Hugh Shane / Mbed 2 deprecated imu-daq-eth

This program acquires data from an ADIS16355 IMU via the SPI bus and sends the data to a host computer via UDP over Ethernet.

Dependencies:   mbed StrippedDownNetServices

imu-spi.h@0:79f663186c05, 2012-05-31 (annotated)

Committer:
yahugh
Date:
Thu May 31 18:37:12 2012 +0000
Revision:
0:79f663186c05

        

        
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//





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// imu-spi.h





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//





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// copyright 2010 Hugh Shane





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//





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class ImuSpi {





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private:





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    const static int dataSize = 7;





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    const static int bufferSize = dataSize+1; // we need to leave room for one junk data





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    int8_t imuRegs[bufferSize];





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    int16_t buffer[2][bufferSize]; // ping-pong IMU data buffer





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    int8_t pingpong;





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    bool bufferReady;





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    SPI spi; 





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    DigitalOut cs; 





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    DigitalOut reset; 





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    DigitalOut diag; 





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    InterruptIn imuDataReady;





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    void InitImu(void);





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    void IMUDataReadyISR(void);





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    int16_t ReadSynch(char);





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    void WriteSynch(char, char); 





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    void SendReadCmd(int8_t);    





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    void TogglePingpong() {pingpong = (~pingpong) & 0x01;}; 





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    int16_t* GetBufferWritePtr() {return &buffer[pingpong][0];};





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    volatile int imuCmdIndex;





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    volatile int imuReadIndex;





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    Timeout writeTrigger;





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    int16_t* wp;





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    void WriteTriggerTimeoutISR(void);





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    void SSP0ISR(void);





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    static void _ssp0isr(void);





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    int sequenceNumber;





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    InterruptIn onePPS;





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public:





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    ImuSpi(void);  





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    void StartBurstRead(void);





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    int16_t* GetBufferReadPtr() {return buffer[(~pingpong) & 0x01];};    





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    bool IsBufferReady(void);





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    int GetBufferSize(void) {return bufferSize*sizeof(int16_t);};





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};