Diff: Examples/MPU6050_raw.cpp

Revision:

2:42c4f3a7813f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Examples/MPU6050_raw.cpp	Sun Jan 31 14:12:13 2016 +0000
@@ -0,0 +1,106 @@
+#include "MPU6050_raw.h"
+
+// I2Cdev and MPU6050 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 "MPU6050.h"
+
+#include "ArduinoSerial.h"
+
+// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated
+// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,
+// not so easy to parse, and slow(er) over UART.
+#define OUTPUT_READABLE_ACCELGYRO
+
+// uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit
+// binary, one right after the other. This is very fast (as fast as possible
+// without compression or data loss), and easy to parse, but impossible to read
+// for a human.
+//#define OUTPUT_BINARY_ACCELGYRO
+
+namespace MPU6050raw {
+// 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
+MPU6050 accelgyro;
+//MPU6050 accelgyro(0x69); // <-- use for AD0 high
+
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+
+DigitalOut led1(LED1);
+ArduinoSerial arduinoSerial;
+
+void setup() {
+    // initialize arduinoSerial 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(38400);
+
+    // initialize device
+    arduinoSerial.println("Initializing I2C devices...");
+    accelgyro.initialize();
+
+    // verify connection
+    arduinoSerial.println("Testing device connections...");
+    arduinoSerial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
+
+    // use the code below to change accel/gyro offset values
+    /*
+    arduinoSerial.println("Updating internal sensor offsets...");
+    // -76  -2359   1688    0   0   0
+    arduinoSerial.print(accelgyro.getXAccelOffset()); arduinoSerial.print("\t"); // -76
+    arduinoSerial.print(accelgyro.getYAccelOffset()); arduinoSerial.print("\t"); // -2359
+    arduinoSerial.print(accelgyro.getZAccelOffset()); arduinoSerial.print("\t"); // 1688
+    arduinoSerial.print(accelgyro.getXGyroOffset()); arduinoSerial.print("\t"); // 0
+    arduinoSerial.print(accelgyro.getYGyroOffset()); arduinoSerial.print("\t"); // 0
+    arduinoSerial.print(accelgyro.getZGyroOffset()); arduinoSerial.print("\t"); // 0
+    arduinoSerial.print("\n");
+    accelgyro.setXGyroOffset(220);
+    accelgyro.setYGyroOffset(76);
+    accelgyro.setZGyroOffset(-85);
+    arduinoSerial.print(accelgyro.getXAccelOffset()); arduinoSerial.print("\t"); // -76
+    arduinoSerial.print(accelgyro.getYAccelOffset()); arduinoSerial.print("\t"); // -2359
+    arduinoSerial.print(accelgyro.getZAccelOffset()); arduinoSerial.print("\t"); // 1688
+    arduinoSerial.print(accelgyro.getXGyroOffset()); arduinoSerial.print("\t"); // 0
+    arduinoSerial.print(accelgyro.getYGyroOffset()); arduinoSerial.print("\t"); // 0
+    arduinoSerial.print(accelgyro.getZGyroOffset()); arduinoSerial.print("\t"); // 0
+    arduinoSerial.print("\n");
+    */
+}
+
+void loop() {
+    // read raw accel/gyro measurements from device
+    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+
+    // these methods (and a few others) are also available
+    //accelgyro.getAcceleration(&ax, &ay, &az);
+    //accelgyro.getRotation(&gx, &gy, &gz);
+
+    #ifdef OUTPUT_READABLE_ACCELGYRO
+        // display tab-separated accel/gyro x/y/z values
+        arduinoSerial.print("a/g:\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.println(gz);
+    #endif
+
+    #ifdef OUTPUT_BINARY_ACCELGYRO
+        arduinoSerial.write((uint8_t)(ax >> 8)); arduinoSerial.write((uint8_t)(ax & 0xFF));
+        arduinoSerial.write((uint8_t)(ay >> 8)); arduinoSerial.write((uint8_t)(ay & 0xFF));
+        arduinoSerial.write((uint8_t)(az >> 8)); arduinoSerial.write((uint8_t)(az & 0xFF));
+        arduinoSerial.write((uint8_t)(gx >> 8)); arduinoSerial.write((uint8_t)(gx & 0xFF));
+        arduinoSerial.write((uint8_t)(gy >> 8)); arduinoSerial.write((uint8_t)(gy & 0xFF));
+        arduinoSerial.write((uint8_t)(gz >> 8)); arduinoSerial.write((uint8_t)(gz & 0xFF));
+    #endif
+
+    // blink LED to indicate activity
+    if( led1 == 0 ) led1 = 0;
+    else led1 = 1;
+}
+
+};
\ No newline at end of file