Python脚本实现树莓派读取mpu9250传感器数据

mpu9250连接方式通mpu6050，以I2C形式连接树莓派（mpu9250连接树莓派）

#!/usr/bin/python3# -*- coding: utf-8 -*-import cursesfrom time import *from i2clibraries import i2c_itg3205, i2c_adxl345, i2c_hmc5883l#==========================================================#                       GY-85传感器监控#==========================================================def displayITG3205(screen, col, temp, x, y, z):    """    显示ITG3205读数的方法    """    screen.addstr(1, col, "%.1f°℃    " % temp)    screen.addstr(2, col, "%.1f°/s    " % x)    screen.addstr(3, col, "%.1f°/s    " % y)    screen.addstr(4, col, "%.1f°/s    " % z)def displayADXL345(screen, col, x, y, z):    """    显示ADXL345读数的方法    """    screen.addstr(1, col, "%.2fmg    " % x)    screen.addstr(2, col, "%.2fmg    " % y)    screen.addstr(3, col, "%.2fmg    " % z)def displayHMC5883L(screen, col, heading, declination, x, y, z):    """    显示MC5883L读数的方法    """    screen.addstr(1, col, heading + "   ")    screen.addstr(2, col, declination + "   ")    screen.addstr(3, col, "%.2f   " % x)    screen.addstr(4, col, "%.2f   " % y)    screen.addstr(5, col, "%.2f   " % z)try:    myscreen = curses.initscr() #初始化curses    myscreen.border(0)    (screen_h, screen_w) = myscreen.getmaxyx() #获得屏幕高宽    curses.start_color() #设置颜色    curses.init_pair(1, curses.COLOR_BLACK, curses.COLOR_GREEN) #绿底黑字    curses.init_pair(2, curses.COLOR_RED, curses.COLOR_BLACK) #白底蓝字    curses.init_pair(3, curses.COLOR_MAGENTA,curses.COLOR_BLACK) #黑底什么字    myscreen.clear() #清除画布    # 计算每块的坐标, 屏幕分3列, 每列显示一个传感器    col1 = screen_w / 3 * 0    col2 = screen_w / 3 * 1    col3 = screen_w / 3 * 2    # 屏幕横向分三块,每块中间写上标题    myscreen.addstr(0, int(col1 + screen_w / 3 / 2 - 3), "IGT3205", curses.color_pair(1))    myscreen.addstr(0, int(col2 + screen_w / 3 / 2 - 4), "ADXL345", curses.color_pair(1))    myscreen.addstr(0, int(col3 + screen_w / 3 / 2 - 4), "HMC5883L", curses.color_pair(1))    #画分割线,把屏幕分为3列    for col in range(1, screen_h):        myscreen.addstr(col, int(col2), "│")        myscreen.addstr(col, int(col3), "│")    # 事先打印IGT3205的各项值的名称    myscreen.addstr(1, int(col1), "Temp:", curses.color_pair(2))    myscreen.addstr(2, int(col1), "X   :", curses.color_pair(2))    myscreen.addstr(3, int(col1), "Y   :", curses.color_pair(2))    myscreen.addstr(4, int(col1), "z   :", curses.color_pair(2))    # 事先打印ADXL345的各项值的名称    myscreen.addstr(1, int(col2) + 1, "X:", curses.color_pair(2))    myscreen.addstr(2, int(col2) + 1, "Y:", curses.color_pair(2))    myscreen.addstr(3, int(col2) + 1, "z:", curses.color_pair(2))    # 事先打印HMC5883L的各项值的名称    myscreen.addstr(1, int(col3) + 1, "Heading:    ", curses.color_pair(2))    myscreen.addstr(2, int(col3) + 1, "Declination:", curses.color_pair(2))    myscreen.addstr(3, int(col3) + 1, "X:          ", curses.color_pair(2))    myscreen.addstr(4, int(col3) + 1, "Y:          ", curses.color_pair(2))    myscreen.addstr(5, int(col3) + 1, "z:          ", curses.color_pair(2))    # 初始化传感器    itg3205 = i2c_itg3205.i2c_itg3205(0)    adxl345 = i2c_adxl345.i2c_adxl345(0)    hmc5883l = i2c_hmc5883l.i2c_hmc5883l(0)    hmc5883l.setContinuousMode() #设置为持续更新模式    hmc5883l.setDeclination(9,54) #设置真北磁偏角补偿    while True:        #读取itg3205数据        (itgready, dataready) = itg3205.getInterruptStatus()            if dataready:            temp = itg3205.getDieTemperature()            (x, y, z) = itg3205.getDegPerSecAxes()             displayITG3205(myscreen, 6, temp, x, y, z) #刷新画布        #读取adxl345数据        (x, y, z) = adxl345.getAxes()        displayADXL345(myscreen, int(col2) + 4, x, y, z) #刷新画布        #读取hmc5883l数据        (x, y, z) = hmc5883l.getAxes()        heading = hmc5883l.getHeadingString() #获取指向角度        declination = hmc5883l.getDeclinationString() #获取磁偏角补偿信息        displayHMC5883L(myscreen, int(col3) + 13, heading, declination, x, y, z) #刷新画布        myscreen.refresh() #应用画布        sleep(0.1) #暂停0.1秒    myscreen.getch()finally:    curses.endwin()