Thomas Hamilton / Mbed 2 deprecated 3DM-GX2

interface class for an inertial measurement unit that uses a serial protocol.

Dependencies:   mbed

MS3DMGX2.h@1:555c2c2bf9d3, 2011-02-13 (annotated)

Committer:
Blaze513
Date:
Sun Feb 13 10:49:06 2011 +0000
Revision:
1:555c2c2bf9d3
interrupt still under construction

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Blaze513 1:555c2c2bf9d3 1 #ifndef MS3DMGX2Library
Blaze513 1:555c2c2bf9d3 2 #define MS3DMGX2Library
Blaze513 1:555c2c2bf9d3 3
Blaze513 1:555c2c2bf9d3 4 #include "stdint.h"
Blaze513 1:555c2c2bf9d3 5 #include "mbed.h"
Blaze513 1:555c2c2bf9d3 6
Blaze513 1:555c2c2bf9d3 7 class MS3DMGX2
Blaze513 1:555c2c2bf9d3 8 {
Blaze513 1:555c2c2bf9d3 9 private:
Blaze513 1:555c2c2bf9d3 10 /////////////////////
Blaze513 1:555c2c2bf9d3 11 //Serial PC;
Blaze513 1:555c2c2bf9d3 12 //////////////////////////
Blaze513 1:555c2c2bf9d3 13
Blaze513 1:555c2c2bf9d3 14 Serial DataLines;
Blaze513 1:555c2c2bf9d3 15 volatile unsigned char Buffer[87];//volatile is for interrupted access
Blaze513 1:555c2c2bf9d3 16 volatile unsigned char BufferEnd;
Blaze513 1:555c2c2bf9d3 17 volatile unsigned char PacketSize;
Blaze513 1:555c2c2bf9d3 18 bool Checksum(unsigned char Index, unsigned char Length);
Blaze513 1:555c2c2bf9d3 19 void FillSerialBuffer();
Blaze513 1:555c2c2bf9d3 20
Blaze513 1:555c2c2bf9d3 21 public:
Blaze513 1:555c2c2bf9d3 22 MS3DMGX2(PinName tx, PinName rx);
Blaze513 1:555c2c2bf9d3 23 //serial output, serial input
Blaze513 1:555c2c2bf9d3 24 ~MS3DMGX2();
Blaze513 1:555c2c2bf9d3 25 //release resources
Blaze513 1:555c2c2bf9d3 26 unsigned char BufferStart;
Blaze513 1:555c2c2bf9d3 27
Blaze513 1:555c2c2bf9d3 28 unsigned char CommandByte;
Blaze513 1:555c2c2bf9d3 29 unsigned char ResponseLength;
Blaze513 1:555c2c2bf9d3 30 unsigned char Continuous;
Blaze513 1:555c2c2bf9d3 31
Blaze513 1:555c2c2bf9d3 32
Blaze513 1:555c2c2bf9d3 33 bool Readable();
Blaze513 1:555c2c2bf9d3 34
Blaze513 1:555c2c2bf9d3 35 bool Mode(unsigned char Selection);
Blaze513 1:555c2c2bf9d3 36 //argument sets operating mode;
Blaze513 1:555c2c2bf9d3 37 //set flag 0x08 to 0 for polled modes, or 1 for interrupt modes;
Blaze513 1:555c2c2bf9d3 38 //set flag 0x04 to 0 for synchronous modes, or 1 for asynchronous modes;
Blaze513 1:555c2c2bf9d3 39 //set flags 0x03 to 0 for pwm, 1 for analog, or 2 for serial;
Blaze513 1:555c2c2bf9d3 40 //asynchronous modes read user input command, measures and calculates
Blaze513 1:555c2c2bf9d3 41 //output, and writes the data packet to the serial buffer every 10 ms;
Blaze513 1:555c2c2bf9d3 42 //interrupt modes automatically read the packet into the buffer provided
Blaze513 1:555c2c2bf9d3 43 //by AttachInterruptBuffer with the selected input method every 10 ms
Blaze513 1:555c2c2bf9d3 44 //if in an asynchronous mode, or 10 ms after RequestSyncRead is called;
Blaze513 1:555c2c2bf9d3 45 //interrupt mode interrupts are generated if there are bytes on the
Blaze513 1:555c2c2bf9d3 46 //serial buffer and are only cleared if the serial buffer is emptied;
Blaze513 1:555c2c2bf9d3 47 //default is 0
Blaze513 1:555c2c2bf9d3 48 //void AttachInterruptBuffer(float* Buffer);
Blaze513 1:555c2c2bf9d3 49 //if interrupts are used, user must provide address to write result to
Blaze513 1:555c2c2bf9d3 50 //void AttachInterruptFunction();
Blaze513 1:555c2c2bf9d3 51 //this overload reattaches the native interrupt function
Blaze513 1:555c2c2bf9d3 52 //void AttachInterruptFunction(void (*Function)());
Blaze513 1:555c2c2bf9d3 53 //this overload attaches a function to the serial interrupt
Blaze513 1:555c2c2bf9d3 54 //template<class Class> void AttachInterruptFunction
Blaze513 1:555c2c2bf9d3 55 // (Class* Object, void (Class::*Function)());
Blaze513 1:555c2c2bf9d3 56 //this overload attaches a member function to the serial interrupt;
Blaze513 1:555c2c2bf9d3 57 //to change the interrupt function, call one of the
Blaze513 1:555c2c2bf9d3 58 //"AttachInterruptFunction" overloads with pointers to the desired function;
Blaze513 1:555c2c2bf9d3 59 //changes polled mode to interrupt equivalent;
Blaze513 1:555c2c2bf9d3 60 //the interrupt will not be cleared until the serial buffer is emptied
Blaze513 1:555c2c2bf9d3 61 void RequestSyncRead();
Blaze513 1:555c2c2bf9d3 62 //this tells the device to prepare a synchronous reading;
Blaze513 1:555c2c2bf9d3 63 //must be called at least 10 ms before the reading is needed;
Blaze513 1:555c2c2bf9d3 64 //changes asynchronous mode to synchronous equivalent
Blaze513 1:555c2c2bf9d3 65 void DiscardSerialBuffer();
Blaze513 1:555c2c2bf9d3 66 //the serial port has a buffer and only the oldest data is read from it;
Blaze513 1:555c2c2bf9d3 67 //the buffer has limited space and, when full, the newest data is discarded;
Blaze513 1:555c2c2bf9d3 68 //this method allows the user to empty the buffer of old data so new data is used
Blaze513 1:555c2c2bf9d3 69 bool Read(float* Data);
Blaze513 1:555c2c2bf9d3 70 //get a reading from the device in the set mode;
Blaze513 1:555c2c2bf9d3 71 //RequestSyncRead() must be called at least 10 ms
Blaze513 1:555c2c2bf9d3 72 //before this method can be called in a synchronous mode;
Blaze513 1:555c2c2bf9d3 73 //may be called at any time during asynchronous mode;
Blaze513 1:555c2c2bf9d3 74 //it is assumed that the input buffer has enough
Blaze513 1:555c2c2bf9d3 75 //room to accomodate the desired data packet
Blaze513 1:555c2c2bf9d3 76 //operator float*();
Blaze513 1:555c2c2bf9d3 77 //shorthand for taking a reading;
Blaze513 1:555c2c2bf9d3 78 //ex: "float reading[packetlength]; reading = MB1210Object;"
Blaze513 1:555c2c2bf9d3 79 };
Blaze513 1:555c2c2bf9d3 80
Blaze513 1:555c2c2bf9d3 81 #endif