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curieimu: modify calls to use update methodology to fix python/java/js API

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Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
This commit is contained in:
Brendan Le Foll
2016-03-18 14:56:23 +00:00
parent 61dbfe4f23
commit ee19daedee
5 changed files with 118 additions and 42 deletions
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94
src/curieimu/curieimu.cpp
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@ -155,8 +155,26 @@ CurieImu::processResponse()
return;
}
int16_t*
CurieImu::getAccel()
{
return &accel[0];
}
int16_t*
CurieImu::getGyro()
{
return &gyro[0];
}
int16_t*
CurieImu::getMotion()
{
return &motion[0];
}
void
CurieImu::readAccelerometer(int *xVal, int *yVal, int *zVal)
CurieImu::updateAccel()
{
char message[4];
message[0] = FIRMATA_START_SYSEX;
@ -172,9 +190,9 @@ CurieImu::readAccelerometer(int *xVal, int *yVal, int *zVal)
waitForResponse();
*xVal = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
*yVal = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
*zVal = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
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));
delete m_results;
unlock();
@ -183,7 +201,7 @@ CurieImu::readAccelerometer(int *xVal, int *yVal, int *zVal)
}
void
CurieImu::readGyro(int *xVal, int *yVal, int *zVal)
CurieImu::updateGyro()
{
char message[4];
message[0] = FIRMATA_START_SYSEX;
@ -199,9 +217,39 @@ CurieImu::readGyro(int *xVal, int *yVal, int *zVal)
waitForResponse();
*xVal = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
*yVal = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
*zVal = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
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));
delete m_results;
unlock();
return;
}
void
CurieImu::updateMotion()
{
char message[4];
message[0] = FIRMATA_START_SYSEX;
message[1] = FIRMATA_CURIE_IMU;
message[2] = FIRMATA_CURIE_IMU_READ_MOTION;
message[3] = FIRMATA_END_SYSEX;
lock();
mraa_firmata_response_stop(m_firmata);
mraa_firmata_response(m_firmata, handleSyncResponse);
mraa_firmata_write_sysex(m_firmata, &message[0], 4);
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));
delete m_results;
unlock();
@ -236,36 +284,6 @@ CurieImu::getTemperature()
return result;
}
void
CurieImu::readMotion(int *xA, int *yA, int *zA, int *xG, int *yG, int *zG)
{
char message[4];
message[0] = FIRMATA_START_SYSEX;
message[1] = FIRMATA_CURIE_IMU;
message[2] = FIRMATA_CURIE_IMU_READ_MOTION;
message[3] = FIRMATA_END_SYSEX;
lock();
mraa_firmata_response_stop(m_firmata);
mraa_firmata_response(m_firmata, handleSyncResponse);
mraa_firmata_write_sysex(m_firmata, &message[0], 4);
waitForResponse();
*xA = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
*yA = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
*zA = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
*xG = ((m_results[9] & 0x7f) | ((m_results[10] & 0x7f) << 7));
*yG = ((m_results[11] & 0x7f) | ((m_results[12] & 0x7f) << 7));
*zG = ((m_results[13] & 0x7f) | ((m_results[13] & 0x7f) << 7));
delete m_results;
unlock();
return;
}
void
CurieImu::enableShockDetection(bool enable)
{