mpu6050.py

# MPU6050


class mpu6050():
            
    def __init__(self,con,devaddr):
        self.con=con
        self.devaddr=devaddr
        self.wake()

    # read from device
    def _read(self, count, memaddr):
        result = self.con.readfrom_mem (self.devaddr, memaddr, count)
        return result

    # write to device
    def _write(self, data, memaddr):
        result = self.con.writeto_mem(self.devaddr, memaddr, data)
        return result

    def signedIntFromBytes(self,x):
        y = int.from_bytes(x)
        if (y >= 0x8000):
            return -((65535 - y) + 1)
        else:
            return y
            
    def wake(self):
        try:
            self._write(b'\x01', 0x6B)
        except:
            print("wake Err??")

    def sleep(self):
        try:
            self._write(b'\x40', 0x6B)
        except:
            print("sleep Err")

    def readTemp(self):
        try:
            erg = self._read(2,65)
            raw_temp = self.signedIntFromBytes(erg)
        except:
            print("read Temp Err??")
            return float("NaN")
        actual_temp = (raw_temp / 340) + 36.53
        return round(actual_temp,2)
  
    
    def startM(self):
         # wake it up
        self.wake()
        self.accel_range(1)
        self._ar = self.accel_range()
        self.gyro_range(0)
        self._gr = self.gyro_range()