mtinterface_mtssp.h

00001 /*!
00002  * \file
00003  * \copyright Copyright (C) Xsens Technologies B.V., 2015.
00004  *
00005  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
00006  * use this file except in compliance with the License. You may obtain a copy
00007  * of the License at
00008  *
00009  * http://www.apache.org/licenses/LICENSE-2.0
00010  *
00011  * Unless required by applicable law or agreed to in writing, software
00012  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
00013  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
00014  * License for the specific language governing permissions and limitations
00015  * under the License.
00016  */
00017 #ifndef MTINTERFACE_MTSSP_H
00018 #define MTINTERFACE_MTSSP_H
00019 
00020 #include "xbusmessage.h "
00021 #include "xbusparser.h "
00022 #include "mtinterface.h "
00023 #include "mbed.h"
00024 
00025 
00026 /*! \class MtsspDriver
00027     \brief Abstract interface providing the MTSSP interface with a abstraction layer to the underlying hardware bus
00028 
00029 */
00030 class MtsspDriver
00031 {
00032 public:
00033 
00034     /*! \brief Perform a blocking write transfer
00035         \param opcode Opcode to use
00036         \param data Pointer to data to be written
00037         \param dataLength Number of data bytes to write
00038     */
00039     virtual void write(uint8_t opcode, uint8_t const* data, int dataLength) = 0;
00040 
00041 
00042     /*! \brief Perform a blocking read transfer
00043         \param opcode Opcode to use
00044         \param data Pointer to result buffer
00045         \param dataLength Number of data bytes to read
00046     */
00047     virtual void read(uint8_t opcode, uint8_t* data, int dataLength) = 0;
00048 
00049 
00050     /*! \brief Perform a blocking write transfer
00051         \param data Pointer to data to be written
00052         \param dataLength Number of data bytes to write
00053     */
00054     virtual void writeRaw(uint8_t const* data, int dataLength) = 0;
00055 
00056 
00057     /*! \brief Returns the low level bus format that must be used for tranmitting messages over this hardware bus
00058     */
00059     virtual XbusBusFormat busFormat() const = 0;
00060 };
00061 
00062 
00063 
00064 class MtInterfaceMtssp : public MtInterface
00065 {
00066 public:
00067     MtInterfaceMtssp(MtsspDriver* driver);
00068     virtual ~MtInterfaceMtssp();
00069 
00070     virtual void process();
00071     virtual void sendXbusMessage(XbusMessage const* xbusMessage);
00072     virtual XbusBusFormat busFormat();
00073 
00074 protected:
00075     void handleDataReady();
00076     void readProtocolInfo(uint8_t* version, uint8_t* dataReadyConfig);
00077     void configureProtocol(uint8_t dataReadyConfig);
00078     void readPipeStatus(uint16_t* notificationMessageSize, uint16_t* measurementMessageSize);
00079     void readFromPipe(uint8_t* buffer, uint16_t size, uint8_t pipe);
00080 
00081 private:
00082     MtsspDriver* m_driver;
00083     DigitalIn* m_dataReady;
00084 };
00085 
00086 
00087 #endif // MTINTERFACE_MTSSP_H