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uncrustify libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde

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uncrustify 2012-08-16 23:19:56 -07:00 committed by Pat Hickey
parent c8ff85a598
commit 25eaeff6a8
1 changed files with 16 additions and 16 deletions
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32
libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde
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@ -15,13 +15,13 @@
FastSerialPort(Serial, 0);
Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess scheduler;
AP_TimerProcess scheduler;
AP_InertialSensor_MPU6000 ins( 53 ); /* chip select is pin 53 */
void setup(void)
{
Serial.begin(115200);
Serial.println("Doing INS startup...");
Serial.begin(115200);
Serial.println("Doing INS startup...");
SPI.begin();
SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate
@ -29,25 +29,25 @@ void setup(void)
isr_registry.init();
scheduler.init(&isr_registry);
// we need to stop the barometer from holding the SPI bus
pinMode(40, OUTPUT);
// we need to stop the barometer from holding the SPI bus
pinMode(40, OUTPUT);
digitalWrite(40, HIGH);
ins.init(&scheduler);
ins.init(&scheduler);
}
void loop(void)
{
float accel[3];
float gyro[3];
float temperature;
float accel[3];
float gyro[3];
float temperature;
delay(20);
ins.update();
ins.get_gyros(gyro);
ins.get_accels(accel);
temperature = ins.temperature();
delay(20);
ins.update();
ins.get_gyros(gyro);
ins.get_accels(accel);
temperature = ins.temperature();
Serial.printf("AX: %f AY: %f AZ: %f GX: %f GY: %f GZ: %f T=%f\n",
accel[0], accel[1], accel[2], gyro[0], gyro[1], gyro[2], temperature);
Serial.printf("AX: %f AY: %f AZ: %f GX: %f GY: %f GZ: %f T=%f\n",
accel[0], accel[1], accel[2], gyro[0], gyro[1], gyro[2], temperature);
}