From 79939b4d1dac08e1b619af0e64250f551fab85bf Mon Sep 17 00:00:00 2001
From: Pim van Pelt <pim@ipng.nl>
Date: Fri, 4 Jan 2019 22:07:11 +0100
Subject: [PATCH] Add a few board types to test combinations of sensors

---
 tests/imu.c | 47 +++++++++++++++++++++++++++++++++++++++--------
 1 file changed, 39 insertions(+), 8 deletions(-)

diff --git a/tests/imu.c b/tests/imu.c
index 693a9f8..32894f4 100644
--- a/tests/imu.c
+++ b/tests/imu.c
@@ -3,23 +3,51 @@
 #include "mgos_imu.h"
 
 uint32_t test_imu_period_ms = 100; // 10Hz
-bool test_imu_enabled = true;
+bool     test_imu_enabled   = true;
 
 static struct mgos_imu *s_imu = NULL;
 
+#define BOARD    2
+
+#if BOARD == 1
+// LSM303D_L3GD20_COMBO -- sold as GY-89
+  #define ACC_I2CADDR     0x1d
+  #define ACC_TYPE        ACC_LSM303D
+  #define GYRO_I2CADDR    0x6b
+  #define GYRO_TYPE       GYRO_L3GD20
+  #define MAG_I2CADDR     0x1d
+  #define MAG_TYPE        MAG_LSM303D
+#elif BOARD == 2
+// ITG3205_ADXL345_HMC5883L_COMBO -- sold as HW-579
+  #define ACC_I2CADDR     0x53
+  #define ACC_TYPE        ACC_ADXL345
+  #define GYRO_I2CADDR    0x68
+  #define GYRO_TYPE       GYRO_ITG3205
+  #define MAG_I2CADDR     0x1d
+  #define MAG_TYPE        MAG_LSM303D                 // MAG_HMC5883L
+#else
+// Sold as M5 Stack (ESP32 + MPU9250)
+  #define ACC_I2CADDR     0x68
+  #define ACC_TYPE        ACC_MPU9250
+  #define GYRO_I2CADDR    0x68
+  #define GYRO_TYPE       GYRO_MPU9250
+  #define MAG_I2CADDR     0x0c
+  #define MAG_TYPE        MAG_AK8963
+#endif
+
 bool test_imu_create(void) {
   if (!(s_imu = mgos_imu_create())) {
     LOG(LL_ERROR, ("Cannot create IMU"));
     return false;
   }
-  
-  if (!mgos_imu_accelerometer_create_i2c(s_imu, mgos_i2c_get_global(), 0x1d, ACC_LSM303D)) {
+
+  if (!mgos_imu_accelerometer_create_i2c(s_imu, mgos_i2c_get_global(), ACC_I2CADDR, ACC_TYPE)) {
     LOG(LL_ERROR, ("Cannot create accelerometer on IMU"));
   }
-  if (!mgos_imu_gyroscope_create_i2c(s_imu, mgos_i2c_get_global(), 0x6b, GYRO_L3GD20)) {
+  if (!mgos_imu_gyroscope_create_i2c(s_imu, mgos_i2c_get_global(), GYRO_I2CADDR, GYRO_TYPE)) {
     LOG(LL_ERROR, ("Cannot create gyroscope on IMU"));
   }
-  if (!mgos_imu_magnetometer_create_i2c(s_imu, mgos_i2c_get_global(), 0x1d, MAG_LSM303D)) {
+  if (!mgos_imu_magnetometer_create_i2c(s_imu, mgos_i2c_get_global(), MAG_I2CADDR, MAG_TYPE)) {
     LOG(LL_ERROR, ("Cannot create magnetometer on IMU"));
   }
 
@@ -31,15 +59,18 @@ bool test_imu_run(void) {
   float gx, gy, gz;
   float mx, my, mz;
 
-  if (mgos_imu_accelerometer_get(s_imu, &ax, &ay, &az))
+  if (mgos_imu_accelerometer_get(s_imu, &ax, &ay, &az)) {
     LOG(LL_INFO, ("type=%-10s Accel X=%+.2f Y=%+.2f Z=%+.2f (m/s/s)",
                   mgos_imu_accelerometer_get_name(s_imu), ax, ay, az));
-  if (mgos_imu_gyroscope_get(s_imu, &gx, &gy, &gz))
+  }
+  if (mgos_imu_gyroscope_get(s_imu, &gx, &gy, &gz)) {
     LOG(LL_INFO, ("type=%-10s Gyro  X=%+.2f Y=%+.2f Z=%+.2f (Rad/sec)",
                   mgos_imu_gyroscope_get_name(s_imu), gx, gy, gz));
-  if (mgos_imu_magnetometer_get(s_imu, &mx, &my, &mz))
+  }
+  if (mgos_imu_magnetometer_get(s_imu, &mx, &my, &mz)) {
     LOG(LL_INFO, ("type=%-10s Mag   X=%+.2f Y=%+.2f Z=%+.2f (uTesla)",
                   mgos_imu_magnetometer_get_name(s_imu), mx, my, mz));
+  }
   return true;
 }