void Test_Sensor9Axis(void)
{
uint8_t ch, dataVal;
DEBUG_MSG_FUNC_START;
while(1)
{
print_menu_command();
if(false == UartQueue_Serial_Is_Empty())
{
ch = UartQueue_Serial_DeQueue();
printf("%c is selected\n\n", (char)ch);
switch((char)ch)
{
case '0':
break;
case '1':
dataVal = g_MPU_9150.getDeviceID();
printf("Device ID: 0x%02X\n", dataVal);
break;
case '2':
// read mag - set i2c bypass enable pin to true to access magnetometer
I2Cdev::writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_INT_PIN_CFG, 0x02);
Delay(50);
// enable the magnetometer
I2Cdev::writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01);
Delay(50);
I2Cdev::readByte(MPU9150_RA_MAG_ADDRESS, 0, &dataVal);
printf("Device ID: 0x%02X\n", dataVal);
break;
case '3':
{
int16_t ax, ay, az;
int16_t gx, gy, gz;
int16_t mx, my, mz;
g_MPU_9150.initialize();
printf("MPU9150 initialize done.\n");
while(1)
{
// read raw accel/gyro measurements from device
g_MPU_9150.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
printf("ax: %d, ay: %d, az: %d, gx: %d, gy: %d, gz: %d, mx: %d, my: %d, mz: %d\n",
ax, ay, az, gx, gy, gz, mx, my, mz);
Delay(300);
}
}
break;
}
g_print_menu_control_flag = true;
if('x' == (char)ch)
{
break;
}
}
}
return;
}
