Diff: Gyroscope.cpp

Revision:

5:b9f2f62a8f90

Parent:

4:e759b8c756da

Child:

6:c12cea26842d

--- a/Gyroscope.cpp	Fri Jan 23 13:00:46 2015 +0000
+++ b/Gyroscope.cpp	Thu Feb 12 17:17:35 2015 +0000
@@ -2,15 +2,41 @@
 #define DEBUG "BMX055-Gyr"
 #include "Logger.h"
 
-Gyroscope::Gyroscope(I2C &i2c) : I2CPeripheral(i2c, 0x69 << 1 /* address */) {
-    write_reg(0x14, 0xB6); // reset
-    wait_ms(30); // page 14
-    
+Gyroscope::Gyroscope(I2C &i2c) : I2CPeripheral(i2c, 0x69 << 1 /* address */), int1(p3) {
+    powerOn();
+        
     const uint8_t chip_id = read_reg(0x00);
     if (chip_id == 0x0f) {
-        INFO("Bosch Sensortec BMX055-Gyro ready");
+        INFO("Bosch Sensortec BMX055-Gyro found");
+        deepSuspend();
     } else {
         WARN("Bosch Sensortec BMX055-Gyro not found (chip ID=0x%02x, expected=0x0f)", chip_id);
     }
 }
 
+void Gyroscope::deepSuspend() {
+    write_reg(0x11, 1);
+    LOG("deep suspend");
+}
+
+uint32_t ticks = 0;
+frame_t frame;
+
+void Gyroscope::handleInterrupt(void) {
+    read_reg(0x3F, (uint8_t*)&frame, sizeof frame);
+    ticks++;
+}
+
+void Gyroscope::powerOn() {
+    write_reg(0x14, 0xB6); // softreset
+    wait_ms(30);
+    LOG("full power mode");
+}
+
+void Gyroscope::startDataCapture() {
+    write_reg(0x10, 5); // set capture rate: 200 Hz / filter: 23 Hz
+    write_reg(0x16, 5); // interrupts active high, push-pull
+    write_reg(0x18, 1 << 0); // map new data interrupt to INT3 pin (1st interrupt for gyro)
+    int1.rise(this, &Gyroscope::handleInterrupt);
+    write_reg(0x15, 1 << 7); // new data interrupt enabled
+}
\ No newline at end of file