Diff: sensor.cpp

Revision:

3:f9e18a9cd9af

Parent:

2:452dd766d212

Child:

4:44a5b1e8fd27

--- a/sensor.cpp	Fri Nov 01 00:48:06 2013 +0000
+++ b/sensor.cpp	Fri Nov 01 01:23:04 2013 +0000
@@ -136,7 +136,7 @@
     if (ret == 0)
     {
         if (DEBUG)
-            pc.printf("Error putting accelerometer in measure mode (accelerometer_measure)\r\n");
+            pc.printf("Error turning on gyro (gyro_turnon)\r\n");
         return 0;
     }
     power_ctl |= 0x8 ;
@@ -144,7 +144,7 @@
     if (ret == 0)
     {
         if (DEBUG)
-            pc.printf("Error putting accelerometer in measure mode (accelerometer_measure)\r\n");
+            pc.printf("Error turning on gyro (gyro_turnon)\r\n");
         return 0;
     }    
     return 1;
@@ -157,7 +157,7 @@
     if (ret == 0)
     {
         if (DEBUG)
-            pc.printf("Error putting accelerometer in standby (accelerometer_standby)\r\n");
+            pc.printf("Error turning off gyro (gyro_turnoff)\r\n");
         return 0;
     }
     power_ctl &= 0xF7 ;
@@ -165,7 +165,7 @@
     if (ret == 0)
     {
         if (DEBUG)
-            pc.printf("Error putting accelerometer in standby (accelerometer_standby)\r\n");
+            pc.printf("Error turning off gyro (gyro_turnoff)\r\n");
         return 0;
     }
     return 1;
@@ -202,9 +202,9 @@
     {
         if (DEBUG)
             pc.printf("Error starting up accelerometer\r\n");
-        return 1;
+        return 0;
     }
-    return ret;
+    return 8;
 }
 int config_gyro(void)
 {
@@ -214,17 +214,21 @@
     {
         if (DEBUG)
             pc.printf("Error starting up gyro\r\n");
-        return 1;
+        return 0;
     }
-    return ret;
+    return 4;
 }
-void config_compass(void){}
-void config_barometer(void){}
+int config_compass(void){return 2;}
+int config_barometer(void){return 1;}
 
 int config_gy80(struct config *c)
 {
+    // return value is a 4-bit number: AGCB, indicating
+    // the return values of accel, gyro, compass, and barometer
     i2c.frequency(c->frequency);
-    return config_accelerometer();
-    /*config_gyro();
-    config_compass()*/;
+    int ret = config_accelerometer();
+    ret |= config_gyro();
+    ret |= config_compass();
+    ret |= config_barometer();
+    return ret;
 }
\ No newline at end of file