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Picture of Raspberry Pi I2C (Python)
In this instructable, I will explain how to use I2C on the Pi, with the examples of the CMPS03 compass module and SRF08 Ultrasonic range, using python. I will explain right through installing the OS, to ensure that the dependencies and everything is installed.

I2C is a communication bus designed by Philips, for chips to communicate with each other on a PCB. It is commonly used, however, for connecting sensors, such as the two examples later in this instructable and port expanders, because you can have multiple devices on the same two pins. 
 
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Step 1: Install R-Pi Image

Picture of Install R-Pi Image
Go to the Raspberry Pi website, and download the latest Raspbian image and follow the instructions burn it to the SD card.

http://www.raspberrypi.org/downloads

There is an easy setup guide on the wiki, just follow it through.

When you have got it installed, run the config tool, and get everything going nicely. In my case, I am running it headless via SSH, which is enabled as default, at pi@192.168.0.X (check on your router to find the IP).

Step 2: Enable I2C

Picture of Enable I2C
On the Pi, I2C is disabled by default. The first thing to do, is run the command sudo nano /etc/modprobe.d/raspi-blacklist.conf . In this file, there is a comment, and two lines. Add a hash before the I2C line, to comment it out.

Original:

# blacklist spi and i2c by default (many users don't need them)

blacklist spi-bcm2708
blacklist i2c-bcm2708


Convert to this:

# blacklist spi and i2c by default (many users don't need them)

blacklist spi-bcm2708
#blacklist i2c-bcm2708

Step 3: Enable kernel I2C Module

Picture of Enable kernel I2C Module
The next thing to do is add the I2C module to the kernel. Run the command sudo nano /etc/modules .You should see the following file:

# /etc/modules: kernel modules to load at boot time.
#
# This file contains the names of kernel modules that should be loaded
# at boot time, one per line. Lines beginning with "#" are ignored.
# Parameters can be specified after the module name.

snd-bcm2835


This should have the line i2c-dev added to the end.

Final file:

# /etc/modules: kernel modules to load at boot time.
#
# This file contains the names of kernel modules that should be loaded
# at boot time, one per line. Lines beginning with "#" are ignored.
# Parameters can be specified after the module name.

snd-bcm2835
i2c-dev

Step 4: Install Necessary Packages

Picture of Install Necessary Packages
There are a few packages that will need installing to use I2C. The first command to run is sudo apt-get install i2c-tools. If this fails, try running sudo apt-get update and try again, else run crying to your nearest nerd. The other package needed can be installed by running sudo apt-get install python-smbus.

To configure the software, we will add the Pi user to the I2C access group, by running the command sudo adduser pi i2c.
Now run sudo reboot to reboot, and test the new software.

To test the software, run the command i2cdetect -y 0 to see if there is anything connected. On my setup, it returned this output, because there was nothing connected:

0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --

Step 5: Example 1: CMPS03 Compass Module

Picture of Example 1: CMPS03 Compass Module
We now have everything ready to start using I2C! 

To use the CMPS03 compass module, connect the power to V+ and 0V, from the Pi. I used the 5V line, which they recommend not doing because it might damage your pi, It worked for me, and has caused now damage, but I am not responsible if your's fries. 

Then, connect the SDA and SCL lines to the Pi SDA and SCL, and you are ready to roll. The wiring diagram is shown at http://www.robot-electronics.co.uk/htm/cmps3tech.htm. 

When you have connected it, run the command "i2cdetect -y 0". In my case, this returned: 

       0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: 60 -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --


This shows that the module is on address 0x60.  You then need the following python file:

import smbus
import time
bus = smbus.SMBus(0)
address = 0x60

def bearing255():
        bear = bus.read_byte_data(address, 1)
        return bear

def bearing3599():
        bear1 = bus.read_byte_data(address, 2)
        bear2 = bus.read_byte_data(address, 3)
        bear = (bear1 << 8) + bear2
        bear = bear/10.0
        return bear

while True:
        bearing = bearing3599()     #this returns the value to 1 decimal place in degrees. 
        bear255 = bearing255()      #this returns the value as a byte between 0 and 255. 
        print bearing
        print bear255

        time.sleep(1)

This program should be saved as anything, but add ".py" on the end. Then, run the command with sudo python whateveryoucalledit.p and you should get values written to your screen in a long list. 

Step 6: SRF08 Range Sensor

Picture of SRF08 Range Sensor
The second example is the SRF08 range sensor, with built in light sensor. 

Wire it in in exactly the same way as before, with power, SDA and SCL connected to the Pi. I found that this sensor would not work off 3.3V, but again, I bear no responsibility for you putting 5V through your Pi pins. You can even leave the compass module in as well, because I2C can handle multiple devices on one line. The wiring diagram can be seen here: http://www.robot-electronics.co.uk/htm/srf08tech.shtml . 

Run i2cdetect -y 0  

0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: 60 -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: 70 -- -- -- -- -- -- --


Note that I have left the compass module connected. 

You will then need the following python file. It is more complex, becuase you have to write a command to the sensor to get it to begin reading. 

import smbus
import time
bus = smbus.SMBus(0)
address = 0x70

#SRF08 REQUIRES 5V

def write(value):
        bus.write_byte_data(address, 0, value)
        return -1

def lightlevel():
        light = bus.read_byte_data(address, 1)
        return light

def range():
        range1 = bus.read_byte_data(address, 2)
        range2 = bus.read_byte_data(address, 3)
        range3 = (range1 << 8) + range2

        return range3

while True:
        write(0x51)
        time.sleep(0.7)
        lightlvl = lightlevel()
        rng = range()
        print lightlvl
        print rng



This will print the light level on the built in light sensor and the current range, in cm. 

Step 7: Conclusion

I hope you have found this instructable useful, as it should provide you with the code you need to get I2C working nicely. I spent a long time trying to fathom the Adafruit I2C Library out, before realising that these simple commands are all that I need. The basic read and write commands are functions in my provided code, so that should see you through. 
edrandall7 months ago

Where do I find the SDA and SCL lines on my Pi

you can find them on pin 3 and 5, 3 is the SDA and the SCL is the 5th pin

For the 512mb of ram USE

i2cdetect -y 1

instead of the other.

Thank you! I've been trouble shooting for almost an hour and was about to give up when i saw your post. I thought I had killed my BMP180 while soldering it or that it was broke for some other reason. =)

Awesome!

Same goes for the Pi 2, which is also a B+.

A good ible - another great example would be connecting MCP23008 or MCP23017 chips and controlling them either via python-smbus (by sending bytes to registers) or via wiringpi2 (high level driver providing setup routines and an abstraction layer).

bacoms6 months ago

Please forgive a complete noob commenting here but, as I read more and more
on I2C, the noobier I'm getting.

What's got me confused is how to connect, for example, several SRF08 Range Sensors.
Presumably they all have the same address (0x70) so confusion reigns, right? I
suspect you can only connect devices that have different addresses which, if
I'm right, severely limits the usefulness of I2C.

Am I right and is there a cost-effective way around this limitation?

P.S. I'm relatively new to all this hardware stuff. I'm retired now but was a mainframe programmer who has since discovered Python and loves it.

paulhill13 bacoms6 months ago

You can configure the address that the SRF08 uses, there a 16 possibles,
meaning you could use up to 16 SRF08's on one bus. Scroll down on this
page to see how http://www.robot-electronics.co.uk/htm/srf08tech.shtml

laffoleyb7 months ago

There is a very simplai I2C level shifter that will save your port.

see for example http://playground.arduino.cc/Main/I2CBi-directionalLevelShifter, you will probably have the pull up resistors on the boards anyway so you probaly just need the two FETs.

pdfsman9 months ago

If I use another sensor for example IMU breakout-LSM9DSO, What is the change in the python file?

Gorgoth10 months ago

Great bit of info got my almost totally unrelated project working as you had all the important stuff

rkhedkar1 year ago

very easy explanation... I easily get confused with Rpi tutorials on web but this one is an exception....

thank you sir... @

AntMan232

sakko3031 year ago

as a lurker who is considering a pi for all sorts of nefarious purposes, I find this very helpful!

kkjensen2 years ago
What purpose does the write(0x51) provide? Is it just activating the module on the i2c bus so values can be read from it?

0x51 is the write register to command data returned in centimeter vales. 0x50 commands values in inches and 0x52 commands values in microseconds (flight time.

See http://spaces.atmel.com/gf/download/frsrelease/228/1344/SRF08%20Ultra%20sonic%20range%20finder.pdf

TNX for the great instruction but 1 question

i didn't understand if the 5V i2c device has damaged your device or not ,

trollies2 years ago
When you do:

bear2 = bus.read_byte_data(address, 3)
bear = (bear1 << 8) + bear2
bear = bear/10.0
return bear....
why do you divide by 10? I am assuming you have a signed 15 bit number and you are getting rid of the last 0? Why not use >> 1?

john12212 years ago
I could only run i2cdetect with the command "sudo i2cdetect -y 0"
Otherwise it would not run..
dgateley2 years ago
Hey, AntMan. Should you be so inclined, a similar article on how to get i2s (much different than i2c functionally) working on Raspberry Pi would be enormously appreciated. I'd like to attach a Wolfson audio codec but getting up to the configuration point where I could basically do that and begin talking to it is daunting to say the least.
vynylpooh2 years ago
Thank You!
dcastor2 years ago
To make this 'bile better, you might explain in step 1 what I2C is for.
AntMan232 (author)  dcastor2 years ago
Ah, whoops, thanks!
chrimel2 years ago
Would the external GPS cable for a generic Android tablet or an old XM radio possibly work? I have a couple of those that I might be able to part with if they could be made to work.
As a supplement, I have a similar write-up that I buried perhaps a little too deep on the eLinux wiki:

http://elinux.org/RPi_Tutorial_EGHS:Communicating_With_Other_Micro-controllers

Includes: the official (probably overkill) way of interfacing 3.3V and 5V I2C applications, software for a few languages, and kernel considerations.

Range sensor sounds fun, I'll give that a try!
1-big-dog2 years ago
Thanks for a very straight forward step by step explanation!
sparten112 years ago
all we need now is gps and radar. and viola we are ai nav.. kewl. let me know when you get GPS up and running..

AntMan232 (author)  sparten112 years ago
If you give me a GPS module, I will gladly oblige. :D If only I had the money...
syseng2 years ago
Thanks for sharing this,it means i could use my temperature sensors
AntMan232 (author) 2 years ago
Thanks guys, it's nice to be able to help! It geniunely took me about a week to realise that the Adafruit code was overkill, and that it only took one line to read over i2c...
antares722 years ago
Nice and clean examples! You have a new follower.
randofo2 years ago
Thanks for sharing this. This will surely come in handy.