Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
Gyroscope.cpp
- Committer:
- pvaibhav
- Date:
- 2015-01-23
- Revision:
- 4:e759b8c756da
- Child:
- 5:b9f2f62a8f90
File content as of revision 4:e759b8c756da:
#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); } }