Diff: MyMPU6050.h

Revision:

10:6167cc7e7d60

Parent:

9:ac76b5b24b18

Child:

11:feab67f916fe

--- a/MyMPU6050.h	Sat Dec 05 00:40:23 2015 +0000
+++ b/MyMPU6050.h	Sat Dec 05 09:04:10 2015 +0000
@@ -25,7 +25,9 @@
         void loop() {
             // if programming failed, don't try to do anything
             if (!dmpReady) return;
-        
+            
+//            _pc->printf("dmp ready\n");
+            
             // wait for MPU interrupt or extra packet(s) available
             if (!mpuInterrupt && fifoCount < packetSize) {
                 return;
@@ -40,7 +42,9 @@
                 // .
                 // .
             }
-        
+            
+//            _pc->printf("mpu interrupt \n");
+                                
             // reset interrupt flag and get INT_STATUS byte
             mpuInterrupt = false;
             mpuIntStatus = mpu.getIntStatus();
@@ -80,12 +84,13 @@
                 float newDTheta = gyroData[2]/180.0*M_PI;
                 
                 if (!thetaInitFlag && abs(newTheta-theta)>0.3) {
-                    _pc->printf("IMU interrupt clash\n");
+//                    _pc->printf("IMU interrupt clash\n");
                     mpu.resetFIFO();
                 } else {
                     thetaInitFlag = false;
                     theta = newTheta;
                     dtheta = newDTheta;
+//                    _pc->printf("loop %f\n", theta);
                 }
                                 
                                 
@@ -98,6 +103,7 @@
         }
         
         float getTheta(){
+//            _pc->printf("%f\n", theta);
             return theta;
         }
         
@@ -111,9 +117,18 @@
             checkpin.rise(NULL);
         }
         
+        void disableInterrupt(){
+            mpuInterrupt = false;
+            checkpin.rise(NULL);
+        }
+        
         void enable(){
             setup();
         }
+        
+        void enableInterrupt(){
+            checkpin.rise(this, &MyMPU6050::dmpDataReady);
+        }
 
     private:
     
@@ -133,9 +148,9 @@
         VectorFloat gravity;    // [x, y, z]            gravity vector
         float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
         int16_t gyroData[3];
-        float theta;
+        volatile float theta;
         bool thetaInitFlag;
-        float dtheta;
+        volatile float dtheta;
     
         InterruptIn checkpin;
         volatile bool mpuInterrupt;