mpu-6050_2.py

# -*- coding: utf-8 -*-
#!/usr/bin/python

# import module
import smbus            # use I2C
import math             # mathmatics
from time import sleep  # time module

#
# define
#
# slave address
DEV_ADDR = 0x68         # device address
# register address
ACCEL_XOUT = 0x3b
ACCEL_YOUT = 0x3d
ACCEL_ZOUT = 0x3f
TEMP_OUT = 0x41
GYRO_XOUT = 0x43
GYRO_YOUT = 0x45
GYRO_ZOUT = 0x47
PWR_MGMT_1 = 0x6b       # PWR_MGMT_1
PWR_MGMT_2 = 0x6c       # PWR_MGMT_2

bus = smbus.SMBus(1)
                        # Sleep解除.
bus.write_byte_data(DEV_ADDR, PWR_MGMT_1, 0)

#
# Sub function
#
# 1byte read
def read_byte(adr):
    return bus.read_byte_data(DEV_ADDR, adr)
# 2byte read
def read_word(adr):
    high = bus.read_byte_data(DEV_ADDR, adr)
    low = bus.read_byte_data(DEV_ADDR, adr+1)
    val = (high << 8) + low
    return val
# Sensor data read
def read_word_sensor(adr):
    val = read_word(adr)
    if (val >= 0x8000):         # minus
        return -((65535 - val) + 1)
    else:                       # plus
        return val
#
# 温度
#
def get_temp():
    temp = read_word_sensor(TEMP_OUT)
    x = temp / 340 + 36.53      # data sheet(register map)記載の計算式.
    return x

#
# 角速度(full scale range ±250 deg/s
#        LSB sensitivity 131 LSB/deg/s
#        -> ±250 x 131 = ±32750 LSB[16bitで表現])
#   Gyroscope Configuration GYRO_CONFIG (reg=0x1B)
#   FS_SEL(Bit4-Bit3)でfull scale range/LSB sensitivityの変更可.
#
# get gyro data
def get_gyro_data_lsb():
    x = read_word_sensor(GYRO_XOUT)
    y = read_word_sensor(GYRO_YOUT)
    z = read_word_sensor(GYRO_ZOUT)
    return [x, y, z]
def get_gyro_data_deg():
    x,y,z = get_gyro_data_lsb()
    x = x / 131.0
    y = y / 131.0
    z = z / 131.0
    return [x, y, z]

#
# 加速度(full scale range ±2g
#        LSB sensitivity 16384 LSB/g)
#        -> ±2 x 16384 = ±32768 LSB[16bitで表現])
#   Accelerometer Configuration ACCEL_CONFIG (reg=0x1C)
#   AFS_SEL(Bit4-Bit3)でfull scale range/LSB sensitivityの変更可.
#
# get accel data
def get_accel_data_lsb():
    x = read_word_sensor(ACCEL_XOUT)
    y = read_word_sensor(ACCEL_YOUT)
    z = read_word_sensor(ACCEL_ZOUT)
    return [x, y, z]
# get accel data
def get_accel_data_g():
    x,y,z = get_accel_data_lsb()
    x = x / 16384.0
    y = y / 16384.0
    z = z / 16384.0
    return [x, y, z]

#
# Main function
#
while 1:
    # 温度.
    temp = get_temp()
    # 小数点以下第1位まで表示.
    print 'temperature[degrees C]:',
    print '%04.1f' % temp,
    print '||',
    # 角速度.
    gyro_x,gyro_y,gyro_z = get_gyro_data_deg()
    # 小数点以下第3位まで表示.
    print 'gyro[deg/s]',
    print 'x: %08.3f' % gyro_x,
    print 'y: %08.3f' % gyro_y,
    print 'z: %08.3f' % gyro_z,
    print '||',
    # 加速度
    accel_x,accel_y,accel_z = get_accel_data_g()
    # 小数点以下第3位まで表示.
    print 'accel[g]',
    print 'x: %06.3f' % accel_x,
    print 'y: %06.3f' % accel_y,
    print 'z: %06.3f' % accel_z,

    print       # 改行.

    sleep(1)