Diff: MPU6000.cpp

Revision:

1:1d985e2d60a6

Parent:

0:5c2f529b85f8

Child:

2:b54fd8d53035

diff -r 5c2f529b85f8 -r 1d985e2d60a6 MPU6000.cpp
--- a/MPU6000.cpp	Mon Nov 24 03:33:43 2014 +0000
+++ b/MPU6000.cpp	Fri Feb 13 23:00:03 2015 +0000
@@ -6,7 +6,7 @@
 #include "MPU6000.h"
 #include "float.h"
 
-mpu6000_spi::mpu6000_spi(SPI& _spi, PinName _cs) : spi(_spi), cs(_cs), accFilterCurrent(0), accFilterPre(0), gyroFilterCurrent(0), gyroFliterPre(0) {}
+mpu6000_spi::mpu6000_spi(SPI& _spi, PinName _cs) : spi(_spi), cs(_cs), accFilterCurrent(0), accFilterPre(0), gyroFilterCurrent(0), gyroFliterPre(0), whoami_error(0) {}
 
 /*-----------------------------------------------------------------------------------------------
                                     INITIALIZATION
@@ -48,14 +48,19 @@
     response=spi.write(MPUREG_USER_CTRL);
     response=spi.write(BIT_I2C_IF_DIS);
     deselect();
+
     //WHO AM I?
+    // Begin transmission
     select();
+    // Bitwise OR of WHOAMI Register (default 0x68) and READ_FLAG
     response=spi.write(MPUREG_WHOAMI|READ_FLAG);
     response=spi.write(0x00);
+    // end transmission
     deselect();
     if(response<100) {
         return 0;   //COULDN'T RECEIVE WHOAMI
     }
+
     //SET SAMPLE RATE
     select();
     response=spi.write(MPUREG_SMPLRT_DIV);
@@ -191,13 +196,38 @@
 unsigned int mpu6000_spi::whoami()
 {
     unsigned int response;
+    // Begin transmission
     select();
+    // Bitwise OR of WHOAMI Register (default 0x68) and READ_FLAG
     response=spi.write(MPUREG_WHOAMI|READ_FLAG);
     response=spi.write(0x00);
+    // End transmission
     deselect();
     return response;
 }
 
+/***********************************************************
+Function:         whoami_check()
+Access Specifier: Public
+Use:              Safety check. Compares WHO_AM_I response to expected response (See description of whoami() for expected response detail).
+Input:            None
+Output:           who_error. High = Safe. Low = Unsafe
+***********************************************************/
+int mpu6000_spi::whoami_check()
+{
+    // bitwise OR of response and 104. 104 is expected response
+    who_error = (response||0x104) // all high means whoami is safe
+    
+    // if whoami is not all high/safe
+    if who_error == !0x000{
+        
+        // then raise the value of who_error to indicate unsafe state
+    who_error=1
+    
+    }
+    return who_error; 
+}
+
 
 /*------------------------------------------------------------------------------------------------
                                  Get Tilt Angle from Accerometer