BMek
We have a custom board designed using nRF52832 and MPU9250
Revision 0:5db36d8f8a01, committed 2017-08-17
- Comitter:
- sanjay_ingale
- Date:
- Thu Aug 17 07:57:08 2017 +0000
- Commit message:
- MPU9250 working program with nRF52832 custom board
Changed in this revision
diff -r 000000000000 -r 5db36d8f8a01 MPU9250.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU9250.lib Thu Aug 17 07:57:08 2017 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/BMek/code/MPU9250/#8a0a9422787d
diff -r 000000000000 -r 5db36d8f8a01 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Aug 17 07:57:08 2017 +0000
@@ -0,0 +1,66 @@
+
+#include "mbed.h"
+#include "Serial.h"
+#include "MPU9250.h"
+
+//Serial pc(USBTX,USBRX);
+Serial pc(p19,p20);
+MPU9250 mpu9250;
+uint8_t whoAmI = 0;
+
+int main() {
+
+ whoAmI = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
+ pc.printf("\r\WHO_AM_I_MPU9250 = %x \r\n",whoAmI);
+
+ mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
+
+ mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
+ pc.printf("x-axis self test: acceleration trim within: %f pct of factory value\n\r", SelfTest[0]);
+ pc.printf("y-axis self test: acceleration trim within: %f pct of factory value\n\r", SelfTest[1]);
+ pc.printf("z-axis self test: acceleration trim within: %f pct of factory value\n\r", SelfTest[2]);
+ pc.printf("x-axis self test: gyration trim within: %f pct of factory value\n\r", SelfTest[3]);
+ pc.printf("y-axis self test: gyration trim within: %f pct of factory value\n\r", SelfTest[4]);
+ pc.printf("z-axis self test: gyration trim within: %f pct of factory value\n\r", SelfTest[5]);
+
+ mpu9250.getAres(); // Get accelerometer sensitivity
+ mpu9250.getGres(); // Get gyro sensitivity
+ mpu9250.getMres(); // Get magnetometer sensitivity
+ pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
+ pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
+ pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
+
+ while (true) {
+ int16_t accData[3];
+ int16_t gyroData[3];
+ int16_t magData[3];
+
+#if 1
+ // read Acc Data
+ mpu9250.readAccelData(accData);
+
+ pc.printf("aX = %d,",*accData);
+ pc.printf("aY = %d,",*(accData + 1));
+ pc.printf("aZ = %d,",*(accData + 2));
+ wait(1);
+#endif
+#if 1
+ // read Gyro Data
+ mpu9250.readGyroData(gyroData);
+
+ pc.printf("gX = %d,",*gyroData);
+ pc.printf("gY = %d,",*(gyroData + 1));
+ pc.printf("gZ = %d,",*(gyroData + 2));
+ wait(1);
+#endif
+#if 1
+ // read Magnetometer Data
+ mpu9250.readMagData(magData);
+
+ pc.printf("mX = %d,",*magData);
+ pc.printf("mY = %d,",*(magData + 1));
+ pc.printf("mZ = %d,",*(magData + 2));
+ wait(1);
+#endif
+ }
+}
diff -r 000000000000 -r 5db36d8f8a01 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Aug 17 07:57:08 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed/builds/e2bfab296f20 \ No newline at end of file