File content as of revision 9:d5fcdcb3c89d:

#include "mbed.h"
#include "MODSERIAL.h"

#define _PI ((float) 3.14159265359)

class IMU{
public:
    IMU();
    void initialize();
    void update();
    void start();
    void stop();
   
protected:
    Ticker interval;
    MODSERIAL _rs232;
    unsigned char SYNC1;             // First sync byte will always be 'u' (0x75)
    unsigned char SYNC2;             // Second sync byte will always be 'e' (0x65)
    unsigned char descripter_set;    // Descriptor set byte for AHRS (0x80)
    int payload_length;              // Payload length byte for CF Euler Angles (0x0E)
    int field_length;                // Field length byte for CF Euler Angles (0x0E)
    unsigned char data_descriptor;   // Data descriptor byte for CF Euler Angles (0x0C)
    unsigned char data[30];          // Data sent CF euler angles rpy [radians]      
    int data_offset;                 // Binary offset
    int roll_offset;                 // Binary offset
    int pitch_offset;                // Binary offset
    int yaw_offset;                  // Binary offset
    float euler[3];    
    
    int i;                       // set packet_length based on field_length (convert from hex to int)
    unsigned char current;
    unsigned char last;
    
    float float_from_char(unsigned char * value);
};