int main()
{
MPU6050 *mpu = new MPU6050();
mpu->setDebug(true);
mpu->reset();
if (mpu->whoAmI())
{
printf("WhoAmI was okay\n");
// i2c bypass enabled
mpu->setBypassEnable(true);
printf("Set and Get BypassEnable to true - %s\n", mpu->getBypassEnable() ? "SUCCESS" : "FAILED");
mpu->setBypassEnable(false);
printf("Set and Get BypassEnable to false - %s\n", !mpu->getBypassEnable() ? "SUCCESS" : "FAILED");
// gyro ranges
mpu->setFullScaleGyroRange(fullScaleGyroRange::FS_GYRO_250DEG_S);
printf("Set and Get FullScaleGyroRange to 250deg/sec - %s\n", (mpu->getFullScaleGyroRange() == fullScaleGyroRange::FS_GYRO_250DEG_S) ? "SUCCESS" : "FAILED");
mpu->setFullScaleGyroRange(fullScaleGyroRange::FS_GYRO_500DEG_S);
printf("Set and Get FullScaleGyroRange to 500deg/sec - %s\n", (mpu->getFullScaleGyroRange() == fullScaleGyroRange::FS_GYRO_500DEG_S) ? "SUCCESS" : "FAILED");
mpu->setFullScaleGyroRange(fullScaleGyroRange::FS_GYRO_1000DEG_S);
printf("Set and Get FullScaleGyroRange to 1000deg/sec - %s\n", (mpu->getFullScaleGyroRange() == fullScaleGyroRange::FS_GYRO_1000DEG_S) ? "SUCCESS" : "FAILED");
mpu->setFullScaleGyroRange(fullScaleGyroRange::FS_GYRO_2000DEG_S);
printf("Set and Get FullScaleGyroRange to 2000deg/sec - %s\n", (mpu->getFullScaleGyroRange() == fullScaleGyroRange::FS_GYRO_2000DEG_S) ? "SUCCESS" : "FAILED");
// accelerometer ranges
mpu->setFullScaleAccRange(fullScaleAccRange::FS_ACCL_2G);
printf("Set and Get FullScaleAccRange to 2G - %s\n", (mpu->getFullScaleAccRange() == fullScaleAccRange::FS_ACCL_2G) ? "SUCCESS" : "FAILED");
mpu->setFullScaleAccRange(fullScaleAccRange::FS_ACCL_4G);
printf("Set and Get FullScaleAccRange to 4G - %s\n", (mpu->getFullScaleAccRange() == fullScaleAccRange::FS_ACCL_4G) ? "SUCCESS" : "FAILED");
mpu->setFullScaleAccRange(fullScaleAccRange::FS_ACCL_8G);
printf("Set and Get FullScaleAccRange to 8G - %s\n", (mpu->getFullScaleAccRange() == fullScaleAccRange::FS_ACCL_8G) ? "SUCCESS" : "FAILED");
mpu->setFullScaleAccRange(fullScaleAccRange::FS_ACCL_16G);
printf("Set and Get FullScaleAccRange to 16G - %s\n", (mpu->getFullScaleAccRange() == fullScaleAccRange::FS_ACCL_16G) ? "SUCCESS" : "FAILED");
return 1;
}
return 0;
}
int main()
{
pc.baud(9600); // baud rate: 9600
mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading
wait(1);
mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers
pc.printf("Calibration is completed. \r\n");
wait(0.5);
mpu6050.init(); // Initialize the sensor
wait(1);
pc.printf("MPU6050 is initialized for operation.. \r\n\r\n");
wait_ms(500);
while(1)
{
/* Uncomment below if you want to see accel and gyro data */
// pc.printf(" _____________________________________________________________ \r\n");
// pc.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az);
// pc.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz);
// pc.printf("|_____________________________________________________________ \r\n\r\n");
//
// wait(2.5);
filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
pc.printf(" _______________\r\n");
pc.printf("| Pitch: %.3f \r\n",pitchAngle);
pc.printf("| Roll: %.3f \r\n",rollAngle);
pc.printf("|_______________\r\n\r\n");
wait(1);
}
}
