | |
| # import module | |
| import smbus # use I2C | |
| import math # mathmatics | |
| from time import sleep # time module | |
| # | |
| # define | |
| # | |
| # slave address | |
| DEV_ADDR = 0x68 # device address | |
| # register address | |
| ACCEL_XOUT = 0x3b | |
| ACCEL_YOUT = 0x3d | |
| ACCEL_ZOUT = 0x3f | |
| TEMP_OUT = 0x41 | |
| GYRO_XOUT = 0x43 | |
| GYRO_YOUT = 0x45 | |
| GYRO_ZOUT = 0x47 | |
| PWR_MGMT_1 = 0x6b # PWR_MGMT_1 | |
| PWR_MGMT_2 = 0x6c # PWR_MGMT_2 | |
| bus = smbus.SMBus(1) | |
| # Sleep解除. | |
| bus.write_byte_data(DEV_ADDR, PWR_MGMT_1, 0) | |
| # | |
| # Sub function | |
| # | |
| # 1byte read | |
| def read_byte(adr): | |
| return bus.read_byte_data(DEV_ADDR, adr) | |
| # 2byte read | |
| def read_word(adr): | |
| high = bus.read_byte_data(DEV_ADDR, adr) | |
| low = bus.read_byte_data(DEV_ADDR, adr+1) | |
| val = (high << 8) + low | |
| return val | |
| # Sensor data read | |
| def read_word_sensor(adr): | |
| val = read_word(adr) | |
| if (val >= 0x8000): # minus | |
| return -((65535 - val) + 1) | |
| else: # plus | |
| return val | |
| # | |
| # 温度 | |
| # | |
| def get_temp(): | |
| temp = read_word_sensor(TEMP_OUT) | |
| x = temp / 340 + 36.53 # data sheet(register map)記載の計算式. | |
| return x | |
| # | |
| # 角速度(full scale range ±250 deg/s | |
| # LSB sensitivity 131 LSB/deg/s | |
| # -> ±250 x 131 = ±32750 LSB[16bitで表現]) | |
| # Gyroscope Configuration GYRO_CONFIG (reg=0x1B) | |
| # FS_SEL(Bit4-Bit3)でfull scale range/LSB sensitivityの変更可. | |
| # | |
| # get gyro data | |
| def get_gyro_data_lsb(): | |
| x = read_word_sensor(GYRO_XOUT) | |
| y = read_word_sensor(GYRO_YOUT) | |
| z = read_word_sensor(GYRO_ZOUT) | |
| return [x, y, z] | |
| def get_gyro_data_deg(): | |
| x,y,z = get_gyro_data_lsb() | |
| x = x / 131.0 | |
| y = y / 131.0 | |
| z = z / 131.0 | |
| return [x, y, z] | |
| # | |
| # 加速度(full scale range ±2g | |
| # LSB sensitivity 16384 LSB/g) | |
| # -> ±2 x 16384 = ±32768 LSB[16bitで表現]) | |
| # Accelerometer Configuration ACCEL_CONFIG (reg=0x1C) | |
| # AFS_SEL(Bit4-Bit3)でfull scale range/LSB sensitivityの変更可. | |
| # | |
| # get accel data | |
| def get_accel_data_lsb(): | |
| x = read_word_sensor(ACCEL_XOUT) | |
| y = read_word_sensor(ACCEL_YOUT) | |
| z = read_word_sensor(ACCEL_ZOUT) | |
| return [x, y, z] | |
| # get accel data | |
| def get_accel_data_g(): | |
| x,y,z = get_accel_data_lsb() | |
| x = x / 16384.0 | |
| y = y / 16384.0 | |
| z = z / 16384.0 | |
| return [x, y, z] | |
| # | |
| # Main function | |
| # | |
| while 1: | |
| # 温度. | |
| temp = get_temp() | |
| # 小数点以下第1位まで表示. | |
| print 'temperature[degrees C]:', | |
| print '%04.1f' % temp, | |
| print '||', | |
| # 角速度. | |
| gyro_x,gyro_y,gyro_z = get_gyro_data_deg() | |
| # 小数点以下第3位まで表示. | |
| print 'gyro[deg/s]', | |
| print 'x: %08.3f' % gyro_x, | |
| print 'y: %08.3f' % gyro_y, | |
| print 'z: %08.3f' % gyro_z, | |
| print '||', | |
| # 加速度 | |
| accel_x,accel_y,accel_z = get_accel_data_g() | |
| # 小数点以下第3位まで表示. | |
| print 'accel[g]', | |
| print 'x: %06.3f' % accel_x, | |
| print 'y: %06.3f' % accel_y, | |
| print 'z: %06.3f' % accel_z, | |
| print # 改行. | |
| sleep(1) |
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