def IMU_Task():
''' Accelerometer is initialized on and i2c bus and data is collected with a share'''
IMU = MPU6050(i2c)
while True:
shareIMU.put(IMU.gyro.z)
#print(shareIMU.get())
yield None
def __init__(self, sda_pin, scl_pin):
from imu import MPU6050
# See instruction: https://github.com/micropython-IMU/micropython-mpu9x50/blob/master/README_MPU9150.md
# already modified for esp32(sda=21, scl=22)/wemos D1 mini(sda=4, scl=5)
self.imu = MPU6050(sda=sda_pin, scl=scl_pin)
self.measured_angles = None
utime.sleep_ms(500) # allow stablization of the module
def window():
i2c = machine.I2C(scl=Pin(5), sda=Pin(4), freq=100000)
mpu6050 = MPU6050(i2c)
gyro = mpu6050.gyro
gyro1 = gyro.xyz
gyro_list = list(gyro1)
#ersten beiden Werte, Beschleunigung x,y
#z wird nicht beschleunigt im vorligenden Fall
gyro_x = round(gyro_list[0], 1)
gyro_y = round(gyro_list[1],1)
gyro_values = [gyro_x, gyro_y]
return(gyro_values)
connections.add(conn_handle)
ble.gap_advertise(None)
print('[bluetooth] device connected')
elif event == _IRQ_CENTRAL_DISCONNECT:
# A central has disconnected from this peripheral.
conn_handle, addr_type, addr = data
connections.remove(conn_handle)
ble.gap_advertise(500000)
print('[bluetooth] device disconnected')
else:
print('[bluetooth] received event {}'.format(event))
# entrypoint
i2c = I2C(0)
imu = MPU6050(i2c)
ble = bluetooth.BLE()
ble.active(True)
ble.irq(bt_irq)
ble.config(gap_name='Bosu')
# configure the services that will be advertised
ACCEL_UUID = bluetooth.UUID('7ED5A5BC-8013-4753-B199-0A364D52E5DE')
ACCEL_CHAR = (
bluetooth.UUID('F477FD95-41F0-4C73-9093-5DA7DC624DF0'),
bluetooth.FLAG_READ | bluetooth.FLAG_NOTIFY,
)
ACCEL_SERVICE = (
ACCEL_UUID,
(ACCEL_CHAR, ),
)
a = time.localtime(now+3600)
return(a)
def do_connect():
wlan = network.WLAN(network.STA_IF)
wlan.active(True)
if not wlan.isconnected():
print('connecting to ' + ssid)
wlan.connect(ssid, pwd)
while not wlan.isconnected():
pass
print('network config:', wlan.ifconfig())
#Für IMU Sensor
i2c = machine.I2C(scl=Pin(0), sda=Pin(4), freq=100000)
mpu6050 = MPU6050(i2c)
def start_sampling(d):
client = MQTTClient(device_name, mqtt_server, mqtt_port)
mqttConnected=client.connect()
#IMU SENSOR
accel = mpu6050.accel
gyro = mpu6050.gyro
accel1 = accel.xyz
gyro1 = gyro.xyz
accel2 = list(accel1)
gyro2 = list(gyro1)
#DHT22 SENSOR
d.measure()
# Copyright (c) 2017-2020 Peter Hinch
# Requires:
# uasyncio V3 (Included in daily builds and release builds later than V1.12).
# From https://github.com/micropython-IMU/micropython-mpu9x50:
# imu.py, mpu6050.py, vector3d.py
# From this repo: deltat.py fusion_async.py
# MPU9150 on X position
from machine import Pin
import uasyncio as asyncio
import gc
from imu import MPU6050
from fusion_async import Fusion # Using async version
imu = MPU6050('X') # Attached to 'X' bus, 1 device, disable interrupts
# User coro returns data and determines update rate.
# For 6DOF sensors two 3-tuples (x, y, z) for accel and gyro
async def read_coro():
await asyncio.sleep_ms(20) # Plenty of time for mag to be ready
return imu.accel.xyz, imu.gyro.xyz
fuse = Fusion(read_coro)
async def mem_manage(): # Necessary for long term stability
while True:
await asyncio.sleep_ms(100)