Devantech CMPS010 module V2

Devantech_CMPS010.py

from Adafruit_I2C import Adafruit_I2C

# ===========================================================================
# CMPS10 Class
# The CMPS10 board is developed by devantech 
# Chris Wallace 2012-09-19
# 2012-09-24  addresses corrected, magnetic and true bearings, @property, dXYZ renamed
# ===========================================================================

class CMPS10(object) :
  __CMPS10_bearing8 = 0x01
  __CMPS10_bearing16 = 0x02
  __CMPS10_pitch = 0x04
  __CMPS10_roll = 0x05
  __CMPS10_X = 0x0A
  __CMPS10_Y = 0x0C
  __CMPS10_Z = 0x0E
  __CMPS10_aX = 0x10
  __CMPS10_aY = 0x12
  __CMPS10_aZ = 0x14
 
  def __init__(self, address=0x60,  debug=False):
    self.i2c = Adafruit_I2C(address)
    self.address = address
    self.debug = debug

  @property
  def magnetic_bearing(self):
    "Reads the high resolution compass bearing"
    bearing16 = float(self.i2c.readU16(self.__CMPS10_bearing16)) / 10
    if (self.debug):
      print "DBG: magnetic bearing: ", bearing16
    return bearing16

  def true_bearing(self,declination) :
    true =  ((self.magnetic_bearing + declination) + 360) % 360
    if (self.debug) :
      print "DBG: declination: ", declination," true bearing: ", true
    return true

  @property
  def pitch(self) :
    "Reads the pitch as a signed 8 bit angle in degrees"
    pitch = self.i2c.readS8(self.__CMPS10_pitch)
    if (self.debug):
      print "DBG: pitch: ", pitch
    return pitch

  @property
  def roll(self) :
    "Reads the roll as a signed 8 bit angle in degrees"
    roll = self.i2c.readS8(self.__CMPS10_roll)
    if (self.debug):
      print "DBG: roll: ", roll
    return roll

  @property
  def XYZ(self) :
    "Reads the raw XYZ magnatron values "
    XYZ = (self.i2c.readS16(self.__CMPS10_X),self.i2c.readS16(self.__CMPS10_Y),self.i2c.readS16(self.__CMPS10_Z))
    if (self.debug):
      print "DBG: raw: ", XYZ
    return XYZ

  @property
  def aXYZ(self) :
    "Reads the XYZ accelerometer values "
    aXYZ = (self.i2c.readS16(self.__CMPS10_aX),self.i2c.readS16(self.__CMPS10_aY),self.i2c.readS16(self.__CMPS10_aZ))
    if (self.debug):
      print "DBG: accelerometer: ", aXYZ
    return aXYZ