diff options
Diffstat (limited to 'gyro.c')
| -rw-r--r-- | gyro.c | 16 |
1 files changed, 7 insertions, 9 deletions
@@ -29,8 +29,7 @@ #define L3GD20_CTRLREG3 0x22 #define L3GD20_CTRLREG4 0x23 -/* the first interrupt is lost */ -static volatile bool drdy = true; +/* raw values */ static volatile int16_t val[3] = {0, 0, 0}; /* current (relative) angle, in millidegree */ static int16_t angle[3] = {0, 0, 0}; @@ -40,13 +39,13 @@ static bool reading = false; /* data ready interrupt */ ISR(PCINT0_vect) { - drdy = true; + /* empty */ } void gyroInit () { /* set PB1 to input, with pull-up */ - DDRB = (DDRB & ~((1 << PB1))); - PORTB = (PORTB | (1 << PB1)); + DDRB = DDRB & ~((1 << DDB1)); + PORTB = PORTB | (1 << PORTB1); /* enable interrupt PCI0 */ PCICR = PCICR | (1 << PCIE0); /* enable interrupts on PB1/PCINT1 */ @@ -58,10 +57,10 @@ void gyroStart () { /* configuration: * disable power-down-mode * defaults - * enable drdy interrupt + * low-active (does not work?), push-pull, drdy on int2 * select 500dps */ - uint8_t data[] = {0b00001111, 0b0, 0b00001000, 0b00010000}; + uint8_t data[] = {0b00001111, 0b0, 0b00101000, 0b00010000}; if (!twRequest (TWM_WRITE, L3GD20, L3GD20_CTRLREG1, data, sizeof (data)/sizeof (*data))) { @@ -87,12 +86,11 @@ bool gyroProcess () { reading = false; } } else { - if (drdy && twr.status != TWST_WAIT) { + if (((PINB >> PINB1) & 0x1) && twr.status != TWST_WAIT) { /* new data available in device buffer and bus is free */ if (!twRequest (TWM_READ, L3GD20, 0x28, (uint8_t *) val, 6)) { printf ("cannot start read\n"); } else { - drdy = false; reading = true; } } |