2024-01-09 21:03:01 +00:00
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#define _GNU_SOURCE
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#include <unistd.h>
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2024-01-09 19:15:14 +00:00
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#include <stdio.h>
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2024-01-09 21:03:01 +00:00
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#include <stdlib.h>
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#include <stdint.h>
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2024-01-09 19:15:14 +00:00
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#include "mpu6050.h"
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2024-01-09 21:03:01 +00:00
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#include "registers.h"
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2024-01-09 19:15:14 +00:00
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#include "i2c.h"
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int main() {
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2024-01-09 21:03:01 +00:00
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uint8_t gyro, acc;
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uint8_t int_status = 0;
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uint8_t data[6];
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int16_t gx, gy, gz;
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float lsb_conv_gyro;
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int err = 0;
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2024-01-10 00:33:31 +00:00
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mpu6050_t mpu6050;
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mpu6050.dev.init = i2c_init;
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mpu6050.dev.deinit = i2c_deinit;
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mpu6050.dev.read = i2c_read;
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mpu6050.dev.write = i2c_write;
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mpu6050.dev.sleep = usleep;
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if (mpu6050_init(&mpu6050)) {
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2024-01-09 21:03:01 +00:00
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exit(1);
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}
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/* reset all signal paths */
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/* enable gyro, acc and temp */
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if (i2c_write(REG_SIGNAL_PATH_RESET, 0x07)) {
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exit(1);
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}
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/* set sample rate divisor to 150 */
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/* if LP-filter = 0 or 7 => sample rate = 8 Khz, otherwise 1 Khz */
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if (i2c_write(REG_SMPLRT_DIV, 150)) {
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exit(1);
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}
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/* set up digital LP-filter */
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if (i2c_write(REG_CONFIG, 0x05)) {
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exit(1);
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}
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/* set sleep to 0 */
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if (i2c_write(REG_PWR_MGMT1, 0x00)) {
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exit(1);
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}
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/* enable DATA_RDY interrupt (polling for now) */
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/* active when internal writes to all out data regs are done */
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if (i2c_write(REG_INT_ENABLE, 0x01)) {
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exit(1);
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}
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gyro = MPU6050_GYRO_FS_250 << 3;
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lsb_conv_gyro = 131.f;
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if (i2c_write(REG_GYRO_CONFIG, gyro)) {
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exit(1);
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}
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acc = MPU6050_ACC_FS_2G << 3;
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if (i2c_write(REG_ACCEL_CONFIG, acc)) {
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exit(1);
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}
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usleep(200 * 1000);
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LOOP:
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do {
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err |= i2c_read(REG_INT_STATUS, &int_status, 1);
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usleep(1000);
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} while(!err && !(int_status & 1));
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if (i2c_read(REG_GYRO_XOUT_H, data, 6)) {
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exit(1);
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}
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gx = (data[0] << 8 | data[1]);
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gy = (data[2] << 8 | data[3]);
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gz = (data[4] << 8 | data[5]);
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printf("[GYRO °/s] x: % -3.4f y: %-3.4f z: %-3.4f ",
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(float)(gx)/lsb_conv_gyro,
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(float)(gy)/lsb_conv_gyro,
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(float)(gz)/lsb_conv_gyro);
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err = 0;
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int_status = 0;
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2024-01-10 00:33:31 +00:00
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if (mpu6050_read_acc(&mpu6050)) {
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2024-01-09 21:03:01 +00:00
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exit(1);
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}
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2024-01-10 00:33:31 +00:00
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printf("[ACC mg] x: %-3d y: %-3d z: %-3d\n",
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mpu6050.acc.x, mpu6050.acc.y, mpu6050.acc.z);
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2024-01-09 21:03:01 +00:00
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goto LOOP;
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i2c_deinit();
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2024-01-09 19:15:14 +00:00
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return 0;
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}
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