FXAS21002C Module¶
This module contains the driver for NXP FXAS21002C gyroscope for measuring the angular velocity. The FXAS21002C provides direct I2C communication and can be set on 4 different full-scale range and 8 different over sample rate values (datasheet).
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class
FXAS21002C(i2cdrv, addr=0x20, clk=400000)¶ Creates an intance of a new FXAS21002C.
Parameters: - i2cdrv – I2C Bus used ‘( I2C0, ... )’
- addr – Slave address, default 0x20
- clk – Clock speed, default 400kHz
Example:
from nxp.fxas21002c import fxas21002c ... fxas = fxas21002c.FXAS21002C(I2C0) fxas.start() fxas.init() gyro = fxas.get_gyro()
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init(fsr=0, odr=2, fs_exp=0)¶ Initialize the FXAS21002C setting the mode value.
Parameters: - fsr – select the full-scale range (from 0 to 3 - refer to page 39 of the FXAS21002C datasheet), default 0
- odr – set the over sample rate (from 0 to 7 - refer to page 46 of the FXAS21002C datasheet), default 2
- fs_exp – Full-scale range expansion enable (allowed values 0,1 - refer to page 49 of the FXAS21002C datasheet), default 0
| FSR Value | FS_EXP Value | Degrees per Second |
|---|---|---|
| 0 | 0 | 2000 dps |
| 1 | 0 | 1000 dps |
| 2 | 0 | 500 dps |
| 3 | 0 | 250 dps |
| 0 | 1 | 4000 dps |
| 1 | 1 | 2000 dps |
| 2 | 1 | 1000 dps |
| 3 | 1 | 500 dps |
| ODR Value | Frequency |
|---|---|
| 0 | 800 Hz |
| 1 | 400 Hz |
| 2 | 200 Hz |
| 3 | 100 Hz |
| 4 | 50 Hz |
| 5 | 25 HZ |
| 6 | 12.5 Hz |
| 7 | 12.5 Hz |
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get_raw_gyro()¶ Retrieves the current gyroscope data as a tuple of X, Y, Z, raw values
Returns [gyro_x, gyro_y, gyro_z]
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get_raw_int_temp()¶ Retrieves the current device internal temperature data as raw value.
Returns raw_t
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get_gyro(axis=None)¶ Retrieves the current gyroscope data in degrees per second as a tuple of X, Y, Z values or single axis value if axis argument is provided.
Parameters: axis – select the axis (allowed values: “x” for x-axis, “y” for y-axis, “z” for z-axis); default None for all values Returns [gyro_x, gyro_y, gyro_z] or gyro_x or gyro_y or gyro_z
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get_int_temp(unit="C")¶ Retrieves the current device internal temperature value in Celtius, Kelvin or Fahrenheit degrees.
Parameters: unit – select the unit of measure for internal temperature (allowed values: “C” for Celtius degrees, “K” for Kelvin degrees, “F” Fahrenheit degrees); default “C” Returns int_temp