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Added use of the built-in DLPF filter #36

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Nov 26, 2021
Merged

Added use of the built-in DLPF filter #36

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ab14069
Added use of the DLPF filter
S-Gol Nov 25, 2021
7f59bb5
Update mpu6050/mpu6050.py
S-Gol Nov 26, 2021
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15 changes: 15 additions & 0 deletions mpu6050/mpu6050.py
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,14 @@ class mpu6050:
GYRO_RANGE_1000DEG = 0x10
GYRO_RANGE_2000DEG = 0x18

FILTER_BW_256=0x00
FILTER_BW_188=0x01
FILTER_BW_98=0x02
FILTER_BW_42=0x03
FILTER_BW_20=0x04
FILTER_BW_10=0x05
FILTER_BW_5=0x06

# MPU-6050 Registers
PWR_MGMT_1 = 0x6B
PWR_MGMT_2 = 0x6C
Expand All @@ -52,6 +60,7 @@ class mpu6050:

ACCEL_CONFIG = 0x1C
GYRO_CONFIG = 0x1B
MPU_CONFIG = 0x1A

def __init__(self, address, bus=1):
self.address = address
Expand Down Expand Up @@ -179,6 +188,12 @@ def set_gyro_range(self, gyro_range):
# Write the new range to the ACCEL_CONFIG register
self.bus.write_byte_data(self.address, self.GYRO_CONFIG, gyro_range)

def set_filter_range(self, filter_range=FILTER_BW_256):
"""Sets the low-pass bandpass filter frequency"""
#TODO - Currently overwrites bits 3,4,5 used for FSYNC pin. Change implementation to fix this.
return self.bus.write_byte_data(self.address, self.MPU_CONFIG,filter_range)
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def read_gyro_range(self, raw = False):
"""Reads the range the gyroscope is set to.

Expand Down