Added iMagnetometer interface

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

src/mpu9150/CMakeLists.txt

@@ -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 iGyroscope.hpp)
+set (module_iface iAcceleration.hpp iGyroscope.hpp iMagnetometer.hpp iTemperature.hpp)
 upm_module_init(mraa)

src/mpu9150/ak8975.cxx

@@ -237,3 +237,11 @@ void AK8975::getMagnetometer(float *x, float *y, float *z)
     *z = adjustValue(m_zData, m_zCoeff);
 }
 
+std::vector<float> AK8975::getMagnetometer()
+{
+  std::vector<float> v(3);
+  v[0] = adjustValue(m_xData, m_xCoeff);
+  v[0] = adjustValue(m_yData, m_yCoeff);
+  v[0] = adjustValue(m_zData, m_zCoeff);
+  return v;
+}

src/mpu9150/ak8975.hpp

@@ -27,6 +27,8 @@
 #include <mraa/common.hpp>
 #include <mraa/i2c.hpp>
 
+#include <interfaces/iMagnetometer.hpp>
+
 #define AK8975_I2C_BUS 0
 #define AK8975_DEFAULT_I2C_ADDR 0x0c
 
@@ -50,7 +52,7 @@ namespace upm {
    *
    * @snippet mpu9150-ak8975.cxx Interesting
    */
-  class AK8975 {
+  class AK8975: virtual public iMagnetometer {
   public:
 
     /**
@@ -202,6 +204,16 @@ namespace upm {
      */
     void getMagnetometer(float *x, float *y, float *z);
 
+    /**
+     * Return magnetometer data in micro-Teslas (uT) 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> getMagnetometer();
+
 
   protected:
     /**

src/mpu9150/mpu60x0.hpp

@@ -32,6 +32,7 @@
 
 #include <interfaces/iAcceleration.hpp>
 #include <interfaces/iGyroscope.hpp>
+#include <interfaces/iTemperature.hpp>
 
 #define MPU60X0_I2C_BUS 0
 #define MPU60X0_DEFAULT_I2C_ADDR 0x68

src/mpu9150/mpu9150.cxx

@@ -112,6 +112,6 @@ void MPU9150::getMagnetometer(float *x, float *y, float *z)
 std::vector<float> MPU9150::getMagnetometer()
 {
     std::vector<float> v(3);
-    getMagnetometer(&v[0], &v[1], &v[2]);
+    m_mag->getMagnetometer(&v[0], &v[1], &v[2]);
     return v;
 }

src/mpu9150/mpu9150.hpp

@@ -58,7 +58,7 @@ namespace upm {
    * @snippet mpu9150.cxx Interesting
    */
 
-  class MPU9150: public MPU60X0
+  class MPU9150: public MPU60X0, virtual public iMagnetometer
   {
   public:
     /**