diff options
| -rw-r--r-- | include/driver/mpu9250.h | 1 | ||||
| -rw-r--r-- | model/driver/mpu9250.dfa | 3 | ||||
| -rw-r--r-- | src/driver/mpu9250.cc | 13 |
3 files changed, 17 insertions, 0 deletions
diff --git a/include/driver/mpu9250.h b/include/driver/mpu9250.h index 914a9e0..70c7f46 100644 --- a/include/driver/mpu9250.h +++ b/include/driver/mpu9250.h @@ -291,6 +291,7 @@ class MPU9250 { void accelOnly(); void gyroOnly(); void magnetOnly(); + void nineAxis(); }; extern MPU9250 mpu9250; diff --git a/model/driver/mpu9250.dfa b/model/driver/mpu9250.dfa index f0f161a..1e4bafc 100644 --- a/model/driver/mpu9250.dfa +++ b/model/driver/mpu9250.dfa @@ -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 diff --git a/src/driver/mpu9250.cc b/src/driver/mpu9250.cc index e8f407e..58796c5 100644 --- a/src/driver/mpu9250.cc +++ b/src/driver/mpu9250.cc @@ -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() |