int mpu9150_init(mpu9150_t *dev, i2c_t i2c, mpu9150_hw_addr_t hw_addr,
mpu9150_comp_addr_t comp_addr)
{
char temp;
dev->i2c_dev = i2c;
dev->hw_addr = hw_addr;
dev->comp_addr = comp_addr;
dev->conf = DEFAULT_STATUS;
/* Initialize I2C interface */
if (i2c_init_master(dev->i2c_dev, I2C_SPEED_FAST)) {
DEBUG("[Error] I2C device not enabled\n");
return -1;
}
/* Acquire exclusive access */
i2c_acquire(dev->i2c_dev);
/* Reset MPU9150 registers and afterwards wake up the chip */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_RESET);
hwtimer_wait(HWTIMER_TICKS(MPU9150_RESET_SLEEP_US));
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_WAKEUP);
/* Release the bus, it is acquired again inside each function */
i2c_release(dev->i2c_dev);
/* Set default full scale ranges and sample rate */
mpu9150_set_gyro_fsr(dev, MPU9150_GYRO_FSR_2000DPS);
mpu9150_set_accel_fsr(dev, MPU9150_ACCEL_FSR_2G);
mpu9150_set_sample_rate(dev, MPU9150_DEFAULT_SAMPLE_RATE);
/* Disable interrupt generation */
i2c_acquire(dev->i2c_dev);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_INT_ENABLE_REG, REG_RESET);
/* Initialize magnetometer */
if (compass_init(dev)) {
i2c_release(dev->i2c_dev);
return -2;
}
/* Release the bus, it is acquired again inside each function */
i2c_release(dev->i2c_dev);
mpu9150_set_compass_sample_rate(dev, 10);
/* Enable all sensors */
i2c_acquire(dev->i2c_dev);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_PLL);
i2c_read_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_2_REG, &temp);
temp &= ~(MPU9150_PWR_ACCEL | MPU9150_PWR_GYRO);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_2_REG, temp);
i2c_release(dev->i2c_dev);
hwtimer_wait(HWTIMER_TICKS(MPU9150_PWR_CHANGE_SLEEP_US));
return 0;
}
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;
}
