pim/mgos_i2c_mock
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Add a few board types to test combinations of sensors

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Pim van Pelt
2019-01-04 22:07:11 +01:00
parent 3c12e23b60
commit 79939b4d1d
1 changed files with 39 additions and 8 deletions
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45
tests/imu.c
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@ -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;
}