MPU9250
Fork of MPU6050 by
Diff: MPU6050.cpp
- Revision:
- 11:9549be34fa7f
- Parent:
- 9:d879deb55ae1
- Child:
- 12:e32a6beb0a41
--- a/MPU6050.cpp Mon Dec 23 08:34:58 2013 +0000 +++ b/MPU6050.cpp Wed Sep 24 01:10:42 2014 +0000 @@ -54,7 +54,7 @@ /** Default constructor, uses default I2C address. * @see MPU6050_DEFAULT_ADDRESS */ -MPU6050::MPU6050() : debugSerial(USBTX, USBRX) +MPU6050::MPU6050() : debugSerial(USBTX, USBRX), sampling(false) { devAddr = MPU6050_DEFAULT_ADDRESS << 1; debugSerial.baud(115200); @@ -66,7 +66,7 @@ * @see MPU6050_ADDRESS_AD0_LOW * @see MPU6050_ADDRESS_AD0_HIGH */ -MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX) +MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX), sampling(false) { devAddr = address << 1; debugSerial.baud(115200); @@ -1910,6 +1910,9 @@ *gz = gz_cache; } +/* + * Populate readings cache when finished reading from I2C + */ uint32_t mpureadfin(uint32_t param){ MPU6050* ins = (MPU6050*)param; ins->ax_cache = (((int16_t)ins->mpu_buffer[0]) << 8) | ins->mpu_buffer[1]; @@ -1921,11 +1924,20 @@ return 0; } +void MPU6050::sample(bool on){ + if (sampling && !on) + mpu_sampling.detach(); + if (!sampling && on) + start_sampling(); + sampling = on; +} + void MPU6050::mpu_sample_func(){ i2Cdev.readBytes_nb(devAddr, &mpu_cmd, 14, (uint8_t*)mpu_buffer, &mpureadfin, this); } void MPU6050::start_sampling(){ + sampling = true; mpu_cmd = MPU6050_RA_ACCEL_XOUT_H; mpu_sampling.attach_us(this, &MPU6050::mpu_sample_func, 2000); }