The M5Stack FIRE should have a "MPU6886 3-Axis Accelerometer + 3-Axis Gyroscope" and a "BMM150 3-Axis Magnetometer" see: https://docs.m5stack.com/en/core/fire
I have made a minimal example script for MPU6886:
import time
from machine import I2C, Pin
from mpos import SensorManager
# I2C setup on ESP32 (default I2C bus id is often 0 or 1, adjust if needed)
i2c = I2C(0, scl=Pin(22), sda=Pin(21), freq=400000)
MPU6886_ADDR = 0x68
# MPU6886 register addresses (typical InvenSense MPU6xxx style)
MPU6886_REG_PWR_MGMT_1 = 0x6B
MPU6886_REG_ACCEL_XOUT_H = 0x3B
MPU6886_REG_GYRO_XOUT_H = 0x43
# Wake up the sensor:
i2c.writeto_mem(MPU6886_ADDR, MPU6886_REG_PWR_MGMT_1, b"\x00")
def twos_complement(val, bits):
if val & (1 << (bits - 1)):
val -= 1 << bits
return val
def read_mpu6886():
# Read 6 bytes accel, 6 bytes gyro
raw_accel = i2c.readfrom_mem(MPU6886_ADDR, MPU6886_REG_ACCEL_XOUT_H, 6)
raw_gyro = i2c.readfrom_mem(MPU6886_ADDR, MPU6886_REG_GYRO_XOUT_H, 6)
ax = twos_complement(raw_accel[0] << 8 | raw_accel[1], 16)
ay = twos_complement(raw_accel[2] << 8 | raw_accel[3], 16)
az = twos_complement(raw_accel[4] << 8 | raw_accel[5], 16)
gx = twos_complement(raw_gyro[0] << 8 | raw_gyro[1], 16)
gy = twos_complement(raw_gyro[2] << 8 | raw_gyro[3], 16)
gz = twos_complement(raw_gyro[4] << 8 | raw_gyro[5], 16)
print(f"Raw accel: ({ax}, {ay}, {az}), Raw gyro: ({gx}, {gy}, {gz})")
for i in range(3):
read_mpu6886()
time.sleep(0.1)
Output looks like:
mpremote u0 run test.py
Raw accel: (-80, -12, 17496), Raw gyro: (-436, -1752, -473)
Raw accel: (-100, -44, 17496), Raw gyro: (-274, -1878, -222)
Raw accel: (-60, -84, 17476), Raw gyro: (-405, -1722, -398)
No idea if the values are valid. But the changes look plausible when I turn the thing around.
I have no idea how to integrate it in mpos.
Just call: SensorManager.init(i2c, address=MPU6886_ADDR, mounted_position=SensorManager.FACING_EARTH) doesn't do the job.
The M5Stack FIRE should have a "MPU6886 3-Axis Accelerometer + 3-Axis Gyroscope" and a "BMM150 3-Axis Magnetometer" see: https://docs.m5stack.com/en/core/fire
I have made a minimal example script for MPU6886:
Output looks like:
No idea if the values are valid. But the changes look plausible when I turn the thing around.
I have no idea how to integrate it in mpos.
Just call:
SensorManager.init(i2c, address=MPU6886_ADDR, mounted_position=SensorManager.FACING_EARTH)doesn't do the job.