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.
Usage Example¶
Of course, you must import the library to use it:
import adafruit_l3gd20
This driver takes an instantiated and active I2C object (from the busio
or
the bitbangio
library) as an argument to its constructor. The way to create
an I2C object depends on the board you are using. For boards with labeled SCL
and SDA pins, you can:
from busio import I2C
from board import SDA, SCL
i2c = I2C(SCL, SDA)
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.
Building locally¶
Zip release files¶
To build this library locally you’ll need to install the circuitpython-build-tools package.
python3 -m venv .env
source .env/bin/activate
pip install circuitpython-build-tools
Once installed, make sure you are in the virtual environment:
source .env/bin/activate
Then run the build:
circuitpython-build-bundles --filename_prefix adafruit-circuitpython-l3gd20 --library_location .
Sphinx documentation¶
Sphinx is used to build the documentation based on rST files and comments in the code. First, install dependencies (feel free to reuse the virtual environment from above):
python3 -m venv .env
source .env/bin/activate
pip install Sphinx sphinx-rtd-theme
Now, once you have the virtual environment activated:
cd docs
sphinx-build -E -W -b html . _build/html
This will output the documentation to docs/_build/html
. Open the index.html in your browser to
view them. It will also (due to -W) error out on any warning like Travis will. This is a good way to
locally verify it will pass.
Table of Contents¶
Simple test¶
For I2C or SPI communications, ensure your device works with this simple test.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 | import time
import board
import busio
import adafruit_l3gd20
# Hardware I2C setup:
I2C = busio.I2C(board.SCL, board.SDA)
SENSOR = adafruit_l3gd20.L3GD20_I2C(I2C)
# Hardware SPI setup:
# import digitalio
# CS = digitalio.DigitalInOut(board.D5)
# SPIB = busio.SPI(board.SCK, board.MOSI, board.MISO)
# SENSOR = adafruit_l3gd20.L3GD20_SPI(SPIB, CS)
while True:
print('Angular Momentum (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:
Software and Dependencies:
- Adafruit CircuitPython firmware for the supported boards: https://github.com/adafruit/circuitpython/releases
- Adafruit’s Register library: https://github.com/adafruit/Adafruit_CircuitPython_Register
-
class
adafruit_l3gd20.
L3GD20
(rng=0)¶ Driver for the L3GD20 3-axis Gyroscope sensor.
Parameters: rng (int) – a range value one of L3DS20_RANGE_250DPS (default), L3DS20_RANGE_500DPS, or L3DS20_RANGE_2000DPS -
gyro
¶ x, y, z angular momentum tuple floats, rescaled appropriately for range selected
-
-
class
adafruit_l3gd20.
L3GD20_I2C
(i2c, rng=0, address=107)¶ Driver for L3GD20 Gyroscope using I2C communications
Parameters: -
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
-
-
class
adafruit_l3gd20.
L3GD20_SPI
(spi_busio, cs, rng=0, baudrate=100000)¶ Driver for L3GD20 Gyroscope using SPI communications
Parameters: - spi_busio (SPI) – initialized busio SPI class
- cs (DigitalInOut) – digital in/out to use as chip select signal
- rng (int) – the optional range value: L3DS20_RANGE_250DPS(default), L3DS20_RANGE_500DPS, or L3DS20_RANGE_2000DPS
- baudrate – spi baud rate default is 100000
-
gyro_raw
¶ Gives the raw gyro readings, in units of 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
-
read_register
(register)¶ Low level register reading over SPI, returns a list of values
Parameters: register – the register to read a byte
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