static void run_self_test(void)
{
int result;
long gyro[3], accel[3];
result = mpu_run_self_test(gyro, accel);
if (result == 0x7) {
/* Test passed. We can trust the gyro data here, so let's push it down
* to the DMP.
*/
float sens;
unsigned short accel_sens;
mpu_get_gyro_sens(&sens);
gyro[0] = (long)(gyro[0] * sens);
gyro[1] = (long)(gyro[1] * sens);
gyro[2] = (long)(gyro[2] * sens);
dmp_set_gyro_bias(gyro);
mpu_get_accel_sens(&accel_sens);
accel[0] *= accel_sens;
accel[1] *= accel_sens;
accel[2] *= accel_sens;
dmp_set_accel_bias(accel);
printf("setting bias succesfully ......\r\n");
}
}
int mpulib_run_self_test(void) {
long gyro[3], accel[3];
if( mpu_run_self_test(gyro, accel) ) {
/* Test passed: we can trust the gyro data here,
* so let's push it down to the DMP. */
float sens;
unsigned short accel_sens;
mpu_get_gyro_sens(&sens);
gyro[0] = (long)(gyro[0] * sens);
gyro[1] = (long)(gyro[1] * sens);
gyro[2] = (long)(gyro[2] * sens);
dmp_set_gyro_bias(gyro);
mpu_get_accel_sens(&accel_sens);
accel[0] *= accel_sens;
accel[1] *= accel_sens;
accel[2] *= accel_sens;
dmp_set_accel_bias(accel);
printf("\nsetting bias succesfully ......\n");
return 0;
} else {
printf("\nbias has not been modified ......\n");
return -1;
}
}
static void run_self_test(void)
{
int result;
// char test_packet[4] = {0};
long gyro[3], accel[3];
result = mpu_run_self_test(gyro, accel);
if(result == 0) printf("self-test is executed succesfully ......\n"); //added by Damm Stanger
if (result == 0x7)
// if(result == 0x03) //Curently we don't have compass sensor so we don't need to test it Damm Stanger
{
/* Test passed. We can trust the gyro data here, so let's push it down
* to the DMP.
*/
float sens;
unsigned short accel_sens;
mpu_get_gyro_sens(&sens);
gyro[0] = (long)(gyro[0] * sens);
gyro[1] = (long)(gyro[1] * sens);
gyro[2] = (long)(gyro[2] * sens);
dmp_set_gyro_bias(gyro);
mpu_get_accel_sens(&accel_sens);
accel[0] *= accel_sens;
accel[1] *= accel_sens;
accel[2] *= accel_sens;
dmp_set_accel_bias(accel);
printf("setting bias succesfully ......\n");
}
else
{
printf("bias has not been modified ......\n");
}
}
static inline void run_self_test(void)
{
int result;
long gyro[3], accel[3];
result = mpu_run_self_test(gyro, accel);
if (result == 0x7) {
/* Test passed. We can trust the gyro data here, so let's push it down
* to the DMP.
*/
float sens;
unsigned short accel_sens;
mpu_get_gyro_sens(&sens);
gyro[0] = (long)(gyro[0] * sens);
gyro[1] = (long)(gyro[1] * sens);
gyro[2] = (long)(gyro[2] * sens);
dmp_set_gyro_bias(gyro);
mpu_get_accel_sens(&accel_sens);
accel[0] *= accel_sens;
accel[1] *= accel_sens;
accel[2] *= accel_sens;
dmp_set_accel_bias(accel);
}
/* Report results. */ //#报告结果 改为N5110
//test_packet[0] = 't';
//test_packet[1] = result;
// N5110_Set_XY(0,0);//#
// N5110_Write_Char('T');
// N5110_Write_Char(':');
// N5110_Write_Char(result+48);
//send_packet(PACKET_TYPE_MISC, test_packet);
}
void mpu6050_run_self_test(void)
{
int rtn;
long gyro[3], accel[3];
float sens;
unsigned short accel_sens;
rtn = mpu_run_self_test(gyro, accel);
if (rtn == 0x3) {
/* Test passed. We can trust the gyro data here, so let's push it down
* to the DMP.
*/
mpu_get_gyro_sens(&sens);
gyro[0] = (long)(gyro[0] * sens);
gyro[1] = (long)(gyro[1] * sens);
gyro[2] = (long)(gyro[2] * sens);
dmp_set_gyro_bias(gyro);
mpu_get_accel_sens(&accel_sens);
accel[0] *= accel_sens;
accel[1] *= accel_sens;
accel[2] *= accel_sens;
dmp_set_accel_bias(accel);
printf("\r\nSelf Test Passed!\r\n");
}
}
void run_self_test(void)
{
extern bool Update_10Hz;
int result;
// char test_packet[4] = {0};
long gyro[3], accel[3];
result = mpu_run_self_test(gyro, accel);
if (result == 0x7)
{
/* Test passed. We can trust the gyro data here, so let's push it down
* to the DMP.
*/
float sens;
unsigned short accel_sens;
mpu_get_gyro_sens(&sens);
gyro[0] = (long)(gyro[0] * sens);
gyro[1] = (long)(gyro[1] * sens);
gyro[2] = (long)(gyro[2] * sens);
dmp_set_gyro_bias(gyro);
mpu_get_accel_sens(&accel_sens);
accel[0] *= accel_sens;
accel[1] *= accel_sens;
accel[2] *= accel_sens;
dmp_set_accel_bias(accel);
}
else
{
//PrintChar("bias has not been modified ......\n");
while (1)
{
if(Update_10Hz)
{
Update_10Hz = false;
GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_5, ~GPIOPinRead(GPIO_PORTE_BASE, GPIO_PIN_5) );
}
}
}
}
bool MPUManager::__RunSelfTest()
{
int result;
long gyro[3], accel[3];
int iSuccess = 0x01|0x02;
#ifdef AK89xx_SECONDARY
iSuccess |= 0x04;
#endif
result = mpu_run_self_test(gyro, accel);
if (result == iSuccess) {
/* Test passed. We can trust the gyro data here, so let's push it down
* to the DMP.
*/
float sens;
unsigned short accel_sens;
mpu_get_gyro_sens(&sens);
gyro[0] = (long)(gyro[0] * sens);
gyro[1] = (long)(gyro[1] * sens);
gyro[2] = (long)(gyro[2] * sens);
dmp_set_gyro_bias(gyro);
mpu_get_accel_sens(&accel_sens);
accel[0] *= accel_sens;
accel[1] *= accel_sens;
accel[2] *= accel_sens;
dmp_set_accel_bias(accel);
return true;
}
else
{
#ifdef AK89xx_SECONDARY
printf("Self test failed: gyro %s; accel %s; comp %s\n", (result&0x01)?"pass":"******", (result&0x02)?"pass":"******", (result&0x04)?"pass":"******" );
#else
printf("Self test failed: gyro %s; accel %s\n", (result&0x01)?"pass":"******", (result&0x02)?"pass":"******" );
#endif
return false;
}
}
