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This commit is contained in:
William Clark 2024-01-10 15:39:14 +00:00
parent 160ca4efe5
commit f331f3d47d
3 changed files with 45 additions and 18 deletions
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20
main.c
View File

@ -21,7 +21,7 @@ int main() {
exit(1);
}
mpu6050.cfg.gyro = MPU6050_GYRO_FS_2000;
mpu6050.cfg.gyro = MPU6050_GYRO_FS_250;
mpu6050.cfg.acc = MPU6050_ACC_FS_2G;
/* reset all signal paths */
@ -71,11 +71,21 @@ LOOP:
exit(1);
}
printf("[GYRO °/s] x:%1.d y:%1.d z:%1.d ",
mpu6050.gyro.x, mpu6050.gyro.y, mpu6050.gyro.z);
if (mpu6050_read_temp(&mpu6050)) {
exit(1);
}
printf("[ACC mg] x: %-3d y: %-3d z: %-3d\n",
mpu6050.acc.x, mpu6050.acc.y, mpu6050.acc.z);
printf("[GYRO °/s] x:%4.1f y:%4.1f z:%4.1f ",
(float)mpu6050.data.gyro.x / 10.f,
(float)mpu6050.data.gyro.y / 10.f,
(float)mpu6050.data.gyro.z / 10.f);
printf("[ACC g] x:%4.3f y:%4.3f z:%4.3f ",
(float)mpu6050.data.acc.x / 1000.f,
(float)mpu6050.data.acc.y / 1000.f,
(float)mpu6050.data.acc.z / 1000.f);
printf("t:%4.1f°C\n", (float)mpu6050.data.temp / 10.f);
usleep(100 * 1000);
goto LOOP;

33
mpu6050.c
View File

@ -25,8 +25,7 @@ int mpu6050_init(mpu6050_t *mpu6050) {
}
memset(&mpu6050->cfg, 0, sizeof mpu6050->cfg);
memset(&mpu6050->acc, 0, sizeof mpu6050->acc);
memset(&mpu6050->gyro, 0, sizeof mpu6050->gyro);
memset(&mpu6050->data, 0, sizeof mpu6050->data);
return err;
}
@ -41,7 +40,7 @@ int mpu6050_deinit(mpu6050_t *mpu6050) {
return mpu6050->dev.deinit();
}
/* transform i16 samples st 1 lsb is 1 mg (1/1000 g) */
/* transform accel i16 samples st 1 lsb is 1 mg (1/1000 g) */
int mpu6050_read_acc(mpu6050_t *mpu6050) {
uint8_t data[6];
uint8_t shift;
@ -52,14 +51,14 @@ int mpu6050_read_acc(mpu6050_t *mpu6050) {
shift = acc_i16_shift(mpu6050->cfg.acc);
err |= mpu6050->dev.read(REG_ACCEL_XOUT_H, data, 6);
mpu6050->acc.x = (int16_t)(data[0] << 8 | data[1]) >> shift;
mpu6050->acc.y = (int16_t)(data[2] << 8 | data[3]) >> shift;
mpu6050->acc.z = (int16_t)(data[4] << 8 | data[5]) >> shift;
mpu6050->data.acc.x = (int16_t)(data[0] << 8 | data[1]) >> shift;
mpu6050->data.acc.y = (int16_t)(data[2] << 8 | data[3]) >> shift;
mpu6050->data.acc.z = (int16_t)(data[4] << 8 | data[5]) >> shift;
return err;
}
/* transform gyro i16 sample st 1 lsb = 0.1 deg / s */
/* transform gyro i16 samples st 1 lsb = 0.1 deg / s */
int mpu6050_read_gyro(mpu6050_t *mpu6050) {
uint8_t data[6];
uint8_t shift;
@ -71,13 +70,25 @@ int mpu6050_read_gyro(mpu6050_t *mpu6050) {
err |= mpu6050->dev.read(REG_GYRO_XOUT_H, data, 6);
mpu6050->gyro.x = ((int16_t)(data[0] << 8 | data[1]) >> shift);
mpu6050->gyro.y = ((int16_t)(data[2] << 8 | data[3]) >> shift);
mpu6050->gyro.z = ((int16_t)(data[4] << 8 | data[5]) >> shift);
mpu6050->data.gyro.x = ((int16_t)(data[0] << 8 | data[1]) >> shift);
mpu6050->data.gyro.y = ((int16_t)(data[2] << 8 | data[3]) >> shift);
mpu6050->data.gyro.z = ((int16_t)(data[4] << 8 | data[5]) >> shift);
return err;
}
/* transform temp i16 sample st 1 lsb = 0.1 deg C */
int mpu6050_read_temp(mpu6050_t *mpu6050) {
uint8_t data[2];
int err = 0;
assert(mpu6050);
err |= mpu6050->dev.read(REG_TEMP_OUT_H, data, 2);
mpu6050->data.temp = (int16_t)(data[0] << 8 | data[1])/34 + 365;
return err;
}
/* How much to shift down an i16 accel sample depending on full-scale mode set */
static uint8_t acc_i16_shift(uint8_t fs) {
switch(fs) {
@ -89,7 +100,7 @@ static uint8_t acc_i16_shift(uint8_t fs) {
}
}
/* How much to shift down an i16 sample depending on full-scale mode set */
/* How much to shift down an i16 gyro sample depending on full-scale mode set */
static uint8_t gyro_i16_shift(uint8_t fs) {
switch(fs) {
case MPU6050_GYRO_FS_250: return 4;

10
mpu6050.h
View File

@ -42,11 +42,16 @@ struct mpu6050_gyroscope {
int16_t z;
};
struct mpu6050_data {
struct mpu6050_accelerometer acc;
struct mpu6050_gyroscope gyro;
int16_t temp;
};
struct mpu6050 {
struct mpu6050_dev dev;
struct mpu6050_config cfg;
struct mpu6050_accelerometer acc;
struct mpu6050_gyroscope gyro;
struct mpu6050_data data;
};
typedef struct mpu6050 mpu6050_t;
@ -55,5 +60,6 @@ int mpu6050_init(mpu6050_t *mpu6050);
int mpu6050_deinit(mpu6050_t *mpu6050);
int mpu6050_read_acc(mpu6050_t *mpu6050);
int mpu6050_read_gyro(mpu6050_t *mpu6050);
int mpu6050_read_temp(mpu6050_t *mpu6050);
#endif