bno085 在Linuｘ使用python的串口 读取

安装
adafruit_bno08x

pip3 install adafruit-circuitpython-bno08x
pip3 install adafruit-circuitpython-bno08x-rvc

read_bno.py

import adafruit_bno08x
from adafruit_bno08x_rvc import BNO08x_RVC
import serial
import time
import numpy as np
import argparse
import os
import math
import time 
import sys
import datetime
from paho.mqtt import client as mqtt_client
import random
import threading
import json

uart = serial.Serial("/dev/ttyS3", 115200)
#MQTT相关
broker = '127.0.0.1'
#broker = 'www.woyilian.com'
port = 1883
topic = "/sensors/bno085"
cmd_topic = "/cmd/vel"
client_id = 'python-mqtt-{}'.format(random.randint(0, 1000))

#定义mqtt的client
client = mqtt_client.Client(client_id)

rvc = BNO08x_RVC(uart)

def getcmd(roll,pitch,yaw,ax,ay,az):
    data = {"roll":"%2.2f"%(roll),"pitch":"%2.2f"%(pitch),"yaw":"%2.2f"%(yaw),"ax":"%f" %(ax),"ay":"%f" %(ay),"az":"%f" %(az)
           }
    return  data  
def read_bno085():
    time.sleep(0.1)
    while True:
        yaw, pitch, roll, x_accel, y_accel, z_accel = rvc.heading
        print("Yaw: %2.2f Pitch: %2.2f Roll: %2.2f Degrees" % (yaw, pitch, roll))
        print("Acceleration X: %2.2f Y: %2.2f Z: %2.2f m/s^2" % (x_accel, y_accel, z_accel))
        print("")
        cmd =getcmd(roll,pitch,yaw,x_accel,y_accel,z_accel)
        json_data = json.dumps(cmd)
        result = client.publish(topic,json_data,0)

        # result: [0, 1]
        status = result[0]
        if status == 0:
            print(f"Send  to topic `{topic}`")
        else:
            print(f"Failed to send message to topic {topic}")

th1 = threading.Thread(target = read_bno085)
th1.setDaemon(True)
th1.start()

def on_connect(client, userdata, flags, rc):
    print("Connected with result code "+str(rc))

def on_message(client, userdata, msg):
    global _switch
    #print(msg.topic+" "+msg.payload.decode("utf-8"))
    _switch = ord(msg.payload.decode("utf-8"))-48

    print("%d"%_switch)
def publish(client):
    global last_time
    global detect_ok

    global resultImg
    msg_count = 0
    while True:

        time.sleep(0.001)

if __name__ == '__main__':

    print(" connected!")        
    client.on_connect = on_connect
    client.on_message = on_message
    client.connect(broker, port, 60)
    #publish(client)
    # 订阅主题
    #client.subscribe(cmd_topic)
    client.loop_forever()