File content as of revision 0:5651731cfb32:

#ifndef MBED_UM6LT_H
#define MBED_UM6LT_H

#include "mbed.h"

// UM6 Configuration Registers

    #define UM6_COMMUNICATION           0x00
    #define UM6_MISC_CONFIG             0x01
    #define UM6_MAG_REF_X               0x02
    #define UM6_MAG_REF_Y               0x03
    #define UM6_MAG_REF_Z               0x04
    #define UM6_ACCEL_REF_X             0x05
    #define UM6_ACCEL_REF_Y             0x06
    #define UM6_ACCEL_REF_Z             0x07
    #define UM6_EKF_MAG_VARIANCE        0x08
    #define UM6_EKF_ACCEL_VARIANCE      0x09
    #define UM6_EKF_PROCESS_VARIANCE    0x0A
    #define UM6_GYRO_BIAS_XY            0x0B
    #define UM6_GYRO_BIAS_Z             0x0C
    #define UM6_ACCEL_BIAS_XY           0x0D
    #define UM6_ACCEL_BIAS_Z            0x0E
    #define UM6_MAG_BIAS_XY             0x0F
    #define UM6_MAG_BIAS_Z              0x10
    #define UM6_ACCEL_CAL_00            0x11
    #define UM6_ACCEL_CAL_01            0x12
    #define UM6_ACCEL_CAL_02            0x13
    #define UM6_ACCEL_CAL_10            0x14
    #define UM6_ACCEL_CAL_11            0x15
    #define UM6_ACCEL_CAL_12            0x16
    #define UM6_ACCEL_CAL_20            0x17
    #define UM6_ACCEL_CAL_21            0x18
    #define UM6_ACCEL_CAL_22            0x19
    #define UM6_GYRO_CAL_00             0x1A
    #define UM6_GYRO_CAL_01             0x1B
    #define UM6_GYRO_CAL_02             0x1C
    #define UM6_GYRO_CAL_10             0x1D
    #define UM6_GYRO_CAL_11             0x1E
    #define UM6_GYRO_CAL_12             0x1F
    #define UM6_GYRO_CAL_20             0x20
    #define UM6_GYRO_CAL_21             0x21
    #define UM6_GYRO_CAL_22             0x22
    #define UM6_MAG_CAL_00              0x23
    #define UM6_MAG_CAL_01              0x24
    #define UM6_MAG_CAL_02              0x25
    #define UM6_MAG_CAL_10              0x26
    #define UM6_MAG_CAL_11              0x27
    #define UM6_MAG_CAL_12              0x28
    #define UM6_MAG_CAL_20              0x29
    #define UM6_MAG_CAL_21              0x2A
    #define UM6_MAG_CAL_22              0x2B
            
// UM6 Data Registers

    #define UM6_STATUS                  0x55
    #define UM6_GYRO_RAW_XY             0x56
    #define UM6_GYRO_RAW_Z              0x57
    #define UM6_ACCEL_RAW_XY            0x58
    #define UM6_ACCEL_RAW_Z             0x59
    #define UM6_MAG_RAW_XY              0x5A
    #define UM6_MAG_RAW_Z               0x5B
    #define UM6_GYRO_PROC_XY            0x5C
    #define UM6_GYRO_PROC_Z             0x5D
    #define UM6_ACCEL_PROC_XY           0x5E
    #define UM6_ACCEL_PROC_Z            0x5F
    #define UM6_MAG_PROC_XY             0x60
    #define UM6_MAG_PROC_Z              0x61
    #define UM6_EULER_PHI_THETA         0x62
    #define UM6_EULER_PSI               0x63
    #define UM6_QUAT_AB                 0x64
    #define UM6_QUAT_CD                 0x65
    #define UM6_ERROR_COV_00            0x66
    #define UM6_ERROR_COV_01            0x67
    #define UM6_ERROR_COV_02            0x68
    #define UM6_ERROR_COV_03            0x69
    #define UM6_ERROR_COV_10            0x6A
    #define UM6_ERROR_COV_11            0x6B
    #define UM6_ERROR_COV_12            0x6C
    #define UM6_ERROR_COV_13            0x6D
    #define UM6_ERROR_COV_20            0x6E
    #define UM6_ERROR_COV_21            0x6F
    #define UM6_ERROR_COV_22            0x70
    #define UM6_ERROR_COV_23            0x71
    #define UM6_ERROR_COV_30            0x72
    #define UM6_ERROR_COV_31            0x73
    #define UM6_ERROR_COV_32            0x74
    #define UM6_ERROR_COV_33            0x75

// UM6 Command Registers

    #define UM6_GET_FW_VERSION          0xAA
    #define UM6_FLASH_COMMIT            0xAB
    #define UM6_ZERO_GYROS              0xAC
    #define UM6_RESET_EKF               0xAD
    #define UM6_GET_DATA                0xAE
    #define UM6_SET_ACCEL_REF           0xAF
    #define UM6_SET_MAG_REF             0xB0
    #define UM6_RESET_TO_FACTORY        0xB1
    
    #define UM6_BAD_CHECKSUM            0xFD
    #define UM6_UNKNOWN_ADDRESS         0xFE
    #define UM6_INVALID_BATCH_SIZE      0xFF
    
// UM6 scale factors

    #define UM6_ANGLE_FACTOR            0.0109863
    #define UM6_ACCEL_FACTOR            0.000183105
    #define UM6_MAG_FACTOR              0.000305176
    #define UM6_ANGLE_RATE_FACTOR       0.0610352
    #define UM6_QUATERNION_FACTOR       0.0000335693

class UM6LT {

    public:
    
        UM6LT (PinName tx, PinName rx);
        
        void baud(int baudrate);
        int  readable(void);
        char getc(void);
        void putc(char byte);
        
        void setCommParams(int broadcastRate, int baudrate, int* dataToTransmit, int broadcastEnabled);
        void setConfigParams(int wantPPS, int wantQuatUpdate, int wantCal, int wantAccelUpdate, int wantMagUpdate);
        int  getStatus(void);
        
        int zeroGyros(int& gyroBiasX, int& gyroBiasY, int& gyroBiasZ);
        int autoSetAccelRef(void);
        int autoSetMagRef(void);
        int resetEKF(void);
        int writeToFlash(void);
        int resetToFactory(void);
        
        int getAngles(int& roll, int& pitch, int& yaw); // in degrees
        int getAccel(int& accelX, int& accelY, int& accelZ); // in milli-gravity
        int getMag(int& magX, int& magY, int& magZ); // in milli-unit. the norm of the vector should be one
        int getAngleRates(int& rollRate, int& pitchRate, int& yawRate); // in degree/sec
        int getQuaternion(int& a, int& b, int& c, int& d); // in milli-unit
        
    private:
    
        Serial serial_;
        int stdDelayMs;
                
        int  verifyChecksum(int byte1, int byte2);
        void createChecksum(int checksum_dec, int& byte1, int& byte2);
        void createByte(int* bitsList, int& byte);
        void decomposeByte(int* bitsList, int byte);        
        int  twosComplement(int byte1, int byte2);
        
        void oneWordWrite(int hasData, int isBatch, int BL, int address, int* data);
        void oneWordRead(int& PT, int& N, int& address, int* data);
        void requestData(int address, int expectedBL);
        int  sendOneCommand(int address);
        int  getTwoBatches(int address, int* data);
        
        int  noCommError(int address, int addressExpected, int PT);
        void WhatCommError(int addressRead, int addressExpected, int PT);
        
};

#endif /* MBED_UM6LT_H */