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53 lines
1.2 KiB
53 lines
1.2 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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// |
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// Simple test for the AP_InertialSensor MPU6000 driver. |
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// |
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#include <FastSerial.h> |
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#include <SPI.h> |
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#include <Arduino_Mega_ISR_Registry.h> |
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#include <AP_PeriodicProcess.h> |
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#include <AP_InertialSensor.h> |
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#include <AP_Math.h> |
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#include <AP_Common.h> |
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FastSerialPort(Serial, 0); |
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Arduino_Mega_ISR_Registry isr_registry; |
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AP_TimerProcess scheduler; |
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AP_InertialSensor_MPU6000 ins( 53 ); /* chip select is pin 53 */ |
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void setup(void) |
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{ |
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Serial.begin(115200); |
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Serial.println("Doing INS startup..."); |
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SPI.begin(); |
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SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate |
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isr_registry.init(); |
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scheduler.init(&isr_registry); |
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// we need to stop the barometer from holding the SPI bus |
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pinMode(40, OUTPUT); |
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digitalWrite(40, HIGH); |
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ins.init(&scheduler); |
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} |
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void loop(void) |
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{ |
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float accel[3]; |
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float gyro[3]; |
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float temperature; |
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delay(20); |
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ins.update(); |
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ins.get_gyros(gyro); |
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ins.get_accels(accel); |
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temperature = ins.temperature(); |
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Serial.printf("AX: %f AY: %f AZ: %f GX: %f GY: %f GZ: %f T=%f\n", |
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accel[0], accel[1], accel[2], gyro[0], gyro[1], gyro[2], temperature); |
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}
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