mirror of
https://github.com/Mercantec-GHC/h5-projekt-mst.git
synced 2026-08-27 13:47:38 +02:00
86 lines
2.4 KiB
C
86 lines
2.4 KiB
C
#include "esp_chip_info.h"
|
|
#include "esp_flash.h"
|
|
#include "esp_system.h"
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "mpu6050.h"
|
|
#include "sdkconfig.h"
|
|
#include <inttypes.h>
|
|
#include <stdio.h>
|
|
|
|
static mpu6050_handle_t mpu6050_dev = NULL;
|
|
|
|
static mpu6050_acce_value_t acce;
|
|
static mpu6050_gyro_value_t gyro;
|
|
|
|
static void mpu6050_init()
|
|
{
|
|
mpu6050_dev = mpu6050_create(BSP_I2C_NUM, MPU6050_I2C_ADDRESS);
|
|
mpu6050_config(mpu6050_dev, ACCE_FS_4G, GYRO_FS_500DPS);
|
|
mpu6050_wake_up(mpu6050_dev);
|
|
}
|
|
|
|
static void mpu6050_read(void* pvParameters)
|
|
{
|
|
mpu6050_get_acce(mpu6050_dev, &acce);
|
|
mpu6050_get_gyro(mpu6050_dev, &gyro);
|
|
mpu6050_complimentory_filter(
|
|
mpu6050_dev, &acce, &gyro, &complimentary_angle);
|
|
}
|
|
|
|
void app_main(void)
|
|
{
|
|
mpu6050_init();
|
|
|
|
printf("Hello world!\n");
|
|
|
|
for (size_t i = 0; i < 10000) {
|
|
printf("acce_x:%.2f, acce_y:%.2f, acce_z:%.2f\n",
|
|
acce.acce_x,
|
|
acce.acce_y,
|
|
acce.acce_z);
|
|
printf("gyro_x:%.2f, gyro_y:%.2f, gyro_z:%.2f",
|
|
gyro.gyro_x,
|
|
gyro.gyro_y,
|
|
gyro.gyro_z);
|
|
}
|
|
|
|
/* Print chip information */
|
|
esp_chip_info_t chip_info;
|
|
uint32_t flash_size;
|
|
esp_chip_info(&chip_info);
|
|
printf("This is %s chip with %d CPU core(s), %s%s%s%s, ",
|
|
CONFIG_IDF_TARGET,
|
|
chip_info.cores,
|
|
(chip_info.features & CHIP_FEATURE_WIFI_BGN) ? "WiFi/" : "",
|
|
(chip_info.features & CHIP_FEATURE_BT) ? "BT" : "",
|
|
(chip_info.features & CHIP_FEATURE_BLE) ? "BLE" : "",
|
|
(chip_info.features & CHIP_FEATURE_IEEE802154)
|
|
? ", 802.15.4 (Zigbee/Thread)"
|
|
: "");
|
|
|
|
unsigned major_rev = chip_info.revision / 100;
|
|
unsigned minor_rev = chip_info.revision % 100;
|
|
printf("silicon revision v%d.%d, ", major_rev, minor_rev);
|
|
if (esp_flash_get_size(NULL, &flash_size) != ESP_OK) {
|
|
printf("Get flash size failed");
|
|
return;
|
|
}
|
|
|
|
printf("%" PRIu32 "MB %s flash\n",
|
|
flash_size / (uint32_t)(1024 * 1024),
|
|
(chip_info.features & CHIP_FEATURE_EMB_FLASH) ? "embedded"
|
|
: "external");
|
|
|
|
printf("Minimum free heap size: %" PRIu32 " bytes\n",
|
|
esp_get_minimum_free_heap_size());
|
|
|
|
for (int i = 10; i >= 0; i--) {
|
|
printf("Restarting in %d seconds...\n", i);
|
|
vTaskDelay(1000 / portTICK_PERIOD_MS);
|
|
}
|
|
printf("Restarting now.\n");
|
|
fflush(stdout);
|
|
esp_restart();
|
|
}
|