most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown

Dependencies:   mbed MODSERIAL FATFileSystem

Revision:
10:085ab7328054
Parent:
9:d5fcdcb3c89d
Child:
51:c5c40272ecc3
--- a/LTC1298/ltc1298.cpp	Fri Oct 20 11:41:22 2017 +0000
+++ b/LTC1298/ltc1298.cpp	Mon Oct 23 12:50:53 2017 +0000
@@ -1,43 +1,45 @@
 #include "ltc1298.hpp"
 
-SpiADC::SpiADC(): _spi(p5,p6,p7),adcLed(LED2),cs(p8) //maybe this should configurable on construction
+SpiADC::SpiADC(PinName mosi, PinName miso, PinName sclk, PinName csel, PinName led) :
+    _spi(mosi, miso, sclk), // mosi, miso, sclk
+    adcLed(led), // status led
+    cs(csel) // chip select
 {
-
 }
 
-void SpiADC::initialize()
-{
+void SpiADC::initialize() {
     //set up the spi bus and frequency
     _spi.format(13,0);
     _spi.frequency(1000000);
+    
     //chip select high puts ltc1298 in standby
-    adcLed = 1;
+    cs = 1;
+    
+    //zero the initial ch0 and ch1 oversampled readings    
     ch0_filt = 0;
     ch1_filt = 0;
-    cs = 1;
 
+    //led on to say hello
+    adcLed = 1;
 }
 
-//This starts an interupt driven trigger of the external ADC
-void SpiADC::start()
-{
+// start an interupt driven trigger of the external ADC
+void SpiADC::start() {
     interval.attach_us(this, &SpiADC::update, 100);  //this should be a 10 kHz sample rate
 }
 
-//This stops it
-void SpiADC::stop()
-{
+// stop the interupt driven trigger
+void SpiADC::stop() {
     interval.detach();
 }
 
-
-void SpiADC::update()
-{
+void SpiADC::update() {
     //flash the LED
     adcLed = !adcLed;
 
     //chip select low starts data conversion
     cs = 0;
+    
     //the next thing is the input data word
     //it is 4 bits and looks like this
     // | start | single/diff | odd/sign | MSB first/LSB first |
@@ -65,12 +67,10 @@
     return ;
 }
 
-int SpiADC::readCh0()
-{
+int SpiADC::readCh0() {
     return ch0_filt;
 }
 
-int SpiADC::readCh1()
-{
+int SpiADC::readCh1() {
     return ch1_filt;
 }
\ No newline at end of file