def lcd_thread(mylcd, imu, sw):
if sw.value() == 1:
mylcd[0] = "Calibrate. Push switch"
mylcd[1] = "when done"
yield from wait(0.1)
fuse.calibrate(imu.mag.xyz, lambda : not sw.value(), waitfunc)
print(fuse.magbias)
mylcd[0] = "{:5s}{:5s} {:5s}".format("Yaw","Pitch","Roll")
count = 0
while True:
yield from wait(0.02) # imu updates at 50Hz
count += 1
if count % 25 == 0:
mylcd[1] = "{:4.0f} {:4.0f} {:4.0f}".format(fuse.heading, fuse.pitch, fuse.roll)
fuse.update(imu.accel.xyz, imu.gyro.xyz, imu.mag.xyz)
def _future(objSched, time_to_run, callback, callback_args):
yield # No initialisation to do
yield from wait(time_to_run)
t = type(callback)
if t is FunctionType or t is MethodType:
callback(*callback_args)
elif t is ThreadType: # Generator function (thread)
objSched.add_thread(callback(*callback_args))
else:
raise ValueError('future() received an invalid callback')
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)
def accelthread():
accelhw = pyb.Accel() # Instantiate accelerometer hardware
yield from wait(0.03) # Allow accelerometer to settle
accel = Accelerometer(accelhw)
wf = Poller(accel.poll, (4,), 2) # Instantiate a Poller with 2 second timeout.
while True:
reason = (yield wf())
if reason[1]: # Value has changed
print("Value x:{:3d} y:{:3d} z:{:3d}".format(accel.x, accel.y, accel.z))
if reason[2]:
print("Timeout waiting for accelerometer change")
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)
def master(lcd):
yield Roundrobin()
m = rf.Master(testbox_config)
send_msg = FromMaster()
while True:
start = pyb.millis()
result = m.exchange(send_msg)
t = pyb.elapsed_millis(start)
lcd[1] = 't = {}mS'.format(t)
if result is not None:
lcd[0] = str(result.i0)
else:
lcd[0] = 'Timeout'
yield from wait(1.0)
send_msg.i0 += 1
def master(lcd):
yield Roundrobin()
m = rf.Master(testbox_config)
send_msg = FromMaster()
while True:
start = pyb.millis()
result = m.exchange(send_msg)
t = pyb.elapsed_millis(start)
lcd[1] = "t = {}mS".format(t)
if result is not None:
lcd[0] = str(result.i0)
else:
lcd[0] = "Timeout"
yield from wait(1.0)
send_msg.i0 += 1
def master(lcd):
yield Roundrobin()
m = rp.Master(config_master)
obj = [0, '']
x = ord('a')
while True:
start = pyb.millis()
try:
result = m.exchange(obj)
t = pyb.elapsed_millis(start)
except OSError:
t = pyb.elapsed_millis(start)
lcd[0] = 'Timeout'
else:
lcd[0] = str(result)
finally:
lcd[1] = 't = {}mS'.format(t)
yield from wait(1.0)
obj[0] += 1
def master(lcd):
yield Roundrobin()
m = rp.Master(config_master)
obj = [0, '']
x = ord('a')
while True:
start = pyb.millis()
try:
result = m.exchange(obj)
t = pyb.elapsed_millis(start)
except OSError:
t = pyb.elapsed_millis(start)
lcd[0] = 'Timeout'
else:
lcd[0] = str(result)
finally:
lcd[1] = 't = {}mS'.format(t)
yield from wait(1.0)
obj[0] += 1
def stop(fTim, objSch): # Stop the scheduler after fTim seconds
yield from wait(fTim)
objSch.stop()
def toggle(objLED, time):
while True:
yield from wait(time)
objLED.toggle()
def lcd_thread(mylcd):
mylcd[0] = "MicroPython"
while True:
mylcd[1] = "{:11d}uS".format(pyb.micros())
yield from wait(1)
def subthread(lstResult): # Gets a list for returning result(s) to caller
yield Roundrobin()
print("Subthread started") # In this test list simply contains a boolean
yield from wait(1)
print("Subthread end")
lstResult[0] = True
def toggle(objLED, time):
while True:
yield from wait(time)
objLED.toggle()
def lcd_thread(mylcd):
mylcd[0] = "MicroPython"
while True:
mylcd[1] = "{:11d}uS".format(pyb.micros())
yield from wait(1)
def subthread(lstResult): # Gets a list for returning result(s) to caller
yield Roundrobin()
print("Subthread started") # In this test list simply contains a boolean
yield from wait(1)
print("Subthread end")
lstResult[0] = True
def stop(fTim, objSch): # Stop the scheduler after fTim seconds
yield from wait(fTim)
objSch.stop()
def waitfunc():
yield from wait(0.1)
