Hi,
ich habe für die Sensoren meines Umweltmoduls jeweils ein eigenes Programm geschrieben, welches dann im mein Main importiert wird. Das Problem ist, dass eine ziemlich hohe Laufzeit meiner Main habe, was durch das Programm eines Sensors verursacht wird. Aber wenn ich das Programm einzeln laufen lasse habe ich eine Laufzeit von wenigen milli Sekunden und nicht wie vorher von einigen hundert milli Sekunden.
Wäre super wenn mir jemand dabei helfen könnte, da ich schon viel Zeit in das Problem investiert habe.
Gruß Tim.
Laufzeitoptimierung
Code: Alles auswählen
#main
# -*- coding:utf-8 -*-
from SHTC3 import *
from LPS22HB import *
from ICM20948 import *
import time
i = 0
Temp = SHTC3().SHTC3_Read_Temperature()
Hum = SHTC3().SHTC3_Read_Humidity()
Press = DATA_LPS22HB().Pressure()
while True:
#Temp = DATA_LPS22HB().Temperature()
i = i+1
if i== 5:
Temp = SHTC3().SHTC3_Read_Temperature()
Hum = SHTC3().SHTC3_Read_Humidity()
Press = DATA_LPS22HB().Pressure()
i = 0
start = time.time()
#(Gyro,Accel) = DATA_ICM20948().AccAndGyro()
#DATA_ICM20948().AccAndGyro()
ICM20948().icm20948_Gyro_Accel_Read()
#Mag = DATA_ICM20948().Magnetic()
end = time.time()
#file = open("test.txt", "a")
#file.write(str(Gyro[0]))
#file.write("\n")
#file.write(str(Accel[0]))
#file.write("\n")
#file.close()
print('Temperature: %6.2f°C' %(Temp))
print('Humidity: %6.2f%%' %(Hum))
print('Pressure: %6.2fhPa' %(Press))
#print('Magnetic: X = %d , Y = %d , Z = %d'%(Mag[0],Mag[1],Mag[2]))
print('Gyroscope: X = %d , Y = %d , Z = %d' %(Gyro[0],Gyro[1],Gyro[2]))
print('Acceleration: X = %d , Y = %d , Z = %d' %(Accel[0],Accel[1],Accel[2]))
print('Time: %2.4fs' %(end - start))
print('------------------------------')Bitte in Zukunft selbst den Code in Code-Tags (der </>-Knopf im vollständigen Editor) setzen.
Und was genau ist jetzt anders, als wenn es alleine betrieben wird?
Ein Ding, das schonmal sofort ins Auge faellt: du erzeugst permanent das ICM20948-Objekt neu, statt *EINMAL* zu Beginn deines Codes. Wenn das lange braucht, dann ist das eine Erklaerung.
Und was genau ist jetzt anders, als wenn es alleine betrieben wird?
Ein Ding, das schonmal sofort ins Auge faellt: du erzeugst permanent das ICM20948-Objekt neu, statt *EINMAL* zu Beginn deines Codes. Wenn das lange braucht, dann ist das eine Erklaerung.
-
einfachTobi
- User
- Beiträge: 492
- Registriert: Mittwoch 13. November 2019, 08:38
Bitte Code-Tags im vollständigen Editor verwenden, damit die Einrückungen erhalten bleiben.
Das Programm läuft dank der while-Schleife ewig. Was meinst du also mit Laufzeit von einigen Millisekunden? Oder meinst du den Bereich, den zu stoppst (ICM20948().icm20948_Gyro_Accel_Read())? Falls ja, wie sieht denn die Funktion aus? Ein pauschaler Grund kann sein, dass du ständig neue ICM20*-Objekte erzeugst.
Versuche:
Mit den anderen Sensoren verhält es sich genauso.
Das Programm läuft dank der while-Schleife ewig. Was meinst du also mit Laufzeit von einigen Millisekunden? Oder meinst du den Bereich, den zu stoppst (ICM20948().icm20948_Gyro_Accel_Read())? Falls ja, wie sieht denn die Funktion aus? Ein pauschaler Grund kann sein, dass du ständig neue ICM20*-Objekte erzeugst.
Versuche:
Code: Alles auswählen
# ...
icm_sensor = ICM20948()
while True:
#...
icm_wert = icm_sensor.icm20948_Gyro_Accel_Read()
#...
Code: Alles auswählen
def icm20948_Gyro_Accel_Read(self):
self._write_byte( REG_ADD_REG_BANK_SEL , REG_VAL_REG_BANK_0)
data =self._read_block(REG_ADD_ACCEL_XOUT_H, 12)
self._write_byte( REG_ADD_REG_BANK_SEL , REG_VAL_REG_BANK_2)
Accel[0] = (data[0]<<8)|data[1]
Accel[1] = (data[2]<<8)|data[3]
Accel[2] = (data[4]<<8)|data[5]
Gyro[0] = ((data[6]<<8)|data[7]) - GyroOffset[0]
Gyro[1] = ((data[8]<<8)|data[9]) - GyroOffset[1]
Gyro[2] = ((data[10]<<8)|data[11]) - GyroOffset[2]
if Accel[0]>=32767: #Solve the problem that Python shift will not overflow
Code: Alles auswählen
#!/usr/bin/python
# -*- coding:utf-8 -*-
import time
import smbus
import math
Gyro = [0,0,0]
Accel = [0,0,0]
Mag = [0,0,0]
pu8data=[0,0,0,0,0,0,0,0]
U8tempX=[0,0,0,0,0,0,0,0,0]
U8tempY=[0,0,0,0,0,0,0,0,0]
U8tempZ=[0,0,0,0,0,0,0,0,0]
GyroOffset=[0,0,0]
angles=[0.0,0.0,0.0]
true =0x01
false =0x00
# define ICM-20948 Device I2C address
I2C_ADD_ICM20948 = 0x68
I2C_ADD_ICM20948_AK09916 = 0x0C
I2C_ADD_ICM20948_AK09916_READ = 0x80
I2C_ADD_ICM20948_AK09916_WRITE = 0x00
# define ICM-20948 Register
# user bank 0 register
REG_ADD_WIA = 0x00
REG_VAL_WIA = 0xEA
REG_ADD_USER_CTRL = 0x03
REG_VAL_BIT_DMP_EN = 0x80
REG_VAL_BIT_FIFO_EN = 0x40
REG_VAL_BIT_I2C_MST_EN = 0x20
REG_VAL_BIT_I2C_IF_DIS = 0x10
REG_VAL_BIT_DMP_RST = 0x08
REG_VAL_BIT_DIAMOND_DMP_RST = 0x04
REG_ADD_PWR_MIGMT_1 = 0x06
REG_VAL_ALL_RGE_RESET = 0x80
REG_VAL_RUN_MODE = 0x01 # Non low-power mode
REG_ADD_LP_CONFIG = 0x05
REG_ADD_PWR_MGMT_1 = 0x06
REG_ADD_PWR_MGMT_2 = 0x07
REG_ADD_ACCEL_XOUT_H = 0x2D
REG_ADD_ACCEL_XOUT_L = 0x2E
REG_ADD_ACCEL_YOUT_H = 0x2F
REG_ADD_ACCEL_YOUT_L = 0x30
REG_ADD_ACCEL_ZOUT_H = 0x31
REG_ADD_ACCEL_ZOUT_L = 0x32
REG_ADD_GYRO_XOUT_H = 0x33
REG_ADD_GYRO_XOUT_L = 0x34
REG_ADD_GYRO_YOUT_H = 0x35
REG_ADD_GYRO_YOUT_L = 0x36
REG_ADD_GYRO_ZOUT_H = 0x37
REG_ADD_GYRO_ZOUT_L = 0x38
REG_ADD_EXT_SENS_DATA_00 = 0x3B
REG_ADD_REG_BANK_SEL = 0x7F
REG_VAL_REG_BANK_0 = 0x00
REG_VAL_REG_BANK_1 = 0x10
REG_VAL_REG_BANK_2 = 0x20
REG_VAL_REG_BANK_3 = 0x30
# user bank 1 register
# user bank 2 register
REG_ADD_GYRO_SMPLRT_DIV = 0x00
REG_ADD_GYRO_CONFIG_1 = 0x01
REG_VAL_BIT_GYRO_DLPCFG_2 = 0x10 # bit[5:3]
REG_VAL_BIT_GYRO_DLPCFG_4 = 0x20 # bit[5:3]
REG_VAL_BIT_GYRO_DLPCFG_6 = 0x30 # bit[5:3]
REG_VAL_BIT_GYRO_FS_250DPS = 0x00 # bit[2:1]
REG_VAL_BIT_GYRO_FS_500DPS = 0x02 # bit[2:1]
REG_VAL_BIT_GYRO_FS_1000DPS = 0x04 # bit[2:1]
REG_VAL_BIT_GYRO_FS_2000DPS = 0x06 # bit[2:1]
REG_VAL_BIT_GYRO_DLPF = 0x01 # bit[0]
REG_ADD_ACCEL_SMPLRT_DIV_2 = 0x11
REG_ADD_ACCEL_CONFIG = 0x14
REG_VAL_BIT_ACCEL_DLPCFG_2 = 0x10 # bit[5:3]
REG_VAL_BIT_ACCEL_DLPCFG_4 = 0x20 # bit[5:3]
REG_VAL_BIT_ACCEL_DLPCFG_6 = 0x30 # bit[5:3]
REG_VAL_BIT_ACCEL_FS_2g = 0x00 # bit[2:1]
REG_VAL_BIT_ACCEL_FS_4g = 0x02 # bit[2:1]
REG_VAL_BIT_ACCEL_FS_8g = 0x04 # bit[2:1]
REG_VAL_BIT_ACCEL_FS_16g = 0x06 # bit[2:1]
REG_VAL_BIT_ACCEL_DLPF = 0x01 # bit[0]
# user bank 3 register
REG_ADD_I2C_SLV0_ADDR = 0x03
REG_ADD_I2C_SLV0_REG = 0x04
REG_ADD_I2C_SLV0_CTRL = 0x05
REG_VAL_BIT_SLV0_EN = 0x80
REG_VAL_BIT_MASK_LEN = 0x07
REG_ADD_I2C_SLV0_DO = 0x06
REG_ADD_I2C_SLV1_ADDR = 0x07
REG_ADD_I2C_SLV1_REG = 0x08
REG_ADD_I2C_SLV1_CTRL = 0x09
REG_ADD_I2C_SLV1_DO = 0x0A
# define ICM-20948 Register end
# define ICM-20948 MAG Register
REG_ADD_MAG_WIA1 = 0x00
REG_VAL_MAG_WIA1 = 0x48
REG_ADD_MAG_WIA2 = 0x01
REG_VAL_MAG_WIA2 = 0x09
REG_ADD_MAG_ST2 = 0x10
REG_ADD_MAG_DATA = 0x11
REG_ADD_MAG_CNTL2 = 0x31
REG_VAL_MAG_MODE_PD = 0x00
REG_VAL_MAG_MODE_SM = 0x01
REG_VAL_MAG_MODE_10HZ = 0x02
REG_VAL_MAG_MODE_20HZ = 0x04
REG_VAL_MAG_MODE_50HZ = 0x05
REG_VAL_MAG_MODE_100HZ = 0x08
REG_VAL_MAG_MODE_ST = 0x10
# define ICM-20948 MAG Register end
MAG_DATA_LEN =6
class ICM20948(object):
def __init__(self,address=I2C_ADD_ICM20948):
self._address = address
self._bus = smbus.SMBus(1)
bRet=self.icm20948Check() #Initialization of the device multiple times after power on will result in a return error
#while true != bRet:
# print("ICM-20948 Error\n" )
# time.sleep(0.5)
#print("ICM-20948 OK\n" )
#time.sleep(0.5) #We can skip this detection by delaying it by 500 milliseconds
# user bank 0 register
self._write_byte( REG_ADD_REG_BANK_SEL , REG_VAL_REG_BANK_0)
self._write_byte( REG_ADD_PWR_MIGMT_1 , REG_VAL_ALL_RGE_RESET)
time.sleep(0.1)
self._write_byte( REG_ADD_PWR_MIGMT_1 , REG_VAL_RUN_MODE)
#user bank 2 register
self._write_byte( REG_ADD_REG_BANK_SEL , REG_VAL_REG_BANK_2)
self._write_byte( REG_ADD_GYRO_SMPLRT_DIV , 0x07)
self._write_byte( REG_ADD_GYRO_CONFIG_1 , REG_VAL_BIT_GYRO_DLPCFG_6 | REG_VAL_BIT_GYRO_FS_1000DPS | REG_VAL_BIT_GYRO_DLPF)
self._write_byte( REG_ADD_ACCEL_SMPLRT_DIV_2 , 0x07)
self._write_byte( REG_ADD_ACCEL_CONFIG , REG_VAL_BIT_ACCEL_DLPCFG_6 | REG_VAL_BIT_ACCEL_FS_2g | REG_VAL_BIT_ACCEL_DLPF)
#user bank 0 register
self._write_byte( REG_ADD_REG_BANK_SEL , REG_VAL_REG_BANK_0)
time.sleep(0.1)
self.icm20948GyroOffset()
self.icm20948MagCheck()
self.icm20948WriteSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_WRITE,REG_ADD_MAG_CNTL2, REG_VAL_MAG_MODE_20HZ)
def icm20948_Gyro_Accel_Read(self):
self._write_byte( REG_ADD_REG_BANK_SEL , REG_VAL_REG_BANK_0)
data =self._read_block(REG_ADD_ACCEL_XOUT_H, 12)
self._write_byte( REG_ADD_REG_BANK_SEL , REG_VAL_REG_BANK_2)
Accel[0] = (data[0]<<8)|data[1]
Accel[1] = (data[2]<<8)|data[3]
Accel[2] = (data[4]<<8)|data[5]
Gyro[0] = ((data[6]<<8)|data[7]) - GyroOffset[0]
Gyro[1] = ((data[8]<<8)|data[9]) - GyroOffset[1]
Gyro[2] = ((data[10]<<8)|data[11]) - GyroOffset[2]
if Accel[0]>=32767: #Solve the problem that Python shift will not overflow
Accel[0]=Accel[0]-65535
elif Accel[0]<=-32767:
Accel[0]=Accel[0]+65535
if Accel[1]>=32767:
Accel[1]=Accel[1]-65535
elif Accel[1]<=-32767:
Accel[1]=Accel[1]+65535
if Accel[2]>=32767:
Accel[2]=Accel[2]-65535
elif Accel[2]<=-32767:
Accel[2]=Accel[2]+65535
if Gyro[0]>=32767:
Gyro[0]=Gyro[0]-65535
elif Gyro[0]<=-32767:
Gyro[0]=Gyro[0]+65535
if Gyro[1]>=32767:
Gyro[1]=Gyro[1]-65535
elif Gyro[1]<=-32767:
Gyro[1]=Gyro[1]+65535
if Gyro[2]>=32767:
Gyro[2]=Gyro[2]-65535
elif Gyro[2]<=-32767:
Gyro[2]=Gyro[2]+65535
def icm20948MagRead(self):
counter=20
while(counter>0):
time.sleep(0.01)
self.icm20948ReadSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_READ , REG_ADD_MAG_ST2, 1)
if ((pu8data[0] & 0x01)!= 0):
break
counter-=1
if counter!=0:
for i in range(0,8):
self.icm20948ReadSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_READ , REG_ADD_MAG_DATA , MAG_DATA_LEN)
U8tempX[i] = (pu8data[1]<<8)|pu8data[0]
U8tempY[i] = (pu8data[3]<<8)|pu8data[2]
U8tempZ[i] = (pu8data[5]<<8)|pu8data[4]
Mag[0]=(U8tempX[0]+U8tempX[1]+U8tempX[2]+U8tempX[3]+U8tempX[4]+U8tempX[5]+U8tempX[6]+U8tempX[7])/8
Mag[1]=-(U8tempY[0]+U8tempY[1]+U8tempY[2]+U8tempY[3]+U8tempY[4]+U8tempY[5]+U8tempY[6]+U8tempY[7])/8
Mag[2]=-(U8tempZ[0]+U8tempZ[1]+U8tempZ[2]+U8tempZ[3]+U8tempZ[4]+U8tempZ[5]+U8tempZ[6]+U8tempZ[7])/8
if Mag[0]>=32767: #Solve the problem that Python shift will not overflow
Mag[0]=Mag[0]-65535
elif Mag[0]<=-32767:
Mag[0]=Mag[0]+65535
if Mag[1]>=32767:
Mag[1]=Mag[1]-65535
elif Mag[1]<=-32767:
Mag[1]=Mag[1]+65535
if Mag[2]>=32767:
Mag[2]=Mag[2]-65535
elif Mag[2]<=-32767:
Mag[2]=Mag[2]+65535
def icm20948ReadSecondary(self,u8I2CAddr,u8RegAddr,u8Len):
u8Temp=0
self._write_byte( REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_3) #swtich bank3
self._write_byte( REG_ADD_I2C_SLV0_ADDR, u8I2CAddr)
self._write_byte( REG_ADD_I2C_SLV0_REG, u8RegAddr)
self._write_byte( REG_ADD_I2C_SLV0_CTRL, REG_VAL_BIT_SLV0_EN|u8Len)
self._write_byte( REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0) #swtich bank0
u8Temp = self._read_byte(REG_ADD_USER_CTRL)
u8Temp |= REG_VAL_BIT_I2C_MST_EN
self._write_byte( REG_ADD_USER_CTRL, u8Temp)
time.sleep(0.01)
u8Temp &= ~REG_VAL_BIT_I2C_MST_EN
self._write_byte( REG_ADD_USER_CTRL, u8Temp)
for i in range(0,u8Len):
pu8data[i]= self._read_byte( REG_ADD_EXT_SENS_DATA_00+i)
self._write_byte( REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_3) #swtich bank3
u8Temp = self._read_byte(REG_ADD_I2C_SLV0_CTRL)
u8Temp &= ~((REG_VAL_BIT_I2C_MST_EN)&(REG_VAL_BIT_MASK_LEN))
self._write_byte( REG_ADD_I2C_SLV0_CTRL, u8Temp)
self._write_byte( REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0) #swtich bank0
def icm20948WriteSecondary(self,u8I2CAddr,u8RegAddr,u8data):
u8Temp=0
self._write_byte( REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_3) #swtich bank3
self._write_byte( REG_ADD_I2C_SLV1_ADDR, u8I2CAddr)
self._write_byte( REG_ADD_I2C_SLV1_REG, u8RegAddr)
self._write_byte( REG_ADD_I2C_SLV1_DO, u8data)
self._write_byte( REG_ADD_I2C_SLV1_CTRL, REG_VAL_BIT_SLV0_EN|1)
self._write_byte( REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0) #swtich bank0
u8Temp = self._read_byte(REG_ADD_USER_CTRL)
u8Temp |= REG_VAL_BIT_I2C_MST_EN
self._write_byte( REG_ADD_USER_CTRL, u8Temp)
time.sleep(0.01)
u8Temp &= ~REG_VAL_BIT_I2C_MST_EN
self._write_byte( REG_ADD_USER_CTRL, u8Temp)
self._write_byte( REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_3) #swtich bank3
u8Temp = self._read_byte(REG_ADD_I2C_SLV0_CTRL)
u8Temp &= ~((REG_VAL_BIT_I2C_MST_EN)&(REG_VAL_BIT_MASK_LEN))
self._write_byte( REG_ADD_I2C_SLV0_CTRL, u8Temp)
self._write_byte( REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0) #swtich bank0
def icm20948GyroOffset(self):
s32TempGx = 0
s32TempGy = 0
s32TempGz = 0
for i in range(0,32):
self.icm20948_Gyro_Accel_Read()
s32TempGx += Gyro[0]
s32TempGy += Gyro[1]
s32TempGz += Gyro[2]
time.sleep(0.01)
GyroOffset[0] = s32TempGx >> 5
GyroOffset[1] = s32TempGy >> 5
GyroOffset[2] = s32TempGz >> 5
def _read_byte(self,cmd):
return self._bus.read_byte_data(self._address,cmd)
def _read_block(self, reg, length=1):
return self._bus.read_i2c_block_data(self._address, reg, length)
def _read_u16(self,cmd):
LSB = self._bus.read_byte_data(self._address,cmd)
MSB = self._bus.read_byte_data(self._address,cmd+1)
return (MSB << 8) + LSB
def _write_byte(self,cmd,val):
self._bus.write_byte_data(self._address,cmd,val)
time.sleep(0.0001)
def icm20948Check(self):
bRet=false
if REG_VAL_WIA == self._read_byte(REG_ADD_WIA):
bRet = true
return bRet
def icm20948MagCheck(self):
self.icm20948ReadSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_READ,REG_ADD_MAG_WIA1, 2)
if (pu8data[0] == REG_VAL_MAG_WIA1) and ( pu8data[1] == REG_VAL_MAG_WIA2) :
bRet = true
return bRet
class DATA_ICM20948:
def Magnetic(self):
import time
icm20948=ICM20948()
icm20948.icm20948MagRead()
return Mag
def AccAndGyro(self):
import time
icm20948=ICM20948()
icm20948.icm20948_Gyro_Accel_Read()
return (Gyro,Accel)
if __name__ == '__main__':
import time
print("\nSense HAT Test Program ...\n")
icm20948=ICM20948()
while True:
start = time.time()
icm20948.icm20948_Gyro_Accel_Read()
end = time.time()
print("\r\n /-------------------------------------------------------------/ \r\n")
print('\r\nAcceleration: X = %d , Y = %d , Z = %d\r\n'%(Accel[0],Accel[1],Accel[2]))
print('\r\nGyroscope: X = %d , Y = %d , Z = %d\r\n'%(Gyro[0],Gyro[1],Gyro[2]))
print('Time: %2.4fs' %(end - start))
Na da haben wir ja das Problem - wie ich schon schrieb, und auch Tobias: du erzeugst das Objekt andauernd neu, und das kostet eben viel Zeit, die dann unnoetig im Loop verschwendet wird. Erzeug das Objekt (so wie du es schon bei jedem anderen Sensor machst) EINMAL am Anfang, und benutz es dann nur noch.
Das `ICM20948`-Modul ist ja ein Katastrophe. Zu geringe Einrückung, Unmengen globaler Listen und das nicht-verwenden des struct-Moduls. Verstöße gegen die Namenskonvention, fehlende Leerzeilen.
Im Hauptprogramm gilt auch, keine *-Importe, keine Abkürzungen verwenden. Und auch die anderen Objekte für den Hardwarezugriff werden Unsinngerweise ständige neu erzeugt.
Im Hauptprogramm gilt auch, keine *-Importe, keine Abkürzungen verwenden. Und auch die anderen Objekte für den Hardwarezugriff werden Unsinngerweise ständige neu erzeugt.
Code: Alles auswählen
from SHTC3 import SHTC3
from LPS22HB import DATA_LPS22HB
from ICM20948 import ICM20948
import time
from itertools import count
shtc3 = SHTC3()
lps22hb = DATA_LPS22HB()
icm20948 = ICM20948()
for i in count():
if i % 5 == 0:
temperature = shtc3.SHTC3_Read_Temperature()
humidity = shtc3.SHTC3_Read_Humidity()
pressure = lps22hb.Pressure()
start = time.time()
gyro, acceleration = icm20948.icm20948_Gyro_Accel_Read() # hier muß natürlich noch die Methode repariert werden
end = time.time()
print('Temperature: %6.2f°C' % temperature)
print('Humidity: %6.2f%%' % humidity)
print('Pressure: %6.2fhPa' % pressure)
print('Gyroscope: X = %d , Y = %d , Z = %d' % tuple(gyro))
print('Acceleration: X = %d , Y = %d , Z = %d' % tuple(acceleration))
print('Time: %2.4fs' %(end - start))
print('------------------------------')