Added iGyroscope interface

Signed-off-by: Serban Waltter <serban.waltter@rinftech.com>

examples/java/BMG160_Example.java

@@ -23,6 +23,7 @@
  */
 
 import upm_bmg160.BMG160;
+import upm_interfaces.*;
 import java.util.AbstractList;
 import java.lang.Float;
 

examples/java/BMI160_Example.java

@@ -22,6 +22,9 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
+import java.util.AbstractList;
+import upm_interfaces.*;
+
 import upm_bmi160.BMI160;
 
 public class BMI160_Example
@@ -39,25 +42,25 @@ public class BMI160_Example
                 // update our values from the sensor
                 sensor.update();
 
-                float dataA[] = sensor.getAccelerometer();
+                AbstractList<Float> dataA = sensor.getAcceleration();
 
                 System.out.println("Accelerometer: "
                                    + "AX: "
-                                   + dataA[0]
+                                   + dataA.get(0)
                                    + " AY: "
-                                   + dataA[1]
+                                   + dataA.get(1)
                                    + " AZ: "
-                                   + dataA[2]);
+                                   + dataA.get(2));
 
-                float dataG[] = sensor.getGyroscope();
+                AbstractList<Float> dataG = sensor.getGyroscope();
 
                 System.out.println("Gryoscope:     "
                                    + "GX: "
-                                   + dataG[0]
+                                   + dataG.get(0)
                                    + " GY: "
-                                   + dataG[1]
+                                   + dataG.get(1)
                                    + " GZ: "
-                                   + dataG[2]);
+                                   + dataG.get(2));
 
                 float dataM[] = sensor.getMagnetometer();
 

examples/java/CMakeLists.txt

@@ -79,7 +79,7 @@ add_example(BISS0001_Example "biss0001;interfaces")
 add_example(BMA250E_Example "bma250e;interfaces")
 add_example(BMC150_Example "bmx055;interfaces")
 add_example(BME280_Example "bmp280;interfaces")
-add_example(BMG160_Example bmg160)
+add_example(BMG160_Example "bmg160;interfaces")
 add_example(BMI055_Example "bmx055;interfaces")
 add_example(BMI160_Example "bmi160;interfaces")
 add_example(BMM150_Example bmm150)
@@ -139,7 +139,7 @@ add_example(Hmc5883l_Example hmc5883l)
 add_example(HMTRP_Example hmtrp)
 add_example(HP20x_Example "hp20x;interfaces")
 add_example(HTU21D_Example "htu21d;interfaces")
-add_example(Itg3200_Example itg3200)
+add_example(Itg3200_Example "itg3200;interfaces")
 add_example(Jhd1313m1_Example jhd1313m1)
 add_example(Jhd1313m1_lcd_Example jhd1313m1)
 add_example(Joystick12_Example joystick12)

include/interfaces/iGyroscope.hpp

@@ -0,0 +1,48 @@
+/*
+ * Author: Serban Waltter <serban.waltter@rinftech.com>
+ * Copyright (c) 2018 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <vector>
+
+namespace upm
+{
+    /**
+     * @brief Interface for acceleration sensors
+     */
+    class iGyroscope
+    {
+        public:
+            virtual ~iGyroscope() {}
+
+            /**
+             * Return gyroscope data in degrees per second in the form of
+             * a floating point vector.
+             *
+             * @return A floating point vector containing x, y, and z in
+             * that order in degrees/second.
+             */
+            virtual std::vector<float> getGyroscope() = 0;
+    };
+} // upm

include/interfaces/interfaces.cxx

@@ -9,6 +9,7 @@
 #include "iElectromagnet.hpp"
 #include "iEmg.hpp"
 #include "iGps.hpp"
+#include "iGyroscope.hpp"
 #include "iHallEffect.hpp"
 #include "iHeartRate.hpp"
 #include "iHumidity.hpp"

include/interfaces/interfaces.i

@@ -50,6 +50,7 @@ import java.lang.Float;
     %interface_impl (upm::iElectromagnet);
     %interface_impl (upm::iEmg);
     %interface_impl (upm::iGps);
+    %interface_impl (upm::iGyroscope);
     %interface_impl (upm::iHallEffect);
     %interface_impl (upm::iHeartRate);
     %interface_impl (upm::iHumidity);
@@ -78,6 +79,7 @@ import java.lang.Float;
     #include "iElectromagnet.hpp"
     #include "iEmg.hpp"
     #include "iGps.hpp"
+    #include "iGyroscope.hpp"
     #include "iHallEffect.hpp"
     #include "iHeartRate.hpp"
     #include "iHumidity.hpp"
@@ -105,6 +107,7 @@ import java.lang.Float;
 %include "iElectromagnet.hpp"
 %include "iEmg.hpp"
 %include "iGps.hpp"
+%include "iGyroscope.hpp"
 %include "iHallEffect.hpp"
 %include "iHeartRate.hpp"
 %include "iHumidity.hpp"

src/CMakeLists.txt

@@ -267,10 +267,13 @@ function (_get_current_dot_i_file filePrefix varDotIFile)
           list (FIND module_iface "iAcceleration.hpp" _index)
           if (${_index} GREATER -1)
             set(JAVA_TYPEMAPS "%typemap(javaimports) SWIGTYPE %{\nimport upm_interfaces.*;\n\nimport java.util.AbstractList;\nimport java.lang.Float;\n%}\n")
+            list (FIND module_iface "iGyroscope.hpp" _index)
+          elseif(${_index} GREATER -1)
+            set(JAVA_TYPEMAPS "%typemap(javaimports) SWIGTYPE %{\nimport upm_interfaces.*;\n\nimport java.util.AbstractList;\nimport java.lang.Float;\n%}\n")
           endif()
         else()
           cmake_policy(SET CMP0057 NEW)
-          if ("iAcceleration.hpp" IN_LIST module_iface)
+          if (("iAcceleration.hpp" IN_LIST module_iface) OR ("iGyroscope.hpp" IN_LIST module_iface))
             set(JAVA_TYPEMAPS "%typemap(javaimports) SWIGTYPE %{\nimport upm_interfaces.*;\n\nimport java.util.AbstractList;\nimport java.lang.Float;\n%}\n")
           endif()
         endif()

src/adxrs610/CMakeLists.txt

@@ -2,4 +2,5 @@ set (libname "adxrs610")
 set (libdescription "Gyro Breakout Board (300 Degrees/second)")
 set (module_src ${libname}.cxx)
 set (module_hpp ${libname}.hpp)
+set (module_iface iGyroscope.hpp iTemperature.hpp)
 upm_module_init(mraa)

src/adxrs610/adxrs610.cxx

@@ -97,3 +97,24 @@ float ADXRS610::getAngularVelocity()
   else
     return -((m_zeroPoint - dataV) / m_degreeCoeff);
 }
+
+std::vector<float> ADXRS610::getGyroscope()
+{
+  float dataV = getDataVolts();
+
+  // check the deadband
+  if (dataV < (m_zeroPoint + m_deadband) &&
+      dataV > (m_zeroPoint - m_deadband))
+    return std::vector<float>{0 ,0 ,0};
+  
+  if (dataV > m_zeroPoint)
+  {
+    float v = ((dataV - m_zeroPoint) / m_degreeCoeff);
+    return std::vector<float>{0 ,0 , v};
+  }
+  else
+  {
+    float v = -((m_zeroPoint - dataV) / m_degreeCoeff);
+    return std::vector<float>{0 ,0 , v};
+  }
+}

src/adxrs610/adxrs610.hpp

@@ -27,6 +27,9 @@
 #include <string>
 #include <mraa/aio.hpp>
 
+#include <interfaces/iGyroscope.hpp>
+#include <interfaces/iTemperature.hpp>
+
 // volts per degree / second (typ)
 #define m_degreeCoeff 0.006
 
@@ -69,7 +72,7 @@ namespace upm {
    * @snippet adxrs610.cxx Interesting
    */
 
-  class ADXRS610 {
+  class ADXRS610: virtual public iGyroscope, virtual public iTemperature {
   public:
 
     /**
@@ -84,7 +87,7 @@ namespace upm {
     /**
      * ADXRS610 destructor
      */
-    ~ADXRS610();
+    virtual ~ADXRS610();
 
     /**
      * Returns the voltage detected on the DATA analog pin
@@ -153,6 +156,16 @@ namespace upm {
      */
     float getAngularVelocity();
 
+    /**
+     * Return gyroscope data in degrees per second in the form of
+     * a floating point vector.  update() must have been called
+     * prior to calling this method.
+     *
+     * @return A floating point vector containing x, y, and z in
+     * that order.
+     */
+    std::vector<float> getGyroscope();
+
   protected:
     mraa::Aio m_aioData;
     mraa::Aio m_aioTemp;

src/bmg160/CMakeLists.txt

@@ -5,5 +5,6 @@ upm_mixed_module_init (NAME bmg160
     CPP_HDR bmg160.hpp
     CPP_SRC bmg160.cxx
     FTI_SRC bmg160_fti.c
+    IFACE_HDR iGyroscope.hpp
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/bmg160/bmg160.cxx

@@ -108,6 +108,7 @@ void BMG160::getGyroscope(float *x, float *y, float *z)
 
 std::vector<float> BMG160::getGyroscope()
 {
+    update();
     float v[3];
 
     getGyroscope(&v[0], &v[1], &v[2]);

src/bmg160/bmg160.hpp

@@ -31,6 +31,8 @@
 #include <mraa/gpio.hpp>
 #include "bmg160.h"
 
+#include <interfaces/iGyroscope.hpp>
+
 namespace upm {
 
     /**
@@ -71,7 +73,7 @@ namespace upm {
      * @snippet bmg160.cxx Interesting
      */
 
-    class BMG160 {
+    class BMG160: virtual public iGyroscope {
     public:
         /**
          * BMG160 constructor.

src/bmg160/bmg160.i

@@ -1,26 +1,22 @@
+#ifdef SWIGPYTHON
+%module (package="upm") a110x
+#endif
+
+%import "interfaces/interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
-%include "../upm_javastdvector.i"
-
-%ignore installISR (BMG160_INTERRUPT_PINS_T , int   mraa::Edge ,  void *, void *);
-%ignore getGyroscope(float *, float *, float *);
-
 %typemap(javaimports) SWIGTYPE %{
+import upm_interfaces.*;
+
 import java.util.AbstractList;
 import java.lang.Float;
 %}
 
-%typemap(javaout) SWIGTYPE {
-    return new $&javaclassname($jnicall, true);
-}
-%typemap(javaout) std::vector<float> {
-    return (AbstractList<Float>)(new $&javaclassname($jnicall, true));
-}
-%typemap(jstype) std::vector<float> "AbstractList<Float>"
-
-%template(floatVector) std::vector<float>;
+%ignore installISR (BMG160_INTERRUPT_PINS_T , int   mraa::Edge ,  void *, void *);
+%ignore getGyroscope(float *, float *, float *);
 
 %define INTERRUPT BMG160_INTERRUPT_PINS_T
 %enddef

src/bmi160/CMakeLists.txt

@@ -4,7 +4,7 @@ upm_mixed_module_init (NAME bmi160
     C_SRC bmi160.c bosch_bmi160.c
     CPP_HDR bmi160.hpp
     CPP_SRC bmi160.cxx
-    IFACE_HDR iAcceleration.hpp
+    IFACE_HDR iAcceleration.hpp iGyroscope.hpp
 #    FTI_SRC bmi160_fti.c
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/bmi160/bmi160.cxx

@@ -92,13 +92,13 @@ std::vector<float> BMI160::getAcceleration()
     return v;
 }
 
-float *BMI160::getGyroscope()
+std::vector<float> BMI160::getGyroscope()
 {
   static float values[3]; // x, y, and then z
 
   getGyroscope(&values[0], &values[1], &values[2]);
 
-  return values;
+  return std::vector<float>(values, values + 3);
 }
 
 float *BMI160::getMagnetometer()

src/bmi160/bmi160.hpp

@@ -26,6 +26,7 @@
 #include "bmi160.h"
 
 #include <interfaces/iAcceleration.hpp>
+#include <interfaces/iGyroscope.hpp>
 
 #define BMI160_I2C_BUS 0
 #define BMI160_DEFAULT_I2C_ADDR 0x69
@@ -74,7 +75,7 @@ namespace upm {
      *
      * @snippet bmi160.cxx Interesting
      */
-    class BMI160: virtual public iAcceleration {
+    class BMI160: virtual public iAcceleration, virtual public iGyroscope {
     public:
 
         /**
@@ -162,7 +163,7 @@ namespace upm {
          * @return Pointer to 3 floating point values: X, Y, and Z in
          * degrees per second.
          */
-        float *getGyroscope();
+        virtual std::vector<float> getGyroscope();
 
         /**
          * Get the Gyroscope values.  The values returned are in degrees

src/bmx055/CMakeLists.txt

@@ -2,5 +2,5 @@ upm_mixed_module_init (NAME bmx055
     DESCRIPTION "Bosch IMU Sensor Library"
     CPP_HDR bmx055.hpp bmc150.hpp bmi055.hpp
     CPP_SRC bmx055.cxx bmc150.cxx bmi055.cxx
-    IFACE_HDR iAcceleration.hpp
+    IFACE_HDR iAcceleration.hpp iGyroscope.hpp
     REQUIRES mraa bmg160 bma250e bmm150)

src/bmx055/bmi055.hpp

@@ -32,6 +32,7 @@
 #include "bmg160.hpp"
 
 #include <interfaces/iAcceleration.hpp>
+#include <interfaces/iGyroscope.hpp>
 
 namespace upm {
 
@@ -66,7 +67,7 @@ namespace upm {
      * @snippet bmx055-bmi055.cxx Interesting
      */
 
-    class BMI055: virtual public iAcceleration {
+    class BMI055: virtual public iAcceleration, virtual public iGyroscope {
     public:
         /**
          * BMI055 constructor.

src/bmx055/bmx055.hpp

@@ -33,6 +33,7 @@
 #include "bmm150.hpp"
 
 #include <interfaces/iAcceleration.hpp>
+#include <interfaces/iGyroscope.hpp>
 
 #define BMX055_DEFAULT_MAG_I2C_ADDR 0x12
 
@@ -78,7 +79,7 @@ namespace upm {
    * @snippet bmx055.cxx Interesting
    */
 
-    class BMX055: virtual public iAcceleration {
+    class BMX055: virtual public iAcceleration, virtual public iGyroscope {
     public:
         /**
          * BMX055 constructor.

src/bno055/bno055.hpp

@@ -29,6 +29,7 @@
 #include "bno055.h"
 
 #include <interfaces/iAcceleration.hpp>
+#include <interfaces/iGyroscope.hpp>
 
 namespace upm {
 

src/itg3200/CMakeLists.txt

@@ -2,4 +2,5 @@ set (libname "itg3200")
 set (libdescription "3-axis Digital Gyroscope")
 set (module_src ${libname}.cxx)
 set (module_hpp ${libname}.hpp)
+set (module_iface iGyroscope.hpp)
 upm_module_init(mraa)

src/itg3200/itg3200.cxx

@@ -114,6 +114,14 @@ Itg3200::getRotation()
     return &m_angle[0];
 }
 
+std::vector<float> Itg3200::getGyroscope()
+{
+    for(int i = 0; i < 3; i++){
+        m_angle[i] = m_rotation[i]/14.375;
+    }
+    return std::vector<float>(m_angle, m_angle + 3);
+}
+
 int16_t*
 Itg3200::getRawValues()
 {

src/itg3200/itg3200.hpp

@@ -25,6 +25,8 @@
 
 #include <mraa/i2c.hpp>
 
+#include <interfaces/iGyroscope.hpp>
+
 #define READ_BUFFER_LENGTH 8
 
 namespace upm {
@@ -56,7 +58,7 @@ namespace upm {
  * @image html itg3200.jpeg
  * @snippet itg3200.cxx Interesting
  */
-class Itg3200 {
+class Itg3200: virtual public iGyroscope {
 public:
     /**
      * Creates an Itg3200 object
@@ -86,6 +88,16 @@ public:
      */
     float* getRotation();
 
+    /**
+     * Return gyroscope data in degrees per second in the form of
+     * a floating point vector.  update() must have been called
+     * prior to calling this method.
+     *
+     * @return A floating point vector containing x, y, and z in
+     * that order.
+     */
+    std::vector<float> getGyroscope();
+
     /**
      * Returns a pointer to an int[3] that contains raw register values for X, Y, and Z
      *

src/itg3200/itg3200.i

@@ -1,7 +1,20 @@
+#ifdef SWIGPYTHON
+%module (package="upm") a110x
+#endif
+
+%import "interfaces/interfaces.i"
+
 %include "../common_top.i"
 
 /* BEGIN Java syntax  ------------------------------------------------------- */
 #ifdef SWIGJAVA
+%typemap(javaimports) SWIGTYPE %{
+import upm_interfaces.*;
+
+import java.util.AbstractList;
+import java.lang.Float;
+%}
+
 %typemap(jni) float* "jfloatArray"
 %typemap(jstype) float* "float[]"
 %typemap(jtype) float* "float[]"

src/l3gd20/CMakeLists.txt

@@ -3,5 +3,6 @@ if (MRAA_IIO_FOUND)
     set (libdescription "Tri-axis Digital Gyroscope")
     set (module_src ${libname}.cxx)
     set (module_hpp ${libname}.hpp)
+    set (module_iface iGyroscope.hpp)
     upm_module_init(mraa)
 endif (MRAA_IIO_FOUND)

src/l3gd20/l3gd20.cxx

@@ -273,6 +273,16 @@ void L3GD20::getGyroscope(float *x, float *y, float *z)
     *z = m_gyrZ;
 }
 
+std::vector<float> L3GD20::getGyroscope()
+{
+    update();
+    std::vector<float> values(3);
+    values[0] = m_gyrX;
+    values[1] = m_gyrY;
+    values[2] = m_gyrZ;
+    return values;
+}
+
 void L3GD20::update()
 {
   int bufLen = 6;

src/l3gd20/l3gd20.hpp

@@ -31,6 +31,8 @@
 #include <mraa/iio.h>
 #include <mraa/i2c.hpp>
 
+#include <interfaces/iGyroscope.hpp>
+
 #define L3GD20_DEFAULT_I2C_BUS                      0
 // if SDO tied to GND
 #define L3GD20_DEFAULT_I2C_ADDR                     0x6a
@@ -74,7 +76,7 @@ namespace upm
  * @snippet l3gd20-i2c.cxx Interesting
  */
 
-class L3GD20
+class L3GD20: virtual public iGyroscope
 {
   public:
     typedef struct {
@@ -479,6 +481,16 @@ class L3GD20
      */
     void getGyroscope(float *x, float *y, float *z);
 
+    /**
+     * Return gyroscope data in degrees per second in the form of
+     * a floating point vector.  update() must have been called
+     * prior to calling this method.
+     *
+     * @return A floating point vector containing x, y, and z in
+     * that order.
+     */
+    std::vector<float> getGyroscope();
+
     /**
      * Set the power mode of the device.  I2C only.
      *

src/lsm6ds3h/CMakeLists.txt

@@ -5,6 +5,6 @@ upm_mixed_module_init (NAME lsm6ds3h
     CPP_HDR lsm6ds3h.hpp
     CPP_SRC lsm6ds3h.cxx
     FTI_SRC lsm6ds3h_fti.c
-    IFACE_HDR iAcceleration.hpp
+    IFACE_HDR iAcceleration.hpp iGyroscope.hpp
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/lsm6ds3h/lsm6ds3h.cxx

@@ -124,6 +124,7 @@ void LSM6DS3H::getGyroscope(float *x, float *y, float *z)
 
 std::vector<float> LSM6DS3H::getGyroscope()
 {
+    update();
     float v[3];
 
     getGyroscope(&v[0], &v[1], &v[2]);

src/lsm6ds3h/lsm6ds3h.hpp

@@ -32,6 +32,7 @@
 #include "lsm6ds3h.h"
 
 #include <interfaces/iAcceleration.hpp>
+#include <interfaces/iGyroscope.hpp>
 
 namespace upm {
 
@@ -66,7 +67,7 @@ namespace upm {
      * @snippet lsm6ds3h.cxx Interesting
      */
 
-    class LSM6DS3H: virtual public iAcceleration {
+    class LSM6DS3H: virtual public iAcceleration, virtual public iGyroscope {
     public:
 
         /**

src/lsm6dsl/CMakeLists.txt

@@ -4,7 +4,7 @@ upm_mixed_module_init (NAME lsm6dsl
     C_SRC lsm6dsl.c
     CPP_HDR lsm6dsl.hpp
     CPP_SRC lsm6dsl.cxx
-    IFACE_HDR iAcceleration.hpp
+    IFACE_HDR iAcceleration.hpp iGyroscope.hpp
     FTI_SRC lsm6dsl_fti.c
     CPP_WRAPS_C
     REQUIRES mraa utilities-c)

src/lsm6dsl/lsm6dsl.cxx

@@ -125,6 +125,7 @@ void LSM6DSL::getGyroscope(float *x, float *y, float *z)
 
 std::vector<float> LSM6DSL::getGyroscope()
 {
+    update();
     float v[3];
 
     getGyroscope(&v[0], &v[1], &v[2]);

src/lsm6dsl/lsm6dsl.hpp

@@ -32,6 +32,7 @@
 #include "lsm6dsl.h"
 
 #include <interfaces/iAcceleration.hpp>
+#include <interfaces/iGyroscope.hpp>
 
 namespace upm {
 
@@ -65,7 +66,7 @@ namespace upm {
      * @snippet lsm6dsl.cxx Interesting
      */
 
-    class LSM6DSL: virtual public iAcceleration {
+    class LSM6DSL: virtual public iAcceleration, virtual public iGyroscope {
     public:
 
         /**

src/lsm9ds0/CMakeLists.txt

@@ -2,5 +2,5 @@ set (libname "lsm9ds0")
 set (libdescription "Triaxial Gyroscope/accelerometer/magnetometer Sensor")
 set (module_src ${libname}.cxx)
 set (module_hpp ${libname}.hpp)
-set (module_iface iAcceleration.hpp)
+set (module_iface iAcceleration.hpp iGyroscope.hpp)
 upm_module_init(mraa)

src/lsm9ds0/lsm9ds0.hpp

@@ -31,6 +31,7 @@
 #include <mraa/gpio.hpp>
 
 #include <interfaces/iAcceleration.hpp>
+#include <interfaces/iGyroscope.hpp>
 
 #define LSM9DS0_I2C_BUS 1
 #define LSM9DS0_DEFAULT_XM_ADDR 0x1d
@@ -79,7 +80,7 @@ namespace upm {
    * @snippet lsm9ds0.cxx Interesting
    */
 
-  class LSM9DS0: virtual public iAcceleration {
+  class LSM9DS0: virtual public iAcceleration, virtual public iGyroscope {
   public:
 
     // NOTE: reserved registers must not be written into or permanent
@@ -1074,7 +1075,7 @@ namespace upm {
     /**
      * LSM9DS0 Destructor
      */
-    ~LSM9DS0();
+    virtual ~LSM9DS0();
 
     /**
      * set up initial values and start operation

src/mpu9150/CMakeLists.txt

@@ -2,5 +2,5 @@ set (libname "mpu9150")
 set (libdescription "IMU Sensor Library Based On the Mpu9150")
 set (module_src ${libname}.cxx ak8975.cxx mpu60x0.cxx mpu9250.cxx)
 set (module_hpp ${libname}.hpp ak8975.hpp mpu60x0.hpp mpu9250.hpp)
-set (module_iface iAcceleration.hpp)
+set (module_iface iAcceleration.hpp iGyroscope.hpp)
 upm_module_init(mraa)

src/mpu9150/mpu60x0.cxx

@@ -325,6 +325,13 @@ void MPU60X0::getGyroscope(float *x, float *y, float *z)
     *z = m_gyroZ / m_gyroScale;
 }
 
+std::vector<float> MPU60X0::getGyroscope()
+{
+  update();
+  return std::vector<float> {m_gyroX / m_gyroScale, m_gyroY / m_gyroScale, m_gyroZ / m_gyroScale};
+}
+
+
 float MPU60X0::getTemperature()
 {
   // this equation is taken from the datasheet

src/mpu9150/mpu60x0.hpp

@@ -31,6 +31,7 @@
 #include <mraa/gpio.hpp>
 
 #include <interfaces/iAcceleration.hpp>
+#include <interfaces/iGyroscope.hpp>
 
 #define MPU60X0_I2C_BUS 0
 #define MPU60X0_DEFAULT_I2C_ADDR 0x68
@@ -62,7 +63,7 @@ namespace upm {
    * @image html mpu60x0.jpg
    * @snippet mpu9150-mpu60x0.cxx Interesting
    */
-  class MPU60X0: virtual public iAcceleration {
+  class MPU60X0: virtual public iAcceleration, virtual public iGyroscope {
   public:
 
     // NOTE: These enums were composed from both the mpu6050 and
@@ -811,6 +812,13 @@ namespace upm {
      */
     void getGyroscope(float *x, float *y, float *z);
 
+    /**
+     * get the gyroscope values in degrees per second
+     *
+     * @return std::vector containing X, Y, Z gyroscope values
+     */
+    std::vector<float> getGyroscope();
+
     /**
      * get the temperature value
      *