Diff: ADIS16467.h

Revision:

0:73d3025fc18b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ADIS16467.h	Fri Feb 21 00:18:37 2020 -0800
@@ -0,0 +1,139 @@
+/*
+ * @author Rita Yang
+ * @filename ADIS16467.h
+ *
+ * @section DESCRIPTION
+ *
+ * Software Driver for ADIS16467-3 Precision MEMS IMU Module
+ *
+ * Datasheet:
+ *
+ * https://www.analog.com/media/en/technical-documentation/data-sheets/adis16467.pdf
+ */  
+
+#ifndef ADIS16467_H
+#define ADIS16467_H
+
+#include "mbed.h"
+
+namespace ADIS16467
+{
+	typedef struct BurstReadResult
+	{
+		int32_t gyroX;
+		int32_t gyroY;
+		int32_t gyroZ;
+		int32_t accelX;
+		int32_t accelY;
+		int32_t accelZ;
+		uint16_t statusDiag;
+		uint16_t internalTemp;
+		uint16_t dataCounter;
+		uint16_t checkSum;
+	} BurstReadResult;
+
+	typedef struct FirmwareInfo
+	{
+		uint8_t firmRevMajor;
+		uint8_t firmRevMinor;
+
+		uint8_t firmwareDay;
+		uint8_t firmwareMonth;
+		uint16_t firmwareYear;
+		uint16_t serialNum;
+	} FirmwareInfo;
+
+	class ADIS16467
+	{
+		public:
+			ADIS16467(Serial *debug, PinName DIN, PinName DOUT, PinName SCLK, PinName CS, PinName RST);
+			void initADIS();
+
+			uint32_t readResetTimer();
+			uint16_t readStatDiag();
+			void setErrorFlags(uint16_t statusDiagVal);
+			bool getClockError();
+			bool getMemFailure();
+			bool getSensorFailure();
+			bool getStandbyMode();
+			bool getSPIError();
+			bool getFlashUpFail();
+			bool getDatapathOverrun();
+			bool checkExistence();
+			void resetAllFlags();
+			int32_t readGyroX();
+			int32_t readGyroY();
+			int32_t readGyroZ();
+			int32_t readAccelX();
+			int32_t readAccelY();
+			int32_t readAccelZ();
+			uint16_t readInternalTemp();
+			uint16_t readTimeStamp();
+			uint16_t readDataCounter();
+			void burstRead(BurstReadResult &newResult);
+			void setPollRate(uint16_t hz);
+			void sensorSelfTest();
+			bool updateDeltaAngles();
+			int64_t getDeltaAngleXSum();
+			int64_t getDeltaAngleYSum();
+			int64_t getDeltaAngleZSum();
+			void updateDeltaVels();
+			int64_t getDelVelXSum();
+			int64_t getDelVelYSum();
+			int64_t getDelVelZSum();
+			void setGyroBiases(float xBias, float yBias, float zBias);
+			void getFirmwareInformation(FirmwareInfo &info);
+			void resetDeltaAngle();
+			void resetDeltaVel();
+
+			//conversion factors
+			static constexpr float GYRO_CONV = 0.1f / (1 << 16); //10 LSB/degree/sec
+			static constexpr float ACCEL_CONV = 1.25f / (1 << 16); //1 LSB = 1.25 mg
+			static constexpr float TEMP_CONV = 0.1f; //1 LSB = 0.1 degree Celcius
+			static constexpr float TIME_CONV = 49.02f; //1 LSB = 49.02 us
+			static constexpr float DELTA_ANGLE_CONV =  2160.0f / (1 << 31); //degrees per LSB 	
+			static constexpr float DELTA_VEL_CONV = 400.0f / (1 << 15); //meters/sec per LSB
+
+		private:
+			Serial *debugPort;
+			SPI spi;
+			DigitalOut cs;
+			DigitalOut rst;
+			Timer resetTimer; //keep track of reset time
+			bool clockError;
+			bool memoryFailure;
+			bool sensorFailure;
+			bool standbyMode;
+			bool comSPIError;
+			bool flashMemUpdateFailure;
+			bool datapathOverrun;
+			void writeConfigurationRegister(uint8_t addressLow, uint8_t addressHigh, int16_t data);
+			uint16_t readRegister(uint8_t address);
+			int32_t read32BitValue(uint8_t highAddress, uint8_t lowAddress);
+			void begin();
+			void select();
+			void deselect();
+
+			int64_t deltaAngleX_sum;
+			int64_t deltaAngleY_sum;
+			int64_t deltaAngleZ_sum;
+			int32_t readDeltaAngleX();
+			int32_t readDeltaAngleY();
+			int32_t readDeltaAngleZ();
+			int32_t lastDC_DeltaAngle;
+
+			int64_t deltaVelocityX_sum;
+			int64_t deltaVelocityY_sum;
+			int64_t deltaVelocityZ_sum;
+			int32_t readDeltaVelX();
+			int32_t readDeltaVelY();
+			int32_t readDeltaVelZ();
+			int32_t lastDC_DeltaVel;
+
+			uint16_t curr_DecRate;
+	};
+}
+
+
+
+#endif