Revision 2:262f9878bebf, committed 2012-02-02

Comitter:

Ductapemaster

Date:

Thu Feb 02 07:51:25 2012 +0000

Parent:

1:1ea611e007f3

Child:

3:39715110564f

Commit message:

playing with doxygen

Changed in this revision

--- a/IMU.h	Thu Feb 02 07:43:59 2012 +0000
+++ b/IMU.h	Thu Feb 02 07:51:25 2012 +0000
@@ -26,22 +26,6 @@
  
  #include "mbed.h"
  
- /** Atmel Inertial One IMU Control Library
- * 
- * Includes control routines for:
- * - ITG-3200 3-axis, 16 bit gyroscope
- * - BMA-150 3-axis, 16 bit accelerometer
- * - AK8975 3-axis, 16 bit magnetometer
- *
- * Datasheets:
- *
- * Inertial One: http://www.atmel.com/dyn/resources/prod_documents/doc8354.pdf
- * Gyro: http://invensense.com/mems/gyro/documents/PS-ITG-3200A.pdf
- * Accelerometer: http://www.bosch-sensortec.com/content/language1/downloads/BMA150_DataSheet_Rev.1.5_30May2008.pdf
- * Magnetometer: http://pdf1.alldatasheet.com/datasheet-pdf/view/219477/AKM/AK8973/+Q18W89VYpLawLCDwv+/datasheet.pdf
- * 
- */
- 
  /* Defines */
  
  //7 bit I2C Addresses, shifted left to allow for read/write bit as LSB
@@ -85,23 +69,36 @@
  
  
  // AK8973 Compass Registers
+
  
- // CLass and Prototype Functions
- 
+  /** Atmel Inertial One IMU Control Class
+ * 
+ * Includes control routines for:
+ * - ITG-3200 3-axis, 16 bit gyroscope
+ * - BMA-150 3-axis, 16 bit accelerometer
+ * - AK8975 3-axis, 16 bit magnetometer
+ *
+ * Datasheets:
+ *
+ * Inertial One: http://www.atmel.com/dyn/resources/prod_documents/doc8354.pdf
+ * Gyro: http://invensense.com/mems/gyro/documents/PS-ITG-3200A.pdf
+ * Accelerometer: http://www.bosch-sensortec.com/content/language1/downloads/BMA150_DataSheet_Rev.1.5_30May2008.pdf
+ * Magnetometer: http://pdf1.alldatasheet.com/datasheet-pdf/view/219477/AKM/AK8973/+Q18W89VYpLawLCDwv+/datasheet.pdf
+ * 
+ */
  class IMU {
  
  public:
  
-     /** Creates IMU object and initializes all three chips
-     *
-     * Gyro: FS_SEL register is set to 0x03, as required by datasheet
-     * Accelerometer:
-     * Compass:
-     *
-     * @param sda - pin for I2C sda signal
-     * @param scl - pin for I2C scl signal
-     */
- 
+    /** Creates IMU object and initializes all three chips
+    *
+    * Gyro: FS_SEL register is set to 0x03, as required by datasheet
+    * Accelerometer:
+    * Compass:
+    *
+    * @param sda - pin for I2C sda signal
+    * @param scl - pin for I2C scl signal
+    */
     IMU(PinName sda, PinName scl);
     
     /* Gyro Methods */
@@ -110,35 +107,30 @@
     *
     * @return Raw X axis ADC measurement (signed 16 bits)
     */
-    
     int gyroX(void);
     
     /** Gets current Y axis gyro measurement
     * 
     * @return Raw Y axis ADC measurement (signed 16 bits)
     */
-    
     int gyroY(void);
     
     /** Gets current Z axis gyro measurement
     * 
     * @return Raw Z axis ADC measurement (signed 16 bits)
     */
-    
     int gyroZ(void);
     
     /** Gets current ADC data from all axes of gyro (uses burst read mode)
     * 
     * @return Array of X, Y, and Z axis gyro measurements (signed 16 bits)
     */
-    
     int[3] gyroXYZ(void);
     
     /** Sets digital LPF bandwidth for all gyro channels
     * 
     * @param Filter Bandwidth (use defined bandwidths)
     */
- 
     void gyroSetLPF(char _BW);
     
     /* Accelerometer Methods */
@@ -149,7 +141,7 @@
     
     
  
- private:
+ protected:
  
     I2C _i2c;       //I2C object constructor