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Commit7860894

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libs/unit/imu.py: IMU Unit is a 6-axis attitude sensor.
Signed-off-by: Pandian Nano <pandian.nano@gmail.com>
1 parent52581eb commit7860894

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‎docs/en/refs/unit.imu.ref‎

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.. |IMUUnit| image:: https://static-cdn.m5stack.com/resource/docs/products/unit/imu/imu_01.webp
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:target: https://docs.m5stack.com/en/unit/imu
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:height: 200px
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:width: 200 px
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.. |init.png| image:: https://static-cdn.m5stack.com/mpy_docs/unit/imu/init.png
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.. |example.png| image:: https://static-cdn.m5stack.com/mpy_docs/unit/imu/example.png
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.. |get_accelerometer.png| image:: https://static-cdn.m5stack.com/mpy_docs/unit/imu/get_accelerometer.png
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.. |get_gyroscope.png| image:: https://static-cdn.m5stack.com/mpy_docs/unit/imu/get_gyroscope.png
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.. |get_attitude.png| image:: https://static-cdn.m5stack.com/mpy_docs/unit/imu/get_attitude.png
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.. |set_accel_range.png| image:: https://static-cdn.m5stack.com/mpy_docs/unit/imu/set_accel_range.png
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.. |set_gyro_range.png| image:: https://static-cdn.m5stack.com/mpy_docs/unit/imu/set_gyro_range.png
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.. |set_accel_unit.png| image:: https://static-cdn.m5stack.com/mpy_docs/unit/imu/set_accel_unit.png
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.. |set_gyro_unit.png| image:: https://static-cdn.m5stack.com/mpy_docs/unit/imu/set_gyro_unit.png
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.. |set_gyro_calibrate.png| image:: https://static-cdn.m5stack.com/mpy_docs/unit/imu/set_gyro_calibrate.png
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.. |set_gyro_offsets.png| image:: https://static-cdn.m5stack.com/mpy_docs/unit/imu/set_gyro_offsets.png
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.. |unit-imu-demo.m5f2| raw:: html
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<a
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href="https://uiflow2.m5stack.com/?example=https://raw.githubusercontent.com/m5stack/uiflow-micropython/develop/examples/unit/imu/unit-imu-demo.m5f2"
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target="_blank"
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>
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unit-imu-demo.m5f2
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</a>
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‎docs/en/units/imu.rst‎

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IMU Unit
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=========
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..include::../refs/unit.imu.ref
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6-Axis IMU Unit is a 6-axis attitude sensor with 3-axis gravity accelerometer and 3-axis gyroscope, which can calculate tilt angle and acceleration in real time. The chip adopts mpu6886
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Support the following products:
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|IMUUnit|
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Micropython Example::
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import os, sys, io
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import M5
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from M5 import *
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from hardware import *
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from unit import IMUUnit
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import time
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i2c0 = I2C(0, scl=Pin(1), sda=Pin(2), freq=100000)
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imu_0 = IMUUnit(i2c0)
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imu_0.set_accel_unit(1)
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imu_0.set_gyro_unit(1)
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while True:
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print((str('Acc:') + str((imu_0.get_accelerometer()))))
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print((str('Gryo:') + str((imu_0.get_gyroscope()))))
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print((str('Attitude') + str((imu_0.get_attitude()))))
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time.sleep_ms(100)
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UIFLOW2 Example:
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|example.png|
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..only::builder_html
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|unit-imu-demo.m5f2|
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class IMUUnit
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-------------
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Constructors
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------------
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..class::IMUUnit(i2c)
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Create a IMUUnit object
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:param i2c: the I2C object.
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UIFLOW2:
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|init.png|
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Methods
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-------
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..method::IMUUnit.get_accelerometer()
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Get the tuple of x, y, and z values of the accelerometer and acceleration vector in gravity units (9.81m/s^2).
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- Return: ``tuple``: (float, float, float)
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UIFLOW2:
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|get_accelerometer.png|
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..method::IMUUnit.get_gyroscope()
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Get the tuple of x, y, and z values of the gyroscope and gyroscope vector in rad/sec.
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- Return: ``tuple``: (float, float, float)
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UIFLOW2:
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|get_gyroscope.png|
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..method::IMUUnit.get_attitude()
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Get the attitude angles as yaw, pitch, and roll in degrees..
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- Return: ``tuple``: (float, float, float)
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UIFLOW2:
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|get_attitude.png|
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..method::IMUUnit.set_accel_range(accel_scale)
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Set the accelerometer scale range.
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:param accel_scale: scale range of ±2g, ±4g, ±8g and ±16g.
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:type unit: int
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UIFLOW2:
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|set_accel_range.png|
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..method::IMUUnit.set_gyro_range(gyro_scale)
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Set the gyroscope scale range.
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:param gyro_scale: scale range of ±250 dps, ±500 dps, ±1000 dps, and ±2000 dps.
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:type unit: int
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UIFLOW2:
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|set_gyro_range.png|
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..method::IMUUnit.set_accel_unit(unit)
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Set the accelerometer unit g or m/s^2.
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:param unit: 0: g, 1: m/s^2.
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:type unit: int
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UIFLOW2:
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|set_accel_unit.png|
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..method::IMUUnit.set_gyro_unit(unit)
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Set the gyroscope unit rad/sec or degrees/sec.
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:param unit: 0: degrees/sec, 1: rad/sec.
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:type unit: int
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UIFLOW2:
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|set_gyro_unit.png|
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..method::IMUUnit.set_gyro_calibrate(samples, delay)
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Set the gyro calibrations with the number of samples and delay of each samples
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:param samples: number of samples.
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:type samples: int.
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:param delay: delay in milliseconds for each samples.
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:type delay: int
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UIFLOW2:
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|set_gyro_calibrate.png|
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..method::IMUUnit.set_gyro_offsets(x, y, z)
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Set the manual gyro calibrations offsets value
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:param x: 0.0
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:type unit: float
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:param y: 0.0
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:type unit: float
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:param z: 0.0
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:type unit: float
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UIFLOW2:
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|set_gyro_offsets.png|
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‎docs/en/units/index.rst‎

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glass2.rst
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grove2grove.rst
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hall_effect.rst
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imu.rst
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ir.rst
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joystick.rst
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key.rst
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{"version":"V2.0","versionNumber":"V2.0.9","type":"cores3","components":[{"name":"screen","type":"screen","layer":0,"screenId":"builtin","screenName":"","id":"__cores3_screen","createTime":1720066029701,"x":0,"y":0,"width":320,"height":240,"backgroundColor":"#222222","size":0,"isSelected":true}],"resources":[{"hardware":["hardware_button","hardware_pin_button","imu","speaker","touch","als","mic","i2c"]},{"unit":["unit_imu"]}],"units":[{"type":"unit_imu","name":"imu_0","portList":["A","PAHUB","Custom"],"portType":"A","userPort":[22,21],"id":"mCkFn6ccEyeF7m-^","createTime":1720066037134,"bus":"i2c0","pahubPortList":[0,1,2,3,4,5],"pahubPort":0,"initBlockId":"FlHBS5zFk+7Pm0_zq~@!"}],"hats":[],"bases":[],"i2cs":[{"id":"i2c0","portType":"A","userPort":[22,21],"freq":"100000","blockId":"Q=e_Yyd?s#SA@{axfAN8"}],"blockly":"<block type=\"basic_on_setup\" id=\"setup_block\" deletable=\"false\" x=\"-330\" y=\"-270\"><mutation isBegin=\"true\"></mutation><field name=\"UPDATEOP\">true</field><statement name=\"FUNC\"><block type=\"system_m5_begin\" id=\"system_m5_begin\"><next><block type=\"i2c_init\" id=\"Q=e_Yyd?s#SA@{axfAN8\"><field name=\"NAME\">0</field><field name=\"FREQ\">100000</field><value name=\"SCL\"><shadow type=\"math_number\" id=\"B5Mwy%UUg{%-hK6_=q,A\"><mutation max=\"Infinity\" min=\"-Infinity\" precision=\"0\"></mutation><field name=\"NUM\">1</field></shadow></value><value name=\"SDA\"><shadow type=\"math_number\" id=\"lFps;anc{vB6h:8^.t$H\"><mutation max=\"Infinity\" min=\"-Infinity\" precision=\"0\"></mutation><field name=\"NUM\">2</field></shadow></value><next><block type=\"unit_imu_init\" id=\"FlHBS5zFk+7Pm0_zq~@!\"><field name=\"NAME\">imu_0</field><next><block type=\"unit_imu_set_accel_unit\" id=\"^]1[ln43Hg+:CRSs-]R*\"><field name=\"NAME\">imu_0</field><field name=\"UNIT\">1</field><next><block type=\"unit_imu_set_gyro_unit\" id=\"+JPJWT-YC6$YhD`jn|*b\"><field name=\"NAME\">imu_0</field><field name=\"UNIT\">1</field></block></next></block></next></block></next></block></next></block></statement></block><block type=\"basic_on_loop\" id=\"loop_block\" deletable=\"false\" x=\"-330\" y=\"-10\"><mutation isUpdate=\"true\"></mutation><field name=\"UPDATEOP\">true</field><statement name=\"FUNC\"><block type=\"system_m5_update\" id=\"system_m5_update\"><next><block type=\"text_print\" id=\"5YippNcnJ+h]fzK#4e_X\"><value name=\"TEXT\"><shadow type=\"text\" id=\"]q32hfN*--Be-Xw@cV43\"><field name=\"TEXT\">hello M5</field></shadow><block type=\"text_add_str\" id=\"q=S^+FwrzG~m5.cl!pv5\"><value name=\"VALUE1\"><shadow type=\"text\" id=\"O226vsVX|_U$`zobWFID\"><field name=\"TEXT\">Acc:</field></shadow></value><value name=\"VALUE2\"><block type=\"unit_imu_get_accelerometer\" id=\"6(8pP;s7i2.^.0%Q~DNb\"><field name=\"NAME\">imu_0</field></block></value></block></value><next><block type=\"text_print\" id=\"%mLpf[BbefWV/K-nH*cW\"><value name=\"TEXT\"><shadow type=\"text\" id=\"]q32hfN*--Be-Xw@cV43\"><field name=\"TEXT\">hello M5</field></shadow><block type=\"text_add_str\" id=\"`aI]?/b?n1t(`DR[~5.Q\"><value name=\"VALUE1\"><shadow type=\"text\" id=\"?hV+OH?sX545eF99AU^{\"><field name=\"TEXT\">Gryo:</field></shadow></value><value name=\"VALUE2\"><block type=\"unit_imu_get_gyroscope\" id=\"%J4T:B-qvEynLnoQi_fF\"><field name=\"NAME\">imu_0</field></block></value></block></value><next><block type=\"text_print\" id=\"R_R-#Sx,s*|H_;4#HvYw\"><value name=\"TEXT\"><shadow type=\"text\" id=\"]q32hfN*--Be-Xw@cV43\"><field name=\"TEXT\">hello M5</field></shadow><block type=\"text_add_str\" id=\"O#Cc`0qDnV1uFxOTfDEH\"><value name=\"VALUE1\"><shadow type=\"text\" id=\"82%#0sCmG71g+!hx}~!B\"><field name=\"TEXT\">Attitude</field></shadow></value><value name=\"VALUE2\"><block type=\"unit_imu_get_attitude\" id=\"}6XLaL+Znfau29=]){+z\"><field name=\"NAME\">imu_0</field></block></value></block></value><next><block type=\"time_sleep_millisecond\" id=\"~tT[2q#xlfbY?Sh15*Jc\"><value name=\"MS\"><shadow type=\"math_number\" id=\"R4*Y6d=mj1Afkg7zmwUc\"><mutation max=\"Infinity\" min=\"0\" precision=\"0\"></mutation><field name=\"NUM\">100</field></shadow></value></block></next></block></next></block></next></block></next></block></statement></block>","screen":[{"simulationName":"Built-in","type":"builtin","width":320,"height":240,"scale":0.78,"screenName":"","blockId":"","screenColorType":0,"id":"builtin","createTime":1720066029691}],"logicWhenNum":0,"customList":[]}

‎examples/unit/imu/unit-imu-demo.py‎

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importos,sys,io
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importM5
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fromM5import*
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fromhardwareimport*
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fromunitimportIMUUnit
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importtime
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i2c0=None
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imu_0=None
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defsetup():
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globali2c0,imu_0
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M5.begin()
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Widgets.fillScreen(0x222222)
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i2c0=I2C(0,scl=Pin(1),sda=Pin(2),freq=100000)
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imu_0=IMUUnit(i2c0)
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imu_0.set_accel_unit(1)
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imu_0.set_gyro_unit(1)
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defloop():
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globali2c0,imu_0
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M5.update()
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print((str("Acc:")+str((imu_0.get_accelerometer()))))
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print((str("Gryo:")+str((imu_0.get_gyroscope()))))
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print((str("Attitude")+str((imu_0.get_attitude()))))
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time.sleep_ms(100)
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if__name__=="__main__":
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try:
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setup()
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whileTrue:
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loop()
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except (Exception,KeyboardInterrupt)ase:
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try:
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fromutilityimportprint_error_msg
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print_error_msg(e)
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exceptImportError:
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print("please update to latest firmware")

‎m5stack/libs/driver/manifest.py‎

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"modbus/master/uSerial.py",
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"paj7620.py",
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"mlx90640.py",
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"mpu6886.py",
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"timezone.py",
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"vl53l1x.py",
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),

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