MPU6050 Class Reference

Driver class for the MPU6050 sensor. More...

Classes
class	AccelRange
	Accelerometer measurement range. More...
class	FilterBandwidth
	Digital Low Pass Filter bandwidth. More...
class	GyroRange
	Gyroscope measurement range. More...

Public Member Functions
	__init__ (self, I2C i2c, int address=_MPU6050_DEFAULT_ADDR)
	Initializes the MPU6050 sensor.
tuple[float, float, float]	get_accel_data (self, bool as_g=False)
	Reads and converts the accelerometer data.
dict	get_all_data (self)
	Reads all sensor data in a single, efficient transaction.
tuple[float, float, float]	get_gyro_data (self)
	Reads and converts the gyroscope data in degrees per second.
float	get_temp_data (self)
	Reads and converts the temperature data.
	reset (self)
	Resets sensor registers to their default values.
	set_accel_range (self, int accel_range)
	Sets the accelerometer measurement range.
	set_filter_bandwidth (self, int bandwidth)
	Sets the Digital Low-Pass Filter bandwidth.
	set_gyro_range (self, int gyro_range)
	Sets the gyroscope measurement range.

Public Attributes
	address = address
	i2c = i2c

Protected Member Functions
bytes	_read_bytes (self, int register, int length)
int	_read_u8 (self, int register)
	_write_u8 (self, int register, int value)

Protected Attributes
	_accel_range = self.AccelRange.RANGE_2_G
	_gyro_range = self.GyroRange.RANGE_250_DEG

Static Protected Attributes
dict	_ACCEL_SCALES
dict	_GYRO_SCALES

Detailed Description

Driver class for the MPU6050 sensor.

Allows reading of acceleration, gyroscope, and temperature data.

Constructor & Destructor Documentation

__init__()

__init__	(		self,
		I2C	i2c,
		int	address = _MPU6050_DEFAULT_ADDR )

Initializes the MPU6050 sensor.

Parameters

i2c	The Micropython I2C object.
address	The I2C address of the sensor (default is 0x68).

Member Function Documentation

_read_bytes()

bytes _read_bytes ( self, int register, int length )

protected

_read_u8()

int _read_u8 ( self, int register )

protected

_write_u8()

_write_u8 ( self, int register, int value )

protected

get_accel_data()

tuple[float, float, float] get_accel_data	(		self,
		bool	as_g = False )

Reads and converts the accelerometer data.

Parameters

as_g	If True, returns values in 'g'. Otherwise, returns in m/s^2 (default).

Returns

A tuple of 3 floats (x, y, z).

get_all_data()

dict get_all_data

(

self

)

Reads all sensor data in a single, efficient transaction.

Returns

A dictionary containing 'accel' (m/s^2), 'gyro' (°/s), and 'temp' (°C).

get_gyro_data()

tuple[float, float, float] get_gyro_data

(

self

)

Reads and converts the gyroscope data in degrees per second.

Returns

A tuple of 3 floats (x, y, z) in °/s.

get_temp_data()

float get_temp_data

(

self

)

Reads and converts the temperature data.

Returns

The temperature in degrees Celsius.

reset()

reset

(

self

)

Resets sensor registers to their default values.

set_accel_range()

set_accel_range	(		self,
		int	accel_range )

Sets the accelerometer measurement range.

Parameters

accel_range

Use constants from MPU6050.AccelRange.

set_filter_bandwidth()

set_filter_bandwidth	(		self,
		int	bandwidth )

Sets the Digital Low-Pass Filter bandwidth.

Parameters

bandwidth

Use constants from MPU6050.FilterBandwidth.

set_gyro_range()

set_gyro_range	(		self,
		int	gyro_range )

Sets the gyroscope measurement range.

Parameters

gyro_range

Use constants from MPU6050.GyroRange.

Member Data Documentation

_accel_range

_accel_range = self.AccelRange.RANGE_2_G

protected

_ACCEL_SCALES

dict _ACCEL_SCALES

staticprotected

Initial value:

=  {
        AccelRange.RANGE_2_G: 16384.0,
        AccelRange.RANGE_4_G: 8192.0,
        AccelRange.RANGE_8_G: 4096.0,
        AccelRange.RANGE_16_G: 2048.0,
    }

_gyro_range

_gyro_range = self.GyroRange.RANGE_250_DEG

protected

_GYRO_SCALES

dict _GYRO_SCALES

staticprotected

Initial value:

=  {
        GyroRange.RANGE_250_DEG: 131.0,
        GyroRange.RANGE_500_DEG: 65.5,
        GyroRange.RANGE_1000_DEG: 32.8,
        GyroRange.RANGE_2000_DEG: 16.4,
    }

address

address = address

i2c

i2c = i2c

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The documentation for this class was generated from the following file:

• mpu6050.py