Jacky Tseng / Mbed 2 deprecated imu_driver

handle master side communication of openIMU300ZI module

Dependencies:   mbed

Dependents:   VDU_2021

imu_driver.hpp@10:d8223969c541, 2019-11-18 (annotated)

Committer:
Arithemetica
Date:
Mon Nov 18 08:05:02 2019 +0000
Revision:
10:d8223969c541
Parent:
9:9591afda2394
Child:
11:866dd73e4ab3
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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 10:d8223969c541 26 * @brief AhrsProcessedData is data storage class, which consists of
Arithemetica 10:d8223969c541 27 *
Arithemetica 10:d8223969c541 28 * - attitude: pitch, roll, yaw in deg, range from -180 ~ +180 deg
Arithemetica 10:d8223969c541 29 */
Arithemetica 0:8c01a98a2812 30 typedef struct AhrsProcessedData {
Arithemetica 0:8c01a98a2812 31 float attitude[3];
Arithemetica 0:8c01a98a2812 32 } AhrsProcessedData;
Arithemetica 0:8c01a98a2812 33
Arithemetica 0:8c01a98a2812 34 typedef struct ImuRawData {
Arithemetica 0:8c01a98a2812 35 std::uint16_t status;
Arithemetica 0:8c01a98a2812 36 std::int16_t rate[3];
Arithemetica 0:8c01a98a2812 37 std::int16_t accel[3];
Arithemetica 0:8c01a98a2812 38 std::int16_t temperature;
Arithemetica 0:8c01a98a2812 39 } ImuRawData;
Arithemetica 0:8c01a98a2812 40
Arithemetica 10:d8223969c541 41 /**
Arithemetica 10:d8223969c541 42 * @brief ImuProcessedData is data storage class, which consists of:
Arithemetica 10:d8223969c541 43 *
Arithemetica 10:d8223969c541 44 * - status: if status = 0x0010 (over range error), status = 0 (no error)
Arithemetica 10:d8223969c541 45 * - gyroscope: deg/s, range from -300 deg/s ~ 300 deg/s
Arithemetica 10:d8223969c541 46 * - accelerometer: g, range from -4.5g ~ 4.5g
Arithemetica 10:d8223969c541 47 * - temperature: Celcius
Arithemetica 10:d8223969c541 48 */
Arithemetica 0:8c01a98a2812 49 typedef struct ImuProcessedData {
Arithemetica 0:8c01a98a2812 50 std::uint16_t status;
Arithemetica 0:8c01a98a2812 51
Arithemetica 0:8c01a98a2812 52 float rate[3];
Arithemetica 0:8c01a98a2812 53 float accel[3];
Arithemetica 0:8c01a98a2812 54
Arithemetica 0:8c01a98a2812 55 std::int16_t temperature;
Arithemetica 0:8c01a98a2812 56 } ImuProcessedData;
Arithemetica 0:8c01a98a2812 57
Arithemetica 0:8c01a98a2812 58 /**
Arithemetica 2:f3a7def7a7e1 59 * @brief ImuDriver is used to handle the SPI master side of openIMU300ZI module, the
Arithemetica 2:f3a7def7a7e1 60 * default setups are:
Arithemetica 0:8c01a98a2812 61 *
Arithemetica 2:f3a7def7a7e1 62 * - Data frame: 16 bits
Arithemetica 2:f3a7def7a7e1 63 * - CPOL: High (1)
Arithemetica 2:f3a7def7a7e1 64 * - CPHA: 2 Edge (1)
Arithemetica 2:f3a7def7a7e1 65 * - Frequency: 1.40625 MHz (Baudrate prescaler 32 for NUCLEO-F446RE under 180MHz)
Arithemetica 2:f3a7def7a7e1 66 * - Endian: MSB first (Mbed only support MSB AFAIK)
Arithemetica 5:e71931fcae33 67 *
Arithemetica 10:d8223969c541 68 * According to <A HREF="https://openimu.readthedocs.io/en/latest/software/SPImessaging.html">openIMU300ZI SPI framework</A>:
Arithemetica 5:e71931fcae33 69 *
Arithemetica 3:8552e26cd162 70 * - Data transferred in 16-bit word-length and MSB-first
Arithemetica 5:e71931fcae33 71 * - fCLK ≤ 2.0 MHz
Arithemetica 3:8552e26cd162 72 * - CPOL = 1 (clock polarity) and CPHA = 1 (clock phase)
Arithemetica 0:8c01a98a2812 73 *
Arithemetica 2:f3a7def7a7e1 74 * @tparam spi SPI comm instance, ImuDriver currently support only SPI framework
Arithemetica 2:f3a7def7a7e1 75 * @tparam rst Reset pin name, this is used to reset the openIMU300ZI module
Arithemetica 2:f3a7def7a7e1 76 * @tparam drdy Data ready pin name, this is used as indication of data readiness
Arithemetica 2:f3a7def7a7e1 77 * @tparam ss Slave select pin name, this is used as slave select, pull low to initiate
Arithemetica 2:f3a7def7a7e1 78 * communication process.
Arithemetica 5:e71931fcae33 79 *
Arithemetica 7:224ffdacb240 80 * @todo Attach to exti in the future, and make user able to choose
Arithemetica 7:224ffdacb240 81 *
Arithemetica 0:8c01a98a2812 82 * Example of using ImuDriver:
Arithemetica 0:8c01a98a2812 83 *
Arithemetica 0:8c01a98a2812 84 * @code
Arithemetica 0:8c01a98a2812 85 * #include "imu_driver.hpp"
Arithemetica 0:8c01a98a2812 86 *
Arithemetica 0:8c01a98a2812 87 * SPI spi3(PB_5, PB_6, PB_3); // declare SPI instance globally
Arithemetica 0:8c01a98a2812 88 * Serial pc(USBTX, USBRX, 115200); // print debug message
Arithemetica 0:8c01a98a2812 89 *
Arithemetica 0:8c01a98a2812 90 * int main()
Arithemetica 0:8c01a98a2812 91 * {
Arithemetica 5:e71931fcae33 92 * // SPI instance, reset, data ready, slave select
Arithemetica 0:8c01a98a2812 93 * ImuDriver<spi3, PA_10, PA_8, PA_9> imu;
Arithemetica 0:8c01a98a2812 94 *
Arithemetica 0:8c01a98a2812 95 * while(true)
Arithemetica 0:8c01a98a2812 96 * {
Arithemetica 0:8c01a98a2812 97 * if (imu.receiveBurstMsg() == ImuDriverStatusOK)
Arithemetica 0:8c01a98a2812 98 * {
Arithemetica 0:8c01a98a2812 99 * pc.printf("%.3f, %.3f, %.3f\n\r", imu.imuProcessedData.rate[0], imu.imuProcessedData.rate[1], imu.imuProcessedData.rate[2]);
Arithemetica 0:8c01a98a2812 100 * }
Arithemetica 0:8c01a98a2812 101 * }
Arithemetica 0:8c01a98a2812 102 * }
Arithemetica 5:e71931fcae33 103 *
Arithemetica 0:8c01a98a2812 104 * @endcode
Arithemetica 0:8c01a98a2812 105 */
Arithemetica 2:f3a7def7a7e1 106 template <SPI& Spi, PinName rst, PinName drdy, PinName ss>
Arithemetica 0:8c01a98a2812 107 class ImuDriver
Arithemetica 0:8c01a98a2812 108 {
Arithemetica 0:8c01a98a2812 109 private:
Arithemetica 0:8c01a98a2812 110 SPI& m_spi;
Arithemetica 0:8c01a98a2812 111 DigitalOut m_rst, m_ss;
Arithemetica 0:8c01a98a2812 112 DigitalIn m_drdy;
Arithemetica 2:f3a7def7a7e1 113 InterruptIn m_drdyExti;
Arithemetica 5:e71931fcae33 114
Arithemetica 0:8c01a98a2812 115 float m_gyroScaler[3];
Arithemetica 0:8c01a98a2812 116 float m_accelScaler[3];
Arithemetica 0:8c01a98a2812 117 float m_ahrsScaler[3];
Arithemetica 0:8c01a98a2812 118 private:
Arithemetica 0:8c01a98a2812 119 std::uint16_t m_imuSpiWrite(const std::uint16_t val) const
Arithemetica 0:8c01a98a2812 120 {
Arithemetica 0:8c01a98a2812 121 // RAII
Arithemetica 0:8c01a98a2812 122 class SpiLock
Arithemetica 0:8c01a98a2812 123 {
Arithemetica 0:8c01a98a2812 124 private:
Arithemetica 0:8c01a98a2812 125 SPI& m_spi;
Arithemetica 0:8c01a98a2812 126 public:
Arithemetica 0:8c01a98a2812 127 SpiLock(SPI& t_spi) : m_spi(t_spi)
Arithemetica 0:8c01a98a2812 128 {
Arithemetica 0:8c01a98a2812 129 m_spi.lock();
Arithemetica 0:8c01a98a2812 130 }
Arithemetica 0:8c01a98a2812 131
Arithemetica 0:8c01a98a2812 132 ~SpiLock()
Arithemetica 0:8c01a98a2812 133 {
Arithemetica 0:8c01a98a2812 134 m_spi.unlock();
Arithemetica 0:8c01a98a2812 135 }
Arithemetica 0:8c01a98a2812 136 };
Arithemetica 0:8c01a98a2812 137
Arithemetica 0:8c01a98a2812 138 SpiLock lock(m_spi);
Arithemetica 0:8c01a98a2812 139 return m_spi.write(val);
Arithemetica 0:8c01a98a2812 140 }
Arithemetica 0:8c01a98a2812 141
Arithemetica 0:8c01a98a2812 142 inline std::uint16_t m_spiGenerateReadCmd(const std::uint8_t t_val) const
Arithemetica 0:8c01a98a2812 143 {
Arithemetica 0:8c01a98a2812 144 return t_val << 8U;
Arithemetica 0:8c01a98a2812 145 }
Arithemetica 0:8c01a98a2812 146
Arithemetica 0:8c01a98a2812 147 inline bool m_spiIsDataReady()
Arithemetica 0:8c01a98a2812 148 {
Arithemetica 0:8c01a98a2812 149 return m_drdy.read() == 0;
Arithemetica 0:8c01a98a2812 150 }
Arithemetica 0:8c01a98a2812 151
Arithemetica 0:8c01a98a2812 152 inline void m_processImuRawData()
Arithemetica 0:8c01a98a2812 153 {
Arithemetica 0:8c01a98a2812 154 for (int i = 0; i < 3; ++i) {
Arithemetica 0:8c01a98a2812 155 imuProcessedData.accel[i] = imuRawData.accel[i] / m_accelScaler[i];
Arithemetica 0:8c01a98a2812 156 imuProcessedData.rate[i] = imuRawData.rate[i] / m_gyroScaler[i];
Arithemetica 0:8c01a98a2812 157 }
Arithemetica 0:8c01a98a2812 158 }
Arithemetica 0:8c01a98a2812 159
Arithemetica 0:8c01a98a2812 160 inline void m_processAhrsRawData()
Arithemetica 0:8c01a98a2812 161 {
Arithemetica 0:8c01a98a2812 162 for (int i = 0; i < 3; ++i) {
Arithemetica 0:8c01a98a2812 163 ahrsProcessedData.attitude[i] = ahrsRawData.attitude[i] / m_ahrsScaler[i];
Arithemetica 0:8c01a98a2812 164 }
Arithemetica 0:8c01a98a2812 165 }
Arithemetica 5:e71931fcae33 166
Arithemetica 2:f3a7def7a7e1 167 void m_receiveAhrsCallback()
Arithemetica 2:f3a7def7a7e1 168 {
Arithemetica 2:f3a7def7a7e1 169 receiveAhrsMsg();
Arithemetica 2:f3a7def7a7e1 170 }
Arithemetica 0:8c01a98a2812 171 public:
Arithemetica 10:d8223969c541 172 typedef enum ImuDriverStatus {
Arithemetica 10:d8223969c541 173 ImuDriverStatusOK,
Arithemetica 10:d8223969c541 174 ImuDriverStatusDataNotReady
Arithemetica 10:d8223969c541 175 } ImuDriverStatus;
Arithemetica 10:d8223969c541 176 public:
Arithemetica 10:d8223969c541 177 /**
Arithemetica 10:d8223969c541 178 * imuRawData contains raw data received from @ref receiveBurstMsg(bool t_extended)
Arithemetica 10:d8223969c541 179 */
Arithemetica 0:8c01a98a2812 180 ImuRawData imuRawData;
Arithemetica 10:d8223969c541 181
Arithemetica 10:d8223969c541 182 /**
Arithemetica 10:d8223969c541 183 * imuProcessedData contains processed data, which is merely scaling operation
Arithemetica 10:d8223969c541 184 */
Arithemetica 0:8c01a98a2812 185 ImuProcessedData imuProcessedData;
Arithemetica 0:8c01a98a2812 186
Arithemetica 10:d8223969c541 187 /**
Arithemetica 10:d8223969c541 188 * ahrsRawaData contains raw data received from @ref receiveAhrsMsg()
Arithemetica 10:d8223969c541 189 */
Arithemetica 0:8c01a98a2812 190 AhrsRawData ahrsRawData;
Arithemetica 10:d8223969c541 191
Arithemetica 10:d8223969c541 192 /**
Arithemetica 10:d8223969c541 193 * ahrsProcessedData contains processed data, which is merely scaling operation
Arithemetica 10:d8223969c541 194 */
Arithemetica 0:8c01a98a2812 195 AhrsProcessedData ahrsProcessedData;
Arithemetica 0:8c01a98a2812 196
Arithemetica 0:8c01a98a2812 197 static const int DEFAULT_IMU_ACCEL_SCALER = 4000;
Arithemetica 0:8c01a98a2812 198 static const int DEFAULT_IMU_GYRO_SCALER = 200;
Arithemetica 0:8c01a98a2812 199 static const int DEFAULT_AHRS_ATTITUDE_SCALER = 90;
Arithemetica 0:8c01a98a2812 200 public:
Arithemetica 2:f3a7def7a7e1 201 ImuDriver() : m_spi(Spi), m_rst(rst), m_ss(ss), m_drdy(drdy), m_drdyExti(drdy)
Arithemetica 0:8c01a98a2812 202 {
Arithemetica 0:8c01a98a2812 203 for (int i = 0; i < 3; ++i) {
Arithemetica 0:8c01a98a2812 204 m_gyroScaler[i] = static_cast<float>(DEFAULT_IMU_GYRO_SCALER); // what an idiotic way of initialization LUL
Arithemetica 2:f3a7def7a7e1 205 m_accelScaler[i] = static_cast<float>(DEFAULT_IMU_ACCEL_SCALER); // Oh, I forgot that mbed os2 still stucks at c++98,
Arithemetica 0:8c01a98a2812 206 m_ahrsScaler[i] = static_cast<float>(DEFAULT_AHRS_ATTITUDE_SCALER); // how unfortunate LUL
Arithemetica 0:8c01a98a2812 207 }
Arithemetica 0:8c01a98a2812 208
Arithemetica 2:f3a7def7a7e1 209 // m_drdyExti.rise(this, &ImuDriver<Spi, rst, drdy, ss>::m_receiveAhrsCallback);
Arithemetica 0:8c01a98a2812 210 m_spi.format(16, 3);
Arithemetica 0:8c01a98a2812 211 m_spi.frequency(1406250);
Arithemetica 0:8c01a98a2812 212 }
Arithemetica 0:8c01a98a2812 213
Arithemetica 0:8c01a98a2812 214 /**
Arithemetica 5:e71931fcae33 215 * @brief This function handles the receiving of burst message function, burst message
Arithemetica 10:d8223969c541 216 * contains accelerometer (g), gyroscope (deg/s), status and temperature data (Celcius)
Arithemetica 0:8c01a98a2812 217 *
Arithemetica 0:8c01a98a2812 218 * @param t_extended bool to indicate the message type is extended or not, default false
Arithemetica 0:8c01a98a2812 219 *
Arithemetica 0:8c01a98a2812 220 * @return ImuDriverStatus to indicate the result of the receive operation
Arithemetica 0:8c01a98a2812 221 */
Arithemetica 0:8c01a98a2812 222 ImuDriverStatus receiveBurstMsg(bool t_extended = false)
Arithemetica 0:8c01a98a2812 223 {
Arithemetica 0:8c01a98a2812 224 if (m_spiIsDataReady()) {
Arithemetica 0:8c01a98a2812 225 std::uint16_t max_data = 0U;
Arithemetica 0:8c01a98a2812 226 std::uint16_t burst_reg = 0U;
Arithemetica 0:8c01a98a2812 227
Arithemetica 0:8c01a98a2812 228 if (!t_extended) {
Arithemetica 0:8c01a98a2812 229 max_data = 8U;
Arithemetica 0:8c01a98a2812 230 burst_reg = m_spiGenerateReadCmd(ReadBurstDataRegister);
Arithemetica 0:8c01a98a2812 231 } else {
Arithemetica 0:8c01a98a2812 232 max_data = 11U;
Arithemetica 0:8c01a98a2812 233 burst_reg = m_spiGenerateReadCmd(ReadExtBurstDataRegister);
Arithemetica 0:8c01a98a2812 234 }
Arithemetica 0:8c01a98a2812 235
Arithemetica 0:8c01a98a2812 236 m_ss.write(0); // start transfer
Arithemetica 0:8c01a98a2812 237 m_imuSpiWrite(burst_reg);
Arithemetica 0:8c01a98a2812 238
Arithemetica 0:8c01a98a2812 239 static std::uint8_t data_rcved = 0U;
Arithemetica 0:8c01a98a2812 240
Arithemetica 0:8c01a98a2812 241 while(data_rcved < max_data) {
Arithemetica 0:8c01a98a2812 242 const std::uint16_t spi_data = m_imuSpiWrite(0x0000);
Arithemetica 0:8c01a98a2812 243 switch(data_rcved) {
Arithemetica 0:8c01a98a2812 244 case 0:
Arithemetica 0:8c01a98a2812 245 imuRawData.status = spi_data;
Arithemetica 0:8c01a98a2812 246 break;
Arithemetica 0:8c01a98a2812 247 case 1:
Arithemetica 0:8c01a98a2812 248 case 2:
Arithemetica 0:8c01a98a2812 249 case 3:
Arithemetica 0:8c01a98a2812 250 imuRawData.rate[data_rcved - 1] = spi_data;
Arithemetica 0:8c01a98a2812 251 break;
Arithemetica 0:8c01a98a2812 252 case 4:
Arithemetica 0:8c01a98a2812 253 case 5:
Arithemetica 0:8c01a98a2812 254 case 6:
Arithemetica 0:8c01a98a2812 255 imuRawData.accel[data_rcved - 4] = spi_data;
Arithemetica 0:8c01a98a2812 256 break;
Arithemetica 0:8c01a98a2812 257 case 7:
Arithemetica 0:8c01a98a2812 258 imuRawData.temperature = spi_data;
Arithemetica 0:8c01a98a2812 259 break;
Arithemetica 0:8c01a98a2812 260 default:
Arithemetica 0:8c01a98a2812 261 break;
Arithemetica 0:8c01a98a2812 262 }
Arithemetica 0:8c01a98a2812 263
Arithemetica 0:8c01a98a2812 264 ++data_rcved;
Arithemetica 0:8c01a98a2812 265 }
Arithemetica 0:8c01a98a2812 266
Arithemetica 0:8c01a98a2812 267 data_rcved = 0U;
Arithemetica 0:8c01a98a2812 268 m_ss.write(1);
Arithemetica 0:8c01a98a2812 269
Arithemetica 0:8c01a98a2812 270 m_processImuRawData();
Arithemetica 0:8c01a98a2812 271 return ImuDriverStatusOK;
Arithemetica 0:8c01a98a2812 272 } else {
Arithemetica 0:8c01a98a2812 273 return ImuDriverStatusDataNotReady;
Arithemetica 0:8c01a98a2812 274 }
Arithemetica 0:8c01a98a2812 275 }
Arithemetica 0:8c01a98a2812 276
Arithemetica 0:8c01a98a2812 277 /**
Arithemetica 5:e71931fcae33 278 * @brief This function handles the receiving of AHRS burst message function, AHRS
Arithemetica 10:d8223969c541 279 * burst message contains the attitude in euler angle (deg).
Arithemetica 0:8c01a98a2812 280 *
Arithemetica 0:8c01a98a2812 281 * @return ImuDriverStatus to indicate the result of the receive operation
Arithemetica 0:8c01a98a2812 282 *
Arithemetica 0:8c01a98a2812 283 * @note This is only suitable for AHRS app, and additional procedure needs to be done
Arithemetica 0:8c01a98a2812 284 * in order to make it work
Arithemetica 0:8c01a98a2812 285 */
Arithemetica 0:8c01a98a2812 286 ImuDriverStatus receiveAhrsMsg()
Arithemetica 0:8c01a98a2812 287 {
Arithemetica 0:8c01a98a2812 288 if (m_spiIsDataReady()) {
Arithemetica 0:8c01a98a2812 289 static std::uint8_t data_rcved = 0U;
Arithemetica 0:8c01a98a2812 290 const std::uint8_t max_data = 5U;
Arithemetica 0:8c01a98a2812 291 const std::uint16_t ahrs_reg = m_spiGenerateReadCmd(ReadAhrsBurstDataRegister);
Arithemetica 0:8c01a98a2812 292
Arithemetica 0:8c01a98a2812 293 m_ss.write(0);
Arithemetica 0:8c01a98a2812 294 m_imuSpiWrite(ahrs_reg);
Arithemetica 0:8c01a98a2812 295
Arithemetica 0:8c01a98a2812 296 while(data_rcved < max_data) {
Arithemetica 0:8c01a98a2812 297 const std::uint16_t spi_data = m_imuSpiWrite(0x0000);
Arithemetica 0:8c01a98a2812 298 switch(data_rcved) {
Arithemetica 0:8c01a98a2812 299 case 0:
Arithemetica 0:8c01a98a2812 300 ahrsRawData.status = spi_data;
Arithemetica 0:8c01a98a2812 301 break;
Arithemetica 0:8c01a98a2812 302 case 1:
Arithemetica 0:8c01a98a2812 303 case 2:
Arithemetica 0:8c01a98a2812 304 case 3:
Arithemetica 0:8c01a98a2812 305 ahrsRawData.attitude[data_rcved - 1] = spi_data;
Arithemetica 0:8c01a98a2812 306 break;
Arithemetica 0:8c01a98a2812 307 case 4:
Arithemetica 0:8c01a98a2812 308 ahrsRawData.temperature = spi_data;
Arithemetica 0:8c01a98a2812 309 break;
Arithemetica 0:8c01a98a2812 310 default:
Arithemetica 0:8c01a98a2812 311 break;
Arithemetica 0:8c01a98a2812 312 }
Arithemetica 0:8c01a98a2812 313
Arithemetica 0:8c01a98a2812 314 ++data_rcved;
Arithemetica 0:8c01a98a2812 315 }
Arithemetica 0:8c01a98a2812 316
Arithemetica 0:8c01a98a2812 317 data_rcved = 0U;
Arithemetica 0:8c01a98a2812 318 m_ss.write(1);
Arithemetica 0:8c01a98a2812 319
Arithemetica 0:8c01a98a2812 320 m_processAhrsRawData();
Arithemetica 0:8c01a98a2812 321 return ImuDriverStatusOK;
Arithemetica 0:8c01a98a2812 322 } else {
Arithemetica 0:8c01a98a2812 323 return ImuDriverStatusDataNotReady;
Arithemetica 0:8c01a98a2812 324 }
Arithemetica 0:8c01a98a2812 325 }
Arithemetica 1:8e31413068af 326 };
Arithemetica 1:8e31413068af 327
Arithemetica 1:8e31413068af 328 #endif // IMU_DRIVER_HPP_