Update

Code/Python_Code/03.1.1_LightWater/LightWater2.py

@@ -7,6 +7,7 @@
 ########################################################################
 from gpiozero import LEDBoard
 from time import sleep
+from signal import pause
 
 print ('Program is starting ... ')
 

Code/Python_GPIOZero_Code/00.0.0_Hello/Hello.py

@@ -0,0 +1,12 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : Hello.py
+# Description : Print "Hello World!".
+# auther      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+
+def Hello():
+    print('Hello World!')
+
+Hello()

Code/Python_GPIOZero_Code/01.1.1_Blink/Blink.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : Blink.py
+# Description : Basic usage of GPIO. Let led blink.
+# auther      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+from gpiozero import LED
+from time import sleep
+
+led = LED(17)           # define LED pin according to BCM Numbering
+#led = LED("J8:11")     # BOARD Numbering
+'''
+# pins numbering, the following lines are all equivalent
+led = LED(17)           # BCM
+led = LED("GPIO17")     # BCM
+led = LED("BCM17")      # BCM
+led = LED("BOARD11")    # BOARD
+led = LED("WPI0")       # WiringPi
+led = LED("J8:11")      # BOARD
+'''
+def loop():
+    while True:
+        led.on()    # turn on LED
+        print ('led turned on >>>')  # print message on terminal
+        sleep(1)    # wait 1 second
+        led.off()   # turn off LED 
+        print ('led turned off <<<') # print message on terminal
+        sleep(1)    # wait 1 second
+
+if __name__ == '__main__':    # Program entrance
+    print ('Program is starting ... \n')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        print("Ending program")

Code/Python_GPIOZero_Code/02.1.1_ButtonLED/ButtonLED.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : ButtonLED.py
+# Description : Control led with button.
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+from gpiozero import LED, Button
+
+led = LED(17)       # define LED pin according to BCM Numbering
+button = Button(18) # define Button pin according to BCM Numbering
+
+def loop():
+    while True:
+        if button.is_pressed:  # if button is pressed
+            led.on()        # turn on led
+            print("Button is pressed, led turned on >>>") # print information on terminal 
+        else : # if button is relessed
+            led.off() # turn off led 
+            print("Button is released, led turned off <<<")    
+
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting...')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        print("Ending program")

Code/Python_GPIOZero_Code/02.2.1_Tablelamp/Tablelamp.py

@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : Tablelamp.py
+# Description : DIY MINI table lamp
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+from gpiozero import LED, Button
+import time
+
+led = LED(17) # define LED pin according to BCM Numbering
+button = Button(18) # define Button pin according to BCM Numbering
+
+def onButtonPressed():  # When button is pressed, this function will be executed
+    led.toggle()
+    if led.is_lit :
+        print("Led turned on >>>")
+    else :
+        print("Led turned off <<<")    
+def loop():
+    #Button detect
+    button.when_pressed = onButtonPressed
+    while True:
+        time.sleep(1)
+def destroy():
+    led.close()
+    button.close()    
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting...')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/03.1.1_LightWater/LightWater.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : LightWater.py
+# Description : Use LEDBar Graph(10 LED) 
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+from gpiozero import LEDBoard
+from time import sleep
+
+#ledPins = ["J8:11", "J8:12","J8:13","J8:15","J8:16","J8:18","J8:22","J8:3","J8:5","J8:24"]
+ledPins = [17, 18, 27, 22, 23, 24, 25, 2, 3, 8]
+
+leds = LEDBoard(*ledPins, active_high=False)
+
+def loop():
+    while True:
+        for index in range(0,len(ledPins),1):      # make led(on) move from left to right
+            leds.on(index)  
+            sleep(0.1)
+            leds.off(index)
+        for index in range(len(ledPins)-1,-1,-1):   #move led(on) from right to left
+            leds.on(index)      
+            sleep(0.1)
+            leds.off(index)
+
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting...')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        print("Ending program")
+

Code/Python_GPIOZero_Code/04.1.1_BreathingLED/BreathingLED.py

@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : BreathingLED.py
+# Description : Breathing LED
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+from gpiozero import PWMLED
+import time
+
+led = PWMLED(18 ,initial_value=0 ,frequency=1000)
+def loop():
+    while True:
+        for b in range(0, 101, 1):    # make the led brighter
+            led.value = b / 100.0     # set dc value as the duty cycle
+            time.sleep(0.01)
+        time.sleep(1)
+        for b in range(100, -1, -1):  # make the led darker
+            led.value = b / 100.0     # set dc value as the duty cycle
+            time.sleep(0.01)
+        time.sleep(1)
+def destroy():
+    led.close()
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting ... ')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/05.1.1_ColorfulLED/ColorfulLED.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : ColorfulLED.py
+# Description : Random color change ColorfulLED
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+from gpiozero import RGBLED
+import time
+import random
+
+#led = RGBLED(red="J8:11", green="J8:12", blue="J8:13", active_high=False) # define the pins for R:11,G:12,B:13
+led = RGBLED(red=17, green=18, blue=27, active_high=False) # define the pins for R:GPIO17,G:GPIO18,B:GPIO27 
+# If your RGBLED is a common cathode LED, set active_high to True
+
+def setColor(r_val,g_val,b_val):      # change duty cycle for three pins to r_val,g_val,b_val
+    led.red=r_val/100                 # change pwmRed duty cycle to r_val
+    led.green = g_val/100             # change pwmRed duty cycle to r_val
+    led.blue = b_val/100              # change pwmRed duty cycle to r_val
+
+def loop():
+    while True :
+        r=random.randint(0,100)  #get a random in (0,100)
+        g=random.randint(0,100)
+        b=random.randint(0,100)
+        setColor(r,g,b)          #set random as a duty cycle value 
+        print ('r=%d, g=%d, b=%d ' %(r ,g, b))
+        time.sleep(1)
+        
+def destroy():
+    led.close()
+
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting ... ')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/06.1.1_Doorbell/Doorbell.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : Doorbell.py
+# Description : Make doorbell with buzzer and button
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+from gpiozero import Buzzer, Button  
+import time
+
+buzzer = Buzzer(17)
+button = Button(18)
+
+def onButtonPressed():
+    buzzer.on()
+    print("Button is pressed, buzzer turned on >>>")
+    
+def onButtonReleased():
+    buzzer.off()
+    print("Button is released, buzzer turned on <<<")
+
+def loop():
+    button.when_pressed = onButtonPressed
+    button.when_released = onButtonReleased
+    while True :
+        time.sleep(1)
+        
+def destroy():
+    buzzer.close()
+    button.close()
+
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting ... ')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/06.2.1_Alertor/Alertor.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : Alertor.py
+# Description : Make Alertor with buzzer and button
+# Author      : www.freenove.com
+# modification: 2019/12/27
+########################################################################
+from gpiozero import TonalBuzzer,Button
+from gpiozero.tones import Tone
+import time
+import math
+
+buzzer = TonalBuzzer(17)
+button = Button(18) # define Button pin according to BCM Numbering
+
+def loop():
+    while True:
+        if button.is_pressed:  # if button is pressed
+            alertor()
+            print ('alertor turned on >>> ')
+        else :
+            stopAlertor()
+            print ('alertor turned off <<<')
+def alertor():
+    for x in range(0,361):      # Make frequency of the alertor consistent with the sine wave 
+        sinVal = math.sin(x * (math.pi / 180.0))        # calculate the sine value
+        toneVal = 2000 + sinVal * 500   # Add to the resonant frequency with a Weighted
+        b.play(Tone(toneVal))  # Change Frequency of PWM to toneVal
+        time.sleep(0.001)
+        
+def stopAlertor():
+    buzzer.stop()
+            
+def destroy():
+    buzzer.close()                  
+
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting...')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/07.1.1_ADC/ADC.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : ADC.py
+# Description : Use ADC module to read the voltage value of potentiometer.
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+import time
+from ADCDevice import *
+
+adc = ADCDevice() # Define an ADCDevice class object
+
+def setup():
+    global adc
+    if(adc.detectI2C(0x48)): # Detect the pcf8591.
+        adc = PCF8591()
+    elif(adc.detectI2C(0x4b)): # Detect the ads7830
+        adc = ADS7830()
+    else:
+        print("No correct I2C address found, \n"
+        "Please use command 'i2cdetect -y 1' to check the I2C address! \n"
+        "Program Exit. \n");
+        exit(-1)
+        
+def loop():
+    while True:
+        value = adc.analogRead(0)    # read the ADC value of channel 0
+        voltage = value / 255.0 * 3.3  # calculate the voltage value
+        print ('ADC Value : %d, Voltage : %.2f'%(value,voltage))
+        time.sleep(0.1)
+
+def destroy():
+    adc.close()
+    
+if __name__ == '__main__':   # Program entrance
+    print ('Program is starting ... ')
+    try:
+        setup()
+        loop()
+    except KeyboardInterrupt: # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")
+        

Code/Python_GPIOZero_Code/07.1.1_ADC/ADCDevice.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : ADCDevice.py
+# Description : Freenove ADC Module library.
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+
+import smbus
+
+class ADCDevice(object):
+    def __init__(self):
+        self.cmd = 0
+        self.address = 0
+        self.bus=smbus.SMBus(1)
+        # print("ADCDevice init")
+        
+    def detectI2C(self,addr):
+        try:
+            self.bus.write_byte(addr,0)
+            print("Found device in address 0x%x"%(addr))
+            return True
+        except:
+            print("Not found device in address 0x%x"%(addr))
+            return False
+            
+    def close(self):
+        self.bus.close()
+        
+class PCF8591(ADCDevice):
+    def __init__(self):
+        super(PCF8591, self).__init__()
+        self.cmd = 0x40     # The default command for PCF8591 is 0x40.
+        self.address = 0x48 # 0x48 is the default i2c address for PCF8591 Module.
+        
+    def analogRead(self, chn): # PCF8591 has 4 ADC input pins, chn:0,1,2,3
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        return value
+    
+    def analogWrite(self,value): # write DAC value
+        self.bus.write_byte_data(address,cmd,value)	
+
+class ADS7830(ADCDevice):
+    def __init__(self):
+        super(ADS7830, self).__init__()
+        self.cmd = 0x84
+        self.address = 0x4b # 0x4b is the default i2c address for ADS7830 Module.   
+        
+    def analogRead(self, chn): # ADS7830 has 8 ADC input pins, chn:0,1,2,3,4,5,6,7
+        value = self.bus.read_byte_data(self.address, self.cmd|(((chn<<2 | chn>>1)&0x07)<<4))
+        return value

Code/Python_GPIOZero_Code/08.1.1_Softlight/ADCDevice.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : ADCDevice.py
+# Description : Freenove ADC Module library.
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+
+import smbus
+
+class ADCDevice(object):
+    def __init__(self):
+        self.cmd = 0
+        self.address = 0
+        self.bus=smbus.SMBus(1)
+        # print("ADCDevice init")
+        
+    def detectI2C(self,addr):
+        try:
+            self.bus.write_byte(addr,0)
+            print("Found device in address 0x%x"%(addr))
+            return True
+        except:
+            print("Not found device in address 0x%x"%(addr))
+            return False
+            
+    def close(self):
+        self.bus.close()
+        
+class PCF8591(ADCDevice):
+    def __init__(self):
+        super(PCF8591, self).__init__()
+        self.cmd = 0x40     # The default command for PCF8591 is 0x40.
+        self.address = 0x48 # 0x48 is the default i2c address for PCF8591 Module.
+        
+    def analogRead(self, chn): # PCF8591 has 4 ADC input pins, chn:0,1,2,3
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        return value
+    
+    def analogWrite(self,value): # write DAC value
+        self.bus.write_byte_data(address,cmd,value)	
+
+class ADS7830(ADCDevice):
+    def __init__(self):
+        super(ADS7830, self).__init__()
+        self.cmd = 0x84
+        self.address = 0x4b # 0x4b is the default i2c address for ADS7830 Module.   
+        
+    def analogRead(self, chn): # ADS7830 has 8 ADC input pins, chn:0,1,2,3,4,5,6,7
+        value = self.bus.read_byte_data(self.address, self.cmd|(((chn<<2 | chn>>1)&0x07)<<4))
+        return value

Code/Python_GPIOZero_Code/08.1.1_Softlight/Softlight.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : ADC.py
+# Description : Use ADC module to read the voltage value of potentiometer.
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+from gpiozero import PWMLED
+import time
+from ADCDevice import *
+
+led = PWMLED(17,frequency=1000)      # define LED pin according to BCM Numbering
+adc = ADCDevice() # Define an ADCDevice class object
+
+def setup():
+    global adc
+    if(adc.detectI2C(0x48)): # Detect the pcf8591.
+        adc = PCF8591()
+    elif(adc.detectI2C(0x4b)): # Detect the ads7830
+        adc = ADS7830()
+    else:
+        print("No correct I2C address found, \n"
+        "Please use command 'i2cdetect -y 1' to check the I2C address! \n"
+        "Program Exit. \n");
+        exit(-1)
+        
+def loop():
+    while True:
+        value = adc.analogRead(0)      # read the ADC value of channel 0
+        led.value = value / 255.0      # Mapping to PWM duty cycle       
+        voltage = value / 255.0 * 3.3  # calculate the voltage value
+        print ('ADC Value : %d, Voltage : %.2f'%(value,voltage))
+        time.sleep(0.03)
+
+def destroy():
+    led.close()
+    adc.close()
+    
+if __name__ == '__main__':   # Program entrance
+    print ('Program is starting ... ')
+    try:
+        setup()
+        loop()
+    except KeyboardInterrupt: # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/09.1.1_ColorfulSoftlight/ADCDevice.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : ADCDevice.py
+# Description : Freenove ADC Module library.
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+
+import smbus
+
+class ADCDevice(object):
+    def __init__(self):
+        self.cmd = 0
+        self.address = 0
+        self.bus=smbus.SMBus(1)
+        # print("ADCDevice init")
+        
+    def detectI2C(self,addr):
+        try:
+            self.bus.write_byte(addr,0)
+            print("Found device in address 0x%x"%(addr))
+            return True
+        except:
+            print("Not found device in address 0x%x"%(addr))
+            return False
+            
+    def close(self):
+        self.bus.close()
+        
+class PCF8591(ADCDevice):
+    def __init__(self):
+        super(PCF8591, self).__init__()
+        self.cmd = 0x40     # The default command for PCF8591 is 0x40.
+        self.address = 0x48 # 0x48 is the default i2c address for PCF8591 Module.
+        
+    def analogRead(self, chn): # PCF8591 has 4 ADC input pins, chn:0,1,2,3
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        return value
+    
+    def analogWrite(self,value): # write DAC value
+        self.bus.write_byte_data(address,cmd,value)	
+
+class ADS7830(ADCDevice):
+    def __init__(self):
+        super(ADS7830, self).__init__()
+        self.cmd = 0x84
+        self.address = 0x4b # 0x4b is the default i2c address for ADS7830 Module.   
+        
+    def analogRead(self, chn): # ADS7830 has 8 ADC input pins, chn:0,1,2,3,4,5,6,7
+        value = self.bus.read_byte_data(self.address, self.cmd|(((chn<<2 | chn>>1)&0x07)<<4))
+        return value

Code/Python_GPIOZero_Code/09.1.1_ColorfulSoftlight/ColorfulSoftlight.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+#############################################################################
+# Filename    : Softlight.py
+# Description : Control RGBLED with Potentiometer 
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+from gpiozero import RGBLED
+import time
+from ADCDevice import *
+
+led = RGBLED(red=22, green=27, blue=17, active_high=False) # define the pins for R:GPIO22,G:GPIO27,B:GPIO17
+#led = RGBLED(red="J8:15", green="J8:13", blue="J8:11") # according to BOARD Numbering define the pins for R:11,G:12,B:13 
+adc = ADCDevice() # Define an ADCDevice class object
+
+def setup():
+    global adc
+    if(adc.detectI2C(0x48)): # Detect the pcf8591.
+        adc = PCF8591()
+    elif(adc.detectI2C(0x4b)): # Detect the ads7830
+        adc = ADS7830()
+    else:
+        print("No correct I2C address found, \n"
+        "Please use command 'i2cdetect -y 1' to check the I2C address! \n"
+        "Program Exit. \n");
+        exit(-1)
+    
+def loop():
+    while True:     
+        value_Red = adc.analogRead(0)       # read ADC value of 3 potentiometers
+        value_Green = adc.analogRead(1)
+        value_Blue = adc.analogRead(2)
+        led.red   =value_Red/255  # map the read value of potentiometers into PWM value and output it 
+        led.green =value_Green/255
+        led.blue  =value_Blue/255
+        # print read ADC value
+        print ('ADC Value value_Red: %d ,\tvlue_Green: %d ,\tvalue_Blue: %d'%(value_Red,value_Green,value_Blue))
+        time.sleep(0.01)
+
+def destroy():
+    adc.close()
+    led.close()
+    
+if __name__ == '__main__': # Program entrance
+    print ('Program is starting ... ')
+    setup()
+    try:
+        loop()
+    except KeyboardInterrupt: # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/10.1.1_Nightlamp/ADCDevice.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : ADCDevice.py
+# Description : Freenove ADC Module library.
+# Author      : www.freenove.com
+# modification: 2020/04/21
+########################################################################
+
+import smbus
+
+class ADCDevice(object):
+    def __init__(self):
+        self.cmd = 0
+        self.address = 0
+        self.bus=smbus.SMBus(1)
+        # print("ADCDevice init")
+        
+    def detectI2C(self,addr):
+        try:
+            self.bus.write_byte(addr,0)
+            print("Found device in address 0x%x"%(addr))
+            return True
+        except:
+            print("Not found device in address 0x%x"%(addr))
+            return False
+            
+    def close(self):
+        self.bus.close()
+        
+class PCF8591(ADCDevice):
+    def __init__(self):
+        super(PCF8591, self).__init__()
+        self.cmd = 0x40     # The default command for PCF8591 is 0x40.
+        self.address = 0x48 # 0x48 is the default i2c address for PCF8591 Module.
+        
+    def analogRead(self, chn): # PCF8591 has 4 ADC input pins, chn:0,1,2,3
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        return value
+    
+    def analogWrite(self,value): # write DAC value
+        self.bus.write_byte_data(address,cmd,value)	
+
+class ADS7830(ADCDevice):
+    def __init__(self):
+        super(ADS7830, self).__init__()
+        self.cmd = 0x84
+        self.address = 0x4b # 0x4b is the default i2c address for ADS7830 Module.   
+        
+    def analogRead(self, chn): # ADS7830 has 8 ADC input pins, chn:0,1,2,3,4,5,6,7
+        value = self.bus.read_byte_data(self.address, self.cmd|(((chn<<2 | chn>>1)&0x07)<<4))
+        return value

Code/Python_GPIOZero_Code/10.1.1_Nightlamp/Nightlamp.py

@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+#############################################################################
+# Filename    : Nightlamp.py
+# Description : Control LED with Photoresistor
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+from gpiozero import PWMLED
+import time
+from ADCDevice import *
+
+ledPin = 17 # define ledPin
+led = PWMLED(ledPin)
+adc = ADCDevice() # Define an ADCDevice class object
+
+def setup():
+    global adc
+    if(adc.detectI2C(0x48)): # Detect the pcf8591.
+        adc = PCF8591()
+    elif(adc.detectI2C(0x4b)): # Detect the ads7830
+        adc = ADS7830()
+    else:
+        print("No correct I2C address found, \n"
+        "Please use command 'i2cdetect -y 1' to check the I2C address! \n"
+        "Program Exit. \n");
+        exit(-1)
+
+def loop():
+    while True:
+        value = adc.analogRead(0)    # read the ADC value of channel 0
+        led.value = value / 255.0    # Mapping to PWM duty cycle 
+        voltage = value / 255.0 * 3.3
+        print ('ADC Value : %d, Voltage : %.2f'%(value,voltage))
+        time.sleep(0.01)
+
+def destroy():
+    led.close()
+    adc.close()
+    
+if __name__ == '__main__':   # Program entrance
+    print ('Program is starting ... ')
+    setup()
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")
+        

Code/Python_GPIOZero_Code/11.1.1_Thermometer/ADCDevice.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : ADCDevice.py
+# Description : Freenove ADC Module library.
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+
+import smbus
+
+class ADCDevice(object):
+    def __init__(self):
+        self.cmd = 0
+        self.address = 0
+        self.bus=smbus.SMBus(1)
+        # print("ADCDevice init")
+        
+    def detectI2C(self,addr):
+        try:
+            self.bus.write_byte(addr,0)
+            print("Found device in address 0x%x"%(addr))
+            return True
+        except:
+            print("Not found device in address 0x%x"%(addr))
+            return False
+            
+    def close(self):
+        self.bus.close()
+        
+class PCF8591(ADCDevice):
+    def __init__(self):
+        super(PCF8591, self).__init__()
+        self.cmd = 0x40     # The default command for PCF8591 is 0x40.
+        self.address = 0x48 # 0x48 is the default i2c address for PCF8591 Module.
+        
+    def analogRead(self, chn): # PCF8591 has 4 ADC input pins, chn:0,1,2,3
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        return value
+    
+    def analogWrite(self,value): # write DAC value
+        self.bus.write_byte_data(address,cmd,value)	
+
+class ADS7830(ADCDevice):
+    def __init__(self):
+        super(ADS7830, self).__init__()
+        self.cmd = 0x84
+        self.address = 0x4b # 0x4b is the default i2c address for ADS7830 Module.   
+        
+    def analogRead(self, chn): # ADS7830 has 8 ADC input pins, chn:0,1,2,3,4,5,6,7
+        value = self.bus.read_byte_data(self.address, self.cmd|(((chn<<2 | chn>>1)&0x07)<<4))
+        return value

Code/Python_GPIOZero_Code/11.1.1_Thermometer/Thermometer.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+#############################################################################
+# Filename    : Thermometer.py
+# Description : DIY Thermometer
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+import time
+import math
+from ADCDevice import *
+
+adc = ADCDevice() # Define an ADCDevice class object
+
+def setup():
+    global adc
+    if(adc.detectI2C(0x48)): # Detect the pcf8591.
+        adc = PCF8591()
+    elif(adc.detectI2C(0x4b)): # Detect the ads7830
+        adc = ADS7830()
+    else:
+        print("No correct I2C address found, \n"
+        "Please use command 'i2cdetect -y 1' to check the I2C address! \n"
+        "Program Exit. \n");
+        exit(-1)
+        
+def loop():
+    while True:
+        value = adc.analogRead(0)        # read ADC value A0 pin
+        voltage = value / 255.0 * 3.3        # calculate voltage
+        Rt = 10 * voltage / (3.3 - voltage)    # calculate resistance value of thermistor
+        tempK = 1/(1/(273.15 + 25) + math.log(Rt/10)/3950.0) # calculate temperature (Kelvin)
+        tempC = tempK -273.15        # calculate temperature (Celsius)
+        print ('ADC Value : %d, Voltage : %.2f, Temperature : %.2f'%(value,voltage,tempC))
+        time.sleep(0.01)
+
+def destroy():
+    adc.close()
+    
+if __name__ == '__main__':  # Program entrance
+    print ('Program is starting ... ')
+    setup()
+    try:
+        loop()
+    except KeyboardInterrupt: # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/12.1.1_Joystick/ADCDevice.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : ADCDevice.py
+# Description : Freenove ADC Module library.
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+
+import smbus
+
+class ADCDevice(object):
+    def __init__(self):
+        self.cmd = 0
+        self.address = 0
+        self.bus=smbus.SMBus(1)
+        # print("ADCDevice init")
+        
+    def detectI2C(self,addr):
+        try:
+            self.bus.write_byte(addr,0)
+            print("Found device in address 0x%x"%(addr))
+            return True
+        except:
+            print("Not found device in address 0x%x"%(addr))
+            return False
+            
+    def close(self):
+        self.bus.close()
+        
+class PCF8591(ADCDevice):
+    def __init__(self):
+        super(PCF8591, self).__init__()
+        self.cmd = 0x40     # The default command for PCF8591 is 0x40.
+        self.address = 0x48 # 0x48 is the default i2c address for PCF8591 Module.
+        
+    def analogRead(self, chn): # PCF8591 has 4 ADC input pins, chn:0,1,2,3
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        return value
+    
+    def analogWrite(self,value): # write DAC value
+        self.bus.write_byte_data(address,cmd,value)	
+
+class ADS7830(ADCDevice):
+    def __init__(self):
+        super(ADS7830, self).__init__()
+        self.cmd = 0x84
+        self.address = 0x4b # 0x4b is the default i2c address for ADS7830 Module.   
+        
+    def analogRead(self, chn): # ADS7830 has 8 ADC input pins, chn:0,1,2,3,4,5,6,7
+        value = self.bus.read_byte_data(self.address, self.cmd|(((chn<<2 | chn>>1)&0x07)<<4))
+        return value

Code/Python_GPIOZero_Code/12.1.1_Joystick/Joystick.py

@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+#############################################################################
+# Filename    : Joystick.py
+# Description : Read Joystick state
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+from gpiozero import Button
+import time
+from ADCDevice import *
+
+Z_Pin = 18      # define Z_Pin
+button = Button(Z_Pin) # define Button pin according to BCM Numbering
+adc = ADCDevice() # Define an ADCDevice class object
+
+def setup():
+    global adc
+    if(adc.detectI2C(0x48)): # Detect the pcf8591.
+        adc = PCF8591()
+    elif(adc.detectI2C(0x4b)): # Detect the ads7830
+        adc = ADS7830()
+    else:
+        print("No correct I2C address found, \n"
+        "Please use command 'i2cdetect -y 1' to check the I2C address! \n"
+        "Program Exit. \n");
+        exit(-1)
+        
+def loop():
+    while True:     
+        val_Z = not button.value     # read digital value of axis Z
+        val_Y = adc.analogRead(0)    # read analog value of axis X and Y
+        val_X = adc.analogRead(1)
+        print ('value_X: %d ,\tvlue_Y: %d ,\tvalue_Z: %d'%(val_X,val_Y,val_Z))
+        time.sleep(0.01)
+
+def destroy():
+    adc.close()
+    button.close()
+
+    
+if __name__ == '__main__':
+    print ('Program is starting ... ') # Program entrance
+    setup()
+    try:
+        loop()
+    except KeyboardInterrupt: # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/13.1.1_Motor/ADCDevice.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : ADCDevice.py
+# Description : Freenove ADC Module library.
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+
+import smbus
+
+class ADCDevice(object):
+    def __init__(self):
+        self.cmd = 0
+        self.address = 0
+        self.bus=smbus.SMBus(1)
+        # print("ADCDevice init")
+        
+    def detectI2C(self,addr):
+        try:
+            self.bus.write_byte(addr,0)
+            print("Found device in address 0x%x"%(addr))
+            return True
+        except:
+            print("Not found device in address 0x%x"%(addr))
+            return False
+            
+    def close(self):
+        self.bus.close()
+        
+class PCF8591(ADCDevice):
+    def __init__(self):
+        super(PCF8591, self).__init__()
+        self.cmd = 0x40     # The default command for PCF8591 is 0x40.
+        self.address = 0x48 # 0x48 is the default i2c address for PCF8591 Module.
+        
+    def analogRead(self, chn): # PCF8591 has 4 ADC input pins, chn:0,1,2,3
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        value = self.bus.read_byte_data(self.address, self.cmd+chn)
+        return value
+    
+    def analogWrite(self,value): # write DAC value
+        self.bus.write_byte_data(address,cmd,value)	
+
+class ADS7830(ADCDevice):
+    def __init__(self):
+        super(ADS7830, self).__init__()
+        self.cmd = 0x84
+        self.address = 0x4b # 0x4b is the default i2c address for ADS7830 Module.   
+        
+    def analogRead(self, chn): # ADS7830 has 8 ADC input pins, chn:0,1,2,3,4,5,6,7
+        value = self.bus.read_byte_data(self.address, self.cmd|(((chn<<2 | chn>>1)&0x07)<<4))
+        return value

Code/Python_GPIOZero_Code/13.1.1_Motor/Motor.py

@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+#############################################################################
+# Filename    : Motor.py
+# Description : Control Motor with L293D
+# Author      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+from gpiozero import DigitalOutputDevice,PWMOutputDevice
+import time
+from ADCDevice import *
+
+# define the pins connected to L293D
+motoRPin1 = DigitalOutputDevice(27)           # define L293D pin according to BCM Numbering
+motoRPin2 = DigitalOutputDevice(17)           # define L293D pin according to BCM Numbering
+enablePin = PWMOutputDevice(22,frequency=1000)
+adc = ADCDevice() # Define an ADCDevice class object
+
+def setup():
+    global adc
+    if(adc.detectI2C(0x48)): # Detect the pcf8591.
+        adc = PCF8591()
+    elif(adc.detectI2C(0x4b)): # Detect the ads7830
+        adc = ADS7830()
+    else:
+        print("No correct I2C address found, \n"
+        "Please use command 'i2cdetect -y 1' to check the I2C address! \n"
+        "Program Exit. \n");
+        exit(-1)
+# mapNUM function: map the value from a range of mapping to another range.
+def mapNUM(value,fromLow,fromHigh,toLow,toHigh):
+    return (toHigh-toLow)*(value-fromLow) / (fromHigh-fromLow) + toLow
+
+# motor function: determine the direction and speed of the motor according to the input ADC value input
+def motor(ADC):
+    value = ADC -128
+    if (value > 0):  # make motor turn forward
+        motoRPin1.on()        # motoRPin1 output HIHG level
+        motoRPin2.off()       # motoRPin2 output LOW level
+        print ('Turn Forward...')
+    elif (value < 0): # make motor turn backward
+        motoRPin1.off() 
+        motoRPin2.on()
+        print ('Turn Backward...')
+    else :
+        motoRPin1.off()
+        motoRPin2.off()
+        print ('Motor Stop...')
+    b=mapNUM(abs(value),0,128,0,100)
+    enablePin.value = b / 100.0     # set dc value as the duty cycle
+    print ('The PWM duty cycle is %d%%\n'%(abs(value)*100/127))   # print PMW duty cycle.
+
+def loop():
+    while True:
+        value = adc.analogRead(0) # read ADC value of channel 0
+        print ('ADC Value : %d'%(value))
+        motor(value)
+        time.sleep(0.2)
+
+def destroy():
+    motoRPin1.close()          
+    motoRPin2.close()        
+    enablePin.close()
+    adc.close()
+
+if __name__ == '__main__':  # Program entrance
+    print ('Program is starting ... ')
+    setup()
+    try:
+        loop()
+    except KeyboardInterrupt: # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/14.1.1_Relay/Relay.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : Relay.py
+# Description : Control Relay and Motor via Button 
+# Author      : www.freenove.com
+# modification: 2023/05/15
+########################################################################
+from gpiozero import DigitalOutputDevice, Button
+import time
+
+relayPin = 17     # define the relayPin
+buttonPin = 18    # define the buttonPin
+relay = DigitalOutputDevice(relayPin)     # define LED pin according to BCM Numbering
+button = Button(buttonPin) # define Button pin according to BCM Numbering
+
+def onButtonPressed():  # When button is pressed, this function will be executed
+    relay.toggle()
+    if relay.value :
+        print("Turn on relay ...")
+    else :
+        print("Turn off relay ... ")    
+
+def loop():
+    button.when_pressed = onButtonPressed
+    while True:
+        time.sleep(1)
+    
+def destroy():
+    relay.close()
+    button.close()
+
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting...')
+    try:
+        loop()
+    except KeyboardInterrupt:   # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/14.1.1_Relay/Relay2.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : Relay.py
+# Description : Control Relay and Motor via Button 
+# Author      : www.freenove.com
+# modification: 2023/05/15
+########################################################################
+from gpiozero import DigitalOutputDevice, Button
+import time
+
+relayPin = 17     # define the relayPin
+buttonPin = 18    # define the buttonPin
+relay = DigitalOutputDevice(relayPin)     # define LED pin according to BCM Numbering
+button = Button(buttonPin) # define Button pin according to BCM Numbering
+debounceTime = 50
+
+def loop():
+    relayState = 0
+    lastChangeTime = round(time.time()*1000)
+    buttonState = 1
+    lastButtonState = 1
+    reading = 1
+    while True:
+        reading = not button.value  
+        if reading != lastButtonState :
+            lastChangeTime = round(time.time()*1000)
+        if ((round(time.time()*1000) - lastChangeTime) > debounceTime):
+            if reading != buttonState :
+                buttonState = reading;
+                if buttonState == 0:
+                    print("Button is pressed!")
+                    relayState = not relayState
+                    if relayState:
+                        print("Turn on relay ...")
+                    else :
+                        print("Turn off relay ... ")
+                else :
+                    print("Button is released!")
+        relay.on() if (relayState==1) else relay.off() 
+        lastButtonState = reading # lastButtonState store latest state
+    
+def destroy():
+    relay.close()
+    button.close()                     
+
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting...')
+    try:
+        loop()
+    except KeyboardInterrupt:   # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")
+        

Code/Python_GPIOZero_Code/15.1.1_Sweep/Sweep.py

@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : Sweep.py
+# Description : Servo sweep
+# Author      : www.freenove.com
+# modification: 2023/05/12
+########################################################################
+from gpiozero import AngularServo
+import time
+ 
+myGPIO=18
+SERVO_DELAY_SEC = 0.001 
+myCorrection=0.0
+maxPW=(2.5+myCorrection)/1000
+minPW=(0.5-myCorrection)/1000
+servo =  AngularServo(myGPIO,initial_angle=0,min_angle=0, max_angle=180,min_pulse_width=minPW,max_pulse_width=maxPW)
+
+def loop():
+    while True:
+        for angle in range(0, 181, 1):   # make servo rotate from 0 to 180 deg
+            servo.angle = angle
+            time.sleep(SERVO_DELAY_SEC)
+        time.sleep(0.5)
+        for angle in range(180, -1, -1): # make servo rotate from 180 to 0 deg
+            servo.angle = angle
+            time.sleep(SERVO_DELAY_SEC)
+        time.sleep(0.5)
+
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting...')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        print("Ending program")

Code/Python_GPIOZero_Code/15.1.1_Sweep/Sweep2.py

@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : Sweep.py
+# Description : Servo sweep
+# Author      : www.freenove.com
+# modification: 2023/05/12
+########################################################################
+import os
+os.system("sudo pigpiod")
+from gpiozero import AngularServo
+from gpiozero.pins.pigpio import PiGPIOFactory
+import time
+
+my_factory = PiGPIOFactory() 
+myGPIO=18
+SERVO_DELAY_SEC = 0.001 
+myCorrection=0.0
+maxPW=(2.5+myCorrection)/1000
+minPW=(0.5-myCorrection)/1000
+servo =  AngularServo(myGPIO,initial_angle=0,min_angle=0, max_angle=180,min_pulse_width=minPW,max_pulse_width=maxPW,pin_factory=my_factory)
+
+def loop():
+    while True:
+        for angle in range(0, 181, 1):   # make servo rotate from 0 to 180 deg
+            servo.angle = angle
+            time.sleep(SERVO_DELAY_SEC)
+        time.sleep(0.5)
+        for angle in range(180, -1, -1): # make servo rotate from 180 to 0 deg
+            servo.angle = angle
+            time.sleep(SERVO_DELAY_SEC)
+        time.sleep(0.5)
+
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting...')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        servo.close()
+        os.system("sudo killall pigpiod")
+        print("Ending program")

Code/Python_GPIOZero_Code/16.1.1_SteppingMotor/SteppingMotor.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : SteppingMotor.py
+# Description : Drive SteppingMotor
+# Author      : www.freenove.com
+# modification: 2023/05/12
+########################################################################
+from gpiozero import OutputDevice
+import time 
+
+motorPins = (18, 23, 24, 25) # define pins connected to four phase ABCD of stepper motor
+# motorPins = ("J8:12", "J8:16", "J8:18", "J8:22") # define pins connected to four phase ABCD of stepper motor
+motors = list(map(lambda pin: OutputDevice(pin), motorPins))
+CCWStep = (0x01,0x02,0x04,0x08) # define power supply order for rotating anticlockwise 
+CWStep = (0x08,0x04,0x02,0x01)  # define power supply order for rotating clockwise
+     
+# as for four phase stepping motor, four steps is a cycle. the function is used to drive the stepping motor clockwise or anticlockwise to take four steps    
+def moveOnePeriod(direction,ms):    
+    for j in range(0,4,1):      # cycle for power supply order
+        for i in range(0,4,1):  # assign to each pin
+            if (direction == 1):# power supply order clockwise
+                motors[i].on() if (CCWStep[j] == 1<<i) else motors[i].off()
+            else :              # power supply order anticlockwise
+                motors[i].on() if CWStep[j] == 1<<i else motors[i].off()
+        if(ms<3):       # the delay can not be less than 3ms, otherwise it will exceed speed limit of the motor
+            ms = 3
+        time.sleep(ms*0.001)    
+        
+# continuous rotation function, the parameter steps specifies the rotation cycles, every four steps is a cycle
+def moveSteps(direction, ms, steps):
+    for i in range(steps):
+        moveOnePeriod(direction, ms)
+        
+# function used to stop motor
+def motorStop():
+    for i in range(0,4,1):
+        motors.off()    
+           
+def loop():
+    while True:
+        moveSteps(0,3,512)  # rotating 360 deg clockwise, a total of 2048 steps in a circle, 512 cycles
+        time.sleep(0.5)
+        moveSteps(1,3,512)  # rotating 360 deg anticlockwise
+        time.sleep(0.5)
+    
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting...')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        print("Ending program")
+        

Code/Python_GPIOZero_Code/16.1.1_SteppingMotor/SteppingMotor2/SteppingMotor2.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : SteppingMotor.py
+# Description : Drive SteppingMotor
+# Author      : www.freenove.com
+# modification: 2023/05/12
+########################################################################
+import sys
+from time import sleep
+from gpiostepper import Stepper
+
+#motorPins = ("J8:12", "J8:16", "J8:18", "J8:22") # define pins connected to four phase ABCD of stepper motor
+motorPins = (18, 23, 24, 25) # define pins connected to four phase ABCD of stepper motor
+number_of_steps = 32
+step_motor = Stepper(motorPins, number_of_steps = number_of_steps)   
+speed = 600
+amount_of_gear_reduction = 64
+number_of_steps_per_revolution_geared_output = number_of_steps * amount_of_gear_reduction
+step_motor.set_speed(speed)
+def loop():
+    while True:
+        step_motor.step(number_of_steps_per_revolution_geared_output) # rotating 360 deg clockwise
+        sleep(0.5)
+        step_motor.step(-number_of_steps_per_revolution_geared_output)# rotating 360 deg anticlockwise
+        sleep(0.5)
+
+if __name__ == "__main__":
+    print ('Program is starting...')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        print("Ending program")
+        

Code/Python_GPIOZero_Code/16.1.1_SteppingMotor/SteppingMotor2/gpiostepper.py

@@ -0,0 +1,73 @@
+from gpiozero import OutputDevice
+from time import sleep
+
+class Stepper:
+    CW = -1
+    CCW = 1
+    """Constructor"""
+    def __init__(self, motor_pins, number_of_steps = 32, step_sequence = [[1,0,0,0], [0,1,0,0], [0,0,1,0], [0,0,0,1]]):
+        self.motor_pins = [OutputDevice(pin) for pin in motor_pins]  # Control pins
+        self.pin_count = len(motor_pins)                             # Number of control pins 
+        self.step_sequence = step_sequence                           # Sequence of control signals   
+        self.step_number = 0                                         # Which step the motor is on
+        self.number_of_steps = number_of_steps                       # Total number of steps per internal motor revolution
+        self.direction = self.CW                                     # Rotation direction
+        self.step_delay = 60 / self.number_of_steps / 240            # Rotation delay (240rpm == 7.81ms delay)
+  
+    """Sets speed in revolutions per minute"""
+    def set_speed(self, what_speed):
+        self.step_delay = 60 / self.number_of_steps / what_speed     # Step delay in seconds
+        print("Step Delay: {:.2f}ms".format(self.step_delay * 1000)) 
+    """Moves the motor steps_to_move steps.  If the number is negative, the motor moves in the reverse direction."""
+    def step(self, steps_to_move):
+        # Determine how many steps to left to take
+        steps_left = int(abs(steps_to_move))
+        # Determine direction
+        self.direction = self.CW if steps_to_move > 0 else self.CCW
+        # Decrement the number of steps, moving one step each time
+        while steps_left > 0:
+            if self.direction == self.CCW:
+                self.step_number = (self.step_number + 1) % self.number_of_steps
+            else:
+                self.step_number = (self.step_number - 1) % self.number_of_steps    
+            steps_left -= 1
+            self.step_motor()
+
+    """Moves the motor forward or backwards"""
+    def step_motor(self):
+        # Select the correct control signal sequence
+        this_step = self.step_number % len(self.step_sequence)
+        seq = self.step_sequence[this_step]
+        # Set pin state accordingly
+        for pin in range(self.pin_count):
+            if seq[pin] == 1:
+                self.motor_pins[pin].on()
+            else:
+                self.motor_pins[pin].off()
+        sleep(self.step_delay)
+        
+    """Rotates the motor clockwise indefinitely"""
+    def forward(self):
+        for i in range(0,1024,1):
+            self.step_number = (self.step_number - 1) % self.number_of_steps
+            self.step_motor()
+
+    """Rotates the motor counter-clockwise indefinitely"""
+    def backward(self):
+        for i in range(0,1024,1):
+            self.step_number = (self.step_number + 1) % self.number_of_steps
+            self.step_motor()
+    """Number of motor revolutions"""
+    def movearound(self, step_around):
+        if step_around >= 0:
+            while step_around:
+                self.step(32*64)
+                step_around -= 1
+        elif step_around < 0:
+            while step_around:
+                self.step(-32*64)
+                step_around += 1
+    """Motor rotation Angle"""
+    def moveangle(self, step_angle):
+        self.step((step_angle*32*64)/360)
+    

Code/Python_GPIOZero_Code/17.1.1_LightWater02/LightWater02.py

@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+#############################################################################
+# Filename    : LightWater02.py
+# Description : Control LED with 74HC595
+# Author      : www.freenove.com
+# modification: 2023/05/12
+########################################################################
+from gpiozero import OutputDevice
+import time
+# Defines the data bit that is transmitted preferentially in the shiftOut function.
+LSBFIRST = 1
+MSBFIRST = 2
+# define the pins for 74HC595
+dataPin   = OutputDevice(17)      # DS Pin of 74HC595(Pin14)
+latchPin  = OutputDevice(27)      # ST_CP Pin of 74HC595(Pin12)
+clockPin  = OutputDevice(22)      # CH_CP Pin of 74HC595(Pin11)
+   
+# shiftOut function, use bit serial transmission. 
+def shiftOut(order,val):      
+    for i in range(0,8):
+        clockPin.off()
+        if(order == LSBFIRST):
+            dataPin.on() if (0x01&(val>>i)==0x01) else dataPin.off()
+        elif(order == MSBFIRST):
+            dataPin.on() if (0x80&(val<<i)==0x80) else dataPin.off()
+        clockPin.on()
+
+def loop():
+    while True:
+        x=0x01
+        for i in range(0,8):
+            latchPin.off()# Output low level to latchPin
+            shiftOut(LSBFIRST,x) # Send serial data to 74HC595
+            latchPin.on()   # Output high level to latchPin, and 74HC595 will update the data to the parallel output port.
+            x<<=1 # make the variable move one bit to left once, then the bright LED move one step to the left once.
+            time.sleep(0.1)
+        x=0x80
+        for i in range(0,8):
+            latchPin.off()
+            shiftOut(LSBFIRST,x)
+            latchPin.on()
+            x>>=1
+            time.sleep(0.1)
+
+def destroy():   
+    dataPin.close()
+    latchPin.close()
+    clockPin.close() 
+
+if __name__ == '__main__': # Program entrance
+    print ('Program is starting...' )
+    try:
+        loop()  
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/18.1.1_SevenSegmentDisplay/SevenSegmentDisplay.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+#############################################################################
+# Filename    : SevenSegmentDisplay.py
+# Description : Control SevenSegmentDisplay with 74HC595
+# Author      : www.freenove.com
+# modification: 2023/05/15
+########################################################################
+from gpiozero import OutputDevice
+import time
+
+LSBFIRST = 1
+MSBFIRST = 2
+# define the pins for 74HC595
+dataPin   = OutputDevice(17)      # DS Pin of 74HC595(Pin14)
+latchPin  = OutputDevice(27)      # ST_CP Pin of 74HC595(Pin12)
+clockPin  = OutputDevice(22)      # CH_CP Pin of 74HC595(Pin11)
+# SevenSegmentDisplay display the character "0"- "F" successively
+num = [0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90,0x88,0x83,0xc6,0xa1,0x86,0x8e]
+
+def shiftOut(order,val):
+    for i in range(0,8):
+        clockPin.off()
+        if(order == LSBFIRST):
+            dataPin.on() if (0x01&(val>>i)==0x01) else dataPin.off()
+        elif(order == MSBFIRST):
+            dataPin.on() if (0x80&(val<<i)==0x80) else dataPin.off()
+        clockPin.on()
+
+def loop():
+    while True:
+        for i in range(0,len(num)):
+            latchPin.off()
+            shiftOut(MSBFIRST,num[i])  # Send serial data to 74HC595
+            latchPin.on()
+            time.sleep(0.5)
+        for i in range(0,len(num)):
+            latchPin.off()
+            shiftOut(MSBFIRST,num[i]&0x7f) # Use "&0x7f" to display the decimal point.
+            latchPin.on()
+            time.sleep(0.5)
+
+def destroy():  
+    dataPin.close()
+    latchPin.close()
+    clockPin.close() 
+
+if __name__ == '__main__': # Program entrance
+    print ('Program is starting...' )
+    try:
+        loop()  
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/18.2.1_StopWatch/StopWatch.py

@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+#############################################################################
+# Filename    : StopWatch.py
+# Description : Control 4_Digit_7_Segment_Display with 74HC595
+# Author      : www.freenove.com
+# modification: 2023/05/15
+########################################################################
+from gpiozero import OutputDevice
+import time
+import threading
+
+LSBFIRST = 1
+MSBFIRST = 2
+# define the pins connect to 74HC595
+dataPin   = OutputDevice(24)      # DS Pin of 74HC595
+latchPin  = OutputDevice(23)      # ST_CP Pin of 74HC595
+clockPin  = OutputDevice(18)      # SH_CP Pin of 74HC595
+num = (0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90)
+digitPin = (17,27,22,10)    # Define the pin of 7-segment display common end
+outputs = list(map(lambda pin: OutputDevice(pin), digitPin))
+counter = 0         # Variable counter, the number will be dislayed by 7-segment display
+t = 0               # define the Timer object
+    
+def shiftOut(order,val):      
+    for i in range(0,8):
+        clockPin.off()
+        if(order == LSBFIRST):
+            dataPin.on() if (0x01&(val>>i)==0x01) else dataPin.off()
+        elif(order == MSBFIRST):
+            dataPin.on() if (0x80&(val<<i)==0x80) else dataPin.off()
+        clockPin.on()
+            
+def outData(data):      # function used to output data for 74HC595
+    latchPin.off()
+    shiftOut(MSBFIRST,data)
+    latchPin.on()
+    
+def selectDigit(digit): # Open one of the 7-segment display and close the remaining three, the parameter digit is optional for 1,2,4,8
+    outputs[0].off() if ((digit&0x08) == 0x08) else outputs[0].on()
+    outputs[1].off() if ((digit&0x04) == 0x04) else outputs[1].on()
+    outputs[2].off() if ((digit&0x02) == 0x02) else outputs[2].on()
+    outputs[3].off() if ((digit&0x01) == 0x01) else outputs[3].on()
+
+def display(dec):   # display function for 7-segment display
+    outData(0xff)   # eliminate residual display
+    selectDigit(0x01)   # Select the first, and display the single digit
+    outData(num[dec%10])
+    time.sleep(0.003)   # display duration
+    outData(0xff)
+    selectDigit(0x02)   # Select the second, and display the tens digit
+    outData(num[dec%100//10])
+    time.sleep(0.003)
+    outData(0xff)
+    selectDigit(0x04)   # Select the third, and display the hundreds digit
+    outData(num[dec%1000//100])
+    time.sleep(0.003)
+    outData(0xff)
+    selectDigit(0x08)   # Select the fourth, and display the thousands digit
+    outData(num[dec%10000//1000])
+    time.sleep(0.003)
+def timer():       
+    global counter
+    global t
+    t = threading.Timer(1.0,timer)      # reset time of timer to 1s
+    t.start()                           # Start timing
+    counter+=1                          
+    print ("counter : %d"%counter)
+    
+def loop():
+    global t
+    global counter
+    t = threading.Timer(1.0,timer)      # set the timer
+    t.start()                           # Start timing
+    while True:
+        display(counter)                # display the number counter
+        
+def destroy():  
+    global t
+    dataPin.close()
+    latchPin.close()
+    clockPin.close()     
+    t.cancel()     
+
+if __name__ == '__main__': # Program entrance
+    print ('Program is starting...' )
+    try:
+        loop()  
+    except KeyboardInterrupt:   # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")
+ 

Code/Python_GPIOZero_Code/19.1.1_LEDMatrix/LEDMatrix.py

@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+#############################################################################
+# Filename    : LEDMatrix.py
+# Description : Control LEDMatrix with 74HC595
+# auther      : www.freenove.com
+# modification: 2023/05/15
+########################################################################
+from gpiozero import OutputDevice
+import time
+
+LSBFIRST = 1
+MSBFIRST = 2
+# define the pins connect to 74HC595
+dataPin   = OutputDevice(17)      # DS Pin of 74HC595(Pin14)
+latchPin  = OutputDevice(27)      # ST_CP Pin of 74HC595(Pin12)
+clockPin  = OutputDevice(22)      # CH_CP Pin of 74HC595(Pin11)
+pic = [0x1c,0x22,0x51,0x45,0x45,0x51,0x22,0x1c]  # data of smiling face
+data = [     # data of "0-F"
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, # " "
+    0x00, 0x00, 0x3E, 0x41, 0x41, 0x3E, 0x00, 0x00, # "0"
+    0x00, 0x00, 0x21, 0x7F, 0x01, 0x00, 0x00, 0x00, # "1"
+    0x00, 0x00, 0x23, 0x45, 0x49, 0x31, 0x00, 0x00, # "2"
+    0x00, 0x00, 0x22, 0x49, 0x49, 0x36, 0x00, 0x00, # "3"
+    0x00, 0x00, 0x0E, 0x32, 0x7F, 0x02, 0x00, 0x00, # "4"
+    0x00, 0x00, 0x79, 0x49, 0x49, 0x46, 0x00, 0x00, # "5"
+    0x00, 0x00, 0x3E, 0x49, 0x49, 0x26, 0x00, 0x00, # "6"
+    0x00, 0x00, 0x60, 0x47, 0x48, 0x70, 0x00, 0x00, # "7"
+    0x00, 0x00, 0x36, 0x49, 0x49, 0x36, 0x00, 0x00, # "8"
+    0x00, 0x00, 0x32, 0x49, 0x49, 0x3E, 0x00, 0x00, # "9"   
+    0x00, 0x00, 0x3F, 0x44, 0x44, 0x3F, 0x00, 0x00, # "A"
+    0x00, 0x00, 0x7F, 0x49, 0x49, 0x36, 0x00, 0x00, # "B"
+    0x00, 0x00, 0x3E, 0x41, 0x41, 0x22, 0x00, 0x00, # "C"
+    0x00, 0x00, 0x7F, 0x41, 0x41, 0x3E, 0x00, 0x00, # "D"
+    0x00, 0x00, 0x7F, 0x49, 0x49, 0x41, 0x00, 0x00, # "E"
+    0x00, 0x00, 0x7F, 0x48, 0x48, 0x40, 0x00, 0x00, # "F"
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, # " "
+]
+    
+def shiftOut(order,val):
+    for i in range(0,8):
+        clockPin.off()
+        if(order == LSBFIRST):
+            dataPin.on() if (0x01&(val>>i)==0x01) else dataPin.off()
+        elif(order == MSBFIRST):
+            dataPin.on() if (0x80&(val<<i)==0x80) else dataPin.off()
+        clockPin.on()
+
+def loop():
+    while True:
+        for j in range(0,500): # Repeat enough times to display the smiling face a period of time
+            x=0x80
+            for i in range(0,8):
+                latchPin.off()
+                shiftOut(MSBFIRST,pic[i]) #first shift data of line information to first stage 74HC959
+
+                shiftOut(MSBFIRST,~x) #then shift data of column information to second stage 74HC959
+                latchPin.on()         # Output data of two stage 74HC595 at the same time
+                time.sleep(0.001) # display the next column
+                x>>=1
+        for k in range(0,len(data)-8): #len(data) total number of "0-F" columns 
+            for j in range(0,20): # times of repeated displaying LEDMatrix in every frame, the bigger the "j", the longer the display time.
+                x=0x80      # Set the column information to start from the first column
+                for i in range(k,k+8):
+                    latchPin.off()
+                    shiftOut(MSBFIRST,data[i])
+                    shiftOut(MSBFIRST,~x)
+                    latchPin.on()
+                    time.sleep(0.001)
+                    x>>=1
+def destroy():  
+    dataPin.close()
+    latchPin.close()
+    clockPin.close()
+if __name__ == '__main__':  # Program entrance
+    print ('Program is starting...' )
+    try:
+        loop()  
+    except KeyboardInterrupt:   # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")
+

Code/Python_GPIOZero_Code/20.1.1_I2CLCD1602/I2CLCD1602.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : I2CLCD1602.py
+# Description : Use the LCD display data
+# Author      : freenove
+# modification: 2023/05/15
+########################################################################
+import smbus
+from time import sleep, strftime
+from datetime import datetime
+from LCD1602 import CharLCD1602
+
+lcd1602 = CharLCD1602()    
+def get_cpu_temp():     # get CPU temperature from file "/sys/class/thermal/thermal_zone0/temp"
+    tmp = open('/sys/class/thermal/thermal_zone0/temp')
+    cpu = tmp.read()
+    tmp.close()
+    return '{:.2f}'.format( float(cpu)/1000 ) + ' C '
+ 
+def get_time_now():     # get system time
+    return datetime.now().strftime('    %H:%M:%S')
+    
+def loop():
+    lcd1602.init_lcd()
+    count = 0
+    while(True):
+        lcd1602.clear()
+        lcd1602.write(0, 0, 'CPU: ' + get_cpu_temp() )# display CPU temperature
+        lcd1602.write(0, 1, get_time_now() )   # display the time
+        sleep(1)
+def destroy():
+    lcd1602.clear()
+if __name__ == '__main__':
+    print ('Program is starting ... ')
+    try:
+        loop()
+    except KeyboardInterrupt:
+        destroy()
+    

Code/Python_GPIOZero_Code/20.1.1_I2CLCD1602/LCD1602.py

@@ -0,0 +1,136 @@
+#!/usr/bin/env python3
+import time
+import smbus
+import subprocess
+
+class CharLCD1602(object):
+    def __init__(self):
+        # Note you need to change the bus number to 0 if running on a revision 1 Raspberry Pi.
+        self.bus = smbus.SMBus(1)
+        self.BLEN = 1  # turn on/off background light
+        self.PCF8574_address = 0x27  # I2C address of the PCF8574 chip.
+        self.PCF8574A_address = 0x3f  # I2C address of the PCF8574A chip.
+        self.LCD_ADDR =self.PCF8574_address  
+    def write_word(self,addr, data):
+        temp = data
+        if self.BLEN == 1:
+            temp |= 0x08
+        else:
+            temp &= 0xF7
+        self.bus.write_byte(addr ,temp)
+
+    def send_command(self,comm):
+        # Send bit7-4 firstly
+        buf = comm & 0xF0
+        buf |= 0x04               # RS = 0, RW = 0, EN = 1
+        self.write_word(self.LCD_ADDR ,buf)
+        time.sleep(0.002)
+        buf &= 0xFB               # Make EN = 0
+        self.write_word(self.LCD_ADDR ,buf)
+        # Send bit3-0 secondly
+        buf = (comm & 0x0F) << 4
+        buf |= 0x04               # RS = 0, RW = 0, EN = 1
+        self.write_word(self.LCD_ADDR ,buf)
+        time.sleep(0.002)
+        buf &= 0xFB               # Make EN = 0
+        self.write_word(self.LCD_ADDR ,buf)
+
+    def send_data(self,data):
+        # Send bit7-4 firstly
+        buf = data & 0xF0
+        buf |= 0x05               # RS = 1, RW = 0, EN = 1
+        self.write_word(self.LCD_ADDR ,buf)
+        time.sleep(0.002)
+        buf &= 0xFB               # Make EN = 0
+        self.write_word(self.LCD_ADDR ,buf)
+        # Send bit3-0 secondly
+        buf = (data & 0x0F) << 4
+        buf |= 0x05               # RS = 1, RW = 0, EN = 1
+        self.write_word(self.LCD_ADDR ,buf)
+        time.sleep(0.002)
+        buf &= 0xFB               # Make EN = 0
+        self.write_word(self.LCD_ADDR ,buf)
+
+    def i2c_scan(self):
+        cmd = "i2cdetect -y 1 |awk \'NR>1 {$1=\"\";print}\'"
+        result = subprocess.check_output(cmd, shell=True).decode()
+        result = result.replace("\n", "").replace(" --", "")
+        i2c_list = result.split(' ')
+        return i2c_list
+
+    def init_lcd(self,addr=None, bl=1):
+        i2c_list = self.i2c_scan()
+#         print(f"i2c_list: {i2c_list}")
+        if addr is None:
+            if '27' in i2c_list:
+                self.LCD_ADDR = self.PCF8574_address
+            elif '3f' in i2c_list:
+                self.LCD_ADDR = self.PCF8574A_address
+            else:
+                raise IOError("I2C address 0x27 or 0x3f no found.")
+        else:
+            self.LCD_ADDR = addr
+            if str(hex(addr)).strip('0x') not in i2c_list:
+                raise IOError(f"I2C address {str(hex(addr))} or 0x3f no found.")    
+        self.BLEN = bl
+        try:
+            self.send_command(0x33) # Must initialize to 8-line mode at first
+            time.sleep(0.005)
+            self.send_command(0x32) # Then initialize to 4-line mode
+            time.sleep(0.005)
+            self.send_command(0x28) # 2 Lines & 5*7 dots
+            time.sleep(0.005)
+            self.send_command(0x0C) # Enable display without cursor
+            time.sleep(0.005)
+            self.send_command(0x01) # Clear Screen
+            self.buswrite_byte(self.LCD_ADDR, 0x08)
+        except:
+            return False
+        else:
+            return True
+
+    def clear(self):
+        self.send_command(0x01) # Clear Screen
+
+    def openlight(self):  # Enable the backlight
+        self.bus.write_byte(0x27,0x08)
+        self.bus.close()
+
+    def write(self,x, y, str):
+        if x < 0:
+            x = 0
+        if x > 15:
+            x = 15
+        if y <0:
+            y = 0
+        if y > 1:
+            y = 1
+        # Move cursor
+        addr = 0x80 + 0x40 * y + x
+        self.send_command(addr)
+        for chr in str:
+            self.send_data(ord(chr))
+    def display_num(self,x, y, num):
+        addr = 0x80 + 0x40 * y + x
+        self.send_command(addr)
+        self.send_data(num)
+        
+def loop():
+    count = 0
+    while(True):
+        lcd1602.clear()
+        lcd1602.write(0, 0, '  Hello World!  ' )# display CPU temperature
+        lcd1602.write(0, 1, '  Counter: ' + str(count) )   # display the time
+        time.sleep(1)
+        count += 1
+def destroy():
+    lcd1602.clear()
+lcd1602 = CharLCD1602()  
+if __name__ == '__main__':
+    print ('Program is starting ... ')
+    lcd1602.init_lcd(addr=None, bl=1)
+    try:
+        loop()
+    except KeyboardInterrupt:
+        destroy()
+

Code/Python_GPIOZero_Code/21.1.1_DHT11/DHT11.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+#############################################################################
+# Filename    : DHT11.py
+# Description :	read the temperature and humidity data of DHT11
+# Author      : freenove
+# modification: 2020/10/16
+########################################################################
+import RPi.GPIO as GPIO
+import time
+import Freenove_DHT as DHT
+DHTPin = 11     #define the pin of DHT11
+
+def loop():
+    dht = DHT.DHT(DHTPin)   #create a DHT class object
+    counts = 0 # Measurement counts
+    while(True):
+        counts += 1
+        print("Measurement counts: ", counts)
+        for i in range(0,15):            
+            chk = dht.readDHT11()     #read DHT11 and get a return value. Then determine whether data read is normal according to the return value.
+            if (chk is dht.DHTLIB_OK):      #read DHT11 and get a return value. Then determine whether data read is normal according to the return value.
+                print("DHT11,OK!")
+                break
+            time.sleep(0.1)
+        print("Humidity : %.2f, \t Temperature : %.2f \n"%(dht.humidity,dht.temperature))
+        time.sleep(2)       
+        
+if __name__ == '__main__':
+    print ('Program is starting ... ')
+    try:
+        loop()
+    except KeyboardInterrupt:
+        GPIO.cleanup()
+        exit()  
+

Code/Python_GPIOZero_Code/21.1.1_DHT11/Freenove_DHT.py

@@ -0,0 +1,130 @@
+#!/usr/bin/env python3
+#############################################################################
+# Filename    : Freenove_DHT.py
+# Description :	DHT Temperature & Humidity Sensor library for Raspberry
+# Author      : freenove
+# modification: 2020/10/16
+########################################################################
+import RPi.GPIO as GPIO
+import time
+
+class DHT(object):
+	DHTLIB_OK = 0
+	DHTLIB_ERROR_CHECKSUM = -1
+	DHTLIB_ERROR_TIMEOUT = -2
+	DHTLIB_INVALID_VALUE = -999
+	
+	DHTLIB_DHT11_WAKEUP = 0.020#0.018		#18ms
+	DHTLIB_TIMEOUT = 0.0001			#100us
+	
+	humidity = 0
+	temperature = 0
+	
+	def __init__(self,pin):
+		self.pin = pin
+		self.bits = [0,0,0,0,0]
+		GPIO.setmode(GPIO.BOARD)
+	#Read DHT sensor, store the original data in bits[]	
+	def readSensor(self,pin,wakeupDelay):
+		mask = 0x80
+		idx = 0
+		self.bits = [0,0,0,0,0]
+		# Clear sda
+		GPIO.setup(pin,GPIO.OUT)
+		GPIO.output(pin,GPIO.HIGH)
+		time.sleep(0.5)
+		# start signal
+		GPIO.output(pin,GPIO.LOW)
+		time.sleep(wakeupDelay)
+		GPIO.output(pin,GPIO.HIGH)
+		# time.sleep(0.000001)
+		GPIO.setup(pin,GPIO.IN)
+		
+		loopCnt = self.DHTLIB_TIMEOUT
+		# Waiting echo
+		t = time.time()
+		while True:
+			if (GPIO.input(pin) == GPIO.LOW):
+				break
+			if((time.time() - t) > loopCnt):
+				return self.DHTLIB_ERROR_TIMEOUT
+		# Waiting echo low level end
+		t = time.time()
+		while(GPIO.input(pin) == GPIO.LOW):
+			if((time.time() - t) > loopCnt):
+				#print ("Echo LOW")
+				return self.DHTLIB_ERROR_TIMEOUT
+		# Waiting echo high level end
+		t = time.time()
+		while(GPIO.input(pin) == GPIO.HIGH):
+			if((time.time() - t) > loopCnt):
+				#print ("Echo HIGH")
+				return self.DHTLIB_ERROR_TIMEOUT
+		for i in range(0,40,1):
+			t = time.time()
+			while(GPIO.input(pin) == GPIO.LOW):
+				if((time.time() - t) > loopCnt):
+					#print ("Data Low %d"%(i))
+					return self.DHTLIB_ERROR_TIMEOUT
+			t = time.time()
+			while(GPIO.input(pin) == GPIO.HIGH):
+				if((time.time() - t) > loopCnt):
+					#print ("Data HIGH %d"%(i))
+					return self.DHTLIB_ERROR_TIMEOUT		
+			if((time.time() - t) > 0.00005):	
+				self.bits[idx] |= mask
+			#print("t : %f"%(time.time()-t))
+			mask >>= 1
+			if(mask == 0):
+				mask = 0x80
+				idx += 1	
+		#print (self.bits)
+		GPIO.setup(pin,GPIO.OUT)
+		GPIO.output(pin,GPIO.HIGH)
+		return self.DHTLIB_OK
+	#Read DHT sensor, analyze the data of temperature and humidity
+	def readDHT11Once(self):
+		rv = self.readSensor(self.pin,self.DHTLIB_DHT11_WAKEUP)
+		if (rv is not self.DHTLIB_OK):
+			self.humidity = self.DHTLIB_INVALID_VALUE
+			self.temperature = self.DHTLIB_INVALID_VALUE
+			return rv
+		self.humidity = self.bits[0]
+		self.temperature = self.bits[2] + self.bits[3]*0.1
+		sumChk = ((self.bits[0] + self.bits[1] + self.bits[2] + self.bits[3]) & 0xFF)
+		if(self.bits[4] is not sumChk):
+			return self.DHTLIB_ERROR_CHECKSUM
+		return self.DHTLIB_OK
+	def readDHT11(self):
+		result = self.DHTLIB_INVALID_VALUE
+		for i in range(0,15):
+			result = self.readDHT11Once()
+			if result == self.DHTLIB_OK:
+				return self.DHTLIB_OK
+			time.sleep(0.1)
+		return result
+		
+		
+def loop():
+	dht = DHT(11)
+	sumCnt = 0
+	okCnt = 0
+	while(True):
+		sumCnt += 1
+		chk = dht.readDHT11()	
+		if (chk is 0):
+			okCnt += 1		
+		okRate = 100.0*okCnt/sumCnt;
+		print("sumCnt : %d, \t okRate : %.2f%% "%(sumCnt,okRate))
+		print("chk : %d, \t Humidity : %.2f, \t Temperature : %.2f "%(chk,dht.humidity,dht.temperature))
+		time.sleep(3)		
+		
+if __name__ == '__main__':
+	print ('Program is starting ... ')
+	try:
+		loop()
+	except KeyboardInterrupt:
+		pass
+		exit()		
+		
+		

Code/Python_GPIOZero_Code/21.1.1_DHT11/setup.py

@@ -0,0 +1,13 @@
+
+from setuptools import setup,find_packages
+
+setup(
+	name = "Freenove_DHT",
+	version = "V1.0.1",
+	description = "Read DHT Sensor",
+	author = "Freenove",
+	url = "http://www.freenove.com",
+	license = " ",
+	packages = find_packages(),
+	scripts = ["Freenove_DHT.py"],
+	)

Code/Python_GPIOZero_Code/22.1.1_MatrixKeypad/Keypad.py

@@ -0,0 +1,203 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : Keypad.py
+# Description : The module of matrix keypad 
+# Author      : freenove
+# modification: 2023/05/15
+########################################################################
+from gpiozero import InputDevice, OutputDevice
+import time
+#class Key:Define some of the properties of Key
+class Key(object):
+    NO_KEY = '\0'
+    #Defines the four states of Key
+    IDLE = 0
+    PRESSED = 1
+    HOLD = 2
+    RELEASED = 3
+    #define OPEN and CLOSED
+    OPEN = 0
+    CLOSED =1
+    #constructor
+    def __init__(self):
+        self.kchar = self.NO_KEY
+        self.kstate = self.IDLE
+        self.kcode = -1
+        self.stateChanged = False
+
+class Keypad(object):
+    NULL = '\0'
+    LIST_MAX = 10   #Max number of keys on the active list.
+    MAPSIZE = 10    #MAPSIZE is the number of rows (times 16 columns)
+    bitMap = [0]*MAPSIZE
+    key = [Key()]*LIST_MAX
+    holdTime = 500      #key hold time
+    holdTimer = 0
+    startTime = 0
+    #Allows custom keymap, pin configuration, and keypad sizes.
+    def __init__(self,usrKeyMap,row_Pins,col_Pins,num_Rows,num_Cols):
+        self.rowPins = row_Pins
+        self.colPins = col_Pins
+        self.numRows = num_Rows
+        self.numCols = num_Cols
+        
+        self.keymap = usrKeyMap
+        self.setDebounceTime(10)
+    #Returns a single key only. Retained for backwards compatibility.   
+    def getKey(self):
+        single_key = True
+        if(self.getKeys() and self.key[0].stateChanged and (self.key[0].kstate == self.key[0].PRESSED)):
+            return self.key[0].kchar
+        single_key = False
+        return self.key[0].NO_KEY
+    #Populate the key list. 
+    def getKeys(self):
+        keyActivity = False
+        #Limit how often the keypad is scanned.
+        if((time.time() - self.startTime) > self.debounceTime*0.001):
+            self.scanKeys()
+            keyActivity = self.updateList()
+            self.startTime = time.time()
+        return keyActivity
+    #Hardware scan ,the result store in bitMap  
+    def scanKeys(self):
+        #Re-intialize the row pins. Allows sharing these pins with other hardware.
+        inputs = list(map(lambda pin: InputDevice(pin, pull_up=True), self.rowPins))
+        #bitMap stores ALL the keys that are being pressed.   outputs = OutputDevice(pin_c,active_high=False)
+        for pin_c in self.colPins:
+            outputs = OutputDevice(pin_c)
+            outputs.off()
+            i=0
+            for r in self.rowPins: #keypress is active low so invert to high.   inputs[i].is_active inputs[i].value
+                self.bitMap[self.rowPins.index(r)] = self.bitWrite(self.bitMap[self.rowPins.index(r)],self.colPins.index(pin_c), inputs[i].value)
+                i =i+1
+            #Set pin to high impedance input. Effectively ends column pulse.
+            outputs.on()
+            outputs.close()
+            outputs = InputDevice(pin_c,pull_up=True)
+    #Manage the list without rearranging the keys. Returns true if any keys on the list changed state.      
+    def updateList(self):
+        anyActivity = False
+        kk = Key()
+        #Delete any IDLE keys
+        for i in range(self.LIST_MAX):
+            if(self.key[i].kstate == kk.IDLE):
+                self.key[i].kchar = kk.NO_KEY
+                self.key[i].kcode = -1
+                self.key[i].stateChanged = False
+        # Add new keys to empty slots in the key list.
+        for r in range(self.numRows):
+            for c in range(self.numCols):
+                button = self.bitRead(self.bitMap[r],c)
+                keyChar = self.keymap[r * self.numCols +c]
+                keyCode = r * self.numCols +c
+                idx = self.findInList(keyCode)
+                #Key is already on the list so set its next state.
+                if(idx > -1):
+                    self.nextKeyState(idx,button)
+                #Key is NOT on the list so add it.
+                if((idx == -1) and button):
+                    for i in range(self.LIST_MAX):
+                        if(self.key[i].kchar == kk.NO_KEY): #Find an empty slot or don't add key to list.
+                            self.key[i].kchar = keyChar
+                            self.key[i].kcode = keyCode
+                            self.key[i].kstate = kk.IDLE    #Keys NOT on the list have an initial state of IDLE.
+                            self.nextKeyState(i,button)
+                            break   #Don't fill all the empty slots with the same key.
+        #Report if the user changed the state of any key.
+        for i in range(self.LIST_MAX):
+            if(self.key[i].stateChanged):
+                anyActivity = True
+        return anyActivity      
+    #This function is a state machine but is also used for debouncing the keys. 
+    def nextKeyState(self,idx, button):
+        self.key[idx].stateChanged = False
+        kk = Key()
+        if(self.key[idx].kstate == kk.IDLE):
+            if(button == kk.CLOSED):
+                self.transitionTo(idx,kk.PRESSED)
+                self.holdTimer = time.time()    #Get ready for next HOLD state.
+        elif(self.key[idx].kstate == kk.PRESSED):
+            if((time.time() - self.holdTimer) > self.holdTime*0.001):   #Waiting for a key HOLD...  
+                self.transitionTo(idx,kk.HOLD)
+            elif(button == kk.OPEN):        # or for a key to be RELEASED.
+                self.transitionTo(idx,kk.RELEASED)
+        elif(self.key[idx].kstate == kk.HOLD):
+            if(button == kk.OPEN):
+                self.transitionTo(idx,kk.RELEASED)
+        elif(self.key[idx].kstate == kk.RELEASED):
+            self.transitionTo(idx,kk.IDLE)
+            
+    def transitionTo(self,idx,nextState):
+        self.key[idx].kstate = nextState
+        self.key[idx].stateChanged = True
+    #Search by code for a key in the list of active keys.
+    #Returns -1 if not found or the index into the list of active keys.
+    def findInList(self,keyCode):
+        for i in range(self.LIST_MAX):
+            if(self.key[i].kcode == keyCode):
+                return i
+        return -1
+    #set Debounce Time, The default is 50ms                 
+    def setDebounceTime(self,ms):
+        self.debounceTime = ms
+    #set HoldTime,The default is 500ms
+    def setHoldTime(self,ms):
+        self.holdTime = ms
+    #   
+    def isPressed(keyChar):
+        for i in range(self.LIST_MAX):
+            if(self.key[i].kchar == keyChar):
+                if(self.key[i].kstate == self.self.key[i].PRESSED and self.key[i].stateChanged):
+                    return True
+        return False
+    #           
+    def waitForKey():
+        kk = Key()
+        waitKey = kk.NO_KEY
+        while(waitKey == kk.NO_KEY):
+            waitKey = getKey()
+        return waitKey
+    
+    def getState():
+        return self.key[0].kstate
+    #   
+    def keyStateChanged():
+        return self.key[0].stateChanged
+    
+    def bitWrite(self,x,n,b):
+        if(b):
+            x |= (1<<n)
+        else:
+            x &=(~(1<<n))
+        return x
+    def bitRead(self,x,n):
+        if((x>>n)&1 == 1):
+            return True
+        else:
+            return False
+
+#######################EXAMPLE##################################        
+ROWS = 4
+COLS = 4
+keys =  [   '1','2','3','A',
+            '4','5','6','B',
+            '7','8','9','C',
+            '*','0','#','D'     ]
+rowsPins = [18, 23, 24, 25]
+colsPins = [10, 22, 27, 17]    
+
+def loop():
+    keypad = Keypad(keys,rowsPins,colsPins,ROWS,COLS)
+    keypad.setDebounceTime(50)
+    while(True):
+        key = keypad.getKey()
+        if(key != keypad.NULL):
+            print ("You Pressed Key : %c "%(key) )
+        
+if __name__ == '__main__':     # Program start from here
+    print ("Program is starting ... ")
+    try:
+        loop()
+    except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child program destroy() will be  executed.
+        print("Ending program")

Code/Python_GPIOZero_Code/22.1.1_MatrixKeypad/Keypad2/keypad2.py

@@ -0,0 +1,38 @@
+import time
+from gpiozero import InputDevice, OutputDevice
+
+output_pins = [10, 22, 27, 17]
+input_pins = [18, 23, 24, 25]
+
+inputs = list(map(lambda pin: InputDevice(pin, pull_up=True), input_pins))
+outputs = list(map(lambda pin: InputDevice(pin, pull_up=True), output_pins))
+
+mapping = [
+    ['1', '2', '3', 'A'],
+    ['4', '5', '6', 'B'],
+    ['7', '8', '9', 'C'],
+    ['*', '0', '#', 'D'],
+]
+
+pressed = set([])
+
+while True:
+    for o in range(4):
+        outputs[o].close()
+        tmp = OutputDevice(output_pins[o], active_high=False)
+        tmp.on()
+        for i in range(4):
+            key = mapping[i][o]
+            if inputs[i].is_active:
+                if key == '':
+                    continue
+                if key not in pressed:
+                    print(key)
+                    pressed.add(key)
+            else:
+                if key in pressed:
+                    pressed.remove(key)
+
+        tmp.close()
+        outputs[o] = InputDevice(output_pins[o], pull_up=True)
+    time.sleep(0.02)

Code/Python_GPIOZero_Code/22.1.1_MatrixKeypad/MatrixKeypad.py

@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : MatrixKeypad.py
+# Description : obtain the key code of 4x4 Matrix Keypad
+# Author      : freenove
+# modification: 2023/05/15
+########################################################################
+import Keypad   #import module Keypad
+ROWS = 4        # number of rows of the Keypad
+COLS = 4        #number of columns of the Keypad
+keys =  [   '1','2','3','A',    #key code
+            '4','5','6','B',
+            '7','8','9','C',
+            '*','0','#','D'     ]
+rowsPins = [18, 23, 24, 25]     #connect to the row pinouts of the keypad
+colsPins = [10, 22, 27, 17]     #connect to the column pinouts of the keypad
+def loop():
+    keypad = Keypad.Keypad(keys,rowsPins,colsPins,ROWS,COLS)    #creat Keypad object
+    keypad.setDebounceTime(50)      #set the debounce time
+    while(True):
+        key = keypad.getKey()       #obtain the state of keys
+        if(key != keypad.NULL):     #if there is key pressed, print its key code.
+            print ("You Pressed Key : %c "%(key))
+            
+if __name__ == '__main__':     #Program start from here
+    print ("Program is starting ... ")
+    try:
+        loop()
+    except KeyboardInterrupt:  #When 'Ctrl+C' is pressed, exit the program. 
+        print("Ending program")

Code/Python_GPIOZero_Code/23.1.1_SenseLED/SenseLED.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : SenseLED.py
+# Description : Control led with infrared Motion sensor.
+# auther      : www.freenove.com
+# modification: 2023/05/11
+########################################################################
+from gpiozero import LED,MotionSensor
+import time
+
+ledPin = 18       # define ledPin
+sensorPin = 17    # define sensorPin
+led    = LED(ledPin)     
+sensor = MotionSensor(sensorPin)
+sensor.wait_for_no_motion()
+def loop():
+    # Variables to hold the current and last states
+    currentstate = False
+    previousstate = False
+    while True:
+        # Read sensor state
+        currentstate = sensor.motion_detected
+        # If the sensor is triggered
+        if currentstate == True and previousstate == False:
+            led.on()
+            print("Motion detected!led turned on >>>")
+            # Record previous state
+            previousstate = True
+        # If the sensor has returned to ready state
+        elif currentstate == False and previousstate == True:
+            led.off()
+            print("No Motion!led turned off <<")
+            previousstate = False
+        # Wait for 10 milliseconds
+        time.sleep(0.01)
+
+def destroy():
+    led.close() 
+    sensor.close()                     
+
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting...')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")

Code/Python_GPIOZero_Code/24.1.1_UltrasonicRanging/UltrasonicRanging.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : UltrasonicRanging.py
+# Description : Get distance via UltrasonicRanging sensor
+# auther      : www.freenove.com
+# modification: 2023/05/13
+########################################################################
+from gpiozero import DistanceSensor
+from time import sleep
+
+trigPin = 23
+echoPin = 24
+sensor = DistanceSensor(echo=echoPin, trigger=trigPin ,max_distance=3)
+
+def loop():
+    while True:
+        print('Distance: ', sensor.distance * 100,'cm')
+        sleep(1)
+        
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting...')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        sensor.close()
+        print("Ending program")

Code/Python_GPIOZero_Code/24.1.1_UltrasonicRanging/UltrasonicRanging2.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : UltrasonicRanging.py
+# Description : Get distance via UltrasonicRanging sensor
+# auther      : www.freenove.com
+# modification: 2023/05/13
+########################################################################
+import os
+os.system("sudo pigpiod")
+from gpiozero import DistanceSensor
+from gpiozero.pins.pigpio import PiGPIOFactory
+from time import sleep
+
+trigPin = 23
+echoPin = 24
+my_factory = PiGPIOFactory() 
+sensor = DistanceSensor(echo=echoPin, trigger=trigPin ,max_distance=3,pin_factory=my_factory)
+
+def loop():
+    while True:
+        print('Distance: ', sensor.distance * 100,'cm')
+        sleep(1)
+        
+if __name__ == '__main__':     # Program entrance
+    print ('Program is starting...')
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        sensor.close()
+        os.system("sudo killall pigpiod")
+        print("Ending program")
+        
+        

Code/Python_GPIOZero_Code/25.1.1_MPU6050/LICENSE

@@ -0,0 +1,24 @@
+The MIT License (MIT)
+
+MPU6050 Python I2C Class
+
+Copyright (c) 2015 Geir Istad
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+

Code/Python_GPIOZero_Code/25.1.1_MPU6050/MPU6050.py

@@ -0,0 +1,946 @@
+__author__ = 'Geir Istad'
+"""
+MPU6050 Python I2C Class
+Copyright (c) 2015 Geir Istad
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+Code based on
+I2Cdev library collection - MPU6050 I2C device class
+by Jeff Rowberg <jeff@rowberg.net>
+============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2012 Jeff Rowberg
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+"""
+
+import math
+import ctypes
+import time
+import smbus
+import csv
+from MPUConstants import MPUConstants as C
+from Quaternion import Quaternion as Q
+from Quaternion import XYZVector as V
+
+
+class MPU6050:
+    __buffer = [0] * 14
+    __debug = False
+    __DMP_packet_size = 0
+    __dev_id = 0
+    __bus = None
+
+    def __init__(self, a_bus=1, a_address=C.MPU6050_DEFAULT_ADDRESS,
+                 a_xAOff=None, a_yAOff=None, a_zAOff=None, a_xGOff=None,
+                 a_yGOff=None, a_zGOff=None, a_debug=False):
+        self.__dev_id = a_address
+        # Connect to num 1 SMBus
+        self.__bus = smbus.SMBus(a_bus)
+        # Set clock source to gyro
+        self.set_clock_source(C.MPU6050_CLOCK_PLL_XGYRO)
+        # Set accelerometer range
+        self.set_full_scale_accel_range(C.MPU6050_ACCEL_FS_2)
+        # Set gyro range
+        self.set_full_scale_gyro_range(C.MPU6050_GYRO_FS_250)
+        # Take the MPU out of time.sleep mode
+        self.wake_up()
+        # Set offsets
+        if a_xAOff:
+            self.set_x_accel_offset(a_xAOff)
+        if a_yAOff:
+            self.set_y_accel_offset(a_yAOff)
+        if a_zAOff:
+            self.set_z_accel_offset(a_zAOff)
+        if a_xGOff:
+            self.set_x_gyro_offset(a_xGOff)
+        if a_yGOff:
+            self.set_y_gyro_offset(a_yGOff)
+        if a_zGOff:
+            self.set_z_gyro_offset(a_zGOff)
+        self.__debug = a_debug
+
+    # Core bit and byte operations
+    def read_bit(self, a_reg_add, a_bit_position):
+        return self.read_bits(a_reg_add, a_bit_position, 1)
+
+    def write_bit(self, a_reg_add, a_bit_num, a_bit):
+        byte = self.__bus.read_byte_data(self.__dev_id, a_reg_add)
+        if a_bit:
+            byte |= 1 << a_bit_num
+        else:
+            byte &= ~(1 << a_bit_num)
+        self.__bus.write_byte_data(
+            self.__dev_id, a_reg_add, ctypes.c_int8(byte).value)
+
+    def read_bits(self, a_reg_add, a_bit_start, a_length):
+        byte = self.__bus.read_byte_data(self.__dev_id, a_reg_add)
+        mask = ((1 << a_length) - 1) << (a_bit_start - a_length + 1)
+        byte &= mask
+        byte >>= a_bit_start - a_length + 1
+        return byte
+
+    def write_bits(self, a_reg_add, a_bit_start, a_length, a_data):
+        byte = self.__bus.read_byte_data(self.__dev_id, a_reg_add)
+        mask = ((1 << a_length) - 1) << (a_bit_start - a_length + 1)
+        # Get data in position and zero all non-important bits in data
+        a_data <<= a_bit_start - a_length + 1
+        a_data &= mask
+        # Clear all important bits in read byte and combine with data
+        byte &= ~mask
+        byte = byte | a_data
+        # Write the data to the I2C device
+        self.__bus.write_byte_data(
+            self.__dev_id, a_reg_add, ctypes.c_int8(byte).value)
+
+    def read_memory_byte(self):
+        return self.__bus.read_byte_data(self.__dev_id, C.MPU6050_RA_MEM_R_W)
+
+    def read_bytes(self, a_data_list, a_address, a_length):
+        if a_length > len(a_data_list):
+            print('read_bytes, length of passed list too short')
+            return a_data_list
+        # Attempt to use the built in read bytes function in the adafruit lib
+        # a_data_list = self.__bus.read_i2c_block_data(self.__dev_id, a_address,
+        #                                             a_length)
+        # Attempt to bypass adafruit lib
+        #a_data_list = self.__mpu.bus.read_i2c_block_data(0x68, a_address, a_length)
+        #print('data' + str(a_data_list))
+        for x in range(0, a_length):
+            a_data_list[x] = self.__bus.read_byte_data(self.__dev_id,
+                                                       a_address + x)
+        return a_data_list
+
+    def write_memory_block(self, a_data_list, a_data_size, a_bank, a_address,
+                           a_verify):
+        success = True
+        self.set_memory_bank(a_bank)
+        self.set_memory_start_address(a_address)
+
+        # For each a_data_item we want to write it to the board to a certain
+        # memory bank and address
+        for i in range(0, a_data_size):
+            # Write each data to memory
+            self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_MEM_R_W,
+                                       a_data_list[i])
+
+            if a_verify:
+                self.set_memory_bank(a_bank)
+                self.set_memory_start_address(a_address)
+                verify_data = self.__bus.read_byte_data(self.__dev_id,
+                                                        C.MPU6050_RA_MEM_R_W)
+                if verify_data != a_data_list[i]:
+                    success = False
+
+            # If we've filled the bank, change the memory bank
+            if a_address == 255:
+                a_address = 0
+                a_bank += 1
+                self.set_memory_bank(a_bank)
+            else:
+                a_address += 1
+
+            # Either way update the memory address
+            self.set_memory_start_address(a_address)
+
+        return success
+
+    def wake_up(self):
+        self.write_bit(
+            C.MPU6050_RA_PWR_MGMT_1, C.MPU6050_PWR1_SLEEP_BIT, 0)
+
+    def set_clock_source(self, a_source):
+        self.write_bits(C.MPU6050_RA_PWR_MGMT_1, C.MPU6050_PWR1_CLKSEL_BIT,
+                        C.MPU6050_PWR1_CLKSEL_LENGTH, a_source)
+
+    def set_full_scale_gyro_range(self, a_data):
+        self.write_bits(C.MPU6050_RA_GYRO_CONFIG,
+                        C.MPU6050_GCONFIG_FS_SEL_BIT,
+                        C.MPU6050_GCONFIG_FS_SEL_LENGTH, a_data)
+
+    def set_full_scale_accel_range(self, a_data):
+        self.write_bits(C.MPU6050_RA_ACCEL_CONFIG,
+                        C.MPU6050_ACONFIG_AFS_SEL_BIT,
+                        C.MPU6050_ACONFIG_AFS_SEL_LENGTH, a_data)
+
+    def reset(self):
+        self.write_bit(C.MPU6050_RA_PWR_MGMT_1,
+                       C.MPU6050_PWR1_DEVICE_RESET_BIT, 1)
+
+    def set_sleep_enabled(self, a_enabled):
+        set_bit = 0
+        if a_enabled:
+            set_bit = 1
+        self.write_bit(C.MPU6050_RA_PWR_MGMT_1,
+                       C.MPU6050_PWR1_SLEEP_BIT, set_bit)
+
+    def set_memory_bank(self, a_bank, a_prefetch_enabled=False,
+                        a_user_bank=False):
+        a_bank &= 0x1F
+        if a_user_bank:
+            a_bank |= 0x20
+        if a_prefetch_enabled:
+            a_bank |= 0x20
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_BANK_SEL, a_bank)
+
+    def set_memory_start_address(self, a_address):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_MEM_START_ADDR, a_address)
+
+    def get_x_gyro_offset_TC(self):
+        return self.read_bits(C.MPU6050_RA_XG_OFFS_TC,
+                              C.MPU6050_TC_OFFSET_BIT,
+                              C.MPU6050_TC_OFFSET_LENGTH)
+
+    def set_x_gyro_offset_TC(self, a_offset):
+        self.write_bits(C.MPU6050_RA_XG_OFFS_TC,
+                        C.MPU6050_TC_OFFSET_BIT,
+                        C.MPU6050_TC_OFFSET_LENGTH, a_offset)
+
+    def get_y_gyro_offset_TC(self):
+        return self.read_bits(C.MPU6050_RA_YG_OFFS_TC,
+                              C.MPU6050_TC_OFFSET_BIT,
+                              C.MPU6050_TC_OFFSET_LENGTH)
+
+    def set_y_gyro_offset_TC(self, a_offset):
+        self.write_bits(C.MPU6050_RA_YG_OFFS_TC,
+                        C.MPU6050_TC_OFFSET_BIT,
+                        C.MPU6050_TC_OFFSET_LENGTH, a_offset)
+
+    def get_z_gyro_offset_TC(self):
+        return self.read_bits(C.MPU6050_RA_ZG_OFFS_TC,
+                              C.MPU6050_TC_OFFSET_BIT,
+                              C.MPU6050_TC_OFFSET_LENGTH)
+
+    def set_z_gyro_offset_TC(self, a_offset):
+        self.write_bits(C.MPU6050_RA_ZG_OFFS_TC,
+                        C.MPU6050_TC_OFFSET_BIT,
+                        C.MPU6050_TC_OFFSET_LENGTH, a_offset)
+
+    def set_slave_address(self, a_num, a_address):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_I2C_SLV0_ADDR + a_num * 3, a_address)
+
+    def set_I2C_master_mode_enabled(self, a_enabled):
+        bit = 0
+        if a_enabled:
+            bit = 1
+        self.write_bit(C.MPU6050_RA_USER_CTRL,
+                       C.MPU6050_USERCTRL_I2C_MST_EN_BIT, bit)
+
+    def reset_I2C_master(self):
+        self.write_bit(C.MPU6050_RA_USER_CTRL,
+                       C.MPU6050_USERCTRL_I2C_MST_RESET_BIT, 1)
+
+    def write_prog_memory_block(self, a_data_list, a_data_size, a_bank=0,
+                                a_address=0, a_verify=True):
+        return self.write_memory_block(a_data_list, a_data_size, a_bank,
+                                       a_address, a_verify)
+
+    def write_DMP_configuration_set(self, a_data_list, a_data_size):
+        index = 0
+        while index < a_data_size:
+            bank = a_data_list[index]
+            offset = a_data_list[index + 1]
+            length = a_data_list[index + 2]
+            index += 3
+            success = False
+
+            # Normal case
+            if length > 0:
+                data_selection = list()
+                for subindex in range(0, length):
+                    data_selection.append(a_data_list[index + subindex])
+                success = self.write_memory_block(data_selection, length, bank,
+                                                  offset, True)
+                index += length
+            # Special undocumented case
+            else:
+                special = a_data_list[index]
+                index += 1
+                if special == 0x01:
+                    # TODO Figure out if write8 can return True/False
+                    success = self.__bus.write_byte_data(
+                        self.__dev_id, C.MPU6050_RA_INT_ENABLE, 0x32)
+
+            if success == False:
+                # TODO implement error messagemajigger
+                return False
+                pass
+        return True
+
+    def write_prog_dmp_configuration(self, a_data_list, a_data_size):
+        return self.write_DMP_configuration_set(a_data_list, a_data_size)
+
+    def set_int_enable(self, a_enabled):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_INT_ENABLE, a_enabled)
+
+    def set_rate(self, a_rate):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_SMPLRT_DIV, a_rate)
+
+    def set_external_frame_sync(self, a_sync):
+        self.write_bits(C.MPU6050_RA_CONFIG,
+                        C.MPU6050_CFG_EXT_SYNC_SET_BIT,
+                        C.MPU6050_CFG_EXT_SYNC_SET_LENGTH, a_sync)
+
+    def set_DLF_mode(self, a_mode):
+        self.write_bits(C.MPU6050_RA_CONFIG, C.MPU6050_CFG_DLPF_CFG_BIT,
+                        C.MPU6050_CFG_DLPF_CFG_LENGTH, a_mode)
+
+    def get_DMP_config_1(self):
+        return self.__bus.read_byte_data(self.__dev_id, C.MPU6050_RA_DMP_CFG_1)
+
+    def set_DMP_config_1(self, a_config):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_DMP_CFG_1, a_config)
+
+    def get_DMP_config_2(self):
+        return self.__bus.read_byte_data(self.__dev_id, C.MPU6050_RA_DMP_CFG_2)
+
+    def set_DMP_config_2(self, a_config):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_DMP_CFG_2, a_config)
+
+    def set_OTP_bank_valid(self, a_enabled):
+        bit = 0
+        if a_enabled:
+            bit = 1
+        self.write_bit(C.MPU6050_RA_XG_OFFS_TC,
+                       C.MPU6050_TC_OTP_BNK_VLD_BIT, bit)
+
+    def get_OTP_bank_valid(self):
+        return self.read_bit(C.MPU6050_RA_XG_OFFS_TC,
+                             C.MPU6050_TC_OTP_BNK_VLD_BIT)
+
+    def set_motion_detection_threshold(self, a_threshold):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_MOT_THR, a_threshold)
+
+    def set_zero_motion_detection_threshold(self, a_threshold):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_ZRMOT_THR, a_threshold)
+
+    def set_motion_detection_duration(self, a_duration):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_MOT_DUR, a_duration)
+
+    def set_zero_motion_detection_duration(self, a_duration):
+        self.__bus.write_byte_data(
+            self.__dev_id, C.MPU6050_RA_ZRMOT_DUR, a_duration)
+
+    def set_FIFO_enabled(self, a_enabled):
+        bit = 0
+        if a_enabled:
+            bit = 1
+        self.write_bit(C.MPU6050_RA_USER_CTRL,
+                       C.MPU6050_USERCTRL_FIFO_EN_BIT, bit)
+
+    def set_DMP_enabled(self, a_enabled):
+        bit = 0
+        if a_enabled:
+            bit = 1
+        self.write_bit(C.MPU6050_RA_USER_CTRL,
+                       C.MPU6050_USERCTRL_DMP_EN_BIT, bit)
+
+    def reset_DMP(self):
+        self.write_bit(C.MPU6050_RA_USER_CTRL,
+                       C.MPU6050_USERCTRL_DMP_RESET_BIT, True)
+
+    def dmp_initialize(self):
+        # Reset the MPU
+        self.reset()
+        # time.Sleep a bit while resetting
+        time.sleep(50 / 1000)
+        # Disable time.sleep mode
+        self.set_sleep_enabled(0)
+
+        # get MPU hardware revision
+        if self.__debug:
+            print('Selecting user bank 16')
+        self.set_memory_bank(0x10, True, True)
+
+        if self.__debug:
+            print('Selecting memory byte 6')
+        self.set_memory_start_address(0x6)
+
+        if self.__debug:
+            print('Checking hardware revision')
+        HW_revision = self.read_memory_byte()
+        if self.__debug:
+            print('Revision @ user[16][6] = ' + hex(HW_revision))
+
+        if self.__debug:
+            print('Resetting memory bank selection to 0')
+        self.set_memory_bank(0)
+
+        # check OTP bank valid
+        # TODO Find out what OTP is
+        OTP_valid = self.get_OTP_bank_valid()
+        if self.__debug:
+            if OTP_valid:
+                print('OTP bank is valid')
+            else:
+                print('OTP bank is invalid')
+
+        # get X/Y/Z gyro offsets
+        if self.__debug:
+            print('Reading gyro offet TC values')
+        x_g_offset_TC = self.get_x_gyro_offset_TC()
+        y_g_offset_TC = self.get_y_gyro_offset_TC()
+        z_g_offset_TC = self.get_z_gyro_offset_TC()
+        if self.__debug:
+            print("X gyro offset = ", repr(x_g_offset_TC))
+            print("Y gyro offset = ", repr(y_g_offset_TC))
+            print("Z gyro offset = ", repr(z_g_offset_TC))
+
+        # setup weird slave stuff (?)
+        if self.__debug:
+            print('Setting slave 0 address to 0x7F')
+        self.set_slave_address(0, 0x7F)
+        if self.__debug:
+            print('Disabling I2C Master mode')
+        self.set_I2C_master_mode_enabled(False)
+        if self.__debug:
+            print('Setting slave 0 address to 0x68 (self)')
+        self.set_slave_address(0, 0x68)
+        if self.__debug:
+            print('Resetting I2C Master control')
+        self.reset_I2C_master()
+        # Wait a bit for the device to register the changes
+        time.sleep(20 / 1000)
+
+        # load DMP code into memory banks
+        if self.__debug:
+            print('Writing DMP code to MPU memory banks ' +
+                  repr(C.MPU6050_DMP_CODE_SIZE) + ' bytes')
+        if self.write_prog_memory_block(C.dmpMemory, C.MPU6050_DMP_CODE_SIZE):
+            # TODO Check if we've actually verified this
+            if self.__debug:
+                print('Success! DMP code written and verified')
+
+            # Write DMP configuration
+            if self.__debug:
+                print('Writing DMP configuration to MPU memory banks ' +
+                      repr(C.MPU6050_DMP_CONFIG_SIZE) + ' bytes in config')
+            if self.write_prog_dmp_configuration(C.dmpConfig,
+                                                 C.MPU6050_DMP_CONFIG_SIZE):
+                if self.__debug:
+                    print('Success! DMP configuration written and verified.')
+                    print('Setting clock source to Z gyro')
+                self.set_clock_source(C.MPU6050_CLOCK_PLL_ZGYRO)
+
+                if self.__debug:
+                    print('Setting DMP and FIFO_OFLOW interrupts enabled')
+                self.set_int_enable(0x12)
+
+                if self.__debug:
+                    print('Setting sample rate to 200Hz')
+                self.set_rate(4)
+
+                if self.__debug:
+                    print('Setting external frame sync to TEMP_OUT_L[0]')
+                self.set_external_frame_sync(C.MPU6050_EXT_SYNC_TEMP_OUT_L)
+
+                if self.__debug:
+                    print('Setting DLPF bandwidth to 42Hz')
+                self.set_DLF_mode(C.MPU6050_DLPF_BW_42)
+
+                if self.__debug:
+                    print('Setting gyro sensitivity to +/- 2000 deg/sec')
+                self.set_full_scale_gyro_range(C.MPU6050_GYRO_FS_2000)
+
+                if self.__debug:
+                    print('Setting DMP configuration bytes (function unknown)')
+                self.set_DMP_config_1(0x03)
+                self.set_DMP_config_2(0x00)
+
+                if self.__debug:
+                    print('Clearing OTP Bank flag')
+                self.set_OTP_bank_valid(False)
+
+                if self.__debug:
+                    print('Setting X/Y/Z gyro offset TCs to previous values')
+                self.set_x_gyro_offset_TC(x_g_offset_TC)
+                self.set_y_gyro_offset_TC(y_g_offset_TC)
+                self.set_z_gyro_offset_TC(z_g_offset_TC)
+
+                # Uncomment this to zero offsets when dmp_initialize is called
+                # if self.__debug:
+                #    print('Setting X/Y/Z gyro user offsets to zero')
+                # self.set_x_gyro_offset(0)
+                # self.set_y_gyro_offset(0)
+                # self.set_z_gyro_offset(0)
+
+                if self.__debug:
+                    print('Writing final memory update 1/7 (function unknown)')
+                pos = 0
+                j = 0
+                dmp_update = [0] * 16
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('Writing final memory update 2/7 (function unknown)')
+                j = 0
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('Resetting FIFO')
+                self.reset_FIFO()
+
+                if self.__debug:
+                    print('Reading FIFO count')
+                FIFO_count = self.get_FIFO_count()
+
+                if self.__debug:
+                    print('FIFO count: ' + repr(FIFO_count))
+
+                if self.__debug:
+                    print('Getting FIFO buffer')
+                FIFO_buffer = [0] * 128
+                FIFO_buffer = self.get_FIFO_bytes(FIFO_count)
+
+                if self.__debug:
+                    print('Setting motion detection threshold to 2')
+                self.set_motion_detection_threshold(2)
+
+                if self.__debug:
+                    print('Setting zero-motion detection threshold to 156')
+                self.set_zero_motion_detection_threshold(156)
+
+                if self.__debug:
+                    print('Setting motion detection duration to 80')
+                self.set_motion_detection_duration(80)
+
+                if self.__debug:
+                    print('Setting zero-motion detection duration to 0')
+                self.set_zero_motion_detection_duration(0)
+
+                if self.__debug:
+                    print('Resetting FIFO')
+                self.reset_FIFO()
+
+                if self.__debug:
+                    print('Enabling FIFO')
+                self.set_FIFO_enabled(True)
+
+                if self.__debug:
+                    print('Enabling DMP')
+                self.set_DMP_enabled(True)
+
+                if self.__debug:
+                    print('Resetting DMP')
+                self.reset_DMP()
+
+                if self.__debug:
+                    print('Writing final memory update 3/7 (function unknown)')
+                j = 0
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('Writing final memory update 4/7 (function unknown)')
+                j = 0
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('Writing final memory update 5/7 (function unknown)')
+                j = 0
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('Waiting for FIFO count > 2')
+                FIFO_count = self.get_FIFO_count()
+                while FIFO_count < 3:
+                    FIFO_count = self.get_FIFO_count()
+
+                if self.__debug:
+                    print('Current FIFO count = ' + repr(FIFO_count))
+                    print('Reading FIFO data')
+                FIFO_buffer = self.get_FIFO_bytes(FIFO_count)
+
+                if self.__debug:
+                    print('Reading interrupt status')
+                MPU_int_status = self.get_int_status()
+
+                if self.__debug:
+                    print('Current interrupt status = ' + hex(MPU_int_status))
+                    print('Writing final memory update 6/7 (function unknown)')
+                j = 0
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('Waiting for FIFO count > 2')
+                FIFO_count = self.get_FIFO_count()
+                while FIFO_count < 3:
+                    FIFO_count = self.get_FIFO_count()
+
+                if self.__debug:
+                    print('Current FIFO count = ' + repr(FIFO_count))
+                    print('Reading FIFO count')
+                FIFO_buffer = self.get_FIFO_bytes(FIFO_count)
+
+                if self.__debug:
+                    print('Reading interrupt status')
+                MPU_int_status = self.get_int_status()
+
+                if self.__debug:
+                    print('Current interrupt status = ' + hex(MPU_int_status))
+                    print('Writing final memory update 7/7 (function unknown)')
+                j = 0
+                while (j < 4) or (j < dmp_update[2] + 3):
+                    dmp_update[j] = C.dmpUpdates[pos]
+                    pos += 1
+                    j += 1
+                # Write as block from pos 3
+                self.write_memory_block(dmp_update[3:], dmp_update[2],
+                                        dmp_update[0], dmp_update[1], True)
+
+                if self.__debug:
+                    print('DMP is good to go! Finally.')
+                    print('Disabling DMP (you turn it on later)')
+                self.set_DMP_enabled(False)
+
+                if self.__debug:
+                    print('Setting up internal 42 byte DMP packet buffer')
+                self.__DMP_packet_size = 42
+
+                if self.__debug:
+                    print(
+                        'Resetting FIFO and clearing INT status one last time')
+                self.reset_FIFO()
+                self.get_int_status()
+
+            else:
+                if self.__debug:
+                    print('Configuration block loading failed')
+                return 2
+
+        else:
+            if self.__debug:
+                print('Main binary block loading failed')
+            return 1
+
+        if self.__debug:
+            print('DMP initialization was successful')
+        return 0
+
+    # Acceleration and gyro offset setters and getters
+    def set_x_accel_offset(self, a_offset):
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_XA_OFFS_H,
+                                   ctypes.c_int8(a_offset >> 8).value)
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_XA_OFFS_L_TC,
+                                   ctypes.c_int8(a_offset).value)
+
+    def set_y_accel_offset(self, a_offset):
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_YA_OFFS_H,
+                                   ctypes.c_int8(a_offset >> 8).value)
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_YA_OFFS_L_TC,
+                                   ctypes.c_int8(a_offset).value)
+
+    def set_z_accel_offset(self, a_offset):
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_ZA_OFFS_H,
+                                   ctypes.c_int8(a_offset >> 8).value)
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_ZA_OFFS_L_TC,
+                                   ctypes.c_int8(a_offset).value)
+
+    def set_x_gyro_offset(self, a_offset):
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_XG_OFFS_USRH,
+                                   ctypes.c_int8(a_offset >> 8).value)
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_XG_OFFS_USRL,
+                                   ctypes.c_int8(a_offset).value)
+
+    def set_y_gyro_offset(self, a_offset):
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_YG_OFFS_USRH,
+                                   ctypes.c_int8(a_offset >> 8).value)
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_YG_OFFS_USRL,
+                                   ctypes.c_int8(a_offset).value)
+
+    def set_z_gyro_offset(self, a_offset):
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_ZG_OFFS_USRH,
+                                   ctypes.c_int8(a_offset >> 8).value)
+        self.__bus.write_byte_data(self.__dev_id, C.MPU6050_RA_ZG_OFFS_USRL,
+                                   ctypes.c_int8(a_offset).value)
+
+    # Main interfacing functions to get raw data from MPU
+    def get_acceleration(self):
+        raw_data = self.__bus.read_i2c_block_data(self.__dev_id,
+                                                  C.MPU6050_RA_ACCEL_XOUT_H, 6)
+        accel = [0] * 3
+        accel[0] = ctypes.c_int16(raw_data[0] << 8 | raw_data[1]).value
+        accel[1] = ctypes.c_int16(raw_data[2] << 8 | raw_data[3]).value
+        accel[2] = ctypes.c_int16(raw_data[4] << 8 | raw_data[5]).value
+        return accel
+
+    def get_rotation(self):
+        raw_data = self.__bus.read_i2c_block_data(self.__dev_id,
+                                                  C.MPU6050_RA_GYRO_XOUT_H, 6)
+        gyro = [0] * 3
+        gyro[0] = ctypes.c_int16(raw_data[0] << 8 | raw_data[1]).value
+        gyro[1] = ctypes.c_int16(raw_data[2] << 8 | raw_data[3]).value
+        gyro[2] = ctypes.c_int16(raw_data[4] << 8 | raw_data[5]).value
+        return gyro
+
+    # Interfacing functions to get data from FIFO buffer
+    def DMP_get_FIFO_packet_size(self):
+        return self.__DMP_packet_size
+
+    def reset_FIFO(self):
+        self.write_bit(C.MPU6050_RA_USER_CTRL,
+                       C.MPU6050_USERCTRL_FIFO_RESET_BIT, True)
+
+    def get_FIFO_count(self):
+        data = [0] * 2
+        data = self.read_bytes(data, C.MPU6050_RA_FIFO_COUNTH, 2)
+        return (data[0] << 8) | data[1]
+
+    def get_FIFO_bytes(self, a_FIFO_count):
+        return_list = list()
+        for index in range(0, a_FIFO_count):
+            return_list.append(
+                self.__bus.read_byte_data(self.__dev_id,
+                                          C.MPU6050_RA_FIFO_R_W))
+        return return_list
+
+    def get_int_status(self):
+        return self.__bus.read_byte_data(self.__dev_id,
+                                         C.MPU6050_RA_INT_STATUS)
+
+    # Data retrieval from received FIFO buffer
+    def DMP_get_quaternion_int16(self, a_FIFO_buffer):
+        w = ctypes.c_int16((a_FIFO_buffer[0] << 8) | a_FIFO_buffer[1]).value
+        x = ctypes.c_int16((a_FIFO_buffer[4] << 8) | a_FIFO_buffer[5]).value
+        y = ctypes.c_int16((a_FIFO_buffer[8] << 8) | a_FIFO_buffer[9]).value
+        z = ctypes.c_int16((a_FIFO_buffer[12] << 8) | a_FIFO_buffer[13]).value
+        return Q(w, x, y, z)
+
+    def DMP_get_quaternion(self, a_FIFO_buffer):
+        quat = self.DMP_get_quaternion_int16(a_FIFO_buffer)
+        w = quat.w / 16384.0
+        x = quat.x / 16384.0
+        y = quat.y / 16384.0
+        z = quat.z / 16384.0
+        return Q(w, x, y, z)
+
+    def DMP_get_acceleration_int16(self, a_FIFO_buffer):
+        x = ctypes.c_int16(a_FIFO_buffer[28] << 8 | a_FIFO_buffer[29]).value
+        y = ctypes.c_int16(a_FIFO_buffer[32] << 8 | a_FIFO_buffer[33]).value
+        z = ctypes.c_int16(a_FIFO_buffer[36] << 8 | a_FIFO_buffer[37]).value
+        return V(x, y, z)
+
+    def DMP_get_gravity(self, a_quat):
+        x = 2.0 * (a_quat.x * a_quat.z - a_quat.w * a_quat.y)
+        y = 2.0 * (a_quat.w * a_quat.x + a_quat.y * a_quat.z)
+        z = 1.0 * (a_quat.w * a_quat.w - a_quat.x * a_quat.x -
+                   a_quat.y * a_quat.y + a_quat.z * a_quat.z)
+        return V(x, y, z)
+
+    def DMP_get_linear_accel_int16(self, a_v_raw, a_grav):
+        x = ctypes.c_int16(a_v_raw.x - (a_grav.x*8192)).value
+        y = ctypes.c_int16(a_v_raw.y - (a_grav.y*8192)).value
+        y = ctypes.c_int16(a_v_raw.y - (a_grav.y*8192)).value
+        return V(x, y, z)
+
+    def DMP_get_euler(self, a_quat):
+        psi = math.atan2(2*a_quat.x*a_quat.y - 2*a_quat.w*a_quat.z,
+                         2*a_quat.w*a_quat.w + 2*a_quat.x*a_quat.x - 1)
+        theta = -asin(2*a_quat.x*a_quat.z + 2*a_quat.w*a_quat.y)
+        phi = math.atan2(2*a_quat.y*a_quat.z - 2*a_quat.w*a_quat.x,
+                         2*a_quat.w*a_quat.w + 2*a_quat.z*a_quat.z - 1)
+        return V(psi, theta, phi)
+
+    def DMP_get_roll_pitch_yaw(self, a_quat, a_grav_vect):
+        # roll: (tilt left/right, about X axis)
+        roll = math.atan(a_grav_vect.y /
+                         math.sqrt(a_grav_vect.x*a_grav_vect.x +
+                              a_grav_vect.z*a_grav_vect.z))
+        # pitch: (nose up/down, about Y axis)
+        pitch = math.atan(a_grav_vect.x /
+                          math.sqrt(a_grav_vect.y*a_grav_vect.y +
+                               a_grav_vect.z*a_grav_vect.z))
+        # yaw: (about Z axis)
+        yaw = math.atan2(2*a_quat.x*a_quat.y - 2*a_quat.w*a_quat.z,
+                         2*a_quat.w*a_quat.w + 2*a_quat.x*a_quat.x - 1)
+        return V(roll, pitch, yaw)
+
+    def DMP_get_euler_roll_pitch_yaw(self, a_quat, a_grav_vect):
+        rad_ypr = self.DMP_get_roll_pitch_yaw(a_quat, a_grav_vect)
+        roll = rad_ypr.x * (180.0/math.pi)
+        pitch = rad_ypr.y * (180.0/math.pi)
+        yaw = rad_ypr.z * (180.0/math.pi)
+        return V(roll, pitch, yaw)
+
+    def DMP_get_linear_accel(self, a_vector_raw, a_vect_grav):
+        x = a_vector_raw.x - a_vect_grav.x*8192
+        y = a_vector_raw.y - a_vect_grav.y*8192
+        z = a_vector_raw.z - a_vect_grav.z*8192
+        return V(x, y, z)
+
+
+class MPU6050IRQHandler:
+    __mpu = MPU6050
+    __FIFO_buffer = list()
+    __count = 0
+    __packet_size = None
+    __detected_error = False
+    __logging = False
+    __log_file = None
+    __csv_writer = None
+    __start_time = None
+    __debug = None
+
+    # def __init__(self, a_i2c_bus, a_device_address, a_x_accel_offset,
+    #             a_y_accel_offset, a_z_accel_offset, a_x_gyro_offset,
+    #             a_y_gyro_offset, a_z_gyro_offset, a_enable_debug_output):
+    #    self.__mpu = MPU6050(a_i2c_bus, a_device_address, a_x_accel_offset,
+    #                         a_y_accel_offset, a_z_accel_offset,
+    #                         a_x_gyro_offset, a_y_gyro_offset, a_z_gyro_offset,
+    #                         a_enable_debug_output)
+    def __init__(self, a_mpu, a_logging=False, a_log_file='log.csv',
+                 a_debug=False):
+        self.__mpu = a_mpu
+        self.__FIFO_buffer = [0]*64
+        self.__mpu.dmp_initialize()
+        self.__mpu.set_DMP_enabled(True)
+        self.__packet_size = self.__mpu.DMP_get_FIFO_packet_size()
+        mpu_int_status = self.__mpu.get_int_status()
+        if a_logging:
+            self.__start_time = time.clock()
+            self.__logging = True
+            self.__log_file = open(a_log_file, 'ab')
+            self.__csv_writer = csv.writer(self.__log_file, delimiter=',',
+                                           quotechar='|',
+                                           quoting=csv.QUOTE_MINIMAL)
+        self.__debug = a_debug
+
+    def action(self, channel):
+        if self.__detected_error:
+            # Clear FIFO and reset MPU
+            mpu_int_status = self.__mpu.get_int_status()
+            self.__mpu.reset_FIFO()
+            self.__detected_error = False
+            return
+
+        try:
+            FIFO_count = self.__mpu.get_FIFO_count()
+            mpu_int_status = self.__mpu.get_int_status()
+        except:
+            self.__detected_error = True
+            return
+
+        # If overflow is detected by status or fifo count we want to reset
+        if (FIFO_count == 1024) or (mpu_int_status & 0x10):
+            try:
+                self.__mpu.reset_FIFO()
+            except:
+                self.__detected_error = True
+                return
+
+        elif (mpu_int_status & 0x02):
+            # Wait until packet_size number of bytes are ready for reading,
+            # default is 42 bytes
+            while FIFO_count < self.__packet_size:
+                try:
+                    FIFO_count = self.__mpu.get_FIFO_count()
+                except:
+                    self.__detected_error = True
+                    return
+
+            while FIFO_count > self.__packet_size:
+
+                try:
+                    self.__FIFO_buffer = \
+                        self.__mpu.get_FIFO_bytes(self.__packet_size)
+                except:
+                    self.__detected_error = True
+                    return
+                accel = \
+                    self.__mpu.DMP_get_acceleration_int16(self.__FIFO_buffer)
+                quat = self.__mpu.DMP_get_quaternion_int16(self.__FIFO_buffer)
+                grav = self.__mpu.DMP_get_gravity(quat)
+                roll_pitch_yaw = self.__mpu.DMP_get_euler_roll_pitch_yaw(quat,
+                                                                         grav)
+                if self.__logging:
+                    delta_time = time.clock() - self.__start_time
+                    data_concat = ['%.4f' % delta_time] + \
+                        [accel.x, accel.y, accel.z] + \
+                        ['%.3f' % roll_pitch_yaw.x,
+                         '%.3f' % roll_pitch_yaw.y,
+                         '%.3f' % roll_pitch_yaw.z]
+                    self.__csv_writer.writerow(data_concat)
+
+                if (self.__debug) and (self.__count % 100 == 0):
+                    print('roll: ' + str(roll_pitch_yaw.x))
+                    print('pitch: ' + str(roll_pitch_yaw.y))
+                    print('yaw: ' + str(roll_pitch_yaw.z))
+                self.__count += 1
+                FIFO_count -= self.__packet_size

Code/Python_GPIOZero_Code/25.1.1_MPU6050/MPU6050RAW.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+########################################################################
+# Filename    : MPU6050RAW.py
+# Description : Read data of MPU6050.
+# auther      : www.freenove.com
+# modification: 2019/12/28
+########################################################################
+import MPU6050 
+import time
+
+mpu = MPU6050.MPU6050()     # instantiate a MPU6050 class object
+accel = [0]*3               # define an arry to store accelerometer data
+gyro = [0]*3                # define an arry to store gyroscope data
+def setup():
+    mpu.dmp_initialize()    # initialize MPU6050
+    
+def loop():
+    while(True):
+        accel = mpu.get_acceleration()      # get accelerometer data
+        gyro = mpu.get_rotation()           # get gyroscope data
+        print("a/g:%d\t%d\t%d\t%d\t%d\t%d "%(accel[0],accel[1],accel[2],gyro[0],gyro[1],gyro[2]))
+        print("a/g:%.2f g\t%.2f g\t%.2f g\t%.2f d/s\t%.2f d/s\t%.2f d/s"%(accel[0]/16384.0,accel[1]/16384.0,
+            accel[2]/16384.0,gyro[0]/131.0,gyro[1]/131.0,gyro[2]/131.0))
+        time.sleep(0.1)
+        
+if __name__ == '__main__':     # Program entrance
+    print("Program is starting ... ")
+    setup()
+    try:
+        loop()
+    except KeyboardInterrupt:  # Press ctrl-c to end the program.
+        pass
+

Code/Python_GPIOZero_Code/25.1.1_MPU6050/MPU6050_cal.py

@@ -0,0 +1,186 @@
+from MPU6050 import MPU6050
+from SimplePID import SimplePID
+
+
+def avg_from_array(a_array):
+    sum = 0.0
+    for index in range(0, len(a_array)):
+        sum += a_array[index]
+
+    return sum/len(a_array)
+
+
+i2c_bus = 1
+device_address = 0x68
+# The offsets are different for each device and should be changed
+# accordingly using a calibration procedure
+x_accel_offset = 0
+y_accel_offset = 0
+z_accel_offset =0
+x_gyro_offset = 0
+y_gyro_offset = 0
+z_gyro_offset = 0
+enable_debug_output = True
+
+mpu = MPU6050(i2c_bus, device_address, x_accel_offset, y_accel_offset,
+              z_accel_offset, x_gyro_offset, y_gyro_offset, z_gyro_offset,
+              enable_debug_output)
+
+kp = 0.03125
+ki = 0.25
+kd = 0
+
+pidax = SimplePID(0, -15000, 15000, kp, ki, kd, 100, True)
+piday = SimplePID(0, -15000, 15000, kp, ki, kd, 100, True)
+pidaz = SimplePID(0, -15000, 15000, kp, ki, kd, 100, True)
+pidgx = SimplePID(0, -15000, 15000, kp, ki, kd, 100, True)
+pidgy = SimplePID(0, -15000, 15000, kp, ki, kd, 100, True)
+pidgz = SimplePID(0, -15000, 15000, kp, ki, kd, 100, True)
+
+accel_reading = mpu.get_acceleration()
+
+x_accel_reading = accel_reading[0]
+y_accel_reading = accel_reading[1]
+z_accel_reading = accel_reading[2]
+
+x_accel_avg = [0]*100
+y_accel_avg = [0]*100
+z_accel_avg = [0]*100
+
+x_accel_offset_avg = [0]*100
+y_accel_offset_avg = [0]*100
+z_accel_offset_avg = [0]*100
+
+axindex = 0
+ayindex = 0
+azindex = 0
+
+gyro_reading = mpu.get_rotation()
+
+x_gyro_reading = gyro_reading[0]
+y_gyro_reading = gyro_reading[1]
+z_gyro_reading = gyro_reading[2]
+
+x_gyro_avg = [0]*100
+y_gyro_avg = [0]*100
+z_gyro_avg = [0]*100
+
+x_gyro_offset_avg = [0]*100
+y_gyro_offset_avg = [0]*100
+z_gyro_offset_avg = [0]*100
+
+gxindex = 0
+gyindex = 0
+gzindex = 0
+
+try:
+    while True:
+        accel_reading = mpu.get_acceleration()
+        x_accel_reading = accel_reading[0]
+        y_accel_reading = accel_reading[1]
+        z_accel_reading = accel_reading[2]
+
+        gyro_reading = mpu.get_rotation()
+        x_gyro_reading = gyro_reading[0]
+        y_gyro_reading = gyro_reading[1]
+        z_gyro_reading = gyro_reading[2]
+
+        if pidax.check_time():
+            x_accel_offset = pidax.get_output_value(x_accel_reading)
+
+            mpu.set_x_accel_offset(int(x_accel_offset))
+
+            x_accel_avg[axindex] = x_accel_reading
+            x_accel_offset_avg[axindex] = x_accel_offset
+
+            axindex += 1
+            if axindex == len(x_accel_avg):
+                axindex = 0
+                print('x_avg_read: ' +
+                      str(avg_from_array(x_accel_avg)) +
+                      ' x_avg_offset: ' +
+                      str(avg_from_array(x_accel_offset_avg)))
+                print('y_avg_read: ' +
+                      str(avg_from_array(y_accel_avg)) +
+                      ' y_avg_offset: ' +
+                      str(avg_from_array(y_accel_offset_avg)))
+                print('z_avg_read: ' +
+                      str(avg_from_array(z_accel_avg)) +
+                      ' z_avg_offset: ' +
+                      str(avg_from_array(z_accel_offset_avg)))
+
+        if piday.check_time():
+            y_accel_offset = piday.get_output_value(y_accel_reading)
+
+            mpu.set_y_accel_offset(int(y_accel_offset))
+
+            y_accel_avg[ayindex] = y_accel_reading
+            y_accel_offset_avg[ayindex] = y_accel_offset
+
+            ayindex += 1
+            if ayindex == len(y_accel_avg):
+                ayindex = 0
+
+        if pidaz.check_time():
+            z_accel_offset = pidaz.get_output_value(z_accel_reading)
+
+            mpu.set_z_accel_offset(int(z_accel_offset))
+
+            z_accel_avg[azindex] = z_accel_reading
+            z_accel_offset_avg[azindex] = z_accel_offset
+
+            azindex += 1
+            if azindex == len(z_accel_avg):
+                azindex = 0
+
+        # Gyro calibration
+        if pidgx.check_time():
+            x_gyro_offset = pidgx.get_output_value(x_gyro_reading)
+
+            mpu.set_x_gyro_offset(int(x_gyro_offset))
+
+            x_gyro_avg[gxindex] = x_gyro_reading
+            x_gyro_offset_avg[gxindex] = x_gyro_offset
+
+            gxindex += 1
+            if gxindex == len(x_gyro_avg):
+                gxindex = 0
+                print('x_avg_read: ' +
+                      str(avg_from_array(x_gyro_avg)) +
+                      ' x_avg_offset: ' +
+                      str(avg_from_array(x_gyro_offset_avg)))
+                print('y_avg_read: ' +
+                      str(avg_from_array(y_gyro_avg)) +
+                      ' y_avg_offset: ' +
+                      str(avg_from_array(y_gyro_offset_avg)))
+                print('z_avg_read: ' +
+                      str(avg_from_array(z_gyro_avg)) +
+                      ' z_avg_offset: ' +
+                      str(avg_from_array(z_gyro_offset_avg)))
+
+        if pidgy.check_time():
+            y_gyro_offset = pidgy.get_output_value(y_gyro_reading)
+
+            mpu.set_y_gyro_offset(int(y_gyro_offset))
+
+            y_gyro_avg[gyindex] = y_gyro_reading
+            y_gyro_offset_avg[gyindex] = y_gyro_offset
+
+            gyindex += 1
+            if gyindex == len(y_gyro_avg):
+                gyindex = 0
+
+        if pidgz.check_time():
+            z_gyro_offset = pidgz.get_output_value(z_gyro_reading)
+
+            mpu.set_z_gyro_offset(int(z_gyro_offset))
+
+            z_gyro_avg[gzindex] = z_gyro_reading
+            z_gyro_offset_avg[gzindex] = z_gyro_offset
+
+            gzindex += 1
+            if gzindex == len(z_gyro_avg):
+                gzindex = 0
+
+except KeyboardInterrupt:
+    pass

Code/Python_GPIOZero_Code/25.1.1_MPU6050/MPUConstants.py

@@ -0,0 +1,755 @@
+__author__ = 'Geir Istad'
+
+'''
+MPU6050 Python I2C Class
+Copyright (c) 2015 Geir Istad
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+Code based on I2Cdev library collection - MPU6050 I2C device class
+by Jeff Rowberg <jeff@rowberg.net>
+============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2012 Jeff Rowberg
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+'''
+
+
+class MPUConstants:
+    # From MPU6050.h
+    MPU6050_ADDRESS_AD0_LOW = 0x68  # address pin low (GND), default
+    MPU6050_ADDRESS_AD0_HIGH = 0x69  # address pin high (VCC)
+    MPU6050_DEFAULT_ADDRESS = MPU6050_ADDRESS_AD0_LOW
+
+    # [7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
+    MPU6050_RA_XG_OFFS_TC = 0x00
+    # [7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
+    MPU6050_RA_YG_OFFS_TC = 0x01
+    # [7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
+    MPU6050_RA_ZG_OFFS_TC = 0x02
+    # [7:0] X_FINE_GAIN
+    MPU6050_RA_X_FINE_GAIN = 0x03
+    # [7:0] Y_FINE_GAIN
+    MPU6050_RA_Y_FINE_GAIN = 0x04
+    # [7:0] Z_FINE_GAIN
+    MPU6050_RA_Z_FINE_GAIN = 0x05
+    # [15:0] XA_OFFS
+    MPU6050_RA_XA_OFFS_H = 0x06
+    MPU6050_RA_XA_OFFS_L_TC = 0x07
+    # [15:0] YA_OFFS
+    MPU6050_RA_YA_OFFS_H = 0x08
+    MPU6050_RA_YA_OFFS_L_TC = 0x09
+    # [15:0] ZA_OFFS
+    MPU6050_RA_ZA_OFFS_H = 0x0A
+    MPU6050_RA_ZA_OFFS_L_TC = 0x0B
+    # [15:0] XG_OFFS_USR
+    MPU6050_RA_XG_OFFS_USRH = 0x13
+    MPU6050_RA_XG_OFFS_USRL = 0x14
+    # [15:0] YG_OFFS_USR
+    MPU6050_RA_YG_OFFS_USRH = 0x15
+    MPU6050_RA_YG_OFFS_USRL = 0x16
+    # [15:0] ZG_OFFS_USR
+    MPU6050_RA_ZG_OFFS_USRH = 0x17
+    MPU6050_RA_ZG_OFFS_USRL = 0x18
+    MPU6050_RA_SMPLRT_DIV = 0x19
+    MPU6050_RA_CONFIG = 0x1A
+    MPU6050_RA_GYRO_CONFIG = 0x1B
+    MPU6050_RA_ACCEL_CONFIG = 0x1C
+    MPU6050_RA_FF_THR = 0x1D
+    MPU6050_RA_FF_DUR = 0x1E
+    MPU6050_RA_MOT_THR = 0x1F
+    MPU6050_RA_MOT_DUR = 0x20
+    MPU6050_RA_ZRMOT_THR = 0x21
+    MPU6050_RA_ZRMOT_DUR = 0x22
+    MPU6050_RA_FIFO_EN = 0x23
+    MPU6050_RA_I2C_MST_CTRL = 0x24
+    MPU6050_RA_I2C_SLV0_ADDR = 0x25
+    MPU6050_RA_I2C_SLV0_REG = 0x26
+    MPU6050_RA_I2C_SLV0_CTRL = 0x27
+    MPU6050_RA_I2C_SLV1_ADDR = 0x28
+    MPU6050_RA_I2C_SLV1_REG = 0x29
+    MPU6050_RA_I2C_SLV1_CTRL = 0x2A
+    MPU6050_RA_I2C_SLV2_ADDR = 0x2B
+    MPU6050_RA_I2C_SLV2_REG = 0x2C
+    MPU6050_RA_I2C_SLV2_CTRL = 0x2D
+    MPU6050_RA_I2C_SLV3_ADDR = 0x2E
+    MPU6050_RA_I2C_SLV3_REG = 0x2F
+    MPU6050_RA_I2C_SLV3_CTRL = 0x30
+    MPU6050_RA_I2C_SLV4_ADDR = 0x31
+    MPU6050_RA_I2C_SLV4_REG = 0x32
+    MPU6050_RA_I2C_SLV4_DO = 0x33
+    MPU6050_RA_I2C_SLV4_CTRL = 0x34
+    MPU6050_RA_I2C_SLV4_DI = 0x35
+    MPU6050_RA_I2C_MST_STATUS = 0x36
+    MPU6050_RA_INT_PIN_CFG = 0x37
+    MPU6050_RA_INT_ENABLE = 0x38
+    MPU6050_RA_DMP_INT_STATUS = 0x39
+    MPU6050_RA_INT_STATUS = 0x3A
+    MPU6050_RA_ACCEL_XOUT_H = 0x3B
+    MPU6050_RA_ACCEL_XOUT_L = 0x3C
+    MPU6050_RA_ACCEL_YOUT_H = 0x3D
+    MPU6050_RA_ACCEL_YOUT_L = 0x3E
+    MPU6050_RA_ACCEL_ZOUT_H = 0x3F
+    MPU6050_RA_ACCEL_ZOUT_L = 0x40
+    MPU6050_RA_TEMP_OUT_H = 0x41
+    MPU6050_RA_TEMP_OUT_L = 0x42
+    MPU6050_RA_GYRO_XOUT_H = 0x43
+    MPU6050_RA_GYRO_XOUT_L = 0x44
+    MPU6050_RA_GYRO_YOUT_H = 0x45
+    MPU6050_RA_GYRO_YOUT_L = 0x46
+    MPU6050_RA_GYRO_ZOUT_H = 0x47
+    MPU6050_RA_GYRO_ZOUT_L = 0x48
+    MPU6050_RA_EXT_SENS_DATA_00 = 0x49
+    MPU6050_RA_EXT_SENS_DATA_01 = 0x4A
+    MPU6050_RA_EXT_SENS_DATA_02 = 0x4B
+    MPU6050_RA_EXT_SENS_DATA_03 = 0x4C
+    MPU6050_RA_EXT_SENS_DATA_04 = 0x4D
+    MPU6050_RA_EXT_SENS_DATA_05 = 0x4E
+    MPU6050_RA_EXT_SENS_DATA_06 = 0x4F
+    MPU6050_RA_EXT_SENS_DATA_07 = 0x50
+    MPU6050_RA_EXT_SENS_DATA_08 = 0x51
+    MPU6050_RA_EXT_SENS_DATA_09 = 0x52
+    MPU6050_RA_EXT_SENS_DATA_10 = 0x53
+    MPU6050_RA_EXT_SENS_DATA_11 = 0x54
+    MPU6050_RA_EXT_SENS_DATA_12 = 0x55
+    MPU6050_RA_EXT_SENS_DATA_13 = 0x56
+    MPU6050_RA_EXT_SENS_DATA_14 = 0x57
+    MPU6050_RA_EXT_SENS_DATA_15 = 0x58
+    MPU6050_RA_EXT_SENS_DATA_16 = 0x59
+    MPU6050_RA_EXT_SENS_DATA_17 = 0x5A
+    MPU6050_RA_EXT_SENS_DATA_18 = 0x5B
+    MPU6050_RA_EXT_SENS_DATA_19 = 0x5C
+    MPU6050_RA_EXT_SENS_DATA_20 = 0x5D
+    MPU6050_RA_EXT_SENS_DATA_21 = 0x5E
+    MPU6050_RA_EXT_SENS_DATA_22 = 0x5F
+    MPU6050_RA_EXT_SENS_DATA_23 = 0x60
+    MPU6050_RA_MOT_DETECT_STATUS = 0x61
+    MPU6050_RA_I2C_SLV0_DO = 0x63
+    MPU6050_RA_I2C_SLV1_DO = 0x64
+    MPU6050_RA_I2C_SLV2_DO = 0x65
+    MPU6050_RA_I2C_SLV3_DO = 0x66
+    MPU6050_RA_I2C_MST_DELAY_CTRL = 0x67
+    MPU6050_RA_SIGNAL_PATH_RESET = 0x68
+    MPU6050_RA_MOT_DETECT_CTRL = 0x69
+    MPU6050_RA_USER_CTRL = 0x6A
+    MPU6050_RA_PWR_MGMT_1 = 0x6B
+    MPU6050_RA_PWR_MGMT_2 = 0x6C
+    MPU6050_RA_BANK_SEL = 0x6D
+    MPU6050_RA_MEM_START_ADDR = 0x6E
+    MPU6050_RA_MEM_R_W = 0x6F
+    MPU6050_RA_DMP_CFG_1 = 0x70
+    MPU6050_RA_DMP_CFG_2 = 0x71
+    MPU6050_RA_FIFO_COUNTH = 0x72
+    MPU6050_RA_FIFO_COUNTL = 0x73
+    MPU6050_RA_FIFO_R_W = 0x74
+    MPU6050_RA_WHO_AM_I = 0x75
+
+    MPU6050_TC_PWR_MODE_BIT = 7
+    MPU6050_TC_OFFSET_BIT = 6
+    MPU6050_TC_OFFSET_LENGTH = 6
+    MPU6050_TC_OTP_BNK_VLD_BIT = 0
+
+    MPU6050_VDDIO_LEVEL_VLOGIC = 0
+    MPU6050_VDDIO_LEVEL_VDD = 1
+
+    MPU6050_CFG_EXT_SYNC_SET_BIT = 5
+    MPU6050_CFG_EXT_SYNC_SET_LENGTH = 3
+    MPU6050_CFG_DLPF_CFG_BIT = 2
+    MPU6050_CFG_DLPF_CFG_LENGTH = 3
+
+    MPU6050_EXT_SYNC_DISABLED = 0x0
+    MPU6050_EXT_SYNC_TEMP_OUT_L = 0x1
+    MPU6050_EXT_SYNC_GYRO_XOUT_L = 0x2
+    MPU6050_EXT_SYNC_GYRO_YOUT_L = 0x3
+    MPU6050_EXT_SYNC_GYRO_ZOUT_L = 0x4
+    MPU6050_EXT_SYNC_ACCEL_XOUT_L = 0x5
+    MPU6050_EXT_SYNC_ACCEL_YOUT_L = 0x6
+    MPU6050_EXT_SYNC_ACCEL_ZOUT_L = 0x7
+
+    MPU6050_DLPF_BW_256 = 0x00
+    MPU6050_DLPF_BW_188 = 0x01
+    MPU6050_DLPF_BW_98 = 0x02
+    MPU6050_DLPF_BW_42 = 0x03
+    MPU6050_DLPF_BW_20 = 0x04
+    MPU6050_DLPF_BW_10 = 0x05
+    MPU6050_DLPF_BW_5 = 0x06
+
+    MPU6050_GCONFIG_FS_SEL_BIT = 4
+    MPU6050_GCONFIG_FS_SEL_LENGTH = 2
+
+    MPU6050_GYRO_FS_250 = 0x00
+    MPU6050_GYRO_FS_500 = 0x01
+    MPU6050_GYRO_FS_1000 = 0x02
+    MPU6050_GYRO_FS_2000 = 0x03
+
+    MPU6050_ACONFIG_XA_ST_BIT = 7
+    MPU6050_ACONFIG_YA_ST_BIT = 6
+    MPU6050_ACONFIG_ZA_ST_BIT = 5
+    MPU6050_ACONFIG_AFS_SEL_BIT = 4
+    MPU6050_ACONFIG_AFS_SEL_LENGTH = 2
+    MPU6050_ACONFIG_ACCEL_HPF_BIT = 2
+    MPU6050_ACONFIG_ACCEL_HPF_LENGTH = 3
+
+    MPU6050_ACCEL_FS_2 = 0x00
+    MPU6050_ACCEL_FS_4 = 0x01
+    MPU6050_ACCEL_FS_8 = 0x02
+    MPU6050_ACCEL_FS_16 = 0x03
+
+    MPU6050_DHPF_RESET = 0x00
+    MPU6050_DHPF_5 = 0x01
+    MPU6050_DHPF_2P5 = 0x02
+    MPU6050_DHPF_1P25 = 0x03
+    MPU6050_DHPF_0P63 = 0x04
+    MPU6050_DHPF_HOLD = 0x07
+
+    MPU6050_TEMP_FIFO_EN_BIT = 7
+    MPU6050_XG_FIFO_EN_BIT = 6
+    MPU6050_YG_FIFO_EN_BIT = 5
+    MPU6050_ZG_FIFO_EN_BIT = 4
+    MPU6050_ACCEL_FIFO_EN_BIT = 3
+    MPU6050_SLV2_FIFO_EN_BIT = 2
+    MPU6050_SLV1_FIFO_EN_BIT = 1
+    MPU6050_SLV0_FIFO_EN_BIT = 0
+
+    MPU6050_MULT_MST_EN_BIT = 7
+    MPU6050_WAIT_FOR_ES_BIT = 6
+    MPU6050_SLV_3_FIFO_EN_BIT = 5
+    MPU6050_I2C_MST_P_NSR_BIT = 4
+    MPU6050_I2C_MST_CLK_BIT = 3
+    MPU6050_I2C_MST_CLK_LENGTH = 4
+
+    MPU6050_CLOCK_DIV_348 = 0x0
+    MPU6050_CLOCK_DIV_333 = 0x1
+    MPU6050_CLOCK_DIV_320 = 0x2
+    MPU6050_CLOCK_DIV_308 = 0x3
+    MPU6050_CLOCK_DIV_296 = 0x4
+    MPU6050_CLOCK_DIV_286 = 0x5
+    MPU6050_CLOCK_DIV_276 = 0x6
+    MPU6050_CLOCK_DIV_267 = 0x7
+    MPU6050_CLOCK_DIV_258 = 0x8
+    MPU6050_CLOCK_DIV_500 = 0x9
+    MPU6050_CLOCK_DIV_471 = 0xA
+    MPU6050_CLOCK_DIV_444 = 0xB
+    MPU6050_CLOCK_DIV_421 = 0xC
+    MPU6050_CLOCK_DIV_400 = 0xD
+    MPU6050_CLOCK_DIV_381 = 0xE
+    MPU6050_CLOCK_DIV_364 = 0xF
+
+    MPU6050_I2C_SLV_RW_BIT = 7
+    MPU6050_I2C_SLV_ADDR_BIT = 6
+    MPU6050_I2C_SLV_ADDR_LENGTH = 7
+    MPU6050_I2C_SLV_EN_BIT = 7
+    MPU6050_I2C_SLV_BYTE_SW_BIT = 6
+    MPU6050_I2C_SLV_REG_DIS_BIT = 5
+    MPU6050_I2C_SLV_GRP_BIT = 4
+    MPU6050_I2C_SLV_LEN_BIT = 3
+    MPU6050_I2C_SLV_LEN_LENGTH = 4
+
+    MPU6050_I2C_SLV4_RW_BIT = 7
+    MPU6050_I2C_SLV4_ADDR_BIT = 6
+    MPU6050_I2C_SLV4_ADDR_LENGTH = 7
+    MPU6050_I2C_SLV4_EN_BIT = 7
+    MPU6050_I2C_SLV4_INT_EN_BIT = 6
+    MPU6050_I2C_SLV4_REG_DIS_BIT = 5
+    MPU6050_I2C_SLV4_MST_DLY_BIT = 4
+    MPU6050_I2C_SLV4_MST_DLY_LENGTH = 5
+
+    MPU6050_MST_PASS_THROUGH_BIT = 7
+    MPU6050_MST_I2C_SLV4_DONE_BIT = 6
+    MPU6050_MST_I2C_LOST_ARB_BIT = 5
+    MPU6050_MST_I2C_SLV4_NACK_BIT = 4
+    MPU6050_MST_I2C_SLV3_NACK_BIT = 3
+    MPU6050_MST_I2C_SLV2_NACK_BIT = 2
+    MPU6050_MST_I2C_SLV1_NACK_BIT = 1
+    MPU6050_MST_I2C_SLV0_NACK_BIT = 0
+
+    MPU6050_INTCFG_INT_LEVEL_BIT = 7
+    MPU6050_INTCFG_INT_OPEN_BIT = 6
+    MPU6050_INTCFG_LATCH_INT_EN_BIT = 5
+    MPU6050_INTCFG_INT_RD_CLEAR_BIT = 4
+    MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT = 3
+    MPU6050_INTCFG_FSYNC_INT_EN_BIT = 2
+    MPU6050_INTCFG_I2C_BYPASS_EN_BIT = 1
+    MPU6050_INTCFG_CLKOUT_EN_BIT = 0
+
+    MPU6050_INTMODE_ACTIVEHIGH = 0x00
+    MPU6050_INTMODE_ACTIVELOW = 0x01
+
+    MPU6050_INTDRV_PUSHPULL = 0x00
+    MPU6050_INTDRV_OPENDRAIN = 0x01
+
+    MPU6050_INTLATCH_50USPULSE = 0x00
+    MPU6050_INTLATCH_WAITCLEAR = 0x01
+
+    MPU6050_INTCLEAR_STATUSREAD = 0x00
+    MPU6050_INTCLEAR_ANYREAD = 0x01
+
+    MPU6050_INTERRUPT_FF_BIT = 7
+    MPU6050_INTERRUPT_MOT_BIT = 6
+    MPU6050_INTERRUPT_ZMOT_BIT = 5
+    MPU6050_INTERRUPT_FIFO_OFLOW_BIT = 4
+    MPU6050_INTERRUPT_I2C_MST_INT_BIT = 3
+    MPU6050_INTERRUPT_PLL_RDY_INT_BIT = 2
+    MPU6050_INTERRUPT_DMP_INT_BIT = 1
+    MPU6050_INTERRUPT_DATA_RDY_BIT = 0
+
+    # TODO: figure out what these actually do
+    # UMPL source code is not very obivous
+    MPU6050_DMPINT_5_BIT = 5
+    MPU6050_DMPINT_4_BIT = 4
+    MPU6050_DMPINT_3_BIT = 3
+    MPU6050_DMPINT_2_BIT = 2
+    MPU6050_DMPINT_1_BIT = 1
+    MPU6050_DMPINT_0_BIT = 0
+
+    MPU6050_MOTION_MOT_XNEG_BIT = 7
+    MPU6050_MOTION_MOT_XPOS_BIT = 6
+    MPU6050_MOTION_MOT_YNEG_BIT = 5
+    MPU6050_MOTION_MOT_YPOS_BIT = 4
+    MPU6050_MOTION_MOT_ZNEG_BIT = 3
+    MPU6050_MOTION_MOT_ZPOS_BIT = 2
+    MPU6050_MOTION_MOT_ZRMOT_BIT = 0
+
+    MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT = 7
+    MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT = 4
+    MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT = 3
+    MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT = 2
+    MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT = 1
+    MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT = 0
+
+    MPU6050_PATHRESET_GYRO_RESET_BIT = 2
+    MPU6050_PATHRESET_ACCEL_RESET_BIT = 1
+    MPU6050_PATHRESET_TEMP_RESET_BIT = 0
+
+    MPU6050_DETECT_ACCEL_ON_DELAY_BIT = 5
+    MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH = 2
+    MPU6050_DETECT_FF_COUNT_BIT = 3
+    MPU6050_DETECT_FF_COUNT_LENGTH = 2
+    MPU6050_DETECT_MOT_COUNT_BIT = 1
+    MPU6050_DETECT_MOT_COUNT_LENGTH = 2
+
+    MPU6050_DETECT_DECREMENT_RESET = 0x0
+    MPU6050_DETECT_DECREMENT_1 = 0x1
+    MPU6050_DETECT_DECREMENT_2 = 0x2
+    MPU6050_DETECT_DECREMENT_4 = 0x3
+
+    MPU6050_USERCTRL_DMP_EN_BIT = 7
+    MPU6050_USERCTRL_FIFO_EN_BIT = 6
+    MPU6050_USERCTRL_I2C_MST_EN_BIT = 5
+    MPU6050_USERCTRL_I2C_IF_DIS_BIT = 4
+    MPU6050_USERCTRL_DMP_RESET_BIT = 3
+    MPU6050_USERCTRL_FIFO_RESET_BIT = 2
+    MPU6050_USERCTRL_I2C_MST_RESET_BIT = 1
+    MPU6050_USERCTRL_SIG_COND_RESET_BIT = 0
+
+    MPU6050_PWR1_DEVICE_RESET_BIT = 7
+    MPU6050_PWR1_SLEEP_BIT = 6
+    MPU6050_PWR1_CYCLE_BIT = 5
+    MPU6050_PWR1_TEMP_DIS_BIT = 3
+    MPU6050_PWR1_CLKSEL_BIT = 2
+    MPU6050_PWR1_CLKSEL_LENGTH = 3
+
+    MPU6050_CLOCK_INTERNAL = 0x00
+    MPU6050_CLOCK_PLL_XGYRO = 0x01
+    MPU6050_CLOCK_PLL_YGYRO = 0x02
+    MPU6050_CLOCK_PLL_ZGYRO = 0x03
+    MPU6050_CLOCK_PLL_EXT32K = 0x04
+    MPU6050_CLOCK_PLL_EXT19M = 0x05
+    MPU6050_CLOCK_KEEP_RESET = 0x07
+
+    MPU6050_PWR2_LP_WAKE_CTRL_BIT = 7
+    MPU6050_PWR2_LP_WAKE_CTRL_LENGTH = 2
+    MPU6050_PWR2_STBY_XA_BIT = 5
+    MPU6050_PWR2_STBY_YA_BIT = 4
+    MPU6050_PWR2_STBY_ZA_BIT = 3
+    MPU6050_PWR2_STBY_XG_BIT = 2
+    MPU6050_PWR2_STBY_YG_BIT = 1
+    MPU6050_PWR2_STBY_ZG_BIT = 0
+
+    MPU6050_WAKE_FREQ_1P25 = 0x0
+    MPU6050_WAKE_FREQ_2P5 = 0x1
+    MPU6050_WAKE_FREQ_5 = 0x2
+    MPU6050_WAKE_FREQ_10 = 0x3
+
+    MPU6050_BANKSEL_PRFTCH_EN_BIT = 6
+    MPU6050_BANKSEL_CFG_USER_BANK_BIT = 5
+    MPU6050_BANKSEL_MEM_SEL_BIT = 4
+    MPU6050_BANKSEL_MEM_SEL_LENGTH = 5
+
+    MPU6050_WHO_AM_I_BIT = 6
+    MPU6050_WHO_AM_I_LENGTH = 6
+
+    MPU6050_DMP_MEMORY_BANKS = 8
+    MPU6050_DMP_MEMORY_BANK_SIZE = 256
+    MPU6050_DMP_MEMORY_CHUNK_SIZE = 16
+
+    # From MPU6050_6Axis_MotionApps20.h
+    MPU6050_DMP_CODE_SIZE = 1929  # dmpMemory[]
+    MPU6050_DMP_CONFIG_SIZE = 192  # dmpConfig[]
+    MPU6050_DMP_UPDATES_SIZE = 47  # dmpUpdates[]
+    '''
+     * ================================================================================================ *
+     | Default MotionApps v2.0 42-byte FIFO packet structure:                                           |
+     |                                                                                                  |
+     | [QUAT W][      ][QUAT X][      ][QUAT Y][      ][QUAT Z][      ][GYRO X][      ][GYRO Y][      ] |
+     |   0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17  18  19  20  21  22  23  |
+     |                                                                                                  |
+     | [GYRO Z][      ][ACC X ][      ][ACC Y ][      ][ACC Z ][      ][      ]                         |
+     |  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38  39  40  41                          |
+     * ================================================================================================ *
+     '''
+    # dmpMemory has size MPU6050_DMP_CODE_SIZE = 1929
+    dmpMemory = [
+        # bank 0, 256 bytes
+        0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02,
+        0x00, 0x03, 0x00, 0x00,
+        0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B,
+        0x12, 0x82, 0x00, 0x01,
+        0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF,
+        0xFF, 0xFE, 0x80, 0x01,
+        0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09,
+        0x3E, 0x80, 0x00, 0x00,
+        0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
+        0x60, 0x00, 0x00, 0x00,
+        0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55,
+        0x00, 0x00, 0x21, 0x82,
+        0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00,
+        0x00, 0x05, 0x80, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00,
+        0x00, 0x03, 0x00, 0x00,
+        0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32,
+        0x00, 0x00, 0x5E, 0xC0,
+        0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B,
+        0x00, 0x6C, 0x12, 0xCC,
+        0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00,
+        0x40, 0x00, 0x01, 0xF4,
+        0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6,
+        0x00, 0x00, 0x27, 0x10,
+
+        # bank 1, 256 bytes
+        0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00,
+        0x01, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0,
+        0xFF, 0xD9, 0x5B, 0xC8,
+        0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2,
+        0x00, 0xCE, 0xBB, 0xF7,
+        0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02,
+        0x02, 0x00, 0x00, 0x0C,
+        0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00,
+        0x40, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00,
+        0x00, 0x00, 0x00, 0x14,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC,
+        0xC6, 0x7E, 0xD1, 0x6C,
+        0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0,
+        0x00, 0x00, 0x00, 0x30,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE,
+        0x00, 0x0C, 0x02, 0xD0,
+
+        # bank 2, 256 bytes
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00,
+        0x00, 0x00, 0x01, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00,
+        0xFF, 0xEF, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x40, 0x00, 0x00, 0x00,
+        0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x00, 0x00, 0x00,
+
+        # bank 3, 256 bytes
+        0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91,
+        0xF7, 0x4A, 0x90, 0x7F,
+        0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2,
+        0xCE, 0x81, 0xF3, 0xC2,
+        0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8,
+        0x80, 0xBA, 0xA7, 0xDF,
+        0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94,
+        0x24, 0x48, 0x70, 0x3C,
+        0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D,
+        0x55, 0x7D, 0xD8, 0xB1,
+        0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C,
+        0x80, 0xA8, 0xF1, 0x01,
+        0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2,
+        0x0E, 0xB8, 0x97, 0x80,
+        0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5,
+        0xCD, 0xC7, 0xA9, 0x0C,
+        0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66,
+        0xB0, 0xB4, 0xBA, 0x80,
+        0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00,
+        0x89, 0x0E, 0x16, 0x1E,
+        0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36,
+        0x56, 0x76, 0xF1, 0xB9,
+        0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98,
+        0xB9, 0xAF, 0xF0, 0x24,
+        0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83,
+        0xB5, 0x93, 0xAF, 0xF0,
+        0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF,
+        0xD9, 0xFA, 0xA3, 0x86,
+        0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5,
+        0xC7, 0xB2, 0x8C, 0xC1,
+        0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1,
+        0xB8, 0xA8, 0xB2, 0x86,
+
+        # bank 4, 256 bytes
+        0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35,
+        0x3D, 0xB2, 0xB6, 0xBA,
+        0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A,
+        0xB8, 0xAA, 0x87, 0x2C,
+        0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4,
+        0xCD, 0xC9, 0xF1, 0xB8,
+        0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55,
+        0x7D, 0xB5, 0x93, 0xA3,
+        0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97,
+        0x83, 0xA8, 0x11, 0x84,
+        0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64,
+        0x18, 0xD8, 0xF1, 0xA5,
+        0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A,
+        0x40, 0x48, 0xF9, 0xF3,
+        0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18,
+        0x97, 0x82, 0xA8, 0xF1,
+        0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3,
+        0xDE, 0xD8, 0x83, 0xA5,
+        0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1,
+        0x84, 0x92, 0xA2, 0x4D,
+        0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32,
+        0xD8, 0x50, 0x71, 0xD9,
+        0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8,
+        0x78, 0x93, 0xA3, 0x4D,
+        0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32,
+        0xD8, 0x50, 0x71, 0xD9,
+        0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8,
+        0x78, 0xA8, 0x8A, 0x9A,
+        0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98,
+        0xA8, 0xD9, 0x08, 0xD8,
+        0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1,
+        0xAF, 0xC8, 0x97, 0x87,
+
+        # bank 5, 256 bytes
+        0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D,
+        0xF3, 0xD9, 0x2A, 0xD8,
+        0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9,
+        0x61, 0xD8, 0x6C, 0x68,
+        0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3,
+        0x84, 0x19, 0x3D, 0x5D,
+        0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8,
+        0xB0, 0xAF, 0x8F, 0x94,
+        0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8,
+        0x87, 0x9A, 0x35, 0xDA,
+        0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98,
+        0x85, 0x02, 0x2E, 0x56,
+        0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9,
+        0x28, 0xD8, 0x4D, 0xD9,
+        0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8,
+        0xA3, 0x29, 0x83, 0xDA,
+        0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8,
+        0xB8, 0xB0, 0xA8, 0x8A,
+        0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA,
+        0xDE, 0xD8, 0xA8, 0x60,
+        0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06,
+        0x99, 0x07, 0xAB, 0x97,
+        0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8,
+        0x8C, 0x9C, 0xF0, 0x04,
+        0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98,
+        0x2C, 0x50, 0x50, 0x78,
+        0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79,
+        0x8B, 0x29, 0x51, 0x79,
+        0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38,
+        0x8B, 0x39, 0x40, 0x68,
+        0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09,
+        0x71, 0x58, 0x44, 0x68,
+
+        # bank 6, 256 bytes
+        0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C,
+        0xF0, 0x8C, 0xA8, 0x04,
+        0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C,
+        0x02, 0x26, 0x46, 0x66,
+        0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69,
+        0x38, 0x64, 0x48, 0x31,
+        0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8,
+        0x19, 0x31, 0x48, 0x60,
+        0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19,
+        0x86, 0xA8, 0x6E, 0x76,
+        0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22,
+        0x8A, 0x6E, 0x8A, 0x56,
+        0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E,
+        0x6E, 0x9D, 0xB8, 0xAD,
+        0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D,
+        0x55, 0x7D, 0x81, 0x91,
+        0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8,
+        0x4D, 0xD9, 0x48, 0xD8,
+        0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8,
+        0x51, 0xD9, 0x04, 0xAE,
+        0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE,
+        0x19, 0x81, 0xAD, 0xD9,
+        0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7,
+        0xD9, 0xAD, 0xAD, 0xAD,
+        0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E,
+        0x76, 0xF3, 0xAC, 0x2E,
+        0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C,
+        0xAC, 0x30, 0x18, 0xA8,
+        0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C,
+        0x24, 0xF2, 0xB0, 0x89,
+        0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51,
+        0xD9, 0xD8, 0xD8, 0x79,
+
+        # bank 7, 138 bytes (remainder)
+        0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91,
+        0x2D, 0xD9, 0x28, 0xD8,
+        0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35,
+        0x3D, 0x80, 0x25, 0xDA,
+        0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28,
+        0x34, 0x3C, 0xF3, 0xAB,
+        0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0,
+        0x87, 0x9C, 0xB9, 0xA3,
+        0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D,
+        0xF1, 0xA3, 0xA3, 0xA3,
+        0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
+        0xA3, 0xA3, 0xA3, 0xA3,
+        0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99,
+        0xF1, 0xA3, 0xA3, 0xA3,
+        0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3,
+        0x9B, 0xA3, 0xA3, 0xDC,
+        0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF]
+
+    # dmpConfig has size MPU6050_DMP_CONFIG_SIZE = 192
+    dmpConfig = [
+        #  BANK    OFFSET  LENGTH  [DATA]
+        0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C,  # FCFG_1 inv_set_gyro_calibration
+        0x03, 0xAB, 0x03, 0x36, 0x56, 0x76,  # FCFG_3 inv_set_gyro_calibration
+        0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2,
+        # D_0_104 inv_set_gyro_calibration
+        0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1,
+        # D_0_24 inv_set_gyro_calibration
+        0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00,
+        # D_1_152 inv_set_accel_calibration
+        0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97,
+        # FCFG_2 inv_set_accel_calibration
+        0x03, 0x89, 0x03, 0x26, 0x46, 0x66,  # FCFG_7 inv_set_accel_calibration
+        0x00, 0x6C, 0x02, 0x20, 0x00,  # D_0_108 inv_set_accel_calibration
+        0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00,
+        # CPASS_MTX_00 inv_set_compass_calibration
+        0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00,  # CPASS_MTX_01
+        0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00,  # CPASS_MTX_02
+        0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00,  # CPASS_MTX_10
+        0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00,  # CPASS_MTX_11
+        0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00,  # CPASS_MTX_12
+        0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00,  # CPASS_MTX_20
+        0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00,  # CPASS_MTX_21
+        0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00,  # CPASS_MTX_22
+        0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00,
+        # D_1_236 inv_apply_endian_accel
+        0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97,
+        # FCFG_2 inv_set_mpu_sensors
+        0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D,
+        # CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
+        0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D,  # FCFG_5 inv_set_bias_update
+        0x00, 0xA3, 0x01, 0x00,  # D_0_163 inv_set_dead_zone
+        # SPECIAL 0x01 = enable interrupts
+        0x00, 0x00, 0x00, 0x01,  # SET INT_ENABLE at i=22, SPECIAL INSTRUCTION
+        0x07, 0x86, 0x01, 0xFE,  # CFG_6 inv_set_fifo_interupt
+        0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38,
+        # CFG_8 inv_send_quaternion
+        0x07, 0x7E, 0x01, 0x30,  # CFG_16 inv_set_footer
+        0x07, 0x46, 0x01, 0x9A,  # CFG_GYRO_SOURCE inv_send_gyro
+        0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38,
+        # CFG_9 inv_send_gyro -> inv_construct3_fifo
+        0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38,
+        # CFG_12 inv_send_accel -> inv_construct3_fifo
+        0x02, 0x16, 0x02, 0x00, 0x01]  # D_0_22 inv_set_fifo_rate
+
+    # This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz.
+    # 0x07 is 25 Hz, 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends
+    # to result in very noisy data. DMP output frequency is calculated easily
+    # using this equation: (200Hz / (1 + value))
+
+    # It is important to make sure the host processor can keep up with reading
+    # and processing the FIFO output at the desired rate. Handling FIFO overflow
+    # cleanly is also a good idea.
+
+    # dmpUpdates has size MPU6050_DMP_UPDATES_SIZE = 47
+    dmpUpdates = [
+        0x01, 0xB2, 0x02, 0xFF, 0xFF,
+        0x01, 0x90, 0x04, 0x09, 0x23, 0xA1, 0x35,
+        0x01, 0x6A, 0x02, 0x06, 0x00,
+        0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+        0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
+        0x01, 0x62, 0x02, 0x00, 0x00,
+        0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00]

Code/Python_GPIOZero_Code/25.1.1_MPU6050/Quaternion.py

@@ -0,0 +1,135 @@
+__author__ = 'Geir Istad'
+"""
+MPU6050 Python I2C Class
+Copyright (c) 2015 Geir Istad
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+Code based on
+I2Cdev library collection - 3D math helper
+by Jeff Rowberg <jeff@rowberg.net>
+============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2012 Jeff Rowberg
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+"""
+from math import sqrt
+
+
+class Quaternion:
+    w = 0.0
+    x = 0.0
+    y = 0.0
+    z = 0.0
+
+    def __init__(self, a_w=1.0, a_x=0.0, a_y=0.0, a_z=0.0):
+        self.w = a_w
+        self.x = a_x
+        self.y = a_y
+        self.z = a_z
+
+    def get_product(self, a_quat):
+        result = Quaternion(
+            self.w * a_quat.w - self.x * a_quat.x -
+            self.y * a_quat.y - self.z * a_quat.z,
+
+            self.w * a_quat.x + self.x * a_quat.w +
+            self.y * a_quat.z - self.z * a_quat.y,
+
+            self.w * a_quat.y - self.x * a_quat.z +
+            self.y * a_quat.w + self.z * a_quat.x,
+
+            self.w * a_quat.z + self.x * a_quat.y -
+            self.y * a_quat.x + self.z * a_quat.w)
+        return result
+
+    def get_conjugate(self):
+        result = Quaternion(self.w, -self.x, -self.y, -self.z)
+        return result
+
+    def get_magnitude(self):
+        return sqrt(self.w * self.w + self.x * self.x + self.y * self.y +
+                    self.z * self.z)
+
+    def normalize(self):
+        m = self.get_magnitude()
+        self.w = self.w / m
+        self.x = self.x / m
+        self.y = self.y / m
+        self.z = self.z / m
+
+    def get_normalized(self):
+        result = Quaternion(self.w, self.x, self.y, self.z)
+        result.normalize()
+        return result
+
+
+class XYZVector:
+    x = 0.0
+    y = 0.0
+    z = 0.0
+
+    def __init__(self, a_x=0.0, a_y=0.0, a_z=0.0):
+        self.x = a_x
+        self.y = a_y
+        self.z = a_z
+
+    def get_magnitude(self):
+        return sqrt(self.x*self.x + self.y*self.y + self.z*self.z)
+
+    def normalize(self):
+        m = self.get_magnitude()
+        self.x = self.x / m
+        self.y = self.y / m
+        self.z = self.z / m
+
+    def get_normalized(self):
+        result = XYZVector(self.x, self.y, self.z)
+        result.normalize()
+        return result
+
+    def rotate(self, a_quat):
+        p = Quaternion(0.0, self.x, self.y, self.z)
+        p = a_quat.get_product(p)
+        p = p.get_product(a_quat.get_conjugate())
+        # By magic quaternion p is now [0, x', y', z']
+        self.x = p.x
+        self.y = p.y
+        self.z = p.z
+
+    def get_rotated(self, a_quat):
+        r = XYZVector(self.x, self.y, self.z)
+        r.rotate(a_quat)
+        return r

Code/Python_GPIOZero_Code/26.1.1_WebIO/WebIO.py

@@ -0,0 +1,68 @@
+from gpiozero import LED
+import os
+from http.server import BaseHTTPRequestHandler, HTTPServer
+
+host_name = '192.168.1.147' # Change this to your Raspberry Pi IP address
+host_port = 8000
+led = LED(17)       # define LED pin according to BCM Numbering
+
+class MyServer(BaseHTTPRequestHandler):
+	""" A special implementation of BaseHTTPRequestHander for reading data from
+	    and control GPIO of a Raspberry Pi
+	"""
+	def do_HEAD(self):
+		""" do_HEAD() can be tested use curl command
+		'curl -I http://server-ip-address:port'
+		"""
+		self.send_response(200)
+		self.send_header('Content-type', 'text/html')
+		self.end_headers()
+	def _redirect(self, path):
+		self.send_response(303)
+		self.send_header('Content-type', 'text/html')
+		self.send_header('Location', path)
+		self.end_headers()
+	def do_GET(self):
+		""" do_GET() can be tested using curl command
+			'curl http://server-ip-address:port'
+		"""
+		html = '''
+			<html>
+			<body style="width:960px; margin: 20px auto;">
+			<h1>Welcome to my Raspberry Pi</h1>
+			<p>Current GPU temperature is {}</p>
+			<form action="/" method="POST">
+				Turn LED :
+				<input type="submit" name="submit" value="On">
+				<input type="submit" name="submit" value="Off">
+			</form>
+			</body>
+			</html>
+		'''
+		temp = os.popen("vcgencmd measure_temp").read()
+# 		temp = os.popen("/opt/vc/bin/vcgencmd measure_temp").read()
+		self.do_HEAD()
+		self.wfile.write(html.format(temp[5:]).encode("utf-8"))
+	def do_POST(self):
+		""" do_POST() can be tested using curl command
+			'curl -d "submit=On" http://server-ip-address:port'
+		"""
+		content_length = int(self.headers['Content-Length']) # Get the size of data
+		post_data = self.rfile.read(content_length).decode("utf-8") # Get the data
+		post_data = post_data.split("=")[1] # Only keep the value
+		
+		if post_data == 'On':
+			led.on()
+		else:
+			led.off()
+		print("LED is {}".format(post_data))
+		self._redirect('/') # Redirect back to the root url
+	
+if __name__ == '__main__':
+	http_server = HTTPServer((host_name, host_port), MyServer)
+	print("Server Starts - %s:%s" % (host_name, host_port))
+	try:
+		http_server.serve_forever()
+	except KeyboardInterrupt:
+		http_server.server_close()
+	

Code/Python_GPIOZero_Code/27.2.1_LightWater03/LightWater03.py

@@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+#############################################################################
+# Filename    : LightWater03.py
+# Description : Control LED with 74HC595 on the DIY circuit board
+# auther      : www.freenove.com
+# modification: 2023/05/15
+########################################################################
+from gpiozero import OutputDevice
+import time
+
+LSBFIRST = 1
+MSBFIRST = 2
+
+# define the pins for 74HC595
+dataPin   = OutputDevice(17)      # DS Pin of 74HC595(Pin14)
+latchPin  = OutputDevice(27)      # ST_CP Pin of 74HC595(Pin12)
+clockPin  = OutputDevice(22)      # CH_CP Pin of 74HC595(Pin11)
+
+# Define an array to store the pulse width of LED
+pluseWidth = [0,0,0,0,0,0,0,0,64,32,16,8,4,2,1,0,0,0,0,0,0,0,0]
+  
+# shiftOut function, use bit serial transmission. 
+def shiftOut(order,val):      
+    for i in range(0,8):
+        clockPin.off()
+        if(order == LSBFIRST):
+            dataPin.on() if (0x01&(val>>i)==0x01) else dataPin.off()
+        elif(order == MSBFIRST):
+            dataPin.on() if (0x80&(val<<i)==0x80) else dataPin.off()
+        clockPin.on()
+        
+def outData(data):
+    latchPin.off()
+    shiftOut(LSBFIRST,data)
+    latchPin.on()
+    
+def loop():
+    moveSpeed = 0.1 # moveSpeed works like a relay, the larger, the slower
+    index = 0       # array index starts from 0
+    lastMove = time.time()      # record the start time
+    while True:
+        if(time.time() - lastMove > moveSpeed): # control speed 
+            lastMove = time.time()      # Record the time point of the move
+            index +=1           # move to next 
+            if(index > 15):     # index to 0
+                index = 0
+            
+        for i in range(0,64):   # The cycle of PWM is 64 cycles
+            data = 0            
+            for j in range(0,8):    #Calculate the output state of this loop
+                if(i < pluseWidth[j+index]):    #Calculate the LED state according to the pulse width 
+                    data |= 1<<j    # Calculate the data
+            outData(data)           # Send the data to 74HC595
+
+def destroy():   
+    dataPin.close()
+    latchPin.close()
+    clockPin.close() 
+
+if __name__ == '__main__': # Program entrance
+    print ('Program is starting...')
+    try:
+        loop()  
+    except KeyboardInterrupt:   # Press ctrl-c to end the program.
+        destroy()
+        print("Ending program")