bool initialiseIMU(mpu9250_t *dev)
{
int result;
printf("+------------Initializing------------+\n");
result = mpu9250_init(dev, I2C_0, MPU9250_HW_ADDR_HEX_68, MPU9250_COMP_ADDR_HEX_0C);
if (result == -1) {
puts("[Error] The given i2c is not enabled");
return false;
}
else if (result == -2) {
puts("[Error] The compass did not answer correctly on the given address");
return false;
}
result = mpu9250_set_gyro_fsr(dev, GFSR);
if (result == -1) {
puts("[Error] The given i2c is not enabled");
return false;
}
else if (result == -2) {
puts("[Error] Invalid Gyro FSR value");
return false;
}
result = mpu9250_set_accel_fsr(dev, AFSR);
if (result == -1) {
puts("[Error] The given i2c is not enabled");
return false;
}
else if (result == -2) {
puts("[Error] Invalid Accel FSR value");
return false;
}
mpu9250_set_sample_rate(dev, GA_SAMPLE_RATE_HZ);
uint16_t gaSampleRate = dev->conf.sample_rate;
printf("G+A sample rate set to: %u (requested rate was %u)\n", gaSampleRate, GA_SAMPLE_RATE_HZ);
mpu9250_set_compass_sample_rate(dev, C_SAMPLE_RATE_HZ);
uint16_t cSampleRate = dev->conf.compass_sample_rate;
printf("Compass sample rate set to: %u (requested rate was %u)\n", cSampleRate, C_SAMPLE_RATE_HZ);
printf("Initialization successful\n\n");
t0 = xtimer_now64();
autoCalibrate = true;
dupInterval = UPDATE_INTERVAL_MS;
initialisePosition();
return true;
}
CellDoor::CellDoor(Directions::Direction direction, std::shared_ptr<LevelCell> cell, PatientGame* game)
: CellEdge(direction, cell)
{
initialiseSprite(game);
initialisePosition();
}
