Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
Gyroscope.cpp@6:c12cea26842d, 2015-02-12 (annotated)
- Committer:
- pvaibhav
- Date:
- Thu Feb 12 19:00:28 2015 +0000
- Revision:
- 6:c12cea26842d
- Parent:
- 5:b9f2f62a8f90
- Child:
- 7:604a8369b801
New "Sensor" base class and delegation mechanism for sensor updates
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pvaibhav | 4:e759b8c756da | 1 | #include "Gyroscope.h" |
pvaibhav | 4:e759b8c756da | 2 | #define DEBUG "BMX055-Gyr" |
pvaibhav | 4:e759b8c756da | 3 | #include "Logger.h" |
pvaibhav | 4:e759b8c756da | 4 | |
pvaibhav | 5:b9f2f62a8f90 | 5 | Gyroscope::Gyroscope(I2C &i2c) : I2CPeripheral(i2c, 0x69 << 1 /* address */), int1(p3) { |
pvaibhav | 6:c12cea26842d | 6 | if (powerOn()) { |
pvaibhav | 5:b9f2f62a8f90 | 7 | INFO("Bosch Sensortec BMX055-Gyro found"); |
pvaibhav | 4:e759b8c756da | 8 | } else { |
pvaibhav | 6:c12cea26842d | 9 | WARN("Bosch Sensortec BMX055-Gyro not found"); |
pvaibhav | 4:e759b8c756da | 10 | } |
pvaibhav | 4:e759b8c756da | 11 | } |
pvaibhav | 4:e759b8c756da | 12 | |
pvaibhav | 6:c12cea26842d | 13 | void Gyroscope::powerOff() { |
pvaibhav | 5:b9f2f62a8f90 | 14 | write_reg(0x11, 1); |
pvaibhav | 6:c12cea26842d | 15 | LOG("deep sleep"); |
pvaibhav | 5:b9f2f62a8f90 | 16 | } |
pvaibhav | 5:b9f2f62a8f90 | 17 | |
pvaibhav | 5:b9f2f62a8f90 | 18 | void Gyroscope::handleInterrupt(void) { |
pvaibhav | 6:c12cea26842d | 19 | static uint32_t ticks = 0; |
pvaibhav | 6:c12cea26842d | 20 | Sensor::Data frame = read(); |
pvaibhav | 6:c12cea26842d | 21 | |
pvaibhav | 6:c12cea26842d | 22 | if (ticks % 100 == 0) |
pvaibhav | 6:c12cea26842d | 23 | sendData(frame); |
pvaibhav | 5:b9f2f62a8f90 | 24 | } |
pvaibhav | 5:b9f2f62a8f90 | 25 | |
pvaibhav | 6:c12cea26842d | 26 | bool Gyroscope::powerOn() { |
pvaibhav | 5:b9f2f62a8f90 | 27 | write_reg(0x14, 0xB6); // softreset |
pvaibhav | 5:b9f2f62a8f90 | 28 | wait_ms(30); |
pvaibhav | 6:c12cea26842d | 29 | LOG("powered on"); |
pvaibhav | 6:c12cea26842d | 30 | return read_reg(0x00) == 0x0f; // verify Chip ID |
pvaibhav | 5:b9f2f62a8f90 | 31 | } |
pvaibhav | 5:b9f2f62a8f90 | 32 | |
pvaibhav | 6:c12cea26842d | 33 | void Gyroscope::start() { |
pvaibhav | 5:b9f2f62a8f90 | 34 | write_reg(0x10, 5); // set capture rate: 200 Hz / filter: 23 Hz |
pvaibhav | 5:b9f2f62a8f90 | 35 | write_reg(0x16, 5); // interrupts active high, push-pull |
pvaibhav | 5:b9f2f62a8f90 | 36 | write_reg(0x18, 1 << 0); // map new data interrupt to INT3 pin (1st interrupt for gyro) |
pvaibhav | 5:b9f2f62a8f90 | 37 | int1.rise(this, &Gyroscope::handleInterrupt); |
pvaibhav | 6:c12cea26842d | 38 | timer.reset(); |
pvaibhav | 6:c12cea26842d | 39 | timer.start(); |
pvaibhav | 5:b9f2f62a8f90 | 40 | write_reg(0x15, 1 << 7); // new data interrupt enabled |
pvaibhav | 6:c12cea26842d | 41 | } |
pvaibhav | 6:c12cea26842d | 42 | |
pvaibhav | 6:c12cea26842d | 43 | void Gyroscope::stop() { |
pvaibhav | 6:c12cea26842d | 44 | timer.stop(); |
pvaibhav | 6:c12cea26842d | 45 | write_reg(0x15, 0); // turn off new data interrupt |
pvaibhav | 6:c12cea26842d | 46 | } |
pvaibhav | 6:c12cea26842d | 47 | |
pvaibhav | 6:c12cea26842d | 48 | Sensor::Data Gyroscope::read() { |
pvaibhav | 6:c12cea26842d | 49 | Sensor::Data frame; |
pvaibhav | 6:c12cea26842d | 50 | |
pvaibhav | 6:c12cea26842d | 51 | read_reg(0x3F, (uint8_t*)&frame, sizeof frame); |
pvaibhav | 6:c12cea26842d | 52 | frame.timestamp = timer.read(); |
pvaibhav | 6:c12cea26842d | 53 | |
pvaibhav | 6:c12cea26842d | 54 | return frame; |
pvaibhav | 6:c12cea26842d | 55 | } |