MPU9250-Demo.spin2

{
----------------------------------------------------------------------------------------------------
    Filename:       MPU9250-Demo.spin2
    Description:    Demo of the MPU9250 driver
        * 9DoF data output
    Author:         Jesse Burt
    Started:        Jun 10, 2020
    Updated:        Aug 10, 2024
    Copyright (c) 2024 - See end of file for terms of use.
----------------------------------------------------------------------------------------------------
}

#include "core.con.click.spin2"

CON

    _clkfreq    = cfg._clkfreq_def
    _xtlfreq    = cfg._xtlfreq

' -- User-modifiable constants
    CLICK_BASE  = 16                            ' MikroE Click base I/O pin
' --


OBJ

    cfg:    "boardcfg.p2eval"
    ser:    "com.serial.terminal.ansi" | SER_BAUD=2_000_000

    { MikroE Click boards (set CLICK_BASE pin above) }
'    sensor: "sensor.imu.9dof.mpu9250" | SCL=SCL_PIN, SDA=SDA_PIN, I2C_FREQ=400_000, I2C_ADDR=0

    { custom I/O settings }
    sensor: "sensor.imu.9dof.mpu9250" | SCL=0, SDA=1, I2C_FREQ=400_000, I2C_ADDR=0


PUB setup()

    ser.start()

    ser.clear()
    ser.strln(@"Serial terminal started")

    if ( sensor.start() )
        ser.strln(@"MPU9250 driver started")
    else
        ser.strln(@"MPU9250 driver failed to start - halting")
        repeat

    sensor.preset_active()

    repeat
        ser.pos_xy(0, 3)
        show_accel_data()
        show_gyro_data()
        show_mag_data()
        if ( ser.getchar_noblock() == "c" )
            cal_accel()
            cal_gyro()
            cal_mag()

#include "acceldemo.common.spin2h"              ' use code common to all accelerometer,
#include "gyrodemo.common.spin2h"               '   gyroscope,
#include "magdemo.common.spin2h"                '   and magnetometer demos

DAT
{
Copyright 2024 Jesse Burt

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
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including without limitation the rights to use, copy, modify, merge, publish, distribute,
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furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or
substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT
OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
}