Diff: minimu9.cpp

Revision:

0:6ee4ef99c382

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/minimu9.cpp	Tue Feb 21 13:34:27 2012 +0000
@@ -0,0 +1,51 @@
+/* mbed Minimu-9 Library version 0beta1
+ * Copyright (c) 2012 bengo
+ *
+ * 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 <minimu9.h>
+
+// -------------------------------------------  
+minimu9::minimu9( PinName sda, PinName scl ) :  _i2c(sda, scl), _lsm( sda, scl ), _l3g( sda, scl ) {
+   _status = _lsm.getStatus() * _l3g.getStatus();
+}
+
+// -------------------------------------------
+std::vector<short> minimu9::read( void ) {
+   std::vector<short> data(9,0);
+   std::vector<short> acc = _lsm.accRead();
+   _status = _lsm.getStatus();
+   if( _status == 0 ) {
+      std::vector<short> mag = _lsm.magRead();
+      _status = _lsm.getStatus();
+      if( _status == 0 ) {
+         std::vector<short> gyr = _l3g.read();
+         _status = _l3g.getStatus();
+         if( _status == 0 ) {
+            for( int i=0; i<3; i++ ) {
+               data[i  ] = acc[i];
+               data[i+3] = mag[i];
+               data[i+6] = gyr[i];
+            }
+         }
+      }
+   } 
+   return( data );
+}