87 lines
2.7 KiB
C
87 lines
2.7 KiB
C
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/*
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* Copyright (c) 2020 Jinan Bosai Network Technology Co., Ltd.
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <stdio.h>
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#include <string.h>
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#include <unistd.h>
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#include "MPU6050.h"
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#include "cmsis_os2.h"
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#include "ohos_init.h"
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#define TASK_STACK_SIZE 1024 * 8
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#define TASK_PRIO 25
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static void ExampleTask(void)
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{
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uint8_t ret;
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MPU6050Data data;
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int X = 0, Y = 0, Z = 0;
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ret = BoardInit();
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if (ret != 0) {
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printf("BoardInit failed!\r\n");
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return;
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}
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while (1) {
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printf("=======================================\r\n");
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printf("*************A25_MPU6050_example***********\r\n");
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printf("=======================================\r\n");
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ret = MPU6050ReadData(&data);
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if (ret != 0) {
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printf("MPU6050 Read Data failed!\r\n");
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return;
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}
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printf("\r\n**************Temperature is %d\r\n", (int)data.Temperature);
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printf("\r\n**************Accel[0] is %d\r\n", (int)data.Accel[0]);
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printf("\r\n**************Accel[1] is %d\r\n", (int)data.Accel[1]);
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printf("\r\n**************Accel[2] is %d\r\n", (int)data.Accel[2]);
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if (X == 0 && Y == 0 && Z == 0) {
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X = (int)data.Accel[0];
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Y = (int)data.Accel[1];
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Z = (int)data.Accel[2];
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} else {
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if (X + 100 < data.Accel[0] || X - 100 > data.Accel[0] || Y + 100 < data.Accel[1] ||
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Y - 100 > data.Accel[1] || Z + 100 < data.Accel[2] || Z - 100 > data.Accel[2]) {
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LedD1StatusSet(ON);
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LedD2StatusSet(OFF);
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} else {
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LedD1StatusSet(OFF);
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LedD2StatusSet(ON);
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}
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}
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usleep(1000000);
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}
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}
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static void ExampleEntry(void)
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{
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osThreadAttr_t attr;
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attr.name = "ExampleTask";
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attr.attr_bits = 0U;
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attr.cb_mem = NULL;
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attr.cb_size = 0U;
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attr.stack_mem = NULL;
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attr.stack_size = TASK_STACK_SIZE;
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attr.priority = TASK_PRIO;
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if (osThreadNew((osThreadFunc_t)ExampleTask, NULL, &attr) == NULL) {
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printf("Failed to create ExampleTask!\n");
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}
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}
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APP_FEATURE_INIT(ExampleEntry);
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