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RIOT/tests/driver_mpu9150/main.c 3.25 KB
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  /*
   * Copyright (C) 2015 Freie Universitรคt 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;
  }