# fusiontest_as.py Test for asynchronous sensor fusion on Pyboard.
# Author: Peter Hinch
# Released under the MIT License (MIT) See LICENSE
# 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, mpu9150.py, vector3d.py
# From this repo: deltat.py fusion_async.py
# MPU9150 on X position
# Normally open pushbutton connected between pin Y7 and ground
from machine import Pin
import uasyncio as asyncio
import gc
from mpu9150 import MPU9150
from fusion_async import Fusion # Using async version
switch = Pin('Y7', Pin.IN, pull=Pin.PULL_UP) # Switch to ground on Y7
imu = MPU9150('X') # Attached to 'X' bus, 1 device, disable interrupts
# User coro returns data and determines update rate.
# For 9DOF sensors returns three 3-tuples (x, y, z) for accel, gyro and mag
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)
async def mem_manage(): # Necessary for long term stability
while True:
await asyncio.sleep_ms(100)
gc.collect()
gc.threshold(gc.mem_free() // 4 + gc.mem_alloc())
async def display():
fs = 'Heading: {:4.0f} Pitch: {:4.0f} Roll: {:4.0f}'
while True:
print(fs.format(fuse.heading, fuse.pitch, fuse.roll))
await asyncio.sleep_ms(500)
async def test_task():
if switch.value() == 1:
print('Calibrate. Push switch when done.')
await fuse.calibrate(lambda : not switch.value())
print('Mag bias vector: ', fuse.magbias)
await fuse.start() # Start the update task
await display()
asyncio.create_task(mem_manage())
asyncio.run(test_task())
