Revision 12:cab3f7305522, committed 2012-02-02

Comitter:

Ductapemaster

Date:

Thu Feb 02 08:50:58 2012 +0000

Parent:

11:a70c76711630

Child:

13:eca05448904d

Commit message:

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.

Changed in this revision

--- a/IMU.cpp	Thu Feb 02 08:31:20 2012 +0000
+++ b/IMU.cpp	Thu Feb 02 08:50:58 2012 +0000
@@ -47,7 +47,7 @@
     _i2c.write(GYRO_ADR, &poke, 1, false);
     _i2c.read(GYRO_ADR, peek, 2, false);
     
-    int result = ( peek[0] << 8 | peek[1] );
+    int16_t result = ( peek[0] << 8 | peek[1] );
     return result;
     
  }
@@ -60,7 +60,7 @@
     _i2c.write(GYRO_ADR, &poke, 1, false);
     _i2c.read(GYRO_ADR, peek, 2, false);
     
-    int result = ( peek[0] << 8 | peek[1] );
+    int16_t result = ( peek[0] << 8 | peek[1] );
     return result;
     
  }
@@ -73,7 +73,7 @@
     _i2c.write(GYRO_ADR, &poke, 1, false);
     _i2c.read(GYRO_ADR, peek, 2, false);
     
-    int result = ( peek[0] << 8 | peek[1] );
+    int16_t result = ( peek[0] << 8 | peek[1] );
     return result;
 
  }
@@ -86,7 +86,7 @@
     _i2c.write(GYRO_ADR, &poke, 1, false);
     _i2c.read(GYRO_ADR, peek, 6, false);
     
-    int result[3] = [ 
+    int result[] = { 
         ( peek[0] << 8 | peek[1] ),     // X
         ( peek[2] << 8 | peek[3] ),     // Y
         ( peek[4] << 8 | peek[5] )      // Z
@@ -97,7 +97,7 @@
 
  void IMU::gyroSetLPF(char _BW) {
  
-    char poke[2] = [ GYRO_DLPF_REG, _BW };
+    char poke[2] = { GYRO_DLPF_REG, _BW };
     
     _i2c.write(GYRO_ADR, poke, 2, false);
     

--- a/IMU.h	Thu Feb 02 08:31:20 2012 +0000
+++ b/IMU.h	Thu Feb 02 08:50:58 2012 +0000
@@ -1,154 +1,154 @@
-/* Atmel Inertial One IMU Library
- * Copyright (c) 2012 Daniel 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.
- */
- 
- #ifndef IMU_AIO_H        //IMU Atmel Inertial One
- #define IMU_AIO_H
- 
- #include "mbed.h"
- 
- /* Defines */
- 
- //7 bit I2C Addresses, shifted left to allow for read/write bit as LSB
- 
- #define GYRO_ADR  0x68 << 1
- #define ACC_ADR   0x38 << 1
- #define COMP_ADR  0x0C << 1
- 
- // ITG3200 Gyro Registers
- 
- #define GYRO_WHO_AM_I_REG         0x00
- #define GYRO_SAMPLE_DIV_REG       0x15
- #define GYRO_DLPF_REG             0x16
- #define GYRO_INT_CFG_REG          0x17
- #define GYRO_INT_STATUS_REG       0x1A
- #define GYRO_TEMP_H_REG           0x1B
- #define GYRO_TEMP_L_REG           0x1C
- #define GYRO_XOUT_H_REG           0x1D
- #define GYRO_XOUT_L_REG           0x1E
- #define GYRO_YOUT_H_REG           0x1F
- #define GYRO_YOUT_L_REG           0x20
- #define GYRO_ZOUT_H_REG           0x21
- #define GYRO_ZOUT_L_REG           0x22
- 
- // Gyro LPF bandwidths
- 
- #define BW_256HZ       0x00        //8kHz sample rate
- #define BW_188HZ       0x01        //1kHz sample rate for 188Hz and below
- #define BW_98HZ        0x02
- #define BW_42HZ        0x03
- #define BW_20HZ        0x04
- #define BW_10HZ        0x05
- #define BW_5HZ         0x06
- 
- // Gyro Initial FS_SEL Register Config
- 
- #define FS_SEL_INIT   0x03 << 3
-  
- // BMA150 Accelerometer Registers
- 
- 
- 
- // AK8973 Compass Registers
-
- 
- /** Atmel Inertial One IMU Control Class
- * 
- * Includes control routines for:
- * - ITG-3200 3-axis, 16 bit gyroscope
- * - BMA-150 3-axis, 16 bit accelerometer
- * - AK8975 3-axis, 16 bit magnetometer
- *
- * Datasheets:
- *
- * http://www.atmel.com/dyn/resources/prod_documents/doc8354.pdf
- * 
- * http://invensense.com/mems/gyro/documents/PS-ITG-3200A.pdf
- *
- * http://www.bosch-sensortec.com/content/language1/downloads/BMA150_DataSheet_Rev.1.5_30May2008.pdf
- * 
- * http://pdf1.alldatasheet.com/datasheet-pdf/view/219477/AKM/AK8973/+Q18W89VYpLawLCDwv+/datasheet.pdf
- * 
- */
- class IMU {
- 
- public:
- 
-    /** Creates IMU object and initializes all three chips
-    *
-    * Gyro: FS_SEL register is set to 0x03, as required by datasheet
-    *
-    * Accelerometer:
-    *
-    * Compass:
-    *
-    * @param sda pin for I2C sda signal
-    * @param scl pin for I2C scl signal
-    */
-    IMU(PinName sda, PinName scl);
-    
-    /* Gyro Methods */
-    
-    /** Gets current X axis gyro measurement
-    *
-    * @return Raw X axis ADC measurement (signed 16 bits)
-    */
-    int gyroX(void);
-    
-    /** Gets current Y axis gyro measurement
-    * 
-    * @return Raw Y axis ADC measurement (signed 16 bits)
-    */
-    int gyroY(void);
-    
-    /** Gets current Z axis gyro measurement
-    * 
-    * @return Raw Z axis ADC measurement (signed 16 bits)
-    */
-    int gyroZ(void);
-    
-    /** Gets current ADC data from all axes of gyro (uses burst read mode)
-    * 
-    * @return Array of X, Y, and Z axis gyro measurements (signed 16 bits)
-    */
-    int* gyroXYZ(void);
-    
-    /** Sets digital LPF bandwidth for all gyro channels
-    * 
-    * @param _BW Filter Bandwidth (use defined bandwidths)
-    */
-    void gyroSetLPF(char _BW);
-    
-    /* Accelerometer Methods */
-    
-    
-    
-    /* Compass Methods */
-    
-    
- 
- private:
- 
-    I2C _i2c;       //I2C object constructor
- 
- };
- 
+/* Atmel Inertial One IMU Library
+ * Copyright (c) 2012 Daniel 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.
+ */
+ 
+ #ifndef IMU_AIO_H        //IMU Atmel Inertial One
+ #define IMU_AIO_H
+ 
+ #include "mbed.h"
+ 
+ /* Defines */
+ 
+ //7 bit I2C Addresses, shifted left to allow for read/write bit as LSB
+ 
+ #define GYRO_ADR  0x68 << 1
+ #define ACC_ADR   0x38 << 1
+ #define COMP_ADR  0x0C << 1
+ 
+ // ITG3200 Gyro Registers
+ 
+ #define GYRO_WHO_AM_I_REG         0x00
+ #define GYRO_SAMPLE_DIV_REG       0x15
+ #define GYRO_DLPF_REG             0x16
+ #define GYRO_INT_CFG_REG          0x17
+ #define GYRO_INT_STATUS_REG       0x1A
+ #define GYRO_TEMP_H_REG           0x1B
+ #define GYRO_TEMP_L_REG           0x1C
+ #define GYRO_XOUT_H_REG           0x1D
+ #define GYRO_XOUT_L_REG           0x1E
+ #define GYRO_YOUT_H_REG           0x1F
+ #define GYRO_YOUT_L_REG           0x20
+ #define GYRO_ZOUT_H_REG           0x21
+ #define GYRO_ZOUT_L_REG           0x22
+ 
+ // Gyro LPF bandwidths
+ 
+ #define BW_256HZ       0x00        //8kHz sample rate
+ #define BW_188HZ       0x01        //1kHz sample rate for 188Hz and below
+ #define BW_98HZ        0x02
+ #define BW_42HZ        0x03
+ #define BW_20HZ        0x04
+ #define BW_10HZ        0x05
+ #define BW_5HZ         0x06
+ 
+ // Gyro Initial FS_SEL Register Config
+ 
+ #define FS_SEL_INIT   0x03 << 3
+  
+ // BMA150 Accelerometer Registers
+ 
+ 
+ 
+ // AK8973 Compass Registers
+
+ 
+ /** Atmel Inertial One IMU Control Class
+ * 
+ * Includes control routines for:
+ * - ITG-3200 3-axis, 16 bit gyroscope
+ * - BMA-150 3-axis, 16 bit accelerometer
+ * - AK8975 3-axis, 16 bit magnetometer
+ *
+ * Datasheets:
+ *
+ * http://www.atmel.com/dyn/resources/prod_documents/doc8354.pdf
+ * 
+ * http://invensense.com/mems/gyro/documents/PS-ITG-3200A.pdf
+ *
+ * http://www.bosch-sensortec.com/content/language1/downloads/BMA150_DataSheet_Rev.1.5_30May2008.pdf
+ * 
+ * http://pdf1.alldatasheet.com/datasheet-pdf/view/219477/AKM/AK8973/+Q18W89VYpLawLCDwv+/datasheet.pdf
+ * 
+ */
+ class IMU {
+ 
+ public:
+ 
+    /** Creates IMU object and initializes all three chips
+    *
+    * Gyro: FS_SEL register is set to 0x03, as required by datasheet
+    *
+    * Accelerometer:
+    *
+    * Compass:
+    *
+    * @param sda pin for I2C sda signal
+    * @param scl pin for I2C scl signal
+    */
+    IMU(PinName sda, PinName scl);
+    
+    /* Gyro Methods */
+    
+    /** Gets current X axis gyro measurement
+    *
+    * @return Raw X axis ADC measurement (signed 16 bits)
+    */
+    int gyroX(void);
+    
+    /** Gets current Y axis gyro measurement
+    * 
+    * @return Raw Y axis ADC measurement (signed 16 bits)
+    */
+    int gyroY(void);
+    
+    /** Gets current Z axis gyro measurement
+    * 
+    * @return Raw Z axis ADC measurement (signed 16 bits)
+    */
+    int gyroZ(void);
+    
+    /** Gets current ADC data from all axes of gyro (uses burst read mode)
+    * 
+    * @return Array of X, Y, and Z axis gyro measurements (signed 16 bits)
+    */
+    int* gyroXYZ(void);
+    
+    /** Sets digital LPF bandwidth for all gyro channels
+    * 
+    * @param _BW Filter Bandwidth (use defined bandwidths)
+    */
+    void gyroSetLPF(char _BW);
+    
+    /* Accelerometer Methods */
+    
+    
+    
+    /* Compass Methods */
+    
+    
+ 
+ private:
+ 
+    I2C _i2c;       //I2C object constructor
+ 
+ };
+ 
  #endif
\ No newline at end of file