IMU logging tool
I'm using a adafruit feather rp2040 and im programming it from a pi400
Install the CircuitPython UF2 with this guide: https://learn.adafruit.com/intro-to-rp2040-pio-with-circuitpython/installing-circuitpython
First plug your RP2040 into your raspberry pi as shown in the hardware section
After you plugin you can run the dmesg command and see what the device handle is, in my case its 'sdb'
pi@raspberrypi:/media $ dmesg | grep '] sd'
[43206.732827] sd 1:0:0:0: Attached scsi generic sg0 type 0
[43206.733961] sd 1:0:0:0: [sdb] 14337 512-byte logical blocks: (7.34 MB/7.00 MiB)
[43206.736056] sd 1:0:0:0: [sdb] Write Protect is off
[43206.736072] sd 1:0:0:0: [sdb] Mode Sense: 03 00 00 00
[43206.738556] sd 1:0:0:0: [sdb] No Caching mode page found
[43206.738571] sd 1:0:0:0: [sdb] Assuming drive cache: write through
[43206.810579] sd 1:0:0:0: [sdb] Attached SCSI removable diskNext I mount the file system to media
pi@raspberrypi:~ $ sudo mount /dev/sdb1 /media
pi@raspberrypi:~ $ ls /media
boot_out.txt code.py lib
pi@raspberrypi:~ $The sample "blink" program looks like this:
pi@raspberrypi:/media $ cat code.py
import time
import board
import neopixel
pixels = neopixel.NeoPixel(board.NEOPIXEL, 1)
pixels.brightness = 0.1
while True:
print("Change\n")
pixels.fill((255, 0, 0))
time.sleep(0.5)
pixels.fill((0, 0, 0))
time.sleep(0.5)
pi@raspberrypi:/media $Another important peice for testing this setup is being able to get data from the console. I put a print statement in the code and we can view it by using screen:
pi@raspberrypi:~ $ ls -la /dev/ttyA*
crw-rw---- 1 root dialout 166, 0 Aug 12 14:49 /dev/ttyACM0
crw-rw---- 1 root dialout 204, 64 Aug 12 02:17 /dev/ttyAMA0
pi@raspberrypi:~ $ screen /dev/ttyACM0 115200
Change
Change
Change
Change
Change
Change
Change
Change
Change
This example we'll get the output from a lsm6ds33 that is plugged in via the STEMMA qt connector First copy the library from adafruits github repo:
pi@raspberrypi:~ $ git clone https://github.com/adafruit/Adafruit_CircuitPython_Register.git
Cloning into 'Adafruit_CircuitPython_Register'...
remote: Enumerating objects: 662, done.
remote: Counting objects: 100% (144/144), done.
remote: Compressing objects: 100% (74/74), done.
remote: Total 662 (delta 71), reused 139 (delta 68), pack-reused 518
Receiving objects: 100% (662/662), 170.75 KiB | 1.42 MiB/s, done.
Resolving deltas: 100% (368/368), done.
pi@raspberrypi:~ $ cd Adafruit_CircuitPython_Register/
pi@raspberrypi:~/Adafruit_CircuitPython_Register $ ls
adafruit_register CODE_OF_CONDUCT.md docs examples LICENSE LICENSES optional_requirements.txt pyproject.toml README.rst README.rst.license requirements.txt
pi@raspberrypi:~/Adafruit_CircuitPython_Register $ sudo cp -r adafruit_register /media/lib/
pi@raspberrypi:~/Adafruit_CircuitPython_Register $ cd ..
pi@raspberrypi:~ $ git clone https://github.com/adafruit/Adafruit_CircuitPython_LSM6DS.git
Cloning into 'Adafruit_CircuitPython_LSM6DS'...
remote: Enumerating objects: 680, done.
remote: Counting objects: 100% (119/119), done.
remote: Compressing objects: 100% (68/68), done.
remote: Total 680 (delta 68), reused 74 (delta 51), pack-reused 561
Receiving objects: 100% (680/680), 159.73 KiB | 1.44 MiB/s, done.
Resolving deltas: 100% (405/405), done.
pi@raspberrypi:~ $ ls
Adafruit_CircuitPython_LSM6DS code.py.bak Desktop Documents Downloads fpga Music openbox-themes Pictures Public Templates venv Videos
pi@raspberrypi:~ $ cd Adafruit_CircuitPython_LSM6DS/
pi@raspberrypi:~/Adafruit_CircuitPython_LSM6DS $ ls
adafruit_lsm6ds CODE_OF_CONDUCT.md docs examples LICENSE LICENSES optional_requirements.txt pyproject.toml README.rst README.rst.license requirements.txt
pi@raspberrypi:~/Adafruit_CircuitPython_LSM6DS $ sudo cp -r adafruit_lsm6ds /media/lib/
pi@raspberrypi:~/Adafruit_CircuitPython_LSM6DS $
Second setup some example code in code.py (Note you may have to tweak what device you have):
# SPDX-FileCopyrightText: Copyright (c) 2020 Bryan Siepert for Adafruit Industries
#
# SPDX-License-Identifier: MIT
import time
import board
# pylint:disable=no-member
from adafruit_lsm6ds import Rate, AccelRange, GyroRange
#from adafruit_lsm6ds.lsm6dsox import LSM6DSOX as LSM6DS
from adafruit_lsm6ds.lsm6ds33 import LSM6DS33 as LSM6DS
# from adafruit_lsm6ds.lsm6dso32 import LSM6DSO32 as LSM6DS
# from adafruit_lsm6ds.ism330dhcx import ISM330DHCX as LSM6DS
i2c = board.I2C() # uses board.SCL and board.SDA
sensor = LSM6DS(i2c)
sensor.accelerometer_range = AccelRange.RANGE_8G
print(
"Accelerometer range set to: %d G" % AccelRange.string[sensor.accelerometer_range]
)
sensor.gyro_range = GyroRange.RANGE_2000_DPS
print("Gyro range set to: %d DPS" % GyroRange.string[sensor.gyro_range])
sensor.accelerometer_data_rate = Rate.RATE_1_66K_HZ
# sensor.accelerometer_data_rate = Rate.RATE_12_5_HZ
print("Accelerometer rate set to: %d HZ" % Rate.string[sensor.accelerometer_data_rate])
sensor.gyro_data_rate = Rate.RATE_1_66K_HZ
print("Gyro rate set to: %d HZ" % Rate.string[sensor.gyro_data_rate])
while True:
print(
"Accel X:%.2f Y:%.2f Z:%.2f ms^2 Gyro X:%.2f Y:%.2f Z:%.2f radians/s"
% (sensor.acceleration + sensor.gyro)
)
time.sleep(0.05)After you have setup the code you can access the console and should recieve output:
screen /dev/ttyACM0 115200
Accel X:0.30 Y:5.19 Z:8.46 ms^2 Gyro X:0.06 Y:-0.15 Z:-0.09 radians/s
Accel X:0.18 Y:5.27 Z:8.44 ms^2 Gyro X:0.08 Y:-0.15 Z:-0.10 radians/s
Accel X:0.28 Y:5.25 Z:8.44 ms^2 Gyro X:0.05 Y:-0.15 Z:-0.08 radians/s
Accel X:0.15 Y:5.24 Z:8.34 ms^2 Gyro X:0.08 Y:-0.15 Z:-0.09 radians/s
Accel X:0.26 Y:5.24 Z:8.46 ms^2 Gyro X:0.05 Y:-0.14 Z:-0.09 radians/s
Accel X:0.17 Y:5.21 Z:8.45 ms^2 Gyro X:0.06 Y:-0.14 Z:-0.09 radians/s
Accel X:0.27 Y:5.24 Z:8.36 ms^2 Gyro X:0.05 Y:-0.14 Z:-0.08 radians/s
Accel X:0.26 Y:5.32 Z:8.50 ms^2 Gyro X:0.05 Y:-0.13 Z:-0.09 radians/s
Accel X:0.27 Y:5.24 Z:8.45 ms^2 Gyro X:0.04 Y:-0.14 Z:-0.09 radians/s
Accel X:0.25 Y:5.27 Z:8.26 ms^2 Gyro X:0.05 Y:-0.13 Z:-0.09 radians/s
Accel X:0.28 Y:5.23 Z:8.42 ms^2 Gyro X:0.04 Y:-0.14 Z:-0.09 radians/s
Accel X:0.26 Y:5.25 Z:8.44 ms^2 Gyro X:0.05 Y:-0.14 Z:-0.09 radians/s
Traceback (most recent call last):
File "code.py", line 39, in <module>
KeyboardInterrupt:
Code done running.
Press any key to enter the REPL. Use CTRL-D to reload.
https://learn.adafruit.com/intro-to-rp2040-pio-with-circuitpython/installing-circuitpython https://learn.adafruit.com/cpu-temperature-logging-with-circuit-python/writing-to-the-filesystem https://learn.adafruit.com/circuitpython-101-state-machines/using-classes