Raspberries/upm
Public Access
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Complete accel and gyro implementations for new dynamic friendly interface

Browse Source 
Signed-off-by: deadprogram <ron@hybridgroup.com>
Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
This commit is contained in:
deadprogram
2016-03-18 10:58:51 -07:00
committed by Mihai Tudor Panu
parent 8c7d6483d3
commit 3e7fca21ee
3 changed files with 132 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files

77
src/curieimu/curieimu.hpp
View File

@@ -65,6 +65,10 @@ namespace upm {
#define FIRMATA_CURIE_IMU_TAP_DETECT 0x05
#define FIRMATA_CURIE_IMU_READ_MOTION 0x06
#define X 0
#define Y 1
#define Z 2
struct IMUDataItem {
int axis;
int direction;
@@ -86,37 +90,77 @@ class CurieImu {
~CurieImu();
/**
* Updates the latest accelerometer readings by calling Firmata
*/
void updateAccel();
/**
*
* Updates the latest gyroscope readings by calling Firmata
*/
void updateGyro();
/**
*
* Updates the both the latest accelerometer & gyroscope readings
* by calling Firmata
*/
void updateMotion();
/**
* Read accelerometer X, Y, and Z axis
* Returns last accelerometer reading X, Y, and Z axis
*
* @param xVal Pointer to returned X-axis value
* @param yVal Pointer to returned Y-axis value
* @param zVal Pointer to returned Z-axis value
* @return pointer to array with X-axis, Y-axis & Z-axis value
*/
int16_t* getAccel();
/**
* Returns last accelerometer reading X axis
*
* @return X-axis value
*/
int16_t getAccelX();
/**
* Returns last accelerometer reading Y axis
*
* @return Y-axis value
*/
int16_t getAccelY();
/**
* Returns last accelerometer reading Z axis
*
* @return Z-axis value
*/
int16_t getAccelZ();
/**
* Read gyroscope X, Y, and Z axis
*
* @param xVal Pointer to returned X-axis value
* @param yVal Pointer to returned Y-axis value
* @param zVal Pointer to returned Z-axis value
* @return pointer to array with X-axis, Y-axis & Z-axis value
*/
int16_t* getGyro();
/**
* Returns last gyroscope reading X axis
*
* @return X-axis value
*/
int16_t getGyroX();
/**
* Returns last gyroscope reading Y axis
*
* @return Y-axis value
*/
int16_t getGyroY();
/**
* Returns last gyroscope reading Z axis
*
* @return Z-axis value
*/
int16_t getGyroZ();
/**
* Reads the internal temperature
*
@@ -127,12 +171,9 @@ class CurieImu {
/**
* Reads the X, Y, and Z axis of both gyroscope and accelerometer
*
* @param xA Pointer to returned X-axis value of accelerometer
* @param yA Pointer to returned Y-axis value of accelerometer
* @param zA Pointer to returned Z-axis value of accelerometer
* @param xG Pointer to returned X-axis value of Gyroscope
* @param yG Pointer to returned Y-axis value of Gyroscope
* @param zG Pointer to returned Z-axis value of Gyroscope
* @return pointer to array with X-axis, Y-axis & Z-axis values for
* accelerometer, and then X-axis, Y-axis & Z-axis values for
* gyroscope
*/
int16_t* getMotion();
@@ -245,9 +286,9 @@ class CurieImu {
std::queue<int> m_stepData;
std::queue<IMUDataItem*> m_tapData;
int16_t accel[3];
int16_t gyro[3];
int16_t motion[6];
int16_t m_accel[3];
int16_t m_gyro[3];
int16_t m_motion[6];
};
}