Difference: MagicWandOld (10 vs. 11)

Revision 112022-06-08 - UliRaich

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The Magic Wand Example

Introduction

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The ADXL345 is a tree axis digital accelerometer by Analog Devices
I wrote a pure MircoPython driver for the ADXL345 available at https://github.com/uraich/IoT-Course/tree/master/exercises/solutions/exercise_16/adxl345.
The MPU6050 is a six axis device (Gyro and Accelerometer) from Ivensense. It is described by its datasheet and the register description document.
Jeff Rowberg has written a very complete MPU6050 driver for the Arduino in C++, which includes access to its Digital Motion Processor, whose description cannot be found anywhere on the WEB. I ported this driver to MicroPython together with a few example programs drafted after Jeff's C++ examples: https://github.com/uraich/IoT-Course/tree/master/exercises/solutions/exercise_16/mpu6050.

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The MPU9250 is very similar to he MPU6050 but has a magnetometer in addition. Here is its data sheet and the register map. The MPU92/66 has the necessary pins to be accessed either through I2C or SPI.

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The MPU6050 and the MPU9250 gave hardware offset registers which allow calibrating the device. When the device is horizontally mounted and stationary (not moving) we expect the values:

0,0,1g for the measured acceleration in x, y and z, z pointing in the direction of gravity.
and 0,0,0 for the gyroscope

The measured values may however differ. Setting the hardware offsets for acceleration and gyroscope permit to correct for the offset. The application note;
http://www.digikey.com/en/pdf/i/invensense/mpu-hardware-offset-registers

describes these registers.

The LIS2DH MEMS digital output motion sensor from ST Microelectronics is an ultra low power high performance 3 axis accelerometer.

Hardware

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