90 lines
2.0 KiB
C
90 lines
2.0 KiB
C
#define _GNU_SOURCE
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#include <unistd.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include "mpu6050.h"
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#include "registers.h"
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#include "i2c.h"
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int main() {
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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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exit(1);
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}
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mpu6050.cfg.gyro = MPU6050_GYRO_FS_250;
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mpu6050.cfg.acc = MPU6050_ACC_FS_2G;
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mpu6050.cfg.int_enable.data_rdy = 1;
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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, mpu6050.cfg.int_enable.data_rdy & 1)) {
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exit(1);
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}
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if (i2c_write(REG_GYRO_CONFIG, mpu6050.cfg.gyro << 3)) {
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exit(1);
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}
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if (i2c_write(REG_ACCEL_CONFIG, mpu6050.cfg.acc << 3)) {
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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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if (mpu6050_read(&mpu6050)) {
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exit(1);
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}
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printf("[GYRO °/s] x:%4.1f y:%4.1f z:%4.1f ",
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(float)mpu6050.data.gyro.x / 10.f,
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(float)mpu6050.data.gyro.y / 10.f,
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(float)mpu6050.data.gyro.z / 10.f);
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printf("[ACC g] x:%4.3f y:%4.3f z:%4.3f ",
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(float)mpu6050.data.acc.x / 1000.f,
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(float)mpu6050.data.acc.y / 1000.f,
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(float)mpu6050.data.acc.z / 1000.f);
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printf("t:%4.1f°C\n", (float)mpu6050.data.temp / 10.f);
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usleep(100 * 1000);
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goto LOOP;
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i2c_deinit();
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return 0;
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} |