main.c
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/*
* Copyright (C) 2015 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup tests
* @{
*
* @file
* @brief Test application for the MPU-9150 Nine-Axis driver
*
* @author Fabian Nack <nack@inf.fu-berlin.de>
*
* @}
*/
#ifndef TEST_I2C
#error "TEST_I2C not defined"
#endif
#ifndef TEST_HW_ADDR
#error "TEST_HW_ADDR not defined"
#endif
#ifndef TEST_COMP_ADDR
#error "TEST_COMP_ADDR not defined"
#endif
#include <stdio.h>
#include <inttypes.h>
#include "mpu9150.h"
#include "xtimer.h"
#include "board.h"
#define SLEEP (1000 * 1000u)
int main(void)
{
mpu9150_t dev;
mpu9150_results_t measurement;
int32_t temperature;
int result;
puts("MPU-9150 test application\n");
printf("+------------Initializing------------+\n");
result = mpu9150_init(&dev, TEST_I2C, TEST_HW_ADDR, TEST_COMP_ADDR);
if (result == -1) {
puts("[Error] The given i2c is not enabled");
return 1;
}
else if (result == -2) {
puts("[Error] The compass did not answer correctly on the given address");
return 1;
}
mpu9150_set_sample_rate(&dev, 200);
if (dev.conf.sample_rate != 200) {
puts("[Error] The sample rate was not set correctly");
return 1;
}
mpu9150_set_compass_sample_rate(&dev, 100);
if (dev.conf.compass_sample_rate != 100) {
puts("[Error] The compass sample rate was not set correctly");
return 1;
}
printf("Initialization successful\n\n");
printf("+------------Configuration------------+\n");
printf("Sample rate: %"PRIu16" Hz\n", dev.conf.sample_rate);
printf("Compass sample rate: %"PRIu8" Hz\n", dev.conf.compass_sample_rate);
printf("Gyro full-scale range: 2000 DPS\n");
printf("Accel full-scale range: 2 G\n");
printf("Compass X axis factory adjustment: %"PRIu8"\n", dev.conf.compass_x_adj);
printf("Compass Y axis factory adjustment: %"PRIu8"\n", dev.conf.compass_y_adj);
printf("Compass Z axis factory adjustment: %"PRIu8"\n", dev.conf.compass_z_adj);
printf("\n+--------Starting Measurements--------+\n");
while (1) {
/* Get accel data in milli g */
mpu9150_read_accel(&dev, &measurement);
printf("Accel data [milli g] - X: %"PRId16" Y: %"PRId16" Z: %"PRId16"\n",
measurement.x_axis, measurement.y_axis, measurement.z_axis);
/* Get gyro data in dps */
mpu9150_read_gyro(&dev, &measurement);
printf("Gyro data [dps] - X: %"PRId16" Y: %"PRId16" Z: %"PRId16"\n",
measurement.x_axis, measurement.y_axis, measurement.z_axis);
/* Get compass data in mikro Tesla */
mpu9150_read_compass(&dev, &measurement);
printf("Compass data [mikro T] - X: %"PRId16" Y: %"PRId16" Z: %"PRId16"\n",
measurement.x_axis, measurement.y_axis, measurement.z_axis);
/* Get temperature in milli degrees celsius */
mpu9150_read_temperature(&dev, &temperature);
printf("Temperature [milli deg] : %"PRId32"\n", temperature);
printf("\n+-------------------------------------+\n");
xtimer_usleep(SLEEP);
}
return 0;
}