diff options
author | Daniel Friesel <daniel.friesel@uos.de> | 2019-11-28 15:45:56 +0100 |
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committer | Daniel Friesel <daniel.friesel@uos.de> | 2019-11-28 15:45:56 +0100 |
commit | 9587125842f839acd79956f4827231e2df66ffc2 (patch) | |
tree | 6bad01d68a25358ccc04f60bc22f6b8315284253 /src/driver/mpu9250.cc | |
parent | e5436cc50e489487a150c5a6c8bff085ba4c63c7 (diff) |
MPU9250: Add AEMR DFA driver functions and model
Diffstat (limited to 'src/driver/mpu9250.cc')
-rw-r--r-- | src/driver/mpu9250.cc | 50 |
1 files changed, 50 insertions, 0 deletions
diff --git a/src/driver/mpu9250.cc b/src/driver/mpu9250.cc index 1c6e02c..e8f407e 100644 --- a/src/driver/mpu9250.cc +++ b/src/driver/mpu9250.cc @@ -216,4 +216,54 @@ void MPU9250::getRawMagnet(int *x, int *y, int *z) } } +// mpu9250.dfa + +void MPU9250::sleep() +{ + AGSleep(); + MagSleep(); +} + +void MPU9250::standby() +{ + setGyroStandby(true); + MagSleep(); + setAccelEnable(false, false, false); +} + +void MPU9250::lowPowerAccelOnly(unsigned char rate) +{ + txbuf[0] = MPU9250_LP_ACCEL_ODR; + txbuf[1] = rate & 0x0f; + i2c.xmit(address, 2, txbuf, 0, rxbuf); + MagSleep(); + txbuf[0] = 107; + txbuf[1] = 1<<5; + i2c.xmit(address, 2, txbuf, 0, rxbuf); + setGyroEnable(false, false, false); +} + +void MPU9250::accelOnly() +{ + gyroStandby = false; + AGWakeup(); + MagSleep(); + setGyroEnable(false, false, false); +} + +void MPU9250::gyroOnly() +{ + gyroStandby = false; + AGWakeup(); + MagSleep(); + setAccelEnable(false, false, false); +} + +void MPU9250::magnetOnly() +{ + gyroStandby = false; + MagWakeup(); + AGSleep(); +} + MPU9250 mpu9250; |