imu-spi.h

00001 //
00002 // imu-spi.h
00003 //
00004 // copyright 2010 Hugh Shane
00005 //
00006 
00007 class ImuSpi {
00008 private:
00009     const static int bufferSize = 7;
00010     int16_t buffer[2][bufferSize]; // ping-pong IMU data buffer
00011     unsigned pingpong;
00012     bool dataReady;
00013     SPI spi; 
00014     DigitalOut cs; 
00015     DigitalOut reset; 
00016     DigitalOut diag; 
00017     InterruptIn imuDataReady;
00018     void InitImu(void);
00019     void DataReadyISR(void);
00020     int16_t Read(char);
00021     void Write(char, char);        
00022     void TogglePingpong() {pingpong = (~pingpong) & 1U;}; 
00023     int16_t* GetBufferWritePtr() {return buffer[pingpong & 1U];};
00024 public:
00025     ImuSpi(void);  
00026     void BurstRead(void);
00027     int16_t* GetBufferReadPtr() {return buffer[(~pingpong) & 1U];};    
00028     bool IsDataReady(void);
00029     int GetBufferSize(void) {return bufferSize*sizeof(int16_t);};
00030     void reinitInterrupts(void);
00031 };