Commit c3286ffc authored by Daniel Friesel's avatar Daniel Friesel
Browse files

mpu9250: Add nineAxis function

parent 16a0da98

include/driver/mpu9250.h

+1 −0
Original line number Diff line number Diff line
@@ -291,6 +291,7 @@ class MPU9250 { 
		void accelOnly();

		void gyroOnly();

		void magnetOnly();

		void nineAxis();

};



extern MPU9250 mpu9250;

model/driver/mpu9250.dfa

+3 −0
Original line number Diff line number Diff line
@@ -46,3 +46,6 @@ transition: 
  magnetOnly:

    src: [SLEEP, STANDBY, LP_ACCEL, ACCEL, GYRO, NINEAXIS]

    dst: MAGNET

  nineAxis:

    src: [SLEEP, STANDBY, LP_ACCEL, ACCEL, GYRO, MAGNET]

    dst: NINEAXIS

src/driver/mpu9250.cc

+13 −0
Original line number Diff line number Diff line
@@ -218,6 +218,15 @@ void MPU9250::getRawMagnet(int *x, int *y, int *z) 


// mpu9250.dfa



void MPU9250::nineAxis()

{

	gyroStandby = false;

	AGWakeup();

	MagWakeup();

	setAccelEnable(true, true, true);

	setGyroEnable(true, true, true);

}



void MPU9250::sleep()

{

	AGSleep();
@@ -229,6 +238,7 @@ void MPU9250::standby() 
	setGyroStandby(true);

	MagSleep();

	setAccelEnable(false, false, false);

	// TODO setGyroEnable false/true?

}



void MPU9250::lowPowerAccelOnly(unsigned char rate)
@@ -241,6 +251,7 @@ void MPU9250::lowPowerAccelOnly(unsigned char rate) 
	txbuf[1] = 1<<5;

	i2c.xmit(address, 2, txbuf, 0, rxbuf);

	setGyroEnable(false, false, false);

	// TODO setAccelEnable true?

}



void MPU9250::accelOnly()
@@ -249,6 +260,7 @@ void MPU9250::accelOnly() 
	AGWakeup();

	MagSleep();

	setGyroEnable(false, false, false);

	// TODO setAccelEnable true?

}



void MPU9250::gyroOnly()
@@ -257,6 +269,7 @@ void MPU9250::gyroOnly() 
	AGWakeup();

	MagSleep();

	setAccelEnable(false, false, false);

	// TODO setGyroEnable true?

}



void MPU9250::magnetOnly()