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_P207_IMU.py
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_P207_IMU.py
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#!/usr/bin/env python3
#############################################################################
#################### MPU9150/9250 plugin for RPIEasy ########################
#############################################################################
#
# Copyright (C) 2020 by Alexander Nagy - https://bitekmindenhol.blog.hu/
#
import plugin
import webserver
import rpieGlobals
import rpieTime
import misc
import time
import RTIMU
import gpios
import math
import threading
class Plugin(plugin.PluginProto):
PLUGIN_ID = 207
PLUGIN_NAME = "Gyro - MPU9150/9250 (TESTING)"
PLUGIN_VALUENAME1 = "Value1"
PLUGIN_VALUENAME2 = "Value2"
PLUGIN_VALUENAME3 = "Value3"
def __init__(self,taskindex): # general init
plugin.PluginProto.__init__(self,taskindex)
self.dtype = rpieGlobals.DEVICE_TYPE_I2C
self.vtype = rpieGlobals.SENSOR_TYPE_SINGLE
self.readinprogress = 0
self.valuecount = 1
self.senddataoption = True
self.timeroption = True
self.timeroptional = True
self.formulaoption = True
self._nextdataservetime = 0
self.lastread = 0
self.lastdet = 0
self.mpu = None
self.lastmove = 0
self.s = None
self.interval2 = 0
self.cachedvals = [0,0,0]
def plugin_init(self,enableplugin=None):
plugin.PluginProto.plugin_init(self,enableplugin)
self.uservar[0] = 0
self.timer100ms = False
self.initialized = False
self.readinprogress = False
self.lastread = 0
if self.enabled:
try:
i2cport = gpios.HWPorts.geti2clist()
except:
i2cport = []
if len(i2cport)>0:
try:
self.s = RTIMU.Settings("RTIMULib")
self.mpu = RTIMU.RTIMU(self.s)
misc.addLog(rpieGlobals.LOG_LEVEL_INFO,"MPU: "+str(self.mpu.IMUName()))
self.initialized = self.mpu.IMUInit()
except Exception as e:
self.mpu = None
if (self.mpu is None) or self.initialized==False:
misc.addLog(rpieGlobals.LOG_LEVEL_ERROR,"MPU can not be initialized! ")
return False
else:
self.mpu.setSlerpPower(0.02)
self.mpu.setGyroEnable(True)
self.mpu.setAccelEnable(True)
self.mpu.setCompassEnable(True)
self.interval2 = 0.1
self.enabled=False
time.sleep(1)
self.enabled=True
if self.interval==0:
self.timer100ms = True # enable periodic check if interval not specified
self.interval2 = 0.1
elif self.interval < 2:
self.interval2 = 0.5
elif self.interval < 60:
self.interval2 = 1
else:
self.interval2 = 5
bgt = threading.Thread(target=self.bgreader)
bgt.daemon = True
bgt.start()
def bgreader(self):
while self.enabled:
if self.initialized:
try:
readok = True
if self.mpu.IMURead()==False:
readok = False
self.mpu.IMUInit()
time.sleep(0.1)
readok = self.mpu.IMURead()
if readok:
data = self.mpu.getIMUData()
fusionPose = data["fusionPose"]
self.cachedvals[0] = int(float(math.degrees(fusionPose[0])))
self.cachedvals[1] = int(float(math.degrees(fusionPose[1])))
self.cachedvals[2] = int(float(math.degrees(fusionPose[2])))
self.lastread = time.time()
except Exception as e:
pass
time.sleep(self.interval2)
else:
time.sleep(0.1)
def webform_load(self): # create html page for settings
webserver.addFormNote("I2C Line selector is not working for this plugin!")
choice0 = int(self.taskdevicepluginconfig[0])
options = ["Nothing","Roll","Pitch","Yaw"]
optionvalues = [0,1,2,3]
webserver.addFormSelector("Type","p207_function0",len(optionvalues),options,optionvalues,None,choice0)
choice1 = int(self.taskdevicepluginconfig[1])
webserver.addFormSelector("Type","p207_function1",len(optionvalues),options,optionvalues,None,choice1)
choice2 = int(self.taskdevicepluginconfig[2])
webserver.addFormSelector("Type","p207_function2",len(optionvalues),options,optionvalues,None,choice2)
if self.enabled and self.initialized:
try:
data = self.mpu.getIMUData()
webserver.addFormNote("Gyro valid: "+str(data["gyroValid"]))
webserver.addFormNote("Accel valid: "+str(data["accelValid"]))
webserver.addFormNote("Compass valid: "+str(data["compassValid"]))
except:
pass
return True
def webform_save(self,params): # process settings post reply
par = webserver.arg("p207_function0",params)
try:
self.taskdevicepluginconfig[0] = int(par)
if int(par)==0:
self.vtype=rpieGlobals.SENSOR_TYPE_SWITCH
else:
self.vtype=rpieGlobals.SENSOR_TYPE_SINGLE
self.valuecount=1
except:
self.taskdevicepluginconfig[0] = 0
self.vtype=rpieGlobals.SENSOR_TYPE_SINGLE
self.valuecount=1
par = webserver.arg("p207_function1",params)
try:
self.taskdevicepluginconfig[1] = int(par)
self.vtype=rpieGlobals.SENSOR_TYPE_DUAL
self.valuecount=2
except:
self.taskdevicepluginconfig[1] = 0
self.vtype=rpieGlobals.SENSOR_TYPE_SINGLE
self.valuecount=1
par = webserver.arg("p207_function2",params)
try:
self.taskdevicepluginconfig[2] = int(par)
self.vtype=rpieGlobals.SENSOR_TYPE_TRIPLE
self.valuecount=3
except:
self.taskdevicepluginconfig[2] = 0
return True
def plugin_read(self): # deal with data processing at specified time interval
result = False
if self.enabled and self.initialized:
try:
val = int(self.taskdevicepluginconfig[0])
if val>0:
val = val-1
self.set_value(1,self.cachedvals[val],False)
val = int(self.taskdevicepluginconfig[1])
if val>0:
val = val-1
self.set_value(2,self.cachedvals[val],False)
val = int(self.taskdevicepluginconfig[2])
if val>0:
val = val-1
self.set_value(3,self.cachedvals[val],False)
if time.time()-self.lastread<self.interval:
result = True
else:
misc.addLog(rpieGlobals.LOG_LEVEL_ERROR,"MPU readout too old!")
except Exception as e:
pass
if result:
self._lastdataservetime = rpieTime.millis()
self.plugin_senddata()
return result
def timer_ten_per_second(self):
if self.enabled and self.initialized:
changed = False
try:
if time.time()-self.lastdet>0.3:
val = int(self.taskdevicepluginconfig[0])
if val>0:
val = val-1
rval = self.cachedvals[val]
if abs(int(float(self.uservar[0]))-rval)>5:
self.set_value(1,rval,False)
changed = True
val = int(self.taskdevicepluginconfig[1])
if val>0:
val = val-1
rval = self.cachedvals[val]
if abs(int(float(self.uservar[1]))-rval)>5:
self.set_value(2,rval,False)
changed = True
val = int(self.taskdevicepluginconfig[2])
if val>0:
val = val-1
rval = self.cachedvals[val]
if abs(int(float(self.uservar[2])-rval))>5:
self.set_value(3,rval,False)
changed = True
except Exception as e:
pass
if changed:
self.lastdet = time.time()
self.plugin_senddata()
return self.timer100ms