GyroscopeMPU.cpp

00001 #include "GyroscopeMPU.h"
00002 #define DEBUG "MPU-Gyr"
00003 #include "Logger.h"
00004 
00005 #include "Vector3.h"
00006 
00007 GyroscopeMPU::GyroscopeMPU(I2C &i2c) : I2CPeripheral(i2c, 0x68 << 1 /* address */), int1(p26)
00008 {
00009     if (powerOn()) {
00010         INFO("Invensense MPU9250-Gyro found");
00011         int1.rise(this, &GyroscopeMPU::handleInterrupt);
00012         powerOff();
00013     } else {
00014         WARN("Invensense MPU9250-Gyro not found");
00015     }
00016 }
00017 
00018 void GyroscopeMPU::powerOff()
00019 {
00020     LOG("deep sleep");
00021 }
00022 
00023 void GyroscopeMPU::handleInterrupt(void)
00024 {
00025     delegate->sensorUpdate(read());
00026 }
00027 
00028 bool GyroscopeMPU::powerOn()
00029 {
00030     LOG("powered on");
00031     return read_reg(117) == 0x68; // verify Chip ID
00032 }
00033 
00034 void GyroscopeMPU::start()
00035 {
00036 }
00037 
00038 void GyroscopeMPU::stop()
00039 {
00040 }
00041 
00042 Vector3 GyroscopeMPU::read()
00043 {
00044     return Vector3(0, 0, 0);
00045 }