added MPU6000 test sketch

this doesn't work yet - Pat, any idea why?
This commit is contained in:
Andrew Tridgell 2011-12-25 12:01:00 +11:00
parent 8e17b8d6d4
commit b72f9c2e9f
2 changed files with 52 additions and 0 deletions

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
//
// Simple test for the AP_InertialSensor MPU6000 driver.
//
#include <FastSerial.h>
#include <Wire.h>
#include <SPI.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <AP_PeriodicProcess.h>
#include <AP_InertialSensor.h>
#include <AP_Math.h>
#include <AP_Common.h>
FastSerialPort(Serial, 0);
Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess scheduler;
AP_InertialSensor_MPU6000 ins( 53 ); /* chip select is pin 53 */
void setup(void)
{
Serial.begin(115200);
Serial.println("Doing INS startup...");
Wire.begin();
SPI.begin();
SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate
isr_registry.init();
scheduler.init(&isr_registry);
ins.init(&scheduler);
}
void loop(void)
{
float accel[3];
float gyro[3];
float 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);
}

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include ../../../AP_Common/Arduino.mk