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bno055-usb-stick-py-0.9.5
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BNO055 USB Stick Linux Python Driver
| ویژگی | مقدار |
|---|---|
| سیستم عامل | - |
| نام فایل | bno055-usb-stick-py-0.9.5 |
| نام | bno055-usb-stick-py |
| نسخه کتابخانه | 0.9.5 |
| نگهدارنده | [] |
| ایمیل نگهدارنده | [] |
| نویسنده | Dr. Konstantin Selyunin |
| ایمیل نویسنده | selyunin.k.v@gmail.com |
| آدرس صفحه اصلی | https://github.com/selyunin/bno055_usb_stick_py |
| آدرس اینترنتی | https://pypi.org/project/bno055-usb-stick-py/ |
| مجوز | MIT |
# BNO055 USB Stick Python driver
[](https://badge.fury.io/py/bno055-usb-stick-py)
**TL;DR:** *"Swiss army knife"* for using
[`BNO055 USB Stick`](https://eu.mouser.com/new/bosch/bosch-bno055-usb-stick/)
under Linux from `python3`.
`BNO055 USB Stick` comes with
[`Development Desktop 2.0`](https://www.bosch-sensortec.com/bst/support_tools/downloads/overview_downloads)
software package,
which is available for Windows only.
If you have a `BNO055 USB Stick` and want to
use it on a Linux platform
(e.g. Ubuntu, Raspbian, Yocto, Suse, etc.)
this repo provides you with a `python 3` driver,
capable of reading / writing registers / burst read,
and stream data read.
## OS Prerequisites
1. When plugged in on a Linux system,
the `BNO055 USB Stick` should appear
as `/dev/ttyACM*` device.
This device is a so-called
[`cdc_acm`](https://www.keil.com/pack/doc/mw/USB/html/group__usbh__cdcacm_functions.html)
(communication device class), but let us leave
these details for now.
2. Your Linux user must be a member of the
`dialout` group
(e.g. see this [thread](https://unix.stackexchange.com/questions/14354/read-write-to-a-serial-port-without-root))
to be able to read/write `ttyACM*` devices
without root privileges.
3. `udev` is installed on the system.
We do autodetect the USB stick by relying on information from
udev.
## Installation
```sh
pip install bno055_usb_stick_py
```
## Supported Python version
**python v3.6+**
## Python dependencies
**TL;DR:** install
(i) `pyserial`,
(ii) `pyudev`,
(iii) `dataclasses` (if using `python3.6`), and
(iv) optionally: `pyquaternion`
and `matplotlib`,
or use
[`environment.yml`](./environment.yml)
to create conda environment
with dependencies resolved.
For further details regarding creating `conda` senvironment read [**this**](./CONDA_HOWTO.md) guide.
## Quick start
Read BNO register:
```python
from bno055_usb_stick_py import BnoUsbStick
bno_usb_stick = BnoUsbStick()
reg_addr = 0x00
reg_val = bno_usb_stick.read_register(reg_addr)
print(f"bno chip id addr: 0x{reg_addr:02X}, value: 0x{reg_val:02X}")
```
Write register:
```python
from bno055_usb_stick_py import BnoUsbStick
bno_usb_stick = BnoUsbStick()
reg_addr = 0x3F
reg_value = 0x01
bno_usb_stick.write_register(reg_addr, reg_value)
print(f"bno self test started!")
```
Burst register read:
```python
from bno055_usb_stick_py import BnoUsbStick
bno_usb_stick = BnoUsbStick()
reg_start_addr = 0x08
num_registers = 0x12
burst_read_result = bno_usb_stick.burst_read(reg_start_addr, num_registers)
print(f"bno burst read result: {burst_read_result}")
```
Get 10 packets in streaming mode (using generator):
```python
from bno055_usb_stick_py import BnoUsbStick
bno_usb_stick = BnoUsbStick()
bno_usb_stick.activate_streaming()
for packet in bno_usb_stick.recv_streaming_generator(num_packets=10):
print(f"bno data: {packet}")
```
Get 100 packets in streaming mode (by receiving single packets):
```python
from bno055_usb_stick_py import BnoUsbStick
bno_usb_stick = BnoUsbStick()
bno_usb_stick.activate_streaming()
for _ in range(100):
packet = bno_usb_stick.recv_streaming_packet()
print(f"{packet}")
```
Receive infinite number of packets (in case you wait infinite time :wink: ):
```python
from bno055_usb_stick_py import BnoUsbStick
bno_usb_stick = BnoUsbStick()
bno_usb_stick.activate_streaming()
for packet in bno_usb_stick.recv_streaming_generator():
print(f"{packet}")
```
## Bno USB Stick Data Packet
When receiving data in streaming mode, the result
is an object of `BNO055` data class (from `bno055.py`) file.
`BNO055` data class has the following fields:
```python
from bno055_usb_stick_py import BNO055
bno_data = BNO055()
bno_data.a_raw # raw accelerometer data (a_raw_x, a_raw_y, a_raw_z)
bno_data.g_raw # raw gyro data (g_raw_x, g_raw_y, g_raw_z)
bno_data.m_raw # raw magnetometer data (m_raw_x, m_raw_y, m_raw_z)
bno_data.euler_raw # raw euler angles (heading, roll, pitch)
bno_data.quaternion_raw # raw quaternion data (q_raw_w, q_raw_x, q_raw_y, q_raw_z)
bno_data.lin_a_raw # raw linear acceleration data (lin_a_raw_x, lin_a_raw_y, lin_a_raw_z)
bno_data.gravity_raw # raw gravity vector (gravity_raw_x, gravity_raw_y, gravity_raw_z)
bno_data.a # accelerometer (a_x, a_y, a_z)
bno_data.g # gyroscope (g_x, g_y, g_z)
bno_data.m # magnetometer (m_x, m_y, m_z)
bno_data.euler # euler angler (heading, roll, pitch)
bno_data.quaternion # quaternion values (q_w, q_x, q_y, q_z)
bno_data.lin_a # linear acceleration (lin_a_x, lin_a_y, lin_a_z)
bno_data.gravity # gravity vector (gravity_x, gravity_y, gravity_z)
bno_data.temp # temperature register
bno_data.calib_stat # calibration status (addr 0x35) register
bno_data.st_result # status result (addr 0x36) register
bno_data.int_sta # interrupt status (addr 0x37) register
bno_data.sys_clk_status # system clock status (addr 0x38) register
bno_data.sys_status # system status (addr 0x39) register
```
## Prevent modem manager to capture serial device
When plugging `bno_usb_stick` on Ubuntu,
the device is unavailable for the first 10-15 seconds,
due to the fact that `ModemManager` process
takes over and tries to use the device.
To avoid this Ubuntu-specific behavior,
add an exception to the `udev` rules,
s.t. the `ModemManager` ignores the `bno_usb_stick`.
Run the script:
`python disable_modem_manager_bno_usb_stick.py`
The script requires root privileges. Essentially it copies
the `97-ttyacm.rules` file to `/etc/udev/rules.d` and reloads the
udev rules.
## Maintainer
[Dr. Konstantin Selyunin](http://selyunin.com/),
for suggestions / questions / comments
please contact:
selyunin [dot] k [dot] v [at] gmail [dot] com
نیازمندی
| مقدار | نام |
|---|---|
| - | pyserial |
| - | pyudev |
| - | dataclasses |
نحوه نصب
نصب پکیج whl bno055-usb-stick-py-0.9.5:
pip install bno055-usb-stick-py-0.9.5.whl
نصب پکیج tar.gz bno055-usb-stick-py-0.9.5:
pip install bno055-usb-stick-py-0.9.5.tar.gz