Jacky Tseng / Mbed 2 deprecated imu_driver

handle master side communication of openIMU300ZI module

Dependencies:   mbed

Dependents:   VDU_2021

test/test.cpp@25:3dfd686ae315, 2019-12-20 (annotated)

Committer:
Arithemetica
Date:
Fri Dec 20 05:12:49 2019 +0000
Revision:
25:3dfd686ae315
Parent:
24:275e886bd61c 
change wait time to 10us according to test result

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Arithemetica 21:9430046ebd9d 1 #include "imu_driver.hpp"
Arithemetica 21:9430046ebd9d 2
Arithemetica 22:713817fa6687 3 #if defined(COMPILE_TEST)
Arithemetica 22:713817fa6687 4
Arithemetica 23:3626c7d73505 5 SPI spi2(PB_15, PB_14, PB_13); //1Mbps default, MOSI MISO SCLK, for IMU
Arithemetica 21:9430046ebd9d 6 Serial pc(USBTX, USBRX, 115200); // print debug message
Arithemetica 21:9430046ebd9d 7
Arithemetica 21:9430046ebd9d 8 inline void test_exti_rcv_normal_msg()
Arithemetica 21:9430046ebd9d 9 {
Arithemetica 21:9430046ebd9d 10 ImuDriver<spi2, PC_4, PB_2, PB_1> imu(ImuExtiRcvNormalMsg); //SPI instance, reset, data ready, slave select
Arithemetica 21:9430046ebd9d 11
Arithemetica 21:9430046ebd9d 12 while(true) {
Arithemetica 21:9430046ebd9d 13 wait_ms(1);
Arithemetica 21:9430046ebd9d 14 pc.printf("gyro: % .3f, % .3f, % .3f, accel: % .3f, % .3f, % .3f\n\r",
Arithemetica 21:9430046ebd9d 15 imu.imuProcessedData.rate[0], imu.imuProcessedData.rate[1], imu.imuProcessedData.rate[2],
Arithemetica 21:9430046ebd9d 16 imu.imuProcessedData.accel[0], imu.imuProcessedData.accel[1], imu.imuProcessedData.accel[2]);
Arithemetica 21:9430046ebd9d 17 }
Arithemetica 21:9430046ebd9d 18 }
Arithemetica 21:9430046ebd9d 19
Arithemetica 21:9430046ebd9d 20 inline void test_exti_rcv_ahrs_msg()
Arithemetica 21:9430046ebd9d 21 {
Arithemetica 21:9430046ebd9d 22 ImuDriver<spi2, PC_4, PB_2, PB_1> imu(ImuExtiRcvAhrsMsg); //SPI instance, reset, data ready, slave select
Arithemetica 21:9430046ebd9d 23
Arithemetica 21:9430046ebd9d 24 while(true) {
Arithemetica 21:9430046ebd9d 25 wait_ms(1);
Arithemetica 21:9430046ebd9d 26 pc.printf("PRY: % .3f, % .3f, % .3f\n\r", imu.ahrsProcessedData.attitude[0], imu.ahrsProcessedData.attitude[1], imu.ahrsProcessedData.attitude[2]);
Arithemetica 21:9430046ebd9d 27 }
Arithemetica 21:9430046ebd9d 28 }
Arithemetica 21:9430046ebd9d 29
Arithemetica 21:9430046ebd9d 30 inline void test_exti_rcv_both_msg()
Arithemetica 21:9430046ebd9d 31 {
Arithemetica 24:275e886bd61c 32 ImuDriver<spi2, PC_4, PB_2, PB_1> imu(ImuExtiRcvBothMsg); //SPI instance, reset, data ready, slave select
Arithemetica 21:9430046ebd9d 33
Arithemetica 21:9430046ebd9d 34 while(true) {
Arithemetica 21:9430046ebd9d 35 wait_ms(1);
Arithemetica 21:9430046ebd9d 36 pc.printf("PRY: % .3f, % .3f, % .3f\n\r", imu.ahrsProcessedData.attitude[0], imu.ahrsProcessedData.attitude[1], imu.ahrsProcessedData.attitude[2]);
Arithemetica 21:9430046ebd9d 37 pc.printf("gyro: % .3f, % .3f, % .3f, accel: % .3f, % .3f, % .3f\n\r",
Arithemetica 21:9430046ebd9d 38 imu.imuProcessedData.rate[0], imu.imuProcessedData.rate[1], imu.imuProcessedData.rate[2],
Arithemetica 21:9430046ebd9d 39 imu.imuProcessedData.accel[0], imu.imuProcessedData.accel[1], imu.imuProcessedData.accel[2]);
Arithemetica 21:9430046ebd9d 40 }
Arithemetica 22:713817fa6687 41 }
Arithemetica 22:713817fa6687 42
Arithemetica 22:713817fa6687 43 #endif // COMPILE_TEST