00001 /* -*- mode: C++ -*- */ 00002 /********************************************************************* 00003 * 00004 * Software License Agreement (BSD License) 00005 * 00006 * Copyright (C) 2015, Jack O'Quin 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the authors nor other contributors may be 00020 * used to endorse or promote products derived from this software 00021 * without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 *********************************************************************/ 00036 00043 #include <Arduino.h> 00044 #include <imu.h> 00045 00046 #include <Wire.h> 00047 #include "I2Cdev.h" 00048 #include "MPU9150Lib.h" 00049 #include "CalLib.h" 00050 #include <dmpKey.h> 00051 #include <dmpmap.h> 00052 #include <inv_mpu.h> 00053 #include <inv_mpu_dmp_motion_driver.h> 00054 #include <EEPROM.h> 00055 00056 #define DEVICE_TO_USE 0 ///< use the device at 0x68 00057 MPU9150Lib MPU; 00058 00061 #define MPU_UPDATE_RATE (20) 00062 00066 #define MAG_UPDATE_RATE (10) 00067 00072 #define MPU_MAG_MIX_GYRO_AND_MAG 10 ///< a good mix value 00073 00075 #define MPU_LPF_RATE 40 00076 00078 Imu::Imu(): ArduinoDevice(1000/MPU_LPF_RATE) 00079 { 00080 Wire.begin(); 00081 MPU.selectDevice(DEVICE_TO_USE); 00082 00083 // start the device 00084 MPU.init(MPU_UPDATE_RATE, 00085 MPU_MAG_MIX_GYRO_AND_MAG, 00086 MAG_UPDATE_RATE, 00087 MPU_LPF_RATE); 00088 } 00089 00095 void Imu::poll(void) 00096 { 00097 // only needed if device has changed since init but good form anyway: 00098 MPU.selectDevice(DEVICE_TO_USE); 00099 if (MPU.read()) // get the latest data if ready yet 00100 { 00101 Serial.print("I"); 00102 Serial.print(DEVICE_TO_USE); 00103 Serial.print(" accel "); 00104 00105 // print the calibrated acceleration data 00106 MPU.printVector(MPU.m_calAccel); 00107 Serial.println(); 00108 } 00109 }