File content as of revision 5:b9f2f62a8f90:

#include "Gyroscope.h"
#define DEBUG "BMX055-Gyr"
#include "Logger.h"

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 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
}