Daniel Kouba / IMU

Interface library for the Atmel Inertial One IMU. Contains drivers for the ITG 3200 3 axis gyro, BMA-150 3 axis accelerometer, and AK8975 3 axis compass

IMU.cpp@12:cab3f7305522, 2012-02-02 (annotated)

Committer:
Ductapemaster
Date:
Thu Feb 02 08:50:58 2012 +0000
Revision:
12:cab3f7305522
Parent:
11:a70c76711630
Child:
13:eca05448904d
Fixed return values for gyroX, gyroY, and gryoZ functions, now return a proper 16 bit signed value.  gyroXYZ has not been fixed, and the LPf bandwidth method has not been tested.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ductapemaster 0:5a636973285e 1 /* Atmel Inertial One IMU Library
Ductapemaster 0:5a636973285e 2 * File: IMU.H
Ductapemaster 0:5a636973285e 3 *
Ductapemaster 0:5a636973285e 4 * Copyright (c) 2012 Dan Kouba
Ductapemaster 0:5a636973285e 5 *
Ductapemaster 0:5a636973285e 6 * Permission is hereby granted, free of charge, to any person obtaining a copy
Ductapemaster 0:5a636973285e 7 * of this software and associated documentation files (the "Software"), to deal
Ductapemaster 0:5a636973285e 8 * in the Software without restriction, including without limitation the rights
Ductapemaster 0:5a636973285e 9 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Ductapemaster 0:5a636973285e 10 * copies of the Software, and to permit persons to whom the Software is
Ductapemaster 0:5a636973285e 11 * furnished to do so, subject to the following conditions:
Ductapemaster 0:5a636973285e 12 *
Ductapemaster 0:5a636973285e 13 * The above copyright notice and this permission notice shall be included in
Ductapemaster 0:5a636973285e 14 * all copies or substantial portions of the Software.
Ductapemaster 0:5a636973285e 15 *
Ductapemaster 0:5a636973285e 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Ductapemaster 0:5a636973285e 17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Ductapemaster 0:5a636973285e 18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Ductapemaster 0:5a636973285e 19 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Ductapemaster 0:5a636973285e 20 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Ductapemaster 0:5a636973285e 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Ductapemaster 0:5a636973285e 22 * THE SOFTWARE.
Ductapemaster 0:5a636973285e 23 *
Ductapemaster 0:5a636973285e 24 */
Ductapemaster 0:5a636973285e 25
Ductapemaster 0:5a636973285e 26 #include "IMU.h"
Ductapemaster 0:5a636973285e 27
Ductapemaster 0:5a636973285e 28 IMU::IMU(PinName sda, PinName scl) : _i2c(sda, scl) {
Ductapemaster 0:5a636973285e 29
Ductapemaster 0:5a636973285e 30 _i2c.frequency(400000); //400kHz bus speed
Ductapemaster 0:5a636973285e 31
Ductapemaster 0:5a636973285e 32 //Initial gyro config - must set DLPF[4:3] to 0x03 for proper operation
Ductapemaster 0:5a636973285e 33 char poke[2];
Ductapemaster 0:5a636973285e 34
Ductapemaster 0:5a636973285e 35 poke[0] = GYRO_DLPF_REG;
Ductapemaster 0:5a636973285e 36 poke[1] = FS_SEL_INIT;
Ductapemaster 0:5a636973285e 37
Ductapemaster 0:5a636973285e 38 _i2c.write(GYRO_ADR, poke, 2, false);
Ductapemaster 0:5a636973285e 39
Ductapemaster 0:5a636973285e 40 }
Ductapemaster 0:5a636973285e 41
Ductapemaster 11:a70c76711630 42 int IMU::gyroX(void) {
Ductapemaster 0:5a636973285e 43
Ductapemaster 0:5a636973285e 44 char poke = GYRO_XOUT_H_REG;
Ductapemaster 0:5a636973285e 45 char peek[2];
Ductapemaster 0:5a636973285e 46
Ductapemaster 0:5a636973285e 47 _i2c.write(GYRO_ADR, &poke, 1, false);
Ductapemaster 0:5a636973285e 48 _i2c.read(GYRO_ADR, peek, 2, false);
Ductapemaster 0:5a636973285e 49
Ductapemaster 12:cab3f7305522 50 int16_t result = ( peek[0] << 8 | peek[1] );
Ductapemaster 0:5a636973285e 51 return result;
Ductapemaster 0:5a636973285e 52
Ductapemaster 0:5a636973285e 53 }
Ductapemaster 0:5a636973285e 54
Ductapemaster 11:a70c76711630 55 int IMU::gyroY(void) {
Ductapemaster 0:5a636973285e 56
Ductapemaster 0:5a636973285e 57 char poke = GYRO_YOUT_H_REG;
Ductapemaster 0:5a636973285e 58 char peek[2];
Ductapemaster 0:5a636973285e 59
Ductapemaster 0:5a636973285e 60 _i2c.write(GYRO_ADR, &poke, 1, false);
Ductapemaster 0:5a636973285e 61 _i2c.read(GYRO_ADR, peek, 2, false);
Ductapemaster 0:5a636973285e 62
Ductapemaster 12:cab3f7305522 63 int16_t result = ( peek[0] << 8 | peek[1] );
Ductapemaster 0:5a636973285e 64 return result;
Ductapemaster 0:5a636973285e 65
Ductapemaster 0:5a636973285e 66 }
Ductapemaster 0:5a636973285e 67
Ductapemaster 11:a70c76711630 68 int IMU::gyroZ(void){
Ductapemaster 0:5a636973285e 69
Ductapemaster 0:5a636973285e 70 char poke = GYRO_ZOUT_H_REG;
Ductapemaster 0:5a636973285e 71 char peek[2];
Ductapemaster 0:5a636973285e 72
Ductapemaster 0:5a636973285e 73 _i2c.write(GYRO_ADR, &poke, 1, false);
Ductapemaster 0:5a636973285e 74 _i2c.read(GYRO_ADR, peek, 2, false);
Ductapemaster 0:5a636973285e 75
Ductapemaster 12:cab3f7305522 76 int16_t result = ( peek[0] << 8 | peek[1] );
Ductapemaster 0:5a636973285e 77 return result;
Ductapemaster 0:5a636973285e 78
Ductapemaster 0:5a636973285e 79 }
Ductapemaster 0:5a636973285e 80
Ductapemaster 11:a70c76711630 81 int* IMU::gyroXYZ(void) {
Ductapemaster 0:5a636973285e 82
Ductapemaster 0:5a636973285e 83 char poke = GYRO_XOUT_H_REG;
Ductapemaster 0:5a636973285e 84 char peek[6];
Ductapemaster 0:5a636973285e 85
Ductapemaster 0:5a636973285e 86 _i2c.write(GYRO_ADR, &poke, 1, false);
Ductapemaster 0:5a636973285e 87 _i2c.read(GYRO_ADR, peek, 6, false);
Ductapemaster 0:5a636973285e 88
Ductapemaster 12:cab3f7305522 89 int result[] = {
Ductapemaster 0:5a636973285e 90 ( peek[0] << 8 | peek[1] ), // X
Ductapemaster 0:5a636973285e 91 ( peek[2] << 8 | peek[3] ), // Y
Ductapemaster 0:5a636973285e 92 ( peek[4] << 8 | peek[5] ) // Z
Ductapemaster 0:5a636973285e 93 };
Ductapemaster 0:5a636973285e 94 return result;
Ductapemaster 0:5a636973285e 95
Ductapemaster 0:5a636973285e 96 }
Ductapemaster 0:5a636973285e 97
Ductapemaster 11:a70c76711630 98 void IMU::gyroSetLPF(char _BW) {
Ductapemaster 0:5a636973285e 99
Ductapemaster 12:cab3f7305522 100 char poke[2] = { GYRO_DLPF_REG, _BW };
Ductapemaster 0:5a636973285e 101
Ductapemaster 0:5a636973285e 102 _i2c.write(GYRO_ADR, poke, 2, false);
Ductapemaster 0:5a636973285e 103
Ductapemaster 0:5a636973285e 104 }
Ductapemaster 0:5a636973285e 105