Completed file and script cutting implementations, etc.

Dockerfile

@@ -1,20 +1,14 @@
-FROM python:2.7
+FROM armhf/python:2.7
 MAINTAINER Cem Gokmen <[email protected]>
 
 COPY . /verne
 WORKDIR /verne
 
-RUN chmod +x install_git.sh
-RUN ./install_git.sh
-
 RUN chmod +x install_rtimulib.sh
 RUN ./install_rtimulib.sh
 
 RUN pip install -r requirements.txt
 
-VOLUME /dev/uart
-VOLUME /dev/i2c-0
-VOLUME /dev/i2c-1
 VOLUME /data
 
 CMD python main.py

README.md

@@ -26,10 +26,10 @@ To run the project, a container must be created with this image and the correct
 ```
 docker create \
     --name=verne
-    -v /dev/ttyAMA0:/dev/uart \
-    -v /dev/i2c-1:/dev/i2c-1 \
+    --device /dev/ttyAMA0 \
+    --device /dev/i2c-1 \
     -v /home/pi/vernedata:/data \
-    --restart=unless-stopped \
+    --restart=on-failure \
     gtviples/verne
 ```
 

RTIMULib.ini

@@ -17,7 +17,7 @@
 #   8 = STM L3GD20H + LSM303DLHC
 #   9 = Bosch BMX055
 #   10 = Bosch BNX055
-IMUType=0
+IMUType=6
 
 # 
 # Fusion type type - 
@@ -48,7 +48,7 @@ SPISpeed=500000
 
 # 
 # I2C slave address (filled in automatically by auto discover) 
-I2CSlaveAddress=0
+I2CSlaveAddress=107
 
 # 
 # IMU axis rotation - see RTIMU.h for details
@@ -82,13 +82,13 @@ I2CHumidityAddress=0
 # 
 
 # Compass calibration settings
-CompassCalValid=false
-CompassCalMinX=0.000000
-CompassCalMinY=0.000000
-CompassCalMinZ=0.000000
-CompassCalMaxX=0.000000
-CompassCalMaxY=0.000000
-CompassCalMaxZ=0.000000
+CompassCalValid=true
+CompassCalMinX=-59.988636
+CompassCalMinY=-23.912876
+CompassCalMinZ=-61.714367
+CompassCalMaxX=47.611153
+CompassCalMaxY=86.796547
+CompassCalMaxZ=42.061466
 
 # #####################################################################
 # 
@@ -101,40 +101,40 @@ compassAdjDeclination=0.000000
 # 
 
 # Compass ellipsoid calibration
-compassCalEllipsoidValid=false
-compassCalOffsetX=0.000000
-compassCalOffsetY=0.000000
-compassCalOffsetZ=0.000000
-compassCalCorr11=1.000000
-compassCalCorr12=0.000000
-compassCalCorr13=0.000000
-compassCalCorr21=0.000000
-compassCalCorr22=1.000000
-compassCalCorr23=0.000000
-compassCalCorr31=0.000000
-compassCalCorr32=0.000000
-compassCalCorr33=1.000000
+compassCalEllipsoidValid=true
+compassCalOffsetX=-0.523097
+compassCalOffsetY=2.773693
+compassCalOffsetZ=-1.804364
+compassCalCorr11=0.980180
+compassCalCorr12=0.010728
+compassCalCorr13=0.001986
+compassCalCorr21=0.010728
+compassCalCorr22=0.992445
+compassCalCorr23=-0.007001
+compassCalCorr31=0.001986
+compassCalCorr32=-0.007001
+compassCalCorr33=0.979710
 
 # #####################################################################
 # 
 
 # Accel calibration
-AccelCalValid=false
-AccelCalMinX=0.000000
-AccelCalMinY=0.000000
-AccelCalMinZ=0.000000
-AccelCalMaxX=0.000000
-AccelCalMaxY=0.000000
-AccelCalMaxZ=0.000000
+AccelCalValid=true
+AccelCalMinX=-0.992136
+AccelCalMinY=-1.006543
+AccelCalMinZ=-1.011658
+AccelCalMaxX=1.011742
+AccelCalMaxY=0.999970
+AccelCalMaxZ=0.990727
 
 # #####################################################################
 # 
 
 # Saved gyro bias data
-GyroBiasValid=false
-GyroBiasX=0.000000
-GyroBiasY=0.000000
-GyroBiasZ=0.000000
+GyroBiasValid=true
+GyroBiasX=0.006298
+GyroBiasY=0.044090
+GyroBiasZ=-0.000801
 
 # #####################################################################
 # 

install_git.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/bin/sh
 set -ex         #Fail if any line fails, print everything
 
 apt-get update

install_rtimulib.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/bin/sh
 set -ex         #Fail if any line fails, print everything
 
 apt-get update

main.py

@@ -27,7 +27,8 @@ def getCSVFilesFromModules(modules, missionTime, i):
         f = open('/data/%s-%d.csv' % (m, i), 'wb')
         writer = csv.writer(f, delimiter=' ', quotechar='|', quoting=csv.QUOTE_MINIMAL)
 
-        writer.writerow([missionTime])
+        printableMissionTime = missionTime - datetime.fromtimestamp(0)
+        writer.writerow([int(printableMissionTime.total_seconds() * 1000)])
 
         csvs[m] = (f, writer)
 
@@ -61,7 +62,7 @@ def closeCSVFiles(csvs):
     # Load the modules
     modules = {}
     modules['imu'] = IMUModule(logger.getChild("imu"))
-    modules['geiger'] = GeigerCounterModule(logger.getChild("geiger"), "/dev/uart", 9600)
+    modules['geiger'] = GeigerCounterModule(logger.getChild("geiger"), "/dev/ttyAMA0", 9600)
 
     missionTime = datetime.now()
     timeToKill = missionTime + timedelta(hours=killScriptAfterHours)
@@ -102,13 +103,15 @@ def closeCSVFiles(csvs):
         for m in modules.keys():
             data = modules[m].poll(missionElapsedTime)
 
-            if len(data) > 0:
-                writer = csvs[m][0]
+            if data is not None and len(data) > 0:
+                writer = csvs[m][1]
 
                 for datum in data:
                     writer.writerow([missionElapsedTime] + list(datum))
 
         if killer.kill_now:
             break
 
-    logger.info("The eagle has landed: stopping recording. Goodbye!")
+    closeCSVFiles(csvs)
+
+    logger.info("The eagle has landed: stopping recording. Goodbye!")

requirements.txt

@@ -1 +1,2 @@
-pyserial==3.3
+pyserial==3.3
+PyYAML==3.12

sensormodules/GeigerCounterModule.py

@@ -13,9 +13,9 @@ def poll(self, dt):
 
         data = self.sm.poll(dt)
 
-        retval = []
+        if data is not None:
+            retval = []
+            for c in data:
+                retval.append(c)
 
-        for c in data:
-            retval.append(c)
-
-        return retval
+            return retval

sensormodules/IMUModule.py

@@ -32,8 +32,10 @@ def __init__(self, logger):
         imu.setCompassEnable(True)
 
         self.imu = imu
-        self.pollInterval = imu.IMUGetPollInterval()
+        self.pollInterval = IMUModule.MILLISECOND_POLLING_INTERVAL
         self.logger = logger
+        self.data = None
+        self.lastPoll = None
 
     def poll(self, dt):
         if self.imu.IMURead():