Jacky Tseng
/
imu_driver
handle master side communication of openIMU300ZI module
test/test.cpp
- Committer:
- Arithemetica
- Date:
- 2019-12-20
- Revision:
- 25:3dfd686ae315
- Parent:
- 24:275e886bd61c
File content as of revision 25:3dfd686ae315:
#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