Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

Gyroscope.cpp@5:b9f2f62a8f90, 2015-02-12 (annotated)

Committer:
pvaibhav
Date:
Thu Feb 12 17:17:35 2015 +0000
Revision:
5:b9f2f62a8f90
Parent:
4:e759b8c756da
Child:
6:c12cea26842d
Gyro data can now be read fine. 100 Hz.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pvaibhav 4:e759b8c756da 1 #include "Gyroscope.h"
pvaibhav 4:e759b8c756da 2 #define DEBUG "BMX055-Gyr"
pvaibhav 4:e759b8c756da 3 #include "Logger.h"
pvaibhav 4:e759b8c756da 4
pvaibhav 5:b9f2f62a8f90 5 Gyroscope::Gyroscope(I2C &i2c) : I2CPeripheral(i2c, 0x69 << 1 /* address */), int1(p3) {
pvaibhav 5:b9f2f62a8f90 6 powerOn();
pvaibhav 5:b9f2f62a8f90 7
pvaibhav 4:e759b8c756da 8 const uint8_t chip_id = read_reg(0x00);
pvaibhav 4:e759b8c756da 9 if (chip_id == 0x0f) {
pvaibhav 5:b9f2f62a8f90 10 INFO("Bosch Sensortec BMX055-Gyro found");
pvaibhav 5:b9f2f62a8f90 11 deepSuspend();
pvaibhav 4:e759b8c756da 12 } else {
pvaibhav 4:e759b8c756da 13 WARN("Bosch Sensortec BMX055-Gyro not found (chip ID=0x%02x, expected=0x0f)", chip_id);
pvaibhav 4:e759b8c756da 14 }
pvaibhav 4:e759b8c756da 15 }
pvaibhav 4:e759b8c756da 16
pvaibhav 5:b9f2f62a8f90 17 void Gyroscope::deepSuspend() {
pvaibhav 5:b9f2f62a8f90 18 write_reg(0x11, 1);
pvaibhav 5:b9f2f62a8f90 19 LOG("deep suspend");
pvaibhav 5:b9f2f62a8f90 20 }
pvaibhav 5:b9f2f62a8f90 21
pvaibhav 5:b9f2f62a8f90 22 uint32_t ticks = 0;
pvaibhav 5:b9f2f62a8f90 23 frame_t frame;
pvaibhav 5:b9f2f62a8f90 24
pvaibhav 5:b9f2f62a8f90 25 void Gyroscope::handleInterrupt(void) {
pvaibhav 5:b9f2f62a8f90 26 read_reg(0x3F, (uint8_t*)&frame, sizeof frame);
pvaibhav 5:b9f2f62a8f90 27 ticks++;
pvaibhav 5:b9f2f62a8f90 28 }
pvaibhav 5:b9f2f62a8f90 29
pvaibhav 5:b9f2f62a8f90 30 void Gyroscope::powerOn() {
pvaibhav 5:b9f2f62a8f90 31 write_reg(0x14, 0xB6); // softreset
pvaibhav 5:b9f2f62a8f90 32 wait_ms(30);
pvaibhav 5:b9f2f62a8f90 33 LOG("full power mode");
pvaibhav 5:b9f2f62a8f90 34 }
pvaibhav 5:b9f2f62a8f90 35
pvaibhav 5:b9f2f62a8f90 36 void Gyroscope::startDataCapture() {
pvaibhav 5:b9f2f62a8f90 37 write_reg(0x10, 5); // set capture rate: 200 Hz / filter: 23 Hz
pvaibhav 5:b9f2f62a8f90 38 write_reg(0x16, 5); // interrupts active high, push-pull
pvaibhav 5:b9f2f62a8f90 39 write_reg(0x18, 1 << 0); // map new data interrupt to INT3 pin (1st interrupt for gyro)
pvaibhav 5:b9f2f62a8f90 40 int1.rise(this, &Gyroscope::handleInterrupt);
pvaibhav 5:b9f2f62a8f90 41 write_reg(0x15, 1 << 7); // new data interrupt enabled
pvaibhav 5:b9f2f62a8f90 42 }