Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
Gyroscope.cpp
- Committer:
- pvaibhav
- Date:
- 2015-02-12
- Revision:
- 5:b9f2f62a8f90
- Parent:
- 4:e759b8c756da
- Child:
- 6:c12cea26842d
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 }