acc_test_2.py
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import smbus #import SMBus module of I2C
from time import sleep #import
import time
import threading
#some MPU6050 Registers and their Address
PWR_MGMT_1 = 0x6B
SMPLRT_DIV = 0x19
CONFIG = 0x1A
GYRO_CONFIG = 0x1B
INT_ENABLE = 0x38
ACCEL_XOUT_H = 0x3B
ACCEL_YOUT_H = 0x3D
ACCEL_ZOUT_H = 0x3F
GYRO_XOUT_H = 0x43
GYRO_YOUT_H = 0x45
GYRO_ZOUT_H = 0x47
bus = smbus.SMBus(1) # or bus = smbus.SMBus(0) for older version boards
Device_Address = 0x68 # MPU6050 device address
def MPU_Init():
#write to sample rate register
bus.write_byte_data(Device_Address, SMPLRT_DIV, 7)
#Write to power management register
bus.write_byte_data(Device_Address, PWR_MGMT_1, 1)
#Write to Configuration register
bus.write_byte_data(Device_Address, CONFIG, 0)
#Write to Gyro configuration register
bus.write_byte_data(Device_Address, GYRO_CONFIG, 24)
#Write to interrupt enable register
bus.write_byte_data(Device_Address, INT_ENABLE, 1)
def read_raw_data(addr):
#Accelero and Gyro value are 16-bit
high = bus.read_byte_data(Device_Address, addr)
low = bus.read_byte_data(Device_Address, addr+1)
#concatenate higher and lower value
value = ((high << 8) | low)
#to get signed value from mpu6050
if(value > 32768):
value = value - 65536
return value
def start_record(data, timeData):
MPU_Init()
t = threading.currentThread()
print (" Reading Data of Gyroscope and Accelerometer")
start_time=time.time()
while getattr(t, "do_run", True):
acc_x = read_raw_data(ACCEL_XOUT_H)
acc_y = read_raw_data(ACCEL_YOUT_H)
acc_z = read_raw_data(ACCEL_ZOUT_H)
value=abs(acc_x+acc_y+acc_z)/10
data.append(value)
print(value)
if(time.time()>start_time+60):
break
end_time = time.time()
timeData.append(round(end_time-start_time,2))