Diff: imu_driver.hpp

Revision:

5:e71931fcae33

Parent:

4:a2becd590d99

Child:

7:224ffdacb240

--- a/imu_driver.hpp	Sun Nov 17 06:41:20 2019 +0000
+++ b/imu_driver.hpp	Sun Nov 17 07:06:47 2019 +0000
@@ -50,11 +50,11 @@
  *           - CPHA: 2 Edge (1)
  *           - Frequency: 1.40625 MHz (Baudrate prescaler 32 for NUCLEO-F446RE under 180MHz)
  *           - Endian: MSB first (Mbed only support MSB AFAIK)
- *         
+ *
  *         According to [openIMU300ZI SPI framework](https://openimu.readthedocs.io/en/latest/software/SPImessaging.html):
- *              
+ *
  *           - Data transferred in 16-bit word-length and MSB-first
- *           - fCLK <= 2.0 MHz
+ *           - fCLK ≤ 2.0 MHz
  *           - CPOL = 1 (clock polarity) and CPHA = 1 (clock phase)
  *
  *  @tparam spi     SPI comm instance, ImuDriver currently support only SPI framework
@@ -63,7 +63,7 @@
  *                  (@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
@@ -74,7 +74,7 @@
  *
  *  int main()
  *  {
- *      // SPI instance, reset, data ready, slave select    
+ *      // SPI instance, reset, data ready, slave select
  *      ImuDriver<spi3, PA_10, PA_8, PA_9> imu;
  *
  *      while(true)
@@ -85,7 +85,7 @@
  *          }
  *      }
  *  }
- *  
+ *
  *  @endcode
  */
 template <SPI& Spi, PinName rst, PinName drdy, PinName ss>
@@ -100,7 +100,7 @@
     DigitalOut m_rst, m_ss;
     DigitalIn m_drdy;
     InterruptIn m_drdyExti;
-    
+
     float m_gyroScaler[3];
     float m_accelScaler[3];
     float m_ahrsScaler[3];
@@ -152,7 +152,7 @@
             ahrsProcessedData.attitude[i] = ahrsRawData.attitude[i] / m_ahrsScaler[i];
         }
     }
-    
+
     void m_receiveAhrsCallback()
     {
         receiveAhrsMsg();
@@ -182,7 +182,8 @@
     }
 
     /**
-     *  @brief  This function handles the receiving of burst message function
+     *  @brief  This function handles the receiving of burst message function, burst message
+     *          contains accelerometer, gyroscope, status and temperature data
      *
      *  @param  t_extended  bool to indicate the message type is extended or not, default false
      *
@@ -244,7 +245,8 @@
     }
 
     /**
-     *  @brief  This function handles the receiving of AHRS burst message function
+     *  @brief  This function handles the receiving of AHRS burst message function, AHRS
+     *          burst message contains the attitude in euler angle.
      *
      *  @return ImuDriverStatus to indicate the result of the receive operation
      *