accelerometer.py

import smbus			#import SMBus module of I2C
from time import sleep          #import

#some MPU6050 Registers and their Address
PWR_MGMT_1   = 0x6B
SMPLRT_DIV   = 0x19
CONFIG       = 0x1A
GYRO_CONFIG  = 0x1B
INT_ENABLE   = 0x38
ACCEL_XOUT_H = 0x3B
ACCEL_YOUT_H = 0x3D
ACCEL_ZOUT_H = 0x3F
GYRO_XOUT_H  = 0x43
GYRO_YOUT_H  = 0x45
GYRO_ZOUT_H  = 0x47
Device_Address = 0x68   # MPU6050 device address

class Accelerometer:
  def __init__(self, busNo, x, y):
    self.busNo = busNo
    self.x = x
    self.y = y

    self.bus = smbus.SMBus(self.busNo) 	# or bus = smbus.SMBus(0) for older version boards

    MPU_Init(self)

    print (" Reading Data of Gyroscope and Accelerometer")

    while True:
        
        #Read Accelerometer raw value
        acc_x = self.read_raw_data(ACCEL_XOUT_H)
        acc_y = self.read_raw_data(ACCEL_YOUT_H)
        acc_z = self.read_raw_data(ACCEL_ZOUT_H)
        
        #Read Gyroscope raw value
        gyro_x = self.read_raw_data(GYRO_XOUT_H)
        gyro_y = self.read_raw_data(GYRO_YOUT_H)
        gyro_z = self.read_raw_data(GYRO_ZOUT_H)
        
        #Full scale range +/- 250 degree/C as per sensitivity scale factor
        Ax = acc_x/16384.0
        Ay = acc_y/16384.0
        Az = acc_z/16384.0
        
        Gx = gyro_x/131.0
        Gy = gyro_y/131.0
        Gz = gyro_z/131.0
        

        print ("Gx=%.2f" %Gx, u'\u00b0'+ "/s", "\tGy=%.2f" %Gy, u'\u00b0'+ "/s", "\tGz=%.2f" %Gz, u'\u00b0'+ "/s", "\tAx=%.2f g" %Ax, "\tAy=%.2f g" %Ay, "\tAz=%.2f g" %Az) 	
        sleep(1)

def MPU_Init(self):
    #write to sample rate register
    self.bus.write_byte_data(Device_Address, SMPLRT_DIV, 7)
    
    #Write to power management register
    self.bus.write_byte_data(Device_Address, PWR_MGMT_1, 1)
    
    #Write to Configuration register
    self.bus.write_byte_data(Device_Address, CONFIG, 0)
    
    #Write to Gyro configuration register
    self.bus.write_byte_data(Device_Address, GYRO_CONFIG, 24)
    
    #Write to interrupt enable register
    self.bus.write_byte_data(Device_Address, INT_ENABLE, 1)

def read_raw_data(self, addr):
    #Accelero and Gyro value are 16-bit
        high = self.bus.read_byte_data(Device_Address, addr)
        low = self.bus.read_byte_data(Device_Address, addr+1)
    
        #concatenate higher and lower value
        value = ((high << 8) | low)
        
        #to get signed value from mpu6050
        if(value > 32768):
                value = value - 65536
        return value