Diff: Example/MPU9150_raw.cpp

Revision:

0:0d6025d96c54

diff -r 000000000000 -r 0d6025d96c54 Example/MPU9150_raw.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Example/MPU9150_raw.cpp	Mon Feb 01 16:00:10 2016 +0000
@@ -0,0 +1,73 @@
+#include "MPU9150_raw.h"
+
+// I2Cdev and MPU9150 must be installed as libraries, or else the .cpp/.h files
+// for both classes must be in the include path of your project
+#include "I2Cdev.h"
+#include "MPU9150.h"
+#include "helper_3dmath.h"
+#include "ArduinoSerial.h"
+
+namespace MPU9150raw {
+// class default I2C address is 0x68
+// specific I2C addresses may be passed as a parameter here
+// AD0 low = 0x68 (default for InvenSense evaluation board)
+// AD0 high = 0x69
+MPU9150 accelGyroMag;
+
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+int16_t mx, my, mz;
+
+DigitalOut led1(LED1);
+ArduinoSerial arduinoSerial;
+
+void setup() {
+    // initialize Serial communication
+    // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
+    // it's really up to you depending on your project)
+    arduinoSerial.begin(115200);
+
+    // initialize device
+    arduinoSerial.println("Initializing I2C devices...");
+    accelGyroMag.initialize();
+
+    // verify connection
+    arduinoSerial.println("Testing device connections...");
+    arduinoSerial.println(accelGyroMag.testConnection() ? "MPU9150 connection successful" : "MPU9150 connection failed");
+}
+
+void loop() {
+    // read raw accel/gyro/mag measurements from device
+    accelGyroMag.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
+
+    // these methods (and a few others) are also available
+    //accelGyroMag.getAcceleration(&ax, &ay, &az);
+    //accelGyroMag.getRotation(&gx, &gy, &gz);
+
+    // display tab-separated accel/gyro/mag x/y/z values
+    arduinoSerial.print("a/g/m:\t");
+    arduinoSerial.print(ax); arduinoSerial.print("\t");
+    arduinoSerial.print(ay); arduinoSerial.print("\t");
+    arduinoSerial.print(az); arduinoSerial.print("\t");
+    arduinoSerial.print(gx); arduinoSerial.print("\t");
+    arduinoSerial.print(gy); arduinoSerial.print("\t");
+    arduinoSerial.print(gz); arduinoSerial.print("\t");
+    arduinoSerial.print(int(mx)*int(mx)); arduinoSerial.print("\t");
+    arduinoSerial.print(int(my)*int(my)); arduinoSerial.print("\t");
+    arduinoSerial.print(int(mz)*int(mz)); arduinoSerial.print("\t | ");
+
+    const float N = 256;
+    float mag = mx*mx/N + my*my/N + mz*mz/N;
+
+    arduinoSerial.print(mag); arduinoSerial.print("\t");
+    for (int i=0; i<mag; i+=100000)
+        arduinoSerial.print("*");
+    arduinoSerial.print("\r\n");
+
+    // blink LED to indicate activity
+    if( led1 == 0 ) led1 = 0;
+    else led1 = 1;
+    wait_ms(50);
+}
+
+};
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