109 lines
3.9 KiB
C++
109 lines
3.9 KiB
C++
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU9150
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// 1/4/2013 original by Jeff Rowberg <jeff@rowberg.net> at https://github.com/jrowberg/i2cdevlib
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// modified by Aaron Weiss <aaron@sparkfun.com>
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//
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// Changelog:
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// 2011-10-07 - initial release
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// 2013-1-4 - added raw magnetometer output
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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===============================================
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*/
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// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
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// is used in I2Cdev.h
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#include "Wire.h"
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// I2Cdev and MPU9150 must be installed as libraries, or else the .cpp/.h files
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// for both classes must be in the include path of your project
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#include "I2Cdev.h"
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#include "MPU9150.h"
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#include "helper_3dmath.h"
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// class default I2C address is 0x68
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// specific I2C addresses may be passed as a parameter here
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// AD0 low = 0x68 (default for InvenSense evaluation board)
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// AD0 high = 0x69
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MPU9150 accelGyroMag;
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int16_t ax, ay, az;
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int16_t gx, gy, gz;
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int16_t mx, my, mz;
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#define LED_PIN 13
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bool blinkState = false;
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void setup() {
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// join I2C bus (I2Cdev library doesn't do this automatically)
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Wire.begin();
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// initialize serial communication
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// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
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// it's really up to you depending on your project)
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Serial.begin(115200);
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// initialize device
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Serial.println("Initializing I2C devices...");
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accelGyroMag.initialize();
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// verify connection
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Serial.println("Testing device connections...");
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Serial.println(accelGyroMag.testConnection() ? "MPU9150 connection successful" : "MPU9150 connection failed");
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// configure Arduino LED for
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pinMode(LED_PIN, OUTPUT);
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}
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void loop() {
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// read raw accel/gyro/mag measurements from device
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accelGyroMag.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
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// these methods (and a few others) are also available
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//accelGyroMag.getAcceleration(&ax, &ay, &az);
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//accelGyroMag.getRotation(&gx, &gy, &gz);
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// display tab-separated accel/gyro/mag x/y/z values
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// Serial.print("a/g/m:\t");
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// Serial.print(ax); Serial.print("\t");
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// Serial.print(ay); Serial.print("\t");
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// Serial.print(az); Serial.print("\t");
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// Serial.print(gx); Serial.print("\t");
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// Serial.print(gy); Serial.print("\t");
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// Serial.print(gz); Serial.print("\t");
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Serial.print(int(mx)*int(mx)); Serial.print("\t");
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Serial.print(int(my)*int(my)); Serial.print("\t");
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Serial.print(int(mz)*int(mz)); Serial.print("\t | ");
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const float N = 256;
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float mag = mx*mx/N + my*my/N + mz*mz/N;
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Serial.print(mag); Serial.print("\t");
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for (int i=0; i<mag; i++)
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Serial.print("*");
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Serial.print("\n");
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// blink LED to indicate activity
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blinkState = !blinkState;
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digitalWrite(LED_PIN, blinkState);
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delay(50);
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}
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