/** * Read from the device * * This function is called when the device is read in real-time context. * */ static ssize_t mpu9150_rtdm_read_rt(struct rtdm_dev_context *context, rtdm_user_info_t * user_info, void *buf, size_t nbyte) { int ret; if( mpu9150_device ) { /* take the semaphore */ rtdm_sem_down( &sem ); mpu9150_read_accel(); mpu9150_read_gyro(); mpu9150_read_mag(); mpu9150_read_temp(); ret = rtdm_safe_copy_to_user(user_info, buf, buffer.data.alldata, DATA_BUFFER_SIZE); /* if an error has occurred, send it to user */ if( ret ) return ret; /* release the semaphore */ rtdm_sem_up( &sem ); } else return 0; return DATA_BUFFER_SIZE; }
/** * @brief Function for main application entry. */ int main(void) { uart_config(); printf("\033[2J\033[;H MPU9150 example. Compiled @ %s\r\n", __TIME__); twi_init(); mpu_init(); accel_values_t acc_values; uint32_t sample_number = 0; while(1) { mpu9150_read_accel(&acc_values); // Read accelerometer sensor values // Clear terminal and print values printf("\033[2J\033[;HSample # %d\r\nX: %06d\r\nY: %06d\r\nZ: %06d", ++sample_number, acc_values.x, acc_values.y, acc_values.z); nrf_delay_ms(250); } }
int main(void) { mpu9150_t dev; mpu9150_results_t measurement; int32_t temperature; int result; puts("MPU-9150 test application\n"); printf("+------------Initializing------------+\n"); result = mpu9150_init(&dev, TEST_I2C, TEST_HW_ADDR, TEST_COMP_ADDR); if (result == -1) { puts("[Error] The given i2c is not enabled"); return 1; } else if (result == -2) { puts("[Error] The compass did not answer correctly on the given address"); return 1; } mpu9150_set_sample_rate(&dev, 200); if (dev.conf.sample_rate != 200) { puts("[Error] The sample rate was not set correctly"); return 1; } mpu9150_set_compass_sample_rate(&dev, 100); if (dev.conf.compass_sample_rate != 100) { puts("[Error] The compass sample rate was not set correctly"); return 1; } printf("Initialization successful\n\n"); printf("+------------Configuration------------+\n"); printf("Sample rate: %"PRIu16" Hz\n", dev.conf.sample_rate); printf("Compass sample rate: %"PRIu8" Hz\n", dev.conf.compass_sample_rate); printf("Gyro full-scale range: 2000 DPS\n"); printf("Accel full-scale range: 2 G\n"); printf("Compass X axis factory adjustment: %"PRIu8"\n", dev.conf.compass_x_adj); printf("Compass Y axis factory adjustment: %"PRIu8"\n", dev.conf.compass_y_adj); printf("Compass Z axis factory adjustment: %"PRIu8"\n", dev.conf.compass_z_adj); printf("\n+--------Starting Measurements--------+\n"); while (1) { /* Get accel data in milli g */ mpu9150_read_accel(&dev, &measurement); printf("Accel data [milli g] - X: %"PRId16" Y: %"PRId16" Z: %"PRId16"\n", measurement.x_axis, measurement.y_axis, measurement.z_axis); /* Get gyro data in dps */ mpu9150_read_gyro(&dev, &measurement); printf("Gyro data [dps] - X: %"PRId16" Y: %"PRId16" Z: %"PRId16"\n", measurement.x_axis, measurement.y_axis, measurement.z_axis); /* Get compass data in mikro Tesla */ mpu9150_read_compass(&dev, &measurement); printf("Compass data [mikro T] - X: %"PRId16" Y: %"PRId16" Z: %"PRId16"\n", measurement.x_axis, measurement.y_axis, measurement.z_axis); /* Get temperature in milli degrees celsius */ mpu9150_read_temperature(&dev, &temperature); printf("Temperature [milli deg] : %"PRId32"\n", temperature); printf("\n+-------------------------------------+\n"); xtimer_usleep(SLEEP); } return 0; }