MPU6050 Module¶
This module contains the Zerynth driver for MPU6050 digital motion sensor. The MPU6050 features three 16-bit analog-to-digital converters (ADCs) for digitizing the gyroscope outputs and three 16-bit ADCs for digitizing the accelerometer outputs. For precision tracking of both fast and slow motions, the parts feature a user-programmable gyroscope full-scale range of ±250, ±500, ±1000, and ±2000°/sec (dps) and a user-programmable accelerometer full-scale range of ±2g, ±4g, ±8g, and ±16g. Communication with all registers of the device is performed using I2C at 400kHz. Additional features include an embedded temperature sensor.
MPU6050 class¶
classMPU6050(drvname, addr=0x68, clk=400000)
Creates an intance of the MPU6050 class.
Parameters:
- drvname – I2C Bus used ‘( I2C0, ... )’
- addr – Slave address, default 0x68
- clk – Clock speed, default 400kHz
Temperature, accelerometer and gyroscope value can be easily obtained from the sensor:
from invensense.mpu6050 import mpu6050
...
mpu = mpu6050.mpu6050(I2C0)
temp, acc, gyro = mpu.get_values()
set_dlpf_mode(dlpf)
Parameters:
dlpf: is the DLPF mode to set. Values range accepted are 0-7 (see datasheet).
Set the DLPF mode.
set_dhpf_mode(dhpf)
Parameters:
dhpf: is the DHPF mode to set. Values accepted are 0, 1, 2, 3, 4 or 7.
| dhpf | DHPF mode |
|---|---|
| 0 | Reset |
| 1 | On @ 5 Hz |
| 2 | On @ 2.5 Hz |
| 3 | On @ 1.25 Hz |
| 4 | On @ 0.63 Hz |
| 7 | Hold |
Set the DHPF mode.
get_clock_source()
Return the clock source the sensor is set to.
set_clock_source(clksel)
Parameters:
clksel: is the clock source to set. Values accepted are 0, 1, 2, 3, 4, 5 or 7.
| clksel | Clock source |
|---|---|
| 0 | Internal 8MHz oscillator |
| 1 | PLL with X axis gyroscope reference |
| 2 | PLL with Y axis gyroscope reference |
| 3 | PLL with Z axis gyroscope reference |
| 4 | PLL with external 32.768kHz reference |
| 5 | PLL with external 19.2MHz reference |
| 6 | Reserved |
| 7 | Stops the clock and keeps the timing generator |
Set the clock source.
get_temp()
Return the temperature in degrees Celsius.
set_accel_fullscale(full_scale)
Parameters:
full_scale – is the full-scale range to set the accelerometer to. Possible values are 2, 4, 8 or 16.
Set the full-scale range of the accelerometer.
get_accel_fullscale()
Return the full-scale value the accelerometer is set to. When something went wrong, it returns -1.
get_accel_values(g = False)
Parameters:
g – is the format of accelerometer values. If g = False is m/s^2, otherwise is g. Default value is False.
Return the X, Y and Z accelerometer values in a dictionary.
set_gyro_fullscale(full_scale)
Parameters:
full_scale – is the full-scale range to set the gyroscope to. Values accepted: 250, 500, 1000 or 2000.
Set the full-scale range of the gyroscope.
get_gyro_fullscale()
Return the full-scale value the gyroscope is set to. When something went wrong, it returns -1.
get_gyro_values()
Return the X, Y and Z gyroscope values in a dictionary.
get_values(g = False)
Parameters:
g – is the format of accelerometer values. If g = False is m/s^2, otherwise is g. Default value is False.
Return the values of temperature, gyroscope and accelerometer in a list [temp, accel, gyro].
is_motion_detected()
Return 1 if a motion has been detected, otherwise 0.
is_data_ready()
Return 1 if data is ready, otherwise 0.
setup_motion()
Set the configuration for motion detection.