bossay_release_out/app/A25_MPU6050/A25_MPU6050_example.c

/*
 * Copyright (c) 2020  Jinan Bosai Network Technology Co., Ltd.
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *    http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include <stdio.h>
#include <string.h>
#include <unistd.h>

#include "MPU6050.h"
#include "cmsis_os2.h"
#include "ohos_init.h"

#define TASK_STACK_SIZE 1024 * 8
#define TASK_PRIO 25

static void ExampleTask(void)
{
    uint8_t ret;
    MPU6050Data data;
    int X = 0, Y = 0, Z = 0;

    ret = BoardInit();
    if (ret != 0) {
        printf("BoardInit failed!\r\n");
        return;
    }
    while (1) {
        printf("=======================================\r\n");
        printf("*************A25_MPU6050_example***********\r\n");
        printf("=======================================\r\n");
        ret = MPU6050ReadData(&data);
        if (ret != 0) {
            printf("MPU6050 Read Data failed!\r\n");
            return;
        }
        printf("\r\n**************Temperature      is  %d\r\n", (int)data.Temperature);
        printf("\r\n**************Accel[0]         is  %d\r\n", (int)data.Accel[0]);
        printf("\r\n**************Accel[1]         is  %d\r\n", (int)data.Accel[1]);
        printf("\r\n**************Accel[2]         is  %d\r\n", (int)data.Accel[2]);
        if (X == 0 && Y == 0 && Z == 0) {
            X = (int)data.Accel[0];
            Y = (int)data.Accel[1];
            Z = (int)data.Accel[2];
        } else {
            if (X + 100 < data.Accel[0] || X - 100 > data.Accel[0] || Y + 100 < data.Accel[1] ||
                Y - 100 > data.Accel[1] || Z + 100 < data.Accel[2] || Z - 100 > data.Accel[2]) {
                LedD1StatusSet(ON);
                LedD2StatusSet(OFF);

            } else {
                LedD1StatusSet(OFF);
                LedD2StatusSet(ON);
            }
        }
        usleep(1000000);
    }
}

static void ExampleEntry(void)
{
    osThreadAttr_t attr;

    attr.name = "ExampleTask";
    attr.attr_bits = 0U;
    attr.cb_mem = NULL;
    attr.cb_size = 0U;
    attr.stack_mem = NULL;
    attr.stack_size = TASK_STACK_SIZE;
    attr.priority = TASK_PRIO;

    if (osThreadNew((osThreadFunc_t)ExampleTask, NULL, &attr) == NULL) {
        printf("Failed to create ExampleTask!\n");
    }
}

APP_FEATURE_INIT(ExampleEntry);