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October 30, 2018 14:19
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Micropython MPU6050 interface
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| import utils | |
| import machine | |
| class Mpu6050: | |
| """ | |
| This is a fork of: | |
| https://github.com/larsks/py-mpu6050 | |
| See also other implementation: | |
| https://github.com/adamjezek98/MPU6050-ESP8266-MicroPython | |
| """ | |
| def __init__(self, scl, sda): | |
| """ | |
| Pins like machine.I2C | |
| """ | |
| self.addr = 0x68 | |
| self.i2c = machine.I2C(scl=machine.Pin(scl), | |
| sda=machine.Pin(sda)) | |
| self.i2c.start() | |
| self.i2c.writeto(self.addr, bytearray([107, 0])) | |
| self.i2c.stop() | |
| def get_raw_values(self): | |
| self.i2c.start() | |
| val = self.i2c.readfrom_mem(self.addr, 0x3B, 14) | |
| self.i2c.stop() | |
| return val | |
| def bytes_toint(self, firstbyte, secondbyte): | |
| if not firstbyte & 0x80: | |
| return firstbyte << 8 | secondbyte | |
| return - (((firstbyte ^ 255) << 8) | (secondbyte ^ 255) + 1) | |
| def get_orientation(self): | |
| """Used to get unit vector of current orientation, assuming sensor is | |
| not in movement and acceleration is only due to gravity.""" | |
| raw_ints = self.get_raw_values() | |
| ac_x = self.bytes_toint(raw_ints[0], raw_ints[1]) | |
| ac_y = self.bytes_toint(raw_ints[2], raw_ints[3]) | |
| ac_z = self.bytes_toint(raw_ints[4], raw_ints[5]) | |
| return utils.UnitVector(ac_x, ac_y, ac_z) | |
| def get_values(self): | |
| raw_ints = self.get_raw_values() | |
| vals = {} | |
| vals["AcX"] = self.bytes_toint(raw_ints[0], raw_ints[1]) | |
| vals["AcY"] = self.bytes_toint(raw_ints[2], raw_ints[3]) | |
| vals["AcZ"] = self.bytes_toint(raw_ints[4], raw_ints[5]) | |
| vals["Tmp"] = self.bytes_toint(raw_ints[6], raw_ints[7]) / 340.00 + 36.53 | |
| vals["GyX"] = self.bytes_toint(raw_ints[8], raw_ints[9]) | |
| vals["GyY"] = self.bytes_toint(raw_ints[10], raw_ints[11]) | |
| vals["GyZ"] = self.bytes_toint(raw_ints[12], raw_ints[13]) | |
| return vals # returned in range of Int16 | |
| # -32768 to 32767 | |
| def enable_motion_detetection(self): | |
| SIGNAL_PATH_RESET = 0x68 | |
| INT_PIN_CFG = 0x37 | |
| ACCEL_CONFIG = 0x1C | |
| MOT_THR = 0x1F # Motion detection threshold bits [7:0] | |
| MOT_DUR = 0x20 # Duration counter threshold for motion interrupt | |
| # generation, 1 kHz rate, LSB = 1 ms | |
| MOT_DETECT_CTRL = 0x69 | |
| INT_ENABLE = 0x38 | |
| self.i2c.start() | |
| self.i2c.writeto(self.addr, bytearray([107, 0])) | |
| # Reset all internal signal paths in the MPU-6050 by writing 0x07 to | |
| # register 0x68 | |
| self.i2c.writeto(self.addr, bytearray([SIGNAL_PATH_RESET, 0x07])) | |
| # write register 0x37 to select how to use the interrupt pin. For an | |
| # active high, push-pull signal that stays until register (decimal) 58 | |
| # is read, write 0x20 or 0x60 for active low and push-pull. | |
| self.i2c.writeto(self.addr, bytearray([INT_PIN_CFG, 0x80])) | |
| # Write register 28 (==0x1C) to set the Digital High Pass Filter, bits | |
| # 3:0. For example set it to 0x01 for 5Hz. (These 3 bits are grey in | |
| # the data sheet, but they are used! Leaving them 0 means the filter | |
| # always outputs 0.) | |
| self.i2c.writeto(self.addr, bytearray([ACCEL_CONFIG, 0x01])) | |
| # write the desired Motion threshold to register 0x1F (For example, | |
| # write decimal 20). | |
| self.i2c.writeto(self.addr, bytearray([MOT_THR, 20])) | |
| # Set motion detect duration to 1 ms; LSB is 1 ms @ 1 kHz rate | |
| self.i2c.writeto(self.addr, bytearray([MOT_DUR, 40])) | |
| # to register 0x69, write the motion detection decrement and a few | |
| # other settings (for example write 0x15 to set both free-fall and | |
| # motion decrements to 1 and accelerometer start-up delay to 5ms total | |
| # by adding 1ms. ) | |
| self.i2c.writeto(self.addr, bytearray([MOT_DETECT_CTRL, 0x15])) | |
| # write register 0x38, bit 6 (0x40), to enable motion detection interrupt. | |
| self.i2c.writeto(self.addr, bytearray([INT_ENABLE, 0x40])) | |
| self.i2c.stop() |
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