API Reference

adafruit_mpu6050

CircuitPython helper library for the MPU6050 6-DoF Accelerometer and Gyroscope.

This driver requires too much RAM to be used on SAMD21 based devices.

  • Author(s): Bryan Siepert

Implementation Notes

Hardware:

Software and Dependencies:

class adafruit_mpu6050.Bandwidth

Allowed values for filter_bandwidth.

  • Bandwidth.BAND_260_HZ

  • Bandwidth.BAND_184_HZ

  • Bandwidth.BAND_94_HZ

  • Bandwidth.BAND_44_HZ

  • Bandwidth.BAND_21_HZ

  • Bandwidth.BAND_10_HZ

  • Bandwidth.BAND_5_HZ

class adafruit_mpu6050.ClockSource

Allowed values for clock_source.

  • :py:attr:’ClockSource.CLKSEL_INTERNAL_8MHz

  • :py:attr:’ClockSource.CLKSEL_INTERNAL_X

  • :py:attr:’ClockSource.CLKSEL_INTERNAL_Y

  • :py:attr:’ClockSource.CLKSEL_INTERNAL_Z

  • :py:attr:’ClockSource.CLKSEL_EXTERNAL_32

  • :py:attr:’ClockSource.CLKSEL_EXTERNAL_19

  • :py:attr:’ClockSource.CLKSEL_RESERVED

  • :py:attr:’ClockSource.CLKSEL_STOP

class adafruit_mpu6050.GyroRange

Allowed values for gyro_range.

  • GyroRange.RANGE_250_DPS

  • GyroRange.RANGE_500_DPS

  • GyroRange.RANGE_1000_DPS

  • GyroRange.RANGE_2000_DPS

class adafruit_mpu6050.MPU6050(i2c_bus: I2C, address: int = 104)

Driver for the MPU6050 6-DoF accelerometer and gyroscope.

Parameters:

  • i2c_bus (I2C) – The I2C bus the device is connected to

  • address (int) – The I2C device address. Defaults to 0x68

Quickstart: Importing and using the device

Here is an example of using the MPU6050 class. First you will need to import the libraries to use the sensor

import board
import adafruit_mpu6050

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
mpu = adafruit_mpu6050.MPU6050(i2c)

Now you have access to the acceleration, gyro and temperature attributes

acc_x, acc_y, acc_z = sensor.acceleration
gyro_x, gyro_y, gyro_z = sensor.gyro
temperature = sensor.temperature
property acceleration: Tuple[float, float, float]

Acceleration X, Y, and Z axis data in \(m/s^2\)

property accelerometer_range: int

The measurement range of all accelerometer axes. Must be a Range

property clock_source: int

The clock source for the sensor

property cycle: bool

Enable or disable periodic measurement at a rate set by cycle_rate(). If the sensor was in sleep mode, it will be waken up to cycle

property cycle_rate: int

The rate that measurements are taken while in cycle mode. Must be a Rate

property filter_bandwidth: int

The bandwidth of the gyroscope Digital Low Pass Filter. Must be a GyroRange

property gyro: Tuple[float, float, float]

Gyroscope X, Y, and Z axis data in \(rad/s\)

property gyro_range: int

The measurement range of all gyroscope axes. Must be a GyroRange

read_whole_fifo()

Return raw FIFO bytes

reset() → None

Reinitialize the sensor

sample_rate_divisor = 25

The sample rate divisor. See the datasheet for additional detail

scale_accel(raw_data) → Tuple[float, float, float]

Scale raw X, Y, and Z axis data to \(m/s^2\)

scale_gyro(raw_data) → Tuple[float, float, float]

Scale raw gyro data to \(rad/s\)

sleep = 107

Shuts down the accelerometers and gyroscopes, saving power. No new data will be recorded until the sensor is taken out of sleep by setting to False

property temperature: float

The current temperature in º Celsius

class adafruit_mpu6050.Range

Allowed values for accelerometer_range.

  • Range.RANGE_2_G

  • Range.RANGE_4_G

  • Range.RANGE_8_G

  • Range.RANGE_16_G

class adafruit_mpu6050.Rate

Allowed values for cycle_rate.

  • Rate.CYCLE_1_25_HZ

  • Rate.CYCLE_5_HZ

  • Rate.CYCLE_20_HZ

  • Rate.CYCLE_40_HZ