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Complete accel and gyro implementations for new dynamic friendly interface

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Signed-off-by: deadprogram <ron@hybridgroup.com>
Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
This commit is contained in:
deadprogram
2016-03-18 10:58:51 -07:00
committed by Brendan Le Foll
parent ee19daedee
commit 90983fde9d
3 changed files with 132 additions and 40 deletions
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72
src/curieimu/curieimu.cpp
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@ -158,19 +158,55 @@ CurieImu::processResponse()
int16_t*
CurieImu::getAccel()
{
return &accel[0];
return &m_accel[0];
}
int16_t
CurieImu::getAccelX()
{
return m_accel[X];
}
int16_t
CurieImu::getAccelY()
{
return m_accel[Y];
}
int16_t
CurieImu::getAccelZ()
{
return m_accel[Z];
}
int16_t*
CurieImu::getGyro()
{
return &gyro[0];
return &m_gyro[0];
}
int16_t
CurieImu::getGyroX()
{
return m_gyro[X];
}
int16_t
CurieImu::getGyroY()
{
return m_gyro[Y];
}
int16_t
CurieImu::getGyroZ()
{
return m_gyro[Z];
}
int16_t*
CurieImu::getMotion()
{
return &motion[0];
return &m_motion[0];
}
void
@ -190,9 +226,9 @@ CurieImu::updateAccel()
waitForResponse();
accel[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
accel[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
accel[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
m_accel[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
m_accel[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
m_accel[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
delete m_results;
unlock();
@ -217,9 +253,9 @@ CurieImu::updateGyro()
waitForResponse();
gyro[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
gyro[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
gyro[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
m_gyro[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
m_gyro[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
m_gyro[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
delete m_results;
unlock();
@ -244,12 +280,18 @@ CurieImu::updateMotion()
waitForResponse();
motion[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
motion[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
motion[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
motion[3] = ((m_results[9] & 0x7f) | ((m_results[10] & 0x7f) << 7));
motion[4] = ((m_results[11] & 0x7f) | ((m_results[12] & 0x7f) << 7));
motion[5] = ((m_results[13] & 0x7f) | ((m_results[13] & 0x7f) << 7));
m_motion[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
m_motion[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
m_motion[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
m_motion[3] = ((m_results[9] & 0x7f) | ((m_results[10] & 0x7f) << 7));
m_motion[4] = ((m_results[11] & 0x7f) | ((m_results[12] & 0x7f) << 7));
m_motion[5] = ((m_results[13] & 0x7f) | ((m_results[13] & 0x7f) << 7));
for (int i=0; i<3; i++)
m_accel[i] = m_motion[i];
for (int i=0; i<3; i++)
m_gyro[i] = m_motion[i+3];
delete m_results;
unlock();