/Modules/Sensors/IMU01A/SW/Python/IMU_test.ipynb
0,0 → 1,8385
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"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Uk\u00e1zka pou\u017eit\u00ed n\u00e1stroje IPython na manipulaci se senzorov\u00fdmi daty\n",
"=======\n",
"\n",
"P\u0159\u00edklad vyu\u017e\u00edv\u00e1 moduluvou stavebnici MLAB a jej\u00ed knihovnu https://github.com/MLAB-project/MLAB-I2c-modules \n",
"\n",
"Zprovozn\u011bn\u00ed demo k\u00f3du\n",
"---------------------\n",
"\n",
"Nejd\u0159\u00edve zjist\u00edme zda m\u00e1me p\u0159\u00edstup pro z\u00e1pis a \u010dten\u00ed do syst\u00e9mov\u00e9ho za\u0159\u00edzen\u00ed. A jak\u00e9 \u010d\u00edslo m\u00e1 I\u00b2C sb\u011brnice na kterou m\u00e1me p\u0159ipojen\u00e1 \u010didla. \n"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"!i2cdetect -l"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"i2c-0\ti2c \ti915 gmbus ssc \tI2C adapter\r\n",
"i2c-1\ti2c \ti915 gmbus vga \tI2C adapter\r\n",
"i2c-2\ti2c \ti915 gmbus panel \tI2C adapter\r\n",
"i2c-3\ti2c \ti915 gmbus dpc \tI2C adapter\r\n",
"i2c-4\ti2c \ti915 gmbus dpb \tI2C adapter\r\n",
"i2c-5\ti2c \ti915 gmbus dpd \tI2C adapter\r\n",
"i2c-6\ti2c \tDPDDC-C \tI2C adapter\r\n",
"i2c-7\ti2c \tDPDDC-D \tI2C adapter\r\n",
"i2c-8\ti2c \ti2c-tiny-usb at bus 001 device 005\tI2C adapter\r\n"
]
}
],
"prompt_number": 1
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Proto\u017ee pro p\u0159ipojen\u00ed \u010didel k po\u010d\u00edta\u010di pou\u017e\u00edv\u00e1me adapt\u00e9r i2c-tiny-usb. Vid\u00edme, \u017ee sb\u011brnice m\u00e1 aktu\u00e1ln\u011b ozna\u010den\u00ed nap\u0159\u00edklad i2c-8. \n",
"\n",
"V p\u0159\u00edpad\u011b, \u017ee v\u00fd\u0161e uveden\u00fd p\u0159\u00edklad vr\u00e1t\u00ed chybu, nebo pojmenov\u00e1n\u00ed \"unknown\" tak nem\u00e1me p\u0159\u00edstup k syst\u00e9mov\u00fdm rozhran\u00edm. Ten z\u00edsk\u00e1me vytvo\u0159en\u00edm souboru s n\u00e1sleduj\u00edc\u00edm obsahem ve slo\u017ece: /etc/udev/rules.d/i2c-devices.rules"
]
},
{
"cell_type": "raw",
"metadata": {},
"source": [
"KERNEL==\"i2c-[0-9]*\", GROUP=\"i2c\""
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Toto ozna\u010den\u00ed budeme je\u0161t\u011b d\u00e1le pot\u0159ebovat, proto si jej ulo\u017e\u00edme da prom\u011bnn\u00e9. "
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"port = 8"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 2
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Budeme pokra\u010dovat na\u010dten\u00edm pot\u0159ebn\u00fdch modul\u016f pro zach\u00e1zen\u00ed s I\u00b2C sn\u00edma\u010di."
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"import time\n",
"import datetime\n",
"import sys\n",
"\n",
"from pymlab import config\n",
"import matplotlib.pyplot as plt\n",
"import numpy as np"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 3
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Nyn\u00ed si nadefinujeme strukturu p\u0159ipojen\u00ed jednotliv\u00fdch \u010didel na I\u00b2C sb\u011brnici."
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"cfg = config.Config(\n",
" i2c = {\n",
" \"port\": port,\n",
" },\n",
" bus = [\n",
" {\n",
" \"type\": \"i2chub\",\n",
" \"address\": 0x72,\n",
" \n",
" \"children\": [\n",
" {\"name\": \"acc\", \"type\": \"imu01_acc\", \"sensitivity\": 4.0, \"channel\": 0, }, \n",
" ],\n",
" },\n",
" ],\n",
")"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 8
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Tuto strukturu inicializujeme, aby jsme dos\u00e1hli definovan\u00e9 konfigurace \u010didel."
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"cfg.initialize()\n",
"acc = cfg.get_device(\"acc\")\n",
"time.sleep(0.5)"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stderr",
"text": [
"WARNING:pymlab.sensors.iic:HID device does not exist, we will try SMBus directly...\n"
]
}
],
"prompt_number": 9
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Nyn\u00ed u\u017e m\u016f\u017eeme p\u0159\u00edmo komunikovat se za\u0159\u00edzen\u00edm pojmenovan\u00fdm jako gauge."
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"MEASUREMENTS = 1000\n",
"x = np.zeros(MEASUREMENTS)\n",
"y = np.zeros(MEASUREMENTS)\n",
"z = np.zeros(MEASUREMENTS)\n",
"\n",
"for n in range(MEASUREMENTS):\n",
"# acc.route() V p\u0159\u00edpad\u011b v\u00edce \u010didel je pot\u0159eba ke ka\u017ed\u00e9mu p\u0159ed jeho pou\u017eit\u00edm nechat vyroutovat cesutu na sb\u011brnici.\n",
" (x[n], y[n], z[n]) = acc.axes()\n",
" print( n, x[n], y[n], z[n])"
],
"language": "python",
"metadata": {},
"outputs": [
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lM5Md3A0Nxt5nV+TiJkE3WuEC2OPQ4+OZiFlxL1gRtchFa0yC0w5dPvhK3Ffk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\n3AENN2mnAAAAAElFTkSuQmCC\n",
"text": [
"<matplotlib.figure.Figure at 0x9eb46cc>"
]
}
],
"prompt_number": 9
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"plt.plot(t)"
],
"language": "python",
"metadata": {},
"outputs": [
{
"metadata": {},
"output_type": "pyout",
"prompt_number": 11,
"text": [
"[<matplotlib.lines.Line2D at 0x9ee51ec>]"
]
},
{
"metadata": {},
"output_type": "display_data",
"png": 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"text": [
"<matplotlib.figure.Figure at 0x9d764cc>"
]
}
],
"prompt_number": 11
},
{
"cell_type": "code",
"collapsed": false,
"input": [],
"language": "python",
"metadata": {},
"outputs": []
}
],
"metadata": {}
}
]
}