int main() { MPU6050 *mpu = new MPU6050(); mpu->setDebug(true); mpu->reset(); if (mpu->whoAmI()) { printf("WhoAmI was okay\n"); // i2c bypass enabled mpu->setBypassEnable(true); printf("Set and Get BypassEnable to true - %s\n", mpu->getBypassEnable() ? "SUCCESS" : "FAILED"); mpu->setBypassEnable(false); printf("Set and Get BypassEnable to false - %s\n", !mpu->getBypassEnable() ? "SUCCESS" : "FAILED"); // gyro ranges mpu->setFullScaleGyroRange(fullScaleGyroRange::FS_GYRO_250DEG_S); printf("Set and Get FullScaleGyroRange to 250deg/sec - %s\n", (mpu->getFullScaleGyroRange() == fullScaleGyroRange::FS_GYRO_250DEG_S) ? "SUCCESS" : "FAILED"); mpu->setFullScaleGyroRange(fullScaleGyroRange::FS_GYRO_500DEG_S); printf("Set and Get FullScaleGyroRange to 500deg/sec - %s\n", (mpu->getFullScaleGyroRange() == fullScaleGyroRange::FS_GYRO_500DEG_S) ? "SUCCESS" : "FAILED"); mpu->setFullScaleGyroRange(fullScaleGyroRange::FS_GYRO_1000DEG_S); printf("Set and Get FullScaleGyroRange to 1000deg/sec - %s\n", (mpu->getFullScaleGyroRange() == fullScaleGyroRange::FS_GYRO_1000DEG_S) ? "SUCCESS" : "FAILED"); mpu->setFullScaleGyroRange(fullScaleGyroRange::FS_GYRO_2000DEG_S); printf("Set and Get FullScaleGyroRange to 2000deg/sec - %s\n", (mpu->getFullScaleGyroRange() == fullScaleGyroRange::FS_GYRO_2000DEG_S) ? "SUCCESS" : "FAILED"); // accelerometer ranges mpu->setFullScaleAccRange(fullScaleAccRange::FS_ACCL_2G); printf("Set and Get FullScaleAccRange to 2G - %s\n", (mpu->getFullScaleAccRange() == fullScaleAccRange::FS_ACCL_2G) ? "SUCCESS" : "FAILED"); mpu->setFullScaleAccRange(fullScaleAccRange::FS_ACCL_4G); printf("Set and Get FullScaleAccRange to 4G - %s\n", (mpu->getFullScaleAccRange() == fullScaleAccRange::FS_ACCL_4G) ? "SUCCESS" : "FAILED"); mpu->setFullScaleAccRange(fullScaleAccRange::FS_ACCL_8G); printf("Set and Get FullScaleAccRange to 8G - %s\n", (mpu->getFullScaleAccRange() == fullScaleAccRange::FS_ACCL_8G) ? "SUCCESS" : "FAILED"); mpu->setFullScaleAccRange(fullScaleAccRange::FS_ACCL_16G); printf("Set and Get FullScaleAccRange to 16G - %s\n", (mpu->getFullScaleAccRange() == fullScaleAccRange::FS_ACCL_16G) ? "SUCCESS" : "FAILED"); return 1; } return 0; }
int main() { pc.baud(9600); // baud rate: 9600 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading wait(1); mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers pc.printf("Calibration is completed. \r\n"); wait(0.5); mpu6050.init(); // Initialize the sensor wait(1); pc.printf("MPU6050 is initialized for operation.. \r\n\r\n"); wait_ms(500); while(1) { /* Uncomment below if you want to see accel and gyro data */ // pc.printf(" _____________________________________________________________ \r\n"); // pc.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az); // pc.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz); // pc.printf("|_____________________________________________________________ \r\n\r\n"); // // wait(2.5); filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period) pc.printf(" _______________\r\n"); pc.printf("| Pitch: %.3f \r\n",pitchAngle); pc.printf("| Roll: %.3f \r\n",rollAngle); pc.printf("|_______________\r\n\r\n"); wait(1); } }