Adis16488.h

00001 /**
00002  * @file    Adis16488.h
00003  * @brief   Device driver - ADIS16488 IMU
00004  * @author  sam grove
00005  * @version 1.0
00006  * @see     http://www.analog.com/static/imported-files/data_sheets/ADIS16488.pdf
00007  *
00008  * Copyright (c) 2013
00009  *
00010  * Licensed under the Apache License, Version 2.0 (the "License");
00011  * you may not use this file except in compliance with the License.
00012  * You may obtain a copy of the License at
00013  *
00014  *     http://www.apache.org/licenses/LICENSE-2.0
00015  *
00016  * Unless required by applicable law or agreed to in writing, software
00017  * distributed under the License is distributed on an "AS IS" BASIS,
00018  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00019  * See the License for the specific language governing permissions and
00020  * limitations under the License.
00021  */
00022  
00023 #ifndef ADIS16488_H
00024 #define ADIS16488_H
00025 
00026 #include "LogUtil.h"
00027 #include "mbed.h"
00028 
00029 /** Using the Analog Devices ADIS16488/PCBZ
00030  *
00031  * Example:
00032  * @code
00033  *  #include "mbed.h"
00034  *
00035  *  int main()
00036  *  {
00037  *  }
00038  * @endcode
00039  */
00040 
00041 /**
00042  *  @class Adis16488
00043  *  @brief API abstraction for the ADIS16488 IMU
00044  */ 
00045 class Adis16488
00046 {
00047 public:
00048 
00049     struct{ uint16_t data[6]; } gyro, accel, magn, deltang, deltvel;
00050     
00051     /** Create the Adis16488 object
00052      *  @param spi - A defined SPI object
00053      *  @param cs - A defined DigitalOut object
00054      *  @param rst - A defined DigitalOut object
00055      *  @param dr - A defined InterruptIn object
00056      */  
00057     Adis16488(SPI &spi, DigitalOut &cs, DigitalOut &rst, InterruptIn &dr);
00058     
00059     /** Clear state vars and initilize the dependant objects
00060      */
00061     void init(void);
00062     
00063     /** Read from a register (exposed for debugging reasons)
00064      *  @param reg - The register to be written
00065      *  @param data - Data read from the device is stored here
00066      */
00067     void readRegister(uint16_t const reg, uint16_t &data);
00068     
00069     /** Write to a register (exposed for debugging reasons)
00070      *  @param reg - The register to be written
00071      */
00072     void writeRegister(uint16_t const reg);
00073     
00074     /** Allow the IC to run and collect user input
00075      */
00076     void enable(void);
00077    
00078     /** Stop the IC and put into low power mode
00079      */   
00080     void disable(void);
00081     
00082 private:
00083     SPI         *_spi;
00084     DigitalOut  *_cs;
00085     DigitalOut  *_rst;
00086     InterruptIn *_dr;
00087     
00088     void drHandler(void);
00089 };
00090 
00091 #endif
00092