Pololu Minimu-9 library
minimu9.cpp
- Committer:
- bengo
- Date:
- 2012-02-21
- Revision:
- 0:6ee4ef99c382
File content as of revision 0:6ee4ef99c382:
/* 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 ); }