좋은 출처 : https://www.electronicwings.com/raspberry-pi/mpu6050-accelerometergyroscope-interfacing-with-raspberry-pi

MPU6050 Code for Raspberry Pi using Python 

'''
        Read Gyro and Accelerometer by Interfacing Raspberry Pi with MPU6050 using Python
	http://www.electronicwings.com
'''
import smbus				#import SMBus module of I2C
from time import sleep        #import

#some MPU6050 Registers and their Address
PWR_MGMT_1   = 0x6B
SMPLRT_DIV   = 0x19
CONFIG       = 0x1A
GYRO_CONFIG  = 0x1B
INT_ENABLE   = 0x38
ACCEL_XOUT_H = 0x3B
ACCEL_YOUT_H = 0x3D
ACCEL_ZOUT_H = 0x3F
GYRO_XOUT_H  = 0x43
GYRO_YOUT_H  = 0x45
GYRO_ZOUT_H  = 0x47


def MPU_Init():
	#write to sample rate register
	bus.write_byte_data(Device_Address, SMPLRT_DIV, 7)
	
	#Write to power management register
	bus.write_byte_data(Device_Address, PWR_MGMT_1, 1)
	
	#Write to Configuration register
	bus.write_byte_data(Device_Address, CONFIG, 0)
	
	#Write to Gyro configuration register
	bus.write_byte_data(Device_Address, GYRO_CONFIG, 24)
	
	#Write to interrupt enable register
	bus.write_byte_data(Device_Address, INT_ENABLE, 1)

def read_raw_data(addr):
	#Accelero and Gyro value are 16-bit
        high = bus.read_byte_data(Device_Address, addr)
        low = bus.read_byte_data(Device_Address, addr+1)
    
        #concatenate higher and lower value
        value = ((high << 8) | low)
        
        #to get signed value from mpu6050
        if(value > 32768):
                value = value - 65536
        return value


bus = smbus.SMBus(5) 	# or bus = smbus.SMBus(0) for older version boards
Device_Address = 0x68   # MPU6050 device address

MPU_Init()

print (" Reading Data of Gyroscope and Accelerometer")

while True:
	
	#Read Accelerometer raw value
	acc_x = read_raw_data(ACCEL_XOUT_H)
	acc_y = read_raw_data(ACCEL_YOUT_H)
	acc_z = read_raw_data(ACCEL_ZOUT_H)
	
	#Read Gyroscope raw value
	gyro_x = read_raw_data(GYRO_XOUT_H)
	gyro_y = read_raw_data(GYRO_YOUT_H)
	gyro_z = read_raw_data(GYRO_ZOUT_H)
	
	#Full scale range +/- 250 degree/C as per sensitivity scale factor
	Ax = acc_x/16384.0
	Ay = acc_y/16384.0
	Az = acc_z/16384.0
	
	Gx = gyro_x/131.0
	Gy = gyro_y/131.0
	Gz = gyro_z/131.0
	

	print ("Gx=%.2f" %Gx, u'\u00b0'+ "/s", "\tGy=%.2f" %Gy, u'\u00b0'+ "/s", "\tGz=%.2f" %Gz, u'\u00b0'+ "/s", "\tAx=%.2f g" %Ax, "\tAy=%.2f g" %Ay, "\tAz=%.2f g" %Az) 	
	sleep(1)

Code 실행 결과 

 Reading Data of Gyroscope and Accelerometer
Gx=0.00 °/s     Gy=0.00 °/s     Gz=0.00 °/s     Ax=0.00 g       Ay=0.00 g       Az=0.00 g
Gx=-0.25 °/s    Gy=-0.05 °/s    Gz=-0.04 °/s    Ax=-0.18 g      Ay=0.56 g       Az=0.72 g
Gx=-0.28 °/s    Gy=-0.10 °/s    Gz=-0.02 °/s    Ax=-0.17 g      Ay=0.56 g       Az=0.74 g
Gx=21.01 °/s    Gy=-46.73 °/s   Gz=-66.13 °/s   Ax=-0.60 g      Ay=0.53 g       Az=1.98 g
Gx=-1.12 °/s    Gy=0.08 °/s     Gz=-2.44 °/s    Ax=0.91 g       Ay=0.25 g       Az=-0.42 g
Gx=-20.89 °/s   Gy=22.92 °/s    Gz=-12.68 °/s   Ax=0.57 g       Ay=0.91 g       Az=-0.08 g
Gx=-8.25 °/s    Gy=6.10 °/s     Gz=-2.79 °/s    Ax=-0.14 g      Ay=-0.28 g      Az=0.79 g
Gx=0.19 °/s     Gy=-1.33 °/s    Gz=0.41 °/s     Ax=-0.27 g      Ay=-0.19 g      Az=0.89 g
Gx=-1.12 °/s    Gy=0.74 °/s     Gz=-1.82 °/s    Ax=0.01 g       Ay=-0.03 g      Az=0.93 g
Gx=-16.98 °/s   Gy=-8.69 °/s    Gz=-0.35 °/s    Ax=0.53 g       Ay=0.11 g       Az=0.41 g
Gx=-0.86 °/s    Gy=-3.69 °/s    Gz=-3.56 °/s    Ax=0.41 g       Ay=-0.85 g      Az=1.86 g
Gx=8.50 °/s     Gy=-13.91 °/s   Gz=-2.17 °/s    Ax=1.00 g       Ay=0.22 g       Az=-0.11 g
Gx=1.95 °/s     Gy=-15.69 °/s   Gz=-6.44 °/s    Ax=0.88 g       Ay=0.49 g       Az=0.22 g
Gx=-0.90 °/s    Gy=-19.22 °/s   Gz=4.11 °/s     Ax=0.79 g       Ay=0.20 g       Az=0.20 g
Gx=2.63 °/s     Gy=-0.53 °/s    Gz=3.50 °/s     Ax=0.57 g       Ay=0.22 g       Az=0.47 g
Gx=7.98 °/s     Gy=-5.44 °/s    Gz=-4.53 °/s    Ax=0.16 g       Ay=-0.44 g      Az=1.19 g
Gx=-1.49 °/s    Gy=2.40 °/s     Gz=-1.51 °/s    Ax=0.50 g       Ay=-0.40 g      Az=0.69 g
Gx=9.06 °/s     Gy=-0.34 °/s    Gz=11.00 °/s    Ax=-0.20 g      Ay=-0.04 g      Az=0.61 g
Gx=8.08 °/s     Gy=-0.40 °/s    Gz=-2.18 °/s    Ax=-0.12 g      Ay=0.08 g       Az=0.93 g
Gx=-0.26 °/s    Gy=-0.06 °/s    Gz=-0.07 °/s    Ax=-0.04 g      Ay=0.12 g       Az=0.94 g
Gx=-0.23 °/s    Gy=-0.02 °/s    Gz=-0.08 °/s    Ax=-0.04 g      Ay=0.12 g       Az=0.94 g
Gx=-0.25 °/s    Gy=-0.08 °/s    Gz=-0.09 °/s    Ax=-0.06 g      Ay=0.15 g       Az=0.93 g
Gx=-0.23 °/s    Gy=-0.05 °/s    Gz=-0.03 °/s    Ax=-0.06 g      Ay=0.17 g       Az=0.93 g
Gx=-0.29 °/s    Gy=-0.06 °/s    Gz=-0.05 °/s    Ax=-0.07 g      Ay=0.15 g       Az=0.92 g
Gx=-0.40 °/s    Gy=0.06 °/s     Gz=-0.11 °/s    Ax=-0.07 g      Ay=0.16 g       Az=0.94 g
Gx=-0.28 °/s    Gy=-0.04 °/s    Gz=-0.08 °/s    Ax=-0.08 g      Ay=0.17 g       Az=0.93 g
Gx=-0.25 °/s    Gy=-0.07 °/s    Gz=-0.04 °/s    Ax=-0.06 g      Ay=0.14 g       Az=0.94 g
Gx=-0.27 °/s    Gy=-0.05 °/s    Gz=-0.02 °/s    Ax=-0.06 g      Ay=0.16 g       Az=0.93 g
Gx=6.27 °/s     Gy=8.89 °/s     Gz=2.79 °/s     Ax=0.06 g       Ay=-0.07 g      Az=0.90 g
Gx=4.08 °/s     Gy=36.98 °/s    Gz=-14.33 °/s   Ax=0.28 g       Ay=0.08 g       Az=0.66 g
Gx=-2.27 °/s    Gy=-2.36 °/s    Gz=-1.52 °/s    Ax=-0.13 g      Ay=0.01 g       Az=0.95 g
Gx=0.41 °/s     Gy=-0.18 °/s    Gz=-0.15 °/s    Ax=-0.09 g      Ay=0.30 g       Az=0.89 g
^CTraceback (most recent call last):
  File "/root/o/2.py", line 82, in <module>
    sleep(1)

파이나 기타 리눅스 계열의 SBC에서 C나 Python을 사용하지 않으면 요즘 나오는 대부분의 센서를 다루기가 여간 골치가 아닌데, 이걸 간단한 파이션으로 만든 UDP 서버 프로그램을 수정해서  아주 간단하게 socket으로 센서값을 전달받으면 단순하게 풀릴 듯 하다.

아래 코드는 파이션 UDP 서버 코드이다.

  출처는 : pythontic.com/modules/socket/udp-client-server-example

아래 코드를 실행시키고 혹시라도 CPU와 RAM의 부하를 봤는데 거의 변화가 없었다.   ㅎㅎㅎ.

import socket

 

localIP     = "127.0.0.1"

localPort   = 20001

bufferSize  = 1024

 

msgFromServer       = "Hello UDP Client"

bytesToSend         = str.encode(msgFromServer)

 

# Create a datagram socket

UDPServerSocket = socket.socket(family=socket.AF_INET, type=socket.SOCK_DGRAM)

 

# Bind to address and ip

UDPServerSocket.bind((localIP, localPort))

 

print("UDP server up and listening")

 

# Listen for incoming datagrams

while(True):

    bytesAddressPair = UDPServerSocket.recvfrom(bufferSize)

    message = bytesAddressPair[0]

    address = bytesAddressPair[1]

    clientMsg = "Message from Client:{}".format(message)
    clientIP  = "Client IP Address:{}".format(address)
    
    print(clientMsg)
    print(clientIP)

   

    # Sending a reply to client

    UDPServerSocket.sendto(bytesToSend, address)

위의 채팅 서버에 거리측정 센서 VL53L0X를 읽는 코드를 섞어서 센서값을 보내라고 명령하면 보내게만 만들면 컨트롤 프로그램은 통신만 잘 관리하면 된다.   아래 코드는 이 센서를 읽는 코드이다.   

출처 : github.com/johnbryanmoore/VL53L0X_rasp_python

#!/usr/bin/python

# MIT License
# 
# Copyright (c) 2017 John Bryan Moore

import time
import VL53L0X

# Create a VL53L0X object
tof = VL53L0X.VL53L0X()

# Start ranging
tof.start_ranging(VL53L0X.VL53L0X_BETTER_ACCURACY_MODE)

timing = tof.get_timing()
if (timing < 20000):
    timing = 20000
# print ("Timing %d ms" % (timing/1000))

for count in range(1,2):
    distance = tof.get_distance()
    if (distance > 0):
        print ("%d mm, %d cm, %d" % (distance, (distance/10), count))

    time.sleep(timing/1000000.00)

tof.stop_ranging()

====================================================================

For Lazarus IDE's UDP Component for Orange Pi Zero or Raspberry Pi, download from github.com/almindor/lnet

====================================================================

몇시간만에 뚝딱뚝딱 간단하게 만들어 본 실험 모델인데 기능들을 넣고 많이 다듬으면 쓸만할 듯 하다.

==============================================================================

Completed Basic Structure : 현재 VL53L0X library에 관한 부분들은 모두 #로 막아놨습니다. 

#!/usr/bin/python

import socket
import time
#import VL53L0X

localIP     = "127.0.0.1"
localPort   = 6767
bufferSize  = 1024

msgFromServer       = "Sensor service server connected!"
bytesToSend         = str.encode(msgFromServer)
cmd                 = ""
respStr             = ""

# Create a datagram socket
UDPServerSocket = socket.socket(family=socket.AF_INET, type=socket.SOCK_DGRAM)

# Bind to address and ip
UDPServerSocket.bind((localIP, localPort))

print("UDP server up and listening")

# Create a VL53L0X object
#tof = VL53L0X.VL53L0X()

# Start ranging
#tof.start_ranging(VL53L0X.VL53L0X_BETTER_ACCURACY_MODE)

#timing = tof.get_timing()
#if (timing < 20000):
#    timing = 20000

# Listen for incoming datagrams
while(True):
    data, client = UDPServerSocket.recvfrom(bufferSize) 
    cmd = data.decode('utf-8')
    
    #print(cmd)  # for debug purpose

    if cmd == '1' :  # Test by sending '1' from Client Application 
       #for count in range(1,2):
          #distance = tof.get_distance()
          #if (distance > 0):
          #    print ("%d mm, %d cm, %d" % (distance, (distance/10), count))
          #    respStr = f"{distance} mm, {distance/10}"

          #time.sleep(timing/1000000.00)
       respStr = "VL53L0X result"
       bytesToSend = str.encode(respStr)
       UDPServerSocket.sendto(bytesToSend, client)
    else :
       # Sending a reply to client
       respStr = "Server received %s " % cmd 
       bytesToSend = str.encode(respStr)
       UDPServerSocket.sendto(bytesToSend, client)