micropython-IMU
Is there a way to access the DMP?
Sadly no. There is no real documentation on how to use the DMP in the datasheet, so I couldn't implement it.
data sheet and register map http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/IMU/PS-MPU-9150A.pdf http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/IMU/RM-MPU-9150A-00.pdf
Yep, those are the docs I was referring to.
I have seen some implementations with C and C++, but I can't really figure out their structure. Would you like to see them?
On Mon, Mar 16, 2015 at 8:31 PM Sebastian Plamauer [email protected] wrote:
Sadly no. There is no real documentation on how to use the DMP in the datasheet, so I couldn't implement it.
data sheet and register map http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/IMU/PS-MPU-9150A.pdf
http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/IMU/RM-MPU-9150A-00.pdf
— Reply to this email directly or view it on GitHub https://github.com/turbinenreiter/micropython-mpu9150/issues/6#issuecomment-81591131 .
Sure, but I can't promise anything. Spent a lot of time searching around, but never found anything good.
People from my lab got this working on mbed: http://developer.mbed.org/users/syundo0730/code/MPU6050-DMP/
It is written in C++, and based on code written by Jeff Rowberg for the MPU-6050.
On Mon, Mar 16, 2015 at 8:57 PM Sebastian Plamauer [email protected] wrote:
Sure, but I can't promise anything. Spent a lot of time searching around, but never found anything good.
— Reply to this email directly or view it on GitHub https://github.com/turbinenreiter/micropython-mpu9150/issues/6#issuecomment-81604788 .
It's a can of worms as far as I can see. Read the comments section of the link below - particularly the most recent one by @SVFeingold - to summarise the chip can only do 6-axis sensor fusion, and even this is slow and uses a proprietary encrypted binary. The job is probably best done in Python in the driver. I'm sure @turbinenreiter would look favourably on such a contribution from anyone with a grasp of quaternions. Sparkfun breakout board
I have used the RTIMULib software discussed further down in the comments in the link from @peterhinch My setup used the micropython pyboard to stream the sensor data from the mpu9150 to a host PC via USB; I then used the RTHostIMUGL (one of the programs provided at https://github.com/richards-tech/RTIMULib) to compute the sensor fusion and display the results. Unfortunately when I tried to get it running a couple of weeks ago I found that I didn't really document where I left off; it will take me a few hours to resurrect the system when I get a chance. The RTIMULib software does implement the quaternion sensor fusion algorithm in C++; it could potentially provide a model for a Python implementation, or perhaps even be ported as an optional C module to MicroPython. I should add that RTIMULib is well supported and under active development; Richard Barnett was very responsive when I had questions about his code a few months ago. I'd love to get back to working on this, but not sure when I will be able to squeeze in the time.
Much as this interests me I've too many things on to address it now. But the RTIMULib looks good and has Python bindings. I'd try cross compiling it: if it compiles OK MicroPython might interface to it without much trouble. It strikes me as a better solution than the code cited by @masasin with its opaque binary blob in MPU6050_6Axis_MotionApps20.h
In the end we used RTIMULib as well, and just communicated with the chip via i2c.
On 2015年5月6日(水) 17:23 Peter Hinch [email protected] wrote:
Much as this interests me I've too many things on to address it now. But the RTIMULib looks good and has Python bindings. I'd try cross compiling it: if it compiles OK MicroPython might interface to it without much trouble. It strikes me as a better solution than the code cited by @masasin https://github.com/masasin with its opaque binary blob in MPU6050_6Axis_MotionApps20.h
— Reply to this email directly or view it on GitHub https://github.com/turbinenreiter/micropython-mpu9150/issues/6#issuecomment-99375564 .