![\"\"](\"https:\/\/rfsec.ddns.net\/db\/wp-content\/uploads\/2021\/08\/compass-offset.png\")
<\/figure>\n\n\n\nBMX055\u304b\u3089\u30c7\u30fc\u30bf\u3092\u53d6\u5f97<\/h2>\n\n\n\n -*- coding: utf-8 -*-\n#\n# https:\/\/taku-info.com\/bmx055howtouse-mag\/\n#\n\nfrom smbus import SMBus\nimport time\nimport math\nimport datetime\nimport csv\n\n# I2C\nACCL_ADDR = 0x19\nACCL_R_ADDR = 0x02\nGYRO_ADDR = 0x69\nGYRO_R_ADDR = 0x02\nMAG_ADDR = 0x13\nMAG_R_ADDR = 0x42\n\ni2c = SMBus(1)\n\ndef bmx_setup():\n # acc_data_setup : \u52a0\u901f\u5ea6\u306e\u5024\u3092\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\n i2c.write_byte_data(ACCL_ADDR, 0x0F, 0x03)\n i2c.write_byte_data(ACCL_ADDR, 0x10, 0x08)\n i2c.write_byte_data(ACCL_ADDR, 0x11, 0x00)\n time.sleep(0.5)\n\n # gyr_data_setup : \u30b8\u30e3\u30a4\u30ed\u5024\u3092\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\n i2c.write_byte_data(GYRO_ADDR, 0x0F, 0x04)\n i2c.write_byte_data(GYRO_ADDR, 0x10, 0x07)\n i2c.write_byte_data(GYRO_ADDR, 0x11, 0x00)\n time.sleep(0.5)\n\n # mag_data_setup : \u5730\u78c1\u6c17\u5024\u3092\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\n data = i2c.read_byte_data(MAG_ADDR, 0x4B)\n if(data == 0):\n i2c.write_byte_data(MAG_ADDR, 0x4B, 0x83)\n time.sleep(0.5)\n i2c.write_byte_data(MAG_ADDR, 0x4B, 0x01)\n i2c.write_byte_data(MAG_ADDR, 0x4C, 0x00)\n i2c.write_byte_data(MAG_ADDR, 0x4E, 0x84)\n i2c.write_byte_data(MAG_ADDR, 0x51, 0x04)\n i2c.write_byte_data(MAG_ADDR, 0x52, 0x16)\n time.sleep(0.5)\n\ndef acc_value():\n data = [0, 0, 0, 0, 0, 0]\n acc_data = [0.0, 0.0, 0.0]\n\n try:\n for i in range(6):\n data[i] = i2c.read_byte_data(ACCL_ADDR, ACCL_R_ADDR + i)\n\n for i in range(3):\n acc_data[i] = ((data[2*i + 1] * 256) + int(data[2*i] & 0xF0)) \/ 16\n if acc_data[i] > 2047:\n acc_data[i] -= 4096\n acc_data[i] *= 0.0098\n\n except IOError as e:\n print("I\/O error({0}): {1}".format(e.errno, e.strerror))\n\n return acc_data\n\ndef gyro_value():\n data = [0, 0, 0, 0, 0, 0]\n gyro_data = [0.0, 0.0, 0.0]\n\n try:\n for i in range(6):\n data[i] = i2c.read_byte_data(GYRO_ADDR, GYRO_R_ADDR + i)\n\n for i in range(3):\n gyro_data[i] = (data[2*i + 1] * 256) + data[2*i]\n if gyro_data[i] > 32767:\n gyro_data[i] -= 65536\n gyro_data[i] *= 0.0038\n\n except IOError as e:\n print("I\/O error({0}): {1}".format(e.errno, e.strerror))\n\n return gyro_data\n\ndef mag_value():\n data = [0, 0, 0, 0, 0, 0, 0, 0]\n mag_data = [0.0, 0.0, 0.0]\n\n try:\n for i in range(8):\n data[i] = i2c.read_byte_data(MAG_ADDR, MAG_R_ADDR + i)\n\n for i in range(3):\n if i != 2:\n mag_data[i] = ((data[2*i + 1] * 256) + (data[2*i] & 0xF8)) \/ 8\n if mag_data[i] > 4095:\n mag_data[i] -= 8192\n else:\n mag_data[i] = ((data[2*i + 1] * 256) + (data[2*i] & 0xFE)) \/ 2\n if mag_data[i] > 16383:\n mag_data[i] -= 32768\n\n except IOError as e:\n print("I\/O error({0}): {1}".format(e.errno, e.strerror))\n\n return mag_data\n\nif __name__ == "__main__":\n\n bmx_setup()\n time.sleep(0.1)\n now_time = datetime.datetime.now()\n filename = 'test_' + now_time.strftime('%Y%m%d_%H%M%S') + '.csv'\n # \u30d5\u30a1\u30a4\u30eb\uff0c1\u884c\u76ee(\u30ab\u30e9\u30e0)\u306e\u4f5c\u6210\n with open(filename, 'a') as f:\n writer = csv.writer(f)\n writer.writerow(['Mag_x', 'Mag_y', 'Mag_z'])\n while True:\n #acc = acc_value()\n #gyro= gyro_value()\n mag = mag_value()\n theta = math.atan2(mag[1],mag[0]) * 180.0 \/ 3.141592\n if ( theta < 0 ):\n theta = theta + 360.0\n '''\n theta = 360.0 - theta\n print("Accl -> x:{}, y:{}, z: {}".format(acc[0], acc[1], acc[2]))\n print("Gyro -> x:{}, y:{}, z: {}".format(gyro[0], gyro[1], gyro[2]))\n print("Mag -> x:{}, y:{}, z: {}".format(mag[0], mag[1], mag[2]))\n '''\n print(theta)\n time.sleep(0.02)\n with open(filename, 'a', newline="") as f:\n writer = csv.writer(f)\n writer.writerow([mag[0], mag[1], mag[2]])<\/code><\/pre><\/div>\n\n\n\n\u53d6\u5f97\u3057\u305f\u30c7\u30fc\u30bf\u3092jupyter notebook\u3067\u53ef\u8996\u5316<\/h2>\n\n\n\n%matplotlib nbagg\n\nimport os\nimport pandas as pd\nfrom mpl_toolkits.mplot3d import Axes3D\nimport matplotlib.pyplot as plt\nimport math\nimport numpy as np\n\n### \u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\ndf = pd.read_csv('BMX055\/data4.csv')\nprint(df)\na_x=np.average(df['Mag_x'])\na_y=np.average(df['Mag_y'])\na_z=np.average(df['Mag_z'])\nprint(round(a_x,2),round(a_y,2),round(a_z,2))\n# \u3053\u3053\u304b\u3089\u30b0\u30e9\u30d5\u63cf\u753b\n \n# \u30b0\u30e9\u30d5\u306e\u5165\u308c\u7269\u3092\u7528\u610f\u3059\u308b\u3002\nfig = plt.figure()\n#ax = Axes3D(fig)\u3000\u3000\u3000\u3000<--- warning\u5bfe\u7b56\nax = fig.add_subplot(111, projection='3d') \n# \u8ef8\u306e\u30e9\u30d9\u30eb\u3092\u8a2d\u5b9a\u3059\u308b\u3002\nax.set_xlabel('x')\nax.set_ylabel('y')\nax.set_zlabel('z')\n\n# \u30b0\u30e9\u30d5\u3092\u8868\u793a\u3059\u308b\u3002\nax.scatter3D(df['Mag_x'],df['Mag_y'],df['Mag_z'],color="blue")\nax.scatter3D(a_x,a_y,a_z,color="red")\nplt.show()<\/code><\/pre><\/div>\n\n\n\n<\/p>\n","protected":false},"excerpt":{"rendered":"
\uff19\u8ef8\u30bb\u30f3\u30b5\u30fcBMX055\u306e\u78c1\u6c17\u30b3\u30f3\u30d1\u30b9\u306e\u30c7\u30fc\u30bf(x,y,z)\u3092\u53d6\u5f97\u3057\u3066\u53ef\u8996\u5316\u3057\u3066\u307f\u307e\u3057\u305f\u3002\u30bb\u30f3\u30b5\u30fc\u306fi2c\u3067Raspberry Pi\u306b\u63a5\u7d9a\u3057\u3066\u3044\u307e\u3059\u3002 jupyter notebook\u3067\uff13D\u30d7\u30ed\u30c3\u30c8\u3057\u305f\u69d8\u5b50 \u8d64\u306e\u70b9\u306f\u3001x […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[1],"tags":[],"class_list":["post-305","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"featured_image_src":null,"author_info":{"display_name":"mars","author_link":"https:\/\/rfsec.ddns.net\/db\/?author=1"},"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=\/wp\/v2\/posts\/305","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=305"}],"version-history":[{"count":3,"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=\/wp\/v2\/posts\/305\/revisions"}],"predecessor-version":[{"id":312,"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=\/wp\/v2\/posts\/305\/revisions\/312"}],"wp:attachment":[{"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=305"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=305"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=305"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
-*- coding: utf-8 -*-\n#\n# https:\/\/taku-info.com\/bmx055howtouse-mag\/\n#\n\nfrom smbus import SMBus\nimport time\nimport math\nimport datetime\nimport csv\n\n# I2C\nACCL_ADDR = 0x19\nACCL_R_ADDR = 0x02\nGYRO_ADDR = 0x69\nGYRO_R_ADDR = 0x02\nMAG_ADDR = 0x13\nMAG_R_ADDR = 0x42\n\ni2c = SMBus(1)\n\ndef bmx_setup():\n # acc_data_setup : \u52a0\u901f\u5ea6\u306e\u5024\u3092\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\n i2c.write_byte_data(ACCL_ADDR, 0x0F, 0x03)\n i2c.write_byte_data(ACCL_ADDR, 0x10, 0x08)\n i2c.write_byte_data(ACCL_ADDR, 0x11, 0x00)\n time.sleep(0.5)\n\n # gyr_data_setup : \u30b8\u30e3\u30a4\u30ed\u5024\u3092\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\n i2c.write_byte_data(GYRO_ADDR, 0x0F, 0x04)\n i2c.write_byte_data(GYRO_ADDR, 0x10, 0x07)\n i2c.write_byte_data(GYRO_ADDR, 0x11, 0x00)\n time.sleep(0.5)\n\n # mag_data_setup : \u5730\u78c1\u6c17\u5024\u3092\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\n data = i2c.read_byte_data(MAG_ADDR, 0x4B)\n if(data == 0):\n i2c.write_byte_data(MAG_ADDR, 0x4B, 0x83)\n time.sleep(0.5)\n i2c.write_byte_data(MAG_ADDR, 0x4B, 0x01)\n i2c.write_byte_data(MAG_ADDR, 0x4C, 0x00)\n i2c.write_byte_data(MAG_ADDR, 0x4E, 0x84)\n i2c.write_byte_data(MAG_ADDR, 0x51, 0x04)\n i2c.write_byte_data(MAG_ADDR, 0x52, 0x16)\n time.sleep(0.5)\n\ndef acc_value():\n data = [0, 0, 0, 0, 0, 0]\n acc_data = [0.0, 0.0, 0.0]\n\n try:\n for i in range(6):\n data[i] = i2c.read_byte_data(ACCL_ADDR, ACCL_R_ADDR + i)\n\n for i in range(3):\n acc_data[i] = ((data[2*i + 1] * 256) + int(data[2*i] & 0xF0)) \/ 16\n if acc_data[i] > 2047:\n acc_data[i] -= 4096\n acc_data[i] *= 0.0098\n\n except IOError as e:\n print("I\/O error({0}): {1}".format(e.errno, e.strerror))\n\n return acc_data\n\ndef gyro_value():\n data = [0, 0, 0, 0, 0, 0]\n gyro_data = [0.0, 0.0, 0.0]\n\n try:\n for i in range(6):\n data[i] = i2c.read_byte_data(GYRO_ADDR, GYRO_R_ADDR + i)\n\n for i in range(3):\n gyro_data[i] = (data[2*i + 1] * 256) + data[2*i]\n if gyro_data[i] > 32767:\n gyro_data[i] -= 65536\n gyro_data[i] *= 0.0038\n\n except IOError as e:\n print("I\/O error({0}): {1}".format(e.errno, e.strerror))\n\n return gyro_data\n\ndef mag_value():\n data = [0, 0, 0, 0, 0, 0, 0, 0]\n mag_data = [0.0, 0.0, 0.0]\n\n try:\n for i in range(8):\n data[i] = i2c.read_byte_data(MAG_ADDR, MAG_R_ADDR + i)\n\n for i in range(3):\n if i != 2:\n mag_data[i] = ((data[2*i + 1] * 256) + (data[2*i] & 0xF8)) \/ 8\n if mag_data[i] > 4095:\n mag_data[i] -= 8192\n else:\n mag_data[i] = ((data[2*i + 1] * 256) + (data[2*i] & 0xFE)) \/ 2\n if mag_data[i] > 16383:\n mag_data[i] -= 32768\n\n except IOError as e:\n print("I\/O error({0}): {1}".format(e.errno, e.strerror))\n\n return mag_data\n\nif __name__ == "__main__":\n\n bmx_setup()\n time.sleep(0.1)\n now_time = datetime.datetime.now()\n filename = 'test_' + now_time.strftime('%Y%m%d_%H%M%S') + '.csv'\n # \u30d5\u30a1\u30a4\u30eb\uff0c1\u884c\u76ee(\u30ab\u30e9\u30e0)\u306e\u4f5c\u6210\n with open(filename, 'a') as f:\n writer = csv.writer(f)\n writer.writerow(['Mag_x', 'Mag_y', 'Mag_z'])\n while True:\n #acc = acc_value()\n #gyro= gyro_value()\n mag = mag_value()\n theta = math.atan2(mag[1],mag[0]) * 180.0 \/ 3.141592\n if ( theta < 0 ):\n theta = theta + 360.0\n '''\n theta = 360.0 - theta\n print("Accl -> x:{}, y:{}, z: {}".format(acc[0], acc[1], acc[2]))\n print("Gyro -> x:{}, y:{}, z: {}".format(gyro[0], gyro[1], gyro[2]))\n print("Mag -> x:{}, y:{}, z: {}".format(mag[0], mag[1], mag[2]))\n '''\n print(theta)\n time.sleep(0.02)\n with open(filename, 'a', newline="") as f:\n writer = csv.writer(f)\n writer.writerow([mag[0], mag[1], mag[2]])<\/code><\/pre><\/div>\n\n\n\n\u53d6\u5f97\u3057\u305f\u30c7\u30fc\u30bf\u3092jupyter notebook\u3067\u53ef\u8996\u5316<\/h2>\n\n\n\n%matplotlib nbagg\n\nimport os\nimport pandas as pd\nfrom mpl_toolkits.mplot3d import Axes3D\nimport matplotlib.pyplot as plt\nimport math\nimport numpy as np\n\n### \u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\ndf = pd.read_csv('BMX055\/data4.csv')\nprint(df)\na_x=np.average(df['Mag_x'])\na_y=np.average(df['Mag_y'])\na_z=np.average(df['Mag_z'])\nprint(round(a_x,2),round(a_y,2),round(a_z,2))\n# \u3053\u3053\u304b\u3089\u30b0\u30e9\u30d5\u63cf\u753b\n \n# \u30b0\u30e9\u30d5\u306e\u5165\u308c\u7269\u3092\u7528\u610f\u3059\u308b\u3002\nfig = plt.figure()\n#ax = Axes3D(fig)\u3000\u3000\u3000\u3000<--- warning\u5bfe\u7b56\nax = fig.add_subplot(111, projection='3d') \n# \u8ef8\u306e\u30e9\u30d9\u30eb\u3092\u8a2d\u5b9a\u3059\u308b\u3002\nax.set_xlabel('x')\nax.set_ylabel('y')\nax.set_zlabel('z')\n\n# \u30b0\u30e9\u30d5\u3092\u8868\u793a\u3059\u308b\u3002\nax.scatter3D(df['Mag_x'],df['Mag_y'],df['Mag_z'],color="blue")\nax.scatter3D(a_x,a_y,a_z,color="red")\nplt.show()<\/code><\/pre><\/div>\n\n\n\n<\/p>\n","protected":false},"excerpt":{"rendered":"
\uff19\u8ef8\u30bb\u30f3\u30b5\u30fcBMX055\u306e\u78c1\u6c17\u30b3\u30f3\u30d1\u30b9\u306e\u30c7\u30fc\u30bf(x,y,z)\u3092\u53d6\u5f97\u3057\u3066\u53ef\u8996\u5316\u3057\u3066\u307f\u307e\u3057\u305f\u3002\u30bb\u30f3\u30b5\u30fc\u306fi2c\u3067Raspberry Pi\u306b\u63a5\u7d9a\u3057\u3066\u3044\u307e\u3059\u3002 jupyter notebook\u3067\uff13D\u30d7\u30ed\u30c3\u30c8\u3057\u305f\u69d8\u5b50 \u8d64\u306e\u70b9\u306f\u3001x […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[1],"tags":[],"class_list":["post-305","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"featured_image_src":null,"author_info":{"display_name":"mars","author_link":"https:\/\/rfsec.ddns.net\/db\/?author=1"},"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=\/wp\/v2\/posts\/305","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=305"}],"version-history":[{"count":3,"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=\/wp\/v2\/posts\/305\/revisions"}],"predecessor-version":[{"id":312,"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=\/wp\/v2\/posts\/305\/revisions\/312"}],"wp:attachment":[{"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=305"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=305"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/rfsec.ddns.net\/db\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=305"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}