Python driver package for Epson Sensing System devices
Project description
Disclaimer:
MIT License
Copyright (c) 2023, Seiko Epson Corporation
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
Table of Contents
- Python Library for Epson Sensing System Devices
- Test machine
- Requirements
- Precautionary Notes
- Installation
- Logger Usage
- SensorDevice Class Library Usage
- LoggerHelper Class Library Usage
- File Listing
- Change Record
Python Library for Epson Sensing System Devices
This a general python library for developing and evaluating the Epson Sensing System Devices in a Python 3.x environment using the UART interface
This package consists of two parts:
- SensorDevice library class which allows the user to communicate and control the sensing device
- Provides low-level functions to read/write registers
- Provides functions to perform selftests, software reset,
- Provides flash-related functions
- Provides functions to configure the device, and enter CONFIG/SAMPLING modes
- Provides function to read a burst sample when in SAMPLING mode
- Exposes read-only property attributes to read various statuses and model information
- Logger script logger.py which is built around the LoggerHelper library class and intended as reference on how to use the SensorDevice class
- Command Line driven application with full set of arguments for configuring the device and logger output
- serial port setting, i.e. port, baudrate
- logging duration
- device configuration, i.e. output rate, filter setting, model, etc
- flash operations
- output to stdout or CSV file
Test machine
- Windows 10 Pro 64-bit
- Intel Core i5-6500 @ 3.2GHz, 16GB RAM
Requirements
- Python 3.7+
- Python packages (can be installed using pypi:
- Epson sensing device connected to the host UART interface i.e. WIN/PC, Linux/PC or any embedded system with serial port
- M-G320PDG0, M-G354PDH0, M-G364PDC0, M-G364PDCA
- M-G365PDC1, M-G365PDF1, M-G370PDF1
- M-G330PDG0, M-G366PDG0, preliminary (M-G370PDG0, M-G370PDT0)
- Epson USB evaluation board M-G32EV041
Precautionary Notes
For WIN/PC:
- Before running the program, please ensure the Epson IMU USB evaluation port is plugged into the USB port and the BM Options -> Latency Timer to 1msec
- This is especially necessary to support sampling rates > 125sps
- By default, the Latency Timer is set to 16ms unless changed
- A 16msec Latency Timer may cause the serial link to drop some bytes during transmission
- Change the serial port Latency Timer to 1msec in Windows 10, go to:
- Control Panel -> Hardware and Sound -> Device Manager -> Ports (COM & LPT) -> USB Serial Port (COMx) -> Properties -> Port Settings -> Advanced -> BM Options -> Latency Timer (msec) -> set to 1
For all systems:
- Connect IMU to the USB Evalboard
- Connect the USB Evalboard to the PC via USB cable
Installation
- The conventional method to install this package is to use pip
- Read more about installing python packages
- As an example, this package is installed from PyPi using the following command:
python3 -m pip install esensorlib
- Alternatively, if you downloaded the package locally to install, use the following commad:
For tar.gz file:
python3 -m pip install <path to file>/esensorlib-x.x.x.tar.gz
For whl file:
python3 -m pip install <path to file>/esensorlib-x.x.x-py3-none-any.whl
Logger Usage
NOTE: Use the -h switch for the help menu
Sending Sensor Data:
Open a command prompt and run the logger.py python script with the appropriate command line switches:
- Select COM port with -s switch (i.e., "-s com6")
- Select IMU model --model switch (i.e., "--model G370PDF1") or let the software auto-detect by not specifying this switch
- Select the desired output rate with the --drate switch (i.e., "--drate 200" for 200Hz)
- Select the desired filter setting with the --filter switch (i.e., "--filter K128_FC50") or let the software choose a valid moving average filter by not specifying this switch
- Select the desired time duration in seconds with the --secs switch (i.e., "--secs 60") or number of samples with the --samples switch (i.e., "--samples 5000")
- Select if the sensor data to be written to a CSV file with the --csv switch
To output to console:
python3 logger.py -s com6 --drate 200 --filter K128_FC25 --secs 100
Model not specified, attempting to auto-detect
Detected: G370PDS0
Attitude or Quaternion not supported.
Start Log: 2023-02-23 20:58:50.056749
#Log created in Python,,,Sample Rate,200.0,Filter Cfg,k128_fc25,,,
#Creation Date:,2023-02-23 20:58:50.056749,PROD_ID=G370PDS0,VERSION=29FD,SERIAL_NUM=W0000015,,,,,,
#Scaled Data,SF_GYRO=+0.00666667 / 2^16 (deg/s)/bit,SF_ACCL=+0.40000000 / 2^16 mg/bit
Sample No.,Gx[dps],Gy[dps],Gz[dps],Ax[mG],Ay[mG],Az[mG]
0,0.05045105,0.61051066,-0.05250793,12.31838989,10.00319214,6.27946777
1,0.05047262,0.61033732,-0.05248606,12.30870361,9.88743286,5.97288818
2,0.05077443,0.60953054,-0.05238241,12.26567383,9.36682739,4.59973145
3,0.05161662,0.60802389,-0.05219604,12.18662109,8.40490723,2.07177734
.
.
.
74,0.12697825,0.04116516,0.00080088,-17.93453979,-346.55579834,-940.4909668
75,0.20138194,0.05390228,0.00061808,-17.59989014,-347.20582886,-940.01728516
76,0.25439443,0.06177979,0.00140025,-17.30096436,-348.21726074,-939.44940796
77,0.28146159,0.0647109,0.00308879,-17.08118286,-349.47402954,-938.86427002
CTRL-C: Exiting
Stop reading sensor
#Log End,2023-02-21 21:31:11.226411,,,,,,,,
#Sample Count,000000078,,,,,,,,
#Data Rate,200.0,sps,,Filter Cfg,k128_fc25,,,,
----------------- ----------------- ---------------- -------------
Date: 2023-02-23 Time: 20:58:50
----------------- ----------------- ---------------- -------------
PROD_ID: G370PDS0 VERSION: 29FD SERIAL: W0000015
DOUT_RATE: 200.0 FILTER: K128_FC25
NDFLAG: False TEMPC: False COUNTER: None CHKSUM: False
DLT: False ATTI: False QTN: False BIT32: True
----------------- ----------------- ---------------- -------------
Close: com6 , 460800 baud
To output to csv file:
python3 logger.py -s com6 --drate 200 --filter K128_FC25 --secs 10 --csv
Model not specified, attempting to auto-detect
Detected: G370PDS0
Attitude or Quaternion not supported.
Start Log: 2023-02-23 21:00:49.560112
100%|█████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 2000/2000 [00:09<00:00, 202.90it/s]
----------------- ----------------- ---------------- -------------
Date: 2023-02-23 Time: 21:00:59
----------------- ----------------- ---------------- -------------
PROD_ID: G370PDS0 VERSION: 29FD SERIAL: W0000015
DOUT_RATE: 200.0 FILTER: K128_FC25
NDFLAG: False TEMPC: False COUNTER: None CHKSUM: False
DLT: False ATTI: False QTN: False BIT32: True
----------------- ----------------- ---------------- -------------
Close: com6 , 460800 baud
CSV closed
Reading Out All the Current IMU Registers
Open a command prompt and run the logger.py python script with the appropriate command line switches:
- Select COM port with -s switch (i.e., "-s COM6")
- Select IMU model --model switch (i.e., "--model G370PDF1") or do not specify the switch to let the software auto-detect
- Select --dump_reg switch (i.e., "--dump_reg")
python3 logger.py -s com6 --dump_reg
D:\projects\py_esensorlib\src\logger>logger.py -s com6 --dump_reg
Model not specified, attempting to auto-detect
Detected: G370PDS0
Reading registers:
REG[0x02, (W0)] => 0x0400 REG[0x04, (W0)] => 0x0000 REG[0x06, (W0)] => 0x0100
REG[0x08, (W0)] => 0x0000 REG[0x0A, (W0)] => 0x2729 REG[0x0C, (W0)] => 0x3001
REG[0x0E, (W0)] => 0x0C4F REG[0x10, (W0)] => 0xBD09 REG[0x12, (W0)] => 0xFFDC
REG[0x14, (W0)] => 0x73E4 REG[0x16, (W0)] => 0xFFFB REG[0x18, (W0)] => 0x4A63
REG[0x1A, (W0)] => 0x0000 REG[0x1C, (W0)] => 0x5874 REG[0x1E, (W0)] => 0xFFD1
REG[0x20, (W0)] => 0xFD58 REG[0x22, (W0)] => 0xFCA4 REG[0x24, (W0)] => 0x9056
REG[0x26, (W0)] => 0xF6CD REG[0x28, (W0)] => 0x588D REG[0x2A, (W0)] => 0x0000
.
.
.
REG[0x48, (W1)] => 0x4000 REG[0x4A, (W1)] => 0x4000 REG[0x4C, (W1)] => 0x0000
REG[0x4E, (W1)] => 0x0000 REG[0x50, (W1)] => 0x0000 REG[0x52, (W1)] => 0x4000
REG[0x54, (W1)] => 0x0000 REG[0x56, (W1)] => 0x0000 REG[0x58, (W1)] => 0x0000
REG[0x5A, (W1)] => 0x4000 REG[0x6A, (W1)] => 0x3347 REG[0x6C, (W1)] => 0x3037
REG[0x6E, (W1)] => 0x4450 REG[0x70, (W1)] => 0x3053 REG[0x72, (W1)] => 0x29FD
REG[0x74, (W1)] => 0x3057 REG[0x76, (W1)] => 0x3030 REG[0x78, (W1)] => 0x3030
REG[0x7A, (W1)] => 0x3531 REG[0x7E, (W0)] => 0x0000 Close: com6 , 460800 baud
Configuring the Device for AUTOSTART Mode
AUTOSTART mode means that the device will automatically retrieve user-programmed device settings from Flash after power-on or reset and enter SAMPLING mode to start sending sensor data
This is a two stage process. The logger.py script is first run to configure the desired settings with AUTOSTART enabled. Then, the logger.py script is run again with the --flash_update switch.
Open a command prompt and run the logger.py python script with the desired command line switches:
- Select COM port with -s switch (i.e., "-s com6")
- Select IMU model --model switch (i.e., "--model G370PDF1") or do not specify the switch to let the software auto-detect
- Select the desired output rate with the --drate switch (i.e., "--drate 200" for 200Hz)
- Select the desired filter setting --filter switch (i.e., "--filter K128_FC25")
- Select --autostart switch
- Select other output field options as desired such as --ndflags --tempc --counter sample --chksm
python3 logger.py -s com6 --drate 200 --filter K128_FC25 --autostart --ndflags --tempc --counter sample --chksm
Model not specified, attempting to auto-detect
Detected: G370PDS0
Attitude or Quaternion not supported.
Start Log: 2023-02-23 21:04:06.935868
#Log created in Python,,,Sample Rate,200.0,Filter Cfg,k128_fc25,,,
#Creation Date:,2023-02-23 21:04:06.935868,PROD_ID=G370PDS0,VERSION=29FD,SERIAL_NUM=W0000015,,,,,,
#Scaled Data,SF_GYRO=+0.00666667 / 2^16 (deg/s)/bit,SF_ACCL=+0.40000000 / 2^16 mg/bit,SF_TEMPC=-0.00379180 / 2^16 degC/bit
Sample No.,Flags[hex],Ts[deg.C],Gx[dps],Gy[dps],Gz[dps],Ax[mG],Ay[mG],Az[mG],Counter[dec],Chksm16[dec]
0,65276,34.9878,0.05045481,0.61051107,-0.05250783,12.32171631,9.99328003,6.27833252,5,46256
1,65276,34.9834,0.05044586,0.61031555,-0.0524821,12.22573242,10.13508911,6.00200195,10,17504
2,65276,34.9636,0.0504128,0.60951121,-0.05234721,11.79653931,10.77099609,4.76342163,15,52116
3,65276,34.9272,0.0503476,0.60810201,-0.05207926,11.00755005,11.94151611,2.48411255,20,30445
.
.
.
78,65276,21.4056,0.01772471,-0.00318665,-0.00625661,-282.01542358,447.45990601,-846.54857788,395,29988
79,65276,21.4057,0.01102142,-0.00939178,-0.02012268,-282.372229,447.215625,-846.31990356,400,31254
80,65276,21.4058,-0.00463511,-0.0199587,-0.02862864,-283.0545105,446.97546387,-846.23619385,405,9847
81,65276,21.4057,-0.02773682,-0.03746836,-0.0320049,-284.0480835,446.84927979,-846.26987915,410,44621
82,65276,21.4056,-0.05128143,-0.05793732,-0.03223145,-285.33282471,446.89196167,-846.31789551,415,56327
CTRL-C: Exiting
Stop reading sensor
#Log End,2023-02-23 21:04:07.232625,,,,,,,,
#Sample Count,000000083,,,,,,,,
#Data Rate,200.0,sps,,Filter Cfg,k128_fc25,,,,
----------------- ----------------- ---------------- ------------
Date: 2023-02-23 Time: 21:04:07
----------------- ----------------- ---------------- ------------
PROD_ID: G370PDS0 VERSION: 29FD SERIAL: W0000015
DOUT_RATE: 200.0 FILTER: K128_FC25
NDFLAG: True TEMPC: True COUNTER: Sample CHKSUM: True
DLT: False ATTI: False QTN: False BIT32: True
----------------- ----------------- ---------------- ------------
Close: com6 , 460800 baud
Then run the logger.py python script again:
- Select COM port with -s switch (i.e., "-s com6")
- Select --flash_update to store settings in the device
python3 logger.py -s com6 --flash_update
Model not specified, attempting to auto-detect
Detected: G370PDS0
Flash Backup Completed
Close: com6 , 460800 baud
Configuring the Device Back to Factory Default Registers Settings
Open a command prompt and run the logger.py python script with the appropriate command line switches:
- Select COM port with with -s switch (i.e., "-s com6")
- Select --init_default
python3 logger.py -s com6 --initdefault
Model not specified, attempting to auto-detect
Detected: G370PDS0
Initial Backup Completed
Close: com6 , 460800 baud
Help Screen Options:
usage: logger.py [-h] [-s SERIAL_PORT] [-b {921600,460800,230400}] [--secs SECS | --samples SAMPLES]
[--drate {2000,1000,500,250,125,62.5,31.25,15.625,400,200,100,80,50,40,25,20}]
[--filter {mv_avg0,mv_avg2,mv_avg4,mv_avg8,mv_avg16,mv_avg32,mv_avg64,mv_avg128,k32_fc25,k32_fc50,k32_fc100,k32_fc200,k32_fc400,k64_fc25,k64_fc50,k64_fc100,k64_fc200,k64_fc400,k128_fc25,k128_fc50,k128_fc100,k128_fc200,k128_fc400}]
[--model {g320,g354,g364pdc0,g364pdca,g365pdc1,g365pdf1,g370pdf1,g370pds0,g330pdg0,g366pdg0,g370pdg0}] [--a_range] [--bit16] [--csv] [--noscale]
[--ndflags] [--tempc] [--chksm] [--counter {reset,sample} | --ext_trigger]
[--dlt {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15} {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15}] [--atti {euler,incl}] [--qtn]
[--atti_profile {modea,modeb,modec}] [--atti_conv {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23}] [--autostart] [--init_default]
[--flash_update] [--dump_reg] [--verbose]
This program is intended as sample code for evaluation testing the Epson device with the UART I/F. This program will initialize the device with user specified arguments
and retrieve sensor data and format the output to console or CSV file. Other misc. utility functions are described in the help
optional arguments:
-h, --help show this help message and exit
-s SERIAL_PORT, --serial_port SERIAL_PORT
specifies the serial port comxx or /dev/ttyUSBx
-b {921600,460800,230400}, --baud_rate {921600,460800,230400}
specifies baudrate of the serial port, default is 460800
--secs SECS specifies time duration of reading sensor data in seconds, default 5 seconds. Press CTRL-C to abort and exit early
--samples SAMPLES specifies the approx number samples to read sensor data. Press CTRL-C to abort and exit early
--drate {2000,1000,500,250,125,62.5,31.25,15.625,400,200,100,80,50,40,25,20}
specifies IMU output data rate in sps, default is 200sps
--filter {mv_avg0,mv_avg2,mv_avg4,mv_avg8,mv_avg16,mv_avg32,mv_avg64,mv_avg128,k32_fc25,k32_fc50,k32_fc100,k32_fc200,k32_fc400,k64_fc25,k64_fc50,k64_fc100,k64_fc200,k64_fc400,k128_fc25,k128_fc50,k128_fc100,k128_fc200,k128_fc400}
specifies the filter selection. If not specified, moving average based on selected output data rate will automatically be selected. NOTE: Refer
to datasheet for valid settings.
--model {g320,g354,g364pdc0,g364pdca,g365pdc1,g365pdf1,g370pdf1,g370pds0,g330pdg0,g366pdg0,g370pdg0}
specifies the IMU model type, if not specified will auto-detect
--a_range specifies to use 16G accelerometer output range instead of 8G. NOTE: Not all devices support this mode.
--bit16 specifies to output 16-bit resolution, otherwise use 32-bit
--csv specifies to read sensor data to file otherwise sends to console. An optional string parameter if specified will be appended to filename
--noscale specifies to keep sensor data as digital counts (without applying scale factors)
--counter {reset,sample}
specifies to enable reset counter(GPIO2) or sample counter in the sensor data
--ext_trigger specifies to enable external trigger mode on GPIO2
output field options:
--ndflags specifies to enable ND/EA flags in sensor data
--tempc specifies to enable temperature data in sensor data
--chksm specifies to enable 16-bit checksum in sensor data
attitude options:
--atti {euler,incl} specifies to enable attitude output in sensor data in euler mode or inclination mode NOTE: Not all devices support this mode.
--qtn specifies to enable attitude quaternion data in sensor data. NOTE: Not all devices support this mode.
--atti_profile {modea,modeb,modec}
specifies the attitude motion profile when attitude euler or quaternion output is enabled. NOTE: Not all devices support this feature.
--atti_conv {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23}
specifies the attitude axis conversion when attitude euler output is enabled. Must be between 0 to 23 (inclusive). This must be set to 0 for
when quaternion output is enabled NOTE: Not all devices support this feature.
delta angle/velocity options:
--dlt {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15} {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15}
specifies to enable delta angle & delta velocity in sensor data with specified delta angle, delta velocity scale factors. NOTE: Not all devices
support this mode.
flash-related options:
--autostart Enables AUTO_START fucntion. Should run afterwards with --flashupdate to store the settings to flash
--init_default This sets the IMU flash setting with default register settings per datasheet.
--flash_update specifies to store current IMU register settings to flash. This is normally used with --autostart or --initdefault
debug options:
--dump_reg specifies to read out all the registers from the device without configuring device
--verbose specifies to enable low-level register messages for debugging
SensorDevice Class Library Usage
- SensorDevice is the main library class in the esesnorlib package for communicating and controlling the Epson sensor device
- Provides low-level functions to read/write registers
- Provides functions to perform selftests, software reset,
- Provides flash-related functions
- Provides functions to configure the device, and enter CONFIG/SAMPLING modes
- Provides function to read a burst sample when in SAMPLING mode
- Exposes read-only property attributes to read device statuses and model information
Importing
- Assuming the esensorlib package has been properly installed (see Installation), the package must first be imported into the current python environment
- SensorDevice() class is located in the sensor_core.py file in directory src/esensorlib
import esensorlib.sensor_core as sensor
Instantiating
- After importing the package, instantiate the class by passing the name of the serial port where the sensor device is attached
- Optionally specify the baudrate (defaults to 460800 baud if not specified) and device model (auto-detects if not specified)
>>> imu = sensor.SensorDevice('com6')
Detected: G370PDS0
Configuring
- The device should be configured by passing the "basic" configuration dict, basic_cfg, when calling the config() method
- Two optional configuration dicts can also be passed:
- "delta angle / velocity" configuration (dlt_cfg)
- "attitude / quaternion" configuration (atti_cfg)
Default Configuration
- If no configuration dicts are passed when calling the config() method, the defaults in Default Basic are used
>>> imu.config()
No dlt_cfg specified. Bypassing.
No atti_cfg specified. Bypassing.
Default Basic (basic_cfg)
| Key | Value | Description / Comment |
|---|---|---|
| dout_rate | 200 | 200 Hz |
| filter | None | Will auto-set to Moving Average TAP=16 |
| ndflags | True | Include NDFLAGS field |
| tempc | True | Include temperature field |
| counter | sample | Include counter field containing sample count |
| chksm | False | Do not include 16-bit checksum field |
| auto_start | False | Disable AUTO_START function |
| is_32bit | True | Sensor data is 32-bit resolution i.e. Gyro, Accl, Temperature, etc |
| a_range | False | Set M-G330PDG0, M-G366PDG0, M-G370PDG0, M-G370PDT0 accelerometer output range to 8G (ignored for other models) |
| ext_trigger | False | Disable external trigger |
| uart_auto | False | UART_AUTO mode is disabled |
Default Delta Angle / Velocity (dlt_cfg)
| Key | Value | Description / Comment |
|---|---|---|
| dlta | False | Delta Angle output disabled |
| dltv | False | Delta Velcoity output disabled |
| dlta_sf_range | 12 | If None, Delta Angle Scale Factor setting is 12 |
| dltv_sf_range | 12 | If None, Delta Velocity Scale Factor setting is 12 |
Default Attitude / Quaternion (atti_cfg)
| Key | Value | Description / Comment |
|---|---|---|
| atti | False | Attitude output disabled |
| mode | "euler" | Attitude mode is Euler mode |
| conv | 0 | Attitude conversion mode is 0 |
| profile | "modea" | Attitude Motion Profile is ModeA |
| qtn | False | Quaternion output is disabled |
Basic Configuration
- Create a dict with desired basic settings and pass it in to the basic_cfg parameter when calling the config() method
- dlt_cfg and atti_cfg parameters are optional and may be ommitted
- NOTE: If dlt_cfg and atti_cfg are not specified it will use defaults
my_basic = {
"dout_rate": 250,
"filter": "mv_avg16",
"ndflags": True,
"tempc": True,
"counter": "sample",
"chksm": False,
"uart_auto": True,
"auto_start": False,
"is_32bit": True,
"a_range": 0,
"ext_trigger": False,
}
imu.config(basic_cfg=my_basic)
No dlt_cfg specified. Bypassing.
No atti_cfg specified. Bypassing.
- NOTE: Not all key, value pairs need to be included in the basic_cfg dict, only "dout_rate" is mandatory.
my_basic = {
"dout_rate": 200,
"ndflags": True,
"tempc": True,
"counter": "sample",
"is_32bit": True,
}
imu.config(basic_cfg=my_basic)
No dlt_cfg specified. Bypassing.
No atti_cfg specified. Bypassing.
Delta Angle / Velocity Configuration
- Create a dict with delta angle/velocity settings and pass it to the dlt_cfg parameter when calling the config() method
- NOTE: If basic_cfg or atti_cfg are not specified it will use defaults
my_dlt = {
"dlta": True,
"dltv": True,
"dlta_sf_range": 4,
"dltv_sf_range": 4,
}
imu.config(dlt_cfg=my_dlt)
No atti_cfg specified. Bypassing.
Attitude / Quaternion Configuration
- Create a dict with attitude / quaternion settings and pass it to the atti_cfg parameter when calling the config() method
- NOTE: Not all models support attitude or quaternion output
- NOTE: If basic_cfg or dlt_cfg are not specified it will use defaults
my_atti = {
"atti": True,
"mode": "euler",
"conv": 0,
"profile": "modea",
"qtn": True,
}
imu.config(atti_cfg=my_atti)
No dlt_cfg specified. Bypassing.
Entering Sampling Mode or Config Mode
- By default, the device will starts in CONFIG mode for general configuration by reading and writing registers
- After the device has been configured (by calling config()), it must be put into SAMPLING mode to be able to read back sensor data
imu.goto('sampling')
- NOTE: In SAMPLING mode, other than reading sensor data, the device can only go back to CONFIG mode (or calling a software reset)
imu.goto('config')
Reading Sensor Data
- When the device is in SAMPLING mode, calling read_sample() will return a tuple containing scaled sensor values
- To return unscaled sensor data pass the parameter scale_mode=False when calling read_sample()
- The type of fields in the returned sample data depends on the configuration of the device (after config() was called)
- To check the type of burst field content and ordering for the read_sample() read the burst_fields property
>>> import esensorlib.sensor_core as sensor
>>> imu = sensor.SensorDevice('com7')
Detected: G366PDG0
>>> imu.config()
No dlt_cfg specified. Bypassing.
No atti_cfg specified. Bypassing.
>>> imu.goto('sampling')
>>> imu.read_sample()
(65277, 24.4844, -0.09913381, -0.04506152, -0.02306736, -7.28860474, -0.18999481, -1005.48262787, 30950)
>>> imu.read_sample(False)
(65277, -8912896, -224449, -122431, -45655, -2016294, 199122, -263534044, 14054)
>>> imu.burst_fields
('ndflags', 'tempc32', 'gyro32_X', 'gyro32_Y', 'gyro32_Z', 'accl32_X', 'accl32_Y', 'accl32_Z', 'counter')
Public Methods and Attributes
Public Attributes
| Attribute | Type | Description / Comment |
|---|---|---|
| info | dict | Device info such as prod_id, version_id, serial_id, comport, model |
| status | dict | Configuration status such as dout_rate, filter, ndflags, tempc, counter, chksm, auto_start, is_32bit, a_range, ext_trigger, uart_auto, is_config |
| dlt_status | dict | Delta angle / velocity status such as dlta, dltv, dlta_sf_range, dltv_sf_range |
| atti_status | dict | Atittiude/Quaternion status such as atti, mode, conv, profile, qtn |
| burst_out | dict | Burst output status such as ndflags, tempc, gyro, accl, dlta, dltv, qtn, atti, gpio, counter, chksm, tempc32, gyro32, accl32, dlta32, dltv32, qtn32, atti32 |
| burst_fields | tuple | Types of fields contained in a burst read |
| mdef | object | Object that stores the current model's specific definitions and constants |
Public Method
| Method | Description / Comment |
|---|---|
| get_reg(winnum, regaddr) | Perform 16-bit read from specified register address |
| set_reg(winnum, regaddr, write_byte) | Perform 8-bit write to register address with specified byte |
| init_check() | Read status for hardware error (HARD_ERR) |
| do_selftest() | Perform selftest and check for errors (ST_ERR) |
| do_softreset() | Perform software reset |
| test_flash() | Perform flash test and check for errors (FLASH_ERR) |
| backup_flash() | Backup current register settings to flash and check for errors (FLASH_BU_ERR) |
| init_backup() | Clear backup setting in flash back to factory defaults |
| dump_reg(columns) | Print out all registers (specify number of columns to format to) |
| config(basic_cfg, dlt_cfg, atti_cfg) | Configure device settings for basic, delta angle/velocity, attitude/quaternion |
| goto(mode, post_delay) | Put device in CONFIG or SAMPLING mode and delay for specified time(post_delay) in seconds |
| get_mode() | Read the device for current mode (CONFIG or SAMPLING) |
| read_sample(scale_mode) | Burst read a sample set from device specifying scaled values or not (scale_mode) |
LoggerHelper Class Library Usage
- This LoggerHelper class is used by the logger.py to handle formatting of the sensor data output to console or csv file
- NOTE: LoggerHelper requires a properly instantiated and configured SensorDevice object
Importing
- NOTE: Before using LoggerHelper class library, a SensorDevice should be instantiated from the esensorlib package
- LoggerHelper() class is located in the helper.py file in the logger subdirectory where the esensorlib package is installed in your system (i.e. \Lib\site-packages\esensorlib\logger)
import helper
Instantiating
- After importing the helper.py, instantiate a LoggerHelper class while passing the SensorDevice instance to the sensor parameter
>>> import esensorlib.sensor_core as sensor
>>> imu = sensor.SensorDevice('com7')
Detected: G366PDG0
>>> import esensorlib.logger.helper as helper
>>> log = helper.LoggerHelper(sensor=imu)
Setting Output to CSV File
- By default, LoggerHelper class methods write(), write_header(), write_trailer() will send output to the console
- To send to a CSV file instead of the console, call the LoggerHelper set_writer() method specifying the to parameter
- In the to parameter pass a list of strings which will combined with "_" to create a filename
- The set_writer method will also insert the SensorDevice prod_id, dout_rate, filter values when creating teh filename
>>> import esensorlib.sensor_core as sensor
>>> imu = sensor.SensorDevice('com7')
Detected: G366PDG0
>>> import esensorlib.logger.helper as helper
>>> log = helper.LoggerHelper(sensor=imu)
>>> log.set_writer(to=['my_csv'])
- If output is currently directed to a csv file, to close the file and redirect back to the console, call the LoggerHelper set_writer() method without a parameter
>>> log.set_writer()
CSV closed
Writing Header
- To write header rows containing device & configuration information to the csv file or console call the write_header() method
- NOTE: The SensorDevice should be properly configured (by config() method) before calling the write_header method
>>> import esensorlib.sensor_core as sensor
>>> imu = sensor.SensorDevice('com7')
Detected: G366PDG0
>>> imu.config()
No dlt_cfg specified. Bypassing.
No atti_cfg specified. Bypassing.
>>> import esensorlib.logger.helper as helper
>>> log = helper.LoggerHelper(sensor=imu)
>>> log.write_header()
Start Log: 2023-02-23 17:06:39.331964
#Log created in Python,,,Sample Rate,200,Filter Cfg,MV_AVG16,,,
#Creation Date:,2023-02-23 17:06:39.331964,PROD_ID=G366PDG0,VERSION=373,SERIAL_NUM=T1000062,,,,,,
#Scaled Data,SF_GYRO=+0.01515152 / 2^16 (deg/s)/bit,SF_ACCL=+0.25000000 / 2^16 mg/bit,SF_TEMPC=+0.00390625 / 2^16 degC/bit
Sample No.,Flags[hex],Ts[deg.C],Gx[dps],Gy[dps],Gz[dps],Ax[mG],Ay[mG],Az[mG],Counter[dec]
>>>
Writing Sample Data
- To write a burst sensor sample to the console or csv file call the write() method with the output fron the SensorDevice read_sample() method
- NOTE: The SensorDevice should be be properly configured (by config() method) before calling the read_sample() method
>>> import esensorlib.sensor_core as sensor
>>> imu = sensor.SensorDevice('com7')
Detected: G366PDG0
>>> imu.config()
No dlt_cfg specified. Bypassing.
No atti_cfg specified. Bypassing.
>>> imu.goto('sampling')
>>> import esensorlib.logger.helper as helper
>>> log = helper.LoggerHelper(sensor=imu)
>>> log.write(imu.read_sample())
>>>
- To write 1000 burst sensor samples to the csv file call the write() method with the output fron the SensorDevice read_sample() method
>>> import esensorlib.sensor_core as sensor
>>> imu = sensor.SensorDevice('com7')
Detected: G366PDG0
>>> imu.config()
No dlt_cfg specified. Bypassing.
No atti_cfg specified. Bypassing.
>>> imu.goto('sampling')
>>> import esensorlib.logger.helper as helper
>>> log = helper.LoggerHelper(sensor=imu)
>>> for i in range(1000):
... log.write(imu.read_sample())
>>>
Writing Trailer
- To write trailer rows data to the csv file or console call the write_trailer() method
- NOTE: The SensorDevice should be be properly configured (by config() method) before calling the read_sample() method
>>> log.write_trailer()
#Log End,2023-02-23 17:09:06.114034,,,,,,,,
#Sample Count,000000000,,,,,,,,
#Data Rate,200,sps,,Filter Cfg,MV_AVG16,,,,
Printing Device Status
- To print to console current date/time and device, and configuration info call the get_dev_info() method
- NOTE: The SensorDevice should be be properly configured (by config() method) before calling the get_dev_info() method
>>>log.get_dev_info()
----------------- ----------------- ---------------- ------------
Date: 2023-02-23 Time: 21:04:07
----------------- ----------------- ---------------- ------------
PROD_ID: G370PDS0 VERSION: 29FD SERIAL: W0000015
DOUT_RATE: 200.0 FILTER: K128_FC25
NDFLAG: True TEMPC: True COUNTER: Sample CHKSUM: True
DLT: False ATTI: False QTN: False BIT32: True
----------------- ----------------- ---------------- ------------
Public Methods and Attributes
Public Attributes
- These are mirrors of the SensorDevice attributes propogated to the LoggerHelper class
| Attribute | Type | Description / Comment |
|---|---|---|
| dev_info | dict | Device info such as prod_id, version_id, serial_id, comport, model |
| dev_status | dict | Configuration status such as dout_rate, filter, ndflags, tempc, counter, chksm, auto_start, is_32bit, a_range, ext_trigger, uart_auto, is_config |
| dev_dlt_status | dict | Delta angle / velocity status such as dlta, dltv, dlta_sf_range, dltv_sf_range |
| dev_atti_status | dict | Atittiude/Quaternion status such as atti, mode, conv, profile, qtn |
| dev_burst_out | dict | Burst output status such as ndflags, tempc, gyro, accl, dlta, dltv, qtn, atti, gpio, counter, chksm, tempc32, gyro32, accl32, dlta32, dltv32, qtn32, atti32 |
| dev_mdef | object | Object that stores the current model's specific definitions and constants |
Public Method
| Method | Description / Comment |
|---|---|
| set_writer(to) | Set the writer to csv file with filename derived from list of strings (parameter) or to the console (no parameter) |
| write(sample_data) | Send specified sample_data (tuple) to csv file or console |
| write_header(scale_mode, start_date) | Write header information to csv file or console |
| write_trailer(end_date) | Write trailer information to csv file or console |
| get_dev_status() | Send current info about device and configuration to console |
| clear_count() | Clear the internal sample counter which increments on every call to write() |
File Listing
| File | Description / Comment |
|---|---|
| src\ | Python source files |
| src\esensorlib\sensor_core.py | SensorDevice library class |
| src\esensorlib\model\mcore.py | Core model definition/constants (temporarily used for auto-detect) |
| src\esensorlib\model\mg320.py | M-G320PDG0 model definition/constants |
| src\esensorlib\model\mg354.py | M-G354PDH0 model definition/constants |
| src\esensorlib\model\mg364pdc0.py | M-G364PDC0 model definition/constants |
| src\esensorlib\model\mg364pdca.py | M-G364PDCA model definition/constants |
| src\esensorlib\model\mg365pdc1.py | M-G365PDC1 model definition/constants |
| src\esensorlib\model\mg365pdf1.py | M-G365PDF1 model definition/constants |
| src\esensorlib\model\mg366pdg0.py | M-G366PDG0 model definition/constants |
| src\esensorlib\model\mg370pdf1.py | M-G370PDF1 model definition/constants |
| src\esensorlib\model\mg370pds0.py | M-G370PDS0 model definition/constants |
| src\esensorlib\model\mg370pdt0.py | M-G370PDT0 model definition/constants |
| src\esensorlib\logger\logger.py | Logger script |
| src\esensorlib\logger\helper.py | Logger helper class (for formatting and file I/O) |
| tests\ | Test files (currently empty) |
| LICENSE | License description |
| pyproject.toml | Contains build system requirements and information, which are used by pip to build the package |
| README.md | This readme file |
Change Record
| Date | Version | Description / Comment |
|---|---|---|
| 2023-02-24 | v1.0.0 | Initial release |
Release history Release notifications | RSS feed
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