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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.