Jacky Tseng / Mbed 2 deprecated imu_driver

handle master side communication of openIMU300ZI module

Dependencies:   mbed

Dependents:   VDU_2021

imu_driver.hpp@2:f3a7def7a7e1, 2019-11-17 (annotated)

Committer:
Arithemetica
Date:
Sun Nov 17 06:12:21 2019 +0000
Revision:
2:f3a7def7a7e1
Parent:
1:8e31413068af
Child:
3:8552e26cd162
Add class documentation

Who changed what in which revision?

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