good for 1.0.0

Author: siddacious

.travis.yml

@@ -27,7 +27,7 @@ deploy:
   - provider: pypi
     user: adafruit-travis
     password:
-      secure: bcUJefESH9Tfvr57A8uXh1//Cv97BfAEE81OM61dZmr33Sce27yxdVBbq4vugezP/G9xP9zlXyJemC/w3BCHO28/jNTCjJl5HiZKLGypuQa8TVcBp6gyMUf+MRcYpMSaSXqc6DHdjQvwoKYheMeRifk2bOzIRo9EaDMuiE44PpcJLAVuFm1Q3n3T9kAQkfC9ObYwn0HE1xAnfKgIRIyDUutMI+fry+ZhDYgV+Gj4xJbMQrmDhtZBQXBpNbu4ZgE0oSPzU2NWdvgeXH0sH4qGD/H9CDMaA0OSeGTk9NHAi2El7H6qY0IA3eEsJJELx+g2jbtZ0WmpY5ti19WC+vYFDD8gkCN5pBldIlaaIpaIqf5vDIFXGmIGFoCTt03gV/dMKXDRYhvEbTEsZmiikdGYFyfdXeXfEn4odHvSXtnAQ8Xgoo0N6uJI6AOpu7GBrZSvQkO3ThLR/f1brTeYGoulu35i6IZ/7Gp3nvXGT9XTKa8+u1pF7y2kr1QhidTC23PQ+W7rTPQdYklf+yYBAMfcLadbrZiDSMTR18s3uraO3vGH71VpCcu35pb/kKJ33k7Z6A74avjc3hvaAoW/eNpIdu6qezVeU2l6d2JwK4b4U0FtcpqzGSUGP9YGKe0TaM52HtkqanpxJpYTWLHl2cWq9fLSd8O5LY4Nz9+QWe3Jd40=
+      secure: Gn6iXRZcCRbyC8tw1ok3LhRkRPA4cQY1mF8YEzagXzclwDA752MWoIZrOVlfdeiawvC/IS5y2RSUMcYUF6aoY6FlodQZ3nZlbKfn64iwasl7iqq21hNkByhfqnPrvDZdwqqt7LaXvacGvfHUuZ4cEqItJ+zGwCUXeRra3s8UbGzzhKZp51INv4xzJ2tP1T1nfpwpvVUHfxied52XBoEwmJ9/sV4BCmkIhB2OnR/jANPLUjPkLIHJjl9jc35Z7TciODtxnx9oWVtviztMOTJNT4U+mlbnAR82HiYhKxzpavq6NTqumUQJIGp57wTT7b9cKGzmAgZy7WMJzFhcMmGsTuqoYUyHNAEHFcri18Vot1RFvd8+HZR/aeG5bJcK5WkHveiFUn96O4Gd8GaNDMjAZS+ay0ZOepEDSBidLlmo1067Qkkc50idGdvnAop9yg16iSw3TU421b4jzXDCNE7+UJS65xSdvnLgyCFSpX6O2viCArOW4b99MKLdS2VJhAYRabAeBd+aCwMPnjHEz9fpkoohJzYT9pUa612lOvcBdFTeKBQfBBc4lb3RT6D3NvKpdpo1Hzdi4XI1clPzXA9F1AnQPxVaJCPCgAQqk8sn72PSDxuOJ+XyFr+rWBA/flVffNMJ49QAqFlN/wQgqBnevxJagWtFdoG1tIwAHB9cRvU=
     on:
       tags: true
       condition: $DEPLOY_PYPI = "true"

README.rst

@@ -76,28 +76,10 @@ Contributing
 ============
 
 Contributions are welcome! Please read our `Code of Conduct
-<https://github.com/adafruit/Adafruit_CircuitPython_MPU6050/blob/master/CODE_OF_CONDUCT.md>`_
+<https://github.com/adafruit/Adafruit_CircuitPython_74HC595/blob/master/CODE_OF_CONDUCT.md>`_
 before contributing to help this project stay welcoming.
 
-Sphinx documentation
------------------------
-
-Sphinx is used to build the documentation based on rST files and comments in the code. First,
-install dependencies (feel free to reuse the virtual environment from above):
-
-.. code-block:: shell
-
-    python3 -m venv .env
-    source .env/bin/activate
-    pip install Sphinx sphinx-rtd-theme
-
-Now, once you have the virtual environment activated:
-
-.. code-block:: shell
-
-    cd docs
-    sphinx-build -E -W -b html . _build/html
+Documentation
+=============
 
-This will output the documentation to ``docs/_build/html``. Open the index.html in your browser to
-view them. It will also (due to -W) error out on any warning like Travis will. This is a good way to
-locally verify it will pass.
+For information on building library documentation, please check out `this guide <https://learn.adafruit.com/creating-and-sharing-a-circuitpython-library/sharing-our-docs-on-readthedocs#sphinx-5-1>`_.

adafruit_mpu6050.py

@@ -70,6 +70,7 @@
 _MPU6050_ACCEL_OUT        = 0x3B # base address for sensor data reads
 _MPU6050_TEMP_OUT         = 0x41 # Temperature data high byte register
 _MPU6050_GYRO_OUT         = 0x43 # base address for sensor data reads
+_MPU6050_SIG_PATH_RESET   = 0x68 # register to reset sensor signal paths
 _MPU6050_USER_CTRL        = 0x6A # FIFO and I2C Master control register
 _MPU6050_PWR_MGMT_1       = 0x6B # Primary power/sleep control register
 _MPU6050_PWR_MGMT_2       = 0x6C # Secondary power/sleep control register
@@ -79,21 +80,45 @@
 # pylint: enable=bad-whitespace
 
 class Range: # pylint: disable=too-few-public-methods
-    """Allowed values for `accelerometer_range`."""
+    """Allowed values for `accelerometer_range`.
+
+    - ``Range.RANGE_2_G``
+    - ``Range.RANGE_4_G``
+    - ``Range.RANGE_8_G``
+    - ``Range.RANGE_16_G``
+
+    """
     RANGE_2_G = 0  # +/- 2g (default value)
     RANGE_4_G = 1  # +/- 4g
     RANGE_8_G = 2  # +/- 8g
     RANGE_16_G = 3 # +/- 16g
 
 class GyroRange: # pylint: disable=too-few-public-methods
-    """Allowed values for `gyro_range`."""
-    RANGE_250_DEG = 0  # +/- 250 deg/s (default value)
-    RANGE_500_DEG = 1  # +/- 500 deg/s
-    RANGE_1000_DEG = 2 # +/- 1000 deg/s
-    RANGE_2000_DEG = 3 # +/- 2000 deg/s
+    """Allowed values for `gyro_range`.
+
+    - ``GyroRange.RANGE_250_DPS``
+    - ``GyroRange.RANGE_500_DPS``
+    - ``GyroRange.RANGE_1000_DPS``
+    - ``GyroRange.RANGE_2000_DPS``
+
+    """
+    RANGE_250_DPS = 0  # +/- 250 deg/s (default value)
+    RANGE_500_DPS = 1  # +/- 500 deg/s
+    RANGE_1000_DPS = 2 # +/- 1000 deg/s
+    RANGE_2000_DPS = 3 # +/- 2000 deg/s
 
 class Bandwidth: # pylint: disable=too-few-public-methods
-    """Allowed values for `filter_bandwidth`."""
+    """Allowed values for `filter_bandwidth`.
+
+    - ``Bandwidth.BAND_260_HZ``
+    - ``Bandwidth.BAND_184_HZ``
+    - ``Bandwidth.BAND_94_HZ``
+    - ``Bandwidth.BAND_44_HZ``
+    - ``Bandwidth.BAND_21_HZ``
+    - ``Bandwidth.BAND_10_HZ``
+    - ``Bandwidth.BAND_5_HZ``
+
+    """
     BAND_260_HZ = 0 # Docs imply this disables the filter
     BAND_184_HZ = 1 # 184 Hz
     BAND_94_HZ = 2  # 94 Hz
@@ -103,16 +128,25 @@ class Bandwidth: # pylint: disable=too-few-public-methods
     BAND_5_HZ = 6   # 5 Hz
 
 class Rate: # pylint: disable=too-few-public-methods
-    """Allowed values for `cycle_rate`"""
+    """Allowed values for `cycle_rate`.
+
+    - ``Rate.CYCLE_1_25_HZ``
+    - ``Rate.CYCLE_5_HZ``
+    - ``Rate.CYCLE_20_HZ``
+    - ``Rate.CYCLE_40_HZ``
+
+    """
     CYCLE_1_25_HZ = 0 # 1.25 Hz
     CYCLE_5_HZ = 1    # 5 Hz
     CYCLE_20_HZ = 2   # 20 Hz
     CYCLE_40_HZ = 3   # 40 Hz
 
 class MPU6050:
     """Driver for the MPU6050 6-axis accelerometer and gyroscope.
-        :param ~busio.I2C i2c_bus: The I2C bus the MSA is connected to.
+
+        :param ~busio.I2C i2c_bus: The I2C bus the MPU6050 is connected to.
         :param address: The I2C slave address of the sensor
+
     """
     def __init__(self, i2c_bus, address=_MPU6050_DEFAULT_ADDRESS):
         self.i2c_device = i2c_device.I2CDevice(i2c_bus, address)
@@ -122,38 +156,50 @@ def __init__(self, i2c_bus, address=_MPU6050_DEFAULT_ADDRESS):
 
         self.reset()
 
+        self._sample_rate_divisor = 0
+        self._filter_bandwidth = Bandwidth.BAND_260_HZ
+        self._gyro_range = GyroRange.RANGE_500_DPS
+        self._accel_range = Range.RANGE_2_G
+        sleep(0.100)
+        self._clock_source = 1 # set to use gyro x-axis as reference
+        sleep(0.100)
+        self.sleep = False
+        sleep(0.010)
+
+
     def reset(self):
         """Reinitialize the sensor"""
         self._reset = True
         while self._reset is True:
-            sleep(0.10)
+            sleep(0.001)
+        sleep(0.100)
 
-        self._sample_rate_divisor = 0
-        self._gyro_range = GyroRange.RANGE_1000_DEG
-        self._accel_range = Range.RANGE_8_G
-        sleep(0.1)
-        self._filter_bandwidth = Bandwidth.BAND_260_HZ
-        self._clock_source = 1 # set to use gyro x-axis as reference
-        sleep(0.1)
-        self.sleep = False
+        _signal_path_reset = 0b111 # reset all sensors
+        sleep(0.100)
 
+    _clock_source = RWBits(3, _MPU6050_PWR_MGMT_1, 0)
     _device_id = ROUnaryStruct(_MPU6050_WHO_AM_I, ">B")
+
     _reset = RWBit(_MPU6050_PWR_MGMT_1, 7, 1)
-    _sample_rate_divisor = UnaryStruct(_MPU6050_SMPLRT_DIV, ">B")
+    _signal_path_reset = RWBits(3, _MPU6050_SIG_PATH_RESET, 3)
+
     _gyro_range = RWBits(2, _MPU6050_GYRO_CONFIG, 3)
     _accel_range = RWBits(2, _MPU6050_ACCEL_CONFIG, 3)
+
     _filter_bandwidth = RWBits(2, _MPU6050_CONFIG, 3)
-    _clock_source = RWBits(3, _MPU6050_PWR_MGMT_1, 0)
+
     _raw_accel_data = StructArray(_MPU6050_ACCEL_OUT, ">h", 3)
     _raw_gyro_data = StructArray(_MPU6050_GYRO_OUT, ">h", 3)
     _raw_temp_data = ROUnaryStruct(_MPU6050_TEMP_OUT, ">h")
+
     _cycle = RWBit(_MPU6050_PWR_MGMT_1, 5)
     _cycle_rate = RWBits(2, _MPU6050_PWR_MGMT_2, 6, 1)
 
     sleep = RWBit(_MPU6050_PWR_MGMT_1, 6, 1)
     """Shuts down the accelerometers and gyroscopes, saving power. No new data will
     be recorded until the sensor is taken out of sleep by setting to `False`"""
-
+    sample_rate_divisor = UnaryStruct(_MPU6050_SMPLRT_DIV, ">B")
+    """The sample rate divisor. See the datasheet for additional detail"""
 
     @property
     def temperature(self):
@@ -198,13 +244,13 @@ def gyro(self):
 
         gyro_scale = 1
         gyro_range = self._gyro_range
-        if gyro_range == GyroRange.RANGE_250_DEG:
+        if gyro_range == GyroRange.RANGE_250_DPS:
             gyro_scale = 131
-        if gyro_range == GyroRange.RANGE_500_DEG:
+        if gyro_range == GyroRange.RANGE_500_DPS:
             gyro_scale = 65.5
-        if gyro_range == GyroRange.RANGE_1000_DEG:
+        if gyro_range == GyroRange.RANGE_1000_DPS:
             gyro_scale = 32.8
-        if gyro_range == GyroRange.RANGE_2000_DEG:
+        if gyro_range == GyroRange.RANGE_2000_DPS:
             gyro_scale = 16.4
 
         # setup range dependant scaling

docs/examples.rst

@@ -6,3 +6,23 @@ Ensure your device works with this simple test.
 .. literalinclude:: ../examples/mpu6050_simpletest.py
     :caption: examples/mpu6050_simpletest.py
     :linenos:
+
+Plotter Example
+---------------
+
+See the effects of changing the gyroscope and accelerometer range
+by viewing the data in a serial plotter
+
+.. literalinclude:: ../examples/mpu6050_plotter_example.py
+    :caption: examples/mpu6050_plotter_example.py
+    :linenos:
+
+Sleep Example
+---------------
+
+Observe how the cycle and sleep modes effect measurements 
+by viewing the data in a serial plotter
+
+.. literalinclude:: ../examples/mpu6050_sleep_example.py
+    :caption: examples/mpu6050_sleep_example.py
+    :linenos:

examples/mpu6050_plotter_example.py

@@ -0,0 +1,14 @@
+import time
+import board
+import busio
+import adafruit_mpu6050
+
+i2c = busio.I2C(board.SCL, board.SDA)
+mpu = adafruit_mpu6050.MPU6050(i2c)
+mpu.accelerometer_range = adafruit_mpu6050.Range.RANGE_2_G
+mpu.gyro_range = adafruit_mpu6050.GyroRange.RANGE_250_DPS
+while True:
+    # this prints out all the values like a tuple which Mu's plotter prefer
+    print("(%.2f, %.2f, %.2f "%(mpu.acceleration), end=", ")
+    print("%.2f, %.2f, %.2f)"%(mpu.gyro))
+    time.sleep(0.010)

examples/mpu6050_sleep_example.py

@@ -0,0 +1,45 @@
+import time
+import board
+import busio
+import adafruit_mpu6050
+
+i2c = busio.I2C(board.SCL, board.SDA)
+mpu = adafruit_mpu6050.MPU6050(i2c)
+
+# This example is meant to be used with the serial plotter which makes
+# it easier to see how the readings change with different settings.
+# Make sure to poke and prod the sensor while the demo is running to
+# generate some intersting data!
+
+while True:
+    # first show some 'normal' readings
+
+    mpu.sleep = False
+    mpu.cycle = False
+
+    for count in range(0, 100):
+        print(mpu.acceleration)
+        time.sleep(0.010)
+
+    # Next, set a slow cycle rate so the effect can be seen clearly.
+    mpu.cycle_Rate = adafruit_mpu6050.Rate.CYCLE_5_HZ
+    # ensure that we're not sleeping or cycle won't work
+    mpu.sleep = False
+    # Finally, enable cycle mode
+    mpu.cycle = True
+
+    for count in range(0, 100):
+        print(mpu.acceleration)
+        time.sleep(0.010)
+
+    # Finally enable sleep mode. Note that while we can still fetch
+    #  data from the measurement registers, the measurements are not
+    #  updated. In sleep mode the accelerometer and gyroscope are
+    #  deactivated to save power, so measurements are halted.
+
+    mpu.cycle = False
+    mpu.sleep = True
+
+    for count in range(0, 100):
+        print(mpu.acceleration)
+        time.sleep(0.010)