Jacky Tseng / Mbed 2 deprecated imu_driver

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Dependents:   VDU_2021

test/test.cpp

Committer:
Arithemetica
Date:
2019-12-18
Revision:
21:9430046ebd9d
Child:
22:713817fa6687

File content as of revision 21:9430046ebd9d:

#include "imu_driver.hpp"

SPI spi2(PB_15, PB_14, PB_13); //1Mbps default, MOSI MISO SCLK, forIMU
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(ImuExtiRcvAhrsMsg | ImuExtiRcvNormalMsg); //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]);
    }
}