Jacky Tseng / Mbed 2 deprecated imu_driver

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Dependencies:   mbed

Dependents:   VDU_2021

test/test.cpp

Committer:
Arithemetica
Date:
2019-12-19
Revision:
24:275e886bd61c
Parent:
23:3626c7d73505

File content as of revision 24:275e886bd61c:

#include "imu_driver.hpp"

#if defined(COMPILE_TEST)

SPI spi2(PB_15, PB_14, PB_13); //1Mbps default, MOSI MISO SCLK, for IMU
Serial  pc(USBTX, USBRX, 115200);   // print debug message

inline void test_exti_rcv_normal_msg()
{
    ImuDriver<spi2, PC_4, PB_2, PB_1> imu(ImuExtiRcvNormalMsg); //SPI instance, reset, data ready, slave select

    while(true) {
        wait_ms(1);
        pc.printf("gyro: % .3f, % .3f, % .3f, accel: % .3f, % .3f, % .3f\n\r", 
                    imu.imuProcessedData.rate[0], imu.imuProcessedData.rate[1], imu.imuProcessedData.rate[2], 
                    imu.imuProcessedData.accel[0], imu.imuProcessedData.accel[1], imu.imuProcessedData.accel[2]);
    }
}

inline void test_exti_rcv_ahrs_msg()
{
    ImuDriver<spi2, PC_4, PB_2, PB_1> imu(ImuExtiRcvAhrsMsg); //SPI instance, reset, data ready, slave select

    while(true) {
        wait_ms(1);
        pc.printf("PRY: % .3f, % .3f, % .3f\n\r", imu.ahrsProcessedData.attitude[0], imu.ahrsProcessedData.attitude[1], imu.ahrsProcessedData.attitude[2]);
    }
}

inline void test_exti_rcv_both_msg()
{
    ImuDriver<spi2, PC_4, PB_2, PB_1> imu(ImuExtiRcvBothMsg); //SPI instance, reset, data ready, slave select

    while(true) {
        wait_ms(1);
        pc.printf("PRY: % .3f, % .3f, % .3f\n\r", imu.ahrsProcessedData.attitude[0], imu.ahrsProcessedData.attitude[1], imu.ahrsProcessedData.attitude[2]);
        pc.printf("gyro: % .3f, % .3f, % .3f, accel: % .3f, % .3f, % .3f\n\r", 
                    imu.imuProcessedData.rate[0], imu.imuProcessedData.rate[1], imu.imuProcessedData.rate[2], 
                    imu.imuProcessedData.accel[0], imu.imuProcessedData.accel[1], imu.imuProcessedData.accel[2]);
    }
}

#endif  // COMPILE_TEST