I've connected DSLR to RPi by GPIO; and MPU6050 to RPi using I2C. I'm trying to record the gyro and accelerometer data in a small time window (typically less than 50ms) when I press camera shutter button. My desired sampling rate is somewhere in between 500Hz to 1000Hz. And I use FIFO to temporarily store the sensor data.
The current problem is that the code sometimes oversamples (big offset comparing to the theoretical value). For example, when I set 500Hz for 100ms--I would expect 50 samples but it turned out 62 samples. I don't have this problem if running MPU6050 without syncing the camera.
Also, I'm confused what is
Status = mpu6050.readStatus()
if (Status & 0x10) == 0x10 :
print "Overrun Error! Quitting.\n"
for?
I'd really appreciate if someone can help. Thanks!
Python code:
import datetime
import MPU6050
import math
import time
import numpy
import RPi.GPIO as GPIO
import time
import sys
GPIO.setmode(GPIO.BCM)
TargetSampleTime= 20 #int(sys.argv[1])
TargetRate= 500 #float(sys.argv[2])
GPIO.setup(24,GPIO.IN,pull_up_down=GPIO.PUD_DOWN)
mpu6050 = MPU6050.MPU6050()
mpu6050.setup()
mpu6050.setGResolution(2)
mpu6050.setSampleRate(TargetRate)
mpu6050.enableFifo(False)
time.sleep(0.01)
print "Capturing in {0} ms at {1} samples/sec".format(TargetSampleTime, mpu6050.SampleRate)
mpu6050.resetFifo()
mpu6050.enableFifo(True)
time.sleep(0.01)
Values = []
Total = 0
def my_callback(channel):
print "Rising edge detected on 24"
GPIO.remove_event_detect(24)
GPIO.cleanup()
a = datetime.datetime.now()
# read MPU6050 from FIFO
while True:
Values.extend(mpu6050.readDataFromFifo())
b = datetime.datetime.now()
dt = int((b-a).microseconds/1000)
if dt >= TargetSampleTime:
break;
b = datetime.datetime.now()
Total = len(Values)/14
print "Capture in {0} ms".format((b-a).microseconds/1000)
print "Captured {0} samples".format(Total)
if Total > 0:
Status = mpu6050.readStatus()
if (Status & 0x10) == 0x10 :
print "Overrun Error! Quitting.\n"
quit()
# writing IMU data to txt
print "Saving RawData.txt file."
FO = open("RawData.txt","w")
FO.write("GT\tGx\tGy\tGz\tTemperature\tGyrox\tGyroy\tGyroz\n")
fftdata = []
for loop in range (Total):
SimpleSample = Values[loop*14 : loop*14+14]
I = mpu6050.convertData(SimpleSample)
CurrentForce = math.sqrt( (I.Gx * I.Gx) + (I.Gy * I.Gy) +(I.Gz * I.Gz))
fftdata.append(CurrentForce)
FO.write("{0:6.3f}\t{1:6.3f}\t{2:6.3f}\t{3:6.3f}\t".format(CurrentForce, I.Gx , I.Gy, I.Gz))
FO.write("{0:5.1f}\t{1:6.3f}\t{2:6.3f}\t{3:6.3f}\n".format(I.Temperature,I.Gyrox,I.Gyroy,I.Gyroz))
FO.close()
quit()
# detect shutter button press
GPIO.add_event_detect(24, GPIO.RISING, callback=my_callback, bouncetime=100)
raw_input("Listening...")
Solved it by using SPI instead of I2C. Now I can get data at stable 2000HZ sampling rate.