From ab77eeed0456b855b64400a08b7e7fb5438441bd Mon Sep 17 00:00:00 2001
From: ChrisMicro <christoph@roboterclub-freiburg.de>
Date: Mon, 17 Sep 2018 06:51:58 +0200
Subject: [PATCH] M5StackFire MPU example added

---
 .../M5StackFire_MPU9250.ino                   | 117 ++++++++++++++++++
 .../M5StackFire_simpleSpeakerDacSine.ino      |   2 +-
 2 files changed, 118 insertions(+), 1 deletion(-)
 create mode 100644 examples/Fire/M5StackFire_MPU9250/M5StackFire_MPU9250.ino

diff --git a/examples/Fire/M5StackFire_MPU9250/M5StackFire_MPU9250.ino b/examples/Fire/M5StackFire_MPU9250/M5StackFire_MPU9250.ino
new file mode 100644
index 0000000..5184064
--- /dev/null
+++ b/examples/Fire/M5StackFire_MPU9250/M5StackFire_MPU9250.ino
@@ -0,0 +1,117 @@
+/* 
+  M5Stack Fire
+    
+  MPU9250 Basic Example Code
+  
+  by: Kris Winer
+  date: April 1, 2014
+  license: Beerware - Use this code however you'd like. If you
+  find it useful you can buy me a beer some time.
+  Modified by Brent Wilkins July 19, 2016
+
+  reduced to the minimum by ChrisMicro, September 2018
+
+  Demonstrate basic MPU-9250 functionality including parameterizing the register
+  addresses, initializing the sensor, getting properly scaled accelerometer,
+  gyroscope, and magnetometer data out. Added display functions to allow display
+  to on breadboard monitor.
+*/
+
+#include <M5Stack.h>
+#include "utility/MPU9250.h"
+
+MPU9250 IMU;
+
+void setup()
+{
+  M5.begin();
+  Wire.begin();
+
+  IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);
+  IMU.initMPU9250();
+  IMU.initAK8963(IMU.magCalibration);
+}
+
+void loop()
+{
+  // If intPin goes high, all data registers have new data
+  // On interrupt, check if data ready interrupt
+  if (IMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
+  {
+    IMU.readAccelData(IMU.accelCount);
+    IMU.getAres();
+
+    IMU.ax = (float)IMU.accelCount[0] * IMU.aRes; // - accelBias[0];
+    IMU.ay = (float)IMU.accelCount[1] * IMU.aRes; // - accelBias[1];
+    IMU.az = (float)IMU.accelCount[2] * IMU.aRes; // - accelBias[2];
+
+    IMU.readGyroData(IMU.gyroCount);  // Read the x/y/z adc values
+    IMU.getGres();
+
+    // Calculate the gyro value into actual degrees per second
+    // This depends on scale being set
+    IMU.gx = (float)IMU.gyroCount[0] * IMU.gRes;
+    IMU.gy = (float)IMU.gyroCount[1] * IMU.gRes;
+    IMU.gz = (float)IMU.gyroCount[2] * IMU.gRes;
+
+    IMU.readMagData(IMU.magCount);  // Read the x/y/z adc values
+    IMU.getMres();
+    // User environmental x-axis correction in milliGauss, should be
+    // automatically calculated
+    //IMU.magbias[0] = +470.;
+    // User environmental x-axis correction in milliGauss TODO axis??
+    //IMU.magbias[1] = +120.;
+    // User environmental x-axis correction in milliGauss
+    //IMU.magbias[2] = +125.;
+
+    // Calculate the magnetometer values in milliGauss
+    // Include factory calibration per data sheet and user environmental
+    // corrections
+    // Get actual magnetometer value, this depends on scale being set
+    IMU.mx = (float)IMU.magCount[0] * IMU.mRes * IMU.magCalibration[0] -
+             IMU.magbias[0];
+    IMU.my = (float)IMU.magCount[1] * IMU.mRes * IMU.magCalibration[1] -
+             IMU.magbias[1];
+    IMU.mz = (float)IMU.magCount[2] * IMU.mRes * IMU.magCalibration[2] -
+             IMU.magbias[2];
+
+    IMU.tempCount = IMU.readTempData();  // Read the adc values
+    // Temperature in degrees Centigrade
+    IMU.temperature = ((float) IMU.tempCount) / 333.87 + 21.0;
+
+    int x=64+10;
+    int y=128+20;
+    int z=192+30;
+    
+    M5.Lcd.fillScreen(BLACK);
+    M5.Lcd.setTextColor(GREEN , BLACK);
+    M5.Lcd.setTextSize(2);
+    M5.Lcd.setCursor(0, 0); M5.Lcd.print("MPU9250/AK8963");
+    M5.Lcd.setCursor(0, 32); M5.Lcd.print("x");
+    M5.Lcd.setCursor(x, 32); M5.Lcd.print("y");
+    M5.Lcd.setCursor(y, 32); M5.Lcd.print("z");
+
+    M5.Lcd.setTextColor(YELLOW , BLACK);
+    M5.Lcd.setCursor(0, 48 * 2); M5.Lcd.print((int)(1000 * IMU.ax));
+    M5.Lcd.setCursor(x, 48 * 2); M5.Lcd.print((int)(1000 * IMU.ay));
+    M5.Lcd.setCursor(y, 48 * 2); M5.Lcd.print((int)(1000 * IMU.az));
+    M5.Lcd.setCursor(z, 48 * 2); M5.Lcd.print("mg");
+
+    M5.Lcd.setCursor(0, 64 * 2); M5.Lcd.print((int)(IMU.gx));
+    M5.Lcd.setCursor(x, 64 * 2); M5.Lcd.print((int)(IMU.gy));
+    M5.Lcd.setCursor(y, 64 * 2); M5.Lcd.print((int)(IMU.gz));
+    M5.Lcd.setCursor(z, 64 * 2); M5.Lcd.print("o/s");
+
+    M5.Lcd.setCursor(0, 80 * 2); M5.Lcd.print((int)(IMU.mx));
+    M5.Lcd.setCursor(x, 80 * 2); M5.Lcd.print((int)(IMU.my));
+    M5.Lcd.setCursor(y, 80 * 2); M5.Lcd.print((int)(IMU.mz));
+    M5.Lcd.setCursor(z, 80 * 2); M5.Lcd.print("mG");
+
+    M5.Lcd.setCursor(0,  96 * 2); M5.Lcd.print("Gyro Temperature ");
+    M5.Lcd.setCursor(z,  96 * 2); M5.Lcd.print(IMU.temperature, 1);
+    M5.Lcd.print(" C");
+    delay(100);
+
+  }
+
+}
diff --git a/examples/Fire/M5StackFire_simpleSpeakerDacSine/M5StackFire_simpleSpeakerDacSine.ino b/examples/Fire/M5StackFire_simpleSpeakerDacSine/M5StackFire_simpleSpeakerDacSine.ino
index c9efa5f..e1b556e 100644
--- a/examples/Fire/M5StackFire_simpleSpeakerDacSine/M5StackFire_simpleSpeakerDacSine.ino
+++ b/examples/Fire/M5StackFire_simpleSpeakerDacSine/M5StackFire_simpleSpeakerDacSine.ino
@@ -5,7 +5,7 @@
 
   Hardware:
    microcontroller board: M5StackFire
-   amplifier:             Speaker connected to DAC pin 25
+                          speaker amplifier internaly connected to DAC pin 25
 
   September 2018 ChrisMicro
 */