Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
Accelerometer.cpp
- Committer:
- pvaibhav
- Date:
- 2015-02-12
- Revision:
- 6:c12cea26842d
- Parent:
- 5:b9f2f62a8f90
- Child:
- 7:604a8369b801
File content as of revision 6:c12cea26842d:
#include "Accelerometer.h" #define DEBUG "BMX055-Acc" #include "Logger.h" Accelerometer::Accelerometer(I2C &i2c) : I2CPeripheral(i2c, 0x18 << 1 /* address */) { powerOn(); const uint8_t chip_id = read_reg(0x00); if (chip_id == 0xfa) { INFO("Bosch Sensortec BMX055-Accel found"); deepSuspend(); } else { WARN("Bosch Sensortec BMX055-Accel not found (chip ID=0x%02x, expected=0x58)", chip_id); } } void Accelerometer::powerOn() { write_reg(0x14, 0xB6); // reset wait_ms(2); // page 11 says only 1.3ms, nothing for startup time, so assuming 2ms write_reg(0x11, 0); // set power normal mode write_reg(0x10, 8); // set bandwidth = 7.81 Hz LOG("powered on"); } void Accelerometer::deepSuspend() { write_reg(0x11, 1); // deep suspend mode LOG("deep sleep"); }