Complete accel and gyro implementations for new dynamic friendly interface

Signed-off-by: deadprogram <ron@hybridgroup.com>
Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>

examples/c++/curieimu.cxx

@@ -1,7 +1,7 @@
 /*
  * Author: Brendan Le Foll <brendan.le.foll@intel.com>
  * Author: Ron Evans (@deadprogram)
- * Author: Justin Zemlyansky (@JustInDevelopment) 
+ * Author: Justin Zemlyansky (@JustInDevelopment)
  * Copyright (c) 2016 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
@@ -42,12 +42,16 @@ main(int argc, char **argv)
 
     std::cout << "temperature is: " << (sensor->getTemperature() * pow(0.5, 9) + 23) << std::endl;
 
-    int x, y, z;
+    sensor->updateAccel();
-    sensor->readAccelerometer(&x, &y, &z);
+    int x = sensor->getAccelX(),
+        y = sensor->getAccelY(),
+        z = sensor->getAccelZ();
     printf("accelerometer is: %d, %d, %d\n", x, y, z);
 
-    int a, b, c;
+    sensor->updateGyro();
-    sensor->readGyro(&a, &b, &c);
+    int a = sensor->getGyroX(),
+        b = sensor->getGyroY(),
+        c = sensor->getGyroZ();
     printf("gyroscope is: %d, %d, %d\n", a, b, c);
 
     int axis, direction;
@@ -60,8 +64,13 @@ main(int argc, char **argv)
       usleep(10000);
     }
 
-    int m, n, o, p, q, r;
+    sensor->updateMotion();
-    sensor->readMotion(&m, &n, &o, &p, &q, &r);
+    int m = sensor->getAccelX(),
+        n = sensor->getAccelY(),
+        o = sensor->getAccelZ(),
+        p = sensor->getGyroX(),
+        q = sensor->getGyroY(),
+        r = sensor->getGyroZ();
     printf("motion is: %d, %d, %d, %d, %d, %d\n", m, n, o, p, q, r);
 
     delete sensor;

src/curieimu/curieimu.cpp

@@ -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));
+    m_accel[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
-    accel[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
+    m_accel[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
-    accel[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 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));
+    m_gyro[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
-    gyro[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
+    m_gyro[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
-    gyro[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 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));
+    m_motion[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
-    motion[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
+    m_motion[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
-    motion[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
+    m_motion[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
-    motion[3] = ((m_results[9] & 0x7f) | ((m_results[10] & 0x7f) << 7));
+    m_motion[3] = ((m_results[9] & 0x7f) | ((m_results[10] & 0x7f) << 7));
-    motion[4] = ((m_results[11] & 0x7f) | ((m_results[12] & 0x7f) << 7));
+    m_motion[4] = ((m_results[11] & 0x7f) | ((m_results[12] & 0x7f) << 7));
-    motion[5] = ((m_results[13] & 0x7f) | ((m_results[13] & 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();

src/curieimu/curieimu.hpp

@@ -65,6 +65,10 @@ namespace upm {
 #define FIRMATA_CURIE_IMU_TAP_DETECT        0x05
 #define FIRMATA_CURIE_IMU_READ_MOTION       0x06
 
+#define X 0
+#define Y 1
+#define Z 2
+
 struct IMUDataItem {
     int axis;
     int direction;
@@ -86,37 +90,77 @@ class CurieImu {
       ~CurieImu();
 
       /**
+       * Updates the latest accelerometer readings by calling Firmata
        */
       void updateAccel();
 
       /**
-       *
+       * Updates the latest gyroscope readings by calling Firmata
        */
       void updateGyro();
 
       /**
-       *
+       * Updates the both the latest accelerometer & gyroscope readings
+       * by calling Firmata
        */
       void updateMotion();
 
       /**
-       * Read accelerometer X, Y, and Z axis
+       * Returns last accelerometer reading X, Y, and Z axis
        *
-       * @param xVal Pointer to returned X-axis value
+       * @return pointer to array with X-axis, Y-axis & Z-axis value
-       * @param yVal Pointer to returned Y-axis value
-       * @param zVal Pointer to returned Z-axis value
        */
       int16_t* getAccel();
 
+      /**
+       * Returns last accelerometer reading X axis
+       *
+       * @return X-axis value
+       */
+      int16_t getAccelX();
+
+      /**
+       * Returns last accelerometer reading Y axis
+       *
+       * @return Y-axis value
+       */
+      int16_t getAccelY();
+
+      /**
+       * Returns last accelerometer reading Z axis
+       *
+       * @return Z-axis value
+       */
+      int16_t getAccelZ();
+
       /**
        * Read gyroscope X, Y, and Z axis
        *
-       * @param xVal Pointer to returned X-axis value
+       * @return pointer to array with X-axis, Y-axis & Z-axis value
-       * @param yVal Pointer to returned Y-axis value
-       * @param zVal Pointer to returned Z-axis value
        */
       int16_t* getGyro();
 
+      /**
+       * Returns last gyroscope reading X axis
+       *
+       * @return X-axis value
+       */
+      int16_t getGyroX();
+
+      /**
+       * Returns last gyroscope reading Y axis
+       *
+       * @return Y-axis value
+       */
+      int16_t getGyroY();
+
+      /**
+       * Returns last gyroscope reading Z axis
+       *
+       * @return Z-axis value
+       */
+      int16_t getGyroZ();
+
       /**
        * Reads the internal temperature
        *
@@ -127,12 +171,9 @@ class CurieImu {
       /**
        * Reads the X, Y, and Z axis of both gyroscope and accelerometer
        *
-       * @param xA Pointer to returned X-axis value of accelerometer
+       * @return pointer to array with X-axis, Y-axis & Z-axis values for
-       * @param yA Pointer to returned Y-axis value of accelerometer
+       * accelerometer, and then X-axis, Y-axis & Z-axis values for
-       * @param zA Pointer to returned Z-axis value of accelerometer
+       * gyroscope
-       * @param xG Pointer to returned X-axis value of Gyroscope
-       * @param yG Pointer to returned Y-axis value of Gyroscope
-       * @param zG Pointer to returned Z-axis value of Gyroscope
        */
       int16_t* getMotion();
 
@@ -245,9 +286,9 @@ class CurieImu {
         std::queue<int> m_stepData;
         std::queue<IMUDataItem*> m_tapData;
 
-        int16_t accel[3];
+        int16_t m_accel[3];
-        int16_t gyro[3];
+        int16_t m_gyro[3];
-        int16_t motion[6];
+        int16_t m_motion[6];
 };
 
 }