Diff: imu-spi.h

Revision:

0:79f663186c05

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/imu-spi.h	Thu May 31 18:37:12 2012 +0000
@@ -0,0 +1,42 @@
+//
+// imu-spi.h
+//
+// copyright 2010 Hugh Shane
+//
+
+class ImuSpi {
+private:
+    const static int dataSize = 7;
+    const static int bufferSize = dataSize+1; // we need to leave room for one junk data
+    int8_t imuRegs[bufferSize];
+    int16_t buffer[2][bufferSize]; // ping-pong IMU data buffer
+    int8_t pingpong;
+    bool bufferReady;
+    SPI spi; 
+    DigitalOut cs; 
+    DigitalOut reset; 
+    DigitalOut diag; 
+    InterruptIn imuDataReady;
+    void InitImu(void);
+    void IMUDataReadyISR(void);
+    int16_t ReadSynch(char);
+    void WriteSynch(char, char); 
+    void SendReadCmd(int8_t);    
+    void TogglePingpong() {pingpong = (~pingpong) & 0x01;}; 
+    int16_t* GetBufferWritePtr() {return &buffer[pingpong][0];};
+    volatile int imuCmdIndex;
+    volatile int imuReadIndex;
+    Timeout writeTrigger;
+    int16_t* wp;
+    void WriteTriggerTimeoutISR(void);
+    void SSP0ISR(void);
+    static void _ssp0isr(void);
+    int sequenceNumber;
+    InterruptIn onePPS;
+public:
+    ImuSpi(void);  
+    void StartBurstRead(void);
+    int16_t* GetBufferReadPtr() {return buffer[(~pingpong) & 0x01];};    
+    bool IsBufferReady(void);
+    int GetBufferSize(void) {return bufferSize*sizeof(int16_t);};
+};
\ No newline at end of file