Any updates on the mpu6886?



  • Can this be used somehow?
    i haven't found any examples.



  • @xeon sorry for resurrecting old post, i had the same problem, i currently close getting data from the IMU



  • done, used party code from anoken who sourced it from the arduino version , i clean up and updated it

    import image
    import lcd
    import sensor
    import sys
    import time
    import utime
    from board import board_info
    import KPU as kpu
    from Maix import GPIO
    from fpioa_manager import *
    from pmu import axp192 
    from machine import I2C
    #pmu = axp192() - breaks IMU data -
    #pmu.enablePMICSleepMode(True) - breaks IMU data -
    
    i2c = I2C(I2C.I2C0, freq=400000, scl=28, sda=29)
    #devices = i2c.scan()
    lcd.init()
    
    # IMU6866 define
    MPU6886_ADDRESS=0x68
    MPU6886_WHOAMI=0x75
    MPU6886_ACCEL_INTEL_CTRL=0x69
    MPU6886_SMPLRT_DIV=0x19
    MPU6886_INT_PIN_CFG=0x37
    MPU6886_INT_ENABLE=0x38
    MPU6886_ACCEL_XOUT_H=0x3B
    MPU6886_TEMP_OUT_H=0x41
    MPU6886_GYRO_XOUT_H=0x43
    MPU6886_USER_CTRL= 0x6A
    MPU6886_PWR_MGMT_1=0x6B
    MPU6886_PWR_MGMT_2=0x6C
    MPU6886_CONFIG=0x1A
    MPU6886_GYRO_CONFIG=0x1B
    MPU6886_ACCEL_CONFIG=0x1C
    MPU6886_ACCEL_CONFIG2=0x1D
    MPU6886_FIFO_EN=0x23
    
    # IMU6866 Initialize
    def write_i2c(address, value):
    	i2c.writeto_mem(MPU6886_ADDRESS, address, bytearray([value]))
    	time.sleep_ms(10)
    
    write_i2c(MPU6886_PWR_MGMT_1, 0x00)
    write_i2c(MPU6886_PWR_MGMT_1, 0x01<<7)
    write_i2c(MPU6886_PWR_MGMT_1,0x01<<0)
    write_i2c(MPU6886_ACCEL_CONFIG,0x10)
    write_i2c(MPU6886_GYRO_CONFIG,0x18)
    write_i2c(MPU6886_CONFIG,0x01)
    write_i2c(MPU6886_SMPLRT_DIV,0x05)
    write_i2c(MPU6886_INT_ENABLE,0x00)
    write_i2c(MPU6886_ACCEL_CONFIG2,0x00)
    write_i2c(MPU6886_USER_CTRL,0x00)
    write_i2c(MPU6886_FIFO_EN,0x00)
    write_i2c(MPU6886_INT_PIN_CFG,0x22)
    write_i2c(MPU6886_INT_ENABLE,0x01)
    
    # Read IMU6866 and Scaling
    def read_imu():
    	aRes=255/4096/2
    	gRes = 2000.0/32768.0
    	offset=128
    	accel = i2c.readfrom_mem(MPU6886_ADDRESS, MPU6886_ACCEL_XOUT_H, 6)
    	accel_x = (accel[0]<<8|accel[1])
    	accel_y = (accel[2]<<8|accel[3])
    	accel_z = (accel[4]<<8|accel[5])
    	if accel_x>32768:
    		accel_x=accel_x-65536
    	if accel_y>32768:
    		accel_y=accel_y-65536
    	if accel_z>32768:
    		accel_z=accel_z-65536
    	ax=int(accel_x*aRes+offset)
    	if ax<0: ax=0
    	if ax>255: ax=255
    	ay=int(accel_y*aRes+offset)
    	if ay<0: ay=0
    	if ay>255: ay=255
    	az=int(accel_z*aRes+offset)
    	if az<0: az=0
    	if az>255: az=255
    	accel_array = [ax,ay,az]
    	gyro = i2c.readfrom_mem(MPU6886_ADDRESS, MPU6886_GYRO_XOUT_H, 6)
    	gyro_x = (gyro[0]<<8|gyro[1])
    	gyro_y = (gyro[2]<<8|gyro[3])
    	gyro_z = (gyro[4]<<8|gyro[5])
    	if gyro_x>32768:
    		gyro_x=gyro_x-65536
    	if gyro_y>32768:
    		gyro_y=gyro_y-65536
    	if gyro_z>32768:
    		gyro_z=gyro_z-65536
    	gx=int(gyro_x*gRes+offset)
    	if gx<0: gx=0
    	if gx>255: gx=255
    	gy=int(gyro_y*gRes+offset)
    	if gy<0: gy=0
    	if gy>255: gy=255
    	gz=int(gyro_x*gRes+offset)
    	if gz<0: gz=0
    	if gz>255: gz=255
    	gyro_array = [gx,gy,gz]
    	return accel_array, gyro_array
    
    
    lcd.rotation(2)
    task = kpu.load("/sd/7118109ae3ea570e_mbnet10_quant.kmodel")#change model
    labels=["seadog","Borbya","mermaid","Villo"] #change names.
    sensor.reset()
    sensor.set_pixformat(sensor.RGB565)
    sensor.set_framesize(sensor.QVGA)
    sensor.set_windowing((224, 224))
    sensor.run(1)
    lcd.clear()
    while(True):
    	accel_array,gyro_array = read_imu()
    	img = sensor.snapshot()
    	fmap = kpu.forward(task,img)
    	plist=fmap[:]
    	pmax=max(plist)
    	#lcd.draw_string(40, 20, str(accel_array))
    	#lcd.draw_string(10, 40, str(gyro_array))
    	max_index=plist.index(pmax)
    	if pmax > 0.95:
    		#lcd.draw_string(40, 60, "Accu:%.2f Type:%s"%(pmax, labels[max_index].strip()))  #20-59,130-136,55-30 [side view] 100-130,130-136,9-20 [top view] 
            #the values are from 0 to 255 
    		if accel_array[0] > 20 and accel_array[0] < 59 and accel_array[1] > 130 and accel_array[1] < 136 and accel_array[2] > 30 and accel_array[2] < 55:
    			img.draw_image(image.Image("/sd/view2.jpg"), 50, 50,x_scale=0.5,y_scale=0.5,mask=image.Image("/sd/view2t.jpg"))
    		if accel_array[0] > 60  and accel_array[0] < 130 and accel_array[1] > 130  and accel_array[1] < 137 and accel_array[2] > 8 and accel_array[2] < 20:
    			img.draw_image(image.Image("/sd/view1.jpg"), 50, 50,x_scale=0.5,y_scale=0.5,mask=image.Image("/sd/view1t.jpg"))
    	a = lcd.display(img)
    a = kpu.deinit(task)
    sys.exit()