File content as of revision 10:3a24c970db40:

#include "MPU9250Sensor.h"
#include "mbed.h"

#ifndef LOG
#define LOG(...) do printf(__VA_ARGS__); while (0)
#endif

MPU9250Sensor::MPU9250Sensor(SPI* spi_,DigitalOut* cs_) : BaseSensor() {
    this->spi=spi_;
    this->cs=cs_;
    *cs = UP;
    //To prevent switching into I2C mode when using SPI, the I2C interface should be disabled by setting the I2C_IF_DIS 
    //configuration bit. Setting this bit should be performed immediately after waiting for the time specified by the 
    //“Start-Up Time for Register Read/Write” in Section 6.3.
    
    
}

char* MPU9250Sensor::getSimpleName() {
    return "MPU9250";
}


uint32_t MPU9250Sensor::verifyIntegrity(uint32_t* errorResult) {
    LOG("Start verfication of MPU9250 Sensor");
    uint32_t errors = 0;
    //Device id is 0xAD
    //Device mems id is 0x1D
    //Part id is 0xF2
//    uint32_t sensorId = readRegister32(DEVID_AD);
    
  //  if (sensorId >> 8 !=0xAD1DF2){
//        errorResult[errors++] = ERROR_WRONG_DEVICE_ID;
//        LOG("Wrong sensorId: %X",sensorId);
//    }
    
    //check status registry
//    uint8_t status  = readRegister(STATUS);
    
    //indicate that SEU error was detetcted 
   // if (status & (1 << 7)){
//        errorResult[errors++] = ERROR_SEU_ERROR_DETECT;
//        LOG("SEU error detected: %X",status);        
//    }
    //check that chip is in awaken state  
    //if (!(status & (1 << 6))){
//        errorResult[errors++] = ERROR_DEVICE_SLEEPING;
//        LOG("Chip not awaken: %X",status);
//    }    
    
    //perform self test
//    errors+=selfTest(&errorResult[errors]); 
    
    return errors;
}

void MPU9250Sensor::getSensorDetails(sensor_t* sensorDetails) {

}