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https://github.com/werner-duvaud/nicla-sense-me-i2c
Nicla Sense ME as an I2C request-reply slave sensor, similar to the BNO055, with python API.
https://github.com/werner-duvaud/nicla-sense-me-i2c
arduino imu nicla-sense-me python
Last synced: about 1 month ago
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Nicla Sense ME as an I2C request-reply slave sensor, similar to the BNO055, with python API.
- Host: GitHub
- URL: https://github.com/werner-duvaud/nicla-sense-me-i2c
- Owner: werner-duvaud
- Created: 2023-09-29T22:30:45.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2023-10-27T18:52:23.000Z (over 1 year ago)
- Last Synced: 2024-11-08T16:08:33.119Z (3 months ago)
- Topics: arduino, imu, nicla-sense-me, python
- Language: Python
- Homepage:
- Size: 8.79 KB
- Stars: 6
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Nicla Sense ME - I2C standalone
Use the [Nicla Sense ME](https://store.arduino.cc/products/nicla-sense-me) sensor as an I2C request-reply slave sensor, similar to the [BNO055](https://www.adafruit.com/product/2472).
The [BHI260AP](https://www.bosch-sensortec.com/products/smart-sensors/bhi260ap/) combined with the [BMM150](https://www.bosch-sensortec.com/products/motion-sensors/magnetometers-bmm150/) offers a modern absolute orientation IMU sensor with onchip sensor fusion. Making the Nicla Sense ME board a good successor to the BNO055.
This repository holds the [arduino code](https://github.com/werner-duvaud/nicla-sense-me-i2c/blob/main/arduino/nicla_sens_me_i2c/nicla_sens_me_i2c.ino) to run on the Nicla Sense ME microprocesseur and a [small Python library](https://github.com/werner-duvaud/nicla-sense-me-i2c/blob/main/nicla_sense_me_i2c.py) using the [busio library](https://github.com/adafruit/Adafruit_Blinka/blob/main/src/busio.py) to talk to the sensor over I2C.
Features:
- [x] Warm start with your custom calibration config.
- [x] Absolute orientation (heading to north, pitch, roll).
- [x] Raw acceleration, gyroscope, magnetometer.
- [x] Rotation quaternion.
- [x] Linear acceleration.
- [x] Temperature.
- [ ] Pressure.
- [ ] Gaz.
- [ ] Activity.
- [ ] BSEC.
- [x] 200Hz sensor data over i2c.
- [x] Simple code easily hackable.
## Python API
Runs on Nvidia Jetson, Raspberry Pi and MicroPython boards.
```python
import json
from nicla_sense_me_i2c import NiclaSenseMe
import board
import busio
i2c = busio.I2C(board.SCL, board.SDA)
sensor = NiclaSenseMe(i2c)
# Calib obtained with sensor.get_calib() after calibration.
with open('calib.json') as calib_file:
calib = json.load(calib_file)
# Warm start with sensor already calibrated.
sensor.send_calib(**calib)
sensor.start()
while True:
heading, pitch, roll = sensor.orientation() # In degrees. [0, 360], [-180, 180], [-90, 90]
acc_x, acc_y, acc_z = sensor.acceleration() # In earth g.
lin_acc_x, lin_acc_y, lin_acc_z = sensor.linear_acceleration() # In earth g.
gyr_x, gyr_y, gyr_z = sensor.gyroscope() # In degrees/second.
mag_x, mag_y, mag_z = sensor.magnetometer() # In µT.
qx, qy, qz, qw = sensor.quaternion() # Quaternion.
temp = sensor.temperature() # In degrees celsius.
print(f"{heading=:.2f}, {pitch=:.2f}, {roll=:.2f}")
```
See also [example.py](https://github.com/werner-duvaud/nicla-sense-me-i2c/tree/main/example.py).
## Setup
### Setup the Nicla Sense ME
First we need to compile and upload the software running on the sensor microcontroller.
1. Open `nicla_sense_me.ino` with the [Arduino IDE](https://www.arduino.cc/en/software).
2. Select the "Arduino Nicla Sense ME" board.
3. Install the "Arduino_BHY2" and "ArduinoBLE" libraries from the Library Manager tab.
4. Edit the library file "BoschSensortec.h" located at "Documents/Arduino/libraries/Arduino_BHY2/src/BoschSensortec.h" and move the line `struct bhy2_dev _bhy2;` after the line `public:`.
5. Connect the Micro USB port of the device to the computer.
6. Click on the upload button in Arduino editor.
### Host setup
Install the python library on the host to communicate with the sensor:
```bash
git clone https://github.com/werner-duvaud/nicla-sense-me-i2c.git
cd nicla-sense-me-i2c
pip install .
```
## I2C hardware setup
Wire 4 pin headers: Vin (5v), Ground, SCL, SDA as follows:
## Note
- Using the onboard LED is not recommended as it is using I2C too.
## Reference and useful links
- [BHI260AP Datasheet](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bhi260ap-ds000.pdf)
- [BMM150 Datasheet](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmm150-ds001.pdf)
- [Arduino Nicla Sense ME Cheat Sheet](https://docs.arduino.cc/tutorials/nicla-sense-me/cheat-sheet)