Sam Grove / ADIS16488

Device driver

Adis16488.h@2:e2e5e40668bf, 2013-04-27 (annotated)

Committer:
sam_grove
Date:
Sat Apr 27 23:12:44 2013 +0000
Revision:
2:e2e5e40668bf
Parent:
0:e9a81060a092 
update rate is 98.4Hz - updated docs. TODO: double buffer at 1 sec refresh rate for GPS integration

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:e9a81060a092 1 /**
sam_grove 0:e9a81060a092 2 * @file Adis16488.h
sam_grove 0:e9a81060a092 3 * @brief Device driver - ADIS16488 IMU
sam_grove 0:e9a81060a092 4 * @author sam grove
sam_grove 0:e9a81060a092 5 * @version 1.0
sam_grove 0:e9a81060a092 6 * @see http://www.analog.com/static/imported-files/data_sheets/ADIS16488.pdf
sam_grove 0:e9a81060a092 7 *
sam_grove 0:e9a81060a092 8 * Copyright (c) 2013
sam_grove 0:e9a81060a092 9 *
sam_grove 0:e9a81060a092 10 * Licensed under the Apache License, Version 2.0 (the "License");
sam_grove 0:e9a81060a092 11 * you may not use this file except in compliance with the License.
sam_grove 0:e9a81060a092 12 * You may obtain a copy of the License at
sam_grove 0:e9a81060a092 13 *
sam_grove 0:e9a81060a092 14 * http://www.apache.org/licenses/LICENSE-2.0
sam_grove 0:e9a81060a092 15 *
sam_grove 0:e9a81060a092 16 * Unless required by applicable law or agreed to in writing, software
sam_grove 0:e9a81060a092 17 * distributed under the License is distributed on an "AS IS" BASIS,
sam_grove 0:e9a81060a092 18 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sam_grove 0:e9a81060a092 19 * See the License for the specific language governing permissions and
sam_grove 0:e9a81060a092 20 * limitations under the License.
sam_grove 0:e9a81060a092 21 */
sam_grove 0:e9a81060a092 22
sam_grove 0:e9a81060a092 23 #ifndef ADIS16488_H
sam_grove 0:e9a81060a092 24 #define ADIS16488_H
sam_grove 0:e9a81060a092 25
sam_grove 0:e9a81060a092 26 #include "LogUtil.h"
sam_grove 0:e9a81060a092 27 #include "mbed.h"
sam_grove 0:e9a81060a092 28
sam_grove 0:e9a81060a092 29 /** Using the Analog Devices ADIS16488/PCBZ
sam_grove 0:e9a81060a092 30 *
sam_grove 0:e9a81060a092 31 * Example:
sam_grove 0:e9a81060a092 32 * @code
sam_grove 2:e2e5e40668bf 33 * #include "mbed.h"
sam_grove 2:e2e5e40668bf 34 *
sam_grove 2:e2e5e40668bf 35 * int main()
sam_grove 2:e2e5e40668bf 36 * {
sam_grove 2:e2e5e40668bf 37 * }
sam_grove 0:e9a81060a092 38 * @endcode
sam_grove 0:e9a81060a092 39 */
sam_grove 0:e9a81060a092 40
sam_grove 0:e9a81060a092 41 /**
sam_grove 0:e9a81060a092 42 * @class Adis16488
sam_grove 0:e9a81060a092 43 * @brief API abstraction for the ADIS16488 IMU
sam_grove 0:e9a81060a092 44 */
sam_grove 0:e9a81060a092 45 class Adis16488
sam_grove 0:e9a81060a092 46 {
sam_grove 0:e9a81060a092 47 public:
sam_grove 0:e9a81060a092 48
sam_grove 0:e9a81060a092 49 struct{ uint16_t data[6]; } gyro, accel, magn, deltang, deltvel;
sam_grove 0:e9a81060a092 50
sam_grove 0:e9a81060a092 51 /** Create the Adis16488 object
sam_grove 0:e9a81060a092 52 * @param spi - A defined SPI object
sam_grove 0:e9a81060a092 53 * @param cs - A defined DigitalOut object
sam_grove 0:e9a81060a092 54 * @param rst - A defined DigitalOut object
sam_grove 0:e9a81060a092 55 * @param dr - A defined InterruptIn object
sam_grove 0:e9a81060a092 56 */
sam_grove 0:e9a81060a092 57 Adis16488(SPI &spi, DigitalOut &cs, DigitalOut &rst, InterruptIn &dr);
sam_grove 0:e9a81060a092 58
sam_grove 0:e9a81060a092 59 /** Clear state vars and initilize the dependant objects
sam_grove 0:e9a81060a092 60 */
sam_grove 0:e9a81060a092 61 void init(void);
sam_grove 0:e9a81060a092 62
sam_grove 0:e9a81060a092 63 /** Read from a register (exposed for debugging reasons)
sam_grove 0:e9a81060a092 64 * @param reg - The register to be written
sam_grove 0:e9a81060a092 65 * @param data - Data read from the device is stored here
sam_grove 0:e9a81060a092 66 */
sam_grove 0:e9a81060a092 67 void readRegister(uint16_t const reg, uint16_t &data);
sam_grove 0:e9a81060a092 68
sam_grove 0:e9a81060a092 69 /** Write to a register (exposed for debugging reasons)
sam_grove 0:e9a81060a092 70 * @param reg - The register to be written
sam_grove 0:e9a81060a092 71 */
sam_grove 0:e9a81060a092 72 void writeRegister(uint16_t const reg);
sam_grove 0:e9a81060a092 73
sam_grove 0:e9a81060a092 74 /** Allow the IC to run and collect user input
sam_grove 0:e9a81060a092 75 */
sam_grove 0:e9a81060a092 76 void enable(void);
sam_grove 0:e9a81060a092 77
sam_grove 0:e9a81060a092 78 /** Stop the IC and put into low power mode
sam_grove 0:e9a81060a092 79 */
sam_grove 0:e9a81060a092 80 void disable(void);
sam_grove 0:e9a81060a092 81
sam_grove 0:e9a81060a092 82 private:
sam_grove 0:e9a81060a092 83 SPI *_spi;
sam_grove 0:e9a81060a092 84 DigitalOut *_cs;
sam_grove 0:e9a81060a092 85 DigitalOut *_rst;
sam_grove 0:e9a81060a092 86 InterruptIn *_dr;
sam_grove 0:e9a81060a092 87
sam_grove 0:e9a81060a092 88 void drHandler(void);
sam_grove 0:e9a81060a092 89 };
sam_grove 0:e9a81060a092 90
sam_grove 0:e9a81060a092 91 #endif
sam_grove 0:e9a81060a092 92