Diff: Adis16488.h

Revision:

0:e9a81060a092

Child:

2:e2e5e40668bf

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Adis16488.h	Wed Apr 10 04:41:21 2013 +0000
@@ -0,0 +1,89 @@
+/**
+ * @file    Adis16488.h
+ * @brief   Device driver - ADIS16488 IMU
+ * @author  sam grove
+ * @version 1.0
+ * @see     http://www.analog.com/static/imported-files/data_sheets/ADIS16488.pdf
+ *
+ * Copyright (c) 2013
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+ 
+#ifndef ADIS16488_H
+#define ADIS16488_H
+
+#include "LogUtil.h"
+#include "mbed.h"
+
+
+/** Using the Analog Devices ADIS16488/PCBZ
+ *
+ * Example:
+ * @code
+
+ * @endcode
+ */
+
+/**
+ *  @class Adis16488
+ *  @brief API abstraction for the ADIS16488 IMU
+ */ 
+class Adis16488
+{
+public:
+
+    struct{ uint16_t data[6]; } gyro, accel, magn, deltang, deltvel;
+    
+    /** Create the Adis16488 object
+     *  @param spi - A defined SPI object
+     *  @param cs - A defined DigitalOut object
+     *  @param rst - A defined DigitalOut object
+     *  @param dr - A defined InterruptIn object
+     */  
+    Adis16488(SPI &spi, DigitalOut &cs, DigitalOut &rst, InterruptIn &dr);
+    
+    /** Clear state vars and initilize the dependant objects
+     */
+    void init(void);
+    
+    /** Read from a register (exposed for debugging reasons)
+     *  @param reg - The register to be written
+     *  @param data - Data read from the device is stored here
+     */
+    void readRegister(uint16_t const reg, uint16_t &data);
+    
+    /** Write to a register (exposed for debugging reasons)
+     *  @param reg - The register to be written
+     */
+    void writeRegister(uint16_t const reg);
+    
+    /** Allow the IC to run and collect user input
+     */
+    void enable(void);
+   
+    /** Stop the IC and put into low power mode
+     */   
+    void disable(void);
+    
+private:
+    SPI         *_spi;
+    DigitalOut  *_cs;
+    DigitalOut  *_rst;
+    InterruptIn *_dr;
+    
+    void drHandler(void);
+};
+
+#endif
+