Added driver to grab accel and gyro data from the MPU-6000 chip.

1 files changed, 12 insertions, 2 deletions

diff --git a/main.cpp b/main.cpp
index 6a698bc..08072f7 100644
--- a/main.cpp
+++ b/main.cpp
@@ -8,6 +8,7 @@
 #include <usb/descriptor.h>
 
 #include "hmc5983.h"
+#include "mpu6000.h"
 
 Pin usb_vbus = GPIOB[5];
 Pin usb_dm = GPIOA[11];
@@ -58,6 +59,7 @@ class USB_TM : public USB_class_driver {
 USB_TM usb_tm(usb);
 
 HMC5983 magn(mag_cs, SPI2);
+MPU6000 mpu(mpu_cs, SPI2);
 
 int main() {
 	rcc_init();
@@ -96,19 +98,27 @@ int main() {
 	flash_cs.on();
 	
 	magn.init();
-	float buf[3] = {0,0,0};
+	mpu.init();
+	float buf[9] = {0,0,0,0,0,0,0,0,0};
 	
 	
 	while(1) {
 		usb.process();
 		uint8_t magn_status = magn.update();
+		mpu.update();
 		
 		buf[0] = magn.x;
 		buf[1] = magn.y;
 		buf[2] = magn.z;
-				
+		buf[3] = mpu.gyro[0];
+		buf[4] = mpu.gyro[1];
+		buf[5] = mpu.gyro[2];
+		buf[6] = mpu.accel[0];
+		buf[7] = mpu.accel[1];
+		buf[8] = mpu.accel[2];
 		if(usb.ep_ready(1)) {
 			usb.write(1, (uint32_t*)buf, sizeof(buf));
+			//usb.write(1, (uint32_t*)mpu.gyro, sizeof(mpu.gyro));
 			//usb.write(1, (uint32_t*)&magn_status, sizeof(magn_status));
 		}
 	}