A Python server for Raspberry Pi that serves IMU data over TCP. Uses Adafruit LIS3MDL + LSM6DSOX 9 DoF sensor I2C board. Also optionally serves GPS data from an Adafruit Ultimate GPS USB board.
See:
To install in developer mode, including dependencies:
$ sudo pip3 install -e .
To run the server:
$ python3 rpimv/main.py
Serving on rpimv:1987 ...
2021-12-12 12:00:00.000000 acquire_imu
2021-12-12 12:00:00.000000 acquire_gps
2021-12-12 12:00:01.000000 acquire_imu
2021-12-12 12:00:01.000000 acquire_gps
or simply run the installed rpimv script from anywhere.
To test the server with a simple client:
$ python3 rpimv/client.py
Connected to rpimv:1987 ...
-3.30688,-0.184247,9.4349,-0.00610865,-0.00702495,-0.000305433,15.9456,7.79012,2.3385
NO_GPS_FIX
-3.29731,-0.17348,9.45165,-0.00641409,-0.0267254,-0.000763582,16.1502,7.98012,2.28004
50.0000,10.0000,500.0,1,4,2021-12-12-11:01:00
or simply run the installed rpimvcl script from anywhere.
The returned comma separated IMU data are:
ax, ay, az, wx, wy, wz, mx, my, mz
Where a* is acceleration (m/s2), w* is angular velocity (rad/s),
and m* is magnetic field strength (uT), on all 3 axes.
The returned comma separated GPS data are:
latitude, longitude, elevation, fix quality, num satellites, UTC datetime
where latitude and longitude are in deg, and elevation is in m.
To automatically start rpimv in a terminal window on bootup, copy bin/rpimv.desktop
to /etc/xdg/autostart/.