Diff: BNO055.cpp

Revision:

8:303717d8776c

Parent:

7:cd181d3f2858

Child:

9:f43b1aa99e08

--- a/BNO055.cpp	Tue Jun 21 18:12:29 2016 +0000
+++ b/BNO055.cpp	Thu Jun 23 22:28:41 2016 +0000
@@ -279,7 +279,37 @@
         }
 }
 
-void BNO055::get_intr(void){
+void BNO055::resetIntr(){
+    readchar(BNO055_SYS_TRIGGER_ADDR);
+    rx |= 0x40;
+    writechar(BNO055_SYS_TRIGGER_ADDR, rx);
+}
+
+void BNO055::initIntr() {
+    uint16_t thresholdG = 500;
+    uint8_t slopeG = 0;
+    uint8_t durationG = 1;
+    
+    setmode(OPERATION_MODE_CONFIG);
+    wait_ms(20);
+    setpage(1);
+    // 1a. Set gyroscope interrupt on X, Y, and Z (any motion)
+    writechar(0x17, 0x47);
+    // 1b. Set gyroscope interrupt threshold
+    writechar(0x1E, ((0 & ~(0x7F)) | ((thresholdG << 0) & 0x7F)));
+    // 1c. Set gyroscope interrupt slope samples
+    writechar(0x1F, ((0 & ~(0x03)) | ((slopeG << 0) & 0x03)));
+    // 1d. Set gyroscope interrupt awake duration
+    writechar(0x1F, ((0 & ~(0x0C)) | ((durationG << 2) & 0x0C)));
+    
+    // 2. Set gyroscope interrupt mask
+    writechar(0x0F, ((0 & ~(0x04)) | ((0x01 << 2) & 0x04)));
+    
+    // 3. Set gyroscope interrupt
+    writechar(0x10, ((0 & ~(0x04)) | ((0x01 << 2) & 0x04)));
+    
+    // 4. Read gyroscope interrupt status
+    setpage(0);
     readchar(BNO055_INTR_STAT_ADDR);
     intr = rx;
 }
\ No newline at end of file