65 lines
2.4 KiB
Python
65 lines
2.4 KiB
Python
"""
|
|
MS5611 driver code is placed under the BSD license.
|
|
Copyright (c) 2014, Emlid Limited, www.emlid.com
|
|
All rights reserved.
|
|
|
|
Redistribution and use in source and binary forms, with or without
|
|
modification, are permitted provided that the following conditions are met:
|
|
* Redistributions of source code must retain the above copyright
|
|
notice, this list of conditions and the following disclaimer.
|
|
* Redistributions in binary form must reproduce the above copyright
|
|
notice, this list of conditions and the following disclaimer in the
|
|
documentation and/or other materials provided with the distribution.
|
|
* Neither the name of the Emlid Limited nor the names of its contributors
|
|
may be used to endorse or promote products derived from this software
|
|
without specific prior written permission.
|
|
|
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
|
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY
|
|
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
"""
|
|
|
|
import spidev
|
|
import time
|
|
import sys
|
|
from darkwater_escape.mpu9250 import MPU9250
|
|
|
|
imu = MPU9250()
|
|
|
|
if imu.testConnection():
|
|
print("Connection established: True")
|
|
else:
|
|
sys.exit("Connection established: False")
|
|
|
|
imu.initialize()
|
|
|
|
time.sleep(1)
|
|
|
|
while True:
|
|
# imu.read_all()
|
|
# imu.read_gyro()
|
|
# imu.read_acc()
|
|
# imu.read_temp()
|
|
# imu.read_mag()
|
|
|
|
# print "Accelerometer: ", imu.accelerometer_data
|
|
# print "Gyroscope: ", imu.gyroscope_data
|
|
# print "Temperature: ", imu.temperature
|
|
# print "Magnetometer: ", imu.magnetometer_data
|
|
|
|
# time.sleep(0.1)
|
|
|
|
m9a, m9g, m9m = imu.getMotion9()
|
|
|
|
print("Acc:", "{:+7.3f}".format(m9a[0]), "{:+7.3f}".format(m9a[1]), "{:+7.3f}".format(m9a[2]), end=" ")
|
|
print(" Gyr:", "{:+8.3f}".format(m9g[0]), "{:+8.3f}".format(m9g[1]), "{:+8.3f}".format(m9g[2]), end=" ")
|
|
print(" Mag:", "{:+7.3f}".format(m9m[0]), "{:+7.3f}".format(m9m[1]), "{:+7.3f}".format(m9m[2]) )
|
|
|
|
time.sleep(0.5) |