Feature/test1

inc/core/CodalComponent.h

@@ -53,6 +53,10 @@ DEALINGS IN THE SOFTWARE.
 #define DEVICE_ID_SYSTEM_LEVEL_DETECTOR 21
 #define DEVICE_ID_SYSTEM_LEVEL_DETECTOR_SPL 22
 #define DEVICE_ID_MSC 23
+#define DEVICE_ID_DISTANCE            24
+#define DEVICE_ID_GYROSCOPE           25
+#define DEVICE_ID_HUMIDITY            26
+#define DEVICE_ID_PRESSURE            27
 
 #define DEVICE_ID_IO_P0               100                       // IDs 100-227 are reserved for I/O Pin IDs.
 

inc/driver-models/AbstractButton.h

@@ -108,13 +108,13 @@ namespace codal
 
         /**
          * Enables this button.
-         * Buttons are normally created in an enabled state, but use this funciton to re-enable a previously disabled button.
+         * Buttons are normally created in an enabled state, but use this function to re-enable a previously disabled button.
          */
         void enable();
 
         /**
          * Disable this button.
-         * Buttons are normally created in an enabled state. Use this funciton to disable this button.
+         * Buttons are normally created in an enabled state. Use this function to disable this button.
          */
         void disable();
 

inc/driver-models/Accelerometer.h

@@ -22,8 +22,8 @@ FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 DEALINGS IN THE SOFTWARE.
 */
 
-#ifndef CODAL_ACCELEROMTER_H
-#define CODAL_ACCELEROMTER_H
+#ifndef CODAL_ACCELEROMETER_H
+#define CODAL_ACCELEROMETER_H
 
 #include "CodalConfig.h"
 #include "CodalComponent.h"
@@ -185,7 +185,7 @@ namespace codal
 
         /**
          * Poll to see if new data is available from the hardware. If so, update it.
-         * n.b. it is not necessary to explicitly call this funciton to update data
+         * n.b. it is not necessary to explicitly call this function to update data
          * (it normally happens in the background when the scheduler is idle), but a check is performed
          * if the user explicitly requests up to date data.
          *

inc/driver-models/Compass.h

@@ -200,7 +200,7 @@ namespace codal
 
         /**
          * Poll to see if new data is available from the hardware. If so, update it.
-         * n.b. it is not necessary to explicitly call this funciton to update data
+         * n.b. it is not necessary to explicitly call this function to update data
          * (it normally happens in the background when the scheduler is idle), but a check is performed
          * if the user explicitly requests up to date data.
          *

inc/driver-models/Gyroscope.h

@@ -0,0 +1,213 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2017 Lancaster University.
+Copyright (c) 2018 Paul ADAM, Europe.
+
+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.
+*/
+
+#ifndef CODAL_GYROSCOPE_H
+#define CODAL_GYROSCOPE_H
+
+#include "CodalConfig.h"
+#include "CodalComponent.h"
+#include "Pin.h"
+#include "CoordinateSystem.h"
+#include "CodalUtil.h"
+
+/**
+  * Status flags
+  */
+#define GYROSCOPE_IMU_DATA_VALID               0x02
+
+/**
+  * Gyroscope events
+  */
+#define GYROSCOPE_EVT_DATA_UPDATE              1
+
+namespace codal
+{
+
+    /**
+     * Class definition for Gyroscope.
+     */
+    class Gyroscope : public CodalComponent
+    {
+        protected:
+
+        uint16_t        samplePeriod;       // The time between samples, in milliseconds.
+        uint8_t         sampleRange;        // The sample range of the gyroscope in g.
+        Sample3D        sample;             // The last sample read, in the coordinate system specified by the coordinateSpace variable.
+        Sample3D        sampleENU;          // The last sample read, in raw ENU format (stored in case requests are made for data in other coordinate spaces)
+        CoordinateSpace &coordinateSpace;   // The coordinate space transform (if any) to apply to the raw data from the hardware.
+
+        public:
+
+        /**
+          * Constructor.
+          * Create a software abstraction of an gyroscope.
+          *
+          * @param coordinateSpace the orientation of the sensor. Defaults to: SIMPLE_CARTESIAN
+          * @param id the unique EventModel id of this component. Defaults to: DEVICE_ID_GYROSCOPE
+          *
+         */
+        Gyroscope(CoordinateSpace &coordinateSpace, uint16_t id = DEVICE_ID_GYROSCOPE);
+
+        /**
+          * Attempts to set the sample rate of the gyroscope to the specified value (in ms).
+          *
+          * @param period the requested time between samples, in milliseconds.
+          * @return DEVICE_OK on success, DEVICE_I2C_ERROR is the request fails.
+          *
+          * @note The requested rate may not be possible on the hardware. In this case, the
+          * nearest lower rate is chosen.
+          *
+          * @note This method should be overriden (if supported) by specific gyroscope device drivers.
+          */
+        virtual int setPeriod(int period);
+
+        /**
+          * Reads the currently configured sample rate of the gyroscope.
+          *
+          * @return The time between samples, in milliseconds.
+          */
+        virtual int getPeriod();
+
+        /**
+          * Attempts to set the sample range of the gyroscope to the specified value (in dps).
+          *
+          * @param range The requested sample range of samples, in dps.
+          *
+          * @return DEVICE_OK on success, DEVICE_I2C_ERROR is the request fails.
+          *
+          * @note The requested range may not be possible on the hardware. In this case, the
+          * nearest lower range is chosen.
+          *
+          * @note This method should be overriden (if supported) by specific gyroscope device drivers.
+          */
+        virtual int setRange(int range);
+
+        /**
+          * Reads the currently configured sample range of the gyroscope.
+          *
+          * @return The sample range, in g.
+          */
+        virtual int getRange();
+
+        /**
+         * Configures the gyroscope for dps range and sample rate defined
+         * in this object. The nearest values are chosen to those defined
+         * that are supported by the hardware. The instance variables are then
+         * updated to reflect reality.
+         *
+         * @return DEVICE_OK on success, DEVICE_I2C_ERROR if the gyroscope could not be configured.
+         *
+         * @note This method should be overidden by the hardware driver to implement the requested
+         * changes in hardware.
+         */
+        virtual int configure();
+
+        /**
+         * Poll to see if new data is available from the hardware. If so, update it.
+         * n.b. it is not necessary to explicitly call this function to update data
+         * (it normally happens in the background when the scheduler is idle), but a check is performed
+         * if the user explicitly requests up to date data.
+         *
+         * @return DEVICE_OK on success, DEVICE_I2C_ERROR if the update fails.
+         *
+         * @note This method should be overidden by the hardware driver to implement the requested
+         * changes in hardware.
+         */
+        virtual int requestUpdate();
+
+        /**
+         * Stores data from the gyroscope sensor in our buffer, and perform gesture tracking.
+         *
+         * On first use, this member function will attempt to add this component to the
+         * list of fiber components in order to constantly update the values stored
+         * by this object.
+         *
+         * This lazy instantiation means that we do not
+         * obtain the overhead from non-chalantly adding this component to fiber components.
+         *
+         * @return DEVICE_OK on success, DEVICE_I2C_ERROR if the read request fails.
+         */
+        virtual int update(Sample3D s);
+
+        /**
+          * Reads the last gyroscope value stored, and provides it in the coordinate system requested.
+          *
+          * @param coordinateSpace The coordinate system to use.
+          * @return The force measured in each axis, in dps.
+          */
+        Sample3D getSample(CoordinateSystem coordinateSystem);
+
+        /**
+          * Reads the last gyroscope value stored, and in the coordinate system defined in the constructor.
+          * @return The force measured in each axis, in dps.
+          */
+        Sample3D getSample();
+
+        /**
+          * reads the value of the x axis from the latest update retrieved from the gyroscope,
+          * using the default coordinate system as specified in the constructor.
+          *
+          * @return the force measured in the x axis, in dps.
+          */
+        int getX();
+
+        /**
+          * reads the value of the y axis from the latest update retrieved from the gyroscope,
+          * using the default coordinate system as specified in the constructor.
+          *
+          * @return the force measured in the y axis, in dps.
+          */
+        int getY();
+
+        /**
+          * reads the value of the z axis from the latest update retrieved from the gyroscope,
+          * using the default coordinate system as specified in the constructor.
+          *
+          * @return the force measured in the z axis, in dps.
+          */
+        int getZ();
+
+        /**
+          * Destructor.
+          */
+        ~Gyroscope();
+
+        private:
+
+        /**
+          * A service function.
+          * It calculates the current angular velocity of the device (x^2 + y^2 + z^2).
+          * It does not, however, square root the result, as this is a relatively high cost operation.
+          *
+          * This is left to application code should it be needed.
+          *
+          * @return the sum of the square of the angular velocity of the device across all axes.
+          */
+        uint32_t instantaneousAccelerationSquared();
+
+    };
+}
+
+#endif