Added iGyroscope interface

Signed-off-by: Serban Waltter <serban.waltter@rinftech.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

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;