Once you've finished setting up your Qualia S3 with CircuitPython, you can access the code and necessary libraries by downloading the Project Bundle.
To do this, click on the Download Project Bundle button in the window below. It will download to your computer as a zipped folder.
# SPDX-FileCopyrightText: 2024 Liz Clark for Adafruit Industries
# SPDX-License-Identifier: MIT
# Written by Liz Clark (Adafruit Industries)
# with OpenAI ChatGPT v4 Jan 10, 2024 build
# https://help.openai.com/en/articles/6825453-chatgpt-release-notes
# https://chat.openai.com/share/19de8f24-3191-43b8-a9c9-95f1b8000e80
import time
from math import atan2, degrees, cos, sin, radians
import adafruit_lis3mdl
import vectorio
import displayio
from adafruit_display_text import bitmap_label
from adafruit_bitmap_font import bitmap_font
from adafruit_qualia.graphics import Graphics, Displays
from adafruit_lsm6ds.lsm6dsox import LSM6DSOX
from gamblor21_ahrs import mahony
import bitmaptools
from jpegio import JpegDecoder
# change these values to your calibration values
MAG_MIN = [-11.5902, -47.1353, -28.7635]
MAG_MAX = [79.7866, 48.0854, 63.461]
GYRO_CAL = [-7.3934, -0.000100605, 2.7703]
# use filter for more accurate, but slightly slower readings
# otherwise just reads from magnetometer
ahrs = True
center_x, center_y = 240, 240
graphics = Graphics(Displays.ROUND21, default_bg=None, auto_refresh=False)
i2c = graphics.i2c_bus
accel_gyro = LSM6DSOX(i2c)
magnetometer = adafruit_lis3mdl.LIS3MDL(i2c)
# Create the AHRS filter
ahrs_filter = mahony.Mahony(50, 5, 100)
group = displayio.Group()
# palette for vectorio graphics
pointer_pal = displayio.Palette(5)
pointer_pal[0] = 0xFFFF00
pointer_pal[1] = 0x000000
pointer_pal[2] = 0xFFFFFF
pointer_pal[3] = 0xFF0000
pointer_pal[4] = 0x0000FF
pointer_pal.make_transparent(0)
# compass image is a jpeg
decoder = JpegDecoder()
width, height = decoder.open("/compass.jpg")
bitmap_compass = displayio.Bitmap(width, height, 20)
palette_compass = displayio.ColorConverter(input_colorspace = displayio.Colorspace.RGB565_SWAPPED)
decoder.decode(bitmap_compass)
# blank bitmap for rotozoom
compass_blank = displayio.Bitmap(width, height, 1)
# carrier bitmap for compass for rotozoom
compass_scribble = displayio.Bitmap(width, height, 20)
tile_grid = displayio.TileGrid(compass_scribble, pixel_shader=palette_compass)
# only tilegrid is added to group
group.append(tile_grid)
radius = center_x
angle = 225
rad_angle = radians(angle)
# place small circle to denote heading direction from 9-DoF relative to display
circle_radius = 5
header_angle = radians(135)
edge_x = center_x + radius * cos(header_angle)
edge_y = center_y + radius * sin(header_angle)
adjusted_x = edge_x - circle_radius * cos(header_angle)
adjusted_y = edge_y - circle_radius * sin(header_angle)
header = vectorio.Circle(pixel_shader=pointer_pal, color_index = 2,
radius=circle_radius, x=int(adjusted_x), y=int(adjusted_y))
center = vectorio.Circle(pixel_shader=pointer_pal, color_index = 2, radius=50, x=240, y=240)
font_file = "/Roboto-Regular-47.pcf"
font = bitmap_font.load_font(font_file)
direction_text = bitmap_label.Label(font, text="000", color=None)
direction_text.x = center.x - 40
direction_text.y = center.y
direction_bitmap = direction_text.bitmap
direction_blank = displayio.Bitmap(direction_text.bounding_box[2],
direction_text.bounding_box[2], 1)
direction_scribble = displayio.Bitmap(direction_text.bounding_box[2],
direction_text.bounding_box[2], len(pointer_pal))
direction_grid = displayio.TileGrid(direction_scribble, pixel_shader=pointer_pal, x=200, y=200)
def create_line_of_squares(l, n, color):
squares = []
square_size = l // n
for i in range(n):
x = center_x + i * square_size
y = center_y - square_size // 2
square_points = [(0, 0), (square_size, 0),
(square_size, square_size), (0, square_size)]
square = vectorio.Polygon(pixel_shader=pointer_pal,
color_index=color, points=square_points, x=x, y=y)
group.append(square)
squares.append(square)
return squares
def update_line_of_squares(squares, h, l):
r = radians(-h)
n = len(squares)
square_size = l // n
x = center_x - (square_size - 2)
y = center_y - (square_size - 2)
for i, square in enumerate(squares):
offset_x = x + i * square_size - x
offset_y = -square_size // 2
rotated_x = offset_x * cos(r) - offset_y * sin(r)
rotated_y = offset_x * sin(r) + offset_y * cos(r)
square.x = int(x + rotated_x)
square.y = int(y + rotated_y)
length = 200 # Length of the lines
num_squares = 20 # Number of squares for each line
vertical_squares = create_line_of_squares(length, num_squares, 3)
update_line_of_squares(vertical_squares, angle, length)
def map_range(x, in_min, in_max, out_min, out_max):
mapped = (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
if out_min <= out_max:
return max(min(mapped, out_max), out_min)
return min(max(mapped, out_max), out_min)
group.append(center)
group.append(header)
group.append(direction_text)
group.append(direction_grid)
graphics.display.root_group = group
last_heading = angle
heading = angle
last_update = time.monotonic() # last time we printed the yaw/pitch/roll values
timestamp = time.monotonic_ns() # used to tune the frequency to approx 100 Hz
spin_rose = True
graphics.display.refresh()
while True:
if graphics.touch.touched:
spin_rose = not spin_rose
# reset last_heading to trigger an update
last_heading = heading + 5
if spin_rose:
direction_text.color = None
update_line_of_squares(vertical_squares, angle, length)
else:
bitmaptools.rotozoom(compass_scribble, bitmap_compass, angle = radians(0))
direction_text.color = pointer_pal[1]
graphics.display.refresh()
# touch debounce delay
time.sleep(0.2)
if (time.monotonic_ns() - timestamp) > 6500000:
mx, my, mz = magnetometer.magnetic
cal_x = map_range(mx, MAG_MIN[0], MAG_MAX[0], -1, 1)
cal_y = map_range(my, MAG_MIN[1], MAG_MAX[1], -1, 1)
cal_z = map_range(mz, MAG_MIN[2], MAG_MAX[2], -1, 1)
if ahrs:
ax, ay, az, gx, gy, gz = accel_gyro.acceleration + accel_gyro.gyro
gx += GYRO_CAL[0]
gy += GYRO_CAL[1]
gz += GYRO_CAL[2]
ahrs_filter.update(gx, gy, -gz, ax, ay, az, cal_x, -cal_y, cal_z)
yaw_degree = ahrs_filter.yaw
heading = degrees(yaw_degree)
else:
heading = degrees(atan2(cal_y, cal_x))
timestamp = time.monotonic_ns()
if time.monotonic() > last_update + 0.2:
if heading < 0:
heading += 360
if abs(last_heading - heading) >= 2:
direction_text.text = str(int(heading))
if spin_rose:
direction_bitmap = direction_text.bitmap
bitmaptools.rotozoom(compass_scribble, bitmap_compass,
angle = radians(-heading+angle))
bitmaptools.rotozoom(direction_scribble, direction_bitmap, angle = rad_angle)
graphics.display.refresh()
bitmaptools.rotozoom(direction_scribble, direction_blank, angle = rad_angle)
bitmaptools.rotozoom(compass_scribble, compass_blank,
angle = radians(-heading+angle))
else:
update_line_of_squares(vertical_squares, -heading + 90, length)
graphics.display.refresh()
last_heading = heading
last_update = time.monotonic()
Upload the Code and Libraries to the Qualia S3
After downloading the Project Bundle, plug your Qualia S3 into the computer's USB port with a known good USB data+power cable. You should see a new flash drive appear in the computer's File Explorer or Finder (depending on your operating system) called CIRCUITPY. Unzip the folder and copy the following items to the Qualia S3's CIRCUITPY drive:
- lib folder
- code.py
- compass.jpg
- Roboto-Regular-47.pcf
Your Qualia S3 CIRCUITPY drive should look like this after copying the lib folder, font file, JPEG file and the code.py file.
Install the AHRS Library from the Community Bundle
This project uses one additional library from the Community Bundle: the Gamblor21_CircuitPython_AHRS library. You'll need to download the Community Bundle and copy the /gamblor21_ahrs library folder to your /lib folder or use circup to install with:
circup install gamblor21-circuitpython-ahrs
How the CircuitPython Code Works
At the top of the code, you can insert your magnetometer and gyroscope calibration values after running the calibrate.py script. Details for this are available on the Calibrating the Magnetometer and Gyroscope guide page.
Additionally, you can select whether you want to use the Mahony AHRS filter for calculating your compass heading by changing ahrs to True or False.
# change these values to your calibration values MAG_MIN = [-11.5902, -47.1353, -28.7635] MAG_MAX = [79.7866, 48.0854, 63.461] GYRO_CAL = [-7.3934, -0.000100605, 2.7703] # use filter for more accurate, but slightly slower readings # otherwise just reads from magnetometer ahrs = True center_x, center_y = 240, 240
I2C
The 2.1" round display is instantiated with the Qualia library. auto_refresh is set to False to manually refresh the screen in the loop when rotating graphics with rotozoom. The I2C bus is instantiated through the library with graphics.i2c_bus. This allows for the LSM6SDOX and LIS3MDL to be instantiated over I2C and plug into the STEMMA QT port on the Qualia.
graphics = Graphics(Displays.ROUND21, default_bg=None, auto_refresh=False) i2c = graphics.i2c_bus accel_gyro = LSM6DSOX(i2c) magnetometer = adafruit_lis3mdl.LIS3MDL(i2c)
Compass Rose
A Palette is created for the vectorio graphics used alongside the compass rose background image. The image is brought in as a JPEG image, which is a smaller file size than a bitmap. The compass rose is rotated using rotozoom, which requires some additional setup. Two blank bitmaps are created that are the same size as the compass image. compass_blank is made transparent by using the transparent Palette index. compass_scribble is passed to a TileGrid with the same pixel_shader as the compass image. Only the tile_grid is added to the displayio Group.
group = displayio.Group()
# palette for vectorio graphics
pointer_pal = displayio.Palette(5)
pointer_pal[0] = 0xFFFF00
pointer_pal[1] = 0x000000
pointer_pal[2] = 0xFFFFFF
pointer_pal[3] = 0xFF0000
pointer_pal[4] = 0x0000FF
pointer_pal.make_transparent(0)
# compass image is a jpeg
decoder = JpegDecoder()
width, height = decoder.open("/compass.jpg")
bitmap_compass = displayio.Bitmap(width, height, 20)
palette_compass = displayio.ColorConverter(input_colorspace = displayio.Colorspace.RGB565_SWAPPED)
decoder.decode(bitmap_compass)
# blank bitmap for rotozoom
compass_blank = displayio.Bitmap(width, height, 1)
# carrier bitmap for compass for rotozoom
compass_scribble = displayio.Bitmap(width, height, 20)
tile_grid = displayio.TileGrid(compass_scribble, pixel_shader=palette_compass)
# only tilegrid is added to group
group.append(tile_grid)
Circles
Next, two circles are created. The header circle is placed on the edge of the display relative to the heading from the 9-DoF sensor to let you know where the sensor is "pointing" when generating header information. This value is stored in angle and is used throughout the code.
The center circle is placed in the center of the display and acts as a background for displaying the header degrees text.
radius = center_x
angle = 225
rad_angle = radians(angle)
# place small circle to denote heading direction from 9-DoF relative to display
circle_radius = 5
header_angle = radians(135)
edge_x = center_x + radius * cos(header_angle)
edge_y = center_y + radius * sin(header_angle)
adjusted_x = edge_x - circle_radius * cos(header_angle)
adjusted_y = edge_y - circle_radius * sin(header_angle)
header = vectorio.Circle(pixel_shader=pointer_pal, color_index = 2,
radius=circle_radius, x=int(adjusted_x), y=int(adjusted_y))
center = vectorio.Circle(pixel_shader=pointer_pal, color_index = 2, radius=50, x=240, y=240)
Text
The direction_text is updated throughout the loop to show the compass degrees. Much like the compass rose image, rotozoom is used to rotate the direction_text. The width value of the text bounding_box is used for the dimensions for the direction_blank and direction_scribble bitmaps.
font_file = "/Roboto-Regular-47.pcf"
font = bitmap_font.load_font(font_file)
direction_text = bitmap_label.Label(font, text="000", color=None)
direction_text.x = center.x - 40
direction_text.y = center.y
direction_bitmap = direction_text.bitmap
direction_blank = displayio.Bitmap(direction_text.bounding_box[2],
direction_text.bounding_box[2], 1)
direction_scribble = displayio.Bitmap(direction_text.bounding_box[2],
direction_text.bounding_box[2], len(pointer_pal))
direction_grid = displayio.TileGrid(direction_scribble, pixel_shader=pointer_pal, x=200, y=200)
Pointer
A "line" is used to denote heading direction in both compass views. This line originates from the center of the display and rotates. To achieve this, a series of squares are created as vectorio Polygons. The create_line_of_squares function initially creates the squares and update_line_of_squares is used to move the line by taking in the heading information. Initially, the line is drawn to point as the sensor's heading on the display.
def create_line_of_squares(l, n, color):
squares = []
square_size = l // n
for i in range(n):
x = center_x + i * square_size
y = center_y - square_size // 2
square_points = [(0, 0), (square_size, 0),
(square_size, square_size), (0, square_size)]
square = vectorio.Polygon(pixel_shader=pointer_pal,
color_index=color, points=square_points, x=x, y=y)
group.append(square)
squares.append(square)
return squares
def update_line_of_squares(squares, h, l):
r = radians(-h)
n = len(squares)
square_size = l // n
x = center_x - (square_size - 2)
y = center_y - (square_size - 2)
for i, square in enumerate(squares):
offset_x = x + i * square_size - x
offset_y = -square_size // 2
rotated_x = offset_x * cos(r) - offset_y * sin(r)
rotated_y = offset_x * sin(r) + offset_y * cos(r)
square.x = int(x + rotated_x)
square.y = int(y + rotated_y)
length = 200 # Length of the lines
num_squares = 20 # Number of squares for each line
vertical_squares = create_line_of_squares(length, num_squares, 3)
update_line_of_squares(vertical_squares, angle, length)
The Loop
In the loop, touch is monitored as a toggle switch for the different compass displays. If spin_rose is True, then the direction line is pointed to the sensor's angle and the compass rose rotates relative to this angle. If spin_rose is False, then the compass rose remains static and the direction line rotates relative to the compass rose to show heading direction.
When spin_rose is True, the direction_text color is set to None so that the rotozoom bitmap of the text is visible. When spin_rose is False, the direction_text color is set to black, and as a result visible, because the text is not rotated in that mode.
if graphics.touch.touched:
spin_rose = not spin_rose
# reset last_heading to trigger an update
last_heading = heading + 5
if spin_rose:
direction_text.color = None
update_line_of_squares(vertical_squares, angle, length)
else:
bitmaptools.rotozoom(compass_scribble, bitmap_compass, angle = radians(0))
direction_text.color = pointer_pal[1]
graphics.display.refresh()
# touch debounce delay
time.sleep(0.2)
Initially the magnetometer is read to calculate compass heading. If you have kept ahrs True, then the accelerometer and gyroscope are also read and passed to the ahrs_filter to calculate yaw for the compass heading.
If ahrs is False, then only the magnetometer data is used to calculate heading. This is less accurate than using the AHRS filter, but can be useful if you want to use a sensor that is not a 9-DoF sensor, like the LSM303AGR. It is also a little bit faster at generating a reading.
if (time.monotonic_ns() - timestamp) > 6500000:
mx, my, mz = magnetometer.magnetic
cal_x = map_range(mx, MAG_MIN[0], MAG_MAX[0], -1, 1)
cal_y = map_range(my, MAG_MIN[1], MAG_MAX[1], -1, 1)
cal_z = map_range(mz, MAG_MIN[2], MAG_MAX[2], -1, 1)
if ahrs:
ax, ay, az, gx, gy, gz = accel_gyro.acceleration + accel_gyro.gyro
gx += GYRO_CAL[0]
gy += GYRO_CAL[1]
gz += GYRO_CAL[2]
ahrs_filter.update(gx, gy, -gz, ax, ay, az, cal_x, -cal_y, cal_z)
yaw_degree = ahrs_filter.yaw
heading = degrees(yaw_degree)
else:
heading = degrees(atan2(cal_y, cal_x))
timestamp = time.monotonic_ns()
The display is updated when the heading changes. The direction_text displays the heading degrees as an integer. If spin_rose is True, then rotozoom is used to rotate the compass rose image so that the cardinal directions in the image are pointing properly. This is done by adding the angle to the heading calculation so that the top of the image, which is north, is always pointing towards north. The text is rotated to be oriented correctly for the sensor heading direction on the display.
If spin_rose is False, then the line of squares is rotated to point to the heading direction on the compass rose, which remains static.
if time.monotonic() > last_update + 0.2:
if heading < 0:
heading += 360
if abs(last_heading - heading) >= 2:
direction_text.text = str(int(heading))
if spin_rose:
direction_bitmap = direction_text.bitmap
bitmaptools.rotozoom(compass_scribble, bitmap_compass,
angle = radians(-heading+angle))
bitmaptools.rotozoom(direction_scribble, direction_bitmap, angle = rad_angle)
graphics.display.refresh()
bitmaptools.rotozoom(direction_scribble, direction_blank, angle = rad_angle)
bitmaptools.rotozoom(compass_scribble, compass_blank,
angle = radians(-heading+angle))
else:
update_line_of_squares(vertical_squares, -heading + 90, length)
graphics.display.refresh()
last_heading = heading
last_update = time.monotonic()
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