[WIP] MicroPython MPU-6886 I2C driver

The MPU-6886 is a 6-axis motion tracking device that combines a 3-axis gyroscope and a 3-axis accelerometer.

Usage

Simple test with never ending loop.

import utime
from machine import I2C, Pin
from mpu6886 import MPU6886

i2c = I2C(scl=Pin(22), sda=Pin(21))
sensor = MPU6886(i2c)

print("MPU6886 id: " + hex(sensor.whoami))

while True:
    print(sensor.acceleration)
    print(sensor.gyro)
    print(sensor.temperature)

    utime.sleep_ms(1000)

By default the library returns 3-tuple of X, Y, Z axis values for acceleration and gyroscope. Default units are m/s^2, rad/s and °C. It is possible to also get acceleration values in g and gyro values deg/s. See the example below.

import utime
from machine import I2C, Pin
from mpu6886 import MPU6886, SF_G, SF_DEG_S

i2c = I2C(scl=Pin(22), sda=Pin(21))
sensor2 = MPU6886(i2c, accel_sf=SF_G, gyro_sf=SF_DEG_S)

print("MPU6886 id: " + hex(sensor.whoami))

while True:
    print(sensor.acceleration)
    print(sensor.gyro)
    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.

import micropython
from machine import I2C, Pin, Timer
from mpu6886 import MPU6886

micropython.alloc_emergency_exception_buf(100)

i2c = I2C(scl=Pin(22), sda=Pin(21))
sensor = MPU6886(i2c)

def read_sensor(timer):
    print(sensor.acceleration)
    print(sensor.gyro)
    print(sensor.temperature)

print("MPU6886 id: " + hex(sensor.whoami))

timer_0 = Timer(0)
timer_0.init(period=1000, mode=Timer.PERIODIC, callback=read_sensor)

Gyro Calibration

TODO

License

The MIT License (MIT). Please see License File for more information.