MPU9150_raw.cpp

00001 #include "MPU9150_raw.h"
00002 
00003 // I2Cdev and MPU9150 must be installed as libraries, or else the .cpp/.h files
00004 // for both classes must be in the include path of your project
00005 #include "I2Cdev.h"
00006 #include "MPU9150.h"
00007 #include "helper_3dmath.h"
00008 #include "ArduinoSerial.h"
00009 
00010 namespace MPU9150raw {
00011 // class default I2C address is 0x68
00012 // specific I2C addresses may be passed as a parameter here
00013 // AD0 low = 0x68 (default for InvenSense evaluation board)
00014 // AD0 high = 0x69
00015 MPU9150 accelGyroMag;
00016 
00017 int16_t ax, ay, az;
00018 int16_t gx, gy, gz;
00019 int16_t mx, my, mz;
00020 
00021 DigitalOut led1(LED1);
00022 ArduinoSerial arduinoSerial;
00023 
00024 void setup() {
00025     // initialize Serial communication
00026     // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
00027     // it's really up to you depending on your project)
00028     arduinoSerial.begin(115200);
00029 
00030     // initialize device
00031     arduinoSerial.println("Initializing I2C devices...");
00032     accelGyroMag.initialize();
00033 
00034     // verify connection
00035     arduinoSerial.println("Testing device connections...");
00036     arduinoSerial.println(accelGyroMag.testConnection() ? "MPU9150 connection successful" : "MPU9150 connection failed");
00037 }
00038 
00039 void loop() {
00040     // read raw accel/gyro/mag measurements from device
00041     accelGyroMag.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
00042 
00043     // these methods (and a few others) are also available
00044     //accelGyroMag.getAcceleration(&ax, &ay, &az);
00045     //accelGyroMag.getRotation(&gx, &gy, &gz);
00046 
00047     // display tab-separated accel/gyro/mag x/y/z values
00048     arduinoSerial.print("a/g/m:\t");
00049     arduinoSerial.print(ax); arduinoSerial.print("\t");
00050     arduinoSerial.print(ay); arduinoSerial.print("\t");
00051     arduinoSerial.print(az); arduinoSerial.print("\t");
00052     arduinoSerial.print(gx); arduinoSerial.print("\t");
00053     arduinoSerial.print(gy); arduinoSerial.print("\t");
00054     arduinoSerial.print(gz); arduinoSerial.print("\t");
00055     arduinoSerial.print(int(mx)*int(mx)); arduinoSerial.print("\t");
00056     arduinoSerial.print(int(my)*int(my)); arduinoSerial.print("\t");
00057     arduinoSerial.print(int(mz)*int(mz)); arduinoSerial.print("\t | ");
00058 
00059     const float N = 256;
00060     float mag = mx*mx/N + my*my/N + mz*mz/N;
00061 
00062     arduinoSerial.print(mag); arduinoSerial.print("\t");
00063     for (int i=0; i<mag; i+=100000)
00064         arduinoSerial.print("*");
00065     arduinoSerial.print("\r\n");
00066 
00067     // blink LED to indicate activity
00068     if( led1 == 0 ) led1 = 0;
00069     else led1 = 1;
00070     wait_ms(50);
00071 }
00072 
00073 };