Revision 3:f9e18a9cd9af, committed 2013-11-01

Comitter:

teamgoat

Date:

Fri Nov 01 01:23:04 2013 +0000

Parent:

2:452dd766d212

Child:

4:44a5b1e8fd27

Commit message:

Gyro is working; note: need to implement zero-level canceling on gyro (zero-level is result of stress on sensor being mounted on PCB)

Changed in this revision

--- 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

--- a/sensor.h	Fri Nov 01 00:48:06 2013 +0000
+++ b/sensor.h	Fri Nov 01 01:23:04 2013 +0000
@@ -10,7 +10,7 @@
 #define accel_w 0xA6
 #define ACCEL_X 0x32 // x: 0x32,0x33 y: 0x34,0x35 z: 0x36,0x37 Little Endian!!! (x = 0x33<<8|0x22). 2's complement 16bit
 #define ACCEL_POWER_CTL 0x2D
-#define gyro_w 0xD0
+#define gyro_w 0xD2
 #define GYRO_X 0x28 // x: 0x28,0x29 y: 0x2A,0x2B z: 0x2C,0x2D Little Endian! (x = 0x28<<8|0x22). 2's complement 16bit
 #define GYRO_CTRL_REG1 0x20
 #define compass_w 0x3C
@@ -51,8 +51,8 @@
 
 int config_accelerometer(void);
 int config_gyro(void);
-void config_compass(void);
-void config_barometer(void);
+int config_compass(void);
+int config_barometer(void);
 
 int config_gy80(struct config *c);
 

--- a/steps.cpp	Fri Nov 01 00:48:06 2013 +0000
+++ b/steps.cpp	Fri Nov 01 01:23:04 2013 +0000
@@ -11,8 +11,12 @@
         pc.printf("Error in get_sensor_data while reading from accel!\r\n");
         return;
     }
-    
-    pc.printf("Ax: %i Ay: %i Az: %i;\r\n", s.ax, s.ay, s.az);
+    if (read_gyro(&s) == 0)
+    {
+        pc.printf("Error in get_sensor_data while reading from gyro!\r\n");
+        return;
+    }
+    pc.printf("Ax: %i Ay: %i Az: %i Gx: %i Gy: %i Gz: %i\r\n", s.ax, s.ay, s.az, s.gx, s.gy, s.gz);
     return;
 }