2013-01-29 22:16:52 +01:00
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This code is mostly
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Copyright (c) 2012 Jeff Rowberg, and copied from
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https://github.com/jrowberg/i2cdevlib
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I have simply hacked it to work with the RaspberryPi, using the in-kernel
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I2C drivers. It should be trival to make use of any of the other sensors
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Jeff supports in this way.
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You need libgtkmm-3.0-dev installed in order to build the 3d demo.
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2014-02-11 20:51:26 +01:00
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NOTE: If you have a revision 2 Raspberry Pi you need to edit I2Cdev.cpp
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and change all references to "/dev/i2c-0" to read "/dev/i2c-1".
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2013-01-29 22:16:52 +01:00
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'make' will create three demos:
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demo_raw - displays raw gyro and accel values.
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demo_dmp - displays yaw, pitch and roll angles, etc, using the DMP. See the
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source to enable different output data.
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demo_3d - displays a wireframe 'model' on the screen which you can rotate
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on all three axes by moving the MPU6050.
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The demo_3d code is mostly mine, not Jeff's, and is a pretty ugly mix of C and
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C++, but it works well enough for a demo.
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To make the most of this code you need to get an MPU6050 and hook it up
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to the I2C interface on your Pi. You can "make test_3d" if you just want
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to play with the wireframe model without an MPU6050.
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Note the DMP FIFO rate has been set to 20Hz in the Makefile; it is 100Hz in the
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original code, but that was a bit fast for the 3d demo. See the comments in
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MPU6050_6Axis_MotionApps20.h file to change the rate.
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Richard Hirst <richardghirst@gmai.com> 06 Nov 2012
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