def test():
mpu9150 = MPU9150()
testfunc(mpu9150)
print()
utime.sleep_ms(250)
print("Repeating")
testfunc(mpu9150)
def test():
mpu9150 = MPU9150('X')
testfunc(mpu9150)
print()
pyb.delay(250)
print("Repeating")
testfunc(mpu9150)
# fusiontest.py Simple test program for sensor fusion on Pyboard
# Author Peter Hinch
# Released under the MIT License (MIT)
# Copyright (c) 2017 Peter Hinch
# V0.8 14th May 2017 Option for external switch for cal test. Make platform independent.
# V0.7 25th June 2015 Adapted for new MPU9x50 interface
from machine import Pin
import utime as time
from mpu9150 import MPU9150
from fusion import Fusion
imu = MPU9150('X')
fuse = Fusion()
# Code for external switch
switch = Pin('Y7', Pin.IN, pull=Pin.PULL_UP) # Switch to ground on Y7
def sw():
return not switch.value()
# Code for Pyboard switch
#sw = pyb.Switch()
# Choose test to run
Calibrate = True
Timing = True
# E 6 2 Y2
# D7 14 3 Y3
# D6 13 4 Y4
# D5 12 5 Y5
# D4 11 6 Y6
from machine import Pin
import uasyncio as asyncio
import gc
from mpu9150 import MPU9150
from fusion_async import Fusion # Using async version
from alcd import LCD, PINLIST # Library supporting Hitachi LCD module
switch = Pin('Y7', Pin.IN, pull=Pin.PULL_UP) # Switch to ground on Y7
imu = MPU9150('X') # Attached to 'X' bus, 1 device, disable interruots
lcd = LCD(PINLIST, cols=24) # Should work with 16 column LCD
# User coro returns data and determines update rate.
# For 9DOF sensors returns three 3-tuples (x, y, z) for accel, gyro and mag
# For 6DOF sensors two 3-tuples (x, y, z) for accel and gyro
async def read_coro():
imu.mag_trigger()
await asyncio.sleep_ms(20) # Plenty of time for mag to be ready
return imu.accel.xyz, imu.gyro.xyz, imu.mag_nonblocking.xyz
fuse = Fusion(read_coro)
import time
from mpu9150 import MPU9150
import micropython
micropython.alloc_emergency_exception_buf(100)
def cb(timer): # Callback: populate array members
imu.get_gyro_irq()
imu.get_accel_irq()
imu.get_mag_irq()
tim = Timer.Alarm(cb, 400, periodic=True)
imu = MPU9150()
tim.callback(cb)
print("You should see slightly different values on each pair of readings.")
print(
" Accelerometer Gyro Magnetometer"
)
for count in range(10):
time.sleep_ms(400)
scale = 3.33198 # Correction factors involve floating point
mag = list(
map(lambda x, y: x * y / scale, imu.mag.ixyz, imu.mag_correction))
print("Interrupt:", [x / 16384 for x in imu.accel.ixyz],
[x / 131 for x in imu.gyro.ixyz], mag)
time.sleep_ms(100)
print("Normal: ", imu.accel.xyz, imu.gyro.xyz, imu.mag.xyz)
from mpu9150 import MPU9150
import time
import cPickle as pickle
import numpy as np
import signal
import sys
accel_data = []
gyro_data = []
mag_data = []
time_data = []
mpu = MPU9150()
def sigint_handler(signal, frame):
print 'SIGINT caught'
print 'Saving data and exiting...'
d = {
'time': np.array(time_data),
'accel_data': np.array(accel_data),
'gyro_data': np.array(gyro_data),
'mag_data': np.array(mag_data)
}
filename = 'mpu_data_{:s}.p'.format(time.strftime('%Y-%m-%d_%H-%M-%S'))
with open(filename, 'wb') as f:
pickle.dump(d, f)
sys.exit(0)
from machine import I2C
from as_drivers.hd44780.alcd import LCD, PINLIST # Library supporting Hitachi LCD module
from mpu9150 import MPU9150
async def lcd_task(mylcd, imu):
print('Running...')
k = imu.mag_correction
mylcd[1] = "x {:5.3f} y {:5.3f} z {:5.3f}".format(k[0],k[1],k[2])
while True:
try:
while not imu.mag_ready:
await asyncio.sleep(0)
except OSError:
mylcd[0] = "Mag read failure"
continue
xyz = imu.mag.xyz
mylcd[0] = "x {:5.1f} y {:5.1f} z {:5.1f}".format(xyz[0], xyz[1], xyz[2])
await asyncio.sleep_ms(500)
lcd0 = LCD(PINLIST, cols = 24)
imu = MPU9150(I2C(1))
try:
asyncio.run(lcd_task(lcd0, imu))
except KeyboardInterrupt:
print('Interrupted')
finally:
asyncio.new_event_loop()
from usched import Sched, wait, Poller
from lcdthread import LCD, PINLIST # Library supporting Hitachi LCD module
from mpu9150 import MPU9150
def pollfunc(mpu):
return 1 if mpu.mag_ready else None
def lcd_thread(mylcd, mpu9150):
k = mpu9150.mag_correction
mylcd[1] = "x {:5.3f} y {:5.3f} z {:5.3f}".format(k[0], k[1], k[2])
while True:
reason = (yield Poller(pollfunc,
(mpu9150, ))) # Scheduler returns when pollfunc
if reason[
1] == 1: # returns something other than None. 1 indicates ready.
xyz = mpu9150.mag.xyz
mylcd[0] = "x {:5.1f} y {:5.1f} z {:5.1f}".format(
xyz[0], xyz[1], xyz[2])
elif reason[1] == 2:
mylcd[0] = "Mag read failure"
yield from wait(0.5)
objSched = Sched()
lcd0 = LCD(PINLIST, objSched, cols=24)
mpu9150 = MPU9150('X')
objSched.add_thread(lcd_thread(lcd0, mpu9150))
objSched.run()