Diff: imu_driver.hpp

Revision:

10:d8223969c541

Parent:

9:9591afda2394

Child:

11:866dd73e4ab3

--- a/imu_driver.hpp	Sun Nov 17 09:42:48 2019 +0000
+++ b/imu_driver.hpp	Mon Nov 18 08:05:02 2019 +0000
@@ -1,5 +1,7 @@
 /**
  *  @file imu_driver.hpp
+ *  @brief ImuDriver class and other data storage struct definition. The C language version
+ *         can be found at <A HREF="https://github.com/osjacky430/imu_driver">this github website</A>
  */
 
 #ifndef IMU_DRIVER_HPP_
@@ -8,11 +10,6 @@
 #include <mbed.h>
 #include <cstdint>
 
-typedef enum ImuDriverStatus {
-    ImuDriverStatusOK,
-    ImuDriverStatusDataNotReady
-} ImuDriverStatus;
-
 typedef enum ImuDriverRegister {
     ReadAhrsBurstDataRegister = 0x3D,
     ReadBurstDataRegister = 0x3E,
@@ -25,6 +22,11 @@
     std::int16_t temperature;
 } AhrsRawData;
 
+/**
+ *  @brief  AhrsProcessedData is data storage class, which consists of
+ *  
+ *              - attitude: pitch, roll, yaw in deg, range from -180 ~ +180 deg
+ */
 typedef struct AhrsProcessedData {
     float attitude[3];
 } AhrsProcessedData;
@@ -36,6 +38,14 @@
     std::int16_t temperature;
 } ImuRawData;
 
+/**
+ *  @brief  ImuProcessedData is data storage class, which consists of:
+ *
+ *              - status: if status = 0x0010 (over range error), status = 0 (no error)
+ *              - gyroscope: deg/s, range from -300 deg/s ~ 300 deg/s
+ *              - accelerometer: g, range from -4.5g ~ 4.5g
+ *              - temperature: Celcius
+ */
 typedef struct ImuProcessedData {
     std::uint16_t status;
 
@@ -55,7 +65,7 @@
  *           - Frequency: 1.40625 MHz (Baudrate prescaler 32 for NUCLEO-F446RE under 180MHz)
  *           - Endian: MSB first (Mbed only support MSB AFAIK)
  *
- *         According to <A HREF="https://openimu.readthedocs.io/en/latest/software/SPImessaging.html">openIMU300ZI SPI framework</A>
+ *         According to <A HREF="https://openimu.readthedocs.io/en/latest/software/SPImessaging.html">openIMU300ZI SPI framework</A>:
  *
  *           - Data transferred in 16-bit word-length and MSB-first
  *           - fCLK ≤ 2.0 MHz
@@ -97,10 +107,6 @@
 class ImuDriver
 {
 private:
-    typedef ImuDriver<Spi, rst, drdy, ss> ImuDriverType;
-    typedef ImuDriverStatus (ImuDriver<Spi, rst, drdy, ss>::*DrdyCallback)();
-
-
     SPI& m_spi;
     DigitalOut m_rst, m_ss;
     DigitalIn m_drdy;
@@ -163,10 +169,29 @@
         receiveAhrsMsg();
     }
 public:
+    typedef enum ImuDriverStatus {
+        ImuDriverStatusOK,
+        ImuDriverStatusDataNotReady
+    } ImuDriverStatus;
+public:
+    /**
+     *  imuRawData contains raw data received from @ref receiveBurstMsg(bool t_extended)
+     */
     ImuRawData imuRawData;
+
+    /**
+     *  imuProcessedData contains processed data, which is merely scaling operation
+     */
     ImuProcessedData imuProcessedData;
 
+    /**
+     *  ahrsRawaData contains raw data received from @ref receiveAhrsMsg()
+     */
     AhrsRawData ahrsRawData;
+
+    /**
+     *  ahrsProcessedData contains processed data, which is merely scaling operation
+     */
     AhrsProcessedData ahrsProcessedData;
 
     static const int DEFAULT_IMU_ACCEL_SCALER = 4000;
@@ -188,7 +213,7 @@
 
     /**
      *  @brief  This function handles the receiving of burst message function, burst message
-     *          contains accelerometer, gyroscope, status and temperature data
+     *          contains accelerometer (g), gyroscope (deg/s), status and temperature data (Celcius)
      *
      *  @param  t_extended  bool to indicate the message type is extended or not, default false
      *
@@ -251,7 +276,7 @@
 
     /**
      *  @brief  This function handles the receiving of AHRS burst message function, AHRS
-     *          burst message contains the attitude in euler angle.
+     *          burst message contains the attitude in euler angle (deg).
      *
      *  @return ImuDriverStatus to indicate the result of the receive operation
      *