Code python สำหรับ GY-521 (MPU-6050)

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===== code for GY-521 (MPU-6050)======

#!/usr/bin/python

import smbus
import math

# Power management registers
power_mgmt_1 = 0x6b
power_mgmt_2 = 0x6c

def read_byte(adr):
return bus.read_byte_data(address, adr)

def read_word(adr):
high = bus.read_byte_data(address, adr)
low = bus.read_byte_data(address, adr+1)
val = (high << 8) + low
return val

def read_word_2c(adr):
val = read_word(adr)
if (val >= 0x8000):
return -((65535 – val) + 1)
else:
return val

def dist(a,b):
return math.sqrt((a*a)+(b*b))

def get_y_rotation(x,y,z):
radians = math.atan2(x, dist(y,z))
return -math.degrees(radians)

def get_x_rotation(x,y,z):
radians = math.atan2(y, dist(x,z))
return math.degrees(radians)

bus = smbus.SMBus(1)
address = 0x68

# Now wake the 6050 up as it starts in sleep mode
bus.write_byte_data(address, power_mgmt_1, 0)

print “gyro data”
print “———“

gyro_xout = read_word_2c(0x43)
gyro_yout = read_word_2c(0x45)
gyro_zout = read_word_2c(0x47)

print “gyro_xout: “, gyro_xout, ” scaled: “, (gyro_xout / 131)
print “gyro_yout: “, gyro_yout, ” scaled: “, (gyro_yout / 131)
print “gyro_zout: “, gyro_zout, ” scaled: “, (gyro_zout / 131)

print
print “accelerometer data”
print “——————“

accel_xout = read_word_2c(0x3b)
accel_yout = read_word_2c(0x3d)
accel_zout = read_word_2c(0x3f)

accel_xout_scaled = accel_xout / 16384.0
accel_yout_scaled = accel_yout / 16384.0
accel_zout_scaled = accel_zout / 16384.0

print “accel_xout: “, accel_xout, ” scaled: “, accel_xout_scaled
print “accel_yout: “, accel_yout, ” scaled: “, accel_yout_scaled
print “accel_zout: “, accel_zout, ” scaled: “, accel_zout_scaled

print “x rotation: ” , get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
print “y rotation: ” , get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)

=======================

รายละเอียดเพิ่มเติม : http://blog.bitify.co.uk/2013/11/reading-data-from-mpu-6050-on-raspberry.html

MPU-6050 data sheet : http://invensense.com/mems/gyro/documents/RM-MPU-6000A.pdf

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