Andrew Bates / Mbed OS pdiot-MPU9250-test

Test program for MPU9250 sensor

Dependencies:   MPU9250

main.cpp@1:e542337d8586, 2017-09-27 (annotated)

Committer:
andrewbates11
Date:
Wed Sep 27 17:52:29 2017 +0000
Revision:
1:e542337d8586
Parent:
0:6ffb1296d690 
update readme

Who changed what in which revision?

UserRevisionLine numberNew contents of line
andrewbates11 0:6ffb1296d690 1 #include "mbed.h"
andrewbates11 0:6ffb1296d690 2 #include "MPU9250.h"
andrewbates11 0:6ffb1296d690 3
andrewbates11 0:6ffb1296d690 4 // Serial comms
andrewbates11 0:6ffb1296d690 5 Serial pc(USBTX, USBRX);
andrewbates11 0:6ffb1296d690 6
andrewbates11 0:6ffb1296d690 7 // Sensor board library
andrewbates11 0:6ffb1296d690 8 MPU9250 mpu = MPU9250(p26, p27);
andrewbates11 0:6ffb1296d690 9
andrewbates11 0:6ffb1296d690 10
andrewbates11 0:6ffb1296d690 11 // Configuration
andrewbates11 0:6ffb1296d690 12 bool test_comms = true;
andrewbates11 0:6ffb1296d690 13 bool do_sensor_init = false;
andrewbates11 0:6ffb1296d690 14 bool do_sensor_self_test = true;
andrewbates11 0:6ffb1296d690 15 bool print_accel = true;
andrewbates11 0:6ffb1296d690 16 bool print_gyro = true;
andrewbates11 0:6ffb1296d690 17
andrewbates11 0:6ffb1296d690 18 int main() {
andrewbates11 0:6ffb1296d690 19 float test_result[6] = {0.0,0.0,0.0,0.0,0.0,0.0};
andrewbates11 0:6ffb1296d690 20 int16_t accel[3] = {0,0,0};
andrewbates11 0:6ffb1296d690 21 int16_t gyro[3] = {0,0,0};
andrewbates11 0:6ffb1296d690 22 int16_t temp = 0;
andrewbates11 0:6ffb1296d690 23
andrewbates11 0:6ffb1296d690 24 // Test MPU connection
andrewbates11 0:6ffb1296d690 25 if (test_comms) {
andrewbates11 0:6ffb1296d690 26 uint8_t whoami = mpu.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
andrewbates11 0:6ffb1296d690 27 pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
andrewbates11 0:6ffb1296d690 28 wait(1);
andrewbates11 0:6ffb1296d690 29 }
andrewbates11 0:6ffb1296d690 30
andrewbates11 0:6ffb1296d690 31 // Initialise sensor board
andrewbates11 0:6ffb1296d690 32 if (do_sensor_init) {
andrewbates11 0:6ffb1296d690 33 pc.printf("starting Init\n\r");
andrewbates11 0:6ffb1296d690 34 mpu.initMPU9250();
andrewbates11 0:6ffb1296d690 35 pc.printf("returned from init\n\r");
andrewbates11 0:6ffb1296d690 36 wait(1);
andrewbates11 0:6ffb1296d690 37 }
andrewbates11 0:6ffb1296d690 38
andrewbates11 0:6ffb1296d690 39 // Run sensor board self-test
andrewbates11 0:6ffb1296d690 40 if (do_sensor_self_test) {
andrewbates11 0:6ffb1296d690 41 mpu.MPU9250SelfTest(test_result);
andrewbates11 0:6ffb1296d690 42 for (int i = 0; i<6; i++)
andrewbates11 0:6ffb1296d690 43 pc.printf("Self test result %i: %f\n", i, test_result[i]);
andrewbates11 0:6ffb1296d690 44
andrewbates11 0:6ffb1296d690 45 wait(1);
andrewbates11 0:6ffb1296d690 46 }
andrewbates11 0:6ffb1296d690 47
andrewbates11 0:6ffb1296d690 48 // Stream sensor values (accel or gyro)
andrewbates11 0:6ffb1296d690 49 while(1) {
andrewbates11 0:6ffb1296d690 50 if (print_accel) {
andrewbates11 0:6ffb1296d690 51 mpu.readAccelData(accel);
andrewbates11 0:6ffb1296d690 52 float ax = accel[0] * 2.0 / 32768.0;
andrewbates11 0:6ffb1296d690 53 float ay = accel[1] * 2.0 / 32768.0;
andrewbates11 0:6ffb1296d690 54 float az = accel[2] * 2.0 / 32768.0;
andrewbates11 0:6ffb1296d690 55 pc.printf("accel: (%f, %f, %f)\n", ax,ay,az);
andrewbates11 0:6ffb1296d690 56 }
andrewbates11 0:6ffb1296d690 57
andrewbates11 0:6ffb1296d690 58 if (print_gyro) {
andrewbates11 0:6ffb1296d690 59 mpu.readGyroData(gyro);
andrewbates11 0:6ffb1296d690 60 float gx = gyro[0] * 250.0 / 32768.0;
andrewbates11 0:6ffb1296d690 61 float gy = gyro[1] * 250.0 / 32768.0;
andrewbates11 0:6ffb1296d690 62 float gz = gyro[2] * 250.0 / 32768.0;
andrewbates11 0:6ffb1296d690 63 pc.printf("gyro: (%f, %f, %f)\n", gx,gy,gz);
andrewbates11 0:6ffb1296d690 64 }
andrewbates11 0:6ffb1296d690 65 wait(0.1);
andrewbates11 0:6ffb1296d690 66 }
andrewbates11 0:6ffb1296d690 67 }