Diff: GyroscopeMPU.cpp

Revision:

40:8e852115fe55

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GyroscopeMPU.cpp	Tue May 26 11:28:37 2015 +0000
@@ -0,0 +1,45 @@
+#include "GyroscopeMPU.h"
+#define DEBUG "MPU-Gyr"
+#include "Logger.h"
+
+#include "Vector3.h"
+
+GyroscopeMPU::GyroscopeMPU(I2C &i2c) : I2CPeripheral(i2c, 0x68 << 1 /* address */), int1(p26)
+{
+    if (powerOn()) {
+        INFO("Invensense MPU9250-Gyro found");
+        int1.rise(this, &GyroscopeMPU::handleInterrupt);
+        powerOff();
+    } else {
+        WARN("Invensense MPU9250-Gyro not found");
+    }
+}
+
+void GyroscopeMPU::powerOff()
+{
+    LOG("deep sleep");
+}
+
+void GyroscopeMPU::handleInterrupt(void)
+{
+    delegate->sensorUpdate(read());
+}
+
+bool GyroscopeMPU::powerOn()
+{
+    LOG("powered on");
+    return read_reg(117) == 0x68; // verify Chip ID
+}
+
+void GyroscopeMPU::start()
+{
+}
+
+void GyroscopeMPU::stop()
+{
+}
+
+Vector3 GyroscopeMPU::read()
+{
+    return Vector3(0, 0, 0);
+}