Randall Williford / SiliconSensingDMU

A library for Silicon Sensing DMU02

Dependents:   DMUTest

DMU.h@0:e4342b551612, 2013-03-11 (annotated)

Committer:
ramwilliford
Date:
Mon Mar 11 16:34:51 2013 +0000
Revision:
0:e4342b551612
Child:
1:b57a8210864d
Latest.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ramwilliford 0:e4342b551612 1 #ifndef DMU_H
ramwilliford 0:e4342b551612 2 #define DMU_H
ramwilliford 0:e4342b551612 3
ramwilliford 0:e4342b551612 4
ramwilliford 0:e4342b551612 5 #include "mbed.h"
ramwilliford 0:e4342b551612 6 /**
ramwilliford 0:e4342b551612 7 * A DMU interface for communicating with the Silicon Sensing DMU02 Dynamics Measurement Unit
ramwilliford 0:e4342b551612 8 *
ramwilliford 0:e4342b551612 9 */
ramwilliford 0:e4342b551612 10 class DMU {
ramwilliford 0:e4342b551612 11 public:
ramwilliford 0:e4342b551612 12
ramwilliford 0:e4342b551612 13
ramwilliford 0:e4342b551612 14 /** Creates a DMU interface for using regural mbed pins
ramwilliford 0:e4342b551612 15 *
ramwilliford 0:e4342b551612 16 * @param MOSI SPI MOSI line
ramwilliford 0:e4342b551612 17 * @param MISO SPI MISO line
ramwilliford 0:e4342b551612 18 * @param SCLK SPI SCLK line
ramwilliford 0:e4342b551612 19 * @param S0-S2 Select lines for X, Y and Z axi
ramwilliford 0:e4342b551612 20 *
ramwilliford 0:e4342b551612 21 */
ramwilliford 0:e4342b551612 22 DMU(PinName MOSI, PinName MISO, PinName SCLK, PinName S0, PinName S1, PinName S2);
ramwilliford 0:e4342b551612 23
ramwilliford 0:e4342b551612 24
ramwilliford 0:e4342b551612 25 /** Return the acceleration in the direction of the selected axis
ramwilliford 0:e4342b551612 26 *
ramwilliford 0:e4342b551612 27 * @param axis The axis you wish to query: x, y or z.
ramwilliford 0:e4342b551612 28 */
ramwilliford 0:e4342b551612 29 float acceleration(char axis);
ramwilliford 0:e4342b551612 30
ramwilliford 0:e4342b551612 31
ramwilliford 0:e4342b551612 32 /** Return the roll
ramwilliford 0:e4342b551612 33 *
ramwilliford 0:e4342b551612 34 */
ramwilliford 0:e4342b551612 35 float roll();
ramwilliford 0:e4342b551612 36
ramwilliford 0:e4342b551612 37
ramwilliford 0:e4342b551612 38 /** Return the pitch
ramwilliford 0:e4342b551612 39 *
ramwilliford 0:e4342b551612 40 */
ramwilliford 0:e4342b551612 41 float pitch();
ramwilliford 0:e4342b551612 42
ramwilliford 0:e4342b551612 43 /** Return the yaw
ramwilliford 0:e4342b551612 44 *
ramwilliford 0:e4342b551612 45 */
ramwilliford 0:e4342b551612 46 float yaw();
ramwilliford 0:e4342b551612 47
ramwilliford 0:e4342b551612 48
ramwilliford 0:e4342b551612 49 /** forces the device to perform the built-in test
ramwilliford 0:e4342b551612 50 *
ramwilliford 0:e4342b551612 51 */
ramwilliford 0:e4342b551612 52 void test();
ramwilliford 0:e4342b551612 53
ramwilliford 0:e4342b551612 54
ramwilliford 0:e4342b551612 55 protected:
ramwilliford 0:e4342b551612 56
ramwilliford 0:e4342b551612 57 //Device Initialization
ramwilliford 0:e4342b551612 58 void _init();
ramwilliford 0:e4342b551612 59
ramwilliford 0:e4342b551612 60 //used to set selected axis for query, active low
ramwilliford 0:e4342b551612 61 void _selectAxis(char axis);
ramwilliford 0:e4342b551612 62
ramwilliford 0:e4342b551612 63 //deselects all axis, inactive high
ramwilliford 0:e4342b551612 64 void _deselectAxis();
ramwilliford 0:e4342b551612 65
ramwilliford 0:e4342b551612 66 //writes control byte to device, populates data bytes, returns bool of if data was received correctly
ramwilliford 0:e4342b551612 67 bool _write(char controlByte);
ramwilliford 0:e4342b551612 68
ramwilliford 0:e4342b551612 69 bool _correctChecksumReceived(char statusByte, char chkSum);
ramwilliford 0:e4342b551612 70
ramwilliford 0:e4342b551612 71
ramwilliford 0:e4342b551612 72 // Regular mbed pins to drive chip, a SPI bus and S0-S2 which function as slave selects, active low
ramwilliford 0:e4342b551612 73 SPI *_spi;
ramwilliford 0:e4342b551612 74 BusOut *_cs;
ramwilliford 0:e4342b551612 75
ramwilliford 0:e4342b551612 76 // Received data bytes
ramwilliford 0:e4342b551612 77 char data0;
ramwilliford 0:e4342b551612 78 char data1;
ramwilliford 0:e4342b551612 79 char data2;
ramwilliford 0:e4342b551612 80 char data3;
ramwilliford 0:e4342b551612 81
ramwilliford 0:e4342b551612 82
ramwilliford 0:e4342b551612 83 // Timer used to ensure only 10 Hz total reads
ramwilliford 0:e4342b551612 84 Timer _repClock;
ramwilliford 0:e4342b551612 85 };
ramwilliford 0:e4342b551612 86
ramwilliford 0:e4342b551612 87 #endif