61 lines
1.2 KiB
C
61 lines
1.2 KiB
C
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/*
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* Copyright (c) 2006-2023, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2023-09-19 liYony first version
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*/
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#include <rtthread.h>
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#include "mpu6xxx.h"
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#define DBG_TAG "mpu6050"
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#define DBG_LVL DBG_LOG
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#include <rtdbg.h>
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#define MPU6050_DEVICE_NAME "i2c1"
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static void mpu6050_accel_entry(void *parameter)
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{
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struct mpu6xxx_device *dev;
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struct mpu6xxx_3axes accel;
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/* Initialize mpu6050, The parameter is RT_NULL, means auto probing for i2c*/
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dev = mpu6xxx_init(MPU6050_DEVICE_NAME, RT_NULL);
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if (dev == RT_NULL)
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{
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LOG_E("mpu6050 init failed.");
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return;
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}
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LOG_I("mpu6050 init succeed.");
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while(1)
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{
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mpu6xxx_get_accel(dev, &accel);
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LOG_D("accel.x = %3d, accel.y = %3d, accel.z = %3d", accel.x, accel.y, accel.z);
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rt_thread_mdelay(1000);
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}
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}
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static int rt_hw_mpu6050_init()
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{
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rt_thread_t tid_mpu;
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tid_mpu = rt_thread_create("mpu_accel", mpu6050_accel_entry, RT_NULL, 1024, 10, 10);
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if (tid_mpu == RT_NULL)
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{
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return -RT_ERROR;
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}
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rt_thread_startup(tid_mpu);
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return RT_EOK;
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}
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INIT_APP_EXPORT(rt_hw_mpu6050_init);
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