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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()
