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
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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
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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.
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read_register(register)¶ Returns a byte value from a register
Parameters: register – the register to read a byte
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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
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gyro_raw¶ Gives the raw gyro readings, in units of rad/s.
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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
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read_register(register)¶ Low level register reading over SPI, returns a list of values
Parameters: register – the register to read a byte