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-rw-r--r--src/app/mpu9250_motionlog/main.cc19
1 files changed, 18 insertions, 1 deletions
diff --git a/src/app/mpu9250_motionlog/main.cc b/src/app/mpu9250_motionlog/main.cc
index 5165884..18bd895 100644
--- a/src/app/mpu9250_motionlog/main.cc
+++ b/src/app/mpu9250_motionlog/main.cc
@@ -17,6 +17,9 @@ int main(void)
INIT0(ax);
INIT0(ay);
INIT0(az);
+ INIT0(mx);
+ INIT0(my);
+ INIT0(mz);
unsigned short i = 0;
arch.setup();
@@ -40,7 +43,8 @@ int main(void)
kout << "I2C setup OK" << endl;
mpu9250.init();
- mpu9250.accelOnly();
+ mpu9250.nineAxis();
+ mpu9250.setGyroEnable(false, false, false);
while (1) {
mpu9250.getRawAccel(&ax, &ay, &az);
@@ -52,12 +56,25 @@ int main(void)
UPDATE_MAX(max_ay, ay);
UPDATE_MAX(max_az, az);
+ if (mpu9250.getRawMagnet(&mx, &my, &mz)) {
+ UPDATE_MIN(min_mx, mx);
+ UPDATE_MIN(min_my, my);
+ UPDATE_MIN(min_mz, mz);
+ UPDATE_MAX(max_mx, mx);
+ UPDATE_MAX(max_my, my);
+ UPDATE_MAX(max_mz, mz);
+ }
+
if (i++ == 2000) {
kout << "Min Accel: " << min_ax << " / " << min_ay << " / " << min_az << endl;
kout << "Max Accel: " << max_ax << " / " << max_ay << " / " << max_az << endl;
+ kout << "Min Magnet: " << min_mx << " / " << min_my << " / " << min_mz << endl;
+ kout << "Max Magnet: " << max_mx << " / " << max_my << " / " << max_mz << endl;
kout << "Temp: " << mpu9250.getTemperature() << endl;
min_ax = min_ay = min_az = 30000;
max_ax = max_ay = max_az = -30000;
+ min_mx = min_my = min_mz = 30000;
+ max_mx = max_my = max_mz = -30000;
i = 0;
if (ADCSRA & _BV(ADIF)) {
uint8_t adcr_l = ADCL;