File content as of revision 13:eca05448904d:

/* 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"
 
 /**************
 * Constructor *
 **************/
 
 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);
    
 }
 
 /***************
 * Gyro Methods *
 ***************/
    
 IMU::data3d IMU::getGyroData(void) 
 {
 
    char poke = GYRO_XOUT_H_REG;
    char peek[6];
 
    _i2c.write(GYRO_ADR, &poke, 1, false);
    _i2c.read(GYRO_ADR, peek, 6, false);
    
    int16_t result[3] = 
    {
        
        ( ( peek[0] << 8 ) | peek[1] ),   // X
        ( ( peek[2] << 8 ) | peek[3] ),   // Y
        ( ( peek[4] << 8 ) | peek[5] )    // Z
        
    };
    
    gyro_data.x = int(result[0]);
    gyro_data.y = int(result[1]);
    gyro_data.z = int(result[2]);
       
    return gyro_data;
    
 }

 void IMU::setGyroLPF(char bw) 
 {
 
    char poke[2] = { 
    
        GYRO_DLPF_REG, 
        ( bw | ( FS_SEL_INIT << 3 ) )      //Bandwidth value with FS_SEL bits set properly
        
        };
    
    _i2c.write(GYRO_ADR, poke, 2, false);
    
 }
 
 /************************
 * Accelerometer Methods *
 ************************/
 
 int IMU::accX(void) 
 {
 
    char poke = ACC_XOUT_L_REG;
    char peek[2];
    
    _i2c.write(ACC_ADR, &poke, 1, false);
    _i2c.read(ACC_ADR, peek, 2, false);
    
    //Turning a 10 bit signed number into a signed 16 bit int
    return ( ( (0x80 & peek[1]) ? 0xFFFFFE00 : 0x0 ) | ( ( peek[1] & 0x7F ) << 2 ) | ( peek[0] >> 6 ) );

 }

 int IMU::accY(void) 
 {

    char poke = ACC_YOUT_L_REG;
    char peek[2];
    
    _i2c.write(ACC_ADR, &poke, 1, false);
    _i2c.read(ACC_ADR, peek, 2, false);
    
    //Turning a 10 bit signed number into a signed 16 bit int
    return ( ( (0x80 & peek[1]) ? 0xFFFFFE00 : 0x0 ) | ( ( peek[1] & 0x7F ) << 2 ) | ( peek[0] >> 6 ) );

 }

 int IMU::accZ(void) 
 {

    char poke = ACC_ZOUT_L_REG;
    char peek[2];
    
    _i2c.write(ACC_ADR, &poke, 1, false);
    _i2c.read(ACC_ADR, peek, 2, false);
    
    //Turning a 10 bit signed number into a signed 16 bit int
    return ( ( (0x80 & peek[1]) ? 0xFFFFFE00 : 0x0 ) | ( ( peek[1] & 0x7F ) << 2 ) | ( peek[0] >> 6 ) );

 }
 
  IMU::data3d IMU::getAccData(void) 
 {
 
    char poke = ACC_XOUT_L_REG;
    char peek[6];
    
    _i2c.write(ACC_ADR, &poke, 1, false);
    _i2c.read(ACC_ADR, peek, 6, false);
    
    //Turning a 10 bit signed number into a signed 16 bit int    
    
    acc_data.x = ( ( (0x80 & peek[1]) ? 0xFFFFFE00 : 0x0 ) | ( ( peek[1] & 0x7F ) << 2 ) | ( peek[0] >> 6 ) );
    acc_data.y = ( ( (0x80 & peek[3]) ? 0xFFFFFE00 : 0x0 ) | ( ( peek[3] & 0x7F ) << 2 ) | ( peek[2] >> 6 ) );
    acc_data.z = ( ( (0x80 & peek[5]) ? 0xFFFFFE00 : 0x0 ) | ( ( peek[5] & 0x7F ) << 2 ) | ( peek[4] >> 6 ) );
          
    return acc_data;
    
 }

 void IMU::setAccLPF(char bw) 
 {

    char poke[2] = { 
        
        ACC_OPER_REG,
        0x00
        
        };
        
    char peek;
    
    _i2c.write(ACC_ADR, poke, 1, false);
    _i2c.read(ACC_ADR, &peek, 1, false);       //Get current register value
    
    poke[1] = ( peek | bw );                  //Insert bandwidth bits at [2:0]
    _i2c.write(ACC_ADR, poke, 2, false);       //Write register

 }

 void IMU::setAccRange(char range) 
 {

    char poke[2] = { 
        
        ACC_OPER_REG,
        0x00
        
        };
        
    char peek;
    
    _i2c.write(ACC_ADR, poke, 1, false);
    _i2c.read(ACC_ADR, &peek, 1, false);       //Get current register value
    
    poke[1] = ( peek | range << 3 );          //Insert bandwidth bits at [4:3]
    _i2c.write(ACC_ADR, poke, 2, false);       //Write register

 }

 void IMU::accUpdateImage(void) 
 {

 }

 void IMU::accEEWriteEn(bool we) 
 {

 }
 
 /***********************
 * Magnetometer Methods *
 ***********************/