MPU6886 Library for ESP32

A driver library for the MPU6886 6-axis IMU (Inertial Measurement Unit) sensor for BlueScript. This package provides a high-level interface to easily initialize the sensor, configure ranges, and read accelerometer, gyroscope, and internal temperature data via the I2C bus.

Installation

Install this package in your BlueScript project:

bscript project install https://github.com/bluescript-lang/pkg-mpu6886.git

Usage

Basic: Read Acceleration and Gyroscope Data

import * as time from "time";
import { I2CMasterBus, I2CPort } from "i2c";
import { MPU6886, GyroRange, AccelRange } from "mpu6886";

// 1. Initialize I2C Bus (e.g., SDA: 21, SCL: 22)
const bus = new I2CMasterBus(I2CPort.I2C0, 21, 22);

// 2. Create MPU6886 instance and initialize
const imu = new MPU6886(bus);

if (!imu.init()) {
    console.log("Failed to initialize MPU6886!");
    bus.close();
    // Stop execution or handle error appropriately
} else {
    console.log("MPU6886 initialized successfully.");
}

// Optional: Change measurement ranges (Defaults are 8G and 2000 DPS)
imu.setAccelRange(AccelRange.G4);
imu.setGyroRange(GyroRange.Dps500);

// 3. Read data in a loop
while (true) {
    const accel = imu.getAcceleration();
    const gyro = imu.getGyroscope();
    const temp = imu.getTemperature();

    if (accel !== null && gyro !== null) {
        console.log("Accel (G)   X: " + accel.x + ", Y: " + accel.y + ", Z: " + accel.z);
        console.log("Gyro  (DPS) X: " + gyro.x + ", Y: " + gyro.y + ", Z: " + gyro.z);
        console.log("Temp  (C) " + temp);
    } else {
        console.log("Failed to read sensor data.");
    }

    time.delay(100);
}

// imu.deinit();
// bus.close();

API Reference

Class: MPU6886

The primary class representing the MPU6886 sensor device.

constructor(bus: I2CMasterBus)

Creates an instance of the MPU6886 sensor using an existing I2C bus.

• bus: An initialized I2CMasterBus object.
• Note: Automatically targets I2C address 0x68 at 400kHz. Defaults to AccelRange.G8 and GyroRange.Dps2000.

init(): boolean

Wakes up and configures the sensor. Checks device ID (WHO_AM_I), resets power management, and applies default configurations.

• Returns: true if initialization is successful; false if the device is not found or fails to respond.

deinit(): void

Puts the sensor into sleep mode and closes the underlying I2C device handle.

setGyroRange(range: GyroRange): boolean

Sets the full-scale measurement range of the gyroscope and updates the internal resolution multiplier.

• range: A GyroRange enum value.
• Returns: true on success, false on failure.

setAccelRange(range: AccelRange): boolean

Sets the full-scale measurement range of the accelerometer and updates the internal resolution multiplier.

• range: An AccelRange enum value.
• Returns: true on success, false on failure.

getAcceleration(): Vector3D | null

Reads the current accelerometer data (X, Y, Z axes).

• Returns: A Vector3D object representing acceleration in G, or null if the I2C read fails.

getGyroscope(): Vector3D | null

Reads the current gyroscope data (X, Y, Z axes).

• Returns: A Vector3D object representing angular velocity in DPS (degrees per second), or null if the I2C read fails.

getTemperature(): float

Reads the internal temperature sensor.

• Returns: Temperature in Celsius.

setGyroOffset(x: integer, y: integer, z: integer): boolean

Manually applies raw hardware offsets to the gyroscope axes.

• Returns: true on success, false on failure.

Class: Vector3D

A simple data container used for returning 3-axis float readings.

Properties

• x: float
• y: float
• z: float

Enums

GyroRange

Defines the full-scale range for the gyroscope.

Name	Value	Measurement Range
Dps250	0	±250 deg/s
Dps500	1	±500 deg/s
Dps1000	2	±1000 deg/s
Dps2000	3	±2000 deg/s

AccelRange

Defines the full-scale range for the accelerometer.

Name	Value	Measurement Range
G2	0	±2 G
G4	1	±4 G
G8	2	±8 G
G16	3	±16 G