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://circuitpython.org/downloads
Adafruit’s Register library: https://github.com/adafruit/Adafruit_CircuitPython_Register
- class adafruit_l3gd20.L3GD20(rng: int = 0, rate: int = 0)¶
Driver for the L3GD20 3-axis Gyroscope sensor.
- Parameters:
- class adafruit_l3gd20.L3GD20_I2C(i2c: I2C, rng: int = 0, address: int = 107, rate: int = 0)¶
Driver for L3GD20 Gyroscope using I2C communications
- Parameters:
Quickstart: Importing and using the device
Here is an example of using the
L3GD20_I2C
class. First you will need to import the libraries to use the sensorimport board import adafruit_l3gd20
Once this is done you can define your
board.I2C
object and define your sensor objecti2c = board.I2C() # uses board.SCL and board.SDA sensor = adafruit_l3gd20.L3GD20_I2C(i2c)
Now you have access to the
gyro
attributegyro_data = sensor.gyro
- gyro_raw¶
Gives the raw gyro readings, in units of rad/s.
- class adafruit_l3gd20.L3GD20_SPI(spi_busio: SPI, cs: DigitalInOut, rng: int = 0, baudrate: int = 100000, rate: int = 0)¶
Driver for L3GD20 Gyroscope using SPI communications
- Parameters:
spi_busio (SPI) – The SPI bus the device is connected to
cs (DigitalInOut) – digital in/out to use as chip select signal
rng (int) – range value. Defaults to
L3DS20_RANGE_250DPS
.baudrate – SPI baud rate. Defaults to
100000
rate (int) – rate value. Defaults to
L3DS20_RATE_100HZ
Quickstart: Importing and using the device
Here is an example of using the
L3GD20_SPI
class. First you will need to import the libraries to use the sensorimport board import adafruit_l3gd20
Once this is done you can define your
board.SPI
object and define your sensor objectspi = board.SPI() sensor = adafruit_l3gd20.L3GD20_SPI(spi)
Now you have access to the
gyro
attributegyro_data = sensor.gyro
- read_bytes(register: int, buffer: array | bytearray | memoryview | rgbmatrix.RGBMatrix | ulab.numpy.ndarray) None ¶
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