diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..9232850 --- /dev/null +++ b/.gitignore @@ -0,0 +1,175 @@ +Sensors/__pycache__/__init__.cpython-310.pyc +__pycache__/rocketLogger.cpython-310.pyc +Sensors/__pycache__/berryGPS.cpython-310.pyc +Sensors/__pycache__/pressureSensor.cpython-310.pyc +Sensors/__pycache__/sensor.cpython-310.pyc +Sensors/__pycache__/berryAccelerometer.cpython-310.pyc +Sensors/__pycache__/berryGyroscope.cpython-310.pyc +Sensors/__pycache__/berryMagnetometer.cpython-310.pyc + +# Byte-compiled / optimized / DLL files +__pycache__/ +Sensors/__pycache__/ +BerryIMU/__pycache__/ +*.py[cod] +*$py.class +*.cpython-310.pyc +Sensors/__pycache__/__init__.cpython-310.pyc + + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST +*.pyc +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +#poetry.lock + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +#pdm.lock +# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it +# in version control. +# https://pdm.fming.dev/#use-with-ide +.pdm.toml + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. For a more nuclear +# option (not recommended) you can uncomment the following to ignore the entire idea folder. +#.idea/ +.vscode/settings.json diff --git a/BerryIMU/BMP388.py b/BerryIMU/BMP388.py new file mode 100644 index 0000000..e9a4c72 --- /dev/null +++ b/BerryIMU/BMP388.py @@ -0,0 +1,57 @@ +# define BMP388 Device I2C address + +I2C_ADD_BMP388_AD0_LOW = 0x76 +I2C_ADD_BMP388_AD0_HIGH = 0x77 +I2C_ADD_BMP388 = I2C_ADD_BMP388_AD0_HIGH + +BMP388_REG_ADD_WIA = 0x00 +BMP388_REG_VAL_WIA = 0x50 + +BMP388_REG_ADD_ERR = 0x02 +BMP388_REG_VAL_FATAL_ERR = 0x01 +BMP388_REG_VAL_CMD_ERR = 0x02 +BMP388_REG_VAL_CONF_ERR = 0x04 + +BMP388_REG_ADD_STATUS = 0x03 +BMP388_REG_VAL_CMD_RDY = 0x10 +BMP388_REG_VAL_DRDY_PRESS = 0x20 +BMP388_REG_VAL_DRDY_TEMP = 0x40 + +BMP388_REG_ADD_CMD = 0x7E +BMP388_REG_VAL_EXTMODE_EN = 0x34 +BMP388_REG_VAL_FIFI_FLUSH = 0xB0 +BMP388_REG_VAL_SOFT_RESET = 0xB6 + +BMP388_REG_ADD_PWR_CTRL = 0x1B +BMP388_REG_VAL_PRESS_EN = 0x01 +BMP388_REG_VAL_TEMP_EN = 0x02 +BMP388_REG_VAL_NORMAL_MODE = 0x30 + +BMP388_REG_ADD_PRESS_XLSB = 0x04 +BMP388_REG_ADD_PRESS_LSB = 0x05 +BMP388_REG_ADD_PRESS_MSB = 0x06 +BMP388_REG_ADD_TEMP_XLSB = 0x07 +BMP388_REG_ADD_TEMP_LSB = 0x08 +BMP388_REG_ADD_TEMP_MSB = 0x09 + +BMP388_REG_ADD_T1_LSB = 0x31 +BMP388_REG_ADD_T1_MSB = 0x32 +BMP388_REG_ADD_T2_LSB = 0x33 +BMP388_REG_ADD_T2_MSB = 0x34 +BMP388_REG_ADD_T3 = 0x35 +BMP388_REG_ADD_P1_LSB = 0x36 +BMP388_REG_ADD_P1_MSB = 0x37 +BMP388_REG_ADD_P2_LSB = 0x38 +BMP388_REG_ADD_P2_MSB = 0x39 +BMP388_REG_ADD_P3 = 0x3A +BMP388_REG_ADD_P4 = 0x3B +BMP388_REG_ADD_P5_LSB = 0x3C +BMP388_REG_ADD_P5_MSB = 0x3D +BMP388_REG_ADD_P6_LSB = 0x3E +BMP388_REG_ADD_P6_MSB = 0x3F +BMP388_REG_ADD_P7 = 0x40 +BMP388_REG_ADD_P8 = 0x41 +BMP388_REG_ADD_P9_LSB = 0x42 +BMP388_REG_ADD_P9_MSB = 0x43 +BMP388_REG_ADD_P10 = 0x44 +BMP388_REG_ADD_P11 = 0x45 \ No newline at end of file diff --git a/BerryIMU/IMU.py b/BerryIMU/IMU.py new file mode 100644 index 0000000..54d894a --- /dev/null +++ b/BerryIMU/IMU.py @@ -0,0 +1,293 @@ +import smbus +from BerryIMU.LSM9DS0 import * +from BerryIMU.LSM9DS1 import * +from BerryIMU.LSM6DSL import * +from BerryIMU.LIS3MDL import * +import time + + +try: + bus = smbus.SMBus(1) +except PermissionError: + print("Permission error!") + +BerryIMUversion = 99 + + + + + +def detectIMU(): + #Detect which version of BerryIMU is connected using the 'who am i' register + #BerryIMUv1 uses the LSM9DS0 + #BerryIMUv2 uses the LSM9DS1 + #BerryIMUv3 uses the LSM6DSL and LIS3MDL + + global BerryIMUversion + + + try: + #Check for BerryIMUv1 (LSM9DS0) + #If no LSM9DS0 is connected, there will be an I2C bus error and the program will exit. + #This section of code stops this from happening. + LSM9DS0_WHO_G_response = (bus.read_byte_data(LSM9DS0_GYR_ADDRESS, LSM9DS0_WHO_AM_I_G)) + LSM9DS0_WHO_XM_response = (bus.read_byte_data(LSM9DS0_ACC_ADDRESS, LSM9DS0_WHO_AM_I_XM)) + except IOError as e: + print('') #need to do something here, so we just print a space + else: + if (LSM9DS0_WHO_G_response == 0xd4) and (LSM9DS0_WHO_XM_response == 0x49): + #print("Found BerryIMUv1 (LSM9DS0)") + BerryIMUversion = 1 + + + try: + #Check for BerryIMUv2 (LSM9DS1) + #If no LSM9DS1 is connnected, there will be an I2C bus error and the program will exit. + #This section of code stops this from happening. + LSM9DS1_WHO_XG_response = (bus.read_byte_data(LSM9DS1_GYR_ADDRESS, LSM9DS1_WHO_AM_I_XG)) + LSM9DS1_WHO_M_response = (bus.read_byte_data(LSM9DS1_MAG_ADDRESS, LSM9DS1_WHO_AM_I_M)) + + except IOError as f: + print('') #need to do something here, so we just print a space + else: + if (LSM9DS1_WHO_XG_response == 0x68) and (LSM9DS1_WHO_M_response == 0x3d): + #print("Found BerryIMUv2 (LSM9DS1)") + BerryIMUversion = 2 + + try: + #Check for BerryIMUv3 (LSM6DSL and LIS3MDL) + #If no LSM6DSL or LIS3MDL is connected, there will be an I2C bus error and the program will exit. + #This section of code stops this from happening. + LSM6DSL_WHO_AM_I_response = (bus.read_byte_data(LSM6DSL_ADDRESS, LSM6DSL_WHO_AM_I)) + LIS3MDL_WHO_AM_I_response = (bus.read_byte_data(LIS3MDL_ADDRESS, LIS3MDL_WHO_AM_I)) + + except IOError as f: + print('') #need to do something here, so we just print a space + else: + if (LSM6DSL_WHO_AM_I_response == 0x6A) and (LIS3MDL_WHO_AM_I_response == 0x3D): + #print("Found BerryIMUv3 (LSM6DSL and LIS3MDL)") + BerryIMUversion = 3 + time.sleep(1) + + + + + + + + + + + + + + +def writeByte(device_address,register,value): + bus.write_byte_data(device_address, register, value) + + + +def readACCx(): + acc_l = 0 + acc_h = 0 + if(BerryIMUversion == 1): + acc_l = bus.read_byte_data(LSM9DS0_ACC_ADDRESS, LSM9DS0_OUT_X_L_A) + acc_h = bus.read_byte_data(LSM9DS0_ACC_ADDRESS, LSM9DS0_OUT_X_H_A) + elif(BerryIMUversion == 2): + acc_l = bus.read_byte_data(LSM9DS1_ACC_ADDRESS, LSM9DS1_OUT_X_L_XL) + acc_h = bus.read_byte_data(LSM9DS1_ACC_ADDRESS, LSM9DS1_OUT_X_H_XL) + elif(BerryIMUversion == 3): + acc_l = bus.read_byte_data(LSM6DSL_ADDRESS, LSM6DSL_OUTX_L_XL) + acc_h = bus.read_byte_data(LSM6DSL_ADDRESS, LSM6DSL_OUTX_H_XL) + + acc_combined = (acc_l | acc_h <<8) + return acc_combined if acc_combined < 32768 else acc_combined - 65536 + + + + + + +def readACCy(): + acc_l = 0 + acc_h = 0 + if(BerryIMUversion == 1): + acc_l = bus.read_byte_data(LSM9DS0_ACC_ADDRESS, LSM9DS0_OUT_Y_L_A) + acc_h = bus.read_byte_data(LSM9DS0_ACC_ADDRESS, LSM9DS0_OUT_Y_H_A) + elif(BerryIMUversion == 2): + acc_l = bus.read_byte_data(LSM9DS1_ACC_ADDRESS, LSM9DS1_OUT_Y_L_XL) + acc_h = bus.read_byte_data(LSM9DS1_ACC_ADDRESS, LSM9DS1_OUT_Y_H_XL) + elif(BerryIMUversion == 3): + acc_l = bus.read_byte_data(LSM6DSL_ADDRESS, LSM6DSL_OUTY_L_XL) + acc_h = bus.read_byte_data(LSM6DSL_ADDRESS, LSM6DSL_OUTY_H_XL) + + acc_combined = (acc_l | acc_h <<8) + return acc_combined if acc_combined < 32768 else acc_combined - 65536 + + +def readACCz(): + acc_l = 0 + acc_h = 0 + if(BerryIMUversion == 1): + acc_l = bus.read_byte_data(LSM9DS0_ACC_ADDRESS, LSM9DS0_OUT_Z_L_A) + acc_h = bus.read_byte_data(LSM9DS0_ACC_ADDRESS, LSM9DS0_OUT_Z_H_A) + elif(BerryIMUversion == 2): + acc_l = bus.read_byte_data(LSM9DS1_ACC_ADDRESS, LSM9DS1_OUT_Z_L_XL) + acc_h = bus.read_byte_data(LSM9DS1_ACC_ADDRESS, LSM9DS1_OUT_Z_H_XL) + elif(BerryIMUversion == 3): + acc_l = bus.read_byte_data(LSM6DSL_ADDRESS, LSM6DSL_OUTZ_L_XL) + acc_h = bus.read_byte_data(LSM6DSL_ADDRESS, LSM6DSL_OUTZ_H_XL) + + acc_combined = (acc_l | acc_h <<8) + return acc_combined if acc_combined < 32768 else acc_combined - 65536 + + +def readGYRx(): + gyr_l = 0 + gyr_h = 0 + if(BerryIMUversion == 1): + gyr_l = bus.read_byte_data(LSM9DS0_GYR_ADDRESS, LSM9DS0_OUT_X_L_G) + gyr_h = bus.read_byte_data(LSM9DS0_GYR_ADDRESS, LSM9DS0_OUT_X_H_G) + elif(BerryIMUversion == 2): + gyr_l = bus.read_byte_data(LSM9DS1_GYR_ADDRESS, LSM9DS1_OUT_X_L_G) + gyr_h = bus.read_byte_data(LSM9DS1_GYR_ADDRESS, LSM9DS1_OUT_X_H_G) + elif(BerryIMUversion == 3): + gyr_l = bus.read_byte_data(LSM6DSL_ADDRESS, LSM6DSL_OUTX_L_G) + gyr_h = bus.read_byte_data(LSM6DSL_ADDRESS, LSM6DSL_OUTX_H_G) + + gyr_combined = (gyr_l | gyr_h <<8) + return gyr_combined if gyr_combined < 32768 else gyr_combined - 65536 + + +def readGYRy(): + gyr_l = 0 + gyr_h = 0 + if(BerryIMUversion == 1): + gyr_l = bus.read_byte_data(LSM9DS0_GYR_ADDRESS, LSM9DS0_OUT_Y_L_G) + gyr_h = bus.read_byte_data(LSM9DS0_GYR_ADDRESS, LSM9DS0_OUT_Y_H_G) + elif(BerryIMUversion == 2): + gyr_l = bus.read_byte_data(LSM9DS1_GYR_ADDRESS, LSM9DS1_OUT_Y_L_G) + gyr_h = bus.read_byte_data(LSM9DS1_GYR_ADDRESS, LSM9DS1_OUT_Y_H_G) + elif(BerryIMUversion == 3): + gyr_l = bus.read_byte_data(LSM6DSL_ADDRESS, LSM6DSL_OUTY_L_G) + gyr_h = bus.read_byte_data(LSM6DSL_ADDRESS, LSM6DSL_OUTY_H_G) + + gyr_combined = (gyr_l | gyr_h <<8) + return gyr_combined if gyr_combined < 32768 else gyr_combined - 65536 + +def readGYRz(): + gyr_l = 0 + gyr_h = 0 + if(BerryIMUversion == 1): + gyr_l = bus.read_byte_data(LSM9DS0_GYR_ADDRESS, LSM9DS0_OUT_Z_L_G) + gyr_h = bus.read_byte_data(LSM9DS0_GYR_ADDRESS, LSM9DS0_OUT_Z_H_G) + elif(BerryIMUversion == 2): + gyr_l = bus.read_byte_data(LSM9DS1_GYR_ADDRESS, LSM9DS1_OUT_Z_L_G) + gyr_h = bus.read_byte_data(LSM9DS1_GYR_ADDRESS, LSM9DS1_OUT_Z_H_G) + elif(BerryIMUversion == 3): + gyr_l = bus.read_byte_data(LSM6DSL_ADDRESS, LSM6DSL_OUTZ_L_G) + gyr_h = bus.read_byte_data(LSM6DSL_ADDRESS, LSM6DSL_OUTZ_H_G) + + gyr_combined = (gyr_l | gyr_h <<8) + return gyr_combined if gyr_combined < 32768 else gyr_combined - 65536 + + +def readMAGx(): + mag_l = 0 + mag_h = 0 + if(BerryIMUversion == 1): + mag_l = bus.read_byte_data(LSM9DS0_MAG_ADDRESS, LSM9DS0_OUT_X_L_M) + mag_h = bus.read_byte_data(LSM9DS0_MAG_ADDRESS, LSM9DS0_OUT_X_H_M) + elif(BerryIMUversion == 2): + mag_l = bus.read_byte_data(LSM9DS1_MAG_ADDRESS, LSM9DS1_OUT_X_L_M) + mag_h = bus.read_byte_data(LSM9DS1_MAG_ADDRESS, LSM9DS1_OUT_X_H_M) + elif(BerryIMUversion == 3): + mag_l = bus.read_byte_data(LIS3MDL_ADDRESS, LIS3MDL_OUT_X_L) + mag_h = bus.read_byte_data(LIS3MDL_ADDRESS, LIS3MDL_OUT_X_H) + + mag_combined = (mag_l | mag_h <<8) + return mag_combined if mag_combined < 32768 else mag_combined - 65536 + + +def readMAGy(): + mag_l = 0 + mag_h = 0 + if(BerryIMUversion == 1): + mag_l = bus.read_byte_data(LSM9DS0_MAG_ADDRESS, LSM9DS0_OUT_Y_L_M) + mag_h = bus.read_byte_data(LSM9DS0_MAG_ADDRESS, LSM9DS0_OUT_Y_H_M) + elif(BerryIMUversion == 2): + mag_l = bus.read_byte_data(LSM9DS1_MAG_ADDRESS, LSM9DS1_OUT_Y_L_M) + mag_h = bus.read_byte_data(LSM9DS1_MAG_ADDRESS, LSM9DS1_OUT_Y_H_M) + elif(BerryIMUversion == 3): + mag_l = bus.read_byte_data(LIS3MDL_ADDRESS, LIS3MDL_OUT_Y_L) + mag_h = bus.read_byte_data(LIS3MDL_ADDRESS, LIS3MDL_OUT_Y_H) + + mag_combined = (mag_l | mag_h <<8) + return mag_combined if mag_combined < 32768 else mag_combined - 65536 + + +def readMAGz(): + mag_l = 0 + mag_h = 0 + if(BerryIMUversion == 1): + mag_l = bus.read_byte_data(LSM9DS0_MAG_ADDRESS, LSM9DS0_OUT_Z_L_M) + mag_h = bus.read_byte_data(LSM9DS0_MAG_ADDRESS, LSM9DS0_OUT_Z_H_M) + elif(BerryIMUversion == 2): + mag_l = bus.read_byte_data(LSM9DS1_MAG_ADDRESS, LSM9DS1_OUT_Z_L_M) + mag_h = bus.read_byte_data(LSM9DS1_MAG_ADDRESS, LSM9DS1_OUT_Z_H_M) + elif(BerryIMUversion == 3): + mag_l = bus.read_byte_data(LIS3MDL_ADDRESS, LIS3MDL_OUT_Z_L) + mag_h = bus.read_byte_data(LIS3MDL_ADDRESS, LIS3MDL_OUT_Z_H) + + mag_combined = (mag_l | mag_h <<8) + return mag_combined if mag_combined < 32768 else mag_combined - 65536 + + + +def initIMU(): + + if(BerryIMUversion == 1): #For BerryIMUv1 + #initialise the accelerometer + writeByte(LSM9DS0_ACC_ADDRESS,LSM9DS0_CTRL_REG1_XM, 0b01100111) #z,y,x axis enabled, continuos update, 100Hz data rate + writeByte(LSM9DS0_ACC_ADDRESS,LSM9DS0_CTRL_REG2_XM, 0b00011000) #+/- 8G full scale + + #initialise the magnetometer + writeByte(LSM9DS0_MAG_ADDRESS,LSM9DS0_CTRL_REG5_XM, 0b11110000) #Temp enable, M data rate = 50Hz + writeByte(LSM9DS0_MAG_ADDRESS,LSM9DS0_CTRL_REG6_XM, 0b01100000) #+/- 12gauss + writeByte(LSM9DS0_MAG_ADDRESS,LSM9DS0_CTRL_REG7_XM, 0b00000000) #Continuous-conversion mode + + #initialise the gyroscope + writeByte(LSM9DS0_GYR_ADDRESS,LSM9DS0_CTRL_REG1_G, 0b00001111) #Normal power mode, all axes enabled + writeByte(LSM9DS0_GYR_ADDRESS,LSM9DS0_CTRL_REG4_G, 0b00110000) #Continuos update, 2000 dps full scale + + elif(BerryIMUversion == 2): #For BerryIMUv2 + #initialise the accelerometer + writeByte(LSM9DS1_ACC_ADDRESS,LSM9DS1_CTRL_REG5_XL,0b00111000) #z, y, x axis enabled for accelerometer + writeByte(LSM9DS1_ACC_ADDRESS,LSM9DS1_CTRL_REG6_XL,0b00111000) #+/- 8g + + #initialise the gyroscope + writeByte(LSM9DS1_GYR_ADDRESS,LSM9DS1_CTRL_REG4,0b00111000) #z, y, x axis enabled for gyro + writeByte(LSM9DS1_GYR_ADDRESS,LSM9DS1_CTRL_REG1_G,0b10111000) #Gyro ODR = 476Hz, 2000 dps + writeByte(LSM9DS1_GYR_ADDRESS,LSM9DS1_ORIENT_CFG_G,0b10111000) #Swap orientation + + #initialise the magnetometer + writeByte(LSM9DS1_MAG_ADDRESS,LSM9DS1_CTRL_REG1_M, 0b10011100) #Temp compensation enabled,Low power mode mode,80Hz ODR + writeByte(LSM9DS1_MAG_ADDRESS,LSM9DS1_CTRL_REG2_M, 0b01000000) #+/- 2gauss + writeByte(LSM9DS1_MAG_ADDRESS,LSM9DS1_CTRL_REG3_M, 0b00000000) #continuos update + writeByte(LSM9DS1_MAG_ADDRESS,LSM9DS1_CTRL_REG4_M, 0b00000000) #lower power mode for Z axis + + elif(BerryIMUversion == 3): #For BerryIMUv3 + #initialise the accelerometer + writeByte(LSM6DSL_ADDRESS,LSM6DSL_CTRL1_XL,0b10011111) #ODR 3.33 kHz, +/- 8g , BW = 400hz + writeByte(LSM6DSL_ADDRESS,LSM6DSL_CTRL8_XL,0b11001000) #Low pass filter enabled, BW9, composite filter + writeByte(LSM6DSL_ADDRESS,LSM6DSL_CTRL3_C,0b01000100) #Enable Block Data update, increment during multi byte read + + #initialise the gyroscope + writeByte(LSM6DSL_ADDRESS,LSM6DSL_CTRL2_G,0b10011100) #ODR 3.3 kHz, 2000 dps + + #initialise the magnetometer + writeByte(LIS3MDL_ADDRESS,LIS3MDL_CTRL_REG1, 0b11011100) # Temp sesnor enabled, High performance, ODR 80 Hz, FAST ODR disabled and Selft test disabled. + writeByte(LIS3MDL_ADDRESS,LIS3MDL_CTRL_REG2, 0b00100000) # +/- 8 gauss + writeByte(LIS3MDL_ADDRESS,LIS3MDL_CTRL_REG3, 0b00000000) # Continuous-conversion mode + + diff --git a/BerryIMU/LIS3MDL.py b/BerryIMU/LIS3MDL.py new file mode 100644 index 0000000..b6e6ccf --- /dev/null +++ b/BerryIMU/LIS3MDL.py @@ -0,0 +1,29 @@ + +LIS3MDL_ADDRESS = 0x1C + +LIS3MDL_WHO_AM_I = 0x0F + +LIS3MDL_CTRL_REG1 = 0x20 + +LIS3MDL_CTRL_REG2 = 0x21 +LIS3MDL_CTRL_REG3 = 0x22 +LIS3MDL_CTRL_REG4 = 0x23 +LIS3MDL_CTRL_REG5 = 0x24 + +LIS3MDL_STATUS_REG = 0x27 + +LIS3MDL_OUT_X_L = 0x28 +LIS3MDL_OUT_X_H = 0x29 +LIS3MDL_OUT_Y_L = 0x2A +LIS3MDL_OUT_Y_H = 0x2B +LIS3MDL_OUT_Z_L = 0x2C +LIS3MDL_OUT_Z_H = 0x2D + +LIS3MDL_TEMP_OUT_L = 0x2E +LIS3MDL_TEMP_OUT_H = 0x2F + +LIS3MDL_INT_CFG = 0x30 +LIS3MDL_INT_SRC = 0x31 +LIS3MDL_INT_THS_L = 0x32 +LIS3MDL_INT_THS_H = 0x33 + diff --git a/BerryIMU/LSM6DSL.py b/BerryIMU/LSM6DSL.py new file mode 100644 index 0000000..2d25ff1 --- /dev/null +++ b/BerryIMU/LSM6DSL.py @@ -0,0 +1,45 @@ + +LSM6DSL_ADDRESS = 0x6A + +LSM6DSL_WHO_AM_I = 0x0F +LSM6DSL_RAM_ACCESS = 0x01 +LSM6DSL_CTRL1_XL = 0x10 +LSM6DSL_CTRL8_XL = 0x17 +LSM6DSL_CTRL2_G = 0x11 +LSM6DSL_CTRL10_C = 0x19 +LSM6DSL_TAP_CFG1 = 0x58 +LSM6DSL_INT1_CTR = 0x0D +LSM6DSL_CTRL3_C = 0x12 +LSM6DSL_CTRL4_C = 0x13 + +LSM6DSL_STEP_COUNTER_L = 0x4B +LSM6DSL_STEP_COUNTER_H = 0x4C + +LSM6DSL_OUTX_L_XL = 0x28 +LSM6DSL_OUTX_H_XL = 0x29 +LSM6DSL_OUTY_L_XL = 0x2A +LSM6DSL_OUTY_H_XL = 0x2B +LSM6DSL_OUTZ_L_XL = 0x2C +LSM6DSL_OUTZ_H_XL = 0x2D + +LSM6DSL_OUT_L_TEMP = 0x20 +LSM6DSL_OUT_H_TEMP = 0x21 + +LSM6DSL_OUTX_L_G = 0x22 +LSM6DSL_OUTX_H_G = 0x23 +LSM6DSL_OUTY_L_G = 0x24 +LSM6DSL_OUTY_H_G = 0x25 +LSM6DSL_OUTZ_L_G = 0x26 +LSM6DSL_OUTZ_H_G = 0x27 + +LSM6DSL_TAP_CFG = 0x58 +LSM6DSL_WAKE_UP_SRC = 0x1B +LSM6DSL_WAKE_UP_DUR = 0x5C +LSM6DSL_FREE_FALL = 0x5D +LSM6DSL_MD1_CFG = 0x5E +LSM6DSL_MD2_CFG = 0x5F +LSM6DSL_WAKE_UP_SRC = 0x1B +LSM6DSL_TAP_THS_6D = 0x59 +LSM6DSL_INT_DUR2 = 0x5A +LSM6DSL_WAKE_UP_THS = 0x5B +LSM6DSL_FUNC_SRC1 = 0x53 diff --git a/BerryIMU/LSM9DS0.py b/BerryIMU/LSM9DS0.py new file mode 100644 index 0000000..987f193 --- /dev/null +++ b/BerryIMU/LSM9DS0.py @@ -0,0 +1,87 @@ +LSM9DS0_MAG_ADDRESS = 0x1E +LSM9DS0_ACC_ADDRESS = 0x1E +LSM9DS0_GYR_ADDRESS = 0x6A + +#LSM9DS0 Gyro Registers +LSM9DS0_WHO_AM_I_G = 0x0F +LSM9DS0_CTRL_REG1_G = 0x20 +LSM9DS0_CTRL_REG2_G = 0x21 +LSM9DS0_CTRL_REG3_G = 0x22 +LSM9DS0_CTRL_REG4_G = 0x23 +LSM9DS0_CTRL_REG5_G = 0x24 +LSM9DS0_REFERENCE_G = 0x25 +LSM9DS0_STATUS_REG_G = 0x27 +LSM9DS0_OUT_X_L_G = 0x28 +LSM9DS0_OUT_X_H_G = 0x29 +LSM9DS0_OUT_Y_L_G = 0x2A +LSM9DS0_OUT_Y_H_G = 0x2B +LSM9DS0_OUT_Z_L_G = 0x2C +LSM9DS0_OUT_Z_H_G = 0x2D +LSM9DS0_FIFO_CTRL_REG_G = 0x2E +LSM9DS0_FIFO_SRC_REG_G = 0x2F +LSM9DS0_INT1_CFG_G = 0x30 +LSM9DS0_INT1_SRC_G = 0x31 +LSM9DS0_INT1_THS_XH_G = 0x32 +LSM9DS0_INT1_THS_XL_G = 0x33 +LSM9DS0_INT1_THS_YH_G = 0x34 +LSM9DS0_INT1_THS_YL_G = 0x35 +LSM9DS0_INT1_THS_ZH_G = 0x36 +LSM9DS0_INT1_THS_ZL_G = 0x37 +LSM9DS0_INT1_DURATION_G = 0x38 + +#LSM9DS0 Accel and Magneto Registers +LSM9DS0_OUT_TEMP_L_XM = 0x05 +LSM9DS0_OUT_TEMP_H_XM = 0x06 +LSM9DS0_STATUS_REG_M = 0x07 +LSM9DS0_OUT_X_L_M = 0x08 +LSM9DS0_OUT_X_H_M = 0x09 +LSM9DS0_OUT_Y_L_M = 0x0A +LSM9DS0_OUT_Y_H_M = 0x0B +LSM9DS0_OUT_Z_L_M = 0x0C +LSM9DS0_OUT_Z_H_M = 0x0D +LSM9DS0_WHO_AM_I_XM = 0x0F +LSM9DS0_INT_CTRL_REG_M = 0x12 +LSM9DS0_INT_SRC_REG_M = 0x13 +LSM9DS0_INT_THS_L_M = 0x14 +LSM9DS0_INT_THS_H_M = 0x15 +LSM9DS0_OFFSET_X_L_M = 0x16 +LSM9DS0_OFFSET_X_H_M = 0x17 +LSM9DS0_OFFSET_Y_L_M = 0x18 +LSM9DS0_OFFSET_Y_H_M = 0x19 +LSM9DS0_OFFSET_Z_L_M = 0x1A +LSM9DS0_OFFSET_Z_H_M = 0x1B +LSM9DS0_REFERENCE_X = 0x1C +LSM9DS0_REFERENCE_Y = 0x1D +LSM9DS0_REFERENCE_Z = 0x1E +LSM9DS0_CTRL_REG0_XM = 0x1F +LSM9DS0_CTRL_REG1_XM = 0x20 +LSM9DS0_CTRL_REG2_XM = 0x21 +LSM9DS0_CTRL_REG3_XM = 0x22 +LSM9DS0_CTRL_REG4_XM = 0x23 +LSM9DS0_CTRL_REG5_XM = 0x24 +LSM9DS0_CTRL_REG6_XM = 0x25 +LSM9DS0_CTRL_REG7_XM = 0x26 +LSM9DS0_STATUS_REG_A = 0x27 +LSM9DS0_OUT_X_L_A = 0x28 +LSM9DS0_OUT_X_H_A = 0x29 +LSM9DS0_OUT_Y_L_A = 0x2A +LSM9DS0_OUT_Y_H_A = 0x2B +LSM9DS0_OUT_Z_L_A = 0x2C +LSM9DS0_OUT_Z_H_A = 0x2D +LSM9DS0_FIFO_CTRL_REG = 0x2E +LSM9DS0_FIFO_SRC_REG = 0x2F +LSM9DS0_INT_GEN_1_REG = 0x30 +LSM9DS0_INT_GEN_1_SRC = 0x31 +LSM9DS0_INT_GEN_1_THS = 0x32 +LSM9DS0_INT_GEN_1_DURATION = 0x33 +LSM9DS0_INT_GEN_2_REG = 0x34 +LSM9DS0_INT_GEN_2_SRC = 0x35 +LSM9DS0_INT_GEN_2_THS = 0x36 +LSM9DS0_INT_GEN_2_DURATION = 0x37 +LSM9DS0_CLICK_CFG = 0x38 +LSM9DS0_CLICK_SRC = 0x39 +LSM9DS0_CLICK_THS = 0x3A +LSM9DS0_TIME_LIMIT = 0x3B +LSM9DS0_TIME_LATENCY = 0x3C +LSM9DS0_TIME_WINDOW = 0x3D + diff --git a/BerryIMU/LSM9DS1.py b/BerryIMU/LSM9DS1.py new file mode 100644 index 0000000..4123274 --- /dev/null +++ b/BerryIMU/LSM9DS1.py @@ -0,0 +1,94 @@ + +LSM9DS1_MAG_ADDRESS = 0x1C #Would be 0x1E if SDO_M is HIGH +LSM9DS1_ACC_ADDRESS = 0x6A +LSM9DS1_GYR_ADDRESS = 0x6A #Would be 0x6B if SDO_AG is HIGH + + +#///////////////////////////////////////// +#// LSM9DS1 Accel/Gyro (XL/G) Registers // +#///////////////////////////////////////// +LSM9DS1_ACT_THS = 0x04 +LSM9DS1_ACT_DUR = 0x05 +LSM9DS1_INT_GEN_CFG_XL = 0x06 +LSM9DS1_INT_GEN_THS_X_XL = 0x07 +LSM9DS1_INT_GEN_THS_Y_XL = 0x08 +LSM9DS1_INT_GEN_THS_Z_XL = 0x09 +LSM9DS1_INT_GEN_DUR_XL = 0x0A +LSM9DS1_REFERENCE_G = 0x0B +LSM9DS1_INT1_CTRL = 0x0C +LSM9DS1_INT2_CTRL = 0x0D +LSM9DS1_WHO_AM_I_XG = 0x0F +LSM9DS1_CTRL_REG1_G = 0x10 +LSM9DS1_CTRL_REG2_G = 0x11 +LSM9DS1_CTRL_REG3_G = 0x12 +LSM9DS1_ORIENT_CFG_G = 0x13 +LSM9DS1_INT_GEN_SRC_G = 0x14 +LSM9DS1_OUT_TEMP_L = 0x15 +LSM9DS1_OUT_TEMP_H = 0x16 +LSM9DS1_STATUS_REG_0 = 0x17 +LSM9DS1_OUT_X_L_G = 0x18 +LSM9DS1_OUT_X_H_G = 0x19 +LSM9DS1_OUT_Y_L_G = 0x1A +LSM9DS1_OUT_Y_H_G = 0x1B +LSM9DS1_OUT_Z_L_G = 0x1C +LSM9DS1_OUT_Z_H_G = 0x1D +LSM9DS1_CTRL_REG4 = 0x1E +LSM9DS1_CTRL_REG5_XL = 0x1F +LSM9DS1_CTRL_REG6_XL = 0x20 +LSM9DS1_CTRL_REG7_XL = 0x21 +LSM9DS1_CTRL_REG8 = 0x22 +LSM9DS1_CTRL_REG9 = 0x23 +LSM9DS1_CTRL_REG10 = 0x24 +LSM9DS1_INT_GEN_SRC_XL = 0x26 +LSM9DS1_STATUS_REG_1 = 0x27 +LSM9DS1_OUT_X_L_XL = 0x28 +LSM9DS1_OUT_X_H_XL = 0x29 +LSM9DS1_OUT_Y_L_XL = 0x2A +LSM9DS1_OUT_Y_H_XL = 0x2B +LSM9DS1_OUT_Z_L_XL = 0x2C +LSM9DS1_OUT_Z_H_XL = 0x2D +LSM9DS1_FIFO_CTRL = 0x2E +LSM9DS1_FIFO_SRC = 0x2F +LSM9DS1_INT_GEN_CFG_G = 0x30 +LSM9DS1_INT_GEN_THS_XH_G = 0x31 +LSM9DS1_INT_GEN_THS_XL_G = 0x32 +LSM9DS1_INT_GEN_THS_YH_G = 0x33 +LSM9DS1_INT_GEN_THS_YL_G = 0x34 +LSM9DS1_INT_GEN_THS_ZH_G = 0x35 +LSM9DS1_INT_GEN_THS_ZL_G = 0x36 +LSM9DS1_INT_GEN_DUR_G = 0x37 + +#/////////////////////////////// +#// LSM9DS1 Magneto Registers // +#/////////////////////////////// +LSM9DS1_OFFSET_X_REG_L_M = 0x05 +LSM9DS1_OFFSET_X_REG_H_M = 0x06 +LSM9DS1_OFFSET_Y_REG_L_M = 0x07 +LSM9DS1_OFFSET_Y_REG_H_M = 0x08 +LSM9DS1_OFFSET_Z_REG_L_M = 0x09 +LSM9DS1_OFFSET_Z_REG_H_M = 0x0A +LSM9DS1_WHO_AM_I_M = 0x0F +LSM9DS1_CTRL_REG1_M = 0x20 +LSM9DS1_CTRL_REG2_M = 0x21 +LSM9DS1_CTRL_REG3_M = 0x22 +LSM9DS1_CTRL_REG4_M = 0x23 +LSM9DS1_CTRL_REG5_M = 0x24 +LSM9DS1_STATUS_REG_M = 0x27 +LSM9DS1_OUT_X_L_M = 0x28 +LSM9DS1_OUT_X_H_M = 0x29 +LSM9DS1_OUT_Y_L_M = 0x2A +LSM9DS1_OUT_Y_H_M = 0x2B +LSM9DS1_OUT_Z_L_M = 0x2C +LSM9DS1_OUT_Z_H_M = 0x2D +LSM9DS1_INT_CFG_M = 0x30 +LSM9DS1_INT_SRC_M = 0x30 +LSM9DS1_INT_THS_L_M = 0x32 +LSM9DS1_INT_THS_H_M = 0x33 + +#//////////////////////////////// +#// LSM9DS1 WHO_AM_I Responses // +#//////////////////////////////// +LSM9DS1_WHO_AM_I_AG_RSP = 0x68 +LSM9DS1_WHO_AM_I_M_RSP = 0x3D + + diff --git a/BerryIMU/__init__.py b/BerryIMU/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/BerryIMU/__pycache__/IMU.cpython-37.pyc b/BerryIMU/__pycache__/IMU.cpython-37.pyc new file mode 100644 index 0000000..d72b8d8 Binary files /dev/null and b/BerryIMU/__pycache__/IMU.cpython-37.pyc differ diff --git a/BerryIMU/__pycache__/LIS3MDL.cpython-37.pyc b/BerryIMU/__pycache__/LIS3MDL.cpython-37.pyc new file mode 100644 index 0000000..9992ada Binary files /dev/null and b/BerryIMU/__pycache__/LIS3MDL.cpython-37.pyc differ diff --git a/BerryIMU/__pycache__/LSM6DSL.cpython-37.pyc 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b/BerryIMU/berryIMU+data logger.py @@ -0,0 +1,215 @@ +# Feel free to do whatever you like with this code. +# Distributed as-is; no warranty is given. +# +# https://ozzmaker.com/berryimu/ + +# Modified by Chloe Zheng based on berryIMU-simple.py +# This test: +# * Get usable angles using a Complementary filter +# * Save data to a txt file +# * Run for 10(total_time) seconds, record data each 0.5(updaterate) second + + +import time +import math +from BerryIMU import IMU +import datetime +import os +import sys +import rocketLogger + +RAD_TO_DEG = 57.29578 +M_PI = 3.14159265358979323846 +G_GAIN = 0.070 # [deg/s/LSB] If you change the dps for gyro, you need to update this value accordingly +AA = 0.40 # Complementary filter constant + +updaterate = 0.5 #in seconds +current_time = 0 # record time, only for testing purpose +total_time = 10 + +################# Compass Calibration values ############ +# Use calibrateBerryIMU.py to get calibration values +# Calibrating the compass isnt mandatory, however a calibrated +# compass will result in a more accurate heading values. + +magXmin = 0 +magYmin = 0 +magZmin = 0 +magXmax = 0 +magYmax = 0 +magZmax = 0 + + + +''' +Here is an example: +magXmin = -1748 +magYmin = -1025 +magZmin = -1876 +magXmax = 959 +magYmax = 1651 +magZmax = 708 +Dont use the above values, these are just an example. +''' +############### END Calibration offsets ################# + + + +gyroXangle = 0.0 +gyroYangle = 0.0 +gyroZangle = 0.0 +CFangleX = 0.0 +CFangleY = 0.0 + + +IMU.detectIMU() #Detect if BerryIMU is connected. +if(IMU.BerryIMUversion == 99): + print(" No BerryIMU found... exiting ") + sys.exit() +IMU.initIMU() #Initialise the accelerometer, gyroscope and compass + + +a = datetime.datetime.now() + + +#Initial logging setup, temporarily here before refactor to main logic +""" +f = open("Acc+Gyro data.txt", "w+") +f.write('AccXangle \t AccYangle \t gyroXangle \t gyroYangle \t gyroZangle \n') +f.close() +""" +logger = rocketLogger() +logger.dataLog('AccXangle \t AccYangle \t gyroXangle \t gyroYangle \t gyroZangle \n') + + +while current_time <= total_time: + #Read the accelerometer,gyroscope and magnetometer values + ACCx = IMU.readACCx() + ACCy = IMU.readACCy() + ACCz = IMU.readACCz() + GYRx = IMU.readGYRx() + GYRy = IMU.readGYRy() + GYRz = IMU.readGYRz() + MAGx = IMU.readMAGx() + MAGy = IMU.readMAGy() + MAGz = IMU.readMAGz() + + #Apply compass calibration + MAGx -= (magXmin + magXmax) /2 + MAGy -= (magYmin + magYmax) /2 + MAGz -= (magZmin + magZmax) /2 + + ##Calculate loop Period(LP). How long between Gyro Reads + b = datetime.datetime.now() - a + a = datetime.datetime.now() + LP = b.microseconds/(1000000*1.0) + #outputString = "Loop Time %5.2f " % ( LP ) + + + #Convert Gyro raw to degrees per second + rate_gyr_x = GYRx * G_GAIN + rate_gyr_y = GYRy * G_GAIN + rate_gyr_z = GYRz * G_GAIN + + + #Calculate the angles from the gyro. + gyroXangle+=rate_gyr_x*LP + gyroYangle+=rate_gyr_y*LP + gyroZangle+=rate_gyr_z*LP + + + #Convert Accelerometer values to degrees + AccXangle = (math.atan2(ACCy,ACCz)*RAD_TO_DEG) + AccYangle = (math.atan2(ACCz,ACCx)+M_PI)*RAD_TO_DEG + + #convert the values to -180 and +180 + if AccYangle > 90: + AccYangle -= 270.0 + else: + AccYangle += 90.0 + + + + #Complementary filter used to combine the accelerometer and gyro values. + CFangleX=AA*(CFangleX+rate_gyr_x*LP) +(1 - AA) * AccXangle + CFangleY=AA*(CFangleY+rate_gyr_y*LP) +(1 - AA) * AccYangle + + + + #Calculate heading + heading = 180 * math.atan2(MAGy,MAGx)/M_PI + + #Only have our heading between 0 and 360 + if heading < 0: + heading += 360 + + #################################################################### + ###################Tilt compensated heading######################### + #################################################################### + #Normalize accelerometer raw values. + accXnorm = ACCx/math.sqrt(ACCx * ACCx + ACCy * ACCy + ACCz * ACCz) + accYnorm = ACCy/math.sqrt(ACCx * ACCx + ACCy * ACCy + ACCz * ACCz) + + + #Calculate pitch and roll + pitch = math.asin(accXnorm) + roll = -math.asin(accYnorm/math.cos(pitch)) + + + #Calculate the new tilt compensated values + #The compass and accelerometer are orientated differently on the the BerryIMUv1, v2 and v3. + #This needs to be taken into consideration when performing the calculations + + #X compensation + if(IMU.BerryIMUversion == 1 or IMU.BerryIMUversion == 3): #LSM9DS0 and (LSM6DSL & LIS2MDL) + magXcomp = MAGx*math.cos(pitch)+MAGz*math.sin(pitch) + else: #LSM9DS1 + magXcomp = MAGx*math.cos(pitch)-MAGz*math.sin(pitch) + + #Y compensation + if(IMU.BerryIMUversion == 1 or IMU.BerryIMUversion == 3): #LSM9DS0 and (LSM6DSL & LIS2MDL) + magYcomp = MAGx*math.sin(roll)*math.sin(pitch)+MAGy*math.cos(roll)-MAGz*math.sin(roll)*math.cos(pitch) + else: #LSM9DS1 + magYcomp = MAGx*math.sin(roll)*math.sin(pitch)+MAGy*math.cos(roll)+MAGz*math.sin(roll)*math.cos(pitch) + + + + + #Calculate tilt compensated heading + tiltCompensatedHeading = 180 * math.atan2(magYcomp,magXcomp)/M_PI + + if tiltCompensatedHeading < 0: + tiltCompensatedHeading += 360 + + + ##################### END Tilt Compensation ######################## + + + if 1: #Change to '0' to stop showing the angles from the accelerometer + outputString = " %5.2f\t\t%5.2f" % (AccXangle, AccYangle) + + if 1: #Change to '0' to stop showing the angles from the gyro + outputString +="\t\t%5.2f\t\t%5.2f\t\t%5.2f\t\t" % (gyroXangle,gyroYangle,gyroZangle) + + if 0: #Change to '0' to stop showing the angles from the complementary filter + outputString +=" %5.2f %5.2f " % (CFangleX,CFangleY) + + if 0: #Change to '0' to stop showing the heading + outputString +=" %5.2f %5.2f " % (heading,tiltCompensatedHeading) + + + ##################### Write data to file ######################## + + """ + f = open("Acc+Gyro data.txt", "a") + f.write(outputString) + f.write("\n") + f.close() + print(outputString) + """ + logger.dataLog(outputString + "\n") + + current_time += updaterate + + #slow program down a bit, makes the output more readable + time.sleep(updaterate) diff --git a/README.md b/README.md index fc8c6f8..3d715b2 100644 --- a/README.md +++ b/README.md @@ -13,3 +13,11 @@ Log sensor and debug data to file, in /logs run.py Controller class, grabs sensor data from sensor.py, sends to both datalogger.py (to log to file) and to an algogrythm to determine servo action, which sends data to servo.py + +Setup: + +1. Clone the repo both on your local machine and the rocket's raspberry pi. +2. Run pip install -r requirements.txt +3. On the raspberry pi, enable SSH and GPIO On the raspberry pi. +4. run Autorun/setup_autorunner.sh to allow the code to run on boot + diff --git a/Sensors/__init__.py b/Sensors/__init__.py new file mode 100644 index 0000000..343f5fc --- /dev/null +++ b/Sensors/__init__.py @@ -0,0 +1 @@ +__all__ = ['berryAccelerometer', 'berryGPS', 'berryGyroscope', 'berryMagnetometer', 'sensor', 'pressureSensor'] diff --git a/Sensors/__pycache__/__init__.cpython-37.pyc b/Sensors/__pycache__/__init__.cpython-37.pyc new file mode 100644 index 0000000..c4fb964 Binary files /dev/null and b/Sensors/__pycache__/__init__.cpython-37.pyc differ diff --git a/Sensors/__pycache__/berryAccelerometer.cpython-37.pyc b/Sensors/__pycache__/berryAccelerometer.cpython-37.pyc new file mode 100644 index 0000000..82ee834 Binary files /dev/null and b/Sensors/__pycache__/berryAccelerometer.cpython-37.pyc differ diff --git a/Sensors/__pycache__/berryGyroscope.cpython-37.pyc b/Sensors/__pycache__/berryGyroscope.cpython-37.pyc new file mode 100644 index 0000000..dcb5154 Binary files /dev/null and b/Sensors/__pycache__/berryGyroscope.cpython-37.pyc differ diff --git a/Sensors/__pycache__/berryMagnetometer.cpython-37.pyc b/Sensors/__pycache__/berryMagnetometer.cpython-37.pyc new file mode 100644 index 0000000..26720e4 Binary files /dev/null and b/Sensors/__pycache__/berryMagnetometer.cpython-37.pyc differ diff --git a/Sensors/__pycache__/sensor.cpython-37.pyc b/Sensors/__pycache__/sensor.cpython-37.pyc new file mode 100644 index 0000000..5b5b44a Binary files /dev/null and b/Sensors/__pycache__/sensor.cpython-37.pyc differ diff --git a/Sensors/berryAccelerometer.py b/Sensors/berryAccelerometer.py new file mode 100644 index 0000000..0ed8b42 --- /dev/null +++ b/Sensors/berryAccelerometer.py @@ -0,0 +1,86 @@ +import math + +from BerryIMU import IMU +from Sensors.sensor import sensor + +RAD_TO_DEG = 57.29578 +M_PI = 3.14159265358979323846 + + +class berryAccelerometer(sensor): + + def __init__(self, logger): + sensor.__init__(self, logger) + + def applySensorReadLogic(self): + rawSensorData = self.getRawSensorData() + convertedSensorData = self.convertDataToDeg(rawSensorData) + calibratedSensorData = self.applyCalibration(convertedSensorData) + self.callibratedAccYangle = calibratedSensorData[1] + self.callibratedAccXangle = calibratedSensorData[0] + data = [self.callibratedAccXangle, self.callibratedAccYangle] + self.normalizeData(data) + + def getSensorData(self): + """Gets the latest accelerometer data from sensor + + Returns: + List(float): calibrated X and Y angles + """ + self.applySensorReadLogic() + return [self.callibratedAccXangle, self.callibratedAccYangle] + + def getRawSensorData(self): + """ + gets raw accelerameter data from IMU sensor and returns as array + """ + ACCx = IMU.readACCx() + ACCy = IMU.readACCy() + ACCz = IMU.readACCz() + data = [ACCx,ACCy,ACCz] + return data + + def applyCalibration(self, data): + """ + Calibrates raw sensor data and returns value as array + """ + AccXangle = data[0] + AccYangle = data[1] + if AccYangle > 90: + AccYangle -= 270.0 + else: + AccYangle += 90.0 + calibratedSensorData = [AccXangle, AccYangle] + return calibratedSensorData + + def convertDataToDeg(self, data): + """ + Converts sensor data to degree and returns as array + """ + AccXangle = (math.atan2(data[1],data[2])*RAD_TO_DEG) + AccYangle = (math.atan2(data[2],data[0])+M_PI)*RAD_TO_DEG + + convertedSensorData = [AccXangle, AccYangle] + return convertedSensorData + + def normalizeData(self, data): + ACCx = data[0] + ACCy = data[1] + ACCz = IMU.readACCz() + self.accXnorm = ACCx/math.sqrt(ACCx * ACCx + ACCy * ACCy + ACCz * ACCz) + self.accYnorm = ACCy/math.sqrt(ACCx * ACCx + ACCy * ACCy + ACCz * ACCz) + + def getNormalizedData(self): + return [self.accXnorm, self.accYnorm] + + def getPitch(self): + self.applySensorReadLogic() + return math.asin(self.accXnorm) + + def getRoll(self): + self.applySensorReadLogic() + return -math.asin(self.accYnorm/math.cos(self.getPitch())) + + def toString(self): + x,y = self.roundDataValuesToDecimal(self.getSensorData()) + return "Pitch %s Roll %s Accelerometer X Angle %s Acceleromter Y Angle %s" % (self.getPitch(), self.getRoll(), x, y) diff --git a/Sensors/berryGPS.py b/Sensors/berryGPS.py new file mode 100644 index 0000000..9d5b82c --- /dev/null +++ b/Sensors/berryGPS.py @@ -0,0 +1,79 @@ +from Sensors.sensor import sensor +import time +import smbus +import signal +import sys +address = 0x42 +gpsReadInterval = 0.03 + + +class berryGPS(sensor): + + def __init__(self, logger): + sensor.__init__(self, logger) + self.logger = logger + signal.signal(signal.SIGINT, self.handle_ctrl_c) + self.connectBus() + self.gpsString = None + self.bus = None + self.connectBus() + + def connectBus(self): + self.bus = smbus.SMBus(1) + #print(self.bus) + + def handle_ctrl_c(signal, frame): + sys.exit(130) + + def parseResponse(self, gpsLine): + #print(gpsLine) + if (gpsLine.count(36) == 1): + if len(gpsLine) < 84: + CharError = 0 + for c in gpsLine: + if (c < 32 or c > 122) and c != 13: + CharError += 1 + if (CharError == 0): + gpsChars = ''.join(chr(c) for c in gpsLine) + if (gpsChars.find('txbuf') == -1): + gpsStr, chkSum = gpsChars.split('*', 2) + gpsComponents = gpsStr.split(',') + chkVal = 0 + for ch in gpsStr[1:]: + chkVal ^= ord(ch) + if (chkVal == int(chkSum, 16)): + self.gpsString += "\n" + gpsChars + + def readGPS(self): + c = None + response = [] + #print(self.bus) + try: + while True: + c = self.bus.read_byte(0x42) + if c == 255: + return False + elif c == 10: + break + else: + response.append(c) + self.parseResponse(response) + except IOError: + self.connectBus() + except Exception as err: + self.logger.debugLog(err) + + def toString(self): + self.gpsString = "" + for i in range(8): + self.readGPS() + return self.gpsString + + +if __name__ == '__main__': + import rocketLogger + logger = rocketLogger.rocketLogger() + gps = berryGPS(logger) + while True: + print(gps.toString()) + time.sleep(gpsReadInterval) diff --git a/Sensors/berryGyroscope.py b/Sensors/berryGyroscope.py new file mode 100644 index 0000000..0fd8390 --- /dev/null +++ b/Sensors/berryGyroscope.py @@ -0,0 +1,80 @@ +from Sensors.sensor import sensor + +import time +import math +from BerryIMU import IMU +import datetime +import os +import sys + +G_GAIN = 0.070 # [deg/s/LSB] If you change the dps for gyro, you need to update this value accordingly +AA = 0.40 + +class berryGyroscope(sensor): + + def __init__(self, logger): + sensor.__init__(self, logger) + self.timeA = datetime.datetime.now() + self.gyroXangle = 0.0 + self.gyroYangle = 0.0 + self.gyroZangle = 0.0 + self.CFangleX = 0.0 + self.CFangleY = 0.0 + + def applySensorReadLogic(self): + """ + Sensor logic defined to retrieve and calibrate raw sensor data, to be called once per logic iteration + """ + rawSensorData = self.getRawSensorData() + self.calculateLP() + convertedSensorData = self.convertDataToDeg(rawSensorData) + self.applyCalibration(convertedSensorData) + + + def getRawSensorData(self): + """ + Returns raw sensor data in format relevent to particular sensor implementation + """ + GYRx = IMU.readGYRx() + GYRy = IMU.readGYRy() + GYRz = IMU.readGYRz() + data = [GYRx, GYRy, GYRz] + return data + + def calculateLP(self): + """ + Calculate loop Period(LP). How long between Gyro Reads + + """ + self.timeB = datetime.datetime.now() - self.timeA + self.timeA = datetime.datetime.now() + self.LP = self.timeB.microseconds/(1000000*1.0) + + def applyFilter(self, gyroxy, loopPeriod, accxy): + self.CFangleX=AA*(self.CFangleX+gyroxy[0]*self.LP) +(1 - AA) * accxy[0] + self.CFangleY=AA*(self.CFangleY+gyroxy[1]*self.LP) +(1 - AA) * accxy[1] + + def applyCalibration(self, data): + #Apply calibration to generate finalized gyro angle data + x,y,z = data + self.gyroXangle+=x*self.LP + self.gyroYangle+=y*self.LP + self.gyroZangle+=z*self.LP + + def convertDataToDeg(self, data): + #convert gyro data to degrees, returns converted data + GYRx, GYRy, GYRz = data + rate_gyr_x = GYRx * G_GAIN + rate_gyr_y = GYRy * G_GAIN + rate_gyr_z = GYRz * G_GAIN + convertedSensorData = [rate_gyr_x, rate_gyr_y, rate_gyr_z] + return convertedSensorData + + def getSensorData(self): + self.applySensorReadLogic() + return [self.gyroXangle, self.gyroYangle, self.gyroZangle] + + def toString(self): + x,y,z = self.roundDataValuesToDecimal(self.getSensorData()) + return "Gyroscope X Angle %s, Gyroscope Y Angle %s, Gyroscope Z Angle %s "%(x,y,z) + diff --git a/Sensors/berryMagnetometer.py b/Sensors/berryMagnetometer.py new file mode 100644 index 0000000..280dee8 --- /dev/null +++ b/Sensors/berryMagnetometer.py @@ -0,0 +1,86 @@ +from Sensors.sensor import sensor +from Sensors.berryAccelerometer import * + +import time +import math +from BerryIMU import IMU +import datetime +import os +import sys + +M_PI = 3.14159265358979323846 + + +class berryMagnetometer(sensor): + + def __init__(self, logger, accelerometer): + self.logger = logger + sensor.__init__(self, self.logger) + self.accelerometer = accelerometer + ################# Compass Calibration values ############ + # Use calibrateBerryIMU.py to get calibration values + # Calibrating the compass isnt mandatory, however a calibrated + # compass will result in a more accurate heading values. + self.magXmin = 0 + self.magYmin = 0 + self.magZmin = 0 + self.magXmax = 0 + self.magYmax = 0 + self.magZmax = 0 + + def applySensorReadLogic(self, pitch, roll, calibration): + """ + Sensor logic defined to retrieve and calibrate raw sensor data, to be called once per logic iteration + """ + rawSensorData = self.getRawSensorData() + calibratedSensorData = self.applyCalibration(rawSensorData) + compensatedTiltValues = self.calculateTiltCompensatedValues(calibratedSensorData, pitch, roll) + self.heading = self.calculateTiltCompensatedHeading(compensatedTiltValues) + calibration + + def compensateHeadingBy(self, value): + self.heading = self.heading + value + + def getSensorData(self): + #returns tilt heading, compensated by calibrated values + self.applySensorReadLogic(self.accelerometer.getPitch(), self.accelerometer.getRoll(), -55) + return [self.heading] + + + def calculateTiltCompensatedHeading(self, data): + tiltCompensatedHeading = 180 * math.atan2(data[1],data[0])/M_PI + if tiltCompensatedHeading < 0: + tiltCompensatedHeading += 360 + return tiltCompensatedHeading + + def calculateTiltCompensatedValues(self, data, pitch, roll): + """ + Calculate tilt compensated values + Input: cailbrated sensor data, pitch, roll + Returns: xComp and yComp as array + """ + magXcomp = data[0]*math.cos(pitch)+data[2]*math.sin(pitch) + magYcomp = data[0]*math.sin(roll)*math.sin(pitch)+data[1]*math.cos(roll)-data[2]*math.sin(roll)*math.cos(pitch) + return [magXcomp, magYcomp] + + def getRawSensorData(self): + """ + Returns magnetometer x y and z values as array + """ + MAGx = IMU.readMAGx() + MAGy = IMU.readMAGy() + MAGz = IMU.readMAGz() + return [MAGx, MAGy, MAGz] + + def applyCalibration(self, data): + mag = data + mag[0] -= (self.magXmin + self.magXmax) /2 + mag[1] -= (self.magYmin + self.magYmax) /2 + mag[2] -= (self.magZmin + self.magZmax) /2 + return mag + + def isHeadingValue(self, value): + return self.roundDataValuesToDecimal(self.getSensorData()) == value + + def toString(self): + heading = self.roundDataValuesToDecimal(self.getSensorData()) + return "Heading %s " % (heading) diff --git a/Sensors/gpsi2c.py b/Sensors/gpsi2c.py new file mode 100644 index 0000000..0ddd96e --- /dev/null +++ b/Sensors/gpsi2c.py @@ -0,0 +1,55 @@ +#! /usr/bin/python +import time +import smbus +import signal +import sys +BUS = None +address = 0x42 +gpsReadInterval = 0.03 +def connectBus(): + global BUS + BUS = smbus.SMBus(1) +def parseResponse(gpsLine): + if(gpsLine.count(36) == 1): # Check #1, make sure '$' doesnt appear twice + if len(gpsLine) < 84: # Check #2, 83 is maximun NMEA sentenace length. + CharError = 0; + for c in gpsLine: # Check #3, Make sure that only readiable ASCII charaters and Carriage Return are seen. + if (c < 32 or c > 122) and c != 13: + CharError+=1 + if (CharError == 0):# Only proceed if there are no errors. + gpsChars = ''.join(chr(c) for c in gpsLine) + if (gpsChars.find('txbuf') == -1): # Check #4, skip txbuff allocation error + gpsStr, chkSum = gpsChars.split('*',2) # Check #5 only split twice to avoid unpack error + gpsComponents = gpsStr.split(',') + chkVal = 0 + for ch in gpsStr[1:]: # Remove the $ and do a manual checksum on the rest of the NMEA sentence + chkVal ^= ord(ch) + if (chkVal == int(chkSum, 16)): # Compare the calculated checksum with the one in the NMEA sentence + print(gpsChars) +def handle_ctrl_c(signal, frame): + sys.exit(130) +#This will capture exit when using Ctrl-C +signal.signal(signal.SIGINT, handle_ctrl_c) +def readGPS(): + c = None + response = [] + try: + while True: # Newline, or bad char. + c = BUS.read_byte(address) + if c == 255: + return False + elif c == 10: + break + else: + response.append(c) + parseResponse(response) + except IOError: + connectBus() + except Exception as err: + print(err) +connectBus() +while True: + readGPS() + time.sleep(gpsReadInterval) + + diff --git a/Sensors/pressureSensor.py b/Sensors/pressureSensor.py new file mode 100644 index 0000000..b7d4760 --- /dev/null +++ b/Sensors/pressureSensor.py @@ -0,0 +1,147 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- +import time +import smbus +import math + +from BerryIMU.BMP388 import * +from Sensors.sensor import sensor + +class pressureSensor(sensor): + + """docstring for BMP388""" + + def __init__(self, logger, address=I2C_ADD_BMP388): + sensor.__init__(self,logger) + self._address = address + self._bus = smbus.SMBus(0x01) + self.logger = logger + + # Load calibration values. + + if self._read_byte(BMP388_REG_ADD_WIA) == BMP388_REG_VAL_WIA: + self.logger.debugLog("Pressure sersor is BMP388!\r\n") + u8RegData = self._read_byte(BMP388_REG_ADD_STATUS) + if u8RegData & BMP388_REG_VAL_CMD_RDY: + self._write_byte(BMP388_REG_ADD_CMD, + BMP388_REG_VAL_SOFT_RESET) + time.sleep(0.01) + else: + self.logger.debugLog("Pressure sersor NULL!\r\n") + self._write_byte(BMP388_REG_ADD_PWR_CTRL, + BMP388_REG_VAL_PRESS_EN + | BMP388_REG_VAL_TEMP_EN + | BMP388_REG_VAL_NORMAL_MODE) + self._load_calibration() + + def _read_byte(self, cmd): + return self._bus.read_byte_data(self._address, cmd) + + def _read_s8(self, cmd): + result = self._read_byte(cmd) + if result > 128: + result -= 256 + return result + + def _read_u16(self, cmd): + LSB = self._bus.read_byte_data(self._address, cmd) + MSB = self._bus.read_byte_data(self._address, cmd + 0x01) + return (MSB << 0x08) + LSB + + def _read_s16(self, cmd): + result = self._read_u16(cmd) + if result > 32767: + result -= 65536 + return result + + def _write_byte(self, cmd, val): + self._bus.write_byte_data(self._address, cmd, val) + + def _load_calibration(self): + print ("_load_calibration\r\n") + self.T1 = self._read_u16(BMP388_REG_ADD_T1_LSB) + self.T2 = self._read_u16(BMP388_REG_ADD_T2_LSB) + self.T3 = self._read_s8(BMP388_REG_ADD_T3) + self.P1 = self._read_s16(BMP388_REG_ADD_P1_LSB) + self.P2 = self._read_s16(BMP388_REG_ADD_P2_LSB) + self.P3 = self._read_s8(BMP388_REG_ADD_P3) + self.P4 = self._read_s8(BMP388_REG_ADD_P4) + self.P5 = self._read_u16(BMP388_REG_ADD_P5_LSB) + self.P6 = self._read_u16(BMP388_REG_ADD_P6_LSB) + self.P7 = self._read_s8(BMP388_REG_ADD_P7) + self.P8 = self._read_s8(BMP388_REG_ADD_P8) + self.P9 = self._read_s16(BMP388_REG_ADD_P9_LSB) + self.P10 = self._read_s8(BMP388_REG_ADD_P10) + self.P11 = self._read_s8(BMP388_REG_ADD_P11) + + def compensate_temperature(self, adc_T): + partial_data1 = adc_T - 256 * self.T1 + partial_data2 = self.T2 * partial_data1 + partial_data3 = partial_data1 * partial_data1 + partial_data4 = partial_data3 * self.T3 + partial_data5 = partial_data2 * 262144 + partial_data4 + partial_data6 = partial_data5 / 4294967296 + self.T_fine = partial_data6 + comp_temp = partial_data6 * 25 / 16384 + return comp_temp + + def compensate_pressure(self, adc_P): + partial_data1 = self.T_fine * self.T_fine + partial_data2 = partial_data1 / 0x40 + partial_data3 = partial_data2 * self.T_fine / 256 + partial_data4 = self.P8 * partial_data3 / 0x20 + partial_data5 = self.P7 * partial_data1 * 0x10 + partial_data6 = self.P6 * self.T_fine * 4194304 + offset = self.P5 * 140737488355328 + partial_data4 \ + + partial_data5 + partial_data6 + + partial_data2 = self.P4 * partial_data3 / 0x20 + partial_data4 = self.P3 * partial_data1 * 0x04 + partial_data5 = (self.P2 - 16384) * self.T_fine * 2097152 + sensitivity = (self.P1 - 16384) * 70368744177664 \ + + partial_data2 + partial_data4 + partial_data5 + + partial_data1 = sensitivity / 16777216 * adc_P + partial_data2 = self.P10 * self.T_fine + partial_data3 = partial_data2 + 65536 * self.P9 + partial_data4 = partial_data3 * adc_P / 8192 + partial_data5 = partial_data4 * adc_P / 512 + partial_data6 = adc_P * adc_P + partial_data2 = self.P11 * partial_data6 / 65536 + partial_data3 = partial_data2 * adc_P / 128 + partial_data4 = offset / 0x04 + partial_data1 + partial_data5 \ + + partial_data3 + comp_press = partial_data4 * 25 / 1099511627776 + return comp_press + + def get_temperature_and_pressure_and_altitude(self): + """Returns pressure in Pa as double. Output value of "6386.2"equals 96386.2 Pa = 963.862 hPa.""" + + xlsb = self._read_byte(BMP388_REG_ADD_TEMP_XLSB) + lsb = self._read_byte(BMP388_REG_ADD_TEMP_LSB) + msb = self._read_byte(BMP388_REG_ADD_TEMP_MSB) + adc_T = (msb << 0x10) + (lsb << 0x08) + xlsb + temperature = self.compensate_temperature(adc_T) + xlsb = self._read_byte(BMP388_REG_ADD_PRESS_XLSB) + lsb = self._read_byte(BMP388_REG_ADD_PRESS_LSB) + msb = self._read_byte(BMP388_REG_ADD_PRESS_MSB) + + adc_P = (msb << 0x10) + (lsb << 0x08) + xlsb + pressure = self.compensate_pressure(adc_P) + altitude = 4433000 * (0x01 - pow(pressure / 100.0 / 101325.0, + 0.1903)) + + return (temperature, pressure, altitude) + + def getSensorData(self): + return self.roundDataValuesToDecimal(self.get_temperature_and_pressure_and_altitude()) + + def isAltitudeAtLeastValue(self, value): + return self.getSensorData()[2] >= value + + def isTemperatureAtLeastValue(self, value): + return self.getSensorData()[0] >= value + + def toString(self): + temp, pressure, altitude = self.getSensorData() + return "temperature %.1f pressure %.2f altitude %.2f "%(temp /100.0, pressure/100.0, altitude/100.0) diff --git a/Sensors/sensor.py b/Sensors/sensor.py new file mode 100644 index 0000000..d697eba --- /dev/null +++ b/Sensors/sensor.py @@ -0,0 +1,42 @@ +from BerryIMU import IMU +import rocketLogger +import logging + +class sensor: + + def __init__(self, logger): + #logger = rocketLogger() + IMU.detectIMU() #Detect if BerryIMU is connected. + if(IMU.BerryIMUversion == 99): + logger.debugLog("No IMU detected!", level=logging.WARNING) + IMU.initIMU() + + def roundDataValuesToDecimal(self,data, decimal=3): + roundedData = data + for item in roundedData: + item = round(item, decimal) + return roundedData + + def getSensorData(self): + #returns finaliozed sensor data + pass + + def applySensorReadLogic(self): + """ + Sensor logic defined to retrieve and calibrate raw sensor data, to be called once per logic iteration + """ + pass + + def getRawSensorData(self): + """ + Returns raw sensor data in format relevent to particular sensor implementation + """ + pass + + def applyCalibration(self, data): + #some code to calibrate data here + pass + + def convertDataToDeg(self, value): + #some code to convert data + return value diff --git a/Servo_test2.py b/Servos/Servo_test2.py similarity index 100% rename from Servo_test2.py rename to Servos/Servo_test2.py diff --git a/Servos/__init__.py b/Servos/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/berryIMU.py b/berryIMU.py new file mode 100644 index 0000000..30bad41 --- /dev/null +++ b/berryIMU.py @@ -0,0 +1,406 @@ +#!/usr/bin/python +# +# This program reads the angles from the acceleromteer, gyroscope +# and mangnetometer on a BerryIMU connected to a Raspberry Pi. +# +# This program includes two filters (low pass and median) to improve the +# values returned from BerryIMU by reducing noise. +# +# The BerryIMUv1, BerryIMUv2 and BerryIMUv3 are supported +# +# This script is python 2.7 and 3 compatible +# +# Feel free to do whatever you like with this code. +# Distributed as-is; no warranty is given. +# +# http://ozzmaker.com/ + + + +import sys +import time +import math +from BerryIMU import IMU +import datetime +import os + + +RAD_TO_DEG = 57.29578 +M_PI = 3.14159265358979323846 +G_GAIN = 0.070 # [deg/s/LSB] If you change the dps for gyro, you need to update this value accordingly +AA = 0.40 # Complementary filter constant +MAG_LPF_FACTOR = 0.4 # Low pass filter constant magnetometer +ACC_LPF_FACTOR = 0.4 # Low pass filter constant for accelerometer +ACC_MEDIANTABLESIZE = 9 # Median filter table size for accelerometer. Higher = smoother but a longer delay +MAG_MEDIANTABLESIZE = 9 # Median filter table size for magnetometer. Higher = smoother but a longer delay + + + +################# Compass Calibration values ############ +# Use calibrateBerryIMU.py to get calibration values +# Calibrating the compass isnt mandatory, however a calibrated +# compass will result in a more accurate heading value. + +magXmin = 0 +magYmin = 0 +magZmin = 0 +magXmax = 0 +magYmax = 0 +magZmax = 0 + + +''' +Here is an example: +magXmin = -1748 +magYmin = -1025 +magZmin = -1876 +magXmax = 959 +magYmax = 1651 +magZmax = 708 +Dont use the above values, these are just an example. +''' +############### END Calibration offsets ################# + + +#Kalman filter variables +Q_angle = 0.02 +Q_gyro = 0.0015 +R_angle = 0.005 +y_bias = 0.0 +x_bias = 0.0 +XP_00 = 0.0 +XP_01 = 0.0 +XP_10 = 0.0 +XP_11 = 0.0 +YP_00 = 0.0 +YP_01 = 0.0 +YP_10 = 0.0 +YP_11 = 0.0 +KFangleX = 0.0 +KFangleY = 0.0 + + + +def kalmanFilterY ( accAngle, gyroRate, DT): + y=0.0 + S=0.0 + + global KFangleY + global Q_angle + global Q_gyro + global y_bias + global YP_00 + global YP_01 + global YP_10 + global YP_11 + + KFangleY = KFangleY + DT * (gyroRate - y_bias) + + YP_00 = YP_00 + ( - DT * (YP_10 + YP_01) + Q_angle * DT ) + YP_01 = YP_01 + ( - DT * YP_11 ) + YP_10 = YP_10 + ( - DT * YP_11 ) + YP_11 = YP_11 + ( + Q_gyro * DT ) + + y = accAngle - KFangleY + S = YP_00 + R_angle + K_0 = YP_00 / S + K_1 = YP_10 / S + + KFangleY = KFangleY + ( K_0 * y ) + y_bias = y_bias + ( K_1 * y ) + + YP_00 = YP_00 - ( K_0 * YP_00 ) + YP_01 = YP_01 - ( K_0 * YP_01 ) + YP_10 = YP_10 - ( K_1 * YP_00 ) + YP_11 = YP_11 - ( K_1 * YP_01 ) + + return KFangleY + +def kalmanFilterX ( accAngle, gyroRate, DT): + x=0.0 + S=0.0 + + global KFangleX + global Q_angle + global Q_gyro + global x_bias + global XP_00 + global XP_01 + global XP_10 + global XP_11 + + + KFangleX = KFangleX + DT * (gyroRate - x_bias) + + XP_00 = XP_00 + ( - DT * (XP_10 + XP_01) + Q_angle * DT ) + XP_01 = XP_01 + ( - DT * XP_11 ) + XP_10 = XP_10 + ( - DT * XP_11 ) + XP_11 = XP_11 + ( + Q_gyro * DT ) + + x = accAngle - KFangleX + S = XP_00 + R_angle + K_0 = XP_00 / S + K_1 = XP_10 / S + + KFangleX = KFangleX + ( K_0 * x ) + x_bias = x_bias + ( K_1 * x ) + + XP_00 = XP_00 - ( K_0 * XP_00 ) + XP_01 = XP_01 - ( K_0 * XP_01 ) + XP_10 = XP_10 - ( K_1 * XP_00 ) + XP_11 = XP_11 - ( K_1 * XP_01 ) + + return KFangleX + + +gyroXangle = 0.0 +gyroYangle = 0.0 +gyroZangle = 0.0 +CFangleX = 0.0 +CFangleY = 0.0 +CFangleXFiltered = 0.0 +CFangleYFiltered = 0.0 +kalmanX = 0.0 +kalmanY = 0.0 +oldXMagRawValue = 0 +oldYMagRawValue = 0 +oldZMagRawValue = 0 +oldXAccRawValue = 0 +oldYAccRawValue = 0 +oldZAccRawValue = 0 + +a = datetime.datetime.now() + + + +#Setup the tables for the mdeian filter. Fill them all with '1' so we dont get devide by zero error +acc_medianTable1X = [1] * ACC_MEDIANTABLESIZE +acc_medianTable1Y = [1] * ACC_MEDIANTABLESIZE +acc_medianTable1Z = [1] * ACC_MEDIANTABLESIZE +acc_medianTable2X = [1] * ACC_MEDIANTABLESIZE +acc_medianTable2Y = [1] * ACC_MEDIANTABLESIZE +acc_medianTable2Z = [1] * ACC_MEDIANTABLESIZE +mag_medianTable1X = [1] * MAG_MEDIANTABLESIZE +mag_medianTable1Y = [1] * MAG_MEDIANTABLESIZE +mag_medianTable1Z = [1] * MAG_MEDIANTABLESIZE +mag_medianTable2X = [1] * MAG_MEDIANTABLESIZE +mag_medianTable2Y = [1] * MAG_MEDIANTABLESIZE +mag_medianTable2Z = [1] * MAG_MEDIANTABLESIZE + +IMU.detectIMU() #Detect if BerryIMU is connected. +if(IMU.BerryIMUversion == 99): + print(" No BerryIMU found... exiting ") + sys.exit() +IMU.initIMU() #Initialise the accelerometer, gyroscope and compass + + +while True: + + #Read the accelerometer,gyroscope and magnetometer values + ACCx = IMU.readACCx() + ACCy = IMU.readACCy() + ACCz = IMU.readACCz() + GYRx = IMU.readGYRx() + GYRy = IMU.readGYRy() + GYRz = IMU.readGYRz() + MAGx = IMU.readMAGx() + MAGy = IMU.readMAGy() + MAGz = IMU.readMAGz() + + + #Apply compass calibration + MAGx -= (magXmin + magXmax) /2 + MAGy -= (magYmin + magYmax) /2 + MAGz -= (magZmin + magZmax) /2 + + + ##Calculate loop Period(LP). How long between Gyro Reads + b = datetime.datetime.now() - a + a = datetime.datetime.now() + LP = b.microseconds/(1000000*1.0) + outputString = "Loop Time %5.2f " % ( LP ) + + + + ############################################### + #### Apply low pass filter #### + ############################################### + MAGx = MAGx * MAG_LPF_FACTOR + oldXMagRawValue*(1 - MAG_LPF_FACTOR); + MAGy = MAGy * MAG_LPF_FACTOR + oldYMagRawValue*(1 - MAG_LPF_FACTOR); + MAGz = MAGz * MAG_LPF_FACTOR + oldZMagRawValue*(1 - MAG_LPF_FACTOR); + ACCx = ACCx * ACC_LPF_FACTOR + oldXAccRawValue*(1 - ACC_LPF_FACTOR); + ACCy = ACCy * ACC_LPF_FACTOR + oldYAccRawValue*(1 - ACC_LPF_FACTOR); + ACCz = ACCz * ACC_LPF_FACTOR + oldZAccRawValue*(1 - ACC_LPF_FACTOR); + + oldXMagRawValue = MAGx + oldYMagRawValue = MAGy + oldZMagRawValue = MAGz + oldXAccRawValue = ACCx + oldYAccRawValue = ACCy + oldZAccRawValue = ACCz + + ######################################### + #### Median filter for accelerometer #### + ######################################### + # cycle the table + for x in range (ACC_MEDIANTABLESIZE-1,0,-1 ): + acc_medianTable1X[x] = acc_medianTable1X[x-1] + acc_medianTable1Y[x] = acc_medianTable1Y[x-1] + acc_medianTable1Z[x] = acc_medianTable1Z[x-1] + + # Insert the lates values + acc_medianTable1X[0] = ACCx + acc_medianTable1Y[0] = ACCy + acc_medianTable1Z[0] = ACCz + + # Copy the tables + acc_medianTable2X = acc_medianTable1X[:] + acc_medianTable2Y = acc_medianTable1Y[:] + acc_medianTable2Z = acc_medianTable1Z[:] + + # Sort table 2 + acc_medianTable2X.sort() + acc_medianTable2Y.sort() + acc_medianTable2Z.sort() + + # The middle value is the value we are interested in + ACCx = acc_medianTable2X[int(ACC_MEDIANTABLESIZE/2)]; + ACCy = acc_medianTable2Y[int(ACC_MEDIANTABLESIZE/2)]; + ACCz = acc_medianTable2Z[int(ACC_MEDIANTABLESIZE/2)]; + + + + ######################################### + #### Median filter for magnetometer #### + ######################################### + # cycle the table + for x in range (MAG_MEDIANTABLESIZE-1,0,-1 ): + mag_medianTable1X[x] = mag_medianTable1X[x-1] + mag_medianTable1Y[x] = mag_medianTable1Y[x-1] + mag_medianTable1Z[x] = mag_medianTable1Z[x-1] + + # Insert the latest values + mag_medianTable1X[0] = MAGx + mag_medianTable1Y[0] = MAGy + mag_medianTable1Z[0] = MAGz + + # Copy the tables + mag_medianTable2X = mag_medianTable1X[:] + mag_medianTable2Y = mag_medianTable1Y[:] + mag_medianTable2Z = mag_medianTable1Z[:] + + # Sort table 2 + mag_medianTable2X.sort() + mag_medianTable2Y.sort() + mag_medianTable2Z.sort() + + # The middle value is the value we are interested in + MAGx = mag_medianTable2X[int(MAG_MEDIANTABLESIZE/2)]; + MAGy = mag_medianTable2Y[int(MAG_MEDIANTABLESIZE/2)]; + MAGz = mag_medianTable2Z[int(MAG_MEDIANTABLESIZE/2)]; + + + + #Convert Gyro raw to degrees per second + rate_gyr_x = GYRx * G_GAIN + rate_gyr_y = GYRy * G_GAIN + rate_gyr_z = GYRz * G_GAIN + + + #Calculate the angles from the gyro. + gyroXangle+=rate_gyr_x*LP + gyroYangle+=rate_gyr_y*LP + gyroZangle+=rate_gyr_z*LP + + #Convert Accelerometer values to degrees + AccXangle = (math.atan2(ACCy,ACCz)*RAD_TO_DEG) + AccYangle = (math.atan2(ACCz,ACCx)+M_PI)*RAD_TO_DEG + + + #Change the rotation value of the accelerometer to -/+ 180 and + #move the Y axis '0' point to up. This makes it easier to read. + if AccYangle > 90: + AccYangle -= 270.0 + else: + AccYangle += 90.0 + + + + #Complementary filter used to combine the accelerometer and gyro values. + CFangleX=AA*(CFangleX+rate_gyr_x*LP) +(1 - AA) * AccXangle + CFangleY=AA*(CFangleY+rate_gyr_y*LP) +(1 - AA) * AccYangle + + #Kalman filter used to combine the accelerometer and gyro values. + kalmanY = kalmanFilterY(AccYangle, rate_gyr_y,LP) + kalmanX = kalmanFilterX(AccXangle, rate_gyr_x,LP) + + #Calculate heading + heading = 180 * math.atan2(MAGy,MAGx)/M_PI + + #Only have our heading between 0 and 360 + if heading < 0: + heading += 360 + + #################################################################### + ###################Tilt compensated heading######################### + #################################################################### + #Normalize accelerometer raw values. + accXnorm = ACCx/math.sqrt(ACCx * ACCx + ACCy * ACCy + ACCz * ACCz) + accYnorm = ACCy/math.sqrt(ACCx * ACCx + ACCy * ACCy + ACCz * ACCz) + + + #Calculate pitch and roll + pitch = math.asin(accXnorm) + roll = -math.asin(accYnorm/math.cos(pitch)) + + + #Calculate the new tilt compensated values + #The compass and accelerometer are orientated differently on the the BerryIMUv1, v2 and v3. + #This needs to be taken into consideration when performing the calculations + + #X compensation + if(IMU.BerryIMUversion == 1 or IMU.BerryIMUversion == 3): #LSM9DS0 and (LSM6DSL & LIS2MDL) + magXcomp = MAGx*math.cos(pitch)+MAGz*math.sin(pitch) + else: #LSM9DS1 + magXcomp = MAGx*math.cos(pitch)-MAGz*math.sin(pitch) + + #Y compensation + if(IMU.BerryIMUversion == 1 or IMU.BerryIMUversion == 3): #LSM9DS0 and (LSM6DSL & LIS2MDL) + magYcomp = MAGx*math.sin(roll)*math.sin(pitch)+MAGy*math.cos(roll)-MAGz*math.sin(roll)*math.cos(pitch) + else: #LSM9DS1 + magYcomp = MAGx*math.sin(roll)*math.sin(pitch)+MAGy*math.cos(roll)+MAGz*math.sin(roll)*math.cos(pitch) + + + + + + #Calculate tilt compensated heading + tiltCompensatedHeading = 180 * math.atan2(magYcomp,magXcomp)/M_PI + + if tiltCompensatedHeading < 0: + tiltCompensatedHeading += 360 + + + ##################### END Tilt Compensation ######################## + + + if 1: #Change to '0' to stop showing the angles from the accelerometer + outputString += "# ACCX Angle %5.2f ACCY Angle %5.2f # " % (AccXangle, AccYangle) + + if 1: #Change to '0' to stop showing the angles from the gyro + outputString +="\t# GRYX Angle %5.2f GYRY Angle %5.2f GYRZ Angle %5.2f # " % (gyroXangle,gyroYangle,gyroZangle) + + if 0: #Change to '0' to stop showing the angles from the complementary filter + outputString +="\t# CFangleX Angle %5.2f CFangleY Angle %5.2f #" % (CFangleX,CFangleY) + + if 1: #Change to '0' to stop showing the heading + outputString +="\t# HEADING %5.2f tiltCompensatedHeading %5.2f #" % (heading,tiltCompensatedHeading) + + if 0: #Change to '0' to stop showing the angles from the Kalman filter + outputString +="# kalmanX %5.2f kalmanY %5.2f #" % (kalmanX,kalmanY) + + print(outputString) + + #slow program down a bit, makes the output more readable + time.sleep(0.03) + diff --git a/logs/.gitkeep b/logs/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/logs/__init__.py b/logs/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/logs/data.log b/logs/data.log new file mode 100644 index 0000000..b7474d4 --- /dev/null +++ b/logs/data.log @@ -0,0 +1,1232 @@ +2023-01-26 15:43:16,696 INFO AccXangle AccYangle gyroXangle gyroYangle gyroZangle heading + +2023-01-26 15:43:19,713 INFO -1.9754179044720104 -17.682163773435516 0.0384272 -0.0215824 293.1201426588545/n +2023-01-26 15:43:19,718 INFO -2.048935860488996 -17.655375724549426 0.046512200000000004 -0.0434119 293.1208348549715/n +2023-01-26 15:43:19,723 INFO -2.035318926617208 -17.64662243261992 0.018497080000000003 -0.0655291 292.8186827838046/n +2023-01-26 15:43:19,729 INFO -2.1174376873229335 -17.690337244965775 -0.00993517 -0.08399160000000001 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291.1081832126214/n +2023-01-26 15:43:24,620 INFO -1.9515433151927368 -17.89853514733363 5.805002630000002 -18.351535089999988 292.03890415772094/n +2023-01-26 15:43:24,624 INFO -1.9685880365144044 -17.74364360624126 5.784329530000003 -18.36689224999999 292.03605760755147/n +2023-01-26 15:43:24,629 INFO -2.0070738587751293 -17.73646232933918 5.7928359300000025 -18.378740449999988 292.0365717978692/n diff --git a/logs/debug.log b/logs/debug.log new file mode 100644 index 0000000..4ca4c6c --- /dev/null +++ b/logs/debug.log @@ -0,0 +1,838 @@ +2023-03-01 16:45:12,568 WARNING Pressure sersor is BMP388! + +2023-03-01 16:46:08,257 WARNING Pressure sersor is BMP388! + +2023-03-01 16:46:09,332 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:09,385 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:09,439 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:09,493 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:09,546 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:09,600 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:09,653 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:09,707 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:09,761 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:09,814 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:09,868 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:09,922 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:09,975 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,029 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,083 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,136 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,190 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,243 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,297 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,351 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,404 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,458 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,511 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,565 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,619 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,672 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,726 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,780 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,833 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,887 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,941 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:10,995 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,048 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,102 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,156 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,209 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,263 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,317 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,370 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,424 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,477 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,531 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,585 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,638 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,692 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,746 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,799 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,853 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,906 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:11,960 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,014 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,068 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,121 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,175 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,228 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,282 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,336 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,389 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,443 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,496 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,550 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,604 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,661 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,714 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,768 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,822 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,875 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,929 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:12,983 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,036 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,090 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,143 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,197 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,251 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,304 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,358 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,412 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,465 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,519 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,572 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,626 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,680 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,733 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,787 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,841 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,894 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:13,948 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,001 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,055 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,109 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,162 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,216 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,270 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,323 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,377 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,430 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,484 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,538 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,591 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,645 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,698 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,752 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,806 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,859 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,913 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:14,967 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,020 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,074 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,127 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,181 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,235 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,288 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,342 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,395 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,449 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,503 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,556 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,610 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,663 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,717 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,771 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,824 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,878 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,931 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:15,985 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,039 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,092 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,146 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,200 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,253 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,307 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,360 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,414 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,468 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,521 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,575 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,628 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,682 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,736 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,789 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,843 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,897 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:16,951 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:17,004 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:17,058 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:17,112 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:46:17,166 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:32,436 WARNING Pressure sersor is BMP388! + +2023-03-01 16:49:33,509 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:33,569 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:33,624 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:33,678 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:33,732 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:33,786 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:33,839 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:33,893 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:33,947 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,000 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,054 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,108 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,161 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,215 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,269 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,322 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,376 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,429 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,483 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,537 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,590 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,644 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,698 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,751 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,805 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,859 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,913 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:34,967 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,020 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,074 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,128 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,181 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,235 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,289 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,342 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,396 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,450 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,504 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,557 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,611 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,665 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,718 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,772 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,825 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,879 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,933 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:35,986 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,040 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,093 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,147 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,201 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,255 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,308 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,362 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,416 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,469 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,523 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,576 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,630 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,684 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,738 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,791 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,845 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,898 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:36,952 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:37,006 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:37,060 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:49:37,114 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:20,708 WARNING Pressure sersor is BMP388! + +2023-03-01 16:50:21,782 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:21,835 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:21,889 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:21,942 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:21,996 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,050 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,103 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,157 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,210 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,264 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,318 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,371 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,425 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,479 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,532 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,586 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,639 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,693 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,746 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,800 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,854 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,908 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:22,961 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,015 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,069 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,122 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,176 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,229 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,283 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,337 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,390 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,444 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,498 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,551 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,605 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,658 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,712 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,766 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,820 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,874 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,928 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:23,982 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:24,035 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:24,089 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:24,143 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:24,196 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:24,250 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:24,303 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:24,358 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:24,411 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:50:24,465 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:43,842 WARNING Pressure sersor is BMP388! + +2023-03-01 16:51:44,915 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:44,969 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,022 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,076 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,130 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,183 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,237 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,291 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,344 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,398 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,452 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,505 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,559 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,612 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,666 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,720 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,773 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,827 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,881 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,934 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:45,988 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,042 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,095 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,149 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,203 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,256 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,310 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,364 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,417 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,471 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,525 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,578 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,632 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,686 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,739 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,793 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,846 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,900 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:46,954 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,008 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,061 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,115 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,169 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,222 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,276 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,330 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,383 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,437 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,490 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,544 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,598 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,651 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,705 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,759 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,812 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,866 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,920 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:47,973 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,027 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,080 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,134 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,188 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,241 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,295 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,349 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,402 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,456 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,510 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,563 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,617 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,670 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,724 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,778 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,831 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,886 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,941 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:51:48,994 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:30,019 WARNING Pressure sersor is BMP388! + +2023-03-01 16:53:31,093 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,148 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,201 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,255 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,309 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,362 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,416 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,470 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,523 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,577 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,631 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,684 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,738 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,792 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,845 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,899 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:31,953 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,007 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,060 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,114 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,168 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,221 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,275 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,329 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,382 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,436 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,490 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,543 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,597 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,651 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,704 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,758 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,812 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,865 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,919 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:32,973 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,026 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,080 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,134 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,187 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,241 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,295 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,348 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,402 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,456 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,509 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,563 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,617 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,670 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,724 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,778 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,831 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,885 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,939 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:33,992 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,046 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,100 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,153 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,207 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,261 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,315 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,368 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,422 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,476 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,529 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,583 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,637 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,690 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,745 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,800 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,853 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,907 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:34,961 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:35,014 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:35,069 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:35,122 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:54,258 WARNING Pressure sersor is BMP388! + +2023-03-01 16:53:55,333 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:55,387 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:55,440 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:55,493 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:55,547 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:55,601 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:55,655 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:55,708 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:55,762 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:55,815 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:55,869 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:55,923 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:55,976 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,030 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,084 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,137 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,191 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,245 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,298 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,352 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,406 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,459 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,513 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,567 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,620 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,674 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,727 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,781 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,835 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,889 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,942 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:56,996 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:57,049 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:57,103 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:57,156 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:57,210 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:57,264 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:53:57,318 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:22,303 WARNING Pressure sersor is BMP388! + +2023-03-01 16:54:23,377 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:23,431 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:23,485 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:23,538 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:23,591 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:23,645 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:23,699 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:23,752 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:23,806 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:23,860 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:23,913 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:23,967 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,020 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,074 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,128 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,181 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,235 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,289 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,342 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,396 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,450 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,503 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,557 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,611 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,664 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,718 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,771 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,825 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,879 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,932 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:24,991 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,046 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,100 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,153 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,207 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,261 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,314 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,368 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,422 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,475 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,529 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,582 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,636 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,690 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:54:25,744 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:27,437 WARNING Pressure sersor is BMP388! + +2023-03-01 16:55:28,511 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:28,566 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:28,620 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:28,675 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:28,729 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:28,783 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:28,837 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:28,891 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:28,946 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:29,000 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:29,055 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:29,110 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:29,164 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:29,219 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:29,273 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:29,328 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:29,383 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:29,438 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:29,492 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:29,547 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:55:29,602 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:41,766 WARNING Pressure sersor is BMP388! + +2023-03-01 16:56:42,841 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:42,895 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:42,948 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,002 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,056 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,109 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,163 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,217 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,271 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,325 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,379 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,433 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,485 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,537 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,590 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,642 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,694 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,747 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,799 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,851 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,903 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:43,956 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,008 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,060 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,112 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,166 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,220 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,273 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,327 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,380 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,434 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,488 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,541 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,595 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,649 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,702 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,756 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,809 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,863 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,917 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:44,970 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,024 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,077 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,131 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,185 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,238 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,292 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,345 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,399 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,452 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,506 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,559 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,613 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,667 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,729 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,782 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,836 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,889 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,943 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:45,997 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:56:46,051 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:47,582 WARNING Pressure sersor is BMP388! + +2023-03-01 16:57:48,656 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:48,710 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:48,764 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:48,817 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:48,870 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:48,924 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:48,978 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,031 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,085 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,139 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,192 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,246 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,299 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,353 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,407 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,460 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,514 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,567 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,621 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,675 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,728 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,782 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,835 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,889 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,943 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:49,996 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,050 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,104 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,157 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,211 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,265 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,318 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,372 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,426 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,479 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,533 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,587 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,640 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,694 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,748 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,801 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,855 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,908 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:50,962 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,018 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,072 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,126 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,179 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,233 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,287 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,340 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,394 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,448 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,501 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,555 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,608 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,662 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,716 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,769 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,823 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,877 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,930 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:51,984 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,037 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,091 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,144 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,198 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,251 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,305 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,359 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,412 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,466 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,519 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,573 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,626 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,680 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,733 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,787 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,840 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,894 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:52,948 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:53,001 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:53,055 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:57:53,109 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:16,013 WARNING Pressure sersor is BMP388! + +2023-03-01 16:58:17,088 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,143 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,198 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,252 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,306 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,360 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,414 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,469 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,523 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,578 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,632 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,686 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,741 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,795 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,849 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,904 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:17,958 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:18,012 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:18,067 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:58:18,121 WARNING 'NoneType' object has no attribute 'read_byte' +2023-03-01 16:59:22,352 WARNING Pressure sersor is BMP388! + +2023-03-01 16:59:44,247 WARNING Pressure sersor is BMP388! + +2023-03-01 17:00:15,625 WARNING Pressure sersor is BMP388! + +2023-03-01 17:00:46,730 WARNING Pressure sersor is BMP388! + +2023-03-01 17:03:46,325 WARNING Pressure sersor is BMP388! + +2023-03-01 17:04:11,597 WARNING Pressure sersor is BMP388! + +2023-03-01 17:05:37,524 WARNING Pressure sersor is BMP388! + +2023-03-01 17:08:34,032 WARNING Pressure sersor is BMP388! + +2023-03-01 17:13:46,719 WARNING Pressure sersor is BMP388! + +2023-03-01 17:13:49,249 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:49,253 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:49,259 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:49,266 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:49,275 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:49,279 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:49,784 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:49,788 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:50,295 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:50,299 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:50,304 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:50,311 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:50,319 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:50,323 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:50,828 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:13:50,832 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:52,246 WARNING Pressure sersor is BMP388! + +2023-03-01 17:14:54,274 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:54,278 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:54,283 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:54,291 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:54,299 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:54,302 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:54,807 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:54,811 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:55,318 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:55,322 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:55,327 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:55,334 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:55,342 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:55,345 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:55,850 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:55,854 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:56,361 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:56,365 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:56,371 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:56,378 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:56,386 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:56,389 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:56,894 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:56,897 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:57,404 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:57,408 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:57,414 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:57,421 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:57,429 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:57,432 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:57,938 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:57,941 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:58,448 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:58,452 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:58,458 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:58,466 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:58,473 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:58,477 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:58,982 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:58,986 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:59,493 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:59,497 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:59,502 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:59,509 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:59,517 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:14:59,520 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:00,025 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:00,029 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:00,536 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:00,540 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:00,546 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:00,553 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:00,561 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:00,564 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:01,069 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:01,072 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:01,076 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:01,080 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:01,085 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:01,091 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:01,600 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:01,604 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:01,607 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:01,611 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:02,117 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:02,120 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:02,125 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:02,131 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:02,138 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:15:02,141 WARNING unsupported operand type(s) for +=: 'NoneType' and 'str' +2023-03-01 17:16:21,779 WARNING Pressure sersor is BMP388! + +2023-03-01 17:17:42,481 WARNING Pressure sersor is BMP388! + +2023-03-03 15:37:21,726 WARNING Pressure sersor is BMP388! + +2023-03-03 15:38:07,490 WARNING Pressure sersor is BMP388! + +2023-03-03 15:40:04,018 WARNING Pressure sersor is BMP388! + +2023-03-03 15:41:18,927 WARNING Pressure sersor is BMP388! + +2023-03-03 15:47:59,283 WARNING Pressure sersor is BMP388! + +2023-03-03 15:51:00,391 WARNING Pressure sersor is BMP388! + +2023-03-03 15:51:41,833 WARNING Pressure sersor is BMP388! + +2023-03-03 16:18:19,260 WARNING Pressure sersor is BMP388! + diff --git a/example.log b/logs/example.log similarity index 100% rename from example.log rename to logs/example.log diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..5568551 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,2 @@ +smbus +gpizero \ No newline at end of file diff --git a/rocketLogger.py b/rocketLogger.py index 9238b26..50ef331 100644 --- a/rocketLogger.py +++ b/rocketLogger.py @@ -10,18 +10,19 @@ """ import logging - +from datetime import datetime class rocketLogger: def __init__(self): - formatter = logging.Formatter('%(asctime)s %(levelname)s %(message)s') - self.dataLogger = setup_logger('data_logger', 'data.log', logging.INFO) - self.debugLogger = setup_logger('debug_logger', 'debug.log') - + now = datetime.now() + dt_string = now.strftime("%m-%d-%Y %H:%M:%S") + self.formatter = logging.Formatter('%(asctime)s %(levelname)s %(message)s') + self.dataLogger = self.setup_logger('data_logger', 'logs/data_' + dt_string + '.log', logging.INFO) + self.debugLogger = self.setup_logger('debug_logger', 'logs/debug.log') - def setup_logger(name, log_file, level=logging.WARNING): - handler = logging.FileHandler(log_file) - handler.setFormatter(formatter) + def setup_logger(self, name, log_file, level=logging.WARNING): + handler = logging.FileHandler(log_file) + handler.setFormatter(self.formatter) logger = logging.getLogger("logs//" + name) logger.setLevel(level) @@ -29,11 +30,11 @@ def setup_logger(name, log_file, level=logging.WARNING): return logger - def dataLog(data_to_log): + def dataLog(self,data_to_log): #Data log should probably always be info level - self.dataLoggger.info(data_to_log) + self.dataLogger.info(data_to_log) - def debugLog(level=logging.WARNING, debug_to_log) + def debugLog(self, debug_to_log, level=logging.WARNING): self.debugLogger.log(level, debug_to_log) diff --git a/rocketrun.service b/rocketrun.service index 4482496..997bb7d 100644 --- a/rocketrun.service +++ b/rocketrun.service @@ -2,9 +2,9 @@ Description=Rocket runner [Service] -ExecStart=/usr/bin/python3 -u run.py -WorkingDirectory=/home/pi/PrecisionLanding +ExecStart=/usr/bin/python3.7 -u run.py +WorkingDirectory=/home/pi/Desktop/PrecisionLanding User=pi [Install] -WantedBy=multi-user.target \ No newline at end of file +WantedBy=multi-user.target diff --git a/run.py b/run.py index 8b13789..ca5d5a8 100644 --- a/run.py +++ b/run.py @@ -1 +1,31 @@ +from Sensors import * +from time import sleep +import rocketLogger +logger = rocketLogger.rocketLogger() +logger.dataLog('AccXangle \t AccYangle \t gyroXangle \t gyroYangle \t gyroZangle \t heading \t temp \t pressure \t altitude \t gps \n ') + + +accelerometer = berryAccelerometer.berryAccelerometer(logger) +gyroscope = berryGyroscope.berryGyroscope(logger) +magnetometer = berryMagnetometer.berryMagnetometer(logger, accelerometer) +tempPressureAltitudeSensor = pressureSensor.pressureSensor(logger) +gps = berryGPS.berryGPS(logger) + +#sensors = [accelerometer, gyroscope, magnetometer, tempPressureAltitudeSensor, gps] +print("Finished loading sensors") + +sensors = [accelerometer,gyroscope,magnetometer] +def logSensorData(): + for sensor in sensors: + logger.dataLog(sensor.toString()) + logger.dataLog("\n") + + +def main(): + while True: + sleep(0.5) #wait 50 miliseconds between data dump + logSensorData() + +if __name__=="__main__": + main() diff --git a/sensor.py b/sensor.py deleted file mode 100644 index 8b13789..0000000 --- a/sensor.py +++ /dev/null @@ -1 +0,0 @@ - diff --git a/setup_autorunner.sh b/setup_autorunner.sh old mode 100644 new mode 100755