Pololu Minimu-9 library
Diff: minimu9.cpp
- Revision:
- 0:6ee4ef99c382
diff -r 000000000000 -r 6ee4ef99c382 minimu9.cpp --- /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 ); +}