Diff: dof9RazorImuAhrs.cpp

Revision:

0:ef171fe2a7e5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dof9RazorImuAhrs.cpp	Thu Jun 17 10:05:46 2010 +0000
@@ -0,0 +1,115 @@
+//****************************************************************************/
+// Description:
+//
+//  Read attitude and heading reference system [AHRS] data from the SparkFun
+//  9DOF Razor Inertial Measurement Unit [IMU].
+//
+// AHRS code:
+//
+//  http://code.google.com/p/sf9domahrs/
+//
+// 9DOF Razor IMU:
+//
+//  http://www.sparkfun.com/commerce/product_info.php?products_id=9623
+//****************************************************************************/
+
+//****************************************************************************/
+// Includes
+//****************************************************************************/
+#include "dof9RazorImuAhrs.h"
+
+dof9RazorImuAhrs::dof9RazorImuAhrs(PinName tx, PinName rx) {
+
+    razor = new Serial(tx, rx);
+    razor->baud(BAUD_RATE);
+
+}
+
+void dof9RazorImuAhrs::update(void) {
+
+    //Make sure we get to the start of a line.
+    while (razor->getc() != '\n');
+
+#if PRINT_EULER == 1
+    razor->scanf("!ANG:%f,%f,%f", &roll, &pitch, &yaw);
+#endif
+
+#if PRINT_ANALOGS == 1
+    razor->scanf(",AN:%f,%f,%f", &gyro_x, &gyro_y, &gyro_z);
+    razor->scanf(",%f,%f,%f", &acc_x, &acc_y, &acc_z);
+    razor->scanf(",%f,%f,%f", &mag_x, &mag_y, &mag_z);
+#endif
+
+}
+
+float dof9RazorImuAhrs::getRoll(void){
+
+    return roll;
+
+}
+
+float dof9RazorImuAhrs::getPitch(void){
+
+    return pitch;
+
+}
+
+float dof9RazorImuAhrs::getYaw(void){
+
+    return yaw;
+
+}
+
+float dof9RazorImuAhrs::getGyroX(void){
+
+    return gyro_x;
+
+}
+
+float dof9RazorImuAhrs::getGyroY(void){
+
+    return gyro_y;
+
+}
+
+float dof9RazorImuAhrs::getGyroZ(void){
+
+    return gyro_z;
+
+}
+
+float dof9RazorImuAhrs::getAccX(void){
+
+    return acc_x;
+
+}
+
+float dof9RazorImuAhrs::getAccY(void){
+
+    return acc_x;
+
+}
+
+float dof9RazorImuAhrs::getAccZ(void){
+
+    return acc_z;
+
+}
+
+float dof9RazorImuAhrs::getMagX(void){
+
+    return mag_x;
+
+}
+
+float dof9RazorImuAhrs::getMagY(void){
+
+    return mag_y;
+
+}
+
+float dof9RazorImuAhrs::getMagZ(void){
+
+    return mag_z;
+
+}