Diff: imu_driver.hpp

Revision:

2:f3a7def7a7e1

Parent:

1:8e31413068af

Child:

3:8552e26cd162

--- a/imu_driver.hpp	Sat Nov 16 16:24:03 2019 +0000
+++ b/imu_driver.hpp	Sun Nov 17 06:12:21 2019 +0000
@@ -42,15 +42,22 @@
 } ImuProcessedData;
 
 /**
- *  Imu Driver is used to handling the master side of openIMU300ZI module, the
- *  default setups are:
+ *  @brief ImuDriver is used to handle the SPI master side of openIMU300ZI module, the
+ *         default setups are:
  *
- *      - Data frame: 16 bits
- *      - CPOL: High (1)
- *      - CPHA: 2 Edge (1)
- *      - Frequency: 1.40625 MHz (Baudrate prescaler 32 for NUCLEO-F446RE under 180MHz)
- *      - Endian: MSB first (Mbed only support MSB AFAIK)
+ *           - Data frame: 16 bits
+ *           - CPOL: High (1)
+ *           - CPHA: 2 Edge (1)
+ *           - Frequency: 1.40625 MHz (Baudrate prescaler 32 for NUCLEO-F446RE under 180MHz)
+ *           - Endian: MSB first (Mbed only support MSB AFAIK)
  *
+ *  @tparam spi     SPI comm instance, ImuDriver currently support only SPI framework
+ *  @tparam rst     Reset pin name, this is used to reset the openIMU300ZI module
+ *  @tparam drdy    Data ready pin name, this is used as indication of data readiness
+ *                  (@todo Attach to interrupt in the future, and make user able to choose)
+ *  @tparam ss      Slave select pin name, this is used as slave select, pull low to initiate
+ *                  communication process.
+ *  
  *  Example of using ImuDriver:
  *
  *  @code
@@ -75,14 +82,19 @@
  *  
  *  @endcode
  */
-template <SPI& spi, PinName rst, PinName drdy, PinName ss>
+template <SPI& Spi, PinName rst, PinName drdy, PinName ss>
 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;
-
+    InterruptIn m_drdyExti;
+    
     float m_gyroScaler[3];
     float m_accelScaler[3];
     float m_ahrsScaler[3];
@@ -134,6 +146,11 @@
             ahrsProcessedData.attitude[i] = ahrsRawData.attitude[i] / m_ahrsScaler[i];
         }
     }
+    
+    void m_receiveAhrsCallback()
+    {
+        receiveAhrsMsg();
+    }
 public:
     ImuRawData imuRawData;
     ImuProcessedData imuProcessedData;
@@ -145,20 +162,21 @@
     static const int DEFAULT_IMU_GYRO_SCALER = 200;
     static const int DEFAULT_AHRS_ATTITUDE_SCALER = 90;
 public:
-    ImuDriver() : m_spi(spi), m_rst(rst), m_ss(ss), m_drdy(drdy)
+    ImuDriver() : m_spi(Spi), m_rst(rst), m_ss(ss), m_drdy(drdy), m_drdyExti(drdy)
     {
         for (int i = 0; i < 3; ++i) {
             m_gyroScaler[i] = static_cast<float>(DEFAULT_IMU_GYRO_SCALER);      // what an idiotic way of initialization LUL
-            m_accelScaler[i] = static_cast<float>(DEFAULT_IMU_ACCEL_SCALER);    // Oh, I forgot that mbed is still stuck at c++98,
+            m_accelScaler[i] = static_cast<float>(DEFAULT_IMU_ACCEL_SCALER);    // Oh, I forgot that mbed os2 still stucks at c++98,
             m_ahrsScaler[i] = static_cast<float>(DEFAULT_AHRS_ATTITUDE_SCALER); // how unfortunate LUL
         }
 
+//        m_drdyExti.rise(this, &ImuDriver<Spi, rst, drdy, ss>::m_receiveAhrsCallback);
         m_spi.format(16, 3);
         m_spi.frequency(1406250);
     }
 
     /**
-     *  @brief  This function handles the receive of burst message function of openIMU
+     *  @brief  This function handles the receiving of burst message function
      *
      *  @param  t_extended  bool to indicate the message type is extended or not, default false
      *
@@ -220,7 +238,7 @@
     }
 
     /**
-     *  @brief  This function handles the receive of AHRS burst message function
+     *  @brief  This function handles the receiving of AHRS burst message function
      *
      *  @return ImuDriverStatus to indicate the result of the receive operation
      *