dof9RazorImuAhrs.cpp

00001 //****************************************************************************/
00002 // Description:
00003 //
00004 //  Read attitude and heading reference system [AHRS] data from the SparkFun
00005 //  9DOF Razor Inertial Measurement Unit [IMU].
00006 //
00007 // AHRS code:
00008 //
00009 //  http://code.google.com/p/sf9domahrs/
00010 //
00011 // 9DOF Razor IMU:
00012 //
00013 //  http://www.sparkfun.com/commerce/product_info.php?products_id=9623
00014 //****************************************************************************/
00015 
00016 //****************************************************************************/
00017 // Includes
00018 //****************************************************************************/
00019 #include "dof9RazorImuAhrs.h"
00020 extern DigitalOut led1;
00021 
00022 dof9RazorImuAhrs::dof9RazorImuAhrs(PinName tx, PinName rx) {
00023 
00024     razor = new Serial(tx, rx);
00025     razor->baud(BAUD_RATE);
00026     led1 = 0;
00027 }
00028 
00029 void dof9RazorImuAhrs::update(void) {
00030     led1 = 1;
00031     //Make sure we get to the start of a line.
00032     while (razor->getc() != '\n');
00033     led1 = 0;
00034 #if PRINT_EULER == 1
00035     razor->scanf("!ANG:%f,%f,%f", &roll, &pitch, &yaw);
00036 #endif
00037 
00038 #if PRINT_ANALOGS == 1
00039     razor->scanf(",AN:%f,%f,%f", &gyro_x, &gyro_y, &gyro_z);
00040     razor->scanf(",%f,%f,%f", &acc_x, &acc_y, &acc_z);
00041     razor->scanf(",%f,%f,%f", &mag_x, &mag_y, &mag_z);
00042 #endif
00043 
00044 }
00045 
00046 float dof9RazorImuAhrs::getRoll(void){
00047 
00048     return roll;
00049 
00050 }
00051 
00052 float dof9RazorImuAhrs::getPitch(void){
00053 
00054     return pitch;
00055 
00056 }
00057 
00058 float dof9RazorImuAhrs::getYaw(void){
00059 
00060     return yaw;
00061 
00062 }
00063 
00064 float dof9RazorImuAhrs::getGyroX(void){
00065 
00066     return gyro_x;
00067 
00068 }
00069 
00070 float dof9RazorImuAhrs::getGyroY(void){
00071 
00072     return gyro_y;
00073 
00074 }
00075 
00076 float dof9RazorImuAhrs::getGyroZ(void){
00077 
00078     return gyro_z;
00079 
00080 }
00081 
00082 float dof9RazorImuAhrs::getAccX(void){
00083 
00084     return acc_x;
00085 
00086 }
00087 
00088 float dof9RazorImuAhrs::getAccY(void){
00089 
00090     return acc_x;
00091 
00092 }
00093 
00094 float dof9RazorImuAhrs::getAccZ(void){
00095 
00096     return acc_z;
00097 
00098 }
00099 
00100 float dof9RazorImuAhrs::getMagX(void){
00101 
00102     return mag_x;
00103 
00104 }
00105 
00106 float dof9RazorImuAhrs::getMagY(void){
00107 
00108     return mag_y;
00109 
00110 }
00111 
00112 float dof9RazorImuAhrs::getMagZ(void){
00113 
00114     return mag_z;
00115 
00116 }