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authorStanley Huang <stanleyhuangyc@gmail.com>2013-03-28 17:47:05 +0800
committerStanley Huang <stanleyhuangyc@gmail.com>2013-03-28 17:47:39 +0800
commit8f9abef3a85f45eb52cf6ac9a9887f7e601b94fb (patch)
tree4b91413e1765b0880bc41c9f062dba900f03e714 /samples
parent995219669f517d689b9c0b6c842285cc52ace354 (diff)
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fix compiliation issue
Diffstat (limited to 'samples')
-rw-r--r--samples/obdtest/obdtest.ino90
1 files changed, 71 insertions, 19 deletions
diff --git a/samples/obdtest/obdtest.ino b/samples/obdtest/obdtest.ino
index 27854eb..2c2d764 100644
--- a/samples/obdtest/obdtest.ino
+++ b/samples/obdtest/obdtest.ino
@@ -1,8 +1,8 @@
#include <Arduino.h>
#include <Wire.h>
-#include <MultiLCD.h>
-#include <OBD.h>
-#include <MPU6050.h>
+#include "MultiLCD.h"
+#include "OBD.h"
+#include "MPU6050.h"
#define INIT_CMD_COUNT 8
#define MAX_CMD_LEN 6
@@ -88,6 +88,57 @@ char get_key(unsigned int input)
return -1;
}
+void readMPU6050()
+{
+ int error;
+ float dT;
+ accel_t_gyro_union accel_t_gyro;
+
+ // Read the raw values.
+ // Read 14 bytes at once,
+ // containing acceleration, temperature and gyro.
+ // With the default settings of the MPU-6050,
+ // there is no filter enabled, and the values
+ // are not very stable.
+
+ lcd.setCursor(0, 1);
+ error = MPU6050_read (MPU6050_ACCEL_XOUT_H, (uint8_t *) &accel_t_gyro, sizeof(accel_t_gyro));
+ if (error != 0) {
+ lcd.print("ACC Error!");
+ return;
+ }
+
+
+ // Swap all high and low bytes.
+ // After this, the registers values are swapped,
+ // so the structure name like x_accel_l does no
+ // longer contain the lower byte.
+ uint8_t swap;
+ #define SWAP(x,y) swap = x; x = y; y = swap
+
+ SWAP (accel_t_gyro.reg.x_accel_h, accel_t_gyro.reg.x_accel_l);
+ SWAP (accel_t_gyro.reg.y_accel_h, accel_t_gyro.reg.y_accel_l);
+ SWAP (accel_t_gyro.reg.z_accel_h, accel_t_gyro.reg.z_accel_l);
+ SWAP (accel_t_gyro.reg.t_h, accel_t_gyro.reg.t_l);
+ SWAP (accel_t_gyro.reg.x_gyro_h, accel_t_gyro.reg.x_gyro_l);
+ SWAP (accel_t_gyro.reg.y_gyro_h, accel_t_gyro.reg.y_gyro_l);
+ SWAP (accel_t_gyro.reg.z_gyro_h, accel_t_gyro.reg.z_gyro_l);
+
+
+ // Print the raw acceleration values
+
+ char buf[20];
+ dT = ( (float) accel_t_gyro.value.temperature + 12412.0) / 340.0;
+ sprintf(buf, "%d %d %d %d ",
+ (int)dT,
+ accel_t_gyro.value.x_accel / 128,
+ accel_t_gyro.value.y_accel / 128,
+ accel_t_gyro.value.z_accel / 128);
+ //Serial.println(buf);
+ lcd.setCursor(0, 1);
+ lcd.print(buf);
+}
+
void query()
{
char buf[17];
@@ -117,46 +168,47 @@ void query()
obd.Query((byte)pid);
if (stateMPU6050 == 0) {
- accel_t_gyro_union data;
- char buf[20];
- int ret = MPU6050_readout(&data);
- if (ret == 0) {
- sprintf(buf, "%d/%d/%d", data.value.x_accel, data.value.y_accel, data.value.z_accel);
- } else {
- sprintf(buf, "6050 error: %d", ret);
- }
+ readMPU6050();
}
}
void setup()
{
+ Wire.begin();
lcd.begin();
- pinMode(13, OUTPUT); //we'll use the debug LED to output a heartbeat
- digitalWrite(13, LOW);
OBDUART.begin(38400);
- digitalWrite(13, HIGH);
lcd.clear();
lcd.print("Init MPU6050...");
lcd.setCursor(0, 1);
+
stateMPU6050 = MPU6050_init();
- if (stateMPU6050 == 0) {
- lcd.print("Success!");
- } else {
- char buf[16];
+
+ char buf[16];
+ if (stateMPU6050 != 0) {
sprintf(buf, "Error: %d", stateMPU6050);
lcd.print(buf);
+ } else {
+ unsigned long t = millis();
+ do {
+ readMPU6050();
+ delay(100);
+ } while (millis() - t <= 10000);
}
delay(1000);
do {
lcd.clear();
lcd.print("Init OBD...");
+
+ if (stateMPU6050 == 0) {
+ readMPU6050();
+ }
+
delay(500);
} while(!obd.Init());
- char buf[16];
lcd.setCursor(0, 1);
lcd.print("CONNECTED! ");
delay(1000);