/**
* 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;
}
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;
}