rc_calibrate_gyro.c

/**
 * @file rc_calibrate_gyro.c
 * @example    rc_calibrate_gyro
 *
 * @brief      runs the mpu gyroscope calibration routine
 *
 *             If the routine is successful, a new gyroscope calibration file
 *             will be saved which is loaded automatically the next time the MPU
 *             is used.
 *
 *
 * @author     James Strawson
 * @date       1/29/2018
 */


#include <stdio.h>
#include <rc/mpu.h>

// bus for Robotics Cape and BeagleBone Blue is 2
// change this for your platform
#define I2C_BUS 2

int main()
{
        printf("\nThis program will generate a new gyro calibration file\n");
        printf("keep your board very still for this procedure.\n");
        printf("Press any key to continue\n");
        getchar();
        printf("Starting calibration routine\n");

        rc_mpu_config_t config = rc_mpu_default_config();
        config.i2c_bus = I2C_BUS;

        if(rc_mpu_calibrate_gyro_routine(config)<0){
                printf("Failed to complete gyro calibration\n");
                return -1;
        }

        printf("\ngyro calibration file written\n");
        printf("run rc_test_mpu to check performance\n");

        return 0;
}