Commit d90a8403 authored by Birte Kristina Friesel's avatar Birte Kristina Friesel
Browse files

mpu9250_motionlog: monitor magnetism

parent abf3d1d9

src/app/mpu9250_motionlog/main.cc

+18 −1
Original line number Diff line number Diff line
@@ -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;