Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Expose MPU-6050 FIFO and some helper functions #39

Merged
merged 1 commit into from
Jan 7, 2025
Merged

Expose MPU-6050 FIFO and some helper functions #39

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
59 changes: 35 additions & 24 deletions adafruit_mpu6050.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,7 @@
_MPU6050_CONFIG = 0x1A # General configuration register
_MPU6050_GYRO_CONFIG = 0x1B # Gyro specfic configuration register
_MPU6050_ACCEL_CONFIG = 0x1C # Accelerometer specific configration register
_MPU6050_FIFO_EN = 0x23 # FIFO Enable
_MPU6050_INT_PIN_CONFIG = 0x37 # Interrupt pin configuration register
_MPU6050_ACCEL_OUT = 0x3B # base address for sensor data reads
_MPU6050_TEMP_OUT = 0x41 # Temperature data high byte register
Expand All @@ -72,6 +73,8 @@
_MPU6050_USER_CTRL = 0x6A # FIFO and I2C Master control register
_MPU6050_PWR_MGMT_1 = 0x6B # Primary power/sleep control register
_MPU6050_PWR_MGMT_2 = 0x6C # Secondary power/sleep control register
_MPU6050_FIFO_COUNT = 0x72 # FIFO byte count register (high half)
_MPU6050_FIFO_R_W = 0x74 # FIFO data register
_MPU6050_WHO_AM_I = 0x75 # Divice ID register

STANDARD_GRAVITY = 9.80665
Expand Down Expand Up @@ -170,7 +173,7 @@ class Rate: # pylint: disable=too-few-public-methods
CYCLE_40_HZ = 3 # 40 Hz


class MPU6050:
class MPU6050: # pylint: disable=too-many-instance-attributes
"""Driver for the MPU6050 6-DoF accelerometer and gyroscope.

:param ~busio.I2C i2c_bus: The I2C bus the device is connected to
Expand Down Expand Up @@ -215,6 +218,7 @@ def __init__(self, i2c_bus: I2C, address: int = _MPU6050_DEFAULT_ADDRESS) -> Non
self._filter_bandwidth = Bandwidth.BAND_260_HZ
self._gyro_range = GyroRange.RANGE_500_DPS
self._accel_range = Range.RANGE_2_G
self._accel_scale = 1.0 / [16384, 8192, 4096, 2048][self._accel_range]
sleep(0.100)
self.clock_source = (
ClockSource.CLKSEL_INTERNAL_X
Expand Down Expand Up @@ -257,6 +261,11 @@ def reset(self) -> None:
sample_rate_divisor = UnaryStruct(_MPU6050_SMPLRT_DIV, ">B")
"""The sample rate divisor. See the datasheet for additional detail"""

fifo_en = RWBit(_MPU6050_USER_CTRL, 6)
fiforst = RWBit(_MPU6050_USER_CTRL, 2)
accel_fifo_en = RWBit(_MPU6050_FIFO_EN, 3)
fifo_count = ROUnaryStruct(_MPU6050_FIFO_COUNT, ">h")

@property
def temperature(self) -> float:
"""The current temperature in º Celsius"""
Expand All @@ -268,35 +277,26 @@ def temperature(self) -> float:
def acceleration(self) -> Tuple[float, float, float]:
"""Acceleration X, Y, and Z axis data in :math:`m/s^2`"""
raw_data = self._raw_accel_data
raw_x = raw_data[0][0]
raw_y = raw_data[1][0]
raw_z = raw_data[2][0]

accel_range = self._accel_range
accel_scale = 1
if accel_range == Range.RANGE_16_G:
accel_scale = 2048
if accel_range == Range.RANGE_8_G:
accel_scale = 4096
if accel_range == Range.RANGE_4_G:
accel_scale = 8192
if accel_range == Range.RANGE_2_G:
accel_scale = 16384

# setup range dependant scaling
accel_x = (raw_x / accel_scale) * STANDARD_GRAVITY
accel_y = (raw_y / accel_scale) * STANDARD_GRAVITY
accel_z = (raw_z / accel_scale) * STANDARD_GRAVITY
return self.scale_accel([raw_data[0][0], raw_data[1][0], raw_data[2][0]])

def scale_accel(self, raw_data) -> Tuple[float, float, float]:
"""Scale raw X, Y, and Z axis data to :math:`m/s^2`"""
accel_x = (raw_data[0] * self._accel_scale) * STANDARD_GRAVITY
accel_y = (raw_data[1] * self._accel_scale) * STANDARD_GRAVITY
accel_z = (raw_data[2] * self._accel_scale) * STANDARD_GRAVITY
return (accel_x, accel_y, accel_z)

@property
def gyro(self) -> Tuple[float, float, float]:
"""Gyroscope X, Y, and Z axis data in :math:`º/s`"""
raw_data = self._raw_gyro_data
raw_x = raw_data[0][0]
raw_y = raw_data[1][0]
raw_z = raw_data[2][0]
return self.scale_gyro((raw_data[0][0], raw_data[1][0], raw_data[2][0]))

def scale_gyro(self, raw_data) -> Tuple[float, float, float]:
"""Scale raw gyro data to :math:`º/s`"""
raw_x = raw_data[0]
raw_y = raw_data[1]
raw_z = raw_data[2]

gyro_scale = 1
gyro_range = self._gyro_range
Expand All @@ -309,7 +309,7 @@ def gyro(self) -> Tuple[float, float, float]:
if gyro_range == GyroRange.RANGE_2000_DPS:
gyro_scale = 16.4

# setup range dependant scaling
# setup range dependent scaling
gyro_x = radians(raw_x / gyro_scale)
gyro_y = radians(raw_y / gyro_scale)
gyro_z = radians(raw_z / gyro_scale)
Expand Down Expand Up @@ -349,6 +349,7 @@ def accelerometer_range(self, value: int) -> None:
if (value < 0) or (value > 3):
raise ValueError("accelerometer_range must be a Range")
self._accel_range = value
self._accel_scale = 1.0 / [16384, 8192, 4096, 2048][value]
sleep(0.01)

@property
Expand Down Expand Up @@ -388,3 +389,13 @@ def clock_source(self, value: int) -> None:
"clock_source must be ClockSource value, integer from 0 - 7."
)
self._clksel = value

def read_whole_fifo(self):
"""Return raw FIFO bytes"""
# This code must be fast to ensure samples are contiguous
count = self.fifo_count
buf = bytearray(count)
tannewt marked this conversation as resolved.
Show resolved Hide resolved
buf[0] = _MPU6050_FIFO_R_W
with self.i2c_device:
self.i2c_device.write_then_readinto(buf, buf, out_end=1, in_start=0)
return buf
Loading