Introduction¶

Adafruit 9-DOF Absolute Orientation IMU Fusion Breakout - L3GD20 Driver

Dependencies¶

This driver depends on:

Please ensure all dependencies are available on the CircuitPython filesystem. This is easily achieved by downloading the Adafruit library and driver bundle.

Installing from PyPI¶

On supported GNU/Linux systems like the Raspberry Pi, you can install the driver locally from PyPI. To install for current user:

pip3 install adafruit-circuitpython-l3gd20

To install system-wide (this may be required in some cases):

sudo pip3 install adafruit-circuitpython-l3gd20

To install in a virtual environment in your current project:

mkdir project-name && cd project-name
python3 -m venv .env
source .env/bin/activate
pip3 install adafruit-circuitpython-l3gd20

Usage Example¶

Of course, you must import the library to use it:

import adafruit_l3gd20

This driver takes an instantiated and active I2C object (from the busio or the bitbangio library) as an argument to its constructor. The way to create an I2C object depends on the board you are using. For boards with labeled SCL and SDA pins, you can:

from busio import I2C
from board import SDA, SCL

i2c = I2C(SCL, SDA)

Once you have the I2C object, you can create the sensor object:

sensor = adafruit_l3gd20.L3GD20_I2C(i2c)

And then you can start reading the measurements:

print(sensor.gyro)

Contributing¶

Contributions are welcome! Please read our Code of Conduct before contributing to help this project stay welcoming.

Documentation¶

For information on building library documentation, please check out this guide.

Table of Contents¶

Simple test¶

For I2C or SPI communications, ensure your device works with this simple test.

examples/l3gd20_simpletest.py¶

import time
import board
import busio
import adafruit_l3gd20

# Hardware I2C setup:
I2C = busio.I2C(board.SCL, board.SDA)
SENSOR = adafruit_l3gd20.L3GD20_I2C(I2C)

# Hardware SPI setup:
# import digitalio
# CS = digitalio.DigitalInOut(board.D5)
# SPIB = busio.SPI(board.SCK, board.MOSI, board.MISO)
# SENSOR = adafruit_l3gd20.L3GD20_SPI(SPIB, CS)

while True:
    print('Angular Momentum (rad/s): {}'.format(SENSOR.gyro))
    print()
    time.sleep(1)

`adafruit_l3gd20`¶

Adafruit 9-DOF Absolute Orientation IMU Fusion Breakout - L3GD20

This is a CircuitPython driver for the Bosch L3GD20 nine degree of freedom inertial measurement unit module with sensor fusion.

Author(s): Michael McWethy

Implementation Notes¶

Hardware:

L3GD20H Triple-Axis Gyro Breakout Board

Software and Dependencies:

Adafruit CircuitPython firmware for the supported boards: https://github.com/adafruit/circuitpython/releases
Adafruit’s Register library: https://github.com/adafruit/Adafruit_CircuitPython_Register

class adafruit_l3gd20.L3GD20(rng=0)¶

Driver for the L3GD20 3-axis Gyroscope sensor.

Parameters:	rng (int) – a range value one of L3DS20_RANGE_250DPS (default), L3DS20_RANGE_500DPS, or L3DS20_RANGE_2000DPS

gyro¶: x, y, z angular momentum tuple floats, rescaled appropriately for range selected

class adafruit_l3gd20.L3GD20_I2C(i2c, rng=0, address=107)¶

Driver for L3GD20 Gyroscope using I2C communications

Parameters:	i2c (I2C) – initialized busio I2C class rng (int) – the optional range value: L3DS20_RANGE_250DPS(default), L3DS20_RANGE_500DPS, or L3DS20_RANGE_2000DPS address – the optional device address, 0x68 is the default address

gyro_raw¶: Gives the raw gyro readings, in units of rad/s.

read_register(register)¶

Returns a byte value from a register

Parameters:	register – the register to read a byte

write_register(register, value)¶

Update a register with a byte value

Parameters:	register (int) – which device register to write value – a byte to write

class adafruit_l3gd20.L3GD20_SPI(spi_busio, cs, rng=0, baudrate=100000)¶

Driver for L3GD20 Gyroscope using SPI communications

Parameters:	spi_busio (SPI) – initialized busio SPI class cs (DigitalInOut) – digital in/out to use as chip select signal rng (int) – the optional range value: L3DS20_RANGE_250DPS(default), L3DS20_RANGE_500DPS, or L3DS20_RANGE_2000DPS baudrate – spi baud rate default is 100000

gyro_raw¶: Gives the raw gyro readings, in units of rad/s.

read_bytes(register, buffer)¶

Low level register stream reading over SPI, returns a list of values

Parameters:	register – the register to read bytes buffer (bytearray) – buffer to fill with data from stream