Diff: DMU.h

Revision:

0:e4342b551612

Child:

1:b57a8210864d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DMU.h	Mon Mar 11 16:34:51 2013 +0000
@@ -0,0 +1,87 @@
+#ifndef DMU_H
+#define DMU_H
+
+
+#include "mbed.h"
+/** 
+ * A DMU interface for communicating with the Silicon Sensing DMU02 Dynamics Measurement Unit
+ *
+ */
+class DMU {
+public:
+ 
+ 
+    /** Creates a DMU interface for using regural mbed pins
+     *
+     * @param MOSI        SPI MOSI line
+     * @param MISO        SPI MISO line
+     * @param SCLK         SPI SCLK line
+     * @param S0-S2        Select lines for X, Y and Z axi
+     *
+     */
+    DMU(PinName MOSI, PinName MISO, PinName SCLK, PinName S0, PinName S1, PinName S2); 
+ 
+ 
+    /** Return the acceleration in the direction of the selected axis
+     *
+     * @param axis  The axis you wish to query: x, y or z.
+     */
+    float acceleration(char axis);
+ 
+ 
+    /** Return the roll
+     *
+     */
+    float  roll();    
+    
+    
+    /** Return the pitch
+     *
+     */
+    float  pitch(); 
+ 
+    /** Return the yaw
+     *
+     */
+    float yaw();
+
+
+    /** forces the device to perform the built-in test
+     *
+     */    
+    void test();
+ 
+ 
+protected:
+
+    //Device Initialization
+    void _init();
+    
+    //used to set selected axis for query, active low
+    void _selectAxis(char axis);
+    
+    //deselects all axis, inactive high
+    void _deselectAxis();
+    
+    //writes control byte to device, populates data bytes, returns bool of if data was received correctly
+    bool _write(char controlByte);
+    
+    bool _correctChecksumReceived(char statusByte, char chkSum);
+    
+      
+// Regular mbed pins to drive chip, a SPI bus and S0-S2 which function as slave selects, active low
+    SPI *_spi;
+    BusOut *_cs;
+    
+// Received data bytes    
+    char data0;
+    char data1;
+    char data2;
+    char data3;
+
+    
+    // Timer used to ensure only 10 Hz total reads
+    Timer _repClock;       
+};
+
+#endif
\ No newline at end of file