Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

Diff: Gyroscope.cpp

Revision:
4:e759b8c756da
Child:
5:b9f2f62a8f90
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Gyroscope.cpp	Fri Jan 23 13:00:46 2015 +0000
@@ -0,0 +1,16 @@
+#include "Gyroscope.h"
+#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
+    
+    const uint8_t chip_id = read_reg(0x00);
+    if (chip_id == 0x0f) {
+        INFO("Bosch Sensortec BMX055-Gyro ready");
+    } else {
+        WARN("Bosch Sensortec BMX055-Gyro not found (chip ID=0x%02x, expected=0x0f)", chip_id);
+    }
+}
+