Tested on Pyboard and ESP8266

Author: peterhinch

README_MPU9150.md

@@ -35,8 +35,8 @@ transposing axes. The driver returns vehicle-relative coordinates.
 Example:
 Example assuming an MPU9150 connected to 'X' I2C interface on the Pyboard:
 ```python
-from mpu1250 import MPU9150
-imu = MPU9250('X')
+from mpu9150 import MPU9150
+imu = MPU9150('X')
 print(imu.accel.xyz)
 print(imu.gyro.xyz)
 print(imu.mag.xyz)

imu.py

@@ -3,7 +3,7 @@
 # Adapted from Sebastian Plamauer's MPU9150 driver:
 # https://github.com/micropython-IMU/micropython-mpu9150.git
 # Authors Peter Hinch, Sebastian Plamauer
-# V0.1 13th June 2015 Experimental: this code is not yet fully tested
+# V0.2 17th May 2017 Platform independent: utime and machine replace pyb
 
 '''
 mpu9250 is a micropython module for the InvenSense MPU9250 sensor.
@@ -37,15 +37,15 @@
 # At runtime try to continue returning last good data value. We don't want aircraft
 # crashing. However if the I2C has crashed we're probably stuffed.
 
-import pyb
+from utime import sleep_ms
+from machine import I2C
 from vector3d import Vector3d
 
 
 class MPUException(OSError):
     '''
     Exception for MPU devices
     '''
-
     pass
 
 
@@ -71,23 +71,18 @@ def __init__(self, side_str, device_addr, transposition, scaling):
 
         self._accel = Vector3d(transposition, scaling, self._accel_callback)
         self._gyro = Vector3d(transposition, scaling, self._gyro_callback)
-        self.buf1 = bytearray([0]*1)            # Pre-allocated buffers for reads: allows reads to
-        self.buf2 = bytearray([0]*2)            # be done in interrupt handlers
-        self.buf3 = bytearray([0]*3)
-        self.buf6 = bytearray([0]*6)
-        self.timeout = 10                       # I2C tieout mS
-
-        tim = pyb.millis()                      # Ensure PSU and device have settled
-        if tim < 200:
-            pyb.delay(200-tim)
-        if type(side_str) is str:
-            sst = side_str.upper()
-            if sst in {'X', 'Y'}:
-                self._mpu_i2c = pyb.I2C(sst, pyb.I2C.MASTER)
-            else:
-                raise ValueError('I2C side must be X or Y')
-        elif type(side_str) is pyb.I2C:
+        self.buf1 = bytearray(1)                # Pre-allocated buffers for reads: allows reads to
+        self.buf2 = bytearray(2)                # be done in interrupt handlers
+        self.buf3 = bytearray(3)
+        self.buf6 = bytearray(6)
+
+        sleep_ms(200)                           # Ensure PSU and device have settled
+        if isinstance(side_str, str):           # Non-pyb targets may use other than X or Y
+            self._mpu_i2c = I2C(side_str)
+        elif hasattr(side_str, 'readfrom'):     # Soft or hard I2C: issue #3097
             self._mpu_i2c = side_str
+        else:
+            raise ValueError("Invalid I2C instance")
 
         if device_addr is None:
             devices = set(self._mpu_i2c.scan())
@@ -116,14 +111,15 @@ def _read(self, buf, memaddr, addr):        # addr = I2C device address, memaddr
         '''
         Read bytes to pre-allocated buffer Caller traps OSError.
         '''
-        self._mpu_i2c.mem_read(buf, addr, memaddr, timeout=self.timeout)
+        self._mpu_i2c.readfrom_mem_into(addr, memaddr, buf)
 
     # write to device
     def _write(self, data, memaddr, addr):
         '''
         Perform a memory write. Caller should trap OSError.
         '''
-        self._mpu_i2c.mem_write(data, addr, memaddr, timeout=self.timeout)
+        self.buf1[0] = data
+        self._mpu_i2c.writeto_mem(addr, memaddr, self.buf1)
 
     # wake
     def wake(self):

mpu9150.py

@@ -20,18 +20,19 @@
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 THE SOFTWARE.
 '''
+# 17th May 2017 utime replaces pyb
 # 15th June 2015 Now uses subclass of InvenSenseMPU
 
 from imu import InvenSenseMPU, bytes_toint, MPUException
 from vector3d import Vector3d
-import pyb
-
+from utime import sleep_ms
 
 def default_mag_wait():
     '''
     delay of 1ms
     '''
-    pyb.delay(1)
+    sleep_ms(1)
+
 
 
 class MPU9150(InvenSenseMPU):

vector3d.py

@@ -1,6 +1,7 @@
 # vector3d.py 3D vector class for use in inertial measurement unit drivers
 # Authors Peter Hinch, Sebastian Plamauer
 
+# V0.7 17th May 2017 pyb replaced with utime
 # V0.6 18th June 2015
 
 '''
@@ -23,15 +24,15 @@
 THE SOFTWARE.
 '''
 
-import pyb
+from utime import sleep_ms
 from math import sqrt, degrees, acos, atan2
 
 
 def default_wait():
     '''
     delay of 50 ms
     '''
-    pyb.delay(50)
+    sleep_ms(50)
 
 
 class Vector3d(object):