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SHA3-256:c34bc3685455b5aca52160338878ec1be146c229a11ca4e41b6e828ee78a40b8
User & Date: gwlester 2018-01-30 02:55:22
Context
2018-01-30
23:33
Working Gryoscope example. check-in: fcc1329691 user: gwlester tags: trunk
02:55
Corrections. check-in: c34bc36854 user: gwlester tags: trunk
2018-01-29
06:15
changes for dIMU initial implementation of gryoscope. check-in: bfc9ec1028 user: gwlester tags: trunk
Changes
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Changes to Gryo_Example.tcl. 

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array set GyroValues {
    250dps  0x00
    500dps  0x10
    2000dps 0x30
    250dps,divisor 128.0
    500dps,divisor 64.0
    2000dps,divisor 16.0
    divisor 1.0
    full_scale_range 0x30
    gryo,x,axis 0x14
    gryo,y,axis 0x16
    gryo,z,axis 0x18
    rate 50
    freq 10
}

set i2cbus 1
set dIMUaddress 0x28
set range 2000dps






proc StartGyro {handle range} {
    global GyroValues

    ##
    ## Place the dIMU in configuration mode
    ##
    bno055 writeRegister $handle operMode [bno055 getValue OPER_MODE_CONFIGMODE]
................................................................................
## Gyro: gets a full axis reading, scaled to the full scale reading.  Returns
## in degrees per second.
##
proc GryoAxisGeading {axis} {
    global GyroValues

    set handle $GyroValues(handle)
    set intValue [bno055 readRegister $handle grv,data,$axis]
    piio usleep 10
    return [format {%8.3f} [expr {$intValue / $GyroValues(divisor)}]]
}

proc ClearHistory {} {
    global CurrentValue

    set CurrentValue(history) {}
}
................................................................................
        after cancel $GyroValues(afterId)
    }
    set GyroValues(afterId) [after [expr {$GyroValues(rate) * 10}] ReadGyro]

    ##
    ## Read the GYROSCOPE
    ##









    set CurrentValue(x) [GryoAxisGeading x]
    set CurrentValue(y) [GryoAxisGeading y]
    set CurrentValue(z) [GryoAxisGeading z]

}

proc LogValues {} {
    global GyroValues CurrentValue

    if {[info exists GyroValues(logId)]} {
        after cancel $GyroValues(logId)
    }

    set GyroValues(logId) [after [expr {$GyroValues(freq) * 100}] LogValues]

    set timeStamp [clock format [clock seconds]]
    .main.history.data insert {} end -values [list $timeStamp $CurrentValue(x) $CurrentValue(y) $CurrentValue(z)]
}

proc StartReading {} {
    global i2cbus dIMUaddress range GyroValues

    if {$dIMUaddress eq {}} {
        return
................................................................................
    }

    .main.controls.buttons.start configure -state disabled
    .main.controls.buttons.stop configure -state normal
    set GyroValues(handle) [::twowire twowire $i2cbus $dIMUaddress]
    StartGyro $GyroValues(handle) $range
    ReadGyro
    LogValues

}

proc StopReading {} {
    global GyroValues

    if {[info exists GyroValues(afterId)]} {
................................................................................
        -increment 10.0 \
        -format {%3.0f} \
        -wrap no \
        -command [format {set ::GyroValues(rate) [expr {entier([%1$s get])}]}  $w.rateEnt]
    $w.rateEnt set 50.0
    ttk::label $w.rateLbl2 \
        -text { in microseconds}
    ttk::label $w.frequencyLbl1 \
        -text {Logging Rate:}
    ttk::spinbox $w.frequencyEnt \
        -from 1.0 \
        -to 1000.0 \
        -increment 10.0 \
        -format {%4.0f} \
        -wrap no \
        -command [format {set ::GyroValues(freq) [expr {entier([%1$s get])}]}  $w.frequencyEnt]
    $w.frequencyEnt set 1.0
    ttk::label $w.frequencyLbl2 \
        -text { in seconds}
    ttk::frame $w.buttons
    ttk::button $w.buttons.start \
        -text {Start} \
        -width 6 \
        -command StartReading
    ttk::button $w.buttons.stop \
        -state disabled \
................................................................................
    ttk::button $w.buttons.reset \
        -text {Clear Log} \
        -width 10 \
        -command {.main.history.data delete [.main.history.data children {}]}
        
    grid configure $w.busLbl $w.busCMB $w.addrLbl $w.addrEnt $w.rangeLbl $w.rangeCMB x -padx 2 -sticky ew
    grid configure $w.rateLbl1 $w.rateEnt $w.rateLbl2 x x x x -padx 2 -sticky ew
    grid configure $w.frequencyLbl1 $w.frequencyEnt $w.frequencyLbl2 x x x -padx 2 -sticky ew
    grid configure $w.buttons -columnspan 7 -sticky ew -pady 3
    grid configure x $w.buttons.start x  $w.buttons.stop x  $w.buttons.reset x -sticky ew
    grid columnconfigure $w.buttons {0 2 4 6} -weight 1
    grid columnconfigure $w 6 -weight 1
        
}









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array set GyroValues {
    250dps  0x00
    500dps  0x10
    2000dps 0x30
    250dps,divisor 128.0
    500dps,divisor 64.0
    2000dps,divisor 16.0
    divisor 16.0
    full_scale_range 0x30
    gryo,x,axis 0x14
    gryo,y,axis 0x16
    gryo,z,axis 0x18
    rate 50
    freq 10
}

set i2cbus 1
set dIMUaddress 0x28
set range 2000dps


set CurrentValue(x) {0}
set CurrentValue(y) {0}
set CurrentValue(z) {0}

proc StartGyro {handle range} {
    global GyroValues

    ##
    ## Place the dIMU in configuration mode
    ##
    bno055 writeRegister $handle operMode [bno055 getValue OPER_MODE_CONFIGMODE]
................................................................................
## Gyro: gets a full axis reading, scaled to the full scale reading.  Returns
## in degrees per second.
##
proc GryoAxisGeading {axis} {
    global GyroValues

    set handle $GyroValues(handle)
    set intValue [bno055 readRegister $handle gyr,data,$axis]

    return [format {%5.0f} [expr {$intValue / $GyroValues(divisor)}]]
}

proc ClearHistory {} {
    global CurrentValue

    set CurrentValue(history) {}
}
................................................................................
        after cancel $GyroValues(afterId)
    }
    set GyroValues(afterId) [after [expr {$GyroValues(rate) * 10}] ReadGyro]

    ##
    ## Read the GYROSCOPE
    ##
    set x [GryoAxisGeading x]
    set y [GryoAxisGeading y]
    set z [GryoAxisGeading z]
    if {abs($x - $CurrentValue(x)) > 0 ||
        abs($y - $CurrentValue(y)) > 0 ||
        abs($z - $CurrentValue(z)) > 0
    } {
        LogValues $x $y $z
    }
    set CurrentValue(x) $x
    set CurrentValue(y) $y
    set CurrentValue(z) $z

}

proc LogValues {x y z} {
    global GyroValues CurrentValue

    #if {[info exists GyroValues(logId)]} {
    #    after cancel $GyroValues(logId)

    #}
    #set GyroValues(logId) [after [expr {$GyroValues(freq) * 100}] LogValues]

    set timeStamp [clock format [clock seconds]]
    .main.history.data insert {} end -values [list $timeStamp $x $y $z]
}

proc StartReading {} {
    global i2cbus dIMUaddress range GyroValues

    if {$dIMUaddress eq {}} {
        return
................................................................................
    }

    .main.controls.buttons.start configure -state disabled
    .main.controls.buttons.stop configure -state normal
    set GyroValues(handle) [::twowire twowire $i2cbus $dIMUaddress]
    StartGyro $GyroValues(handle) $range
    ReadGyro


}

proc StopReading {} {
    global GyroValues

    if {[info exists GyroValues(afterId)]} {
................................................................................
        -increment 10.0 \
        -format {%3.0f} \
        -wrap no \
        -command [format {set ::GyroValues(rate) [expr {entier([%1$s get])}]}  $w.rateEnt]
    $w.rateEnt set 50.0
    ttk::label $w.rateLbl2 \
        -text { in microseconds}
    #ttk::label $w.frequencyLbl1 \
    #    -text {Logging Rate:}
    #ttk::spinbox $w.frequencyEnt \
    #    -from 1.0 \
    #    -to 1000.0 \
    #    -increment 10.0 \
    #    -format {%4.0f} \
    #    -wrap no \
    #    -command [format {set ::GyroValues(freq) [expr {entier([%1$s get])}]}  $w.frequencyEnt]
    #$w.frequencyEnt set 1.0
    #ttk::label $w.frequencyLbl2 \
    #    -text { in seconds}
    ttk::frame $w.buttons
    ttk::button $w.buttons.start \
        -text {Start} \
        -width 6 \
        -command StartReading
    ttk::button $w.buttons.stop \
        -state disabled \
................................................................................
    ttk::button $w.buttons.reset \
        -text {Clear Log} \
        -width 10 \
        -command {.main.history.data delete [.main.history.data children {}]}
        
    grid configure $w.busLbl $w.busCMB $w.addrLbl $w.addrEnt $w.rangeLbl $w.rangeCMB x -padx 2 -sticky ew
    grid configure $w.rateLbl1 $w.rateEnt $w.rateLbl2 x x x x -padx 2 -sticky ew
    #grid configure $w.frequencyLbl1 $w.frequencyEnt $w.frequencyLbl2 x x x -padx 2 -sticky ew
    grid configure $w.buttons -columnspan 7 -sticky ew -pady 3
    grid configure x $w.buttons.start x  $w.buttons.stop x  $w.buttons.reset x -sticky ew
    grid columnconfigure $w.buttons {0 2 4 6} -weight 1
    grid columnconfigure $w 6 -weight 1
        
}

Changes to bno055-1.0.0.tm. 

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    SymDef GYR_AWAKE_DURR 16SAMPLES 1
    SymDef GYR_AWAKE_DURR 32SAMPLES 2
    SymDef GYR_AWAKE_DURR 64SAMPLES 3

    proc getValue {symbolic} {
        variable Constants


        return $Constants(CONST,$symbolic)
    }

    proc getValue2 {type symbol} {
        variable Constants


        return $Constants(CONST,${type}_${symbol})
    }

    proc getSymbol {type value} {
        variable Constants

        set binaryValue [format %b $value]

        return $Constants($type,$binaryValue)










    }

    proc writeRegister {handle register value} {
        variable Registers

        lassign $Registers($register) page addr type mask

................................................................................
                    }
                }
                dict set registerValues page $page addr $addr [format {%16.16b} $result]
            }
            if {$mask ne {} && $type ne {m}} {
                lassign [split $mask {:}] highBit lowBit
                set result [dict get $registerValues page $page addr $addr]
                set result [string range $result end-$lowBit end-$highBit]
                set size [expr {1 + $highBit - $lowBit}]
                scan $result {%b} result
            } else {
                set result [dict get $registerValues page $page addr $addr]
            }
            if {$type in {B W}} {
                if {[string index [format "%${size}.${size}b" $result] 0]} {
................................................................................
              } 
            }
        }

        if {$mask ne {} && $type ne {m}} {
            lassign [split $mask {:}] highBit lowBit
            set size [expr {1 + $highBit - $lowBit}]
            set result [string range [format {%16.16b} $result] end-$lowBit end-$highBit]
            scan $result {%b} result
        }
        if {$type in {B W}} {
            if {[string index [format "%${size}.${size}b" $result] 0]} {
                scan 1[string repeat 0 $size] %b max
                incr result -$max
            }
................................................................................
        }
    }


    namespace ensemble create -subcommands {
        getValue
        getValue2

        getSymbol
        readMultipleRegisters
        readRegister
        validateHandle
        writeRegister
        writeRegisterBlock
    }

}








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    SymDef GYR_AWAKE_DURR 16SAMPLES 1
    SymDef GYR_AWAKE_DURR 32SAMPLES 2
    SymDef GYR_AWAKE_DURR 64SAMPLES 3

    proc getValue {symbolic} {
        variable Constants

        set ucSymbol [string toupper $symbolic]
        return $Constants(CONST,$ucSymbol)
    }

    proc getValue2 {type symbol} {
        variable Constants

        set ucType [string toupper $type]
        return $Constants(CONST,${ucType}_${symbol})
    }

    proc getSymbol {type value} {
        variable Constants

        set binaryValue [format %b $value]
        set ucType [string toupper $type]
        return $Constants($ucType,$binaryValue)
    }

    proc getShortSymbol {type value} {
        variable Constants

        set binaryValue [format %b $value]
        set start [string length $type]
        incr start
        set ucType [string toupper $type]
        return [string range $Constants($ucType,$binaryValue) $start end]
    }

    proc writeRegister {handle register value} {
        variable Registers

        lassign $Registers($register) page addr type mask

................................................................................
                    }
                }
                dict set registerValues page $page addr $addr [format {%16.16b} $result]
            }
            if {$mask ne {} && $type ne {m}} {
                lassign [split $mask {:}] highBit lowBit
                set result [dict get $registerValues page $page addr $addr]
                set result [string range $result end-$highBit end-$lowBit]
                set size [expr {1 + $highBit - $lowBit}]
                scan $result {%b} result
            } else {
                set result [dict get $registerValues page $page addr $addr]
            }
            if {$type in {B W}} {
                if {[string index [format "%${size}.${size}b" $result] 0]} {
................................................................................
              } 
            }
        }

        if {$mask ne {} && $type ne {m}} {
            lassign [split $mask {:}] highBit lowBit
            set size [expr {1 + $highBit - $lowBit}]
            set result [string range [format {%16.16b} $result] end-$highBit end-$lowBit]
            scan $result {%b} result
        }
        if {$type in {B W}} {
            if {[string index [format "%${size}.${size}b" $result] 0]} {
                scan 1[string repeat 0 $size] %b max
                incr result -$max
            }
................................................................................
        }
    }


    namespace ensemble create -subcommands {
        getValue
        getValue2
        getShortSymbol
        getSymbol
        readMultipleRegisters
        readRegister
        validateHandle
        writeRegister
        writeRegisterBlock
    }

}

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