Metadata-Version: 2.1
Name: micropython-mpu9250
Version: 0.3.0
Summary: MicroPython I2C driver for MPU9250 9-axis motion tracking device
Home-page: https://github.com/tuupola/micropython-mpu9250
Author: Mika Tuupola
Author-email: tuupola@appelsiini.net
Maintainer: Mika Tuupola
Maintainer-email: tuupola@appelsiini.net
License: MIT
Description: # MicroPython MPU-9250 (MPU-6500 + AK8963) I2C driver
        
        MPU-9250 is a System in Package (SiP) which combines two chips: MPU-6500 which contains 3-axis gyroscope and 3-axis accelerometer and an AK8963 which is a 3-axis digital compass.
        
        ## Usage
        
        Simple test with never ending loop.
        
        ```python
        import utime
        from machine import I2C, Pin
        from mpu9250 import MPU9250
        
        i2c = I2C(scl=Pin(22), sda=Pin(21))
        sensor = MPU9250(i2c)
        
        print("MPU9250 id: " + hex(sensor.whoami))
        
        while True:
            print(sensor.acceleration)
            print(sensor.gyro)
            print(sensor.magnetic)
            print(sensor.temperature)
        
            utime.sleep_ms(1000)
        ```
        
        By default the library returns 3-tuple of X, Y, Z axis values for either acceleration, gyroscope and magnetometer ie compass. Default units are `m/s^2`, `rad/s`, `uT` and `°C`. It is possible to also get acceleration values in `g` and gyro values `deg/s`. See the example below. Note that both the MPU6500 and the AK8963 drivers are available as separate classes. MPU9250 is actually a composite of those two.
        
        ```python
        import utime
        from machine import I2C, Pin
        from mpu9250 import MPU9250
        from mpu6500 import MPU6500, SF_G, SF_DEG_S
        
        i2c = I2C(scl=Pin(22), sda=Pin(21))
        mpu6500 = MPU6500(i2c, accel_sf=SF_G, gyro_sf=SF_DEG_S)
        sensor = MPU9250(i2c, mpu6500=mpu6500)
        
        print("MPU9250 id: " + hex(sensor.whoami))
        
        while True:
            print(sensor.acceleration)
            print(sensor.gyro)
            print(sensor.magnetic)
            print(sensor.temperature)
        
            utime.sleep_ms(1000)
        ```
        
        More realistic example usage with timer. If you get `OSError: 26` or `i2c driver install error` after soft reboot do a hard reboot.
        
        ```python
        import micropython
        from machine import I2C, Pin, Timer
        from mpu9250 import MPU9250
        
        micropython.alloc_emergency_exception_buf(100)
        
        i2c = I2C(scl=Pin(22), sda=Pin(21))
        sensor = MPU9250(i2c)
        
        def read_sensor(timer):
            print(sensor.acceleration)
            print(sensor.gyro)
            print(sensor.magnetic)
            print(sensor.temperature)
        
        print("MPU9250 id: " + hex(sensor.whoami))
        
        timer_0 = Timer(0)
        timer_0.init(period=1000, mode=Timer.PERIODIC, callback=read_sensor)
        ```
        
        ## Magnetometer Calibration
        
        For real life applications you should almost always [calibrate the magnetometer](https://appelsiini.net/2018/calibrate-magnetometer/). The AK8963 driver supports both hard and soft iron correction. Calibration function takes two parameters: `count` is the number of samples to collect and `delay` is the delay in millisecods between the samples.
        
        With the default values of `256` and `200` calibration takes aproximately one minute. While calibration function is running the sensor should be rotated multiple times around each axis.
        
        NOTE! If using MPU9250 you will first need to open the I2C bypass access to AK8963. This is not needed when using a standalone AK8963 sensor.
        
        ```python
        from machine import I2C, Pin
        from mpu9250 import MPU9250
        from ak8963 import AK8963
        
        i2c = I2C(scl=Pin(22), sda=Pin(21))
        
        dummy = MPU9250(i2c) # this opens the bybass to access to the AK8963
        ak8963 = AK8963(i2c)
        offset, scale = ak8963.calibrate(count=256, delay=200)
        
        sensor = MPU9250(i2c, ak8963=ak8963)
        ```
        
        After finishing calibration the `calibrate()` method also returns tuples for both hard iron `offset` and soft iron `scale`. To avoid calibrating after each startup it would make sense to strore these values in NVRAM or config file and pass them to the AK8963 constructor. Below example only illustrates how to use the constructor.
        
        ```python
        from machine import I2C, Pin
        from mpu9250 import MPU9250
        from ak8963 import AK8963
        
        i2c = I2C(scl=Pin(22), sda=Pin(21))
        dummy = MPU9250(i2c) # this opens the bybass to access to the AK8963
        
        ak8963 = AK8963(
            i2c,
            offset=(-136.8931640625, -160.482421875, 59.02880859375),
            scale=(1.18437220840483, 0.923895823933424, 0.931707933618979)
        )
        
        sensor = MPU9250(i2c, ak8963=ak8963)
        ```
        
        ## Gyro Calibration
        
        TODO
        
        ## License
        
        The MIT License (MIT). Please see [License File](LICENSE.txt) for more information.
Keywords: accelerometer,gyro,magnetometer,micropython,i2c
Platform: UNKNOWN
Classifier: Development Status :: 4 - Beta
Classifier: Programming Language :: Python :: Implementation :: MicroPython
Classifier: License :: OSI Approved :: MIT License
Description-Content-Type: text/markdown
