int main(int argc, char** argv){
uart_init();
stdout = stdin = &uart_str;
MPU9150_init();
calibrateMPU9150();
while(1){
}
}
/* --------------------- Functions ----------------------- */
void imu_setup(void)
{
uint8_t i;
MPU9150_init();
// gyroscope offset
// Find accelerometer and gyroscope offset
accelerometer = 0;
gyro_offset = 0;
for(i = 0; i < NSAMPLES; i++)
{
accelerometer += (float)MPU9150_readSensor_2byte(MPU9150_ACCEL_ZOUT_L, MPU9150_ACCEL_ZOUT_H);
gyro_offset += (float)MPU9150_readSensor_2byte(MPU9150_GYRO_XOUT_L, MPU9150_GYRO_XOUT_H);
}
// average
upright_value_accelerometer = accelerometer/NSAMPLES;
safe_restart_acc = upright_value_accelerometer;
gyro_offset /= NSAMPLES;
}
