blimputils.gyroscope

gyroscope.py

Module for the Bosch-Sensortec BMI270 gyroscope. This file provides the class Gyroscope for interacting with the gyroscope functionality of the BMI270 sensor via I2C.

class blimputils.gyroscope.Gyroscope(i2c_addr=104)

Bases: object

Bosch BMI270 sensor class for gyroscope data.

Provides methods to initialize, configure, and read data from the BMI270 sensor’s gyroscope using I2C communication.

Parameters:: i2c_addr (int, optional) – The I2C address of the BMI270 sensor. Defaults to I2C_PRIM_ADDR.
Raises:: RuntimeError – If the I2C bus is not found.

read_register(register_address) → int

Read a byte from the specified register address.

Parameters:: register_address (int) – The address of the register to read from.
Returns:: The byte value read from the register.
Return type:: int

write_register(register_address, byte_data) → None

Write a byte to the specified register address.

Parameters:

register_address (int) – The address of the register to write to.
byte_data (int) – The byte value to write to the register.

load_config_file() → None

Load the configuration file to the BMI270 sensor.

This initializes the sensor. If already initialized, it prints a message. Otherwise, it performs the initialization sequence.

set_mode(mode='performance') → None

Set the power mode of the BMI270 sensor.

Configures accelerometer and gyroscope for different power modes. This method primarily affects gyroscope settings relevant to this class.

Parameters:

mode (str, optional) – The desired power mode. Defaults to “performance”.

Options mode:

"low_power": Low power mode.
"normal": Normal mode.
"performance": Performance mode.

print_read_register(register_address, output_format='bin') → None

Read and print the value of a register in binary or hexadecimal format.

Parameters:

register_address (int) – The address of the register to read.
output_format (str, optional) – The format for printing the register value. Defaults to BINARY.

Options output_format:

BINARY: Print in binary format.
HEXADECIMAL: Print in hexadecimal format.

print_write_register(register_address, byte_data, output_format='bin') → None

Write to a register and print its value before and after the write.

Parameters:

register_address (int) – The address of the register to write to.
byte_data (int) – The byte value to write.
output_format (str, optional) – The format for printing the register value. Defaults to BINARY.

Options output_format:

BINARY: Print in binary format.
HEXADECIMAL: Print in hexadecimal format.

enable_aux() → None: Enable the auxiliary sensor interface (AUX_IF).

disable_aux() → None: Disable the auxiliary sensor interface (AUX_IF).

enable_gyr() → None: Enable the gyroscope.

disable_gyr() → None: Disable the gyroscope.

enable_temp() → None: Enable the temperature sensor.

disable_temp() → None: Disable the temperature sensor.

enable_fifo_header() → None: Enable the FIFO header.

disable_fifo_header() → None

Disable the FIFO header.

Note: ODR of all enabled sensors needs to be identical when FIFO header is disabled.

enable_data_streaming() → None

Enable data streaming mode.

In this mode, data will not be stored in FIFO.

disable_data_streaming() → None

Disable data streaming mode.

In this mode, data will be stored in FIFO.

enable_gyr_noise_perf() → None: Enable gyroscope noise performance (performance optimized).

disable_gyr_noise_perf() → None: Disable gyroscope noise performance (power optimized).

enable_gyr_filter_perf() → None: Enable gyroscope filter performance (performance optimized).

disable_gyr_filter_perf() → None: Disable gyroscope filter performance (power optimized).

set_gyr_range(range=0) → None

Set the gyroscope measurement range.

Parameters:

range (int, optional) – The desired gyroscope range. Defaults to GYR_RANGE_2000.

Options range:

GYR_RANGE_2000: ±2000 dps (degrees per second)
GYR_RANGE_1000: ±1000 dps
GYR_RANGE_500: ±500 dps
GYR_RANGE_250: ±250 dps
GYR_RANGE_125: ±125 dps

set_gyr_odr(odr=9) → None

Set the gyroscope Output Data Rate (ODR).

Parameters:

odr (int, optional) – The desired gyroscope ODR. Defaults to GYR_ODR_200 (200 Hz).

Options odr:

GYR_ODR_3200: 3200 Hz
GYR_ODR_1600: 1600 Hz
GYR_ODR_800: 800 Hz
GYR_ODR_400: 400 Hz
GYR_ODR_200: 200 Hz
GYR_ODR_100: 100 Hz
GYR_ODR_50: 50 Hz
GYR_ODR_25: 25 Hz

set_gyr_bwp(bwp=2) → None

Set the gyroscope Bandwidth Parameter (BWP).

Parameters:

bwp (int, optional) – The desired gyroscope BWP. Defaults to GYR_BWP_NORMAL.

Options bwp:

GYR_BWP_OSR4: OSR4 filter
GYR_BWP_OSR2: OSR2 filter
GYR_BWP_NORMAL: Normal filter

get_sensor_time() → int

Get the sensor’s internal timestamp.

Returns:: The 24-bit sensor timestamp.
Return type:: int

get_raw_gyr_data() → ndarray

Get raw gyroscope data (X, Y, Z).

Reads LSB and MSB for each axis and combines them.

Returns:: A NumPy array containing raw [X, Y, Z] gyroscope values as int16.
Return type:: np.ndarray

get_raw_temp_data() → int

Get raw temperature data from the sensor.

Reads LSB and MSB for temperature and converts to a signed 16-bit integer.

Returns:: The raw temperature value as a signed 16-bit integer.
Return type:: int

get_xyz() → ndarray

Get calibrated gyroscope data (X, Y, Z) in rad/s.

Reads raw gyroscope data and converts it to physical units (rad/s) based on the current gyroscope range.

Returns:: A NumPy array containing calibrated [X, Y, Z] angular velocity in rad/s.
Return type:: np.ndarray

get_x() → float

Get the calibrated gyroscope data for the X-axis in rad/s.

Returns:: The X-axis angular velocity in rad/s.
Return type:: float

get_y() → float

Get the calibrated gyroscope data for the Y-axis in rad/s.

Returns:: The Y-axis angular velocity in rad/s.
Return type:: float

get_z() → float

Get the calibrated gyroscope data for the Z-axis in rad/s.

Returns:: The Z-axis angular velocity in rad/s.
Return type:: float

get_t() → float

Get the temperature in degrees Celsius.

Reads raw temperature data and converts it to °C using a fixed formula.

Returns:: The temperature in degrees Celsius.
Return type:: float