Jacky Tseng / Mbed 2 deprecated imu_driver

handle master side communication of openIMU300ZI module

Dependencies:   mbed

Dependents:   VDU_2021

imu_driver.hpp@11:866dd73e4ab3, 2019-11-18 (annotated)

Committer:
Arithemetica
Date:
Mon Nov 18 08:08:33 2019 +0000
Revision:
11:866dd73e4ab3
Parent:
10:d8223969c541
Child:
12:bb490978e153
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Arithemetica 7:224ffdacb240 1 /**
Arithemetica 7:224ffdacb240 2 * @file imu_driver.hpp
Arithemetica 10:d8223969c541 3 * @brief ImuDriver class and other data storage struct definition. The C language version
Arithemetica 10:d8223969c541 4 * can be found at <A HREF="https://github.com/osjacky430/imu_driver">this github website</A>
Arithemetica 7:224ffdacb240 5 */
Arithemetica 7:224ffdacb240 6
Arithemetica 1:8e31413068af 7 #ifndef IMU_DRIVER_HPP_
Arithemetica 1:8e31413068af 8 #define IMU_DRIVER_HPP_
Arithemetica 1:8e31413068af 9
Arithemetica 0:8c01a98a2812 10 #include <mbed.h>
Arithemetica 0:8c01a98a2812 11 #include <cstdint>
Arithemetica 0:8c01a98a2812 12
Arithemetica 0:8c01a98a2812 13 typedef enum ImuDriverRegister {
Arithemetica 0:8c01a98a2812 14 ReadAhrsBurstDataRegister = 0x3D,
Arithemetica 0:8c01a98a2812 15 ReadBurstDataRegister = 0x3E,
Arithemetica 0:8c01a98a2812 16 ReadExtBurstDataRegister = 0x3F
Arithemetica 0:8c01a98a2812 17 } ImuDriverRegister;
Arithemetica 0:8c01a98a2812 18
Arithemetica 0:8c01a98a2812 19 typedef struct AhrsRawData {
Arithemetica 0:8c01a98a2812 20 std::uint16_t status;
Arithemetica 0:8c01a98a2812 21 std::int16_t attitude[3];
Arithemetica 0:8c01a98a2812 22 std::int16_t temperature;
Arithemetica 0:8c01a98a2812 23 } AhrsRawData;
Arithemetica 0:8c01a98a2812 24
Arithemetica 10:d8223969c541 25 /**
Arithemetica 11:866dd73e4ab3 26 * @brief AhrsProcessedData is data storage class
Arithemetica 10:d8223969c541 27 *
Arithemetica 11:866dd73e4ab3 28 * The data storage struct consists of:
Arithemetica 11:866dd73e4ab3 29 *
Arithemetica 10:d8223969c541 30 * - attitude: pitch, roll, yaw in deg, range from -180 ~ +180 deg
Arithemetica 10:d8223969c541 31 */
Arithemetica 0:8c01a98a2812 32 typedef struct AhrsProcessedData {
Arithemetica 0:8c01a98a2812 33 float attitude[3];
Arithemetica 0:8c01a98a2812 34 } AhrsProcessedData;
Arithemetica 0:8c01a98a2812 35
Arithemetica 0:8c01a98a2812 36 typedef struct ImuRawData {
Arithemetica 0:8c01a98a2812 37 std::uint16_t status;
Arithemetica 0:8c01a98a2812 38 std::int16_t rate[3];
Arithemetica 0:8c01a98a2812 39 std::int16_t accel[3];
Arithemetica 0:8c01a98a2812 40 std::int16_t temperature;
Arithemetica 0:8c01a98a2812 41 } ImuRawData;
Arithemetica 0:8c01a98a2812 42
Arithemetica 10:d8223969c541 43 /**
Arithemetica 11:866dd73e4ab3 44 * @brief ImuProcessedData is data storage class for processed imu data
Arithemetica 10:d8223969c541 45 *
Arithemetica 11:866dd73e4ab3 46 * This data storage class consists of:
Arithemetica 11:866dd73e4ab3 47 *
Arithemetica 10:d8223969c541 48 * - status: if status = 0x0010 (over range error), status = 0 (no error)
Arithemetica 10:d8223969c541 49 * - gyroscope: deg/s, range from -300 deg/s ~ 300 deg/s
Arithemetica 10:d8223969c541 50 * - accelerometer: g, range from -4.5g ~ 4.5g
Arithemetica 10:d8223969c541 51 * - temperature: Celcius
Arithemetica 10:d8223969c541 52 */
Arithemetica 0:8c01a98a2812 53 typedef struct ImuProcessedData {
Arithemetica 0:8c01a98a2812 54 std::uint16_t status;
Arithemetica 0:8c01a98a2812 55
Arithemetica 0:8c01a98a2812 56 float rate[3];
Arithemetica 0:8c01a98a2812 57 float accel[3];
Arithemetica 0:8c01a98a2812 58
Arithemetica 0:8c01a98a2812 59 std::int16_t temperature;
Arithemetica 0:8c01a98a2812 60 } ImuProcessedData;
Arithemetica 0:8c01a98a2812 61
Arithemetica 0:8c01a98a2812 62 /**
Arithemetica 2:f3a7def7a7e1 63 * @brief ImuDriver is used to handle the SPI master side of openIMU300ZI module, the
Arithemetica 2:f3a7def7a7e1 64 * default setups are:
Arithemetica 0:8c01a98a2812 65 *
Arithemetica 2:f3a7def7a7e1 66 * - Data frame: 16 bits
Arithemetica 2:f3a7def7a7e1 67 * - CPOL: High (1)
Arithemetica 2:f3a7def7a7e1 68 * - CPHA: 2 Edge (1)
Arithemetica 2:f3a7def7a7e1 69 * - Frequency: 1.40625 MHz (Baudrate prescaler 32 for NUCLEO-F446RE under 180MHz)
Arithemetica 2:f3a7def7a7e1 70 * - Endian: MSB first (Mbed only support MSB AFAIK)
Arithemetica 5:e71931fcae33 71 *
Arithemetica 10:d8223969c541 72 * According to <A HREF="https://openimu.readthedocs.io/en/latest/software/SPImessaging.html">openIMU300ZI SPI framework</A>:
Arithemetica 5:e71931fcae33 73 *
Arithemetica 3:8552e26cd162 74 * - Data transferred in 16-bit word-length and MSB-first
Arithemetica 5:e71931fcae33 75 * - fCLK ≤ 2.0 MHz
Arithemetica 3:8552e26cd162 76 * - CPOL = 1 (clock polarity) and CPHA = 1 (clock phase)
Arithemetica 0:8c01a98a2812 77 *
Arithemetica 2:f3a7def7a7e1 78 * @tparam spi SPI comm instance, ImuDriver currently support only SPI framework
Arithemetica 2:f3a7def7a7e1 79 * @tparam rst Reset pin name, this is used to reset the openIMU300ZI module
Arithemetica 2:f3a7def7a7e1 80 * @tparam drdy Data ready pin name, this is used as indication of data readiness
Arithemetica 2:f3a7def7a7e1 81 * @tparam ss Slave select pin name, this is used as slave select, pull low to initiate
Arithemetica 2:f3a7def7a7e1 82 * communication process.
Arithemetica 5:e71931fcae33 83 *
Arithemetica 7:224ffdacb240 84 * @todo Attach to exti in the future, and make user able to choose
Arithemetica 7:224ffdacb240 85 *
Arithemetica 0:8c01a98a2812 86 * Example of using ImuDriver:
Arithemetica 0:8c01a98a2812 87 *
Arithemetica 0:8c01a98a2812 88 * @code
Arithemetica 0:8c01a98a2812 89 * #include "imu_driver.hpp"
Arithemetica 0:8c01a98a2812 90 *
Arithemetica 0:8c01a98a2812 91 * SPI spi3(PB_5, PB_6, PB_3); // declare SPI instance globally
Arithemetica 0:8c01a98a2812 92 * Serial pc(USBTX, USBRX, 115200); // print debug message
Arithemetica 0:8c01a98a2812 93 *
Arithemetica 0:8c01a98a2812 94 * int main()
Arithemetica 0:8c01a98a2812 95 * {
Arithemetica 5:e71931fcae33 96 * // SPI instance, reset, data ready, slave select
Arithemetica 0:8c01a98a2812 97 * ImuDriver<spi3, PA_10, PA_8, PA_9> imu;
Arithemetica 0:8c01a98a2812 98 *
Arithemetica 0:8c01a98a2812 99 * while(true)
Arithemetica 0:8c01a98a2812 100 * {
Arithemetica 0:8c01a98a2812 101 * if (imu.receiveBurstMsg() == ImuDriverStatusOK)
Arithemetica 0:8c01a98a2812 102 * {
Arithemetica 0:8c01a98a2812 103 * pc.printf("%.3f, %.3f, %.3f\n\r", imu.imuProcessedData.rate[0], imu.imuProcessedData.rate[1], imu.imuProcessedData.rate[2]);
Arithemetica 0:8c01a98a2812 104 * }
Arithemetica 0:8c01a98a2812 105 * }
Arithemetica 0:8c01a98a2812 106 * }
Arithemetica 5:e71931fcae33 107 *
Arithemetica 0:8c01a98a2812 108 * @endcode
Arithemetica 0:8c01a98a2812 109 */
Arithemetica 2:f3a7def7a7e1 110 template <SPI& Spi, PinName rst, PinName drdy, PinName ss>
Arithemetica 0:8c01a98a2812 111 class ImuDriver
Arithemetica 0:8c01a98a2812 112 {
Arithemetica 0:8c01a98a2812 113 private:
Arithemetica 0:8c01a98a2812 114 SPI& m_spi;
Arithemetica 0:8c01a98a2812 115 DigitalOut m_rst, m_ss;
Arithemetica 0:8c01a98a2812 116 DigitalIn m_drdy;
Arithemetica 2:f3a7def7a7e1 117 InterruptIn m_drdyExti;
Arithemetica 5:e71931fcae33 118
Arithemetica 0:8c01a98a2812 119 float m_gyroScaler[3];
Arithemetica 0:8c01a98a2812 120 float m_accelScaler[3];
Arithemetica 0:8c01a98a2812 121 float m_ahrsScaler[3];
Arithemetica 0:8c01a98a2812 122 private:
Arithemetica 0:8c01a98a2812 123 std::uint16_t m_imuSpiWrite(const std::uint16_t val) const
Arithemetica 0:8c01a98a2812 124 {
Arithemetica 0:8c01a98a2812 125 // RAII
Arithemetica 0:8c01a98a2812 126 class SpiLock
Arithemetica 0:8c01a98a2812 127 {
Arithemetica 0:8c01a98a2812 128 private:
Arithemetica 0:8c01a98a2812 129 SPI& m_spi;
Arithemetica 0:8c01a98a2812 130 public:
Arithemetica 0:8c01a98a2812 131 SpiLock(SPI& t_spi) : m_spi(t_spi)
Arithemetica 0:8c01a98a2812 132 {
Arithemetica 0:8c01a98a2812 133 m_spi.lock();
Arithemetica 0:8c01a98a2812 134 }
Arithemetica 0:8c01a98a2812 135
Arithemetica 0:8c01a98a2812 136 ~SpiLock()
Arithemetica 0:8c01a98a2812 137 {
Arithemetica 0:8c01a98a2812 138 m_spi.unlock();
Arithemetica 0:8c01a98a2812 139 }
Arithemetica 0:8c01a98a2812 140 };
Arithemetica 0:8c01a98a2812 141
Arithemetica 0:8c01a98a2812 142 SpiLock lock(m_spi);
Arithemetica 0:8c01a98a2812 143 return m_spi.write(val);
Arithemetica 0:8c01a98a2812 144 }
Arithemetica 0:8c01a98a2812 145
Arithemetica 0:8c01a98a2812 146 inline std::uint16_t m_spiGenerateReadCmd(const std::uint8_t t_val) const
Arithemetica 0:8c01a98a2812 147 {
Arithemetica 0:8c01a98a2812 148 return t_val << 8U;
Arithemetica 0:8c01a98a2812 149 }
Arithemetica 0:8c01a98a2812 150
Arithemetica 0:8c01a98a2812 151 inline bool m_spiIsDataReady()
Arithemetica 0:8c01a98a2812 152 {
Arithemetica 0:8c01a98a2812 153 return m_drdy.read() == 0;
Arithemetica 0:8c01a98a2812 154 }
Arithemetica 0:8c01a98a2812 155
Arithemetica 0:8c01a98a2812 156 inline void m_processImuRawData()
Arithemetica 0:8c01a98a2812 157 {
Arithemetica 0:8c01a98a2812 158 for (int i = 0; i < 3; ++i) {
Arithemetica 0:8c01a98a2812 159 imuProcessedData.accel[i] = imuRawData.accel[i] / m_accelScaler[i];
Arithemetica 0:8c01a98a2812 160 imuProcessedData.rate[i] = imuRawData.rate[i] / m_gyroScaler[i];
Arithemetica 0:8c01a98a2812 161 }
Arithemetica 0:8c01a98a2812 162 }
Arithemetica 0:8c01a98a2812 163
Arithemetica 0:8c01a98a2812 164 inline void m_processAhrsRawData()
Arithemetica 0:8c01a98a2812 165 {
Arithemetica 0:8c01a98a2812 166 for (int i = 0; i < 3; ++i) {
Arithemetica 0:8c01a98a2812 167 ahrsProcessedData.attitude[i] = ahrsRawData.attitude[i] / m_ahrsScaler[i];
Arithemetica 0:8c01a98a2812 168 }
Arithemetica 0:8c01a98a2812 169 }
Arithemetica 5:e71931fcae33 170
Arithemetica 2:f3a7def7a7e1 171 void m_receiveAhrsCallback()
Arithemetica 2:f3a7def7a7e1 172 {
Arithemetica 2:f3a7def7a7e1 173 receiveAhrsMsg();
Arithemetica 2:f3a7def7a7e1 174 }
Arithemetica 0:8c01a98a2812 175 public:
Arithemetica 10:d8223969c541 176 typedef enum ImuDriverStatus {
Arithemetica 10:d8223969c541 177 ImuDriverStatusOK,
Arithemetica 10:d8223969c541 178 ImuDriverStatusDataNotReady
Arithemetica 10:d8223969c541 179 } ImuDriverStatus;
Arithemetica 10:d8223969c541 180 public:
Arithemetica 10:d8223969c541 181 /**
Arithemetica 10:d8223969c541 182 * imuRawData contains raw data received from @ref receiveBurstMsg(bool t_extended)
Arithemetica 10:d8223969c541 183 */
Arithemetica 0:8c01a98a2812 184 ImuRawData imuRawData;
Arithemetica 10:d8223969c541 185
Arithemetica 10:d8223969c541 186 /**
Arithemetica 10:d8223969c541 187 * imuProcessedData contains processed data, which is merely scaling operation
Arithemetica 10:d8223969c541 188 */
Arithemetica 0:8c01a98a2812 189 ImuProcessedData imuProcessedData;
Arithemetica 0:8c01a98a2812 190
Arithemetica 10:d8223969c541 191 /**
Arithemetica 10:d8223969c541 192 * ahrsRawaData contains raw data received from @ref receiveAhrsMsg()
Arithemetica 10:d8223969c541 193 */
Arithemetica 0:8c01a98a2812 194 AhrsRawData ahrsRawData;
Arithemetica 10:d8223969c541 195
Arithemetica 10:d8223969c541 196 /**
Arithemetica 10:d8223969c541 197 * ahrsProcessedData contains processed data, which is merely scaling operation
Arithemetica 10:d8223969c541 198 */
Arithemetica 0:8c01a98a2812 199 AhrsProcessedData ahrsProcessedData;
Arithemetica 0:8c01a98a2812 200
Arithemetica 0:8c01a98a2812 201 static const int DEFAULT_IMU_ACCEL_SCALER = 4000;
Arithemetica 0:8c01a98a2812 202 static const int DEFAULT_IMU_GYRO_SCALER = 200;
Arithemetica 0:8c01a98a2812 203 static const int DEFAULT_AHRS_ATTITUDE_SCALER = 90;
Arithemetica 0:8c01a98a2812 204 public:
Arithemetica 2:f3a7def7a7e1 205 ImuDriver() : m_spi(Spi), m_rst(rst), m_ss(ss), m_drdy(drdy), m_drdyExti(drdy)
Arithemetica 0:8c01a98a2812 206 {
Arithemetica 0:8c01a98a2812 207 for (int i = 0; i < 3; ++i) {
Arithemetica 0:8c01a98a2812 208 m_gyroScaler[i] = static_cast<float>(DEFAULT_IMU_GYRO_SCALER); // what an idiotic way of initialization LUL
Arithemetica 2:f3a7def7a7e1 209 m_accelScaler[i] = static_cast<float>(DEFAULT_IMU_ACCEL_SCALER); // Oh, I forgot that mbed os2 still stucks at c++98,
Arithemetica 0:8c01a98a2812 210 m_ahrsScaler[i] = static_cast<float>(DEFAULT_AHRS_ATTITUDE_SCALER); // how unfortunate LUL
Arithemetica 0:8c01a98a2812 211 }
Arithemetica 0:8c01a98a2812 212
Arithemetica 2:f3a7def7a7e1 213 // m_drdyExti.rise(this, &ImuDriver<Spi, rst, drdy, ss>::m_receiveAhrsCallback);
Arithemetica 0:8c01a98a2812 214 m_spi.format(16, 3);
Arithemetica 0:8c01a98a2812 215 m_spi.frequency(1406250);
Arithemetica 0:8c01a98a2812 216 }
Arithemetica 0:8c01a98a2812 217
Arithemetica 0:8c01a98a2812 218 /**
Arithemetica 5:e71931fcae33 219 * @brief This function handles the receiving of burst message function, burst message
Arithemetica 10:d8223969c541 220 * contains accelerometer (g), gyroscope (deg/s), status and temperature data (Celcius)
Arithemetica 0:8c01a98a2812 221 *
Arithemetica 0:8c01a98a2812 222 * @param t_extended bool to indicate the message type is extended or not, default false
Arithemetica 0:8c01a98a2812 223 *
Arithemetica 0:8c01a98a2812 224 * @return ImuDriverStatus to indicate the result of the receive operation
Arithemetica 0:8c01a98a2812 225 */
Arithemetica 0:8c01a98a2812 226 ImuDriverStatus receiveBurstMsg(bool t_extended = false)
Arithemetica 0:8c01a98a2812 227 {
Arithemetica 0:8c01a98a2812 228 if (m_spiIsDataReady()) {
Arithemetica 0:8c01a98a2812 229 std::uint16_t max_data = 0U;
Arithemetica 0:8c01a98a2812 230 std::uint16_t burst_reg = 0U;
Arithemetica 0:8c01a98a2812 231
Arithemetica 0:8c01a98a2812 232 if (!t_extended) {
Arithemetica 0:8c01a98a2812 233 max_data = 8U;
Arithemetica 0:8c01a98a2812 234 burst_reg = m_spiGenerateReadCmd(ReadBurstDataRegister);
Arithemetica 0:8c01a98a2812 235 } else {
Arithemetica 0:8c01a98a2812 236 max_data = 11U;
Arithemetica 0:8c01a98a2812 237 burst_reg = m_spiGenerateReadCmd(ReadExtBurstDataRegister);
Arithemetica 0:8c01a98a2812 238 }
Arithemetica 0:8c01a98a2812 239
Arithemetica 0:8c01a98a2812 240 m_ss.write(0); // start transfer
Arithemetica 0:8c01a98a2812 241 m_imuSpiWrite(burst_reg);
Arithemetica 0:8c01a98a2812 242
Arithemetica 0:8c01a98a2812 243 static std::uint8_t data_rcved = 0U;
Arithemetica 0:8c01a98a2812 244
Arithemetica 0:8c01a98a2812 245 while(data_rcved < max_data) {
Arithemetica 0:8c01a98a2812 246 const std::uint16_t spi_data = m_imuSpiWrite(0x0000);
Arithemetica 0:8c01a98a2812 247 switch(data_rcved) {
Arithemetica 0:8c01a98a2812 248 case 0:
Arithemetica 0:8c01a98a2812 249 imuRawData.status = spi_data;
Arithemetica 0:8c01a98a2812 250 break;
Arithemetica 0:8c01a98a2812 251 case 1:
Arithemetica 0:8c01a98a2812 252 case 2:
Arithemetica 0:8c01a98a2812 253 case 3:
Arithemetica 0:8c01a98a2812 254 imuRawData.rate[data_rcved - 1] = spi_data;
Arithemetica 0:8c01a98a2812 255 break;
Arithemetica 0:8c01a98a2812 256 case 4:
Arithemetica 0:8c01a98a2812 257 case 5:
Arithemetica 0:8c01a98a2812 258 case 6:
Arithemetica 0:8c01a98a2812 259 imuRawData.accel[data_rcved - 4] = spi_data;
Arithemetica 0:8c01a98a2812 260 break;
Arithemetica 0:8c01a98a2812 261 case 7:
Arithemetica 0:8c01a98a2812 262 imuRawData.temperature = spi_data;
Arithemetica 0:8c01a98a2812 263 break;
Arithemetica 0:8c01a98a2812 264 default:
Arithemetica 0:8c01a98a2812 265 break;
Arithemetica 0:8c01a98a2812 266 }
Arithemetica 0:8c01a98a2812 267
Arithemetica 0:8c01a98a2812 268 ++data_rcved;
Arithemetica 0:8c01a98a2812 269 }
Arithemetica 0:8c01a98a2812 270
Arithemetica 0:8c01a98a2812 271 data_rcved = 0U;
Arithemetica 0:8c01a98a2812 272 m_ss.write(1);
Arithemetica 0:8c01a98a2812 273
Arithemetica 0:8c01a98a2812 274 m_processImuRawData();
Arithemetica 0:8c01a98a2812 275 return ImuDriverStatusOK;
Arithemetica 0:8c01a98a2812 276 } else {
Arithemetica 0:8c01a98a2812 277 return ImuDriverStatusDataNotReady;
Arithemetica 0:8c01a98a2812 278 }
Arithemetica 0:8c01a98a2812 279 }
Arithemetica 0:8c01a98a2812 280
Arithemetica 0:8c01a98a2812 281 /**
Arithemetica 5:e71931fcae33 282 * @brief This function handles the receiving of AHRS burst message function, AHRS
Arithemetica 10:d8223969c541 283 * burst message contains the attitude in euler angle (deg).
Arithemetica 0:8c01a98a2812 284 *
Arithemetica 0:8c01a98a2812 285 * @return ImuDriverStatus to indicate the result of the receive operation
Arithemetica 0:8c01a98a2812 286 *
Arithemetica 0:8c01a98a2812 287 * @note This is only suitable for AHRS app, and additional procedure needs to be done
Arithemetica 0:8c01a98a2812 288 * in order to make it work
Arithemetica 0:8c01a98a2812 289 */
Arithemetica 0:8c01a98a2812 290 ImuDriverStatus receiveAhrsMsg()
Arithemetica 0:8c01a98a2812 291 {
Arithemetica 0:8c01a98a2812 292 if (m_spiIsDataReady()) {
Arithemetica 0:8c01a98a2812 293 static std::uint8_t data_rcved = 0U;
Arithemetica 0:8c01a98a2812 294 const std::uint8_t max_data = 5U;
Arithemetica 0:8c01a98a2812 295 const std::uint16_t ahrs_reg = m_spiGenerateReadCmd(ReadAhrsBurstDataRegister);
Arithemetica 0:8c01a98a2812 296
Arithemetica 0:8c01a98a2812 297 m_ss.write(0);
Arithemetica 0:8c01a98a2812 298 m_imuSpiWrite(ahrs_reg);
Arithemetica 0:8c01a98a2812 299
Arithemetica 0:8c01a98a2812 300 while(data_rcved < max_data) {
Arithemetica 0:8c01a98a2812 301 const std::uint16_t spi_data = m_imuSpiWrite(0x0000);
Arithemetica 0:8c01a98a2812 302 switch(data_rcved) {
Arithemetica 0:8c01a98a2812 303 case 0:
Arithemetica 0:8c01a98a2812 304 ahrsRawData.status = spi_data;
Arithemetica 0:8c01a98a2812 305 break;
Arithemetica 0:8c01a98a2812 306 case 1:
Arithemetica 0:8c01a98a2812 307 case 2:
Arithemetica 0:8c01a98a2812 308 case 3:
Arithemetica 0:8c01a98a2812 309 ahrsRawData.attitude[data_rcved - 1] = spi_data;
Arithemetica 0:8c01a98a2812 310 break;
Arithemetica 0:8c01a98a2812 311 case 4:
Arithemetica 0:8c01a98a2812 312 ahrsRawData.temperature = spi_data;
Arithemetica 0:8c01a98a2812 313 break;
Arithemetica 0:8c01a98a2812 314 default:
Arithemetica 0:8c01a98a2812 315 break;
Arithemetica 0:8c01a98a2812 316 }
Arithemetica 0:8c01a98a2812 317
Arithemetica 0:8c01a98a2812 318 ++data_rcved;
Arithemetica 0:8c01a98a2812 319 }
Arithemetica 0:8c01a98a2812 320
Arithemetica 0:8c01a98a2812 321 data_rcved = 0U;
Arithemetica 0:8c01a98a2812 322 m_ss.write(1);
Arithemetica 0:8c01a98a2812 323
Arithemetica 0:8c01a98a2812 324 m_processAhrsRawData();
Arithemetica 0:8c01a98a2812 325 return ImuDriverStatusOK;
Arithemetica 0:8c01a98a2812 326 } else {
Arithemetica 0:8c01a98a2812 327 return ImuDriverStatusDataNotReady;
Arithemetica 0:8c01a98a2812 328 }
Arithemetica 0:8c01a98a2812 329 }
Arithemetica 1:8e31413068af 330 };
Arithemetica 1:8e31413068af 331
Arithemetica 1:8e31413068af 332 #endif // IMU_DRIVER_HPP_