mpu6050.py

'''
        Read Gyro and Accelerometer by Interfacing Raspberry Pi with MPU6050 using Python
	http://www.electronicwings.com
'''
from time import sleep  # import

import smbus  # import SMBus module of I2C

# some MPU6050 Registers and their Address
PWR_MGMT_1 = 0x6B
SMPLRT_DIV = 0x19
CONFIG = 0x1A
GYRO_CONFIG = 0x1B
INT_ENABLE = 0x38
ACCEL_XOUT_H = 0x3B
ACCEL_YOUT_H = 0x3D
ACCEL_ZOUT_H = 0x3F
GYRO_XOUT_H = 0x43
GYRO_YOUT_H = 0x45
GYRO_ZOUT_H = 0x47


def MPU_Init():
    # write to sample rate register
    bus.write_byte_data(Device_Address, SMPLRT_DIV, 7)

    # Write to power management register
    bus.write_byte_data(Device_Address, PWR_MGMT_1, 1)

    # Write to Configuration register
    bus.write_byte_data(Device_Address, CONFIG, 0)

    # Write to Gyro configuration register
    bus.write_byte_data(Device_Address, GYRO_CONFIG, 24)

    # Write to interrupt enable register
    bus.write_byte_data(Device_Address, INT_ENABLE, 1)


def read_raw_data(addr):
    # Accelero and Gyro value are 16-bit
    high = bus.read_byte_data(Device_Address, addr)
    low = bus.read_byte_data(Device_Address, addr + 1)

    # concatenate higher and lower value
    value = ((high << 8) | low)

    # to get signed value from mpu6050
    if (value > 32768):
        value = value - 65536
    return value


bus = smbus.SMBus(1)  # or bus = smbus.SMBus(0) for older version boards
Device_Address = 0x68  # MPU6050 device address

if __name__ == "__main__":
    MPU_Init()

    print(" Reading Data of Gyroscope and Accelerometer")

    while True:
        # Read Accelerometer raw value
        acc_x = read_raw_data(ACCEL_XOUT_H)
        acc_y = read_raw_data(ACCEL_YOUT_H)
        acc_z = read_raw_data(ACCEL_ZOUT_H)

        # Read Gyroscope raw value
        gyro_x = read_raw_data(GYRO_XOUT_H)
        gyro_y = read_raw_data(GYRO_YOUT_H)
        gyro_z = read_raw_data(GYRO_ZOUT_H)

        # Full scale range +/- 250 degree/C as per sensitivity scale factor
        Ax = acc_x / 16384.0
        Ay = acc_y / 16384.0
        Az = acc_z / 16384.0

        Gx = gyro_x / 131.0
        Gy = gyro_y / 131.0
        Gz = gyro_z / 131.0

        print("Gx=%.2f" % Gx, u'\u00b0' + "/s", "\tGy=%.2f" % Gy, u'\u00b0' + "/s", "\tGz=%.2f" % Gz, u'\u00b0' + "/s",
              "\tAx=%.2f g" % Ax, "\tAy=%.2f g" % Ay, "\tAz=%.2f g" % Az)
        sleep(1)