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Added iGyroscope interface

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Signed-off-by: Serban Waltter <serban.waltter@rinftech.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Serban Waltter
2018-10-02 14:06:17 +03:00
committed by Mihai Tudor Panu
parent 34bb12933d
commit aa966946d5
39 changed files with 222 additions and 47 deletions
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2
src/mpu9150/CMakeLists.txt
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@ -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)

7
src/mpu9150/mpu60x0.cxx
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@ -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

10
src/mpu9150/mpu60x0.hpp
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@ -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
*