85 lines
2.2 KiB
C
85 lines
2.2 KiB
C
#include <rtthread.h>
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#include <rtdevice.h>
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#include <board.h>
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#include <icm20608.h>
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#define LOG_TAG "icm.app"
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#define LOG_LVL LOG_LVL_DBG
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#include <ulog.h>
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static void icm_thread_entry(void *parameter)
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{
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icm20608_device_t dev = RT_NULL;
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const char *i2c_bus_name = "i2c2";
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int count = 0;
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rt_err_t result;
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/* 初始化 icm20608 传感器 */
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dev = icm20608_init(i2c_bus_name);
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if (dev == RT_NULL)
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{
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LOG_E("The sensor initializes failure");
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}
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else
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{
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LOG_D("The sensor initializes success");
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}
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/* 对 icm20608 进行零值校准：采样 10 次，求取平均值作为零值 */
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result = icm20608_calib_level(dev, 10);
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if (result == RT_EOK)
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{
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LOG_D("The sensor calibrates success");
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LOG_D("accel_offset: X%6d Y%6d Z%6d", dev->accel_offset.x, dev->accel_offset.y, dev->accel_offset.z);
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LOG_D("gyro_offset : X%6d Y%6d Z%6d", dev->gyro_offset.x, dev->gyro_offset.y, dev->gyro_offset.z);
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}
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else
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{
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LOG_E("The sensor calibrates failure");
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icm20608_deinit(dev);
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}
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while (count++ < 100)
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{
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rt_int16_t accel_x, accel_y, accel_z;
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rt_int16_t gyros_x, gyros_y, gyros_z;
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/* 读取三轴加速度 */
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result = icm20608_get_accel(dev, &accel_x, &accel_y, &accel_z);
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if (result == RT_EOK)
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{
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LOG_D("current accelerometer: accel_x%6d, accel_y%6d, accel_z%6d", accel_x, accel_y, accel_z);
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}
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else
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{
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LOG_E("The sensor does not work");
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}
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/* 读取三轴陀螺仪 */
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result = icm20608_get_gyro(dev, &gyros_x, &gyros_y, &gyros_z);
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if (result == RT_EOK)
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{
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LOG_D("current gyroscope : gyros_x%6d, gyros_y%6d, gyros_z%6d", gyros_x, gyros_y, gyros_z);
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}
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else
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{
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LOG_E("The sensor does not work");
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break;
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}
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rt_thread_mdelay(1000);
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}
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}
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static int icm_app(void)
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{
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rt_thread_t res = rt_thread_create("icm", icm_thread_entry, RT_NULL, 1024, 20, 50);
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if(res == RT_NULL)
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{
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return -RT_ERROR;
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}
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rt_thread_startup(res);
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return RT_EOK;
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}
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MSH_CMD_EXPORT(icm_app, icm_app); |