-
Notifications
You must be signed in to change notification settings - Fork 4
/
roboticsmasters_mpu9250.py
147 lines (103 loc) · 4.55 KB
/
roboticsmasters_mpu9250.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
# The MIT License (MIT)
#
# Copyright (c) 2020 Cian Byrne for Robotics Masters Limited
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
"""
`roboticsmasters_mpu9250`
================================================================================
CircuitPython helper library for MPU9250 9-axis IMU
* Author(s): Cian Byrne
Implementation Notes
--------------------
**Hardware:**
.. todo:: Add links to any specific hardware product page(s), or category page(s). Use unordered list & hyperlink rST
inline format: "* `Link Text <url>`_"
**Software and Dependencies:**
* Adafruit CircuitPython firmware for the supported boards:
https://github.com/adafruit/circuitpython/releases
.. todo:: Uncomment or remove the Bus Device and/or the Register library dependencies based on the library's use of either.
# * Adafruit's Bus Device library: https://github.com/adafruit/Adafruit_CircuitPython_BusDevice
# * Adafruit's Register library: https://github.com/adafruit/Adafruit_CircuitPython_Register
"""
from time import sleep
import adafruit_bus_device.i2c_device as i2c_device
from adafruit_register.i2c_bit import RWBit
from adafruit_register.i2c_struct import ROUnaryStruct
from roboticsmasters_mpu6500 import MPU6500
from roboticsmasters_ak8963 import AK8963
try:
import struct
except ImportError:
import ustruct as struct
from micropython import const
__version__ = "0.0.0-auto.0"
__repo__ = "https://github.com/wallarug/CircuitPython_MPU9250.git"
# pylint: disable=bad-whitespace
_MPU9250_DEFAULT_ADDRESS = 0x69 # MPU9250 default i2c address
_MPU9250_DEVICE_ID = 0x71 # MPU9250 WHO_AM_I value
_MPU6500_DEFAULT_ADDRESS = 0x69 # MPU6500 default i2c address
_AK8963_DEFAULT_ADDRESS = 0x0c # AK8963 default i2c address
_MPU9250_INT_PIN_CFG = 0x37 # I2C Bypass enable configuration
_MPU9250_INT_ENABLE = 0x38 # Interrupt Enable
_MPU9250_INT_STATUS = 0x3A # Interrupt Status
_MPU9250_I2C_MST_CTRL = 0x24 #
_MPU9250_WHO_AM_I = 0x75 # Device ID register
# pylint: enable=bad-whitespace
class MPU9250:
"""Driver for the MPU9250 9-DoF IMU.
:param ~busio.I2C i2c_bus: The I2C bus the MPU9250 is connected to.
:param address: The I2C slave address of the sensor
"""
def __init__(self, i2c_bus,
mpu_addr=_MPU6500_DEFAULT_ADDRESS,
akm_addr=_AK8963_DEFAULT_ADDRESS):
self.i2c_device = i2c_device.I2CDevice(i2c_bus, mpu_addr)
if self._device_id != _MPU9250_DEVICE_ID:
raise RuntimeError("Failed to find MPU9250 - check your wiring!")
self._mpu = MPU6500(i2c_bus, mpu_addr)
self._bypass = 1
self._ready = 1
sleep(0.100)
self._akm = AK8963(i2c_bus, akm_addr)
def reset(self):
"""Reinitialize the sensor"""
self._mpu.reset()
self._akm.reset()
_device_id = ROUnaryStruct(_MPU9250_WHO_AM_I, ">B")
_bypass = RWBit(_MPU9250_INT_PIN_CFG, 1, 1)
_ready = RWBit(_MPU9250_INT_ENABLE, 0, 1)
@property
def temperature(self):
"""The current temperature in º C"""
return self._mpu.temperature
@property
def acceleration(self):
"""Acceleration X, Y, and Z axis data in m/s^2"""
return self._mpu.acceleration
@property
def gyro(self):
"""Gyroscope X, Y, and Z axis data in º/s"""
return self._mpu.gyro
@property
def magnetic(self):
"""Magnetometer X, Y and Z asix data in micro-Tesla (uT)"""
return self._akm.magnetic
def cal_mag(self):
return self._akm.calibrate()