Beaglebone GY-86 driver

beaglebone-gy86.py

#!/usr/bin/python

from Adafruit_I2C import Adafruit_I2C
from time import sleep
import math

mpu6050 = Adafruit_I2C(0x68,2) # ADC 16bit
hmc5883 = Adafruit_I2C(0x1e,2) # ADC 12bit
ms5611  = Adafruit_I2C(0x77,2) # ADC 24bit

# mpu6050 i2c master enable bit
mpu6050.write8(0x6A, 0)
# mpu6050 i2c bypass enable bit
mpu6050.write8(0x37, 2)
# mpu6050 turn off sleep mode
mpu6050.write8(0x6B, 0)

# hmc5883 continuous mode
hmc5883.write8(0x02,0x00)


# ms5611 reset
ms5611.writeList(0x1e,[])
sleep(2/1000.0)

# ms5611 prom
t=ms5611.readList(0xa2,2)
c1=t[0]*256+t[1]
t=ms5611.readList(0xa4,2)
c2=t[0]*256+t[1]
t=ms5611.readList(0xa6,2)
c3=t[0]*256+t[1]
t=ms5611.readList(0xa8,2)
c4=t[0]*256+t[1]
t=ms5611.readList(0xaa,2)
c5=t[0]*256+t[1]
t=ms5611.readList(0xac,2)
c6=t[0]*256+t[1]
#c1=40127
#c2=36924
#c3=23317
#c4=23282
#c5=33464
#c6=28312




while True:
        #read mpu6050 accelerations in m/s^2
        ax = (mpu6050.readS8(0x3b)*256+mpu6050.readU8(0x3c))/16384.0
        ay = (mpu6050.readS8(0x3d)*256+mpu6050.readU8(0x3e))/16384.0
        az = (mpu6050.readS8(0x3f)*256+mpu6050.readU8(0x40))/16384.0
        #read mpu6050 temperature in C
        tt = (mpu6050.readS8(0x41)*256+mpu6050.readU8(0x42))/340.0 + 36.53
        #read mpu6050 gyroscope in degree/s
        gx = (mpu6050.readS8(0x43)*256+mpu6050.readU8(0x44))/131.0
        gy = (mpu6050.readS8(0x45)*256+mpu6050.readU8(0x46))/131.0
        gz = (mpu6050.readS8(0x47)*256+mpu6050.readU8(0x48))/131.0
	
        #wait hmc5883 to be ready
        while not hmc5883.readU8(0x09)&0x01 == 1: pass
        #read hmc5883 magnetometer in gauss
        magx = (hmc5883.readS8(0x3)*256+hmc5883.readU8(0x4))/1090.0
        magz = (hmc5883.readS8(0x5)*256+hmc5883.readU8(0x6))/1090.0
        magy = (hmc5883.readS8(0x7)*256+hmc5883.readU8(0x8))/1090.0
        
        z=math.degrees(math.atan2(magy,magx));
        y=math.degrees(-math.atan2(ax,az));
        x=math.degrees(math.atan2(ay,az));

        ms5611.writeList(0x48,[])
        sleep(9/1000.0)
	adc=ms5611.readList(0x00,3)
	d1=adc[0]*65536+adc[1]*256+adc[2]
	#d1=9085466
	
	ms5611.writeList(0x58,[])
	sleep(9/1000.0)
	adc=ms5611.readList(0x00,3)
	d2=adc[0]*65536+adc[1]*256+adc[2]
	#d2=8569150
	
	dt = d2 - c5*(1<<8)
	temp=2000+ dt*c6/(1<<23)
	off= c2*(1<<16) + c4*dt/(1<<7)
	sens=c1*(1<<15) + c3*dt/(1<<8)
	p=(d1*sens/(1<<21) - off)/(1<<15)
	
	#print c1,c2,c3,c4,c5,c6,d1,d2,dt,temp,off,sens,p
	
	tempc=temp/100.0
	press_now=p/100.0
	print "tempc=",tempc, "mbar=",press_now,

        print "angle=",
        print "{:+03.3f}".format(x),
        print "{:+03.3f}".format(y),
        print "{:+03.3f}".format(z),
        print "mag=",
        print "{:+03.3f}".format(magx),
        print "{:+03.3f}".format(magy),
        print "{:+03.3f}".format(magz),
        print "accel=",
        print "{:+03.3f}".format(ax),
        print "{:+03.3f}".format(ay),
        print "{:+03.3f}".format(az),
        print "tempc=",
        print "{:+03.3f}".format(tt),
        print "gyro=",
        print "{:+03.3f}".format(gx),
        print "{:+03.3f}".format(gy),
        print "{:+03.3f}".format(gz)