Initial implementation of iAcceleration

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

include/interfaces/CMakeLists.txt

@@ -24,6 +24,7 @@ set (module_hpp iClock.hpp
                 iMotion.hpp
                 iPressure.hpp
                 iTemperature.hpp
+                iAcceleration.hpp
 )
 # Install interfaces headers a bit differently
 install (FILES ${module_hpp} DESTINATION include/upm/interfaces COMPONENT ${libname})

include/interfaces/iAcceleration.hpp

@@ -0,0 +1,47 @@
+/*
+ * Author: Serban Waltter <serban.waltter@rinftech.com>
+ * Copyright (c) 2018 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <vector>
+
+namespace upm
+{
+    /**
+     * @brief Interface for acceleration sensors
+     */
+    class iAcceleration
+    {
+        public:
+            virtual ~iAcceleration() {}
+
+            /**
+             * Get acceleration values on X, Y and Z axis.
+             * v[0] = X, v[1] = Y, v[2] = Z
+             * 
+             * @return vector of 3 floats containing acceleration on each axis
+             */
+            virtual std::vector<float> getAcceleration() = 0;
+    };
+} // upm

include/interfaces/new_interfaces.cxx

@@ -13,3 +13,4 @@
 #include "iMotion.hpp"
 #include "iPressure.hpp"
 #include "iTemperature.hpp"
+#include "iAcceleration.hpp"

include/interfaces/new_interfaces.i

@@ -20,6 +20,7 @@
     %interface_impl (upm::iMotion);
     %interface_impl (upm::iPressure);
     %interface_impl (upm::iTemperature);
+    %interface_impl (upm::iAcceleration);
 #endif
 
 %{
@@ -37,6 +38,7 @@
     #include "iMotion.hpp"
     #include "iPressure.hpp"
     #include "iTemperature.hpp"
+    #include "iAcceleration.hpp"
 %}
 
 %include "iClock.hpp"
@@ -53,6 +55,7 @@
 %include "iMotion.hpp"
 %include "iPressure.hpp"
 %include "iTemperature.hpp"
+%include "iAcceleration.hpp"
 
 /* Java-specific SWIG syntax */
 #ifdef SWIGJAVA

src/adxl335/adxl335.cxx

@@ -106,6 +106,28 @@ std::vector<float> ADXL335::acceleration()
   return v;
 }
 
+std::vector<float> ADXL335::getAcceleration()
+{
+  std::vector<float> v(3);
+
+  int x, y, z;
+  float xVolts, yVolts, zVolts;
+
+  x = mraa_aio_read(m_aioX);
+  y = mraa_aio_read(m_aioY);
+  z = mraa_aio_read(m_aioZ);
+  
+  xVolts = float(x) * m_aref / 1024.0;
+  yVolts = float(y) * m_aref / 1024.0;
+  zVolts = float(z) * m_aref / 1024.0;
+
+  v[0] = (xVolts - m_zeroX) / ADXL335_SENSITIVITY;
+  v[1] = (yVolts - m_zeroY) / ADXL335_SENSITIVITY;
+  v[2] = (zVolts - m_zeroZ) / ADXL335_SENSITIVITY;
+
+  return v;
+}
+
 void ADXL335::calibrate()
 {
   // make sure the sensor is still before running calibration.

src/adxl335/adxl335.hpp

@@ -30,6 +30,8 @@
 #include <vector>
 #include <mraa/aio.h>
 
+#include <interfaces/iAcceleration.hpp>
+
 #define ADXL335_DEFAULT_AREF 5.0
 #define ADXL335_SENSITIVITY 0.25 // 0.25v/g
 
@@ -60,7 +62,7 @@ namespace upm {
    * @image html adxl335.jpg
    * @snippet adxl335.cxx Interesting
    */
-  class ADXL335 {
+  class ADXL335: virtual public iAcceleration {
   public:
     /**
      * ADXL335 constructor
@@ -130,6 +132,13 @@ namespace upm {
      */
     std::vector<float> acceleration();
 
+    /**
+     * get acceleration values
+     * 
+     * @return stl vector of size 3 representing the 3 axis
+     */
+    virtual std::vector<float> getAcceleration();
+
     /**
      * While the sensor is still, measures the X-axis, Y-axis, and Z-axis
      * values and uses those values as the zero values.

src/adxl345/adxl345.cxx

@@ -131,6 +131,21 @@ Adxl345::getAcceleration()
     return &m_accel[0];
 }
 
+// std::vector<float>
+// Adxl345::getAcceleration()
+// {
+//     update();
+
+//     std::vector<float> v(3);
+
+//     for(int i = 0; i < 3; i++)
+//     {
+//         v[i] = m_rawaccel[i] * m_offsets[i];
+//     }
+
+//     return v;
+// }
+
 int16_t*
 Adxl345::getRawValues()
 {

src/adxl345/adxl345.hpp

@@ -25,6 +25,8 @@
 
 #include <mraa/i2c.hpp>
 
+// #include <interfaces/iAcceleration.hpp>
+
 #define READ_BUFFER_LENGTH 6
 
 namespace upm {
@@ -57,6 +59,7 @@ namespace upm {
  * @image html adxl345.jpeg
  * @snippet adxl345.cxx Interesting
  */
+// class Adxl345: virtual public iAcceleration {
 class Adxl345 {
 public:
     /**
@@ -78,6 +81,13 @@ public:
      */
     float* getAcceleration();
 
+    /**
+     * get acceleration values
+     * 
+     * @return stl vector of size 3 representing the 3 axis
+     */
+    // virtual std::vector<float> getAcceleration();
+
     /**
      * Returns a pointer to an int[3] that contains the raw register values
      * for X, Y, and Z

src/bma220/bma220.cxx

@@ -174,6 +174,18 @@ std::vector<float> BMA220::getAccelerometer()
   return v;
 }
 
+std::vector<float> BMA220::getAcceleration()
+{
+  std::vector<float> v(3);
+
+  update();
+  v[0] = m_accelX / m_accelScale;
+  v[1] = m_accelY / m_accelScale;
+  v[2] = m_accelZ / m_accelScale;
+
+  return v;
+}
+
 uint8_t BMA220::getChipID()
 {
   return readReg(REG_CHIPID);

src/bma220/bma220.hpp

@@ -29,6 +29,8 @@
 #include <mraa/i2c.hpp>
 #include <mraa/gpio.hpp>
 
+#include <interfaces/iAcceleration.hpp>
+
 #define BMA220_I2C_BUS 0
 #define BMA220_DEFAULT_ADDR 0x0a
 
@@ -68,7 +70,7 @@ namespace upm {
    * @snippet bma220.cxx Interesting
    */
 
-  class BMA220 {
+  class BMA220: virtual public iAcceleration {
   public:
 
     // NOTE: reserved registers must not be written into or read from.
@@ -547,6 +549,13 @@ namespace upm {
      */
     std::vector<float> getAccelerometer();
 
+    /**
+     * get acceleration values
+     * 
+     * @return stl vector of size 3 representing the 3 axis
+     */
+    virtual std::vector<float> getAcceleration();
+
     /**
      * set the filtering configuration
      *

src/bma250e/bma250e.cxx

@@ -114,6 +114,14 @@ std::vector<float> BMA250E::getAccelerometer()
     return std::vector<float>(v, v+3);
 }
 
+std::vector<float> BMA250E::getAcceleration()
+{
+    std::vector<float> v(3);
+
+    bma250e_get_accelerometer(m_bma250e, &v[0], &v[1], &v[2]);
+    return v;
+}
+
 float BMA250E::getTemperature(bool fahrenheit)
 {
     float temperature = bma250e_get_temperature(m_bma250e);

src/bma250e/bma250e.hpp

@@ -31,6 +31,8 @@
 #include <mraa/gpio.hpp>
 #include "bma250e.h"
 
+#include <interfaces/iAcceleration.hpp>
+
 namespace upm {
 
     /**
@@ -73,7 +75,7 @@ namespace upm {
      * @snippet bma250e.cxx Interesting
      */
 
-    class BMA250E {
+    class BMA250E: virtual public iAcceleration {
     public:
 
         /**
@@ -138,6 +140,13 @@ namespace upm {
          */
         std::vector<float> getAccelerometer();
 
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
+        
         /**
          * Return the current measured temperature.  Note, this is not
          * ambient temperature.  update() must have been called prior to

src/bmi160/bmi160.cxx

@@ -84,6 +84,14 @@ float *BMI160::getAccelerometer()
   return values;
 }
 
+std::vector<float> BMI160::getAcceleration()
+{
+    std::vector<float> v(3);
+
+    bmi160_get_accelerometer(m_bmi160, &v[0], &v[1], &v[2]);
+    return v;
+}
+
 float *BMI160::getGyroscope()
 {
   static float values[3]; // x, y, and then z

src/bmi160/bmi160.hpp

@@ -25,6 +25,8 @@
 #include <string>
 #include "bmi160.h"
 
+#include <interfaces/iAcceleration.hpp>
+
 #define BMI160_I2C_BUS 0
 #define BMI160_DEFAULT_I2C_ADDR 0x69
 
@@ -72,7 +74,7 @@ namespace upm {
      *
      * @snippet bmi160.cxx Interesting
      */
-    class BMI160 {
+    class BMI160: virtual public iAcceleration {
     public:
 
         /**
@@ -142,6 +144,13 @@ namespace upm {
          */
         void getAccelerometer(float *x, float *y, float *z);
 
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
+
         /**
          * Get the Gyroscope values.  This function returns a pointer to 3
          * floating point values: X, Y, and Z, in that order.  The values

src/bmx055/bmc150.cxx

@@ -101,6 +101,14 @@ std::vector<float> BMC150::getAccelerometer()
         return {0, 0, 0};
 }
 
+std::vector<float> BMC150::getAcceleration()
+{
+    if (m_accel)
+        return m_accel->getAcceleration();
+    else
+        return {0, 0, 0};
+}
+
 void BMC150::getMagnetometer(float *x, float *y, float *z)
 {
     if (m_mag)

src/bmx055/bmc150.hpp

@@ -29,6 +29,8 @@
 #include "bma250e.hpp"
 #include "bmm150.hpp"
 
+#include <interfaces/iAcceleration.hpp>
+
 #define BMC150_DEFAULT_BUS 0
 #define BMC150_DEFAULT_ACC_ADDR 0x10
 #define BMC150_DEFAULT_MAG_ADDR 0x12
@@ -70,7 +72,7 @@ namespace upm {
      * @snippet bmx055-bmc150.cxx Interesting
      */
 
-    class BMC150 {
+    class BMC150: virtual public iAcceleration {
     public:
         /**
          * BMC150 constructor.
@@ -164,6 +166,13 @@ namespace upm {
          */
         std::vector<float> getAccelerometer();
 
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
+
         /**
          * Return magnetometer data in micro-Teslas (uT).  update() must
          * have been called prior to calling this method.

src/bmx055/bmi055.cxx

@@ -103,6 +103,14 @@ std::vector<float> BMI055::getAccelerometer()
         return {0, 0, 0};
 }
 
+std::vector<float> BMI055::getAcceleration()
+{
+    if (m_accel)
+        return m_accel->getAcceleration();
+    else
+        return {0, 0, 0};
+}
+
 void BMI055::getGyroscope(float *x, float *y, float *z)
 {
     if (m_gyro)

src/bmx055/bmi055.hpp

@@ -31,6 +31,8 @@
 #include "bma250e.hpp"
 #include "bmg160.hpp"
 
+#include <interfaces/iAcceleration.hpp>
+
 namespace upm {
 
     /**
@@ -64,7 +66,7 @@ namespace upm {
      * @snippet bmx055-bmi055.cxx Interesting
      */
 
-    class BMI055 {
+    class BMI055: virtual public iAcceleration {
     public:
         /**
          * BMI055 constructor.
@@ -152,6 +154,13 @@ namespace upm {
          */
         void getAccelerometer(float *x, float *y, float *z);
 
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
+        
         /**
          * Return accelerometer data in gravities in the form of a
          * floating point vector.  update() must have been called prior to

src/bmx055/bmx055.cxx

@@ -121,6 +121,14 @@ std::vector<float> BMX055::getAccelerometer()
         return {0, 0, 0};
 }
 
+std::vector<float> BMX055::getAcceleration()
+{
+    if (m_accel)
+        return m_accel->getAcceleration();
+    else
+        return {0, 0, 0};
+}
+
 void BMX055::getGyroscope(float *x, float *y, float *z)
 {
     if (m_gyro)

src/bmx055/bmx055.hpp

@@ -32,6 +32,8 @@
 #include "bmg160.hpp"
 #include "bmm150.hpp"
 
+#include <interfaces/iAcceleration.hpp>
+
 #define BMX055_DEFAULT_MAG_I2C_ADDR 0x12
 
 namespace upm {
@@ -76,7 +78,7 @@ namespace upm {
    * @snippet bmx055.cxx Interesting
    */
 
-    class BMX055 {
+    class BMX055: virtual public iAcceleration {
     public:
         /**
          * BMX055 constructor.
@@ -195,6 +197,13 @@ namespace upm {
          */
         std::vector<float> getAccelerometer();
 
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
+
         /**
          * Return gyroscope data in degrees per second.  update() must
          * have been called prior to calling this method.

src/bno055/bno055.cxx

@@ -388,6 +388,14 @@ vector<float> BNO055::getAccelerometer()
     return vector<float>(v, v+3);
 }
 
+std::vector<float> BNO055::getAcceleration()
+{
+    std::vector<float> v(3);
+
+    bno055_get_accelerometer(m_bno055, &v[0], &v[1], &v[2]);
+    return v;
+}
+
 void BNO055::getMagnetometer(float *x, float *y, float *z)
 {
     bno055_get_magnetometer(m_bno055, x, y, z);

src/bno055/bno055.hpp

@@ -28,6 +28,8 @@
 #include <vector>
 #include "bno055.h"
 
+#include <interfaces/iAcceleration.hpp>
+
 namespace upm {
 
     /**
@@ -100,7 +102,7 @@ namespace upm {
      * @snippet bno055.cxx Interesting
      */
 
-    class BNO055 {
+    class BNO055: virtual public iAcceleration {
 
     public:
         /**
@@ -420,6 +422,13 @@ namespace upm {
          */
         std::vector<float> getAccelerometer();
 
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
+
         /**
          * Return uncompensated magnetometer data (non-fusion).  In fusion
          * modes, this data will be of little value.  The returned values

src/h3lis331dl/h3lis331dl.cxx

@@ -602,8 +602,14 @@ void H3LIS331DL::getXYZ(int *x, int *y, int*z)
 
 std::vector<float> H3LIS331DL::getAcceleration()
 {
+  update();
   std::vector<float> v(3);
-  getAcceleration(&v[0], &v[1], &v[2]);
+
+  const float gains = 0.003;    // Seeed magic number?
+
+  v[0] = float(m_rawX - m_adjX) * gains;
+  v[1] = float(m_rawY - m_adjY) * gains;
+  v[2] = float(m_rawZ - m_adjZ) * gains;
   return v;
 }
 

src/h3lis331dl/h3lis331dl.hpp

@@ -28,6 +28,8 @@
 #include <mraa/common.hpp>
 #include <mraa/i2c.hpp>
 
+#include <interfaces/iAcceleration.hpp>
+
 #define H3LIS331DL_I2C_BUS 0
 #define H3LIS331DL_DEFAULT_I2C_ADDR 0x18
 
@@ -56,7 +58,7 @@ namespace upm {
    * @image html h3lis331dl.jpg
    * @snippet h3lis331dl.cxx Interesting
    */
-  class H3LIS331DL {
+  class H3LIS331DL: virtual public iAcceleration {
   public:
 
     /**

src/lis2ds12/lis2ds12.cxx

@@ -108,6 +108,14 @@ std::vector<float> LIS2DS12::getAccelerometer()
     return std::vector<float>(v, v+3);
 }
 
+std::vector<float> LIS2DS12::getAcceleration()
+{
+    std::vector<float> v(3);
+
+    lis2ds12_get_accelerometer(m_lis2ds12, &v[0], &v[1], &v[2]);
+    return v;
+}
+
 float LIS2DS12::getTemperature(bool fahrenheit)
 {
     float temperature = lis2ds12_get_temperature(m_lis2ds12);

src/lis2ds12/lis2ds12.hpp

@@ -31,6 +31,8 @@
 #include <mraa/gpio.hpp>
 #include "lis2ds12.h"
 
+#include <interfaces/iAcceleration.hpp>
+
 namespace upm {
 
     /**
@@ -70,7 +72,7 @@ namespace upm {
      * @snippet lis2ds12.cxx Interesting
      */
 
-    class LIS2DS12 {
+    class LIS2DS12: virtual public iAcceleration {
     public:
 
         /**
@@ -135,6 +137,13 @@ namespace upm {
          */
         std::vector<float> getAccelerometer();
 
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
+
         /**
          * Return the current measured temperature.  Note, this is not
          * ambient temperature.  update() must have been called prior to

src/lis3dh/lis3dh.cxx

@@ -234,6 +234,15 @@ LIS3DH::getAccelerometer()
     return std::vector<float>(v, v + 3);
 }
 
+std::vector<float>
+LIS3DH::getAcceleration()
+{
+    std::vector<float> v(3);
+
+    lis3dh_get_accelerometer(m_lis3dh, &v[0], &v[1], &v[2]);
+    return v;
+}
+
 float
 LIS3DH::getTemperature(bool fahrenheit)
 {

src/lis3dh/lis3dh.hpp

@@ -35,6 +35,8 @@
 #include "lis3dh.h"
 #include <mraa/gpio.hpp>
 
+#include <interfaces/iAcceleration.hpp>
+
 namespace upm
 {
 /**
@@ -72,7 +74,7 @@ namespace upm
  * @snippet lis3dh.cxx Interesting
  */
 
-class LIS3DH
+class LIS3DH: virtual public iAcceleration
 {
   public:
     /**
@@ -304,6 +306,13 @@ class LIS3DH
      */
     std::vector<float> getAccelerometer();
 
+    /**
+     * get acceleration values
+     * 
+     * @return stl vector of size 3 representing the 3 axis
+     */
+    virtual std::vector<float> getAcceleration();
+    
     /**
      * Return the current measured temperature. Note, this is not
      * ambient temperature. update() must have been called prior to

src/lsm303agr/lsm303agr.cxx

@@ -109,6 +109,14 @@ std::vector<float> LSM303AGR::getAccelerometer()
     return std::vector<float>(v, v+3);
 }
 
+std::vector<float> LSM303AGR::getAcceleration()
+{
+    std::vector<float> v(3);
+
+    lsm303agr_get_accelerometer(m_lsm303agr, &v[0], &v[1], &v[2]);
+    return v;
+}
+
 float LSM303AGR::getTemperature()
 {
     return lsm303agr_get_temperature(m_lsm303agr);

src/lsm303agr/lsm303agr.hpp

@@ -31,6 +31,8 @@
 #include <mraa/gpio.hpp>
 #include "lsm303agr.h"
 
+#include <interfaces/iAcceleration.hpp>
+
 namespace upm {
 
     /**
@@ -65,7 +67,7 @@ namespace upm {
      * @snippet lsm303agr.cxx Interesting
      */
 
-    class LSM303AGR {
+    class LSM303AGR: virtual public iAcceleration {
     public:
         /**
          * LSM303AGR constructor
@@ -149,6 +151,13 @@ namespace upm {
          */
         std::vector<float> getAccelerometer();
 
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
+
         /**
          * Return temperature data in degrees Celsius.  NOTE: This is
          * not the ambient room temperature.  update() must have been

src/lsm303d/lsm303d.cxx

@@ -109,6 +109,15 @@ std::vector<float> LSM303D::getAccelerometer()
     return std::vector<float>(v, v+3);
 }
 
+std::vector<float> LSM303D::getAcceleration()
+{
+    std::vector<float> v(3);
+
+    lsm303d_get_accelerometer(m_lsm303d, &v[0], &v[1], &v[2]);
+    
+    return v;
+}
+
 float LSM303D::getTemperature()
 {
     return lsm303d_get_temperature(m_lsm303d);

src/lsm303d/lsm303d.hpp

@@ -31,6 +31,8 @@
 #include <mraa/gpio.hpp>
 #include "lsm303d.h"
 
+#include <interfaces/iAcceleration.hpp>
+
 namespace upm {
 
     /**
@@ -65,7 +67,7 @@ namespace upm {
      * @snippet lsm303d.cxx Interesting
      */
 
-    class LSM303D {
+    class LSM303D: virtual public iAcceleration {
     public:
         /**
          * LSM303D constructor
@@ -142,6 +144,13 @@ namespace upm {
          * that order
          */
         std::vector<float> getAccelerometer();
+        
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
 
         /**
          * Return temperature data in degrees Celsius.  NOTE: This is

src/lsm6ds3h/lsm6ds3h.cxx

@@ -109,6 +109,14 @@ std::vector<float> LSM6DS3H::getAccelerometer()
     return std::vector<float>(v, v+3);
 }
 
+std::vector<float> LSM6DS3H::getAcceleration()
+{
+    std::vector<float> v(3);
+
+    lsm6ds3h_get_accelerometer(m_lsm6ds3h, &v[0], &v[1], &v[2]);
+    return v;
+}
+
 void LSM6DS3H::getGyroscope(float *x, float *y, float *z)
 {
     lsm6ds3h_get_gyroscope(m_lsm6ds3h, x, y, z);

src/lsm6ds3h/lsm6ds3h.hpp

@@ -31,6 +31,8 @@
 #include <mraa/gpio.hpp>
 #include "lsm6ds3h.h"
 
+#include <interfaces/iAcceleration.hpp>
+
 namespace upm {
 
     /**
@@ -64,7 +66,7 @@ namespace upm {
      * @snippet lsm6ds3h.cxx Interesting
      */
 
-    class LSM6DS3H {
+    class LSM6DS3H: virtual public iAcceleration {
     public:
 
         /**
@@ -129,6 +131,13 @@ namespace upm {
          */
         std::vector<float> getAccelerometer();
 
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
+
         /**
          * Return gyroscope data in degrees per second (DPS).
          * update() must have been called prior to calling this

src/lsm6dsl/lsm6dsl.cxx

@@ -109,6 +109,15 @@ std::vector<float> LSM6DSL::getAccelerometer()
     return std::vector<float>(v, v+3);
 }
 
+std::vector<float> LSM6DSL::getAcceleration()
+{
+    std::vector<float> v(3);
+
+    lsm6dsl_get_accelerometer(m_lsm6dsl, &v[0], &v[1], &v[2]);
+
+    return v;
+}
+
 void LSM6DSL::getGyroscope(float *x, float *y, float *z)
 {
     lsm6dsl_get_gyroscope(m_lsm6dsl, x, y, z);

src/lsm6dsl/lsm6dsl.hpp

@@ -31,6 +31,8 @@
 #include <mraa/gpio.hpp>
 #include "lsm6dsl.h"
 
+#include <interfaces/iAcceleration.hpp>
+
 namespace upm {
 
     /**
@@ -63,7 +65,7 @@ namespace upm {
      * @snippet lsm6dsl.cxx Interesting
      */
 
-    class LSM6DSL {
+    class LSM6DSL: virtual public iAcceleration {
     public:
 
         /**
@@ -128,6 +130,13 @@ namespace upm {
          */
         std::vector<float> getAccelerometer();
 
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
+
         /**
          * Return gyroscope data in degrees per second (DPS).
          * update() must have been called prior to calling this

src/lsm9ds0/lsm9ds0.cxx

@@ -629,6 +629,13 @@ std::vector<float> LSM9DS0::getAccelerometer()
   return v;
 }
 
+std::vector<float> LSM9DS0::getAcceleration()
+{
+  std::vector<float> v(3);
+  getAccelerometer(&v[0], &v[1], &v[2]);
+  return v;
+}
+
 std::vector<float> LSM9DS0::getGyroscope()
 {
   std::vector<float> v(3);

src/lsm9ds0/lsm9ds0.hpp

@@ -30,6 +30,8 @@
 
 #include <mraa/gpio.hpp>
 
+#include <interfaces/iAcceleration.hpp>
+
 #define LSM9DS0_I2C_BUS 1
 #define LSM9DS0_DEFAULT_XM_ADDR 0x1d
 #define LSM9DS0_DEFAULT_GYRO_ADDR 0x6b
@@ -77,7 +79,7 @@ namespace upm {
    * @snippet lsm9ds0.cxx Interesting
    */
 
-  class LSM9DS0 {
+  class LSM9DS0: virtual public iAcceleration {
   public:
 
     // NOTE: reserved registers must not be written into or permanent
@@ -1274,6 +1276,13 @@ namespace upm {
      */
     std::vector<float> getAccelerometer();
 
+    /**
+     * get acceleration values
+     * 
+     * @return stl vector of size 3 representing the 3 axis
+     */
+    virtual std::vector<float> getAcceleration();
+
     /**
      * get the gyroscope values in degrees per second
      *

src/mma7361/mma7361.cxx

@@ -112,6 +112,15 @@ void MMA7361::getAcceleration(float *x, float *y, float *z)
   mma7361_get_acceleration(m_mma7361, x, y, z);
 }
 
+// std::vector<float> MMA7361::getAcceleration()
+// {
+//   std::vector<float> v(3);
+
+//   mma7361_get_acceleration(m_mma7361, &v[0], &v[1], &v[2]);
+
+//   return v;
+// }
+
 float *MMA7361::getAcceleration()
 {
   static float data[3];

src/mma7361/mma7361.hpp

@@ -32,6 +32,8 @@
 
 #include "mma7361.h"
 
+// #include <interfaces/iAcceleration.hpp>
+
 namespace upm {
   /**
    * @brief MMA7361 Analog Accelerometer
@@ -57,6 +59,7 @@ namespace upm {
    * @snippet mma7361.cxx Interesting
    */
 
+  // class MMA7361: virtual public iAcceleration {
   class MMA7361 {
   public:
 
@@ -150,6 +153,13 @@ namespace upm {
      */
     void getAcceleration(float *x, float *y, float *z);
 
+    /**
+     * get acceleration values
+     * 
+     * @return stl vector of size 3 representing the 3 axis
+     */
+    // virtual std::vector<float> getAcceleration();
+
     /**
      * Get computed acceleration from the sensor. update() must have
      * been called prior to calling this function.

src/mma7455/mma7455.cxx

@@ -140,6 +140,46 @@ std::vector<short> MMA7455::readData() {
     return v;
 }
 
+std::vector<float> MMA7455::getAcceleration() {
+    std::vector<float> v(3);
+     accelData xyz;
+    int nBytes = 0;
+
+    /*do {
+        nBytes = i2cReadReg (MMA7455_STATUS, &data, 0x1);
+    } while ( !(data & MMA7455_DRDY) && nBytes == mraa::SUCCESS);
+
+    if (nBytes == mraa::SUCCESS) {
+        std::cout << "NO_GDB :: 1" << std::endl;
+        return mraa::SUCCESS;
+    }*/
+
+    nBytes = i2cReadReg (MMA7455_XOUTL, (unsigned char *) &xyz, 0x6);
+    if (nBytes == 0) {
+        std::cout << "NO_GDB :: 2" << std::endl;
+        //return mraa::ERROR_UNSPECIFIED;
+    }
+
+    if (xyz.reg.x_msb & 0x02) {
+        xyz.reg.x_msb |= 0xFC;
+    }
+
+    if (xyz.reg.y_msb & 0x02) {
+        xyz.reg.y_msb |= 0xFC;
+    }
+
+    if (xyz.reg.z_msb & 0x02) {
+        xyz.reg.z_msb |= 0xFC;
+    }
+
+    // The result is the g-force in units of 64 per 'g'.
+    v[0] = (float)xyz.value.x;
+    v[1] = (float)xyz.value.y;
+    v[2] = (float)xyz.value.z;
+
+    return v;
+}
+
 int
 MMA7455::i2cReadReg (unsigned char reg, uint8_t *buffer, int len) {
     if (mraa::SUCCESS != m_i2ControlCtx.writeByte(reg)) {

src/mma7455/mma7455.hpp

@@ -27,6 +27,8 @@
 #include <vector>
 #include <mraa/i2c.hpp>
 
+#include <interfaces/iAcceleration.hpp>
+
 #define ADDR               0x1D // device address
 
 // Register names according to the datasheet.
@@ -171,7 +173,7 @@ typedef union {
  * @image html mma7455.jpg
  * @snippet mma7455.cxx Interesting
  */
-class MMA7455 {
+class MMA7455: virtual public iAcceleration {
     public:
         /**
          * Instantiates an MMA7455 object
@@ -216,6 +218,13 @@ class MMA7455 {
          */
         std::vector<short> readData ();
 
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
+
         /**
          * Internal function for reading I2C data
          *

src/mma7660/mma7660.cxx

@@ -190,3 +190,14 @@ void MMA7660::getAcceleration(float *ax, float *ay, float *az)
                                  ": mma7660_get_acceleration() failed");
 }
 
+std::vector<float> MMA7660::getAcceleration()
+{
+    std::vector<float> v(3);
+
+    if (mma7660_get_acceleration(m_mma7660, &v[0], &v[1], &v[2]))
+        throw std::runtime_error(std::string(__FUNCTION__) +
+                                 ": mma7660_get_acceleration() failed");
+
+    return v;
+}
+

src/mma7660/mma7660.hpp

@@ -26,6 +26,7 @@
 #include <vector>
 
 #include "mma7660.h"
+#include <interfaces/iAcceleration.hpp>
 
 namespace upm {
 
@@ -58,7 +59,7 @@ namespace upm {
      * @image html mma7660.jpg
      * @snippet mma7660.cxx Interesting
      */
-    class MMA7660 {
+    class MMA7660: virtual public iAcceleration {
     public:
 
         /**
@@ -109,6 +110,13 @@ namespace upm {
          */
         void getAcceleration(float *ax, float *ay, float *az);
 
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
+
         /**
          * Reads an axis, verifying its validity. The value passed must
          * be one of REG_XOUT, REG_YOUT, or REG_ZOUT.
@@ -199,20 +207,6 @@ namespace upm {
          */
         bool setSampleRate(MMA7660_AUTOSLEEP_T sr);
 
-        /**
-         * Reads the current acceleration values.  The returned memory
-         * is statically allocated and will be overwritten on each
-         * call.
-         *
-         * @return std::vector containing x, y, z.
-         */
-        std::vector<float> getAcceleration()
-        {
-            std::vector<float> values(3);
-            getAcceleration(&values[0], &values[1], &values[2]);
-            return values;
-        }
-
         /**
          * Reads the current value of conversion. The returned memory
          * is statically allocated and will be overwritten on each

src/mma8x5x/mma8x5x.cpp

@@ -328,6 +328,19 @@ MMA8X5X::getZ(int bSampleData)
     return s_data->z;
 }
 
+std::vector<float>
+MMA8X5X::getAcceleration()
+{
+    sampleData();
+
+    std::vector<float> v(3);
+    v[0] = s_data->x;
+    v[1] = s_data->y;
+    v[2] = s_data->z;
+
+    return v;
+}
+
 int
 MMA8X5X::getData(mma8x5x_data_t* data, int bSampleData)
 {

src/mma8x5x/mma8x5x.hpp

@@ -31,6 +31,8 @@
 #include <stdint.h>
 #include <stdbool.h>
 
+#include <interfaces/iAcceleration.hpp>
+
 /* Supported devices by this driver */
 #define MMA8X5X_DEVICE_ID_MMA8652 0x4a
 #define MMA8X5X_DEVICE_ID_MMA8653 0x5a
@@ -341,7 +343,7 @@ typedef struct {
  *
  * @snippet mma8x5x.cxx Interesting
  */
-class MMA8X5X {
+class MMA8X5X: virtual public iAcceleration {
     public:
         /**
          *
@@ -448,6 +450,13 @@ class MMA8X5X {
          */
         int16_t getZ(int bSampleData = 0);
 
+        /**
+         * get acceleration values
+         * 
+         * @return stl vector of size 3 representing the 3 axis
+         */
+        virtual std::vector<float> getAcceleration();
+
         /**
          * Get sensor values
          *

src/mpu9150/mpu60x0.cxx

@@ -301,6 +301,18 @@ void MPU60X0::getAccelerometer(float *x, float *y, float *z)
     *z = m_accelZ / m_accelScale;
 }
 
+std::vector<float> MPU60X0::getAcceleration()
+{
+  update();
+  
+  std::vector<float> v(3);
+  v[0] = m_accelX / m_accelScale;
+  v[1] = m_accelY / m_accelScale;
+  v[2] = m_accelZ / m_accelScale;
+
+  return v;
+}
+
 void MPU60X0::getGyroscope(float *x, float *y, float *z)
 {
   if (x)

src/mpu9150/mpu60x0.hpp

@@ -24,11 +24,14 @@
 #pragma once
 
 #include <string>
+#include <vector>
 #include <mraa/common.hpp>
 #include <mraa/i2c.hpp>
 
 #include <mraa/gpio.hpp>
 
+#include <interfaces/iAcceleration.hpp>
+
 #define MPU60X0_I2C_BUS 0
 #define MPU60X0_DEFAULT_I2C_ADDR 0x68
 
@@ -59,7 +62,7 @@ namespace upm {
    * @image html mpu60x0.jpg
    * @snippet mpu9150-mpu60x0.cxx Interesting
    */
-  class MPU60X0 {
+  class MPU60X0: virtual public iAcceleration {
   public:
 
     // NOTE: These enums were composed from both the mpu6050 and
@@ -791,6 +794,13 @@ namespace upm {
      */
     void getAccelerometer(float *x, float *y, float *z);
 
+    /**
+     * get acceleration values
+     * 
+     * @return stl vector of size 3 representing the 3 axis
+     */
+    virtual std::vector<float> getAcceleration();
+
     /**
      * get the gyroscope values
      *