compas2OSC.py

CMPS10 - Tilt Compensated Compass Module

Registre de 23 bytes :

0 Software version
1 Compass Bearing as a byte, i.e. 0-255 for a full circle
2,3 Compass Bearing as a word, i.e. 0-3599 for a full circle, representing 0-359.9 degrees.
4 Pitch angle - signed byte giving angle in degrees from the horizontal plane
5 Roll angle - signed byte giving angle in degrees from the horizontal plane
6,,7,8,9 Unused
10,11 Magnetometer X axis raw output, 16 bit signed integer with register 10 being the upper 8 bits
12,13 Magnetometer Y axis raw output, 16 bit signed integer with register 12 being the upper 8 bits
14,15 Magnetometer Z axis raw output, 16 bit signed integer with register 14 being the upper 8 bits
16,17 Accelerometer X axis raw output, 16 bit signed integer with register 16 being the upper 8 bits
18,19 Accelerometer Y axis raw output, 16 bit signed integer with register 18 being the upper 8 bits
20,21 Accelerometer Z axis raw output, 16 bit signed integer with register 20 being the upper 8 bits
22 Command register

HMC6352

la boussole HMC6352 est sur un bus i2c. Donne l'angle au nord en degré dans le sens horaire (heading) Mais pas de compensation en fonction de l'inclinaison de la tête ! d'ou pas d'usage ..

#!/usr/bin/python
# -*- coding: utf-8 -*-

import sys,time,liblo
from smbus import SMBus

BUS_NUMBER = 2
IP='127.0.0.1'
PORT=9001
ADRS=33 # 0x21 - compass
osc_path='/pos/compas'

b = SMBus(BUS_NUMBER) # 0 indicates /dev/i2c-0
data = {}

try:
        target = liblo.Address('127.0.0.1',9001)
except liblo.AddressError, err:
        print str(err)
        sys.exit()

while True:
        try:
                b.write_byte(0x21,0x41) # send 'A' to HMC6352 compass
                time.sleep(0.02)
                data_block = b.read_i2c_block_data(0x21,2)
                heading = (data_block[0] * 2**8 + data_block[1]) / 10
                time.sleep(0.02)
#               print('Compas',heading)
                liblo.send(target, osc_path, heading)
        except KeyError:
                pass
        except KeyboardInterrupt:
                quit()
        except StopIteration:
                session = None
                print "end"
        except:
#               print('echec')
                continue