From 0973140a30d0d7591e438a17b4acdf4f08fefef6 Mon Sep 17 00:00:00 2001 From: Bekir Date: Sun, 15 Dec 2019 20:05:29 +0200 Subject: [PATCH] 10-ConcurrencyAndSynchronization: Add thread for reading data from mpu6050 Signed-off-by: Bekir --- 10-ConcurrencyAndSynchronization/Makefile | 12 + 10-ConcurrencyAndSynchronization/logs/dmesg | 1434 +++++++++++++++++ 10-ConcurrencyAndSynchronization/logs/log | 40 + .../mpu6050-regs.h | 33 + 10-ConcurrencyAndSynchronization/mpu6050.c | 362 +++++ 5 files changed, 1881 insertions(+) create mode 100644 10-ConcurrencyAndSynchronization/Makefile create mode 100644 10-ConcurrencyAndSynchronization/logs/dmesg create mode 100644 10-ConcurrencyAndSynchronization/logs/log create mode 100644 10-ConcurrencyAndSynchronization/mpu6050-regs.h create mode 100644 10-ConcurrencyAndSynchronization/mpu6050.c diff --git a/10-ConcurrencyAndSynchronization/Makefile b/10-ConcurrencyAndSynchronization/Makefile new file mode 100644 index 0000000..fc5266e --- /dev/null +++ b/10-ConcurrencyAndSynchronization/Makefile @@ -0,0 +1,12 @@ +obj-m += mpu6050.o + +KERNEL_DIR := /home/bekir/Work/LinuxKernelCamp/linux/linux-stable + +COMPILE_FLAGS += CROSS_COMPILE=arm-linux-gnueabihf- CROSS=arm-linux-gnueabihf- ARCH=arm + +all: + make -C $(KERNEL_DIR) M=$(PWD) $(COMPILE_FLAGS) modules +clean: + make -C $(KERNEL_DIR) M=$(PWD) $(COMPILE_FLAGS) clean +install: + make -C $(KERNEL_DIR) M=$(PWD) modules_install INSTALL_MOD_PATH=$(PWD)/build_modules diff --git a/10-ConcurrencyAndSynchronization/logs/dmesg b/10-ConcurrencyAndSynchronization/logs/dmesg new file mode 100644 index 0000000..c7a8664 --- /dev/null +++ b/10-ConcurrencyAndSynchronization/logs/dmesg @@ -0,0 +1,1434 @@ +root@orangepione:~# dmesg -c +[23145.104966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-8092, -5136, 13904] +[23145.104973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-336, -409, -313] +[23145.104978] gl,mpu6050 0-0068: TEMP = 8964 +[23145.144953] gl,mpu6050 0-0068: sensor data read: +[23145.144964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7236, -4868, 14092] +[23145.144971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-123, -272, -328] +[23145.144976] gl,mpu6050 0-0068: TEMP = 8980 +[23145.184952] gl,mpu6050 0-0068: sensor data read: +[23145.184963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7468, -5068, 14224] +[23145.184970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-186, -239, -280] +[23145.184975] gl,mpu6050 0-0068: TEMP = 8996 +[23145.224951] gl,mpu6050 0-0068: sensor data read: +[23145.224961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7432, -5032, 14356] +[23145.224967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-362, -252, -271] +[23145.224973] gl,mpu6050 0-0068: TEMP = 8964 +[23145.264951] gl,mpu6050 0-0068: sensor data read: +[23145.264960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7488, -4944, 14272] +[23145.264968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-195, -264, -313] +[23145.264973] gl,mpu6050 0-0068: TEMP = 8980 +[23145.304954] gl,mpu6050 0-0068: sensor data read: +[23145.304964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7636, -5128, 14440] +[23145.304971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-282, -271, -277] +[23145.304977] gl,mpu6050 0-0068: TEMP = 8980 +[23145.344950] gl,mpu6050 0-0068: sensor data read: +[23145.344960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7576, -4884, 14188] +[23145.344966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-240, -256, -279] +[23145.344972] gl,mpu6050 0-0068: TEMP = 8980 +[23145.384952] gl,mpu6050 0-0068: sensor data read: +[23145.384962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7568, -5008, 14276] +[23145.384969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-151, -237, -295] +[23145.384975] gl,mpu6050 0-0068: TEMP = 8964 +[23145.424953] gl,mpu6050 0-0068: sensor data read: +[23145.424963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7788, -5144, 14220] +[23145.424970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-194, -259, -288] +[23145.424975] gl,mpu6050 0-0068: TEMP = 8980 +[23145.464954] gl,mpu6050 0-0068: sensor data read: +[23145.464964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7512, -4996, 14164] +[23145.464971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-243, -269, -293] +[23145.464977] gl,mpu6050 0-0068: TEMP = 8964 +[23145.504952] gl,mpu6050 0-0068: sensor data read: +[23145.504962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7564, -5076, 14320] +[23145.504968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-138, -237, -289] +[23145.504974] gl,mpu6050 0-0068: TEMP = 8996 +[23145.544949] gl,mpu6050 0-0068: sensor data read: +[23145.544958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7464, -4976, 14444] +[23145.544965] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-197, -275, -282] +[23145.544971] gl,mpu6050 0-0068: TEMP = 8980 +[23145.584950] gl,mpu6050 0-0068: sensor data read: +[23145.584959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7740, -5040, 14188] +[23145.584966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-224, -257, -308] +[23145.584972] gl,mpu6050 0-0068: TEMP = 8980 +[23145.624955] gl,mpu6050 0-0068: sensor data read: +[23145.624967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7496, -5048, 14224] +[23145.624974] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-133, -235, -298] +[23145.624979] gl,mpu6050 0-0068: TEMP = 8996 +[23145.664956] gl,mpu6050 0-0068: sensor data read: +[23145.664967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7408, -5064, 14196] +[23145.664973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-195, -224, -262] +[23145.664979] gl,mpu6050 0-0068: TEMP = 8996 +[23145.704951] gl,mpu6050 0-0068: sensor data read: +[23145.704960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7316, -4956, 14172] +[23145.704967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-123, -153, -273] +[23145.704972] gl,mpu6050 0-0068: TEMP = 8980 +[23145.744948] gl,mpu6050 0-0068: sensor data read: +[23145.744958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7476, -4928, 14420] +[23145.744965] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-348, -273, -269] +[23145.744971] gl,mpu6050 0-0068: TEMP = 8964 +[23145.784950] gl,mpu6050 0-0068: sensor data read: +[23145.784960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7840, -5200, 14176] +[23145.784966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-103, -222, -285] +[23145.784972] gl,mpu6050 0-0068: TEMP = 8996 +[23145.824952] gl,mpu6050 0-0068: sensor data read: +[23145.824962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7744, -5204, 14328] +[23145.824968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-182, -246, -288] +[23145.824974] gl,mpu6050 0-0068: TEMP = 8980 +[23145.864957] gl,mpu6050 0-0068: sensor data read: +[23145.864967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7608, -4972, 14212] +[23145.864973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-267, -255, -285] +[23145.864979] gl,mpu6050 0-0068: TEMP = 8980 +[23145.904951] gl,mpu6050 0-0068: sensor data read: +[23145.904960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7540, -5052, 14264] +[23145.904967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-89, -245, -321] +[23145.904973] gl,mpu6050 0-0068: TEMP = 8980 +[23145.944954] gl,mpu6050 0-0068: sensor data read: +[23145.944964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7680, -5084, 14288] +[23145.944971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-127, -245, -295] +[23145.944976] gl,mpu6050 0-0068: TEMP = 8964 +[23145.984952] gl,mpu6050 0-0068: sensor data read: +[23145.984963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7372, -5012, 14424] +[23145.984970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-204, -268, -300] +[23145.984975] gl,mpu6050 0-0068: TEMP = 8980 +[23146.024957] gl,mpu6050 0-0068: sensor data read: +[23146.024966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7744, -5020, 14376] +[23146.024973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-118, -254, -299] +[23146.024979] gl,mpu6050 0-0068: TEMP = 8996 +[23146.064994] gl,mpu6050 0-0068: sensor data read: +[23146.065004] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7360, -4868, 14380] +[23146.065011] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-290, -281, -278] +[23146.065016] gl,mpu6050 0-0068: TEMP = 9012 +[23146.104953] gl,mpu6050 0-0068: sensor data read: +[23146.104964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7828, -5112, 14344] +[23146.104970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-219, -245, -295] +[23146.104976] gl,mpu6050 0-0068: TEMP = 9012 +[23146.144952] gl,mpu6050 0-0068: sensor data read: +[23146.144963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7668, -5060, 14532] +[23146.144970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-189, -227, -288] +[23146.144976] gl,mpu6050 0-0068: TEMP = 9012 +[23146.184952] gl,mpu6050 0-0068: sensor data read: +[23146.184961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7368, -4940, 14308] +[23146.184968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-249, -256, -306] +[23146.184973] gl,mpu6050 0-0068: TEMP = 8964 +[23146.224955] gl,mpu6050 0-0068: sensor data read: +[23146.224965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7848, -5088, 14192] +[23146.224972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-156, -243, -304] +[23146.224978] gl,mpu6050 0-0068: TEMP = 9012 +[23146.264950] gl,mpu6050 0-0068: sensor data read: +[23146.264961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7396, -5024, 14196] +[23146.264967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-224, -240, -280] +[23146.264973] gl,mpu6050 0-0068: TEMP = 8980 +[23146.304953] gl,mpu6050 0-0068: sensor data read: +[23146.304963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7580, -5032, 14216] +[23146.304970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-129, -239, -286] +[23146.304976] gl,mpu6050 0-0068: TEMP = 8964 +[23146.344953] gl,mpu6050 0-0068: sensor data read: +[23146.344963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7644, -5196, 14108] +[23146.344970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-292, -154, -287] +[23146.344975] gl,mpu6050 0-0068: TEMP = 8980 +[23146.384950] gl,mpu6050 0-0068: sensor data read: +[23146.384959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7864, -5216, 14276] +[23146.384966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [109, -227, -316] +[23146.384971] gl,mpu6050 0-0068: TEMP = 9012 +[23146.424953] gl,mpu6050 0-0068: sensor data read: +[23146.424963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7372, -4984, 14140] +[23146.424970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-363, -271, -286] +[23146.424976] gl,mpu6050 0-0068: TEMP = 8980 +[23146.464948] gl,mpu6050 0-0068: sensor data read: +[23146.464958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7324, -4888, 14388] +[23146.464964] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-319, -202, -253] +[23146.464970] gl,mpu6050 0-0068: TEMP = 8996 +[23146.504955] gl,mpu6050 0-0068: sensor data read: +[23146.504965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7496, -4956, 13900] +[23146.504971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [275, -181, -329] +[23146.504977] gl,mpu6050 0-0068: TEMP = 9012 +[23146.544951] gl,mpu6050 0-0068: sensor data read: +[23146.544961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7668, -5016, 14440] +[23146.544968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-47, -241, -305] +[23146.544973] gl,mpu6050 0-0068: TEMP = 8996 +[23146.584953] gl,mpu6050 0-0068: sensor data read: +[23146.584962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7208, -4932, 14276] +[23146.584969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-440, -274, -281] +[23146.584974] gl,mpu6050 0-0068: TEMP = 8964 +[23146.624950] gl,mpu6050 0-0068: sensor data read: +[23146.624959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7736, -5044, 14252] +[23146.624966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-143, -259, -310] +[23146.624972] gl,mpu6050 0-0068: TEMP = 8980 +[23146.664956] gl,mpu6050 0-0068: sensor data read: +[23146.664967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7636, -5108, 14324] +[23146.664973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-171, -262, -305] +[23146.664979] gl,mpu6050 0-0068: TEMP = 8980 +[23146.704950] gl,mpu6050 0-0068: sensor data read: +[23146.704959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7864, -5084, 14344] +[23146.704966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-295, -268, -307] +[23146.704972] gl,mpu6050 0-0068: TEMP = 8996 +[23146.744950] gl,mpu6050 0-0068: sensor data read: +[23146.744960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7664, -4988, 14144] +[23146.744967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-167, -249, -287] +[23146.744972] gl,mpu6050 0-0068: TEMP = 8980 +[23146.784950] gl,mpu6050 0-0068: sensor data read: +[23146.784959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7636, -5084, 14276] +[23146.784966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-196, -246, -293] +[23146.784972] gl,mpu6050 0-0068: TEMP = 8980 +[23146.824951] gl,mpu6050 0-0068: sensor data read: +[23146.824961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7560, -5112, 14216] +[23146.824968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-135, -251, -294] +[23146.824973] gl,mpu6050 0-0068: TEMP = 9028 +[23146.864954] gl,mpu6050 0-0068: sensor data read: +[23146.864965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7752, -5048, 14412] +[23146.864972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [142, -234, -303] +[23146.864977] gl,mpu6050 0-0068: TEMP = 8996 +[23146.904952] gl,mpu6050 0-0068: sensor data read: +[23146.904962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7808, -5080, 14488] +[23146.904969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-778, -298, -277] +[23146.904974] gl,mpu6050 0-0068: TEMP = 8948 +[23146.944952] gl,mpu6050 0-0068: sensor data read: +[23146.944963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7748, -5120, 14004] +[23146.944969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-153, -234, -272] +[23146.944975] gl,mpu6050 0-0068: TEMP = 8948 +[23146.984953] gl,mpu6050 0-0068: sensor data read: +[23146.984964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7640, -5084, 14352] +[23146.984971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-33, -252, -298] +[23146.984977] gl,mpu6050 0-0068: TEMP = 8964 +[23147.024957] gl,mpu6050 0-0068: sensor data read: +[23147.024968] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7348, -4848, 14328] +[23147.024975] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-207, -271, -302] +[23147.024980] gl,mpu6050 0-0068: TEMP = 9012 +[23147.064964] gl,mpu6050 0-0068: sensor data read: +[23147.064975] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7596, -4964, 14168] +[23147.064982] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-115, -235, -296] +[23147.064988] gl,mpu6050 0-0068: TEMP = 8948 +[23147.104996] gl,mpu6050 0-0068: sensor data read: +[23147.105006] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7620, -5112, 14564] +[23147.105013] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-96, -236, -295] +[23147.105019] gl,mpu6050 0-0068: TEMP = 8996 +[23147.144953] gl,mpu6050 0-0068: sensor data read: +[23147.144964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7496, -4948, 14172] +[23147.144971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-329, -257, -272] +[23147.144977] gl,mpu6050 0-0068: TEMP = 8964 +[23147.184956] gl,mpu6050 0-0068: sensor data read: +[23147.184966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7468, -4880, 14488] +[23147.184973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-140, -216, -306] +[23147.184979] gl,mpu6050 0-0068: TEMP = 8980 +[23147.224956] gl,mpu6050 0-0068: sensor data read: +[23147.224967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7624, -5096, 14160] +[23147.224974] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-109, -233, -301] +[23147.224980] gl,mpu6050 0-0068: TEMP = 8996 +[23147.264950] gl,mpu6050 0-0068: sensor data read: +[23147.264960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7356, -4972, 14572] +[23147.264966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-204, -253, -277] +[23147.264972] gl,mpu6050 0-0068: TEMP = 8964 +[23147.304973] gl,mpu6050 0-0068: sensor data read: +[23147.304986] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7800, -5184, 14368] +[23147.304994] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-221, -237, -289] +[23147.305000] gl,mpu6050 0-0068: TEMP = 8980 +[23147.344946] gl,mpu6050 0-0068: sensor data read: +[23147.344958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7832, -5104, 14100] +[23147.344965] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-179, -255, -278] +[23147.344970] gl,mpu6050 0-0068: TEMP = 9012 +[23147.384958] gl,mpu6050 0-0068: sensor data read: +[23147.384967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7376, -5044, 14204] +[23147.384974] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-251, -238, -292] +[23147.384979] gl,mpu6050 0-0068: TEMP = 8996 +[23147.424952] gl,mpu6050 0-0068: sensor data read: +[23147.424962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7420, -5016, 14408] +[23147.424969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-217, -262, -283] +[23147.424974] gl,mpu6050 0-0068: TEMP = 9012 +[23147.464948] gl,mpu6050 0-0068: sensor data read: +[23147.464959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7300, -4992, 14144] +[23147.464966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-709, -286, -238] +[23147.464971] gl,mpu6050 0-0068: TEMP = 8980 +[23147.504952] gl,mpu6050 0-0068: sensor data read: +[23147.504962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7412, -5152, 13800] +[23147.504969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [306, -170, -309] +[23147.504974] gl,mpu6050 0-0068: TEMP = 9012 +[23147.544953] gl,mpu6050 0-0068: sensor data read: +[23147.544963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7828, -5060, 14520] +[23147.544970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [245, -216, -335] +[23147.544975] gl,mpu6050 0-0068: TEMP = 8980 +[23147.584951] gl,mpu6050 0-0068: sensor data read: +[23147.584961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7664, -4972, 14604] +[23147.584968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-415, -268, -301] +[23147.584973] gl,mpu6050 0-0068: TEMP = 8980 +[23147.624952] gl,mpu6050 0-0068: sensor data read: +[23147.624963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7680, -4860, 14084] +[23147.624970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-396, -259, -278] +[23147.624975] gl,mpu6050 0-0068: TEMP = 8964 +[23147.664952] gl,mpu6050 0-0068: sensor data read: +[23147.664962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7948, -5024, 14344] +[23147.664969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [149, -220, -309] +[23147.664975] gl,mpu6050 0-0068: TEMP = 8996 +[23147.704951] gl,mpu6050 0-0068: sensor data read: +[23147.704961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7452, -4968, 14424] +[23147.704968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-233, -249, -279] +[23147.704973] gl,mpu6050 0-0068: TEMP = 8980 +[23147.744955] gl,mpu6050 0-0068: sensor data read: +[23147.744965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7456, -5016, 14260] +[23147.744971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-233, -240, -280] +[23147.744977] gl,mpu6050 0-0068: TEMP = 8996 +[23147.784948] gl,mpu6050 0-0068: sensor data read: +[23147.784957] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7428, -5144, 14188] +[23147.784964] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-60, -253, -288] +[23147.784969] gl,mpu6050 0-0068: TEMP = 8964 +[23147.824952] gl,mpu6050 0-0068: sensor data read: +[23147.824962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7580, -5104, 14204] +[23147.824969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-191, -241, -280] +[23147.824974] gl,mpu6050 0-0068: TEMP = 8980 +[23147.864953] gl,mpu6050 0-0068: sensor data read: +[23147.864962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7796, -5100, 14168] +[23147.864969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-217, -244, -288] +[23147.864975] gl,mpu6050 0-0068: TEMP = 8964 +[23147.904953] gl,mpu6050 0-0068: sensor data read: +[23147.904963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7468, -5052, 14128] +[23147.904970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-187, -240, -286] +[23147.904976] gl,mpu6050 0-0068: TEMP = 8964 +[23147.944951] gl,mpu6050 0-0068: sensor data read: +[23147.944961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7336, -5008, 14172] +[23147.944968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-133, -243, -284] +[23147.944974] gl,mpu6050 0-0068: TEMP = 8980 +[23147.984949] gl,mpu6050 0-0068: sensor data read: +[23147.984959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7768, -5152, 14268] +[23147.984966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-177, -233, -286] +[23147.984971] gl,mpu6050 0-0068: TEMP = 8980 +[23148.024951] gl,mpu6050 0-0068: sensor data read: +[23148.024961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7372, -5040, 14308] +[23148.024968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-202, -263, -273] +[23148.024973] gl,mpu6050 0-0068: TEMP = 8996 +[23148.064952] gl,mpu6050 0-0068: sensor data read: +[23148.064962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7312, -4996, 14352] +[23148.064969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-150, -269, -296] +[23148.064975] gl,mpu6050 0-0068: TEMP = 8980 +[23148.104956] gl,mpu6050 0-0068: sensor data read: +[23148.104967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7580, -5052, 14180] +[23148.104973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-363, -279, -278] +[23148.104979] gl,mpu6050 0-0068: TEMP = 8980 +[23148.144994] gl,mpu6050 0-0068: sensor data read: +[23148.145004] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7720, -4980, 14240] +[23148.145011] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-166, -243, -303] +[23148.145016] gl,mpu6050 0-0068: TEMP = 8996 +[23148.184953] gl,mpu6050 0-0068: sensor data read: +[23148.184963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7804, -5092, 14328] +[23148.184970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-130, -233, -291] +[23148.184975] gl,mpu6050 0-0068: TEMP = 8964 +[23148.224955] gl,mpu6050 0-0068: sensor data read: +[23148.224965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7612, -4948, 14248] +[23148.224972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-229, -278, -289] +[23148.224978] gl,mpu6050 0-0068: TEMP = 8980 +[23148.264951] gl,mpu6050 0-0068: sensor data read: +[23148.264962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7424, -4956, 14412] +[23148.264968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-179, -232, -290] +[23148.264974] gl,mpu6050 0-0068: TEMP = 8996 +[23148.304949] gl,mpu6050 0-0068: sensor data read: +[23148.304961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7436, -5036, 14300] +[23148.304967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-174, -235, -286] +[23148.304973] gl,mpu6050 0-0068: TEMP = 8964 +[23148.344951] gl,mpu6050 0-0068: sensor data read: +[23148.344962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7756, -5036, 14460] +[23148.344969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-169, -256, -317] +[23148.344974] gl,mpu6050 0-0068: TEMP = 8980 +[23148.384952] gl,mpu6050 0-0068: sensor data read: +[23148.384962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7328, -4968, 14272] +[23148.384968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-205, -246, -274] +[23148.384974] gl,mpu6050 0-0068: TEMP = 8980 +[23148.424951] gl,mpu6050 0-0068: sensor data read: +[23148.424961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7276, -4900, 14380] +[23148.424968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-228, -241, -276] +[23148.424973] gl,mpu6050 0-0068: TEMP = 8964 +[23148.464949] gl,mpu6050 0-0068: sensor data read: +[23148.464959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7584, -5012, 14224] +[23148.464965] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-168, -259, -298] +[23148.464971] gl,mpu6050 0-0068: TEMP = 9012 +[23148.504953] gl,mpu6050 0-0068: sensor data read: +[23148.504964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7576, -5064, 14484] +[23148.504970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-75, -210, -295] +[23148.504976] gl,mpu6050 0-0068: TEMP = 8980 +[23148.544951] gl,mpu6050 0-0068: sensor data read: +[23148.544961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7440, -5184, 13672] +[23148.544967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [454, -108, -299] +[23148.544973] gl,mpu6050 0-0068: TEMP = 8980 +[23148.584955] gl,mpu6050 0-0068: sensor data read: +[23148.584965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7764, -5088, 14728] +[23148.584972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [761, -187, -329] +[23148.584977] gl,mpu6050 0-0068: TEMP = 8964 +[23148.624951] gl,mpu6050 0-0068: sensor data read: +[23148.624960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7536, -5024, 14376] +[23148.624967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-1080, -326, -243] +[23148.624972] gl,mpu6050 0-0068: TEMP = 8980 +[23148.664952] gl,mpu6050 0-0068: sensor data read: +[23148.664962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7356, -5156, 14092] +[23148.664968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [48, -227, -299] +[23148.664974] gl,mpu6050 0-0068: TEMP = 8964 +[23148.704954] gl,mpu6050 0-0068: sensor data read: +[23148.704964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7528, -5016, 14152] +[23148.704971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-33, -252, -299] +[23148.704976] gl,mpu6050 0-0068: TEMP = 8964 +[23148.744951] gl,mpu6050 0-0068: sensor data read: +[23148.744962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7496, -4956, 14412] +[23148.744969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-361, -266, -275] +[23148.744974] gl,mpu6050 0-0068: TEMP = 8948 +[23148.784951] gl,mpu6050 0-0068: sensor data read: +[23148.784961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7692, -5032, 14156] +[23148.784968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-55, -226, -303] +[23148.784973] gl,mpu6050 0-0068: TEMP = 8980 +[23148.824953] gl,mpu6050 0-0068: sensor data read: +[23148.824963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7564, -5060, 14248] +[23148.824969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-276, -250, -285] +[23148.824975] gl,mpu6050 0-0068: TEMP = 8964 +[23148.864950] gl,mpu6050 0-0068: sensor data read: +[23148.864960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7672, -4968, 14316] +[23148.864967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-63, -251, -287] +[23148.864972] gl,mpu6050 0-0068: TEMP = 8996 +[23148.904951] gl,mpu6050 0-0068: sensor data read: +[23148.904961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7320, -4896, 14128] +[23148.904968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-240, -253, -283] +[23148.904973] gl,mpu6050 0-0068: TEMP = 9012 +[23148.944957] gl,mpu6050 0-0068: sensor data read: +[23148.944967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7644, -5004, 14336] +[23148.944973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-153, -252, -312] +[23148.944979] gl,mpu6050 0-0068: TEMP = 8964 +[23148.984954] gl,mpu6050 0-0068: sensor data read: +[23148.984964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7632, -5152, 14396] +[23148.984971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-216, -275, -300] +[23148.984976] gl,mpu6050 0-0068: TEMP = 8996 +[23149.024950] gl,mpu6050 0-0068: sensor data read: +[23149.024960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7828, -5024, 14188] +[23149.024967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-185, -263, -307] +[23149.024972] gl,mpu6050 0-0068: TEMP = 8948 +[23149.064953] gl,mpu6050 0-0068: sensor data read: +[23149.064964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7692, -5012, 14328] +[23149.064970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-171, -233, -282] +[23149.064976] gl,mpu6050 0-0068: TEMP = 8980 +[23149.104949] gl,mpu6050 0-0068: sensor data read: +[23149.104959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7728, -5068, 14300] +[23149.104966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-231, -264, -282] +[23149.104972] gl,mpu6050 0-0068: TEMP = 8996 +[23149.144953] gl,mpu6050 0-0068: sensor data read: +[23149.144963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7492, -4976, 14248] +[23149.144970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-122, -251, -299] +[23149.144976] gl,mpu6050 0-0068: TEMP = 8948 +[23149.184994] gl,mpu6050 0-0068: sensor data read: +[23149.185005] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7628, -5104, 14292] +[23149.185011] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-189, -256, -288] +[23149.185017] gl,mpu6050 0-0068: TEMP = 8980 +[23149.224952] gl,mpu6050 0-0068: sensor data read: +[23149.224962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7320, -4976, 14332] +[23149.224970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-243, -250, -287] +[23149.224975] gl,mpu6050 0-0068: TEMP = 8964 +[23149.264949] gl,mpu6050 0-0068: sensor data read: +[23149.264961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7740, -5060, 14212] +[23149.264968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-194, -255, -296] +[23149.264973] gl,mpu6050 0-0068: TEMP = 8996 +[23149.304952] gl,mpu6050 0-0068: sensor data read: +[23149.304962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7812, -4992, 14108] +[23149.304969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-172, -240, -300] +[23149.304974] gl,mpu6050 0-0068: TEMP = 9012 +[23149.344950] gl,mpu6050 0-0068: sensor data read: +[23149.344960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7412, -4940, 14320] +[23149.344967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-130, -230, -291] +[23149.344972] gl,mpu6050 0-0068: TEMP = 8948 +[23149.384949] gl,mpu6050 0-0068: sensor data read: +[23149.384959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7792, -5088, 14336] +[23149.384966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-198, -233, -299] +[23149.384972] gl,mpu6050 0-0068: TEMP = 8964 +[23149.424952] gl,mpu6050 0-0068: sensor data read: +[23149.424962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7520, -5172, 14344] +[23149.424969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-715, -473, -303] +[23149.424975] gl,mpu6050 0-0068: TEMP = 8980 +[23149.464959] gl,mpu6050 0-0068: sensor data read: +[23149.464969] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7632, -5100, 14528] +[23149.464977] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-377, -295, -311] +[23149.464982] gl,mpu6050 0-0068: TEMP = 8980 +[23149.504952] gl,mpu6050 0-0068: sensor data read: +[23149.504962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7660, -5008, 13948] +[23149.504969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-278, -250, -308] +[23149.504975] gl,mpu6050 0-0068: TEMP = 8964 +[23149.544949] gl,mpu6050 0-0068: sensor data read: +[23149.544959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7580, -4904, 14348] +[23149.544966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-195, -279, -302] +[23149.544972] gl,mpu6050 0-0068: TEMP = 8996 +[23149.584953] gl,mpu6050 0-0068: sensor data read: +[23149.584964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7668, -5120, 14140] +[23149.584971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-246, -269, -298] +[23149.584977] gl,mpu6050 0-0068: TEMP = 8980 +[23149.624952] gl,mpu6050 0-0068: sensor data read: +[23149.624962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7788, -5084, 14132] +[23149.624969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-144, -244, -295] +[23149.624974] gl,mpu6050 0-0068: TEMP = 8948 +[23149.664952] gl,mpu6050 0-0068: sensor data read: +[23149.664962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7260, -4892, 14312] +[23149.664969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-172, -240, -293] +[23149.664975] gl,mpu6050 0-0068: TEMP = 8996 +[23149.704951] gl,mpu6050 0-0068: sensor data read: +[23149.704961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7484, -4984, 14180] +[23149.704967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-307, -240, -258] +[23149.704973] gl,mpu6050 0-0068: TEMP = 8980 +[23149.744951] gl,mpu6050 0-0068: sensor data read: +[23149.744961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7340, -4920, 14284] +[23149.744967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-55, -200, -288] +[23149.744973] gl,mpu6050 0-0068: TEMP = 8964 +[23149.784952] gl,mpu6050 0-0068: sensor data read: +[23149.784962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7456, -5156, 14096] +[23149.784970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [528, -218, -308] +[23149.784975] gl,mpu6050 0-0068: TEMP = 8964 +[23149.824946] gl,mpu6050 0-0068: sensor data read: +[23149.824956] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7504, -4988, 14836] +[23149.824962] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-42, -273, -253] +[23149.824968] gl,mpu6050 0-0068: TEMP = 8980 +[23149.864950] gl,mpu6050 0-0068: sensor data read: +[23149.864960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7776, -5088, 14176] +[23149.864967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-602, -293, -283] +[23149.864972] gl,mpu6050 0-0068: TEMP = 8980 +[23149.904955] gl,mpu6050 0-0068: sensor data read: +[23149.904966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7476, -5048, 14524] +[23149.904973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [48, -218, -309] +[23149.904978] gl,mpu6050 0-0068: TEMP = 8996 +[23149.944953] gl,mpu6050 0-0068: sensor data read: +[23149.944963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7464, -4936, 14360] +[23149.944970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-166, -237, -301] +[23149.944975] gl,mpu6050 0-0068: TEMP = 8980 +[23149.984948] gl,mpu6050 0-0068: sensor data read: +[23149.984958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7636, -4988, 14204] +[23149.984965] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-255, -271, -302] +[23149.984970] gl,mpu6050 0-0068: TEMP = 8980 +[23150.024951] gl,mpu6050 0-0068: sensor data read: +[23150.024961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7448, -5012, 14072] +[23150.024968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-107, -234, -293] +[23150.024973] gl,mpu6050 0-0068: TEMP = 8996 +[23150.064948] gl,mpu6050 0-0068: sensor data read: +[23150.064958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7416, -5040, 14256] +[23150.064965] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-236, -288, -296] +[23150.064971] gl,mpu6050 0-0068: TEMP = 8996 +[23150.104955] gl,mpu6050 0-0068: sensor data read: +[23150.104966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7500, -5056, 14276] +[23150.104973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-234, -236, -300] +[23150.104979] gl,mpu6050 0-0068: TEMP = 8980 +[23150.144953] gl,mpu6050 0-0068: sensor data read: +[23150.144964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7288, -4948, 14336] +[23150.144971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-205, -285, -310] +[23150.144977] gl,mpu6050 0-0068: TEMP = 8980 +[23150.184952] gl,mpu6050 0-0068: sensor data read: +[23150.184963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7596, -5112, 14248] +[23150.184971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-190, -258, -270] +[23150.184976] gl,mpu6050 0-0068: TEMP = 8996 +[23150.224991] gl,mpu6050 0-0068: sensor data read: +[23150.225002] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7648, -5096, 14240] +[23150.225009] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-216, -263, -292] +[23150.225014] gl,mpu6050 0-0068: TEMP = 8980 +[23150.264952] gl,mpu6050 0-0068: sensor data read: +[23150.264962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7896, -5052, 14148] +[23150.264969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-79, -219, -286] +[23150.264975] gl,mpu6050 0-0068: TEMP = 8964 +[23150.304951] gl,mpu6050 0-0068: sensor data read: +[23150.304961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7404, -4948, 14368] +[23150.304968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-315, -277, -282] +[23150.304973] gl,mpu6050 0-0068: TEMP = 8996 +[23150.344953] gl,mpu6050 0-0068: sensor data read: +[23150.344963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7560, -5008, 14064] +[23150.344969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-131, -237, -289] +[23150.344975] gl,mpu6050 0-0068: TEMP = 8980 +[23150.384951] gl,mpu6050 0-0068: sensor data read: +[23150.384961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7352, -4920, 14492] +[23150.384967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-194, -255, -291] +[23150.384973] gl,mpu6050 0-0068: TEMP = 8980 +[23150.424952] gl,mpu6050 0-0068: sensor data read: +[23150.424963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7740, -4964, 14260] +[23150.424970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-293, -293, -297] +[23150.424975] gl,mpu6050 0-0068: TEMP = 8996 +[23150.464953] gl,mpu6050 0-0068: sensor data read: +[23150.464964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7732, -4996, 14336] +[23150.464970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-210, -260, -291] +[23150.464976] gl,mpu6050 0-0068: TEMP = 8980 +[23150.504947] gl,mpu6050 0-0068: sensor data read: +[23150.504956] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7564, -5024, 14408] +[23150.504963] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-224, -304, -289] +[23150.504969] gl,mpu6050 0-0068: TEMP = 8980 +[23150.544952] gl,mpu6050 0-0068: sensor data read: +[23150.544962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7332, -4868, 14228] +[23150.544969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-210, -245, -286] +[23150.544975] gl,mpu6050 0-0068: TEMP = 8964 +[23150.584951] gl,mpu6050 0-0068: sensor data read: +[23150.584961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7408, -5008, 14336] +[23150.584967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-138, -227, -281] +[23150.584973] gl,mpu6050 0-0068: TEMP = 8964 +[23150.624950] gl,mpu6050 0-0068: sensor data read: +[23150.624960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7252, -5048, 14208] +[23150.624966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-189, -221, -302] +[23150.624972] gl,mpu6050 0-0068: TEMP = 8980 +[23150.664952] gl,mpu6050 0-0068: sensor data read: +[23150.664962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7584, -5128, 14200] +[23150.664968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-151, -242, -283] +[23150.664974] gl,mpu6050 0-0068: TEMP = 8980 +[23150.704948] gl,mpu6050 0-0068: sensor data read: +[23150.704958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7464, -4884, 14468] +[23150.704965] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-209, -258, -292] +[23150.704971] gl,mpu6050 0-0068: TEMP = 8964 +[23150.744953] gl,mpu6050 0-0068: sensor data read: +[23150.744963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7216, -4996, 14140] +[23150.744970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-182, -218, -284] +[23150.744975] gl,mpu6050 0-0068: TEMP = 8980 +[23150.784949] gl,mpu6050 0-0068: sensor data read: +[23150.784958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7460, -5052, 14272] +[23150.784965] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-274, -249, -278] +[23150.784971] gl,mpu6050 0-0068: TEMP = 8980 +[23150.824952] gl,mpu6050 0-0068: sensor data read: +[23150.824963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7372, -5044, 14068] +[23150.824970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-174, -257, -301] +[23150.824975] gl,mpu6050 0-0068: TEMP = 8964 +[23150.864954] gl,mpu6050 0-0068: sensor data read: +[23150.864965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7852, -5136, 14216] +[23150.864972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-172, -262, -295] +[23150.864977] gl,mpu6050 0-0068: TEMP = 8980 +[23150.904950] gl,mpu6050 0-0068: sensor data read: +[23150.904961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7720, -5124, 14368] +[23150.904967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-198, -229, -290] +[23150.904973] gl,mpu6050 0-0068: TEMP = 8980 +[23150.944954] gl,mpu6050 0-0068: sensor data read: +[23150.944963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7808, -5072, 14220] +[23150.944970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-217, -228, -293] +[23150.944975] gl,mpu6050 0-0068: TEMP = 8996 +[23150.984949] gl,mpu6050 0-0068: sensor data read: +[23150.984959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7552, -5024, 14260] +[23150.984966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-248, -263, -298] +[23150.984971] gl,mpu6050 0-0068: TEMP = 8996 +[23151.024959] gl,mpu6050 0-0068: sensor data read: +[23151.024970] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7368, -5000, 14176] +[23151.024976] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-37, -228, -290] +[23151.024982] gl,mpu6050 0-0068: TEMP = 8980 +[23151.064955] gl,mpu6050 0-0068: sensor data read: +[23151.064966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7336, -5012, 14284] +[23151.064972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-191, -271, -270] +[23151.064978] gl,mpu6050 0-0068: TEMP = 8996 +[23151.104954] gl,mpu6050 0-0068: sensor data read: +[23151.104965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7428, -4968, 14388] +[23151.104972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-114, -259, -320] +[23151.104978] gl,mpu6050 0-0068: TEMP = 8964 +[23151.144952] gl,mpu6050 0-0068: sensor data read: +[23151.144962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7588, -4908, 14248] +[23151.144969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-224, -253, -292] +[23151.144975] gl,mpu6050 0-0068: TEMP = 8980 +[23151.184951] gl,mpu6050 0-0068: sensor data read: +[23151.184961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7416, -5092, 14432] +[23151.184968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-165, -245, -304] +[23151.184973] gl,mpu6050 0-0068: TEMP = 8980 +[23151.224951] gl,mpu6050 0-0068: sensor data read: +[23151.224961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7688, -5064, 14312] +[23151.224968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-153, -256, -303] +[23151.224973] gl,mpu6050 0-0068: TEMP = 8996 +[23151.264994] gl,mpu6050 0-0068: sensor data read: +[23151.265004] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7432, -5120, 14236] +[23151.265011] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-218, -247, -297] +[23151.265016] gl,mpu6050 0-0068: TEMP = 8980 +[23151.304954] gl,mpu6050 0-0068: sensor data read: +[23151.304966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7848, -5096, 14340] +[23151.304973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-223, -255, -297] +[23151.304978] gl,mpu6050 0-0068: TEMP = 8980 +[23151.344954] gl,mpu6050 0-0068: sensor data read: +[23151.344965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7592, -4924, 14364] +[23151.344972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-205, -251, -302] +[23151.344977] gl,mpu6050 0-0068: TEMP = 8996 +[23151.384954] gl,mpu6050 0-0068: sensor data read: +[23151.384965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7408, -4892, 14200] +[23151.384971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-277, -257, -270] +[23151.384977] gl,mpu6050 0-0068: TEMP = 8996 +[23151.424955] gl,mpu6050 0-0068: sensor data read: +[23151.424966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7368, -4996, 14276] +[23151.424973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-147, -248, -288] +[23151.424978] gl,mpu6050 0-0068: TEMP = 8980 +[23151.464947] gl,mpu6050 0-0068: sensor data read: +[23151.464958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7776, -5124, 14324] +[23151.464964] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-153, -239, -308] +[23151.464970] gl,mpu6050 0-0068: TEMP = 8964 +[23151.504952] gl,mpu6050 0-0068: sensor data read: +[23151.504962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7356, -4952, 14428] +[23151.504969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-197, -245, -297] +[23151.504974] gl,mpu6050 0-0068: TEMP = 8996 +[23151.544951] gl,mpu6050 0-0068: sensor data read: +[23151.544961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7380, -5052, 14220] +[23151.544968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-239, -259, -295] +[23151.544974] gl,mpu6050 0-0068: TEMP = 9012 +[23151.584950] gl,mpu6050 0-0068: sensor data read: +[23151.584961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7652, -4952, 14508] +[23151.584968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-193, -236, -296] +[23151.584973] gl,mpu6050 0-0068: TEMP = 8996 +[23151.624952] gl,mpu6050 0-0068: sensor data read: +[23151.624963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7388, -4968, 14312] +[23151.624969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-249, -263, -298] +[23151.624975] gl,mpu6050 0-0068: TEMP = 8996 +[23151.664952] gl,mpu6050 0-0068: sensor data read: +[23151.664962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7268, -4860, 14164] +[23151.664969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-158, -236, -297] +[23151.664974] gl,mpu6050 0-0068: TEMP = 8948 +[23151.704950] gl,mpu6050 0-0068: sensor data read: +[23151.704960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7456, -5012, 14392] +[23151.704968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-108, -165, -294] +[23151.704973] gl,mpu6050 0-0068: TEMP = 8980 +[23151.744950] gl,mpu6050 0-0068: sensor data read: +[23151.744961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7672, -4988, 14408] +[23151.744968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-204, -258, -292] +[23151.744973] gl,mpu6050 0-0068: TEMP = 8932 +[23151.784952] gl,mpu6050 0-0068: sensor data read: +[23151.784962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7312, -5020, 14248] +[23151.784969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-251, -252, -287] +[23151.784975] gl,mpu6050 0-0068: TEMP = 8948 +[23151.824951] gl,mpu6050 0-0068: sensor data read: +[23151.824961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7720, -5132, 14428] +[23151.824968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-155, -285, -289] +[23151.824974] gl,mpu6050 0-0068: TEMP = 8980 +[23151.864951] gl,mpu6050 0-0068: sensor data read: +[23151.864961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7500, -4960, 14240] +[23151.864968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-195, -255, -302] +[23151.864973] gl,mpu6050 0-0068: TEMP = 8964 +[23151.904950] gl,mpu6050 0-0068: sensor data read: +[23151.904960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7624, -5144, 14344] +[23151.904967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-173, -231, -296] +[23151.904972] gl,mpu6050 0-0068: TEMP = 8996 +[23151.944947] gl,mpu6050 0-0068: sensor data read: +[23151.944958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7364, -4924, 14228] +[23151.944965] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-121, -225, -284] +[23151.944971] gl,mpu6050 0-0068: TEMP = 8980 +[23151.984952] gl,mpu6050 0-0068: sensor data read: +[23151.984962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7232, -4868, 14460] +[23151.984969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-183, -247, -287] +[23151.984975] gl,mpu6050 0-0068: TEMP = 8980 +[23152.024959] gl,mpu6050 0-0068: sensor data read: +[23152.024968] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7368, -4848, 14284] +[23152.024975] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-156, -227, -288] +[23152.024981] gl,mpu6050 0-0068: TEMP = 8964 +[23152.064948] gl,mpu6050 0-0068: sensor data read: +[23152.064959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7508, -4952, 14356] +[23152.064965] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-205, -237, -284] +[23152.064971] gl,mpu6050 0-0068: TEMP = 8996 +[23152.104950] gl,mpu6050 0-0068: sensor data read: +[23152.104961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7524, -4968, 14432] +[23152.104968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-84, -233, -302] +[23152.104973] gl,mpu6050 0-0068: TEMP = 8980 +[23152.144951] gl,mpu6050 0-0068: sensor data read: +[23152.144961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7368, -4944, 14344] +[23152.144968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-277, -269, -299] +[23152.144973] gl,mpu6050 0-0068: TEMP = 8964 +[23152.184953] gl,mpu6050 0-0068: sensor data read: +[23152.184963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7620, -4980, 14304] +[23152.184970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-196, -263, -302] +[23152.184975] gl,mpu6050 0-0068: TEMP = 8996 +[23152.224954] gl,mpu6050 0-0068: sensor data read: +[23152.224964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7592, -5036, 14328] +[23152.224971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-190, -254, -275] +[23152.224976] gl,mpu6050 0-0068: TEMP = 8980 +[23152.264955] gl,mpu6050 0-0068: sensor data read: +[23152.264965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7556, -4916, 14232] +[23152.264972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-179, -269, -291] +[23152.264977] gl,mpu6050 0-0068: TEMP = 8980 +[23152.304993] gl,mpu6050 0-0068: sensor data read: +[23152.305004] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7548, -4944, 14344] +[23152.305011] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-180, -255, -289] +[23152.305016] gl,mpu6050 0-0068: TEMP = 8980 +[23152.344951] gl,mpu6050 0-0068: sensor data read: +[23152.344961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7540, -5060, 14536] +[23152.344967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-167, -249, -311] +[23152.344973] gl,mpu6050 0-0068: TEMP = 8980 +[23152.384949] gl,mpu6050 0-0068: sensor data read: +[23152.384959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7756, -5084, 14296] +[23152.384967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-181, -238, -310] +[23152.384973] gl,mpu6050 0-0068: TEMP = 8980 +[23152.424950] gl,mpu6050 0-0068: sensor data read: +[23152.424961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7804, -5124, 14404] +[23152.424968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-174, -257, -280] +[23152.424973] gl,mpu6050 0-0068: TEMP = 8964 +[23152.464953] gl,mpu6050 0-0068: sensor data read: +[23152.464964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7316, -4868, 14232] +[23152.464971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-151, -256, -295] +[23152.464976] gl,mpu6050 0-0068: TEMP = 8980 +[23152.504949] gl,mpu6050 0-0068: sensor data read: +[23152.504959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7732, -5072, 14460] +[23152.504966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-201, -260, -280] +[23152.504972] gl,mpu6050 0-0068: TEMP = 8980 +[23152.544952] gl,mpu6050 0-0068: sensor data read: +[23152.544962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7528, -4908, 14320] +[23152.544969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-234, -255, -310] +[23152.544974] gl,mpu6050 0-0068: TEMP = 8996 +[23152.584946] gl,mpu6050 0-0068: sensor data read: +[23152.584957] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7380, -4928, 14388] +[23152.584964] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-182, -264, -294] +[23152.584970] gl,mpu6050 0-0068: TEMP = 8996 +[23152.624952] gl,mpu6050 0-0068: sensor data read: +[23152.624962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7684, -5012, 14344] +[23152.624969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-224, -263, -297] +[23152.624975] gl,mpu6050 0-0068: TEMP = 8980 +[23152.664953] gl,mpu6050 0-0068: sensor data read: +[23152.664963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7680, -5100, 14360] +[23152.664970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-244, -235, -286] +[23152.664976] gl,mpu6050 0-0068: TEMP = 8964 +[23152.704955] gl,mpu6050 0-0068: sensor data read: +[23152.704965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7328, -4932, 14356] +[23152.704972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-91, -231, -303] +[23152.704978] gl,mpu6050 0-0068: TEMP = 8964 +[23152.744950] gl,mpu6050 0-0068: sensor data read: +[23152.744960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7740, -5088, 14336] +[23152.744967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-234, -239, -289] +[23152.744973] gl,mpu6050 0-0068: TEMP = 8980 +[23152.784949] gl,mpu6050 0-0068: sensor data read: +[23152.784959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7336, -4976, 14388] +[23152.784966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-139, -239, -300] +[23152.784971] gl,mpu6050 0-0068: TEMP = 8948 +[23152.824954] gl,mpu6050 0-0068: sensor data read: +[23152.824964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7728, -5080, 14232] +[23152.824971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-258, -271, -292] +[23152.824976] gl,mpu6050 0-0068: TEMP = 8964 +[23152.864950] gl,mpu6050 0-0068: sensor data read: +[23152.864960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7428, -4960, 14276] +[23152.864966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-206, -269, -300] +[23152.864972] gl,mpu6050 0-0068: TEMP = 8980 +[23152.904947] gl,mpu6050 0-0068: sensor data read: +[23152.904957] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7584, -4956, 14280] +[23152.904964] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-258, -252, -292] +[23152.904970] gl,mpu6050 0-0068: TEMP = 9012 +[23152.944952] gl,mpu6050 0-0068: sensor data read: +[23152.944962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7508, -4868, 14264] +[23152.944969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-158, -262, -291] +[23152.944974] gl,mpu6050 0-0068: TEMP = 8996 +[23152.984950] gl,mpu6050 0-0068: sensor data read: +[23152.984960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7548, -5044, 14212] +[23152.984967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-168, -239, -299] +[23152.984972] gl,mpu6050 0-0068: TEMP = 8980 +[23153.024951] gl,mpu6050 0-0068: sensor data read: +[23153.024962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7332, -4924, 14252] +[23153.024968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-206, -232, -302] +[23153.024974] gl,mpu6050 0-0068: TEMP = 8980 +[23153.064953] gl,mpu6050 0-0068: sensor data read: +[23153.064964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7560, -5020, 14296] +[23153.064970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-193, -245, -294] +[23153.064976] gl,mpu6050 0-0068: TEMP = 8964 +[23153.104951] gl,mpu6050 0-0068: sensor data read: +[23153.104962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7376, -5000, 14420] +[23153.104968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-217, -242, -298] +[23153.104974] gl,mpu6050 0-0068: TEMP = 8932 +[23153.144951] gl,mpu6050 0-0068: sensor data read: +[23153.144961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7904, -4972, 14328] +[23153.144969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-175, -256, -289] +[23153.144974] gl,mpu6050 0-0068: TEMP = 9012 +[23153.184954] gl,mpu6050 0-0068: sensor data read: +[23153.184964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7308, -4844, 14204] +[23153.184971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-175, -249, -283] +[23153.184976] gl,mpu6050 0-0068: TEMP = 8964 +[23153.224950] gl,mpu6050 0-0068: sensor data read: +[23153.224960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7832, -5056, 14324] +[23153.224967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-204, -235, -302] +[23153.224973] gl,mpu6050 0-0068: TEMP = 9028 +[23153.264951] gl,mpu6050 0-0068: sensor data read: +[23153.264963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7320, -4988, 14316] +[23153.264969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-207, -237, -288] +[23153.264975] gl,mpu6050 0-0068: TEMP = 8980 +[23153.304953] gl,mpu6050 0-0068: sensor data read: +[23153.304965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7260, -4968, 14032] +[23153.304972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-172, -257, -277] +[23153.304978] gl,mpu6050 0-0068: TEMP = 8948 +[23153.344992] gl,mpu6050 0-0068: sensor data read: +[23153.345004] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7592, -5016, 14376] +[23153.345011] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-148, -279, -294] +[23153.345016] gl,mpu6050 0-0068: TEMP = 8996 +[23153.384955] gl,mpu6050 0-0068: sensor data read: +[23153.384967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7640, -5044, 14200] +[23153.384973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-302, -256, -287] +[23153.384979] gl,mpu6050 0-0068: TEMP = 8980 +[23153.424950] gl,mpu6050 0-0068: sensor data read: +[23153.424961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7648, -5028, 14352] +[23153.424967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-105, -253, -306] +[23153.424973] gl,mpu6050 0-0068: TEMP = 8980 +[23153.464951] gl,mpu6050 0-0068: sensor data read: +[23153.464961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7744, -5060, 14328] +[23153.464968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-271, -241, -262] +[23153.464974] gl,mpu6050 0-0068: TEMP = 8996 +[23153.504950] gl,mpu6050 0-0068: sensor data read: +[23153.504960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7524, -4924, 14120] +[23153.504967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-176, -261, -281] +[23153.504973] gl,mpu6050 0-0068: TEMP = 8980 +[23153.544953] gl,mpu6050 0-0068: sensor data read: +[23153.544964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7576, -4956, 14340] +[23153.544971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-168, -235, -279] +[23153.544976] gl,mpu6050 0-0068: TEMP = 8948 +[23153.584955] gl,mpu6050 0-0068: sensor data read: +[23153.584967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7684, -5036, 14316] +[23153.584974] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-179, -230, -287] +[23153.584979] gl,mpu6050 0-0068: TEMP = 8964 +[23153.624950] gl,mpu6050 0-0068: sensor data read: +[23153.624961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7464, -4932, 14304] +[23153.624967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-161, -253, -298] +[23153.624973] gl,mpu6050 0-0068: TEMP = 8964 +[23153.664955] gl,mpu6050 0-0068: sensor data read: +[23153.664966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7792, -5016, 14340] +[23153.664973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-154, -232, -297] +[23153.664978] gl,mpu6050 0-0068: TEMP = 8948 +[23153.704951] gl,mpu6050 0-0068: sensor data read: +[23153.704961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7544, -4868, 14468] +[23153.704968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-154, -230, -292] +[23153.704973] gl,mpu6050 0-0068: TEMP = 8964 +[23153.744948] gl,mpu6050 0-0068: sensor data read: +[23153.744959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7604, -4880, 14144] +[23153.744966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-195, -271, -296] +[23153.744971] gl,mpu6050 0-0068: TEMP = 8964 +[23153.784948] gl,mpu6050 0-0068: sensor data read: +[23153.784959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7808, -5040, 14300] +[23153.784966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-200, -236, -302] +[23153.784972] gl,mpu6050 0-0068: TEMP = 8980 +[23153.824951] gl,mpu6050 0-0068: sensor data read: +[23153.824960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7516, -4956, 14276] +[23153.824967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-149, -246, -311] +[23153.824973] gl,mpu6050 0-0068: TEMP = 8948 +[23153.864950] gl,mpu6050 0-0068: sensor data read: +[23153.864960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7784, -5052, 14448] +[23153.864967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-164, -262, -289] +[23153.864973] gl,mpu6050 0-0068: TEMP = 8964 +[23153.904949] gl,mpu6050 0-0068: sensor data read: +[23153.904959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7452, -4932, 14288] +[23153.904966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-196, -264, -306] +[23153.904972] gl,mpu6050 0-0068: TEMP = 8980 +[23153.944949] gl,mpu6050 0-0068: sensor data read: +[23153.944959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7512, -4948, 14304] +[23153.944966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-198, -258, -303] +[23153.944972] gl,mpu6050 0-0068: TEMP = 8964 +[23153.984954] gl,mpu6050 0-0068: sensor data read: +[23153.984965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7404, -4916, 14316] +[23153.984971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-195, -249, -286] +[23153.984977] gl,mpu6050 0-0068: TEMP = 8996 +[23154.024954] gl,mpu6050 0-0068: sensor data read: +[23154.024964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7396, -4988, 14308] +[23154.024971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-207, -253, -286] +[23154.024977] gl,mpu6050 0-0068: TEMP = 8980 +[23154.064952] gl,mpu6050 0-0068: sensor data read: +[23154.064963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7572, -5036, 14240] +[23154.064969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-163, -253, -288] +[23154.064975] gl,mpu6050 0-0068: TEMP = 8980 +[23154.104951] gl,mpu6050 0-0068: sensor data read: +[23154.104960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7828, -5060, 14360] +[23154.104967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-160, -244, -289] +[23154.104972] gl,mpu6050 0-0068: TEMP = 8996 +[23154.144950] gl,mpu6050 0-0068: sensor data read: +[23154.144960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7560, -5116, 14392] +[23154.144967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-144, -238, -271] +[23154.144972] gl,mpu6050 0-0068: TEMP = 8980 +[23154.184955] gl,mpu6050 0-0068: sensor data read: +[23154.184966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7448, -5060, 14312] +[23154.184973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-192, -257, -281] +[23154.184978] gl,mpu6050 0-0068: TEMP = 8980 +[23154.224950] gl,mpu6050 0-0068: sensor data read: +[23154.224959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7488, -4952, 14320] +[23154.224966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-144, -247, -290] +[23154.224972] gl,mpu6050 0-0068: TEMP = 8964 +[23154.264948] gl,mpu6050 0-0068: sensor data read: +[23154.264958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7720, -5060, 14200] +[23154.264965] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-203, -268, -280] +[23154.264971] gl,mpu6050 0-0068: TEMP = 8980 +[23154.304949] gl,mpu6050 0-0068: sensor data read: +[23154.304958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7808, -5092, 14312] +[23154.304965] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-169, -243, -291] +[23154.304970] gl,mpu6050 0-0068: TEMP = 8980 +[23154.344954] gl,mpu6050 0-0068: sensor data read: +[23154.344966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7712, -4996, 14396] +[23154.344973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-218, -250, -294] +[23154.344978] gl,mpu6050 0-0068: TEMP = 8996 +[23154.384991] gl,mpu6050 0-0068: sensor data read: +[23154.385002] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7444, -4904, 14340] +[23154.385009] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-157, -257, -283] +[23154.385014] gl,mpu6050 0-0068: TEMP = 8980 +[23154.424953] gl,mpu6050 0-0068: sensor data read: +[23154.424964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7476, -5020, 14360] +[23154.424971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-205, -242, -275] +[23154.424977] gl,mpu6050 0-0068: TEMP = 8980 +[23154.464955] gl,mpu6050 0-0068: sensor data read: +[23154.464965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7812, -5056, 14372] +[23154.464972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-213, -246, -297] +[23154.464978] gl,mpu6050 0-0068: TEMP = 8964 +[23154.504955] gl,mpu6050 0-0068: sensor data read: +[23154.504966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7724, -4996, 14316] +[23154.504972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-189, -233, -279] +[23154.504978] gl,mpu6050 0-0068: TEMP = 8948 +[23154.544954] gl,mpu6050 0-0068: sensor data read: +[23154.544964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7776, -5052, 14328] +[23154.544971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-239, -256, -273] +[23154.544977] gl,mpu6050 0-0068: TEMP = 8980 +[23154.584950] gl,mpu6050 0-0068: sensor data read: +[23154.584960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7736, -5136, 14144] +[23154.584967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-179, -245, -287] +[23154.584973] gl,mpu6050 0-0068: TEMP = 8964 +[23154.624949] gl,mpu6050 0-0068: sensor data read: +[23154.624959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7608, -5020, 14228] +[23154.624966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-153, -237, -297] +[23154.624971] gl,mpu6050 0-0068: TEMP = 8980 +[23154.664952] gl,mpu6050 0-0068: sensor data read: +[23154.664962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7812, -5020, 14280] +[23154.664969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-284, -254, -287] +[23154.664974] gl,mpu6050 0-0068: TEMP = 8948 +[23154.704951] gl,mpu6050 0-0068: sensor data read: +[23154.704961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7452, -5012, 14132] +[23154.704968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-161, -280, -292] +[23154.704973] gl,mpu6050 0-0068: TEMP = 8964 +[23154.744951] gl,mpu6050 0-0068: sensor data read: +[23154.744961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7588, -5032, 14232] +[23154.744968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-181, -251, -293] +[23154.744973] gl,mpu6050 0-0068: TEMP = 8948 +[23154.784952] gl,mpu6050 0-0068: sensor data read: +[23154.784962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7388, -4996, 14144] +[23154.784969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-167, -272, -307] +[23154.784975] gl,mpu6050 0-0068: TEMP = 8980 +[23154.824950] gl,mpu6050 0-0068: sensor data read: +[23154.824960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7304, -5024, 14300] +[23154.824967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-228, -272, -284] +[23154.824972] gl,mpu6050 0-0068: TEMP = 8948 +[23154.864952] gl,mpu6050 0-0068: sensor data read: +[23154.864962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7892, -5092, 14188] +[23154.864969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-182, -261, -295] +[23154.864975] gl,mpu6050 0-0068: TEMP = 8964 +[23154.904960] gl,mpu6050 0-0068: sensor data read: +[23154.904971] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7448, -4996, 14344] +[23154.904977] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-142, -244, -287] +[23154.904983] gl,mpu6050 0-0068: TEMP = 8948 +[23154.944949] gl,mpu6050 0-0068: sensor data read: +[23154.944960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7440, -4844, 14464] +[23154.944967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-217, -244, -291] +[23154.944972] gl,mpu6050 0-0068: TEMP = 8996 +[23154.984947] gl,mpu6050 0-0068: sensor data read: +[23154.984958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7416, -5044, 14272] +[23154.984964] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-229, -215, -288] +[23154.984970] gl,mpu6050 0-0068: TEMP = 8996 +[23155.024954] gl,mpu6050 0-0068: sensor data read: +[23155.024964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7480, -4924, 14492] +[23155.024971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-24, -225, -292] +[23155.024977] gl,mpu6050 0-0068: TEMP = 8980 +[23155.064952] gl,mpu6050 0-0068: sensor data read: +[23155.064963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7448, -5004, 14316] +[23155.064970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-278, -257, -261] +[23155.064975] gl,mpu6050 0-0068: TEMP = 8932 +[23155.104959] gl,mpu6050 0-0068: sensor data read: +[23155.104969] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7568, -5100, 14352] +[23155.104976] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-125, -227, -292] +[23155.104981] gl,mpu6050 0-0068: TEMP = 8964 +[23155.144951] gl,mpu6050 0-0068: sensor data read: +[23155.144962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7580, -5064, 14152] +[23155.144969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-184, -247, -288] +[23155.144974] gl,mpu6050 0-0068: TEMP = 8980 +[23155.184950] gl,mpu6050 0-0068: sensor data read: +[23155.184960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7524, -5072, 14424] +[23155.184967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-178, -237, -279] +[23155.184973] gl,mpu6050 0-0068: TEMP = 8996 +[23155.224950] gl,mpu6050 0-0068: sensor data read: +[23155.224961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7260, -4928, 14320] +[23155.224968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-138, -253, -297] +[23155.224973] gl,mpu6050 0-0068: TEMP = 8964 +[23155.264952] gl,mpu6050 0-0068: sensor data read: +[23155.264961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7712, -5080, 14380] +[23155.264968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-237, -282, -294] +[23155.264974] gl,mpu6050 0-0068: TEMP = 9012 +[23155.304952] gl,mpu6050 0-0068: sensor data read: +[23155.304963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7532, -5004, 14304] +[23155.304969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-200, -223, -312] +[23155.304975] gl,mpu6050 0-0068: TEMP = 8948 +[23155.344951] gl,mpu6050 0-0068: sensor data read: +[23155.344961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7560, -5064, 14372] +[23155.344968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-147, -240, -276] +[23155.344973] gl,mpu6050 0-0068: TEMP = 8964 +[23155.384956] gl,mpu6050 0-0068: sensor data read: +[23155.384967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7560, -4956, 14408] +[23155.384974] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-266, -270, -280] +[23155.384979] gl,mpu6050 0-0068: TEMP = 8980 +[23155.424994] gl,mpu6050 0-0068: sensor data read: +[23155.425005] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7212, -4952, 14208] +[23155.425012] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-162, -263, -292] +[23155.425017] gl,mpu6050 0-0068: TEMP = 8964 +[23155.464949] gl,mpu6050 0-0068: sensor data read: +[23155.464960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7416, -4964, 14388] +[23155.464967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-78, -206, -300] +[23155.464973] gl,mpu6050 0-0068: TEMP = 8964 +[23155.504956] gl,mpu6050 0-0068: sensor data read: +[23155.504965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7752, -5100, 14396] +[23155.504972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-309, -271, -288] +[23155.504978] gl,mpu6050 0-0068: TEMP = 8948 +[23155.544954] gl,mpu6050 0-0068: sensor data read: +[23155.544964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7664, -4984, 14344] +[23155.544971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-137, -223, -288] +[23155.544976] gl,mpu6050 0-0068: TEMP = 9012 +[23155.584952] gl,mpu6050 0-0068: sensor data read: +[23155.584961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7536, -5000, 14184] +[23155.584968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-204, -255, -294] +[23155.584974] gl,mpu6050 0-0068: TEMP = 8996 +[23155.624950] gl,mpu6050 0-0068: sensor data read: +[23155.624959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7848, -5056, 14384] +[23155.624966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-190, -266, -308] +[23155.624972] gl,mpu6050 0-0068: TEMP = 8948 +[23155.664949] gl,mpu6050 0-0068: sensor data read: +[23155.664959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7608, -5076, 14292] +[23155.664966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-175, -234, -295] +[23155.664971] gl,mpu6050 0-0068: TEMP = 8980 +[23155.704951] gl,mpu6050 0-0068: sensor data read: +[23155.704961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7472, -5100, 14124] +[23155.704968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-193, -269, -292] +[23155.704973] gl,mpu6050 0-0068: TEMP = 8996 +[23155.744957] gl,mpu6050 0-0068: sensor data read: +[23155.744967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7444, -4988, 14288] +[23155.744974] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-244, -276, -290] +[23155.744979] gl,mpu6050 0-0068: TEMP = 8932 +[23155.784952] gl,mpu6050 0-0068: sensor data read: +[23155.784961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7724, -5032, 14232] +[23155.784968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-162, -312, -331] +[23155.784974] gl,mpu6050 0-0068: TEMP = 8980 +[23155.824948] gl,mpu6050 0-0068: sensor data read: +[23155.824959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7752, -4968, 14232] +[23155.824966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-202, -347, -317] +[23155.824971] gl,mpu6050 0-0068: TEMP = 8980 +[23155.864951] gl,mpu6050 0-0068: sensor data read: +[23155.864961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7472, -5064, 14268] +[23155.864968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-193, -274, -339] +[23155.864974] gl,mpu6050 0-0068: TEMP = 8964 +[23155.904952] gl,mpu6050 0-0068: sensor data read: +[23155.904962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7580, -5072, 14276] +[23155.904969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-230, -294, -315] +[23155.904975] gl,mpu6050 0-0068: TEMP = 8980 +[23155.944952] gl,mpu6050 0-0068: sensor data read: +[23155.944963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7592, -5008, 14096] +[23155.944970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-296, -308, -309] +[23155.944975] gl,mpu6050 0-0068: TEMP = 8964 +[23155.984951] gl,mpu6050 0-0068: sensor data read: +[23155.984961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7688, -5048, 14120] +[23155.984968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-350, -282, -276] +[23155.984973] gl,mpu6050 0-0068: TEMP = 8964 +[23156.024952] gl,mpu6050 0-0068: sensor data read: +[23156.024962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7528, -5028, 13992] +[23156.024969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-89, -167, -295] +[23156.024975] gl,mpu6050 0-0068: TEMP = 8980 +[23156.064955] gl,mpu6050 0-0068: sensor data read: +[23156.064966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7364, -4972, 14348] +[23156.064973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [45, -244, -311] +[23156.064978] gl,mpu6050 0-0068: TEMP = 8948 +[23156.104954] gl,mpu6050 0-0068: sensor data read: +[23156.104965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7308, -4968, 14456] +[23156.104972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-426, -243, -288] +[23156.104978] gl,mpu6050 0-0068: TEMP = 8964 +[23156.144949] gl,mpu6050 0-0068: sensor data read: +[23156.144960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7644, -4988, 14044] +[23156.144967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-344, -280, -287] +[23156.144972] gl,mpu6050 0-0068: TEMP = 8948 +[23156.184953] gl,mpu6050 0-0068: sensor data read: +[23156.184964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7228, -4976, 14232] +[23156.184970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-134, -202, -281] +[23156.184976] gl,mpu6050 0-0068: TEMP = 8980 +[23156.224973] gl,mpu6050 0-0068: sensor data read: +[23156.224986] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7848, -5296, 14884] +[23156.224993] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [176, -157, -332] +[23156.224998] gl,mpu6050 0-0068: TEMP = 8996 +[23156.264966] gl,mpu6050 0-0068: sensor data read: +[23156.264978] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7808, -5040, 14168] +[23156.264985] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-512, -299, -278] +[23156.264991] gl,mpu6050 0-0068: TEMP = 8948 +[23156.304957] gl,mpu6050 0-0068: sensor data read: +[23156.304968] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-8040, -5728, 14228] +[23156.304975] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-52, -127, -335] +[23156.304980] gl,mpu6050 0-0068: TEMP = 8980 +[23156.344953] gl,mpu6050 0-0068: sensor data read: +[23156.344964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7812, -5284, 14640] +[23156.344971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [851, -115, -329] +[23156.344976] gl,mpu6050 0-0068: TEMP = 8980 +[23156.384953] gl,mpu6050 0-0068: sensor data read: +[23156.384964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7748, -5084, 14608] +[23156.384971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-741, -287, -273] +[23156.384976] gl,mpu6050 0-0068: TEMP = 8964 +[23156.424958] gl,mpu6050 0-0068: sensor data read: +[23156.424969] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-8088, -5372, 14664] +[23156.424975] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [952, -135, -363] +[23156.424981] gl,mpu6050 0-0068: TEMP = 8948 +[23156.465009] gl,mpu6050 0-0068: sensor data read: +[23156.465021] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7416, -4876, 14188] +[23156.465029] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [460, -176, -320] +[23156.465035] gl,mpu6050 0-0068: TEMP = 8932 +[23156.504959] gl,mpu6050 0-0068: sensor data read: +[23156.504969] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7468, -4884, 14444] +[23156.504976] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-315, -279, -283] +[23156.504982] gl,mpu6050 0-0068: TEMP = 8964 +[23156.544953] gl,mpu6050 0-0068: sensor data read: +[23156.544964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7552, -4980, 14132] +[23156.544971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-1260, -275, -151] +[23156.544977] gl,mpu6050 0-0068: TEMP = 8980 +[23156.584951] gl,mpu6050 0-0068: sensor data read: +[23156.584962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7720, -5060, 14328] +[23156.584968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [595, -169, -307] +[23156.584974] gl,mpu6050 0-0068: TEMP = 8980 +[23156.624954] gl,mpu6050 0-0068: sensor data read: +[23156.624965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7112, -4680, 14520] +[23156.624972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-870, -331, -221] +[23156.624977] gl,mpu6050 0-0068: TEMP = 8996 +[23156.664963] gl,mpu6050 0-0068: sensor data read: +[23156.664976] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7500, -5336, 13368] +[23156.664983] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [406, 6, -426] +[23156.664988] gl,mpu6050 0-0068: TEMP = 8948 +[23156.704959] gl,mpu6050 0-0068: sensor data read: +[23156.704971] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-8376, -5544, 15072] +[23156.704978] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [1005, 117, -482] +[23156.704983] gl,mpu6050 0-0068: TEMP = 8980 +[23156.744958] gl,mpu6050 0-0068: sensor data read: +[23156.744969] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7584, -5088, 13840] +[23156.744976] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-882, -207, -263] +[23156.744981] gl,mpu6050 0-0068: TEMP = 8964 +[23156.784956] gl,mpu6050 0-0068: sensor data read: +[23156.784966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7424, -5092, 14068] +[23156.784973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [588, -172, -335] +[23156.784979] gl,mpu6050 0-0068: TEMP = 8964 +[23156.824952] gl,mpu6050 0-0068: sensor data read: +[23156.824962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7636, -4976, 14704] +[23156.824970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-68, -237, -274] +[23156.824975] gl,mpu6050 0-0068: TEMP = 8980 +[23156.864977] gl,mpu6050 0-0068: sensor data read: +[23156.864990] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7696, -5332, 14164] +[23156.864997] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [365, -43, -466] +[23156.865002] gl,mpu6050 0-0068: TEMP = 8948 +[23156.904963] gl,mpu6050 0-0068: sensor data read: +[23156.904975] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7140, -4552, 15936] +[23156.904982] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-2679, -635, -273] +[23156.904988] gl,mpu6050 0-0068: TEMP = 8996 +[23156.944955] gl,mpu6050 0-0068: sensor data read: +[23156.944966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7492, -5104, 12716] +[23156.944973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-1275, -268, -268] +[23156.944978] gl,mpu6050 0-0068: TEMP = 8948 +[23156.984953] gl,mpu6050 0-0068: sensor data read: +[23156.984963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7824, -5100, 14384] +[23156.984970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [2398, 32, -377] +[23156.984975] gl,mpu6050 0-0068: TEMP = 8948 +[23157.024952] gl,mpu6050 0-0068: sensor data read: +[23157.024963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7572, -4972, 15020] +[23157.024970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-1126, -364, -230] +[23157.024975] gl,mpu6050 0-0068: TEMP = 8964 +[23157.064950] gl,mpu6050 0-0068: sensor data read: +[23157.064961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7384, -5092, 13996] +[23157.064968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-789, -308, -246] +[23157.064973] gl,mpu6050 0-0068: TEMP = 8948 +[23157.104952] gl,mpu6050 0-0068: sensor data read: +[23157.104962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7568, -5052, 14196] +[23157.104969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [201, -188, -299] +[23157.104974] gl,mpu6050 0-0068: TEMP = 8980 +[23157.144980] gl,mpu6050 0-0068: sensor data read: +[23157.144993] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-8352, -5336, 14156] +[23157.145000] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [120, 354, -264] +[23157.145005] gl,mpu6050 0-0068: TEMP = 8964 +[23157.184963] gl,mpu6050 0-0068: sensor data read: +[23157.184973] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-8064, -5064, 15132] +[23157.184980] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [2634, 290, -458] +[23157.184986] gl,mpu6050 0-0068: TEMP = 8964 +[23157.224952] gl,mpu6050 0-0068: sensor data read: +[23157.224963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-8248, -5156, 14428] +[23157.224969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-3057, -309, -149] +[23157.224975] gl,mpu6050 0-0068: TEMP = 8948 +[23157.264950] gl,mpu6050 0-0068: sensor data read: +[23157.264961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7412, -5096, 13292] +[23157.264968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [1125, -75, -314] +[23157.264973] gl,mpu6050 0-0068: TEMP = 8980 +[23157.304952] gl,mpu6050 0-0068: sensor data read: +[23157.304963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7776, -5116, 14676] +[23157.304969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [398, -203, -281] +[23157.304975] gl,mpu6050 0-0068: TEMP = 8964 +[23157.344954] gl,mpu6050 0-0068: sensor data read: +[23157.344964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7652, -4940, 14440] +[23157.344971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-674, -234, -257] +[23157.344977] gl,mpu6050 0-0068: TEMP = 8948 +[23157.384950] gl,mpu6050 0-0068: sensor data read: +[23157.384959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7268, -4936, 14080] +[23157.384966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-293, -115, -246] +[23157.384972] gl,mpu6050 0-0068: TEMP = 8980 +[23157.424968] gl,mpu6050 0-0068: sensor data read: +[23157.424981] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7512, -5068, 14232] +[23157.424988] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [0, -133, -282] +[23157.424993] gl,mpu6050 0-0068: TEMP = 9012 +[23157.464946] gl,mpu6050 0-0068: sensor data read: +[23157.464957] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7296, -4908, 14368] +[23157.464964] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-198, -145, -256] +[23157.464970] gl,mpu6050 0-0068: TEMP = 8964 +[23157.505001] gl,mpu6050 0-0068: sensor data read: +[23157.505012] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7428, -5052, 14360] +[23157.505019] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-203, -141, -277] +[23157.505025] gl,mpu6050 0-0068: TEMP = 8948 +[23157.544938] gl,mpu6050 0-0068: sensor data read: +[23157.544948] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7808, -5056, 14304] +[23157.544955] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-157, -104, -278] +[23157.544960] gl,mpu6050 0-0068: TEMP = 8964 +[23157.584941] gl,mpu6050 0-0068: sensor data read: +[23157.584952] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7580, -5088, 14084] +[23157.584959] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-6, -125, -288] +[23157.584965] gl,mpu6050 0-0068: TEMP = 8964 +[23157.624983] gl,mpu6050 0-0068: sensor data read: +[23157.624998] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7536, -5212, 14124] +[23157.625005] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [167, -109, -300] +[23157.625011] gl,mpu6050 0-0068: TEMP = 8948 +[23157.664953] gl,mpu6050 0-0068: sensor data read: +[23157.664964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7308, -4848, 14208] +[23157.664971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-429, -214, -260] +[23157.664976] gl,mpu6050 0-0068: TEMP = 8996 +[23157.704961] gl,mpu6050 0-0068: sensor data read: +[23157.704972] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7788, -4992, 14372] +[23157.704980] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-413, -199, -270] +[23157.704985] gl,mpu6050 0-0068: TEMP = 8964 +[23157.744953] gl,mpu6050 0-0068: sensor data read: +[23157.744964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7596, -5128, 14260] +[23157.744971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-53, -145, -278] +[23157.744977] gl,mpu6050 0-0068: TEMP = 9012 +[23157.784951] gl,mpu6050 0-0068: sensor data read: +[23157.784962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7336, -4988, 14220] +[23157.784969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-108, -251, -294] +[23157.784974] gl,mpu6050 0-0068: TEMP = 8964 +[23157.824955] gl,mpu6050 0-0068: sensor data read: +[23157.824966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7340, -5008, 14140] +[23157.824973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-276, -241, -265] +[23157.824979] gl,mpu6050 0-0068: TEMP = 8996 +[23157.864956] gl,mpu6050 0-0068: sensor data read: +[23157.864966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7908, -4972, 14232] +[23157.864973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-5, -158, -272] +[23157.864979] gl,mpu6050 0-0068: TEMP = 8980 +[23157.904951] gl,mpu6050 0-0068: sensor data read: +[23157.904961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7416, -4976, 14192] +[23157.904968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-244, -280, -274] +[23157.904974] gl,mpu6050 0-0068: TEMP = 8980 +[23157.944955] gl,mpu6050 0-0068: sensor data read: +[23157.944964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7440, -4964, 14136] +[23157.944971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-143, -207, -272] +[23157.944977] gl,mpu6050 0-0068: TEMP = 8964 +[23157.984952] gl,mpu6050 0-0068: sensor data read: +[23157.984963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7536, -4856, 14272] +[23157.984970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-157, -254, -282] +[23157.984975] gl,mpu6050 0-0068: TEMP = 8948 +[23158.024954] gl,mpu6050 0-0068: sensor data read: +[23158.024964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7844, -4932, 14300] +[23158.024972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-186, -240, -295] +[23158.024977] gl,mpu6050 0-0068: TEMP = 8980 +[23158.064952] gl,mpu6050 0-0068: sensor data read: +[23158.064962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7812, -5040, 14108] +[23158.064969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-242, -237, -272] +[23158.064974] gl,mpu6050 0-0068: TEMP = 8996 +[23158.104948] gl,mpu6050 0-0068: sensor data read: +[23158.104958] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7576, -4932, 14380] +[23158.104965] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-122, -236, -298] +[23158.104970] gl,mpu6050 0-0068: TEMP = 8964 +[23158.144952] gl,mpu6050 0-0068: sensor data read: +[23158.144961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7384, -4976, 14188] +[23158.144968] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-99, -226, -302] +[23158.144974] gl,mpu6050 0-0068: TEMP = 8980 +[23158.184970] gl,mpu6050 0-0068: sensor data read: +[23158.184983] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7656, -4900, 14744] +[23158.184990] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-377, -281, -289] +[23158.184995] gl,mpu6050 0-0068: TEMP = 8948 +[23158.224961] gl,mpu6050 0-0068: sensor data read: +[23158.224972] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7396, -4908, 14048] +[23158.224979] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [36, -242, -296] +[23158.224985] gl,mpu6050 0-0068: TEMP = 8964 +[23158.264954] gl,mpu6050 0-0068: sensor data read: +[23158.264964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7792, -5068, 14120] +[23158.264971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-245, -209, -281] +[23158.264976] gl,mpu6050 0-0068: TEMP = 8980 +[23158.304950] gl,mpu6050 0-0068: sensor data read: +[23158.304960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7640, -5064, 14344] +[23158.304967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-586, -273, -282] +[23158.304973] gl,mpu6050 0-0068: TEMP = 8948 +[23158.344955] gl,mpu6050 0-0068: sensor data read: +[23158.344966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7572, -4968, 14268] +[23158.344973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [15, -235, -312] +[23158.344978] gl,mpu6050 0-0068: TEMP = 8996 +[23158.384957] gl,mpu6050 0-0068: sensor data read: +[23158.384968] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7628, -5052, 14352] +[23158.384975] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-271, -262, -310] +[23158.384980] gl,mpu6050 0-0068: TEMP = 8964 +[23158.424952] gl,mpu6050 0-0068: sensor data read: +[23158.424962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7444, -4964, 14220] +[23158.424969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-83, -219, -287] +[23158.424974] gl,mpu6050 0-0068: TEMP = 8980 +[23158.464956] gl,mpu6050 0-0068: sensor data read: +[23158.464966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7420, -5008, 14424] +[23158.464973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-199, -260, -296] +[23158.464978] gl,mpu6050 0-0068: TEMP = 8948 +[23158.504954] gl,mpu6050 0-0068: sensor data read: +[23158.504965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7756, -5048, 14252] +[23158.504972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-196, -253, -287] +[23158.504978] gl,mpu6050 0-0068: TEMP = 8964 +[23158.544996] gl,mpu6050 0-0068: sensor data read: +[23158.545008] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7376, -4996, 14200] +[23158.545014] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-207, -248, -297] +[23158.545020] gl,mpu6050 0-0068: TEMP = 8980 +[23158.584955] gl,mpu6050 0-0068: sensor data read: +[23158.584966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7936, -5136, 14192] +[23158.584972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-244, -272, -288] +[23158.584978] gl,mpu6050 0-0068: TEMP = 8948 +[23158.624954] gl,mpu6050 0-0068: sensor data read: +[23158.624965] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7712, -4904, 14340] +[23158.624972] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-213, -233, -290] +[23158.624978] gl,mpu6050 0-0068: TEMP = 8964 +[23158.664957] gl,mpu6050 0-0068: sensor data read: +[23158.664968] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7596, -4956, 14344] +[23158.664974] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-168, -236, -290] +[23158.664980] gl,mpu6050 0-0068: TEMP = 8948 +[23158.704968] gl,mpu6050 0-0068: sensor data read: +[23158.704980] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7644, -5092, 14068] +[23158.704987] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [357, -186, -292] +[23158.704993] gl,mpu6050 0-0068: TEMP = 8948 +[23158.744957] gl,mpu6050 0-0068: sensor data read: +[23158.744967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7608, -4868, 14320] +[23158.744974] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-429, -307, -293] +[23158.744980] gl,mpu6050 0-0068: TEMP = 8964 +[23158.784955] gl,mpu6050 0-0068: sensor data read: +[23158.784966] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7332, -5040, 14044] +[23158.784973] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [197, -217, -307] +[23158.784978] gl,mpu6050 0-0068: TEMP = 8964 +[23158.824951] gl,mpu6050 0-0068: sensor data read: +[23158.824961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7844, -5064, 14164] +[23158.824967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-264, -246, -282] +[23158.824973] gl,mpu6050 0-0068: TEMP = 8980 +[23158.864952] gl,mpu6050 0-0068: sensor data read: +[23158.864962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7860, -4960, 14284] +[23158.864969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-142, -256, -299] +[23158.864974] gl,mpu6050 0-0068: TEMP = 8964 +[23158.904951] gl,mpu6050 0-0068: sensor data read: +[23158.904961] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7852, -4956, 14100] +[23158.904967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-187, -255, -266] +[23158.904973] gl,mpu6050 0-0068: TEMP = 8964 +[23158.944957] gl,mpu6050 0-0068: sensor data read: +[23158.944967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7668, -4952, 14260] +[23158.944974] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-134, -241, -297] +[23158.944979] gl,mpu6050 0-0068: TEMP = 8980 +[23158.984950] gl,mpu6050 0-0068: sensor data read: +[23158.984960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7764, -4976, 14264] +[23158.984967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-165, -249, -280] +[23158.984972] gl,mpu6050 0-0068: TEMP = 8980 +[23159.024956] gl,mpu6050 0-0068: sensor data read: +[23159.024967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7424, -4908, 14180] +[23159.024974] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-225, -249, -254] +[23159.024979] gl,mpu6050 0-0068: TEMP = 8964 +[23159.064956] gl,mpu6050 0-0068: sensor data read: +[23159.064967] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7536, -5092, 14188] +[23159.064974] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-139, -259, -312] +[23159.064979] gl,mpu6050 0-0068: TEMP = 8980 +[23159.104949] gl,mpu6050 0-0068: sensor data read: +[23159.104959] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7464, -4960, 14264] +[23159.104966] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-219, -249, -297] +[23159.104971] gl,mpu6050 0-0068: TEMP = 8964 +[23159.144953] gl,mpu6050 0-0068: sensor data read: +[23159.144963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7820, -5040, 14292] +[23159.144970] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-152, -238, -278] +[23159.144975] gl,mpu6050 0-0068: TEMP = 8996 +[23159.184953] gl,mpu6050 0-0068: sensor data read: +[23159.184962] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7880, -5104, 14396] +[23159.184969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-199, -238, -279] +[23159.184974] gl,mpu6050 0-0068: TEMP = 8948 +[23159.224950] gl,mpu6050 0-0068: sensor data read: +[23159.224960] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7468, -4976, 14184] +[23159.224967] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-180, -265, -292] +[23159.224972] gl,mpu6050 0-0068: TEMP = 8996 +[23159.264954] gl,mpu6050 0-0068: sensor data read: +[23159.264964] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7636, -4868, 14224] +[23159.264971] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-220, -253, -297] +[23159.264976] gl,mpu6050 0-0068: TEMP = 8964 +[23159.304952] gl,mpu6050 0-0068: sensor data read: +[23159.304963] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7592, -4972, 14116] +[23159.304969] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-197, -232, -282] +[23159.304975] gl,mpu6050 0-0068: TEMP = 8980 +[23159.355141] gl,mpu6050 0-0068: sensor data read: +[23159.355160] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7400, -4992, 14496] +[23159.355167] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [-842, -383, -230] +[23159.355173] gl,mpu6050 0-0068: TEMP = 8948 +[23159.395073] gl,mpu6050 0-0068: sensor data read: +[23159.395087] gl,mpu6050 0-0068: ACCEL[X,Y,Z] = [-7676, -4968, 13952] +[23159.395099] gl,mpu6050 0-0068: GYRO[X,Y,Z] = [135, -213, -299] +[23159.395104] gl,mpu6050 0-0068: TEMP = 8980 +root@orangepione:~# + diff --git a/10-ConcurrencyAndSynchronization/logs/log b/10-ConcurrencyAndSynchronization/logs/log new file mode 100644 index 0000000..2eaebb2 --- /dev/null +++ b/10-ConcurrencyAndSynchronization/logs/log @@ -0,0 +1,40 @@ +root@orangepione:/home/bekir# insmod mpu6050.ko sleep_ms=20 +root@orangepione:/home/bekir# cat /sys/class/mpu6050/accel_x +-7748 +root@orangepione:/home/bekir# cat /sys/class/mpu6050/accel_y +-5052 +root@orangepione:/home/bekir# cat /sys/class/mpu6050/accel_z +14124 +root@orangepione:/home/bekir# cat /sys/class/mpu6050/gyro_x +-173 +root@orangepione:/home/bekir# cat /sys/class/mpu6050/gyro_y +-223 +root@orangepione:/home/bekir# cat /sys/class/mpu6050/gyro_z +-303 +root@orangepione:/home/bekir# cat /sys/class/mpu6050/temp +26.060 +root@orangepione:/home/bekir# while true; do cat /sys/class/mpu6050/temp; sleep 0.1; done +26.060 +26.076 +26.092 +26.060 +26.076 +26.060 +26.092 +26.060 +26.076 +26.076 +26.092 +26.076 +26.092 +26.092 +26.108 +26.060 +26.076 +26.060 +26.092 +26.108 +26.076 +26.092 +26.092 +26.076 diff --git a/10-ConcurrencyAndSynchronization/mpu6050-regs.h b/10-ConcurrencyAndSynchronization/mpu6050-regs.h new file mode 100644 index 0000000..9d51680 --- /dev/null +++ b/10-ConcurrencyAndSynchronization/mpu6050-regs.h @@ -0,0 +1,33 @@ +#ifndef _MPU6050_REGS_H +#define _MPU6050_REGS_H + +/* Registed addresses */ +#define REG_CONFIG 0x1A +#define REG_GYRO_CONFIG 0x1B +#define REG_ACCEL_CONFIG 0x1C +#define REG_FIFO_EN 0x23 +#define REG_INT_PIN_CFG 0x37 +#define REG_INT_ENABLE 0x38 +#define REG_ACCEL_XOUT_H 0x3B +#define REG_ACCEL_XOUT_L 0x3C +#define REG_ACCEL_YOUT_H 0x3D +#define REG_ACCEL_YOUT_L 0x3E +#define REG_ACCEL_ZOUT_H 0x3F +#define REG_ACCEL_ZOUT_L 0x40 +#define REG_TEMP_OUT_H 0x41 +#define REG_TEMP_OUT_L 0x42 +#define REG_GYRO_XOUT_H 0x43 +#define REG_GYRO_XOUT_L 0x44 +#define REG_GYRO_YOUT_H 0x45 +#define REG_GYRO_YOUT_L 0x46 +#define REG_GYRO_ZOUT_H 0x47 +#define REG_GYRO_ZOUT_L 0x48 +#define REG_USER_CTRL 0x6A +#define REG_PWR_MGMT_1 0x6B +#define REG_PWR_MGMT_2 0x6C +#define REG_WHO_AM_I 0x75 + +/* Register values */ +#define MPU6050_WHO_AM_I 0x68 + +#endif /* _MPU6050_REGS_H */ diff --git a/10-ConcurrencyAndSynchronization/mpu6050.c b/10-ConcurrencyAndSynchronization/mpu6050.c new file mode 100644 index 0000000..30ec735 --- /dev/null +++ b/10-ConcurrencyAndSynchronization/mpu6050.c @@ -0,0 +1,362 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include "mpu6050-regs.h" + +static int sleep_ms = 1000; +module_param(sleep_ms, int, 0); + +struct task_struct *reading_thread; +//DEFINE_MUTEX(mutex_for_reading); + +struct mpu6050_data { + struct i2c_client *drv_client; + struct mutex mutex_for_reading; + int accel_values[3]; + int gyro_values[3]; + int temperature; +}; + +static struct mpu6050_data g_mpu6050_data; + +static int mpu6050_read_data(void) +{ + int temp; + struct i2c_client *drv_client = g_mpu6050_data.drv_client; + + if (drv_client == 0) + return -ENODEV; + + /* accel */ + g_mpu6050_data.accel_values[0] = + (s16)((u16)i2c_smbus_read_word_swapped(drv_client, REG_ACCEL_XOUT_H)); + g_mpu6050_data.accel_values[1] = + (s16)((u16)i2c_smbus_read_word_swapped(drv_client, REG_ACCEL_YOUT_H)); + g_mpu6050_data.accel_values[2] = + (s16)((u16)i2c_smbus_read_word_swapped(drv_client, REG_ACCEL_ZOUT_H)); + /* gyro */ + g_mpu6050_data.gyro_values[0] = + (s16)((u16)i2c_smbus_read_word_swapped(drv_client, REG_GYRO_XOUT_H)); + g_mpu6050_data.gyro_values[1] = + (s16)((u16)i2c_smbus_read_word_swapped(drv_client, REG_GYRO_YOUT_H)); + g_mpu6050_data.gyro_values[2] = + (s16)((u16)i2c_smbus_read_word_swapped(drv_client, REG_GYRO_ZOUT_H)); + /* Temperature in degrees C = + * (TEMP_OUT Register Value as a signed quantity)/340 + 36.53 + */ + temp = (s16)((u16)i2c_smbus_read_word_swapped(drv_client, REG_TEMP_OUT_H)); + g_mpu6050_data.temperature = (temp + 12420); + + + + dev_info(&drv_client->dev, "sensor data read:\n"); + dev_info(&drv_client->dev, "ACCEL[X,Y,Z] = [%d, %d, %d]\n", + g_mpu6050_data.accel_values[0], + g_mpu6050_data.accel_values[1], + g_mpu6050_data.accel_values[2]); + dev_info(&drv_client->dev, "GYRO[X,Y,Z] = [%d, %d, %d]\n", + g_mpu6050_data.gyro_values[0], + g_mpu6050_data.gyro_values[1], + g_mpu6050_data.gyro_values[2]); + dev_info(&drv_client->dev, "TEMP = %d\n", + g_mpu6050_data.temperature); + + return 0; +} + +static int mpu6050_read_thread(void *data) +{ + while (!kthread_should_stop()) { + mutex_lock(&((struct mpu6050_data *)data)->mutex_for_reading); + mpu6050_read_data(); + mutex_unlock(&((struct mpu6050_data *)data)->mutex_for_reading); + msleep(sleep_ms); + } +} + +static int mpu6050_probe(struct i2c_client *drv_client, + const struct i2c_device_id *id) +{ + int ret; + + dev_info(&drv_client->dev, + "i2c client address is 0x%X\n", drv_client->addr); + + /* Read who_am_i register */ + ret = i2c_smbus_read_byte_data(drv_client, REG_WHO_AM_I); + if (IS_ERR_VALUE(ret)) { + dev_err(&drv_client->dev, + "i2c_smbus_read_byte_data() failed with error: %d\n", + ret); + return ret; + } + if (ret != MPU6050_WHO_AM_I) { + dev_err(&drv_client->dev, + "wrong i2c device found: expected 0x%X, found 0x%X\n", + MPU6050_WHO_AM_I, ret); + return -1; + } + dev_info(&drv_client->dev, + "i2c mpu6050 device found, WHO_AM_I register value = 0x%X\n", + ret); + + /* Setup the device */ + /* No error handling here! */ + i2c_smbus_write_byte_data(drv_client, REG_CONFIG, 0); + i2c_smbus_write_byte_data(drv_client, REG_GYRO_CONFIG, 0); + i2c_smbus_write_byte_data(drv_client, REG_ACCEL_CONFIG, 0); + i2c_smbus_write_byte_data(drv_client, REG_FIFO_EN, 0); + i2c_smbus_write_byte_data(drv_client, REG_INT_PIN_CFG, 0); + i2c_smbus_write_byte_data(drv_client, REG_INT_ENABLE, 0); + i2c_smbus_write_byte_data(drv_client, REG_USER_CTRL, 0); + i2c_smbus_write_byte_data(drv_client, REG_PWR_MGMT_1, 0); + i2c_smbus_write_byte_data(drv_client, REG_PWR_MGMT_2, 0); + + g_mpu6050_data.drv_client = drv_client; + mutex_init(&g_mpu6050_data.mutex_for_reading); + + reading_thread = kthread_run(mpu6050_read_thread, &g_mpu6050_data, + "reading_thread"); + + dev_info(&drv_client->dev, "i2c driver probed\n"); + return 0; +} + +static int mpu6050_remove(struct i2c_client *drv_client) +{ + g_mpu6050_data.drv_client = 0; + + kthread_stop(reading_thread); + dev_info(&drv_client->dev, "i2c driver removed\n"); + return 0; +} + +static const struct i2c_device_id mpu6050_idtable[] = { + { "mpu6050", 0 }, + { } +}; +MODULE_DEVICE_TABLE(i2c, mpu6050_idtable); + +static struct i2c_driver mpu6050_i2c_driver = { + .driver = { + .name = "gl,mpu6050", + }, + + .probe = mpu6050_probe, + .remove = mpu6050_remove, + .id_table = mpu6050_idtable, +}; + +static ssize_t accel_x_show(struct class *class, + struct class_attribute *attr, char *buf) +{ + mutex_lock(&g_mpu6050_data.mutex_for_reading); + //mpu6050_read_data(); + sprintf(buf, "%d\n", g_mpu6050_data.accel_values[0]); + mutex_unlock(&g_mpu6050_data.mutex_for_reading); + + return strlen(buf); +} + +static ssize_t accel_y_show(struct class *class, + struct class_attribute *attr, char *buf) +{ + mutex_lock(&g_mpu6050_data.mutex_for_reading); + //mpu6050_read_data(); + sprintf(buf, "%d\n", g_mpu6050_data.accel_values[1]); + mutex_unlock(&g_mpu6050_data.mutex_for_reading); + + return strlen(buf); +} + +static ssize_t accel_z_show(struct class *class, + struct class_attribute *attr, char *buf) +{ + mutex_lock(&g_mpu6050_data.mutex_for_reading); + //mpu6050_read_data(); + sprintf(buf, "%d\n", g_mpu6050_data.accel_values[2]); + mutex_unlock(&g_mpu6050_data.mutex_for_reading); + + return strlen(buf); +} + +static ssize_t gyro_x_show(struct class *class, + struct class_attribute *attr, char *buf) +{ + mutex_lock(&g_mpu6050_data.mutex_for_reading); + //mpu6050_read_data(); + sprintf(buf, "%d\n", g_mpu6050_data.gyro_values[0]); + mutex_unlock(&g_mpu6050_data.mutex_for_reading); + + return strlen(buf); +} + +static ssize_t gyro_y_show(struct class *class, + struct class_attribute *attr, char *buf) +{ + mutex_lock(&g_mpu6050_data.mutex_for_reading); + //mpu6050_read_data(); + sprintf(buf, "%d\n", g_mpu6050_data.gyro_values[1]); + mutex_unlock(&g_mpu6050_data.mutex_for_reading); + + return strlen(buf); +} + +static ssize_t gyro_z_show(struct class *class, + struct class_attribute *attr, char *buf) +{ + mutex_lock(&g_mpu6050_data.mutex_for_reading); + //mpu6050_read_data(); + sprintf(buf, "%d\n", g_mpu6050_data.gyro_values[2]); + mutex_unlock(&g_mpu6050_data.mutex_for_reading); + + return strlen(buf); +} + +static ssize_t temp_show(struct class *class, + struct class_attribute *attr, char *buf) +{ + int temp_int = 0; + int temp_frac = 0; + + mutex_lock(&g_mpu6050_data.mutex_for_reading); + //mpu6050_read_data(); + temp_int = g_mpu6050_data.temperature / 340; + temp_frac = g_mpu6050_data.temperature % 340; + sprintf(buf, "%i.%03i\n", temp_int, temp_frac); + mutex_unlock(&g_mpu6050_data.mutex_for_reading); + + return strlen(buf); +} + +CLASS_ATTR_RO(accel_x); +CLASS_ATTR_RO(accel_y); +CLASS_ATTR_RO(accel_z); +CLASS_ATTR_RO(gyro_x); +CLASS_ATTR_RO(gyro_y); +CLASS_ATTR_RO(gyro_z); +CLASS_ATTR_RO(temp); + +static struct class *attr_class; + +static int mpu6050_init(void) +{ + int ret; + + /* Create i2c driver */ + ret = i2c_add_driver(&mpu6050_i2c_driver); + if (ret) { + pr_err("mpu6050: failed to add new i2c driver: %d\n", ret); + return ret; + } + pr_info("mpu6050: i2c driver created\n"); + + /* Create class */ + attr_class = class_create(THIS_MODULE, "mpu6050"); + if (IS_ERR(attr_class)) { + ret = PTR_ERR(attr_class); + pr_err("mpu6050: failed to create sysfs class: %d\n", ret); + return ret; + } + pr_info("mpu6050: sysfs class created\n"); + + /* Create accel_x */ + ret = class_create_file(attr_class, &class_attr_accel_x); + if (ret) { + pr_err("mpu6050: failed to create sysfs class attribute accel_x:%d\n", + ret); + return ret; + } + /* Create accel_y */ + ret = class_create_file(attr_class, &class_attr_accel_y); + if (ret) { + pr_err("mpu6050: failed to create sysfs class attribute accel_y:%d\n", + ret); + return ret; + } + /* Create accel_z */ + ret = class_create_file(attr_class, &class_attr_accel_z); + if (ret) { + pr_err("mpu6050: failed to create sysfs class attribute accel_z:%d\n", + ret); + return ret; + } + /* Create gyro_x */ + ret = class_create_file(attr_class, &class_attr_gyro_x); + if (ret) { + pr_err("mpu6050: failed to create sysfs class attribute gyro_x:%d\n", + ret); + return ret; + } + /* Create gyro_y */ + ret = class_create_file(attr_class, &class_attr_gyro_y); + if (ret) { + pr_err("mpu6050: failed to create sysfs class attribute gyro_y:%d\n", + ret); + return ret; + } + /* Create gyro_z */ + ret = class_create_file(attr_class, &class_attr_gyro_z); + if (ret) { + pr_err("mpu6050: failed to create sysfs class attribute gyro_z:%d\n", + ret); + return ret; + } + /* Create temperature */ + ret = class_create_file(attr_class, &class_attr_temp); + if (ret) { + pr_err("mpu6050: failed to create sysfs class attribute temperature:%d\n", + ret); + return ret; + } + + pr_info("mpu6050: sysfs class attributes created\n"); + + pr_info("mpu6050: module loaded\n"); + return 0; +} + +static void mpu6050_exit(void) +{ + if (attr_class) { + class_remove_file(attr_class, &class_attr_accel_x); + class_remove_file(attr_class, &class_attr_accel_y); + class_remove_file(attr_class, &class_attr_accel_z); + class_remove_file(attr_class, &class_attr_gyro_x); + class_remove_file(attr_class, &class_attr_gyro_y); + class_remove_file(attr_class, &class_attr_gyro_z); + class_remove_file(attr_class, &class_attr_temp); + pr_info("mpu6050: sysfs class attributes removed\n"); + + class_destroy(attr_class); + pr_info("mpu6050: sysfs class destroyed\n"); + } + + i2c_del_driver(&mpu6050_i2c_driver); + pr_info("mpu6050: i2c driver deleted\n"); + + pr_info("mpu6050: module exited\n"); +} + +module_init(mpu6050_init); +module_exit(mpu6050_exit); + +MODULE_AUTHOR("Andriy.Khulap "); +MODULE_DESCRIPTION("mpu6050 I2C acc&gyro"); +MODULE_LICENSE("GPL"); +MODULE_VERSION("0.1");