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71 lines
1.8 KiB
Python
71 lines
1.8 KiB
Python
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#
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# This file is part of MicroPython MPU9250 driver
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# Copyright (c) 2018 Mika Tuupola
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#
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# Licensed under the MIT license:
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# http://www.opensource.org/licenses/mit-license.php
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#
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# Project home:
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# https://github.com/tuupola/micropython-mpu9250
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#
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"""
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MicroPython I2C driver for MPU9250 9-axis motion tracking device
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"""
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# pylint: disable=import-error
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from micropython import const
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from mpu6500 import MPU6500
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from ak8963 import AK8963
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# pylint: enable=import-error
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__version__ = "0.2.0-dev"
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class MPU9250:
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"""Class which provides interface to MPU9250 9-axis motion tracking device."""
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def __init__(self, i2c, mpu6500 = None, ak8963 = None):
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if mpu6500 is None:
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self.mpu6500 = MPU6500(i2c)
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else:
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self.mpu6500 = mpu6500
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if ak8963 is None:
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self.ak8963 = AK8963(i2c)
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else:
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self.ak8963 = ak8963
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@property
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def acceleration(self):
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"""
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Acceleration measured by the sensor. By default will return a
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3-tuple of X, Y, Z axis values in m/s^2 as floats. To get values in g
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pass `accel_fs=SF_G` parameter to the MPU6500 constructor.
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"""
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return self.mpu6500.acceleration
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@property
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def gyro(self):
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"""
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Gyro measured by the sensor. By default will return a 3-tuple of
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X, Y, Z axis values in rad/s as floats. To get values in deg/s pass
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`gyro_sf=SF_DEG_S` parameter to the MPU6500 constructor.
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"""
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return self.mpu6500.gyro
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@property
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def magnetic(self):
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"""
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X, Y, Z axis micro-Tesla (uT) as floats.
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"""
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return self.ak8963.magnetic
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@property
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def whoami(self):
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return self.mpu6500.whoami
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def __enter__(self):
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return self
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def __exit__(self, exception_type, exception_value, traceback):
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pass
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