├── .gitattributes ├── .github ├── PULL_REQUEST_TEMPLATE │ └── adafruit_circuitpython_pr.md └── workflows │ ├── build.yml │ ├── failure-help-text.yml │ ├── release_gh.yml │ └── release_pypi.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .readthedocs.yaml ├── CODE_OF_CONDUCT.md ├── LICENSE ├── LICENSES ├── CC-BY-4.0.txt ├── MIT.txt └── Unlicense.txt ├── README.rst ├── README.rst.license ├── adafruit_mpu6050.py ├── docs ├── _static │ ├── favicon.ico │ └── favicon.ico.license ├── api.rst ├── api.rst.license ├── conf.py ├── examples.rst ├── examples.rst.license ├── index.rst ├── index.rst.license └── requirements.txt ├── examples ├── mpu6050_displayio_simpletest.py ├── mpu6050_inclinometer.py ├── mpu6050_plotter_example.py ├── mpu6050_simpletest.py └── mpu6050_sleep_example.py ├── optional_requirements.txt ├── pyproject.toml ├── requirements.txt └── ruff.toml /.gitattributes: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | .py text eol=lf 6 | .rst text eol=lf 7 | .txt text eol=lf 8 | .yaml text eol=lf 9 | .toml text eol=lf 10 | .license text eol=lf 11 | .md text eol=lf 12 | -------------------------------------------------------------------------------- /.github/PULL_REQUEST_TEMPLATE/adafruit_circuitpython_pr.md: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | Thank you for contributing! Before you submit a pull request, please read the following. 6 | 7 | Make sure any changes you're submitting are in line with the CircuitPython Design Guide, available here: https://docs.circuitpython.org/en/latest/docs/design_guide.html 8 | 9 | If your changes are to documentation, please verify that the documentation builds locally by following the steps found here: https://adafru.it/build-docs 10 | 11 | Before submitting the pull request, make sure you've run Pylint and Black locally on your code. You can do this manually or using pre-commit. Instructions are available here: https://adafru.it/check-your-code 12 | 13 | Please remove all of this text before submitting. Include an explanation or list of changes included in your PR, as well as, if applicable, a link to any related issues. 14 | -------------------------------------------------------------------------------- /.github/workflows/build.yml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | name: Build CI 6 | 7 | on: [pull_request, push] 8 | 9 | jobs: 10 | test: 11 | runs-on: ubuntu-latest 12 | steps: 13 | - name: Run Build CI workflow 14 | uses: adafruit/workflows-circuitpython-libs/build@main 15 | -------------------------------------------------------------------------------- /.github/workflows/failure-help-text.yml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 Scott Shawcroft for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | name: Failure help text 6 | 7 | on: 8 | workflow_run: 9 | workflows: ["Build CI"] 10 | types: 11 | - completed 12 | 13 | jobs: 14 | post-help: 15 | runs-on: ubuntu-latest 16 | if: ${{ github.event.workflow_run.conclusion == 'failure' && github.event.workflow_run.event == 'pull_request' }} 17 | steps: 18 | - name: Post comment to help 19 | uses: adafruit/circuitpython-action-library-ci-failed@v1 20 | -------------------------------------------------------------------------------- /.github/workflows/release_gh.yml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | name: GitHub Release Actions 6 | 7 | on: 8 | release: 9 | types: [published] 10 | 11 | jobs: 12 | upload-release-assets: 13 | runs-on: ubuntu-latest 14 | steps: 15 | - name: Run GitHub Release CI workflow 16 | uses: adafruit/workflows-circuitpython-libs/release-gh@main 17 | with: 18 | github-token: ${{ secrets.GITHUB_TOKEN }} 19 | upload-url: ${{ github.event.release.upload_url }} 20 | -------------------------------------------------------------------------------- /.github/workflows/release_pypi.yml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | name: PyPI Release Actions 6 | 7 | on: 8 | release: 9 | types: [published] 10 | 11 | jobs: 12 | upload-release-assets: 13 | runs-on: ubuntu-latest 14 | steps: 15 | - name: Run PyPI Release CI workflow 16 | uses: adafruit/workflows-circuitpython-libs/release-pypi@main 17 | with: 18 | pypi-username: ${{ secrets.pypi_username }} 19 | pypi-password: ${{ secrets.pypi_password }} 20 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2022 Kattni Rembor, written for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | # Do not include files and directories created by your personal work environment, such as the IDE 6 | # you use, except for those already listed here. Pull requests including changes to this file will 7 | # not be accepted. 8 | 9 | # This .gitignore file contains rules for files generated by working with CircuitPython libraries, 10 | # including building Sphinx, testing with pip, and creating a virual environment, as well as the 11 | # MacOS and IDE-specific files generated by using MacOS in general, or the PyCharm or VSCode IDEs. 12 | 13 | # If you find that there are files being generated on your machine that should not be included in 14 | # your git commit, you should create a .gitignore_global file on your computer to include the 15 | # files created by your personal setup. To do so, follow the two steps below. 16 | 17 | # First, create a file called .gitignore_global somewhere convenient for you, and add rules for 18 | # the files you want to exclude from git commits. 19 | 20 | # Second, configure Git to use the exclude file for all Git repositories by running the 21 | # following via commandline, replacing "path/to/your/" with the actual path to your newly created 22 | # .gitignore_global file: 23 | # git config --global core.excludesfile path/to/your/.gitignore_global 24 | 25 | # CircuitPython-specific files 26 | *.mpy 27 | 28 | # Python-specific files 29 | __pycache__ 30 | *.pyc 31 | 32 | # Sphinx build-specific files 33 | _build 34 | 35 | # This file results from running `pip -e install .` in a local repository 36 | *.egg-info 37 | 38 | # Virtual environment-specific files 39 | .env 40 | .venv 41 | 42 | # MacOS-specific files 43 | *.DS_Store 44 | 45 | # IDE-specific files 46 | .idea 47 | .vscode 48 | *~ 49 | -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | repos: 6 | - repo: https://github.com/pre-commit/pre-commit-hooks 7 | rev: v4.5.0 8 | hooks: 9 | - id: check-yaml 10 | - id: end-of-file-fixer 11 | - id: trailing-whitespace 12 | - repo: https://github.com/astral-sh/ruff-pre-commit 13 | rev: v0.3.4 14 | hooks: 15 | - id: ruff-format 16 | - id: ruff 17 | args: ["--fix"] 18 | - repo: https://github.com/fsfe/reuse-tool 19 | rev: v3.0.1 20 | hooks: 21 | - id: reuse 22 | -------------------------------------------------------------------------------- /.readthedocs.yaml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | # Read the Docs configuration file 6 | # See https://docs.readthedocs.io/en/stable/config-file/v2.html for details 7 | 8 | # Required 9 | version: 2 10 | 11 | sphinx: 12 | configuration: docs/conf.py 13 | 14 | build: 15 | os: ubuntu-20.04 16 | tools: 17 | python: "3" 18 | 19 | python: 20 | install: 21 | - requirements: docs/requirements.txt 22 | - requirements: requirements.txt 23 | -------------------------------------------------------------------------------- /CODE_OF_CONDUCT.md: -------------------------------------------------------------------------------- 1 | 6 | 7 | # Adafruit Community Code of Conduct 8 | 9 | ## Our Pledge 10 | 11 | In the interest of fostering an open and welcoming environment, we as 12 | contributors and leaders pledge to making participation in our project and 13 | our community a harassment-free experience for everyone, regardless of age, body 14 | size, disability, ethnicity, gender identity and expression, level or type of 15 | experience, education, socio-economic status, nationality, personal appearance, 16 | race, religion, or sexual identity and orientation. 17 | 18 | ## Our Standards 19 | 20 | We are committed to providing a friendly, safe and welcoming environment for 21 | all. 22 | 23 | Examples of behavior that contributes to creating a positive environment 24 | include: 25 | 26 | * Be kind and courteous to others 27 | * Using welcoming and inclusive language 28 | * Being respectful of differing viewpoints and experiences 29 | * Collaborating with other community members 30 | * Gracefully accepting constructive criticism 31 | * Focusing on what is best for the community 32 | * Showing empathy towards other community members 33 | 34 | Examples of unacceptable behavior by participants include: 35 | 36 | * The use of sexualized language or imagery and sexual attention or advances 37 | * The use of inappropriate images, including in a community member's avatar 38 | * The use of inappropriate language, including in a community member's nickname 39 | * Any spamming, flaming, baiting or other attention-stealing behavior 40 | * Excessive or unwelcome helping; answering outside the scope of the question 41 | asked 42 | * Trolling, insulting/derogatory comments, and personal or political attacks 43 | * Promoting or spreading disinformation, lies, or conspiracy theories against 44 | a person, group, organisation, project, or community 45 | * Public or private harassment 46 | * Publishing others' private information, such as a physical or electronic 47 | address, without explicit permission 48 | * Other conduct which could reasonably be considered inappropriate 49 | 50 | The goal of the standards and moderation guidelines outlined here is to build 51 | and maintain a respectful community. We ask that you don’t just aim to be 52 | "technically unimpeachable", but rather try to be your best self. 53 | 54 | We value many things beyond technical expertise, including collaboration and 55 | supporting others within our community. Providing a positive experience for 56 | other community members can have a much more significant impact than simply 57 | providing the correct answer. 58 | 59 | ## Our Responsibilities 60 | 61 | Project leaders are responsible for clarifying the standards of acceptable 62 | behavior and are expected to take appropriate and fair corrective action in 63 | response to any instances of unacceptable behavior. 64 | 65 | Project leaders have the right and responsibility to remove, edit, or 66 | reject messages, comments, commits, code, issues, and other contributions 67 | that are not aligned to this Code of Conduct, or to ban temporarily or 68 | permanently any community member for other behaviors that they deem 69 | inappropriate, threatening, offensive, or harmful. 70 | 71 | ## Moderation 72 | 73 | Instances of behaviors that violate the Adafruit Community Code of Conduct 74 | may be reported by any member of the community. Community members are 75 | encouraged to report these situations, including situations they witness 76 | involving other community members. 77 | 78 | You may report in the following ways: 79 | 80 | In any situation, you may send an email to . 81 | 82 | On the Adafruit Discord, you may send an open message from any channel 83 | to all Community Moderators by tagging @community moderators. You may 84 | also send an open message from any channel, or a direct message to 85 | @kattni#1507, @tannewt#4653, @Dan Halbert#1614, @cater#2442, 86 | @sommersoft#0222, @Mr. Certainly#0472 or @Andon#8175. 87 | 88 | Email and direct message reports will be kept confidential. 89 | 90 | In situations on Discord where the issue is particularly egregious, possibly 91 | illegal, requires immediate action, or violates the Discord terms of service, 92 | you should also report the message directly to Discord. 93 | 94 | These are the steps for upholding our community’s standards of conduct. 95 | 96 | 1. Any member of the community may report any situation that violates the 97 | Adafruit Community Code of Conduct. All reports will be reviewed and 98 | investigated. 99 | 2. If the behavior is an egregious violation, the community member who 100 | committed the violation may be banned immediately, without warning. 101 | 3. Otherwise, moderators will first respond to such behavior with a warning. 102 | 4. Moderators follow a soft "three strikes" policy - the community member may 103 | be given another chance, if they are receptive to the warning and change their 104 | behavior. 105 | 5. If the community member is unreceptive or unreasonable when warned by a 106 | moderator, or the warning goes unheeded, they may be banned for a first or 107 | second offense. Repeated offenses will result in the community member being 108 | banned. 109 | 110 | ## Scope 111 | 112 | This Code of Conduct and the enforcement policies listed above apply to all 113 | Adafruit Community venues. This includes but is not limited to any community 114 | spaces (both public and private), the entire Adafruit Discord server, and 115 | Adafruit GitHub repositories. Examples of Adafruit Community spaces include 116 | but are not limited to meet-ups, audio chats on the Adafruit Discord, or 117 | interaction at a conference. 118 | 119 | This Code of Conduct applies both within project spaces and in public spaces 120 | when an individual is representing the project or its community. As a community 121 | member, you are representing our community, and are expected to behave 122 | accordingly. 123 | 124 | ## Attribution 125 | 126 | This Code of Conduct is adapted from the [Contributor Covenant][homepage], 127 | version 1.4, available at 128 | , 129 | and the [Rust Code of Conduct](https://www.rust-lang.org/en-US/conduct.html). 130 | 131 | For other projects adopting the Adafruit Community Code of 132 | Conduct, please contact the maintainers of those projects for enforcement. 133 | If you wish to use this code of conduct for your own project, consider 134 | explicitly mentioning your moderation policy or making a copy with your 135 | own moderation policy so as to avoid confusion. 136 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | The MIT License (MIT) 2 | 3 | Copyright (c) 2019 Bryan Siepert for Adafruit Industries 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /LICENSES/CC-BY-4.0.txt: -------------------------------------------------------------------------------- 1 | Creative Commons Attribution 4.0 International Creative Commons Corporation 2 | ("Creative Commons") is not a law firm and does not provide legal services 3 | or legal advice. Distribution of Creative Commons public licenses does not 4 | create a lawyer-client or other relationship. Creative Commons makes its licenses 5 | and related information available on an "as-is" basis. Creative Commons gives 6 | no warranties regarding its licenses, any material licensed under their terms 7 | and conditions, or any related information. Creative Commons disclaims all 8 | liability for damages resulting from their use to the fullest extent possible. 9 | 10 | Using Creative Commons Public Licenses 11 | 12 | Creative Commons public licenses provide a standard set of terms and conditions 13 | that creators and other rights holders may use to share original works of 14 | authorship and other material subject to copyright and certain other rights 15 | specified in the public license below. The following considerations are for 16 | informational purposes only, are not exhaustive, and do not form part of our 17 | licenses. 18 | 19 | Considerations for licensors: Our public licenses are intended for use by 20 | those authorized to give the public permission to use material in ways otherwise 21 | restricted by copyright and certain other rights. Our licenses are irrevocable. 22 | Licensors should read and understand the terms and conditions of the license 23 | they choose before applying it. Licensors should also secure all rights necessary 24 | before applying our licenses so that the public can reuse the material as 25 | expected. Licensors should clearly mark any material not subject to the license. 26 | This includes other CC-licensed material, or material used under an exception 27 | or limitation to copyright. More considerations for licensors : wiki.creativecommons.org/Considerations_for_licensors 28 | 29 | Considerations for the public: By using one of our public licenses, a licensor 30 | grants the public permission to use the licensed material under specified 31 | terms and conditions. If the licensor's permission is not necessary for any 32 | reason–for example, because of any applicable exception or limitation to copyright–then 33 | that use is not regulated by the license. Our licenses grant only permissions 34 | under copyright and certain other rights that a licensor has authority to 35 | grant. Use of the licensed material may still be restricted for other reasons, 36 | including because others have copyright or other rights in the material. A 37 | licensor may make special requests, such as asking that all changes be marked 38 | or described. Although not required by our licenses, you are encouraged to 39 | respect those requests where reasonable. More considerations for the public 40 | : wiki.creativecommons.org/Considerations_for_licensees Creative Commons Attribution 41 | 4.0 International Public License 42 | 43 | By exercising the Licensed Rights (defined below), You accept and agree to 44 | be bound by the terms and conditions of this Creative Commons Attribution 45 | 4.0 International Public License ("Public License"). To the extent this Public 46 | License may be interpreted as a contract, You are granted the Licensed Rights 47 | in consideration of Your acceptance of these terms and conditions, and the 48 | Licensor grants You such rights in consideration of benefits the Licensor 49 | receives from making the Licensed Material available under these terms and 50 | conditions. 51 | 52 | Section 1 – Definitions. 53 | 54 | a. Adapted Material means material subject to Copyright and Similar Rights 55 | that is derived from or based upon the Licensed Material and in which the 56 | Licensed Material is translated, altered, arranged, transformed, or otherwise 57 | modified in a manner requiring permission under the Copyright and Similar 58 | Rights held by the Licensor. For purposes of this Public License, where the 59 | Licensed Material is a musical work, performance, or sound recording, Adapted 60 | Material is always produced where the Licensed Material is synched in timed 61 | relation with a moving image. 62 | 63 | b. Adapter's License means the license You apply to Your Copyright and Similar 64 | Rights in Your contributions to Adapted Material in accordance with the terms 65 | and conditions of this Public License. 66 | 67 | c. Copyright and Similar Rights means copyright and/or similar rights closely 68 | related to copyright including, without limitation, performance, broadcast, 69 | sound recording, and Sui Generis Database Rights, without regard to how the 70 | rights are labeled or categorized. For purposes of this Public License, the 71 | rights specified in Section 2(b)(1)-(2) are not Copyright and Similar Rights. 72 | 73 | d. Effective Technological Measures means those measures that, in the absence 74 | of proper authority, may not be circumvented under laws fulfilling obligations 75 | under Article 11 of the WIPO Copyright Treaty adopted on December 20, 1996, 76 | and/or similar international agreements. 77 | 78 | e. Exceptions and Limitations means fair use, fair dealing, and/or any other 79 | exception or limitation to Copyright and Similar Rights that applies to Your 80 | use of the Licensed Material. 81 | 82 | f. Licensed Material means the artistic or literary work, database, or other 83 | material to which the Licensor applied this Public License. 84 | 85 | g. Licensed Rights means the rights granted to You subject to the terms and 86 | conditions of this Public License, which are limited to all Copyright and 87 | Similar Rights that apply to Your use of the Licensed Material and that the 88 | Licensor has authority to license. 89 | 90 | h. Licensor means the individual(s) or entity(ies) granting rights under this 91 | Public License. 92 | 93 | i. Share means to provide material to the public by any means or process that 94 | requires permission under the Licensed Rights, such as reproduction, public 95 | display, public performance, distribution, dissemination, communication, or 96 | importation, and to make material available to the public including in ways 97 | that members of the public may access the material from a place and at a time 98 | individually chosen by them. 99 | 100 | j. Sui Generis Database Rights means rights other than copyright resulting 101 | from Directive 96/9/EC of the European Parliament and of the Council of 11 102 | March 1996 on the legal protection of databases, as amended and/or succeeded, 103 | as well as other essentially equivalent rights anywhere in the world. 104 | 105 | k. You means the individual or entity exercising the Licensed Rights under 106 | this Public License. Your has a corresponding meaning. 107 | 108 | Section 2 – Scope. 109 | 110 | a. License grant. 111 | 112 | 1. Subject to the terms and conditions of this Public License, the Licensor 113 | hereby grants You a worldwide, royalty-free, non-sublicensable, non-exclusive, 114 | irrevocable license to exercise the Licensed Rights in the Licensed Material 115 | to: 116 | 117 | A. reproduce and Share the Licensed Material, in whole or in part; and 118 | 119 | B. produce, reproduce, and Share Adapted Material. 120 | 121 | 2. Exceptions and Limitations. For the avoidance of doubt, where Exceptions 122 | and Limitations apply to Your use, this Public License does not apply, and 123 | You do not need to comply with its terms and conditions. 124 | 125 | 3. Term. The term of this Public License is specified in Section 6(a). 126 | 127 | 4. Media and formats; technical modifications allowed. The Licensor authorizes 128 | You to exercise the Licensed Rights in all media and formats whether now known 129 | or hereafter created, and to make technical modifications necessary to do 130 | so. The Licensor waives and/or agrees not to assert any right or authority 131 | to forbid You from making technical modifications necessary to exercise the 132 | Licensed Rights, including technical modifications necessary to circumvent 133 | Effective Technological Measures. For purposes of this Public License, simply 134 | making modifications authorized by this Section 2(a)(4) never produces Adapted 135 | Material. 136 | 137 | 5. Downstream recipients. 138 | 139 | A. Offer from the Licensor – Licensed Material. Every recipient of the Licensed 140 | Material automatically receives an offer from the Licensor to exercise the 141 | Licensed Rights under the terms and conditions of this Public License. 142 | 143 | B. No downstream restrictions. You may not offer or impose any additional 144 | or different terms or conditions on, or apply any Effective Technological 145 | Measures to, the Licensed Material if doing so restricts exercise of the Licensed 146 | Rights by any recipient of the Licensed Material. 147 | 148 | 6. No endorsement. Nothing in this Public License constitutes or may be construed 149 | as permission to assert or imply that You are, or that Your use of the Licensed 150 | Material is, connected with, or sponsored, endorsed, or granted official status 151 | by, the Licensor or others designated to receive attribution as provided in 152 | Section 3(a)(1)(A)(i). 153 | 154 | b. Other rights. 155 | 156 | 1. Moral rights, such as the right of integrity, are not licensed under this 157 | Public License, nor are publicity, privacy, and/or other similar personality 158 | rights; however, to the extent possible, the Licensor waives and/or agrees 159 | not to assert any such rights held by the Licensor to the limited extent necessary 160 | to allow You to exercise the Licensed Rights, but not otherwise. 161 | 162 | 2. Patent and trademark rights are not licensed under this Public License. 163 | 164 | 3. To the extent possible, the Licensor waives any right to collect royalties 165 | from You for the exercise of the Licensed Rights, whether directly or through 166 | a collecting society under any voluntary or waivable statutory or compulsory 167 | licensing scheme. In all other cases the Licensor expressly reserves any right 168 | to collect such royalties. 169 | 170 | Section 3 – License Conditions. 171 | 172 | Your exercise of the Licensed Rights is expressly made subject to the following 173 | conditions. 174 | 175 | a. Attribution. 176 | 177 | 1. If You Share the Licensed Material (including in modified form), You must: 178 | 179 | A. retain the following if it is supplied by the Licensor with the Licensed 180 | Material: 181 | 182 | i. identification of the creator(s) of the Licensed Material and any others 183 | designated to receive attribution, in any reasonable manner requested by the 184 | Licensor (including by pseudonym if designated); 185 | 186 | ii. a copyright notice; 187 | 188 | iii. a notice that refers to this Public License; 189 | 190 | iv. a notice that refers to the disclaimer of warranties; 191 | 192 | v. a URI or hyperlink to the Licensed Material to the extent reasonably practicable; 193 | 194 | B. indicate if You modified the Licensed Material and retain an indication 195 | of any previous modifications; and 196 | 197 | C. indicate the Licensed Material is licensed under this Public License, and 198 | include the text of, or the URI or hyperlink to, this Public License. 199 | 200 | 2. You may satisfy the conditions in Section 3(a)(1) in any reasonable manner 201 | based on the medium, means, and context in which You Share the Licensed Material. 202 | For example, it may be reasonable to satisfy the conditions by providing a 203 | URI or hyperlink to a resource that includes the required information. 204 | 205 | 3. If requested by the Licensor, You must remove any of the information required 206 | by Section 3(a)(1)(A) to the extent reasonably practicable. 207 | 208 | 4. If You Share Adapted Material You produce, the Adapter's License You apply 209 | must not prevent recipients of the Adapted Material from complying with this 210 | Public License. 211 | 212 | Section 4 – Sui Generis Database Rights. 213 | 214 | Where the Licensed Rights include Sui Generis Database Rights that apply to 215 | Your use of the Licensed Material: 216 | 217 | a. for the avoidance of doubt, Section 2(a)(1) grants You the right to extract, 218 | reuse, reproduce, and Share all or a substantial portion of the contents of 219 | the database; 220 | 221 | b. if You include all or a substantial portion of the database contents in 222 | a database in which You have Sui Generis Database Rights, then the database 223 | in which You have Sui Generis Database Rights (but not its individual contents) 224 | is Adapted Material; and 225 | 226 | c. You must comply with the conditions in Section 3(a) if You Share all or 227 | a substantial portion of the contents of the database. 228 | 229 | For the avoidance of doubt, this Section 4 supplements and does not replace 230 | Your obligations under this Public License where the Licensed Rights include 231 | other Copyright and Similar Rights. 232 | 233 | Section 5 – Disclaimer of Warranties and Limitation of Liability. 234 | 235 | a. Unless otherwise separately undertaken by the Licensor, to the extent possible, 236 | the Licensor offers the Licensed Material as-is and as-available, and makes 237 | no representations or warranties of any kind concerning the Licensed Material, 238 | whether express, implied, statutory, or other. This includes, without limitation, 239 | warranties of title, merchantability, fitness for a particular purpose, non-infringement, 240 | absence of latent or other defects, accuracy, or the presence or absence of 241 | errors, whether or not known or discoverable. Where disclaimers of warranties 242 | are not allowed in full or in part, this disclaimer may not apply to You. 243 | 244 | b. To the extent possible, in no event will the Licensor be liable to You 245 | on any legal theory (including, without limitation, negligence) or otherwise 246 | for any direct, special, indirect, incidental, consequential, punitive, exemplary, 247 | or other losses, costs, expenses, or damages arising out of this Public License 248 | or use of the Licensed Material, even if the Licensor has been advised of 249 | the possibility of such losses, costs, expenses, or damages. Where a limitation 250 | of liability is not allowed in full or in part, this limitation may not apply 251 | to You. 252 | 253 | c. The disclaimer of warranties and limitation of liability provided above 254 | shall be interpreted in a manner that, to the extent possible, most closely 255 | approximates an absolute disclaimer and waiver of all liability. 256 | 257 | Section 6 – Term and Termination. 258 | 259 | a. This Public License applies for the term of the Copyright and Similar Rights 260 | licensed here. However, if You fail to comply with this Public License, then 261 | Your rights under this Public License terminate automatically. 262 | 263 | b. Where Your right to use the Licensed Material has terminated under Section 264 | 6(a), it reinstates: 265 | 266 | 1. automatically as of the date the violation is cured, provided it is cured 267 | within 30 days of Your discovery of the violation; or 268 | 269 | 2. upon express reinstatement by the Licensor. 270 | 271 | c. For the avoidance of doubt, this Section 6(b) does not affect any right 272 | the Licensor may have to seek remedies for Your violations of this Public 273 | License. 274 | 275 | d. For the avoidance of doubt, the Licensor may also offer the Licensed Material 276 | under separate terms or conditions or stop distributing the Licensed Material 277 | at any time; however, doing so will not terminate this Public License. 278 | 279 | e. Sections 1, 5, 6, 7, and 8 survive termination of this Public License. 280 | 281 | Section 7 – Other Terms and Conditions. 282 | 283 | a. The Licensor shall not be bound by any additional or different terms or 284 | conditions communicated by You unless expressly agreed. 285 | 286 | b. Any arrangements, understandings, or agreements regarding the Licensed 287 | Material not stated herein are separate from and independent of the terms 288 | and conditions of this Public License. 289 | 290 | Section 8 – Interpretation. 291 | 292 | a. For the avoidance of doubt, this Public License does not, and shall not 293 | be interpreted to, reduce, limit, restrict, or impose conditions on any use 294 | of the Licensed Material that could lawfully be made without permission under 295 | this Public License. 296 | 297 | b. To the extent possible, if any provision of this Public License is deemed 298 | unenforceable, it shall be automatically reformed to the minimum extent necessary 299 | to make it enforceable. If the provision cannot be reformed, it shall be severed 300 | from this Public License without affecting the enforceability of the remaining 301 | terms and conditions. 302 | 303 | c. No term or condition of this Public License will be waived and no failure 304 | to comply consented to unless expressly agreed to by the Licensor. 305 | 306 | d. Nothing in this Public License constitutes or may be interpreted as a limitation 307 | upon, or waiver of, any privileges and immunities that apply to the Licensor 308 | or You, including from the legal processes of any jurisdiction or authority. 309 | 310 | Creative Commons is not a party to its public licenses. Notwithstanding, Creative 311 | Commons may elect to apply one of its public licenses to material it publishes 312 | and in those instances will be considered the "Licensor." The text of the 313 | Creative Commons public licenses is dedicated to the public domain under the 314 | CC0 Public Domain Dedication. Except for the limited purpose of indicating 315 | that material is shared under a Creative Commons public license or as otherwise 316 | permitted by the Creative Commons policies published at creativecommons.org/policies, 317 | Creative Commons does not authorize the use of the trademark "Creative Commons" 318 | or any other trademark or logo of Creative Commons without its prior written 319 | consent including, without limitation, in connection with any unauthorized 320 | modifications to any of its public licenses or any other arrangements, understandings, 321 | or agreements concerning use of licensed material. For the avoidance of doubt, 322 | this paragraph does not form part of the public licenses. 323 | 324 | Creative Commons may be contacted at creativecommons.org. 325 | -------------------------------------------------------------------------------- /LICENSES/MIT.txt: -------------------------------------------------------------------------------- 1 | MIT License Copyright (c) 2 | 3 | Permission is hereby granted, free of charge, to any person obtaining a copy 4 | of this software and associated documentation files (the "Software"), to deal 5 | in the Software without restriction, including without limitation the rights 6 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 7 | copies of the Software, and to permit persons to whom the Software is furnished 8 | to do so, subject to the following conditions: 9 | 10 | The above copyright notice and this permission notice (including the next 11 | paragraph) shall be included in all copies or substantial portions of the 12 | Software. 13 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 16 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS 17 | OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, 18 | WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF 19 | OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 20 | -------------------------------------------------------------------------------- /LICENSES/Unlicense.txt: -------------------------------------------------------------------------------- 1 | This is free and unencumbered software released into the public domain. 2 | 3 | Anyone is free to copy, modify, publish, use, compile, sell, or distribute 4 | this software, either in source code form or as a compiled binary, for any 5 | purpose, commercial or non-commercial, and by any means. 6 | 7 | In jurisdictions that recognize copyright laws, the author or authors of this 8 | software dedicate any and all copyright interest in the software to the public 9 | domain. We make this dedication for the benefit of the public at large and 10 | to the detriment of our heirs and successors. We intend this dedication to 11 | be an overt act of relinquishment in perpetuity of all present and future 12 | rights to this software under copyright law. 13 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 16 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS 17 | BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 18 | OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH 19 | THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. For more information, 20 | please refer to 21 | -------------------------------------------------------------------------------- /README.rst: -------------------------------------------------------------------------------- 1 | Introduction 2 | ============ 3 | 4 | .. image:: https://readthedocs.org/projects/adafruit-circuitpython-mpu6050/badge/?version=latest 5 | :target: https://docs.circuitpython.org/projects/mpu6050/en/latest/ 6 | :alt: Documentation Status 7 | 8 | .. image:: https://raw.githubusercontent.com/adafruit/Adafruit_CircuitPython_Bundle/main/badges/adafruit_discord.svg 9 | :target: https://adafru.it/discord 10 | :alt: Discord 11 | 12 | .. image:: https://github.com/adafruit/Adafruit_CircuitPython_MPU6050/workflows/Build%20CI/badge.svg 13 | :target: https://github.com/adafruit/Adafruit_CircuitPython_MPU6050/actions/ 14 | :alt: Build Status 15 | 16 | .. image:: https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json 17 | :target: https://github.com/astral-sh/ruff 18 | :alt: Code Style: Ruff 19 | 20 | CircuitPython helper library for the MPU6050 6-DoF Accelerometer and Gyroscope 21 | 22 | 23 | Dependencies 24 | ============= 25 | This driver depends on: 26 | 27 | * `Adafruit CircuitPython `_ 28 | * `Bus Device `_ 29 | * `Register `_ 30 | 31 | Please ensure all dependencies are available on the CircuitPython filesystem. 32 | This is easily achieved by downloading 33 | `the Adafruit library and driver bundle `_. 34 | 35 | Note: This driver requires too much RAM to be used on SAMD21 based devices. 36 | 37 | Installing from PyPI 38 | ===================== 39 | On supported GNU/Linux systems like the Raspberry Pi, you can install the driver locally `from 40 | PyPI `_. To install for current user: 41 | 42 | .. code-block:: shell 43 | 44 | pip3 install adafruit-circuitpython-mpu6050 45 | 46 | To install system-wide (this may be required in some cases): 47 | 48 | .. code-block:: shell 49 | 50 | sudo pip3 install adafruit-circuitpython-mpu6050 51 | 52 | To install in a virtual environment in your current project: 53 | 54 | .. code-block:: shell 55 | 56 | mkdir project-name && cd project-name 57 | python3 -m venv .venv 58 | source .venv/bin/activate 59 | pip3 install adafruit-circuitpython-mpu6050 60 | 61 | Usage Example 62 | ============= 63 | 64 | .. code-block:: python3 65 | 66 | import time 67 | import board 68 | import adafruit_mpu6050 69 | 70 | i2c = board.I2C() # uses board.SCL and board.SDA 71 | mpu = adafruit_mpu6050.MPU6050(i2c) 72 | 73 | while True: 74 | print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2"%(mpu.acceleration)) 75 | print("Gyro X:%.2f, Y: %.2f, Z: %.2f degrees/s"%(mpu.gyro)) 76 | print("Temperature: %.2f C"%mpu.temperature) 77 | print("") 78 | time.sleep(1) 79 | 80 | Documentation 81 | ============= 82 | 83 | API documentation for this library can be found on `Read the Docs `_. 84 | 85 | For information on building library documentation, please check out `this guide `_. 86 | 87 | Contributing 88 | ============ 89 | 90 | Contributions are welcome! Please read our `Code of Conduct 91 | `_ 92 | before contributing to help this project stay welcoming. 93 | -------------------------------------------------------------------------------- /README.rst.license: -------------------------------------------------------------------------------- 1 | SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries 2 | 3 | SPDX-License-Identifier: MIT 4 | -------------------------------------------------------------------------------- /adafruit_mpu6050.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2019 Bryan Siepert for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | """ 6 | `adafruit_mpu6050` 7 | ================================================================================ 8 | 9 | CircuitPython helper library for the MPU6050 6-DoF Accelerometer and Gyroscope. 10 | 11 | This driver requires too much RAM to be used on SAMD21 based devices. 12 | 13 | 14 | * Author(s): Bryan Siepert 15 | 16 | Implementation Notes 17 | -------------------- 18 | 19 | **Hardware:** 20 | 21 | * `Adafruit MPU-6050 6-DoF Accel and Gyro Sensor 22 | `_ (Product ID: 3886) 23 | 24 | **Software and Dependencies:** 25 | 26 | * Adafruit CircuitPython firmware for the supported boards: 27 | https://circuitpython.org/downloads 28 | 29 | * Adafruit's Bus Device library: 30 | https://github.com/adafruit/Adafruit_CircuitPython_BusDevice 31 | 32 | * Adafruit's Register library: 33 | https://github.com/adafruit/Adafruit_CircuitPython_Register 34 | 35 | """ 36 | 37 | # imports 38 | 39 | __version__ = "0.0.0+auto.0" 40 | __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_MPU6050.git" 41 | 42 | from math import radians 43 | from time import sleep 44 | 45 | from adafruit_bus_device import i2c_device 46 | from adafruit_register.i2c_bit import RWBit 47 | from adafruit_register.i2c_bits import RWBits 48 | from adafruit_register.i2c_struct import ROUnaryStruct, UnaryStruct 49 | from adafruit_register.i2c_struct_array import StructArray 50 | 51 | try: 52 | from typing import Tuple 53 | 54 | from busio import I2C 55 | except ImportError: 56 | pass 57 | 58 | _MPU6050_DEFAULT_ADDRESS = 0x68 # MPU6050 default i2c address w/ AD0 low 59 | _MPU6050_DEVICE_ID = 0x68 # The correct MPU6050_WHO_AM_I value 60 | 61 | _MPU6050_SELF_TEST_X = 0x0D # Self test factory calibrated values register 62 | _MPU6050_SELF_TEST_Y = 0x0E # Self test factory calibrated values register 63 | _MPU6050_SELF_TEST_Z = 0x0F # Self test factory calibrated values register 64 | _MPU6050_SELF_TEST_A = 0x10 # Self test factory calibrated values register 65 | _MPU6050_SMPLRT_DIV = 0x19 # sample rate divisor register 66 | _MPU6050_CONFIG = 0x1A # General configuration register 67 | _MPU6050_GYRO_CONFIG = 0x1B # Gyro specfic configuration register 68 | _MPU6050_ACCEL_CONFIG = 0x1C # Accelerometer specific configration register 69 | _MPU6050_FIFO_EN = 0x23 # FIFO Enable 70 | _MPU6050_INT_PIN_CONFIG = 0x37 # Interrupt pin configuration register 71 | _MPU6050_ACCEL_OUT = 0x3B # base address for sensor data reads 72 | _MPU6050_TEMP_OUT = 0x41 # Temperature data high byte register 73 | _MPU6050_GYRO_OUT = 0x43 # base address for sensor data reads 74 | _MPU6050_SIG_PATH_RESET = 0x68 # register to reset sensor signal paths 75 | _MPU6050_USER_CTRL = 0x6A # FIFO and I2C Master control register 76 | _MPU6050_PWR_MGMT_1 = 0x6B # Primary power/sleep control register 77 | _MPU6050_PWR_MGMT_2 = 0x6C # Secondary power/sleep control register 78 | _MPU6050_FIFO_COUNT = 0x72 # FIFO byte count register (high half) 79 | _MPU6050_FIFO_R_W = 0x74 # FIFO data register 80 | _MPU6050_WHO_AM_I = 0x75 # Divice ID register 81 | 82 | STANDARD_GRAVITY = 9.80665 83 | 84 | 85 | class ClockSource: 86 | """Allowed values for :py:attr:`clock_source`. 87 | 88 | * :py:attr:'ClockSource.CLKSEL_INTERNAL_8MHz 89 | * :py:attr:'ClockSource.CLKSEL_INTERNAL_X 90 | * :py:attr:'ClockSource.CLKSEL_INTERNAL_Y 91 | * :py:attr:'ClockSource.CLKSEL_INTERNAL_Z 92 | * :py:attr:'ClockSource.CLKSEL_EXTERNAL_32 93 | * :py:attr:'ClockSource.CLKSEL_EXTERNAL_19 94 | * :py:attr:'ClockSource.CLKSEL_RESERVED 95 | * :py:attr:'ClockSource.CLKSEL_STOP 96 | """ 97 | 98 | CLKSEL_INTERNAL_8MHz = 0 # Internal 8MHz oscillator 99 | CLKSEL_INTERNAL_X = 1 # PLL with X Axis gyroscope reference 100 | CLKSEL_INTERNAL_Y = 2 # PLL with Y Axis gyroscope reference 101 | CLKSEL_INTERNAL_Z = 3 # PLL with Z Axis gyroscope reference 102 | CLKSEL_EXTERNAL_32 = 4 # External 32.768 kHz reference 103 | CLKSEL_EXTERNAL_19 = 5 # External 19.2 MHz reference 104 | CLKSEL_RESERVED = 6 # Reserved 105 | CLKSEL_STOP = 7 # Stops the clock, constant reset mode 106 | 107 | 108 | class Range: 109 | """Allowed values for :py:attr:`accelerometer_range`. 110 | 111 | * :py:attr:`Range.RANGE_2_G` 112 | * :py:attr:`Range.RANGE_4_G` 113 | * :py:attr:`Range.RANGE_8_G` 114 | * :py:attr:`Range.RANGE_16_G` 115 | 116 | """ 117 | 118 | RANGE_2_G = 0 # +/- 2g (default value) 119 | RANGE_4_G = 1 # +/- 4g 120 | RANGE_8_G = 2 # +/- 8g 121 | RANGE_16_G = 3 # +/- 16g 122 | 123 | 124 | class GyroRange: 125 | """Allowed values for :py:attr:`gyro_range`. 126 | 127 | * :py:attr:`GyroRange.RANGE_250_DPS` 128 | * :py:attr:`GyroRange.RANGE_500_DPS` 129 | * :py:attr:`GyroRange.RANGE_1000_DPS` 130 | * :py:attr:`GyroRange.RANGE_2000_DPS` 131 | 132 | """ 133 | 134 | RANGE_250_DPS = 0 # +/- 250 deg/s (default value) 135 | RANGE_500_DPS = 1 # +/- 500 deg/s 136 | RANGE_1000_DPS = 2 # +/- 1000 deg/s 137 | RANGE_2000_DPS = 3 # +/- 2000 deg/s 138 | 139 | 140 | class Bandwidth: 141 | """Allowed values for :py:attr:`filter_bandwidth`. 142 | 143 | * :py:attr:`Bandwidth.BAND_260_HZ` 144 | * :py:attr:`Bandwidth.BAND_184_HZ` 145 | * :py:attr:`Bandwidth.BAND_94_HZ` 146 | * :py:attr:`Bandwidth.BAND_44_HZ` 147 | * :py:attr:`Bandwidth.BAND_21_HZ` 148 | * :py:attr:`Bandwidth.BAND_10_HZ` 149 | * :py:attr:`Bandwidth.BAND_5_HZ` 150 | 151 | """ 152 | 153 | BAND_260_HZ = 0 # Docs imply this disables the filter 154 | BAND_184_HZ = 1 # 184 Hz 155 | BAND_94_HZ = 2 # 94 Hz 156 | BAND_44_HZ = 3 # 44 Hz 157 | BAND_21_HZ = 4 # 21 Hz 158 | BAND_10_HZ = 5 # 10 Hz 159 | BAND_5_HZ = 6 # 5 Hz 160 | 161 | 162 | class Rate: 163 | """Allowed values for :py:attr:`cycle_rate`. 164 | 165 | * :py:attr:`Rate.CYCLE_1_25_HZ` 166 | * :py:attr:`Rate.CYCLE_5_HZ` 167 | * :py:attr:`Rate.CYCLE_20_HZ` 168 | * :py:attr:`Rate.CYCLE_40_HZ` 169 | 170 | """ 171 | 172 | CYCLE_1_25_HZ = 0 # 1.25 Hz 173 | CYCLE_5_HZ = 1 # 5 Hz 174 | CYCLE_20_HZ = 2 # 20 Hz 175 | CYCLE_40_HZ = 3 # 40 Hz 176 | 177 | 178 | class MPU6050: 179 | """Driver for the MPU6050 6-DoF accelerometer and gyroscope. 180 | 181 | :param ~busio.I2C i2c_bus: The I2C bus the device is connected to 182 | :param int address: The I2C device address. Defaults to :const:`0x68` 183 | 184 | **Quickstart: Importing and using the device** 185 | 186 | Here is an example of using the :class:`MPU6050` class. 187 | First you will need to import the libraries to use the sensor 188 | 189 | .. code-block:: python 190 | 191 | import board 192 | import adafruit_mpu6050 193 | 194 | Once this is done you can define your `board.I2C` object and define your sensor object 195 | 196 | .. code-block:: python 197 | 198 | i2c = board.I2C() # uses board.SCL and board.SDA 199 | mpu = adafruit_mpu6050.MPU6050(i2c) 200 | 201 | Now you have access to the :attr:`acceleration`, :attr:`gyro` 202 | and :attr:`temperature` attributes 203 | 204 | .. code-block:: python 205 | 206 | acc_x, acc_y, acc_z = sensor.acceleration 207 | gyro_x, gyro_y, gyro_z = sensor.gyro 208 | temperature = sensor.temperature 209 | """ 210 | 211 | def __init__(self, i2c_bus: I2C, address: int = _MPU6050_DEFAULT_ADDRESS) -> None: 212 | self.i2c_device = i2c_device.I2CDevice(i2c_bus, address) 213 | 214 | if self._device_id != _MPU6050_DEVICE_ID: 215 | raise RuntimeError("Failed to find MPU6050 - check your wiring!") 216 | 217 | self.reset() 218 | 219 | self._sample_rate_divisor = 0 220 | self._filter_bandwidth = Bandwidth.BAND_260_HZ 221 | self._gyro_range = GyroRange.RANGE_500_DPS 222 | self._accel_range = Range.RANGE_2_G 223 | self._accel_scale = 1.0 / [16384, 8192, 4096, 2048][self._accel_range] 224 | sleep(0.100) 225 | self.clock_source = ClockSource.CLKSEL_INTERNAL_X # set to use gyro x-axis as reference 226 | sleep(0.100) 227 | self.sleep = False 228 | sleep(0.010) 229 | 230 | def reset(self) -> None: 231 | """Reinitialize the sensor""" 232 | self._reset = True 233 | while self._reset is True: 234 | sleep(0.001) 235 | sleep(0.100) 236 | 237 | _signal_path_reset = 0b111 # reset all sensors 238 | sleep(0.100) 239 | 240 | _clksel = RWBits(3, _MPU6050_PWR_MGMT_1, 0) 241 | _device_id = ROUnaryStruct(_MPU6050_WHO_AM_I, ">B") 242 | 243 | _reset = RWBit(_MPU6050_PWR_MGMT_1, 7, 1) 244 | _signal_path_reset = RWBits(3, _MPU6050_SIG_PATH_RESET, 3) 245 | 246 | _gyro_range = RWBits(2, _MPU6050_GYRO_CONFIG, 3) 247 | _accel_range = RWBits(2, _MPU6050_ACCEL_CONFIG, 3) 248 | 249 | _filter_bandwidth = RWBits(2, _MPU6050_CONFIG, 3) 250 | 251 | _raw_accel_data = StructArray(_MPU6050_ACCEL_OUT, ">h", 3) 252 | _raw_gyro_data = StructArray(_MPU6050_GYRO_OUT, ">h", 3) 253 | _raw_temp_data = ROUnaryStruct(_MPU6050_TEMP_OUT, ">h") 254 | 255 | _cycle = RWBit(_MPU6050_PWR_MGMT_1, 5) 256 | _cycle_rate = RWBits(2, _MPU6050_PWR_MGMT_2, 6, 1) 257 | 258 | sleep = RWBit(_MPU6050_PWR_MGMT_1, 6, 1) 259 | """Shuts down the accelerometers and gyroscopes, saving power. No new data will 260 | be recorded until the sensor is taken out of sleep by setting to `False`""" 261 | sample_rate_divisor = UnaryStruct(_MPU6050_SMPLRT_DIV, ">B") 262 | """The sample rate divisor. See the datasheet for additional detail""" 263 | 264 | fifo_en = RWBit(_MPU6050_USER_CTRL, 6) 265 | fiforst = RWBit(_MPU6050_USER_CTRL, 2) 266 | accel_fifo_en = RWBit(_MPU6050_FIFO_EN, 3) 267 | fifo_count = ROUnaryStruct(_MPU6050_FIFO_COUNT, ">h") 268 | 269 | @property 270 | def temperature(self) -> float: 271 | """The current temperature in º Celsius""" 272 | raw_temperature = self._raw_temp_data 273 | temp = (raw_temperature / 340.0) + 36.53 274 | return temp 275 | 276 | @property 277 | def acceleration(self) -> Tuple[float, float, float]: 278 | """Acceleration X, Y, and Z axis data in :math:`m/s^2`""" 279 | raw_data = self._raw_accel_data 280 | return self.scale_accel([raw_data[0][0], raw_data[1][0], raw_data[2][0]]) 281 | 282 | def scale_accel(self, raw_data) -> Tuple[float, float, float]: 283 | """Scale raw X, Y, and Z axis data to :math:`m/s^2`""" 284 | accel_x = (raw_data[0] * self._accel_scale) * STANDARD_GRAVITY 285 | accel_y = (raw_data[1] * self._accel_scale) * STANDARD_GRAVITY 286 | accel_z = (raw_data[2] * self._accel_scale) * STANDARD_GRAVITY 287 | return (accel_x, accel_y, accel_z) 288 | 289 | @property 290 | def gyro(self) -> Tuple[float, float, float]: 291 | """Gyroscope X, Y, and Z axis data in :math:`º/s`""" 292 | raw_data = self._raw_gyro_data 293 | return self.scale_gyro((raw_data[0][0], raw_data[1][0], raw_data[2][0])) 294 | 295 | def scale_gyro(self, raw_data) -> Tuple[float, float, float]: 296 | """Scale raw gyro data to :math:`º/s`""" 297 | raw_x = raw_data[0] 298 | raw_y = raw_data[1] 299 | raw_z = raw_data[2] 300 | 301 | gyro_scale = 1 302 | gyro_range = self._gyro_range 303 | if gyro_range == GyroRange.RANGE_250_DPS: 304 | gyro_scale = 131 305 | if gyro_range == GyroRange.RANGE_500_DPS: 306 | gyro_scale = 65.5 307 | if gyro_range == GyroRange.RANGE_1000_DPS: 308 | gyro_scale = 32.8 309 | if gyro_range == GyroRange.RANGE_2000_DPS: 310 | gyro_scale = 16.4 311 | 312 | # setup range dependent scaling 313 | gyro_x = radians(raw_x / gyro_scale) 314 | gyro_y = radians(raw_y / gyro_scale) 315 | gyro_z = radians(raw_z / gyro_scale) 316 | 317 | return (gyro_x, gyro_y, gyro_z) 318 | 319 | @property 320 | def cycle(self) -> bool: 321 | """Enable or disable periodic measurement at a rate set by :meth:`cycle_rate`. 322 | If the sensor was in sleep mode, it will be waken up to cycle""" 323 | return self._cycle 324 | 325 | @cycle.setter 326 | def cycle(self, value: bool) -> None: 327 | self.sleep = not value 328 | self._cycle = value 329 | 330 | @property 331 | def gyro_range(self) -> int: 332 | """The measurement range of all gyroscope axes. Must be a `GyroRange`""" 333 | return self._gyro_range 334 | 335 | @gyro_range.setter 336 | def gyro_range(self, value: int) -> None: 337 | if (value < 0) or (value > 3): 338 | raise ValueError("gyro_range must be a GyroRange") 339 | self._gyro_range = value 340 | sleep(0.01) 341 | 342 | @property 343 | def accelerometer_range(self) -> int: 344 | """The measurement range of all accelerometer axes. Must be a `Range`""" 345 | return self._accel_range 346 | 347 | @accelerometer_range.setter 348 | def accelerometer_range(self, value: int) -> None: 349 | if (value < 0) or (value > 3): 350 | raise ValueError("accelerometer_range must be a Range") 351 | self._accel_range = value 352 | self._accel_scale = 1.0 / [16384, 8192, 4096, 2048][value] 353 | sleep(0.01) 354 | 355 | @property 356 | def filter_bandwidth(self) -> int: 357 | """The bandwidth of the gyroscope Digital Low Pass Filter. Must be a `GyroRange`""" 358 | return self._filter_bandwidth 359 | 360 | @filter_bandwidth.setter 361 | def filter_bandwidth(self, value: int) -> None: 362 | if (value < 0) or (value > 6): 363 | raise ValueError("filter_bandwidth must be a Bandwidth") 364 | self._filter_bandwidth = value 365 | sleep(0.01) 366 | 367 | @property 368 | def cycle_rate(self) -> int: 369 | """The rate that measurements are taken while in `cycle` mode. Must be a `Rate`""" 370 | return self._cycle_rate 371 | 372 | @cycle_rate.setter 373 | def cycle_rate(self, value: int) -> None: 374 | if (value < 0) or (value > 3): 375 | raise ValueError("cycle_rate must be a Rate") 376 | self._cycle_rate = value 377 | sleep(0.01) 378 | 379 | @property 380 | def clock_source(self) -> int: 381 | """The clock source for the sensor""" 382 | return self._clksel 383 | 384 | @clock_source.setter 385 | def clock_source(self, value: int) -> None: 386 | """Select between Internal/External clock sources""" 387 | if value not in range(8): 388 | raise ValueError("clock_source must be ClockSource value, integer from 0 - 7.") 389 | self._clksel = value 390 | 391 | def read_whole_fifo(self): 392 | """Return raw FIFO bytes""" 393 | # This code must be fast to ensure samples are contiguous 394 | count = self.fifo_count 395 | buf = bytearray(count) 396 | buf[0] = _MPU6050_FIFO_R_W 397 | with self.i2c_device: 398 | self.i2c_device.write_then_readinto(buf, buf, out_end=1, in_start=0) 399 | return buf 400 | -------------------------------------------------------------------------------- /docs/_static/favicon.ico: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/adafruit/Adafruit_CircuitPython_MPU6050/6c978dbfc9f9f124008af042a665f110fd6d1c02/docs/_static/favicon.ico -------------------------------------------------------------------------------- /docs/_static/favicon.ico.license: -------------------------------------------------------------------------------- 1 | SPDX-FileCopyrightText: 2018 Phillip Torrone for Adafruit Industries 2 | 3 | SPDX-License-Identifier: CC-BY-4.0 4 | -------------------------------------------------------------------------------- /docs/api.rst: -------------------------------------------------------------------------------- 1 | 2 | .. If you created a package, create one automodule per module in the package. 3 | 4 | .. If your library file(s) are nested in a directory (e.g. /adafruit_foo/foo.py) 5 | .. use this format as the module name: "adafruit_foo.foo" 6 | 7 | API Reference 8 | ############# 9 | 10 | .. automodule:: adafruit_mpu6050 11 | :members: 12 | -------------------------------------------------------------------------------- /docs/api.rst.license: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2020 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | -------------------------------------------------------------------------------- /docs/conf.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | import datetime 6 | import os 7 | import sys 8 | 9 | sys.path.insert(0, os.path.abspath("..")) 10 | 11 | # -- General configuration ------------------------------------------------ 12 | 13 | # Add any Sphinx extension module names here, as strings. They can be 14 | # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom 15 | # ones. 16 | extensions = [ 17 | "sphinx.ext.autodoc", 18 | "sphinxcontrib.jquery", 19 | "sphinx.ext.intersphinx", 20 | "sphinx.ext.napoleon", 21 | "sphinx.ext.todo", 22 | ] 23 | 24 | # TODO: Please Read! 25 | # Uncomment the below if you use native CircuitPython modules such as 26 | # digitalio, micropython and busio. List the modules you use. Without it, the 27 | # autodoc module docs will fail to generate with a warning. 28 | autodoc_mock_imports = ["adafruit_register", "adafruit_bus_device"] 29 | 30 | 31 | intersphinx_mapping = { 32 | "python": ("https://docs.python.org/3", None), 33 | "BusDevice": ( 34 | "https://docs.circuitpython.org/projects/busdevice/en/latest/", 35 | None, 36 | ), 37 | "Register": ( 38 | "https://docs.circuitpython.org/projects/register/en/latest/", 39 | None, 40 | ), 41 | "CircuitPython": ("https://docs.circuitpython.org/en/latest/", None), 42 | } 43 | 44 | # Add any paths that contain templates here, relative to this directory. 45 | templates_path = ["_templates"] 46 | 47 | source_suffix = ".rst" 48 | 49 | # The master toctree document. 50 | master_doc = "index" 51 | 52 | # General information about the project. 53 | project = "Adafruit MPU6050 Library" 54 | creation_year = "2019" 55 | current_year = str(datetime.datetime.now().year) 56 | year_duration = ( 57 | current_year if current_year == creation_year else creation_year + " - " + current_year 58 | ) 59 | copyright = year_duration + " Bryan Siepert" 60 | author = "Bryan Siepert" 61 | 62 | # The version info for the project you're documenting, acts as replacement for 63 | # |version| and |release|, also used in various other places throughout the 64 | # built documents. 65 | # 66 | # The short X.Y version. 67 | version = "1.0" 68 | # The full version, including alpha/beta/rc tags. 69 | release = "1.0" 70 | 71 | # The language for content autogenerated by Sphinx. Refer to documentation 72 | # for a list of supported languages. 73 | # 74 | # This is also used if you do content translation via gettext catalogs. 75 | # Usually you set "language" from the command line for these cases. 76 | language = "en" 77 | 78 | # List of patterns, relative to source directory, that match files and 79 | # directories to ignore when looking for source files. 80 | # This patterns also effect to html_static_path and html_extra_path 81 | exclude_patterns = ["_build", "Thumbs.db", ".DS_Store", ".env", "CODE_OF_CONDUCT.md"] 82 | 83 | # The reST default role (used for this markup: `text`) to use for all 84 | # documents. 85 | # 86 | default_role = "any" 87 | 88 | # If true, '()' will be appended to :func: etc. cross-reference text. 89 | # 90 | add_function_parentheses = True 91 | 92 | # The name of the Pygments (syntax highlighting) style to use. 93 | pygments_style = "sphinx" 94 | 95 | # If true, `todo` and `todoList` produce output, else they produce nothing. 96 | todo_include_todos = False 97 | 98 | # If this is True, todo emits a warning for each TODO entries. The default is False. 99 | todo_emit_warnings = True 100 | 101 | napoleon_numpy_docstring = False 102 | 103 | # -- Options for HTML output ---------------------------------------------- 104 | 105 | # The theme to use for HTML and HTML Help pages. See the documentation for 106 | # a list of builtin themes. 107 | # 108 | import sphinx_rtd_theme 109 | 110 | html_theme = "sphinx_rtd_theme" 111 | 112 | # Add any paths that contain custom static files (such as style sheets) here, 113 | # relative to this directory. They are copied after the builtin static files, 114 | # so a file named "default.css" will overwrite the builtin "default.css". 115 | html_static_path = ["_static"] 116 | 117 | # The name of an image file (relative to this directory) to use as a favicon of 118 | # the docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 119 | # pixels large. 120 | # 121 | html_favicon = "_static/favicon.ico" 122 | 123 | # Output file base name for HTML help builder. 124 | htmlhelp_basename = "AdafruitMpu6050Librarydoc" 125 | 126 | # -- Options for LaTeX output --------------------------------------------- 127 | 128 | latex_elements = { 129 | # The paper size ('letterpaper' or 'a4paper'). 130 | # 131 | # 'papersize': 'letterpaper', 132 | # The font size ('10pt', '11pt' or '12pt'). 133 | # 134 | # 'pointsize': '10pt', 135 | # Additional stuff for the LaTeX preamble. 136 | # 137 | # 'preamble': '', 138 | # Latex figure (float) alignment 139 | # 140 | # 'figure_align': 'htbp', 141 | } 142 | 143 | # Grouping the document tree into LaTeX files. List of tuples 144 | # (source start file, target name, title, 145 | # author, documentclass [howto, manual, or own class]). 146 | latex_documents = [ 147 | ( 148 | master_doc, 149 | "AdafruitMPU6050Library.tex", 150 | "AdafruitMPU6050 Library Documentation", 151 | author, 152 | "manual", 153 | ), 154 | ] 155 | 156 | # -- Options for manual page output --------------------------------------- 157 | 158 | # One entry per manual page. List of tuples 159 | # (source start file, name, description, authors, manual section). 160 | man_pages = [ 161 | ( 162 | master_doc, 163 | "AdafruitMPU6050library", 164 | "Adafruit MPU6050 Library Documentation", 165 | [author], 166 | 1, 167 | ) 168 | ] 169 | 170 | # -- Options for Texinfo output ------------------------------------------- 171 | 172 | # Grouping the document tree into Texinfo files. List of tuples 173 | # (source start file, target name, title, author, 174 | # dir menu entry, description, category) 175 | texinfo_documents = [ 176 | ( 177 | master_doc, 178 | "AdafruitMPU6050Library", 179 | "Adafruit MPU6050 Library Documentation", 180 | author, 181 | "AdafruitMPU6050Library", 182 | "One line description of project.", 183 | "Miscellaneous", 184 | ), 185 | ] 186 | -------------------------------------------------------------------------------- /docs/examples.rst: -------------------------------------------------------------------------------- 1 | Simple test 2 | ------------ 3 | 4 | Ensure your device works with this simple test. 5 | 6 | .. literalinclude:: ../examples/mpu6050_simpletest.py 7 | :caption: examples/mpu6050_simpletest.py 8 | :linenos: 9 | 10 | Plotter Example 11 | --------------- 12 | 13 | See the effects of changing the gyroscope and accelerometer range 14 | by viewing the data in a serial plotter 15 | 16 | .. literalinclude:: ../examples/mpu6050_plotter_example.py 17 | :caption: examples/mpu6050_plotter_example.py 18 | :linenos: 19 | 20 | Sleep Example 21 | --------------- 22 | 23 | Observe how the cycle and sleep modes effect measurements 24 | by viewing the data in a serial plotter 25 | 26 | .. literalinclude:: ../examples/mpu6050_sleep_example.py 27 | :caption: examples/mpu6050_sleep_example.py 28 | :linenos: 29 | 30 | Inclinometer Example 31 | -------------------- 32 | 33 | Provides an example on how to use the sensor as an inclinometer 34 | 35 | .. literalinclude:: ../examples/mpu6050_inclinometer.py 36 | :caption: examples/mpu6050_inclinometer.py 37 | :linenos: 38 | 39 | 40 | DisplayIO Simpletest 41 | --------------------- 42 | 43 | This is a simple test for boards with built-in display. 44 | 45 | .. literalinclude:: ../examples/mpu6050_displayio_simpletest.py 46 | :caption: examples/mpu6050_displayio_simpletest.py 47 | :linenos: 48 | -------------------------------------------------------------------------------- /docs/examples.rst.license: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2020 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | -------------------------------------------------------------------------------- /docs/index.rst: -------------------------------------------------------------------------------- 1 | .. include:: ../README.rst 2 | 3 | Table of Contents 4 | ================= 5 | 6 | .. toctree:: 7 | :maxdepth: 4 8 | :hidden: 9 | 10 | self 11 | 12 | .. toctree:: 13 | :caption: Examples 14 | 15 | examples 16 | 17 | .. toctree:: 18 | :caption: API Reference 19 | :maxdepth: 3 20 | 21 | api 22 | 23 | .. toctree:: 24 | :caption: Tutorials 25 | 26 | Adafruit MPU-6050 6-DoF Accel and Gyro Sensor Learning Guide 27 | 28 | .. toctree:: 29 | :caption: Related Products 30 | 31 | Adafruit MPU-6050 6-DoF Accel and Gyro Sensor 32 | 33 | 34 | 35 | .. toctree:: 36 | :caption: Other Links 37 | 38 | Download from GitHub 39 | Download Library Bundle 40 | CircuitPython Reference Documentation 41 | CircuitPython Support Forum 42 | Discord Chat 43 | Adafruit Learning System 44 | Adafruit Blog 45 | Adafruit Store 46 | 47 | Indices and tables 48 | ================== 49 | 50 | * :ref:`genindex` 51 | * :ref:`modindex` 52 | * :ref:`search` 53 | -------------------------------------------------------------------------------- /docs/index.rst.license: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2020 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | -------------------------------------------------------------------------------- /docs/requirements.txt: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 Kattni Rembor for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | sphinx 6 | sphinxcontrib-jquery 7 | sphinx-rtd-theme 8 | -------------------------------------------------------------------------------- /examples/mpu6050_displayio_simpletest.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2024 Tim Cocks for Adafruit Industries 2 | # SPDX-FileCopyrightText: 2024 Jose D. Montoya 3 | # 4 | # SPDX-License-Identifier: MIT 5 | 6 | import time 7 | 8 | import board 9 | from adafruit_display_text.bitmap_label import Label 10 | from displayio import Group 11 | from terminalio import FONT 12 | 13 | import adafruit_mpu6050 14 | 15 | # Simple demo of using the built-in display. 16 | # create a main_group to hold anything we want to show on the display. 17 | main_group = Group() 18 | # Initialize I2C bus and sensor. 19 | i2c = board.I2C() # uses board.SCL and board.SDA 20 | mpu = adafruit_mpu6050.MPU6050(i2c) 21 | 22 | 23 | # Create Label(s) to show the readings. If you have a very small 24 | # display you may need to change to scale=1. 25 | display_output_acceleration = Label(FONT, text="", scale=1) 26 | display_output_gyro = Label(FONT, text="", scale=1) 27 | display_output_temperature = Label(FONT, text="", scale=1) 28 | 29 | # place the label(s) in the middle of the screen with anchored positioning 30 | display_output_acceleration.anchor_point = (0, 0) 31 | display_output_acceleration.anchored_position = ( 32 | 4, 33 | board.DISPLAY.height // 2 - 60, 34 | ) 35 | display_output_gyro.anchor_point = (0, 0) 36 | display_output_gyro.anchored_position = ( 37 | 4, 38 | board.DISPLAY.height // 2 - 40, 39 | ) 40 | display_output_temperature.anchor_point = (0, 0) 41 | display_output_temperature.anchored_position = ( 42 | 4, 43 | board.DISPLAY.height // 2 - 20, 44 | ) 45 | 46 | 47 | # add the label(s) to the main_group 48 | main_group.append(display_output_acceleration) 49 | main_group.append(display_output_gyro) 50 | main_group.append(display_output_temperature) 51 | 52 | # set the main_group as the root_group of the built-in DISPLAY 53 | board.DISPLAY.root_group = main_group 54 | 55 | # begin main loop 56 | while True: 57 | # update the text of the label(s) to show the sensor readings 58 | accx, accy, accz = mpu.acceleration 59 | gyro_x, gyro_y, gyro_z = mpu.gyro 60 | display_output_acceleration.text = f"Acc X:{accx:.1f} Y:{accy:.1f} Z:{accz:.1f} m/s^2" 61 | display_output_gyro.text = f"Gyro X:{gyro_x:.1f} Y:{gyro_y:.1f} Z:{gyro_z:.1f} rad/s" 62 | display_output_temperature.text = f"Temp: {mpu.temperature:.1f} C" 63 | # wait for a bit 64 | time.sleep(0.5) 65 | -------------------------------------------------------------------------------- /examples/mpu6050_inclinometer.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # SPDX-License-Identifier: MIT 3 | 4 | # Display inclination data five times per second 5 | 6 | # See this page to learn the math and physics principals behind this example: 7 | # https://learn.adafruit.com/how-tall-is-it/gravity-and-acceleration 8 | 9 | import time 10 | from math import atan2, degrees 11 | 12 | import board 13 | 14 | import adafruit_mpu6050 15 | 16 | i2c = board.I2C() # uses board.SCL and board.SDA 17 | # i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller 18 | sensor = adafruit_mpu6050.MPU6050(i2c) 19 | 20 | 21 | # Given a point (x, y) return the angle of that point relative to x axis. 22 | # Returns: angle in degrees 23 | 24 | 25 | def vector_2_degrees(x, y): 26 | angle = degrees(atan2(y, x)) 27 | if angle < 0: 28 | angle += 360 29 | return angle 30 | 31 | 32 | # Given an accelerometer sensor object return the inclination angles of X/Z and Y/Z 33 | # Returns: tuple containing the two angles in degrees 34 | 35 | 36 | def get_inclination(_sensor): 37 | x, y, z = _sensor.acceleration 38 | return vector_2_degrees(x, z), vector_2_degrees(y, z) 39 | 40 | 41 | while True: 42 | angle_xz, angle_yz = get_inclination(sensor) 43 | print(f"XZ angle = {angle_xz:6.2f}deg YZ angle = {angle_yz:6.2f}deg") 44 | time.sleep(0.2) 45 | -------------------------------------------------------------------------------- /examples/mpu6050_plotter_example.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # SPDX-License-Identifier: MIT 3 | 4 | import time 5 | 6 | import board 7 | 8 | import adafruit_mpu6050 9 | 10 | i2c = board.I2C() # uses board.SCL and board.SDA 11 | # i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller 12 | mpu = adafruit_mpu6050.MPU6050(i2c) 13 | mpu.accelerometer_range = adafruit_mpu6050.Range.RANGE_2_G 14 | mpu.gyro_range = adafruit_mpu6050.GyroRange.RANGE_250_DPS 15 | 16 | while True: 17 | # this prints out all the values like a tuple which Mu's plotter prefer 18 | print( 19 | f"({mpu.acceleration[0]:.2f}, {mpu.acceleration[1]:.2f}, {mpu.acceleration[2]:.2f} ", 20 | end=", ", 21 | ) 22 | print(f"{mpu.gyro[0]:.2f}, {mpu.gyro[1]:.2f}, {mpu.gyro[2]:.2f})") 23 | time.sleep(0.010) 24 | -------------------------------------------------------------------------------- /examples/mpu6050_simpletest.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # SPDX-License-Identifier: MIT 3 | 4 | import time 5 | 6 | import board 7 | 8 | import adafruit_mpu6050 9 | 10 | i2c = board.I2C() # uses board.SCL and board.SDA 11 | # i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller 12 | mpu = adafruit_mpu6050.MPU6050(i2c) 13 | 14 | while True: 15 | print( 16 | f"Acceleration: X:{mpu.acceleration[0]:.2f}, Y: {mpu.acceleration[1]:.2f}, Z: {mpu.acceleration[2]:.2f} m/s^2" # noqa: E501 17 | ) 18 | print(f"Gyro X:{mpu.gyro[0]:.2f}, Y: {mpu.gyro[1]:.2f}, Z: {mpu.gyro[2]:.2f} rad/s") 19 | print(f"Temperature: {mpu.temperature:.2f} C") 20 | print("") 21 | time.sleep(1) 22 | -------------------------------------------------------------------------------- /examples/mpu6050_sleep_example.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # SPDX-License-Identifier: MIT 3 | 4 | import time 5 | 6 | import board 7 | 8 | import adafruit_mpu6050 9 | 10 | i2c = board.I2C() # uses board.SCL and board.SDA 11 | # i2c = board.STEMMA_I2C() # For using the built-in STEMMA QT connector on a microcontroller 12 | mpu = adafruit_mpu6050.MPU6050(i2c) 13 | 14 | # This example is meant to be used with the serial plotter which makes 15 | # it easier to see how the readings change with different settings. 16 | # Make sure to poke and prod the sensor while the demo is running to 17 | # generate some interesting data! 18 | 19 | while True: 20 | # first show some 'normal' readings 21 | 22 | mpu.sleep = False 23 | mpu.cycle = False 24 | 25 | for count in range(0, 100): 26 | print(mpu.acceleration) 27 | time.sleep(0.010) 28 | 29 | # Next, set a slow cycle rate so the effect can be seen clearly. 30 | mpu.cycle_Rate = adafruit_mpu6050.Rate.CYCLE_5_HZ 31 | # ensure that we're not sleeping or cycle won't work 32 | mpu.sleep = False 33 | # Finally, enable cycle mode 34 | mpu.cycle = True 35 | 36 | for count in range(0, 100): 37 | print(mpu.acceleration) 38 | time.sleep(0.010) 39 | 40 | # Finally enable sleep mode. Note that while we can still fetch 41 | # data from the measurement registers, the measurements are not 42 | # updated. In sleep mode the accelerometer and gyroscope are 43 | # deactivated to save power, so measurements are halted. 44 | 45 | mpu.cycle = False 46 | mpu.sleep = True 47 | 48 | for count in range(0, 100): 49 | print(mpu.acceleration) 50 | time.sleep(0.010) 51 | -------------------------------------------------------------------------------- /optional_requirements.txt: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2022 Alec Delaney, for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | -------------------------------------------------------------------------------- /pyproject.toml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2022 Alec Delaney for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | [build-system] 6 | requires = [ 7 | "setuptools", 8 | "wheel", 9 | "setuptools-scm", 10 | ] 11 | 12 | [project] 13 | name = "adafruit-circuitpython-mpu6050" 14 | description = "CircuitPython helper library for the MPU6050 6-DoF Accelerometer and Gyroscope" 15 | version = "0.0.0+auto.0" 16 | readme = "README.rst" 17 | authors = [ 18 | {name = "Adafruit Industries", email = "circuitpython@adafruit.com"} 19 | ] 20 | urls = {Homepage = "https://github.com/adafruit/Adafruit_CircuitPython_MPU6050"} 21 | keywords = [ 22 | "adafruit", 23 | "blinka", 24 | "circuitpython", 25 | "micropython", 26 | "mpu6050", 27 | ] 28 | license = {text = "MIT"} 29 | classifiers = [ 30 | "Intended Audience :: Developers", 31 | "Topic :: Software Development :: Libraries", 32 | "Topic :: Software Development :: Embedded Systems", 33 | "Topic :: System :: Hardware", 34 | "License :: OSI Approved :: MIT License", 35 | "Programming Language :: Python :: 3", 36 | ] 37 | dynamic = ["dependencies", "optional-dependencies"] 38 | 39 | [tool.setuptools] 40 | py-modules = ["adafruit_mpu6050"] 41 | 42 | [tool.setuptools.dynamic] 43 | dependencies = {file = ["requirements.txt"]} 44 | optional-dependencies = {optional = {file = ["optional_requirements.txt"]}} 45 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2022 Alec Delaney, for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | Adafruit-Blinka 6 | adafruit-circuitpython-register 7 | adafruit-circuitpython-busdevice 8 | -------------------------------------------------------------------------------- /ruff.toml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2024 Tim Cocks for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | target-version = "py38" 6 | line-length = 100 7 | 8 | [lint] 9 | preview = true 10 | select = ["I", "PL", "UP"] 11 | 12 | extend-select = [ 13 | "D419", # empty-docstring 14 | "E501", # line-too-long 15 | "W291", # trailing-whitespace 16 | "PLC0414", # useless-import-alias 17 | "PLC2401", # non-ascii-name 18 | "PLC2801", # unnecessary-dunder-call 19 | "PLC3002", # unnecessary-direct-lambda-call 20 | "E999", # syntax-error 21 | "PLE0101", # return-in-init 22 | "F706", # return-outside-function 23 | "F704", # yield-outside-function 24 | "PLE0116", # continue-in-finally 25 | "PLE0117", # nonlocal-without-binding 26 | "PLE0241", # duplicate-bases 27 | "PLE0302", # unexpected-special-method-signature 28 | "PLE0604", # invalid-all-object 29 | "PLE0605", # invalid-all-format 30 | "PLE0643", # potential-index-error 31 | "PLE0704", # misplaced-bare-raise 32 | "PLE1141", # dict-iter-missing-items 33 | "PLE1142", # await-outside-async 34 | "PLE1205", # logging-too-many-args 35 | "PLE1206", # logging-too-few-args 36 | "PLE1307", # bad-string-format-type 37 | "PLE1310", # bad-str-strip-call 38 | "PLE1507", # invalid-envvar-value 39 | "PLE2502", # bidirectional-unicode 40 | "PLE2510", # invalid-character-backspace 41 | "PLE2512", # invalid-character-sub 42 | "PLE2513", # invalid-character-esc 43 | "PLE2514", # invalid-character-nul 44 | "PLE2515", # invalid-character-zero-width-space 45 | "PLR0124", # comparison-with-itself 46 | "PLR0202", # no-classmethod-decorator 47 | "PLR0203", # no-staticmethod-decorator 48 | "UP004", # useless-object-inheritance 49 | "PLR0206", # property-with-parameters 50 | "PLR0904", # too-many-public-methods 51 | "PLR0911", # too-many-return-statements 52 | "PLR0912", # too-many-branches 53 | "PLR0913", # too-many-arguments 54 | "PLR0914", # too-many-locals 55 | "PLR0915", # too-many-statements 56 | "PLR0916", # too-many-boolean-expressions 57 | "PLR1702", # too-many-nested-blocks 58 | "PLR1704", # redefined-argument-from-local 59 | "PLR1711", # useless-return 60 | "C416", # unnecessary-comprehension 61 | "PLR1733", # unnecessary-dict-index-lookup 62 | "PLR1736", # unnecessary-list-index-lookup 63 | 64 | # ruff reports this rule is unstable 65 | #"PLR6301", # no-self-use 66 | 67 | "PLW0108", # unnecessary-lambda 68 | "PLW0120", # useless-else-on-loop 69 | "PLW0127", # self-assigning-variable 70 | "PLW0129", # assert-on-string-literal 71 | "B033", # duplicate-value 72 | "PLW0131", # named-expr-without-context 73 | "PLW0245", # super-without-brackets 74 | "PLW0406", # import-self 75 | "PLW0602", # global-variable-not-assigned 76 | "PLW0603", # global-statement 77 | "PLW0604", # global-at-module-level 78 | 79 | # fails on the try: import typing used by libraries 80 | #"F401", # unused-import 81 | 82 | "F841", # unused-variable 83 | "E722", # bare-except 84 | "PLW0711", # binary-op-exception 85 | "PLW1501", # bad-open-mode 86 | "PLW1508", # invalid-envvar-default 87 | "PLW1509", # subprocess-popen-preexec-fn 88 | "PLW2101", # useless-with-lock 89 | "PLW3301", # nested-min-max 90 | ] 91 | 92 | ignore = [ 93 | "PLR2004", # magic-value-comparison 94 | "UP030", # format literals 95 | "PLW1514", # unspecified-encoding 96 | "PLR0913", # too-many-arguments 97 | "PLR0915", # too-many-statements 98 | "PLR0917", # too-many-positional-arguments 99 | "PLR0904", # too-many-public-methods 100 | "PLR0912", # too-many-branches 101 | "PLR0916", # too-many-boolean-expressions 102 | ] 103 | 104 | [format] 105 | line-ending = "lf" 106 | --------------------------------------------------------------------------------