mpu6050/main.c

121 lines
2.5 KiB
C
Raw Normal View History

2024-01-09 21:03:01 +00:00
#define _GNU_SOURCE
#include <unistd.h>
2024-01-09 19:15:14 +00:00
#include <stdio.h>
2024-01-09 21:03:01 +00:00
#include <stdlib.h>
#include <stdint.h>
2024-01-09 19:15:14 +00:00
#include "mpu6050.h"
2024-01-09 21:03:01 +00:00
#include "registers.h"
2024-01-09 19:15:14 +00:00
#include "i2c.h"
int main() {
2024-01-09 21:03:01 +00:00
uint8_t id;
uint8_t gyro, acc;
uint8_t int_status = 0;
uint8_t data[6];
int16_t gx, gy, gz;
int16_t ax, ay, az;
float lsb_conv_gyro;
float lsb_conv_acc;
int err = 0;
if (i2c_init()) {
exit(1);
}
if (i2c_read(REG_WHO_AM_I, &id, 1)) {
exit(1);
}
if (id == 0x68) {
puts("Found MPU-6050");
}
/* reset all signal paths */
/* enable gyro, acc and temp */
if (i2c_write(REG_SIGNAL_PATH_RESET, 0x07)) {
exit(1);
}
/* set sample rate divisor to 150 */
/* if LP-filter = 0 or 7 => sample rate = 8 Khz, otherwise 1 Khz */
if (i2c_write(REG_SMPLRT_DIV, 150)) {
exit(1);
}
/* set up digital LP-filter */
if (i2c_write(REG_CONFIG, 0x05)) {
exit(1);
}
/* set sleep to 0 */
if (i2c_write(REG_PWR_MGMT1, 0x00)) {
exit(1);
}
/* enable DATA_RDY interrupt (polling for now) */
/* active when internal writes to all out data regs are done */
if (i2c_write(REG_INT_ENABLE, 0x01)) {
exit(1);
}
gyro = MPU6050_GYRO_FS_250 << 3;
lsb_conv_gyro = 131.f;
if (i2c_write(REG_GYRO_CONFIG, gyro)) {
exit(1);
}
acc = MPU6050_ACC_FS_2G << 3;
lsb_conv_acc = 16384.f;
if (i2c_write(REG_ACCEL_CONFIG, acc)) {
exit(1);
}
usleep(200 * 1000);
LOOP:
do {
err |= i2c_read(REG_INT_STATUS, &int_status, 1);
usleep(1000);
} while(!err && !(int_status & 1));
if (i2c_read(REG_GYRO_XOUT_H, data, 6)) {
exit(1);
}
gx = (data[0] << 8 | data[1]);
gy = (data[2] << 8 | data[3]);
gz = (data[4] << 8 | data[5]);
printf("[GYRO °/s] x: % -3.4f y: %-3.4f z: %-3.4f ",
(float)(gx)/lsb_conv_gyro,
(float)(gy)/lsb_conv_gyro,
(float)(gz)/lsb_conv_gyro);
err = 0;
int_status = 0;
do {
err |= i2c_read(REG_INT_STATUS, &int_status, 1);
usleep(1000);
} while(!err && !(int_status & 1));
if (i2c_read(REG_ACCEL_XOUT_H, data, 6)) {
exit(1);
}
ax = (data[0] << 8 | data[1]);
ay = (data[2] << 8 | data[3]);
az = (data[4] << 8 | data[5]);
printf("[ACCEL g] x: % -3.4f y: %-3.4f z: %-3.4f\n",
(float)(ax)/lsb_conv_acc,
(float)(ay)/lsb_conv_acc,
(float)(az)/lsb_conv_acc);
goto LOOP;
i2c_deinit();
2024-01-09 19:15:14 +00:00
return 0;
}