├── README.md
└── mpu6050.py


/README.md:
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 1 | # MPU6050-ESP8266-MicroPython
 2 | Simple library for MPU6050 on ESP8266 with micropython
 3 | 
 4 | SCL connected to pin 5, SDA to pin 4
 5 | example usage:
 6 | 
 7 | ```python
 8 | >>>from machine import I2C, Pin
 9 | >>>import mpu6050
10 | >>>i2c = I2C(scl=Pin(5), sda=Pin(4))
11 | >>>accelerometer = mpu6050.accel(i2c)
12 | >>>accelerometer.get_values()
13 | {'GyZ': -235, 'GyY': 296, 'GyX': 16, 'Tmp': 26.64764, 'AcZ': -1552, 'AcY': -412, 'AcX': 16892}
14 | ```
15 | Accelerometer/Gyroscope values are in int16 range (-32768 to 32767)
16 | If the mpu6050 loses power, you have to call __init__() again
17 | 


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/mpu6050.py:
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 1 | import machine
 2 | 
 3 | 
 4 | class accel():
 5 |     def __init__(self, i2c, addr=0x68):
 6 |         self.iic = i2c
 7 |         self.addr = addr
 8 |         self.iic.start()
 9 |         self.iic.writeto(self.addr, bytearray([107, 0]))
10 |         self.iic.stop()
11 | 
12 |     def get_raw_values(self):
13 |         self.iic.start()
14 |         a = self.iic.readfrom_mem(self.addr, 0x3B, 14)
15 |         self.iic.stop()
16 |         return a
17 | 
18 |     def get_ints(self):
19 |         b = self.get_raw_values()
20 |         c = []
21 |         for i in b:
22 |             c.append(i)
23 |         return c
24 | 
25 |     def bytes_toint(self, firstbyte, secondbyte):
26 |         if not firstbyte & 0x80:
27 |             return firstbyte << 8 | secondbyte
28 |         return - (((firstbyte ^ 255) << 8) | (secondbyte ^ 255) + 1)
29 | 
30 |     def get_values(self):
31 |         raw_ints = self.get_raw_values()
32 |         vals = {}
33 |         vals["AcX"] = self.bytes_toint(raw_ints[0], raw_ints[1])
34 |         vals["AcY"] = self.bytes_toint(raw_ints[2], raw_ints[3])
35 |         vals["AcZ"] = self.bytes_toint(raw_ints[4], raw_ints[5])
36 |         vals["Tmp"] = self.bytes_toint(raw_ints[6], raw_ints[7]) / 340.00 + 36.53
37 |         vals["GyX"] = self.bytes_toint(raw_ints[8], raw_ints[9])
38 |         vals["GyY"] = self.bytes_toint(raw_ints[10], raw_ints[11])
39 |         vals["GyZ"] = self.bytes_toint(raw_ints[12], raw_ints[13])
40 |         return vals  # returned in range of Int16
41 |         # -32768 to 32767
42 | 
43 |     def val_test(self):  # ONLY FOR TESTING! Also, fast reading sometimes crashes IIC
44 |         from time import sleep
45 |         while 1:
46 |             print(self.get_values())
47 |             sleep(0.05)
48 | 


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