mpu9250.py

# Copyright (c) 2018-2019 Mika Tuupola
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of  this software and associated documentation files (the "Software"), to
# deal in  the Software without restriction, including without limitation the
# rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
# sell copied of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# SOFTWARE.

# https://github.com/tuupola/micropython-mpu9250

"""
MicroPython I2C driver for MPU9250 9-axis motion tracking device
"""

# pylint: disable=import-error
from micropython import const
from mpu6500 import MPU6500
from ak8963 import AK8963
# pylint: enable=import-error

__version__ = "0.2.1"

class MPU9250:
    """Class which provides interface to MPU9250 9-axis motion tracking device."""
    def __init__(self, i2c, mpu6500 = None, ak8963 = None):
        if mpu6500 is None:
            self.mpu6500 = MPU6500(i2c)
        else:
            self.mpu6500 = mpu6500

        if ak8963 is None:
            self.ak8963 = AK8963(i2c)
        else:
            self.ak8963 = ak8963

    @property
    def acceleration(self):
        """
        Acceleration measured by the sensor. By default will return a
        3-tuple of X, Y, Z axis values in m/s^2 as floats. To get values in g
        pass `accel_fs=SF_G` parameter to the MPU6500 constructor.
        """
        return self.mpu6500.acceleration

    @property
    def gyro(self):
        """
        Gyro measured by the sensor. By default will return a 3-tuple of
        X, Y, Z axis values in rad/s as floats. To get values in deg/s pass
        `gyro_sf=SF_DEG_S` parameter to the MPU6500 constructor.
        """
        return self.mpu6500.gyro

    @property
    def magnetic(self):
        """
        X, Y, Z axis micro-Tesla (uT) as floats.
        """
        return self.ak8963.magnetic

    @property
    def whoami(self):
        return self.mpu6500.whoami

    def __enter__(self):
        return self

    def __exit__(self, exception_type, exception_value, traceback):
        pass