`bhi160` - Sensor Fusion¶

New in version 1.4.

Supports the BHI160 sensor on the card10 for accelerometer, gyroscope, magnetometer and orientation.

The coordinate system of the BHI160 sensor data looks like this:

The accelerometer axes are just the ones shown in the picture.
The gyroscope’s angular velocities rotate counter clockwise around their respective axis.
The orientation sensor uses the following mapping:

X

Y

Z

Azimuth (0° - 360°)

Pitch (-180° - 180°)

Roll (-90° - 90°)

Example:

import bhi160
import time

bhi = bhi160.BHI160Orientation()

 while True:
     samples = bhi.read()
     if len(samples) == 0:
         time.sleep(0.25)
         continue
     # print the latest sample
     print(samples[-1])
     time.sleep(0.25)

Orientation¶

class bhi160.BHI160Orientation(sample_rate=4, dynamic_range=2, callback=None, sample_buffer_len=200)[source]¶

Orientation of the BHI160. Orientation is a virtual sensor that combines Accelerometer, Magnetometer and Gyroscope using the IMU Algorithm to calculate an absolute orientation.

This sensors sample data named tuple contains the following fields:

x: azimuth
y: pitch
z: roll
status: accuracy / “confidence” value of the sensor (0 being worst and 3 being best)

Todo

These values are not scaled correctly

Parameters

sample_rate (int) – Sample rate (optional, default is 4, range is 1 - 200 in Hz)
dynamic_range (int) – This parameter is unused for the Orientation.
callback –
Call this callback when enough data is collected (optional, default is None)

Todo

The callback functionality is untested, so do not be confused if it does not work.
sample_buffer_len (int) – Length of sample buffer (optional, default is 200)

close()¶: Close the connection to the sensor

read()¶

Read sensor values

Returns: The recent collected sensor values as a list. If no data is available the list contains no elements. Maximum length of the list is sample_buffer_len. The last element contains the most recent data. The elements contains a sensor specific named tuple. See the documentation of the sensor class for more information.

Warning

Weird behaviour ahead: If the internal buffer overflows, the new samples will be dropped.

Accelerometer¶

class bhi160.BHI160Accelerometer(sample_rate=4, dynamic_range=2, callback=None, sample_buffer_len=200)[source]¶

Accelerometer of the BHI160.

This sensors sample data named tuple contains the following fields:

x: Acceleration along the x axis
y: Acceleration along the y axis
z: Acceleration along the z axis
status: accuracy / “confidence” value of the sensor (0 being worst and 3 being best)

Todo

These values are not scaled correctly

Parameters

sample_rate (int) – Sample rate (optional, default is 4, range is 1 - 200 in Hz)
dynamic_range (int) – Dynamic range (optional, default is 2)
callback –
Call this callback when enough data is collected (optional, default is None)

Todo

The callback functionality is untested, so do not be confused if it does not work.
sample_buffer_len (int) – Length of sample buffer (optional, default is 200)

close()¶: Close the connection to the sensor

read()¶

Read sensor values

Returns: The recent collected sensor values as a list. If no data is available the list contains no elements. Maximum length of the list is sample_buffer_len. The last element contains the most recent data. The elements contains a sensor specific named tuple. See the documentation of the sensor class for more information.

Warning

Weird behaviour ahead: If the internal buffer overflows, the new samples will be dropped.

Gyroscope¶

class bhi160.BHI160Gyroscope(sample_rate=4, dynamic_range=2, callback=None, sample_buffer_len=200)[source]¶

Gyroscope of the BHI160.

This sensors sample data named tuple contains the following fields:

x: Rotation around the x axis
y: Rotation around the y axis
z: Rotation around the z axis
status: accuracy / “confidence” value of the sensor (0 being worst and 3 being best)

Todo

These values are not scaled correctly

Parameters

sample_rate (int) – Sample rate (optional, default is 4, range is 1 - 200 in Hz)
dynamic_range (int) – Dynamic range (optional, default is 2)
callback –
Call this callback when enough data is collected (optional, default is None)

Todo

The callback functionality is untested, so do not be confused if it does not work.
sample_buffer_len (int) – Length of sample buffer (optional, default is 200)

close()¶: Close the connection to the sensor

read()¶

Read sensor values

Returns: The recent collected sensor values as a list. If no data is available the list contains no elements. Maximum length of the list is sample_buffer_len. The last element contains the most recent data. The elements contains a sensor specific named tuple. See the documentation of the sensor class for more information.

Warning

Weird behaviour ahead: If the internal buffer overflows, the new samples will be dropped.

Magnetometer¶

class bhi160.BHI160Magnetometer(sample_rate=4, dynamic_range=1, callback=None, sample_buffer_len=200)[source]¶

Magnetometer of the BHI160

This sensors sample data named tuple contains the following fields:

x: Magnetic field along the x axis

y: Magnetic field along the y axis

z: Magnetic field along the z axis

status: accuracy / “confidence” value of the sensor (0 being worst and 3 being best)

Todo

These values are not scaled correctly

param int sample_rate

Sample rate (optional, default is 4, range is 1 - 200 in Hz)

param int dynamic_range

Dynamic range (optional, default is 1)

param callback

Call this callback when enough data is collected (optional, default is None)

Todo

The callback functionality is untested, so do not be confused if it does not work.

param int sample_buffer_len

Length of sample buffer (optional, default is 200)

New in version 1.11.

close()¶: Close the connection to the sensor

read()¶

Read sensor values

Returns: The recent collected sensor values as a list. If no data is available the list contains no elements. Maximum length of the list is sample_buffer_len. The last element contains the most recent data. The elements contains a sensor specific named tuple. See the documentation of the sensor class for more information.

Warning

Weird behaviour ahead: If the internal buffer overflows, the new samples will be dropped.

bhi160 - Sensor Fusion¶

Orientation¶

Accelerometer¶

Gyroscope¶

Magnetometer¶

`bhi160` - Sensor Fusion¶