File content as of revision 13:ef0ce8fa871f:

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

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

MPU9250Sensor::MPU9250Sensor(SPI& spi_,DigitalOut& cs_,void (*debug_)(const char* format, ...)) : BaseSensor(debug_), spi(spi_), 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;
    //who am I register value is 0x71
    uint8_t sensorId = readRegister(MPU9250_WHOAMI);
    
    if (sensorId !=0x71){
        errorResult[errors++] = ERROR_WRONG_DEVICE_ID;
        LOG("Wrong sensorId: %X",sensorId);
    }
    
    //check status registry
    uint8_t status  = readRegister(MPU9250_I2C_MST_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;
}

uint32_t MPU9250Sensor::selfTest(uint32_t* errorResult){
    uint32_t errors = 0;
    
     return errors;
}

void MPU9250Sensor::getSensorDetails(sensor_t* sensorDetails) {

}

uint8_t MPU9250Sensor::readRegister( uint8_t reg){
    cs = DOWN;
    spi.write(reg| MPU9250_READ_FLAG);
    uint8_t val = spi.write(0x00);
    cs = UP;
    return val;
}
//
//void MPU9250Sensor::writeRegister( uint8_t reg, uint8_t cmd ){
//    cs->write(DOWN);
//    spi->write(reg);
//    spi->write(cmd);
//    cs->write(UP);
//}