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OpenSource
Ardupilot
Commits
09c97bb3
Commit
09c97bb3
authored
13 years ago
by
Andrew Tridgell
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removed dead test program
this one doesn't build, and has been replaced by IMU_MPU6000_test
parent
9e6ea0b1
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libraries/AP_IMU/examples/AP_IMU_MPU6000/AP_IMU_MPU6000.pde
+0
-54
0 additions, 54 deletions
libraries/AP_IMU/examples/AP_IMU_MPU6000/AP_IMU_MPU6000.pde
libraries/AP_IMU/examples/AP_IMU_MPU6000/Makefile
+0
-2
0 additions, 2 deletions
libraries/AP_IMU/examples/AP_IMU_MPU6000/Makefile
with
0 additions
and
56 deletions
libraries/AP_IMU/examples/AP_IMU_MPU6000/AP_IMU_MPU6000.pde
deleted
100644 → 0
+
0
−
54
View file @
9e6ea0b1
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
//
// Simple test for the AP_IMU driver.
//
#include
<FastSerial.h>
#include
<AP_IMU.h>
#include
<AP_IMU_MPU6000.h>
// Experimental MPU6000 IMU library
#include
<AP_PeriodicProcess.h>
// Parent header of Timer
// (only included for makefile libpath to work)
#include
<AP_TimerProcess.h>
// TimerProcess is the scheduler for MPU6000 reads.
#include
<AP_ADC.h>
#include
<AP_Math.h>
#include
<AP_Common.h>
#include
<SPI.h>
FastSerialPort
(
Serial
,
0
);
#ifndef CONFIG_MPU6000_CHIP_SELECT_PIN
# define CONFIG_MPU6000_CHIP_SELECT_PIN 53
#endif
AP_IMU_MPU6000
imu
(
140
,
CONFIG_MPU6000_CHIP_SELECT_PIN
);
AP_TimerProcess
timer_scheduler
;
AP_ADC_ADS7844
adc
;
void
setup
(
void
)
{
Serial
.
begin
(
115200
);
Serial
.
println
(
"Doing IMU startup..."
);
timer_scheduler
.
init
();
Serial
.
println
(
"done timer init"
);
adc
.
Init
(
&
timer_scheduler
);
Serial
.
println
(
"done adc init"
);
imu
.
init
(
IMU
::
COLD_START
,
delay
,
&
timer_scheduler
);
Serial
.
println
(
"done IMU init"
);
delay
(
1000
);
}
void
loop
(
void
)
{
Vector3f
accel
;
Vector3f
gyro
;
delay
(
1000
);
imu
.
update
();
accel
=
imu
.
get_accel
();
gyro
=
imu
.
get_gyro
();
Serial
.
printf
(
"AX: 0x%4.4f AY: 0x%4.4f AZ: 0x%4.4f GX: 0x%4.4f GY: 0x%4.4f GZ: 0x%4.4f
\n
"
,
accel
.
x
,
accel
.
y
,
accel
.
z
,
gyro
.
x
,
gyro
.
y
,
gyro
.
z
);
}
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libraries/AP_IMU/examples/AP_IMU_MPU6000/Makefile
deleted
100644 → 0
+
0
−
2
View file @
9e6ea0b1
BOARD
=
mega
include
../../../AP_Common/Arduino.mk
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