TypeError: input data must be list, tuple, integer or float

[vinityadava]

We are trying to send mpu6050 data over lora Sx126x using raspberrypi zerow , in a list of float using struct method. Error:

Traceback (most recent call last):
  File "/home/aerosat/Desktop/main.py", line 170, in <module>
    LoRa.write(pack_data, len(pack_data))
  File "/home/aerosat/.local/lib/python3.9/site-packages/LoRaRF/SX126x.py", line 660, in write
    raise TypeError("input data must be list, tuple, integer or float")
TypeError: input data must be list, tuple, integer or float

Code:

from time import sleep  # import
import struct
import smbus  # import SMBus module of I2C
import time
from LoRaRF import SX126x, LoRaSpi, LoRaGpio
import os
import sys
currentdir = os.path.dirname(os.path.realpath(__file__))
sys.path.append(os.path.dirname(os.path.dirname(currentdir)))

# 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

# Begin LoRa radio with connected SPI bus and IO pins (cs and reset) on GPIO
# SPI is defined by bus ID and cs ID and IO pins defined by chip and offset number

spi = LoRaSpi(0, 0)
cs = LoRaGpio(0, 8)
reset = LoRaGpio(0, 24)
busy = LoRaGpio(0, 23)
LoRa = SX126x(spi, cs, reset, busy)
print("Begin LoRa radio")

if not LoRa.begin():
    raise Exception("Something wrong, can't begin LoRa radio")

# Configure LoRa to use TCXO with DIO3 as control
print("Set RF module to use TCXO as clock reference")
LoRa.setDio3TcxoCtrl(LoRa.DIO3_OUTPUT_1_8, LoRa.TCXO_DELAY_10)

# Set frequency to 915 Mhz
print("Set frequency to 915 Mhz")
LoRa.setFrequency(915000000)

# Set TX power, default power for SX1262 and SX1268 are +22 dBm and for SX1261 is +14 dBm

# This function will set PA config with optimal setting for requested TX power
print("Set TX power to +17 dBm")
# TX power +17 dBm using PA boost pin

LoRa.setTxPower(17, LoRa.TX_POWER_SX1262)

# Configure modulation parameter including spreading factor (SF), bandwidth (BW), and coding rate (CR)
# Receiver must have same SF and BW setting with transmitter to be able to receive LoRa packet
print("Set modulation parameters:\n\tSpreading factor = 7\n\tBandwidth = 125 kHz\n\tCoding rate = 4/5")
# LoRa spreading factor: 7
sf = 7
# Bandwidth: 125 kHz
bw = 125000
cr = 5                                                          # Coding rate: 4/5

LoRa.setLoRaModulation(sf, bw, cr)

# Configure packet parameter including header type, preamble length, payload length, and CRC type

# The explicit packet includes header contain CR, number of byte, and CRC type

# Receiver can receive packet with different CR and packet parameters in explicit header mode

print("Set packet parameters:\n\tExplicit header type\n\tPreamble length = 12\n\tPayload Length = 15\n\tCRC on")

# Explicit header mode

headerType = LoRa.HEADER_EXPLICIT

# Set preamble length to 12

preambleLength = 12

# Initialize payloadLength to 15

payloadLength = 15

# Set CRC enable

crcType = True

LoRa.setLoRaPacket(headerType, preambleLength, payloadLength, crcType)

# Set syncronize word for public network (0x3444)

print("Set syncronize word to 0x3444")

LoRa.setSyncWord(0x3444)

print("\n-- LoRa Transmitter --\n")

bus = smbus.SMBus(1)    # or bus = smbus.SMBus(0) for older version boards

Device_Address = 0x68   # MPU6050 device address

MPU_Init()

print(" Reading Data of Gyroscope and Accelerometer")

# Transmit message continuously

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

    float_type = 6.890

    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)

    # Message to transmit

    message = [Gx, Gy, Gz]

    #messageList = [int(val*1e8) for val in message]

    #messageList   =  bytes(message)

    #for i in range(len(messageList)):

    #    messageList[i] = enumerate(messageList[i])

    pack_data = struct.pack('!{}f'.format(len(message)), *message)

    messageList = bytes(pack_data)

    #print(type(messageList))

    #message_data = struct.pack('f', messageList)

    #pack_data = bytes(messageList)

    #print(type(pack_data))

    counter = 0

    # Transmit message and counter

    # write() method must be placed between beginPacket() and endPacket()
    LoRa.beginPacket()
    LoRa.write(messageList)
    LoRa.write([counter], 1)
    LoRa.endPacket()

    # Print message and counter
    print(f"{messageList}  {counter}")

    # Wait until modulation process for transmitting packet finish
    LoRa.wait()

    # Print transmit time and data rate
    print("Transmit time: {0:0.2f} ms | Data rate: {1:0.2f} byte/s".format(
        LoRa.transmitTime(), LoRa.dataRate()))

    # Don't load RF module with continous transmit

    time.sleep(5)

    counter = (counter + 1) % 256

Does anyone have the solution for it??

[MaffooClock]

Um... did you not notice your typo? You're providing the messageList to beginPacket() instead of write() 🙃

[vinityadava]

Yes, it changed during copy paste but the error is same.

[MaffooClock]

So, the other thing I noticed is your messageList is a bytes() object.

Maybe try:

LoRa.write(list(map(int, messageList)))

[vinityadava]

Yes, it is transmitting now successfully. On receiver side this is what we are getting:

Begin LoRa radio
Set RF module to use TCXO as clock reference
Set frequency to 915 Mhz
Set RX gain to power saving gain
Set modulation parameters:
    Spreading factor = 7
    Bandwidth = 125 kHz
    Coding rate = 4/5
Set packet parameters:
    Explicit header type
    Preamble length = 12
    Payload Length = 15
    CRC on
Set syncronize word to 0x3444

-- LoRa Receiver --

Traceback (most recent call last):
  File "/home/GroundStation/Desktop/reciever.py", line 80, in <module>
    message = struct.unpack('!{}f'.format(len(received_data) - struct.calcsize('!')) // struct.calcsize('f'), received_data)
TypeError: object of type 'int' has no len()

Code on reciever end:

    LoRa.request()

    # Wait for incoming LoRa packet

    LoRa.wait()

    # Put received packet to message and counter variable
    # read() and available() method must be called after request() or listen() method
    message = ""

    # available() method return remaining received payload length and will decrement each read() or get() method called

    while LoRa.available() > 1:
        received_data = LoRa.read()
        #message = [val / 1e8 for val in received_data] 
        message = struct.unpack('!{}f'.format(len(received_data) - struct.calcsize('!')) // struct.calcsize('f'), received_data)
    counter = LoRa.read()

    # Print received message and counter in serial
    print(f"{message}  {counter}")

    # Print packet/signal status including RSSI, SNR, and signalRSSI

    print("Packet status: RSSI = {0:0.2f} dBm | SNR = {1:0.2f} dB".format(

        LoRa.packetRssi(), LoRa.snr()))

Please help with this.

Is there any proper documentation for send list over lora using this library?