Diff: IMU.cpp

Revision:

0:5a636973285e

Child:

10:85636c7eb8aa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMU.cpp	Thu Feb 02 07:34:36 2012 +0000
@@ -0,0 +1,105 @@
+/* Atmel Inertial One IMU Library
+ * File: IMU.H
+ * 
+ * Copyright (c) 2012 Dan Kouba
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ */
+
+ #include "IMU.h"
+ 
+ IMU::IMU(PinName sda, PinName scl) : _i2c(sda, scl) {
+ 
+    _i2c.frequency(400000);     //400kHz bus speed
+    
+    //Initial gyro config - must set DLPF[4:3] to 0x03 for proper operation
+    char poke[2];
+    
+    poke[0] = GYRO_DLPF_REG;
+    poke[1] = FS_SEL_INIT;
+    
+    _i2c.write(GYRO_ADR, poke, 2, false);
+    
+ }
+ 
+ int gyroX(void) {
+ 
+    char poke = GYRO_XOUT_H_REG;
+    char peek[2];
+ 
+    _i2c.write(GYRO_ADR, &poke, 1, false);
+    _i2c.read(GYRO_ADR, peek, 2, false);
+    
+    int result = ( peek[0] << 8 | peek[1] );
+    return result;
+    
+ }
+   
+ int gyroY(void) {
+ 
+    char poke = GYRO_YOUT_H_REG;
+    char peek[2];
+ 
+    _i2c.write(GYRO_ADR, &poke, 1, false);
+    _i2c.read(GYRO_ADR, peek, 2, false);
+    
+    int result = ( peek[0] << 8 | peek[1] );
+    return result;
+    
+ }
+       
+ int gyroZ(void){
+ 
+    char poke = GYRO_ZOUT_H_REG;
+    char peek[2];
+ 
+    _i2c.write(GYRO_ADR, &poke, 1, false);
+    _i2c.read(GYRO_ADR, peek, 2, false);
+    
+    int result = ( peek[0] << 8 | peek[1] );
+    return result;
+
+ }
+    
+ int[3] gyroXYZ(void) {
+ 
+    char poke = GYRO_XOUT_H_REG;
+    char peek[6];
+ 
+    _i2c.write(GYRO_ADR, &poke, 1, false);
+    _i2c.read(GYRO_ADR, peek, 6, false);
+    
+    int result[3] = [ 
+        ( peek[0] << 8 | peek[1] ),     // X
+        ( peek[2] << 8 | peek[3] ),     // Y
+        ( peek[4] << 8 | peek[5] )      // Z
+        };
+    return result;
+    
+ }
+
+ void gyroSetLPF(char _BW) {
+ 
+    char poke[2] = [ GYRO_DLPF_REG, _BW };
+    
+    _i2c.write(GYRO_ADR, poke, 2, false);
+    
+ }
+ 
\ No newline at end of file