mirror of
https://github.com/Mercantec-GHC/h5-projekt-mst.git
synced 2026-08-27 05:37:39 +02:00
86 lines
2.4 KiB
C
86 lines
2.4 KiB
C
#include "esp_chip_info.h"
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#include "esp_flash.h"
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#include "esp_system.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "mpu6050.h"
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#include "sdkconfig.h"
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#include <inttypes.h>
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#include <stdio.h>
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static mpu6050_handle_t mpu6050_dev = NULL;
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static mpu6050_acce_value_t acce;
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static mpu6050_gyro_value_t gyro;
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static void mpu6050_init()
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{
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mpu6050_dev = mpu6050_create(BSP_I2C_NUM, MPU6050_I2C_ADDRESS);
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mpu6050_config(mpu6050_dev, ACCE_FS_4G, GYRO_FS_500DPS);
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mpu6050_wake_up(mpu6050_dev);
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}
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static void mpu6050_read(void* pvParameters)
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{
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mpu6050_get_acce(mpu6050_dev, &acce);
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mpu6050_get_gyro(mpu6050_dev, &gyro);
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mpu6050_complimentory_filter(
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mpu6050_dev, &acce, &gyro, &complimentary_angle);
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}
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void app_main(void)
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{
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mpu6050_init();
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printf("Hello world!\n");
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for (size_t i = 0; i < 10000) {
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printf("acce_x:%.2f, acce_y:%.2f, acce_z:%.2f\n",
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acce.acce_x,
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acce.acce_y,
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acce.acce_z);
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printf("gyro_x:%.2f, gyro_y:%.2f, gyro_z:%.2f",
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gyro.gyro_x,
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gyro.gyro_y,
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gyro.gyro_z);
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}
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/* Print chip information */
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esp_chip_info_t chip_info;
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uint32_t flash_size;
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esp_chip_info(&chip_info);
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printf("This is %s chip with %d CPU core(s), %s%s%s%s, ",
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CONFIG_IDF_TARGET,
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chip_info.cores,
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(chip_info.features & CHIP_FEATURE_WIFI_BGN) ? "WiFi/" : "",
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(chip_info.features & CHIP_FEATURE_BT) ? "BT" : "",
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(chip_info.features & CHIP_FEATURE_BLE) ? "BLE" : "",
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(chip_info.features & CHIP_FEATURE_IEEE802154)
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? ", 802.15.4 (Zigbee/Thread)"
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: "");
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unsigned major_rev = chip_info.revision / 100;
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unsigned minor_rev = chip_info.revision % 100;
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printf("silicon revision v%d.%d, ", major_rev, minor_rev);
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if (esp_flash_get_size(NULL, &flash_size) != ESP_OK) {
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printf("Get flash size failed");
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return;
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}
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printf("%" PRIu32 "MB %s flash\n",
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flash_size / (uint32_t)(1024 * 1024),
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(chip_info.features & CHIP_FEATURE_EMB_FLASH) ? "embedded"
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: "external");
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printf("Minimum free heap size: %" PRIu32 " bytes\n",
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esp_get_minimum_free_heap_size());
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for (int i = 10; i >= 0; i--) {
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printf("Restarting in %d seconds...\n", i);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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}
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printf("Restarting now.\n");
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fflush(stdout);
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esp_restart();
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}
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