Update asynchronous code and docs for uasyncio V3

Author: peterhinch

Diff for: README.md

@@ -39,6 +39,20 @@ are to use frozen bytecode and to periodically run a garbage collection; the
 latter is advisable even on the Pyboard. See the `fusionlcd.py` test program
 for an example of this.
 
+## MicroPython firmware dependency
+
+Some modules in this library use asynchronous programming. This uses the
+`asyncio` library under CPython, `uasyncio` under MicroPython. The MicroPython
+version is much improved after a complete rewrite and is at version 3.0. It is
+syntax compatible with CPython 3.8 `asyncio`. All code has been updated to use
+this syntax, which is unsupported by older versions.
+
+To run asynchronous modules MicroPython targets should use a daily build of
+firmware, or a release build after V1.12: such firmware incorporates `uasyncio`
+V3.
+
+Where asynchronous code is run under CPython, this must be V3.8 or later.
+
 ## Terminology and units of measurement
 
 I should point out that I'm unfamiliar with aircraft conventions and would
@@ -78,32 +92,19 @@ The issue of the orientation of the sensor is discussed in
 
 # Contents
 
- 1. [Modules](./README.md#1-modules)
-
- 2. [Fusion module](./README.md#2-fusion-module)
-
-  2.1 [Fusion class](./README.md#21-fusion-class)
-
-   2.1.1 [Methods](./README.md#211-methods)
-
-   2.1.2 [Bound variables](./README.md#212-bound-variables)
-
- 3. [Asynchronous version](./README.md#3-asynchronous-version)
-
-  3.1 [Fusion class](./README.md#31-fusion-class)
-
-   3.1.1 [Methods](./README.md#311-methods)
-
-   3.1.2 [Variables](./README.md#312-variables)
-
- 4. [Notes for constructors](./README.md#4-notes-for-constructors)
- 
- 5. [Background notes](./README.md#5-background-notes)
-
-  5.1 [Heading Pitch and Roll](./README.md#51-heading-pitch-and-roll)
-
-  5.2 [Beta](./README.md#52-beta)
-
+ 1. [Modules](./README.md#1-modules)  
+ 2. [Fusion module](./README.md#2-fusion-module)  
+  2.1 [Fusion class](./README.md#21-fusion-class)  
+   2.1.1 [Methods](./README.md#211-methods)  
+   2.1.2 [Bound variables](./README.md#212-bound-variables)  
+ 3. [Asynchronous version](./README.md#3-asynchronous-version)  
+  3.1 [Fusion class](./README.md#31-fusion-class)  
+   3.1.1 [Methods](./README.md#311-methods)  
+   3.1.2 [Variables](./README.md#312-variables)  
+ 4. [Notes for constructors](./README.md#4-notes-for-constructors)  
+ 5. [Background notes](./README.md#5-background-notes)  
+  5.1 [Heading Pitch and Roll](./README.md#51-heading-pitch-and-roll)  
+  5.2 [Beta](./README.md#52-beta)  
  6. [References](./README.md#6-references)
 
 # 1. Modules
@@ -124,6 +125,9 @@ Test/demo programs:
  5. `fusionlcd.py` Tests the async library with a Hitachi HD44780 2-row LCD
  text display to continuously display angle values.
 
+If using InvenSense MPU9150, MPU6050 or MPU9250 IMU's, drivers may be found
+[here](https://github.com/micropython-IMU/micropython-mpu9x50).
+
 The directory `remote` contains files and information specific to
 [remote mode](./remote/README.md) and to running fusion on standard Python.
 
@@ -372,4 +376,4 @@ this is the free parameter in the Madgwick filtering and fusion scheme.
 [Original Madgwick study](http://sharenet-wii-motion-trac.googlecode.com/files/An_efficient_orientation_filter_for_inertial_and_inertialmagnetic_sensor_arrays.pdf)  
 [Euler and Tait Bryan angles](http://en.wikipedia.org/wiki/Euler_angles#Tait.E2.80.93Bryan_angles)  
 [Quaternions to Euler angles](http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles)  
-[Beta](https://github.com/kriswiner/MPU-9250.git)
+[Beta](https://github.com/kriswiner/MPU-9250.git)

Diff for: fusion_async.py

@@ -1,8 +1,10 @@
 # fusion_async.py Asynchronous sensor fusion for micropython targets.
 # Ported to MicroPython by Peter Hinch, May 2017.
-# Released under the MIT License (MIT)
-# Copyright (c) 2017, 2018 Peter Hinch
+# Released under the MIT License (MIT) See LICENSE
+# Copyright (c) 2017-2020 Peter Hinch
 
+# Requires:
+# uasyncio V3 (Included in daily builds and release builds later than V1.12).
 # Uses the uasyncio library to enable updating to run as a background coroutine.
 
 # Supports 6 and 9 degrees of freedom sensors. Tested with InvenSense MPU-9150 9DOF sensor.
@@ -53,11 +55,10 @@ async def calibrate(self, stopfunc):
 
     async def start(self, slow_platform=False):
         data = await self.read_coro()
-        loop = asyncio.get_event_loop()
         if len(data) == 2 or (self.expect_ts and len(data) == 3):
-            loop.create_task(self._update_nomag(slow_platform))
+            asyncio.create_task(self._update_nomag(slow_platform))
         else:
-            loop.create_task(self._update_mag(slow_platform))
+            asyncio.create_task(self._update_mag(slow_platform))
 
     async def _update_nomag(self, slow_platform):
         while True:

Diff for: fusionlcd.py

@@ -1,15 +1,18 @@
 # fusionlcd.py Test for asynchronous sensor fusion on Pyboard. Uses LCD display and uasyncio.
 # Author: Peter Hinch
-# Released under the MIT License (MIT)
-# Copyright (c) 2017 Peter Hinch
-# V0.8 16th May 2017 Adapted for uasyncio
-# V0.7 25th June 2015 Adapted for new MPU9x50 interface
+# Released under the MIT License (MIT) See LICENSE
+# Copyright (c) 2017-2020 Peter Hinch
 
 # Requires:
-# uasyncio (official or modified version)
+# uasyncio V3 (Included in daily builds and release builds later than V1.12).
 # MPU9150 on X position
 # Normally open pushbutton connected between pin Y7 and ground
-# LCD driver alcd.py from https://github.com/peterhinch/micropython-async.git
+# LCD driver alcd.py uasyncio V3 version from
+# https://github.com/peterhinch/micropython-async/blob/master/v3/as_drivers/hd44780/alcd.py
+# From https://github.com/micropython-IMU/micropython-mpu9x50:
+# imu.py, mpu9150.py, vector3d.py
+# From this repo: deltat.py fusion_async.py
+
 # Hitachi HD44780 2 row LCD display wired using 4 bit data bus as follows:
 
 # Name LCD connector Board

Diff for: fusiontest_as.py

@@ -1,10 +1,14 @@
 # fusiontest_as.py Test for asynchronous sensor fusion on Pyboard.
 # Author: Peter Hinch
-# Released under the MIT License (MIT)
-# Copyright (c) 2017 Peter Hinch
+# Released under the MIT License (MIT) See LICENSE
+# Copyright (c) 2017-2020 Peter Hinch
 
 # Requires:
-# uasyncio (official or modified version)
+# uasyncio V3 (Included in daily builds and release builds later than V1.12).
+# From https://github.com/micropython-IMU/micropython-mpu9x50:
+# imu.py, mpu9150.py, vector3d.py
+# From this repo: deltat.py fusion_async.py
+
 # MPU9150 on X position
 # Normally open pushbutton connected between pin Y7 and ground
 
@@ -45,11 +49,8 @@ async def test_task():
         await fuse.calibrate(lambda : not switch.value())
         print('Mag bias vector: ', fuse.magbias)
     await fuse.start()  # Start the update task
-    loop = asyncio.get_event_loop()
-    loop.create_task(display())
+    await display()
 
 
-loop = asyncio.get_event_loop()
-loop.create_task(mem_manage())
-loop.create_task(test_task())
-loop.run_forever()
+asyncio.create_task(mem_manage())
+asyncio.run(test_task())

Diff for: fusiontest_as6.py

@@ -1,10 +1,13 @@
 # fusiontest_as6.py Test for 6DOF asynchronous sensor fusion on Pyboard.
 # Author: Peter Hinch
-# Released under the MIT License (MIT)
-# Copyright (c) 2017 Peter Hinch
+# Released under the MIT License (MIT) See LICENSE
+# Copyright (c) 2017-2020 Peter Hinch
 
 # Requires:
-# uasyncio (official or modified version)
+# uasyncio V3 (Included in daily builds and release builds later than V1.12).
+# From https://github.com/micropython-IMU/micropython-mpu9x50:
+# imu.py, mpu6050.py, vector3d.py
+# From this repo: deltat.py fusion_async.py
 # MPU9150 on X position
 
 from machine import Pin
@@ -38,10 +41,8 @@ async def display():
 async def test_task():
     await fuse.start()  # Start the update task
     loop = asyncio.get_event_loop()
-    loop.create_task(display())
+    await display()
 
 
-loop = asyncio.get_event_loop()
-loop.create_task(mem_manage())
-loop.create_task(test_task())
-loop.run_forever()
+asyncio.create_task(mem_manage())
+asyncio.run(test_task())

Diff for: remote/capture.py

@@ -1,13 +1,14 @@
 # capture.py Data capture for remote operation. Uses LCD display and uasyncio.
 # Author: Peter Hinch
-# Released under the MIT License (MIT)
-# Copyright (c) 2018 Peter Hinch
+# Released under the MIT License (MIT) See LICENSE
+# Copyright (c) 2017-2020 Peter Hinch
 
 # Requires:
-# uasyncio (official or modified version)
+# uasyncio V3 (Included in daily builds and release builds later than V1.12).
 # MPU9150 on X position
 # Normally open pushbutton connected between pin Y7 and ground
-# LCD driver alcd.py from https://github.com/peterhinch/micropython-async.git
+# LCD driver alcd.py uasyncio V3 version from
+# https://github.com/peterhinch/micropython-async/blob/master/v3/as_drivers/hd44780/alcd.py
 # Hitachi HD44780 2 row LCD display wired using 4 bit data bus as follows:
 
 # Name LCD connector Board
@@ -71,6 +72,5 @@ async def lcd_task():
     await fuse.start()  # Start the update task
     await display()
 
-loop = asyncio.get_event_loop()
-loop.create_task(mem_manage())
-loop.run_until_complete(lcd_task())
+asyncio.create_task(mem_manage())
+asyncio.run(lcd_task())

Diff for: remote/fusion_r_asyn.py

@@ -1,9 +1,12 @@
 # fusion_r_asyn.py Test for sensor fusion remote device
 # simulated by captured data mpudata
 # Author Peter Hinch
-# Released under the MIT License (MIT)
-# Copyright (c) 2018 Peter Hinch
-# Run under MicroPython on Unix or other target, or CPython 3.5 or later
+# Released under the MIT License (MIT) See LICENSE
+# Copyright (c) 2017-2020 Peter Hinch
+
+# Requires:
+# uasyncio V3 (Included in daily builds and release builds later than V1.12).
+# Run under MicroPython on Unix or other target, or CPython 3.8 or later
 
 try:
     import utime as time
@@ -96,5 +99,4 @@ async def main_task():
     await fuse.start()  # Start the update task
     await display()
 
-loop = asyncio.get_event_loop()
-loop.run_until_complete(main_task())
+asyncio.run(main_task())