Added iGyroscope interface

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

src/l3gd20/CMakeLists.txt

@@ -3,5 +3,6 @@ if (MRAA_IIO_FOUND)
     set (libdescription "Tri-axis Digital Gyroscope")
     set (module_src ${libname}.cxx)
     set (module_hpp ${libname}.hpp)
+    set (module_iface iGyroscope.hpp)
     upm_module_init(mraa)
 endif (MRAA_IIO_FOUND)

src/l3gd20/l3gd20.cxx

@@ -273,6 +273,16 @@ void L3GD20::getGyroscope(float *x, float *y, float *z)
     *z = m_gyrZ;
 }
 
+std::vector<float> L3GD20::getGyroscope()
+{
+    update();
+    std::vector<float> values(3);
+    values[0] = m_gyrX;
+    values[1] = m_gyrY;
+    values[2] = m_gyrZ;
+    return values;
+}
+
 void L3GD20::update()
 {
   int bufLen = 6;

src/l3gd20/l3gd20.hpp

@@ -31,6 +31,8 @@
 #include <mraa/iio.h>
 #include <mraa/i2c.hpp>
 
+#include <interfaces/iGyroscope.hpp>
+
 #define L3GD20_DEFAULT_I2C_BUS                      0
 // if SDO tied to GND
 #define L3GD20_DEFAULT_I2C_ADDR                     0x6a
@@ -74,7 +76,7 @@ namespace upm
  * @snippet l3gd20-i2c.cxx Interesting
  */
 
-class L3GD20
+class L3GD20: virtual public iGyroscope
 {
   public:
     typedef struct {
@@ -479,6 +481,16 @@ class L3GD20
      */
     void getGyroscope(float *x, float *y, float *z);
 
+    /**
+     * Return gyroscope data in degrees per second 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> getGyroscope();
+
     /**
      * Set the power mode of the device.  I2C only.
      *