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