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read gyro+accel

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sdes1
2025-11-11 18:06:18 +01:00
parent 67c0c2c90e
commit 4da90cfabe
1 changed files with 5 additions and 3 deletions
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8
src/APP/Aufgabe4/ps7/core0/src/imu.c
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@@ -29,7 +29,8 @@ static int16_t _imu_accMinData[3]={0,0,0}; //x, y, z
int16_t accelData[3]; int16_t accelData[3];
int16_t gyroData[3]; int16_t gyroData[3];
int16_t drawBuffer[1000]; int16_t accelBuffer[5000];
int16_t gyroBuffer[5000];
static XIicPs Iic; static XIicPs Iic;
XIicPs_Config *Config; XIicPs_Config *Config;
@@ -66,8 +67,9 @@ int mpu9250_Imu_Init(void *pdata){
while(1){ while(1){
mpu9250_Read_Data(0x3B, 6, (u8*)accelData); mpu9250_Read_Data(0x3B, 6, (u8*)accelData);
mpu9250_Read_Data(0x43, 6, (u8*)gyroData); mpu9250_Read_Data(0x43, 6, (u8*)gyroData);
drawBuffer[i]=(int16_t)((accelData[0]&0xFF)<<8 | (accelData[8]&0xFF00)>>8); accelBuffer[i]=(int16_t)((accelData[0]&0xFF)<<8 | (accelData[0]&0xFF00)>>8);
i=(i+1)%1000; gyroBuffer[i]=(int16_t)((gyroData[1]&0xFF)<<8 | (gyroData[1]&0xFF00)>>8);
i=(i+1)%(sizeof(accelBuffer)/sizeof(accelBuffer[0]));
OSTimeDly(1); OSTimeDly(1);
} }