bool CurieImuClass::getInterruptStatus(int feature)
{
switch (feature) {
case CURIE_IMU_FREEFALL:
return getIntFreefallStatus();
case CURIE_IMU_SHOCK:
return getIntShockStatus();
case CURIE_IMU_STEP:
return getIntStepStatus();
case CURIE_IMU_MOTION:
return getIntMotionStatus();
case CURIE_IMU_ZERO_MOTION:
return getIntZeroMotionStatus();
case CURIE_IMU_TAP:
return getIntTapStatus();
case CURIE_IMU_DOUBLE_TAP:
return getIntDoubleTapStatus();
case CURIE_IMU_FIFO_FULL:
return getIntFIFOBufferFullStatus();
case CURIE_IMU_DATA_READY:
return getIntDataReadyStatus();
default:
return false;
}
}
void MPU9150::calibrate() {
Vect3D<float> mag;
if (getIntDataReadyStatus() == 1) {
getMagnetoScaled(&mag.x, &mag.y, &mag.z);
if (min_x >= mag.x) min_x = mag.x; if (max_x < mag.x) max_x = mag.x;
if (min_y >= mag.y) min_y = mag.y; if (max_y < mag.y) max_y = mag.y;
if (min_z >= mag.z) min_z = mag.z; if (max_z < mag.z) max_z = mag.z;
calculateMag();
}
}
