SystemEmbedded.eu

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#!/usr/bin/python
import smbus
import math

#bus number and I2C address
bus = smbus.SMBus(1) # bus number (check which number do you have by using i2cdetect)
address = 0x68       # This is the address value read via the i2cdetect command

# 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)

while(1):
	# Now wake the 6050 up as it starts in sleep mode
	bus.write_byte_data(address, power_mgmt_1, 0)
	
	gyro_xout = read_word_2c(0x43)
	gyro_yout = read_word_2c(0x45)
	gyro_zout = read_word_2c(0x47)
	
	#read raw accelerometer value: 
	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("x rotation: %6.3f, y rotation: %6.3f, gyroX: %6.2f, gyroY: %6.2f, gyroZ: %6.2f " % 
		(	get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled),
			get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled),
			gyro_xout / 131,
			gyro_yout / 131,	
			gyro_zout / 131)
		)
	
	print("accel_xout: %6.2f, accel_yout: %6.2f, accel_zout: %6.2f " % 
		(	accel_xout_scaled, 
			accel_yout_scaled, 
			accel_zout_scaled)
		)