CanSat/EmbeddedESP
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update

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This commit is contained in:
Bruno Rybársky
2025-04-26 17:09:55 +02:00
parent 5853bf849f
commit cb339e6b66
18 changed files with 270 additions and 111 deletions
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13
main/hw/mpu9250.c
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@@ -3,7 +3,7 @@
i2c_device_config_t MPU9250_DEV_CFG = {
.dev_addr_length = I2C_ADDR_BIT_LEN_7,
.device_address = 0x68,
.device_address = MPU9250_ADDRESS,
.scl_speed_hz = 100000,
};
@@ -57,9 +57,12 @@ void mpu9250_convert_data(int16_t *accel, int16_t *gyro, int16_t temp, int16_t *
*temp_out = (temp / 333.87) + 21.0; // Temperature in °C
}
void mpu9250_init()
esp_err_t mpu9250_init()
{
ESP_ERROR_CHECK(i2c_master_bus_add_device(i2c0_bus_hdl, &MPU9250_DEV_CFG, &MPU9250_DEV_HANDLE));
i2c_write_register_16(MPU9250_DEV_HANDLE, 0x6B, 0x0001); // zapni uz tu hovadinu
i2c_write_register_16(MPU9250_DEV_HANDLE, 0x0A, 0x0012); // zapni uz tu hovadinu
esp_err_t ret = i2c_master_bus_add_device(i2c0_bus_hdl, &MPU9250_DEV_CFG, &MPU9250_DEV_HANDLE);
if (ret != ESP_OK) {return ret;}
ret = i2c_write_register_16(MPU9250_DEV_HANDLE, 0x6B, 0x0001); // zapni uz tu hovadinu
if (ret != ESP_OK) {return ret;}
ret = i2c_write_register_16(MPU9250_DEV_HANDLE, 0x0A, 0x0012); // zapni uz tu hovadinu
return ret;
}