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.
Installing from PyPI¶
On supported GNU/Linux systems like the Raspberry Pi, you can install the driver locally from PyPI. To install for current user:
pip3 install adafruit-circuitpython-l3gd20
To install system-wide (this may be required in some cases):
sudo pip3 install adafruit-circuitpython-l3gd20
To install in a virtual environment in your current project:
mkdir project-name && cd project-name
python3 -m venv .env
source .env/bin/activate
pip3 install adafruit-circuitpython-l3gd20
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.
Documentation¶
For information on building library documentation, please check out this guide.
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 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 | import time
import board
import busio
import adafruit_l3gd20
# Hardware I2C setup:
I2C = busio.I2C(board.SCL, board.SDA)
# Initializes L3GD20 object using default range, 250dps
SENSOR = adafruit_l3gd20.L3GD20_I2C(I2C)
# Initialize L3GD20 object using a custom range and output data rate (ODR).
# SENSOR = adafruit_l3gd20.L3GD20_I2C(
# I2C, rng=adafruit_l3gd20.L3DS20_RANGE_500DPS, rate=adafruit_l3gd20.L3DS20_RATE_200HZ
# )
# Possible values for rng are:
# adafruit_l3gd20.L3DS20_Range_250DPS, 250 degrees per second. Default range
# adafruit_l3gd20.L3DS20_Range_500DPS, 500 degrees per second
# adafruit_l3gd20.L3DS20_Range_2000DPS, 2000 degrees per second
# Possible values for rate are:
# adafruit_l3gd20.L3DS20_RATE_100HZ, 100Hz data rate. Default data rate
# adafruit_l3gd20.L3DS20_RATE_200HZ, 200Hz data rate
# adafruit_l3gd20.L3DS20_RATE_400HZ, 400Hz data rate
# adafruit_l3gd20.L3DS20_RATE_800HZ, 800Hz data rate
# 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)
# SENSOR = adafruit_l3gd20.L3GD20_I2C(
# SPIB,
# CS,
# rng=adafruit_l3gd20.L3DS20_RANGE_500DPS,
# rate=adafruit_l3gd20.L3DS20_RATE_200HZ,
# )
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, rate=0)¶ Driver for the L3GD20 3-axis Gyroscope sensor.
Parameters: -
gyro
¶ x, y, z angular momentum tuple floats, rescaled appropriately for range selected
-
-
class
adafruit_l3gd20.
L3GD20_I2C
(i2c, rng=0, address=107, rate=0)¶ 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, rate=0)¶ 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