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 as an argument to its constructor.

import board

i2c = board.I2C()

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¶

# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

import time
import board
import adafruit_l3gd20

# Hardware I2C setup:
I2C = board.I2C()  # uses board.SCL and board.SDA
# Initializes L3GD20 object using default range, 250dps
SENSOR = adafruit_l3gd20.L3GD20_I2C(I2C)
# Initialize L3GD20 object using a custom range and output data rate (ODR).
# SENSOR = adafruit_l3gd20.L3GD20_I2C(
#    I2C, rng=adafruit_l3gd20.L3DS20_RANGE_500DPS, rate=adafruit_l3gd20.L3DS20_RATE_200HZ
# )

# Possible values for rng are:
# adafruit_l3gd20.L3DS20_Range_250DPS, 250 degrees per second. Default range
# adafruit_l3gd20.L3DS20_Range_500DPS, 500 degrees per second
# adafruit_l3gd20.L3DS20_Range_2000DPS, 2000 degrees per second

# Possible values for rate are:
# adafruit_l3gd20.L3DS20_RATE_100HZ, 100Hz data rate. Default data rate
# adafruit_l3gd20.L3DS20_RATE_200HZ, 200Hz data rate
# adafruit_l3gd20.L3DS20_RATE_400HZ, 400Hz data rate
# adafruit_l3gd20.L3DS20_RATE_800HZ, 800Hz data rate

# Hardware SPI setup:
# import digitalio
# CS = digitalio.DigitalInOut(board.D5)
# SPIB = board.SPI()
# SENSOR = adafruit_l3gd20.L3GD20_SPI(SPIB, CS)
# SENSOR = adafruit_l3gd20.L3GD20_I2C(
#    SPIB,
#    CS,
#    rng=adafruit_l3gd20.L3DS20_RANGE_500DPS,
#    rate=adafruit_l3gd20.L3DS20_RATE_200HZ,
# )

while True:
    print("Angular Velocity (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:

Adafruit L3GD20H Triple-Axis Gyro Breakout Board

Software and Dependencies:

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

class adafruit_l3gd20.L3GD20(rng=0, rate=0)¶

Driver for the L3GD20 3-axis Gyroscope sensor.

Parameters:	rng (int) – a range value one of: `L3DS20_RANGE_250DPS` `L3DS20_RANGE_500DPS` `L3DS20_RANGE_2000DPS` Defaults to `L3DS20_RANGE_250DPS` rate (int) – a rate value one of `L3DS20_RATE_100HZ` `L3DS20_RATE_200HZ` `L3DS20_RATE_400HZ` `L3DS20_RATE_800HZ` Defaults to `L3DS20_RATE_100HZ`

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

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

Driver for L3GD20 Gyroscope using I2C communications

Parameters:	i2c (I2C) – The I2C bus the device is connected to rng (int) – range value. Defaults to `0x68` rate (int) – rate value. Defaults to `L3DS20_RATE_100HZ`

Quickstart: Importing and using the device

Here is an example of using the L3GD20_I2C class. First you will need to import the libraries to use the sensor
import board
import adafruit_l3gd20
Once this is done you can define your board.I2C object and define your sensor object
i2c = board.I2C()  # uses board.SCL and board.SDA
sensor = adafruit_l3gd20.L3GD20_I2C(i2c)
Now you have access to the gyro attribute
gyro_data = sensor.gyro

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, rate=0)¶

Driver for L3GD20 Gyroscope using SPI communications

Parameters:	spi_busio (SPI) – The SPI bus the device is connected to cs (DigitalInOut) – digital in/out to use as chip select signal rng (int) – range value. Defaults to `L3DS20_RANGE_250DPS`. baudrate – SPI baud rate. Defaults to `100000` rate (int) – rate value. Defaults to `L3DS20_RATE_100HZ`

Quickstart: Importing and using the device

Here is an example of using the L3GD20_SPI class. First you will need to import the libraries to use the sensor
import board
import adafruit_l3gd20
Once this is done you can define your board.SPI object and define your sensor object
spi = board.SPI()
sensor = adafruit_l3gd20.L3GD20_SPI(spi)
Now you have access to the gyro attribute
gyro_data = sensor.gyro

gyro_raw¶: Gives the dynamic rate raw gyro readings, in units 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