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Diffstat (limited to 'peripheral/libupm/src/curieimu/curieimu.hpp')
| -rw-r--r-- | peripheral/libupm/src/curieimu/curieimu.hpp | 307 |
1 files changed, 0 insertions, 307 deletions
diff --git a/peripheral/libupm/src/curieimu/curieimu.hpp b/peripheral/libupm/src/curieimu/curieimu.hpp deleted file mode 100644 index 61186cc..0000000 --- a/peripheral/libupm/src/curieimu/curieimu.hpp +++ /dev/null @@ -1,307 +0,0 @@ -/* - * Author: Brendan Le Foll <brendan.le.foll@intel.com> - * Author: Ron Evans (@deadprogram) - * Author: Justin Zemlyansky (@JustInDevelopment) - * Copyright (c) 2016 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 <mraa/firmata.h> -#include <queue> - -namespace upm { - -/** - * @brief CurieIMU sensor for Genuino 101 running Firmata - * @defgroup curieimu libupm-curieimu - * @ingroup firmata - */ - -/** - * @library curieimu - * @sensor curieimu - * @comname Curie IMU sensor over Genuino 101 running Firmata - * @altname Curie Firmata IMU - * @type firmata - * @man firmata imu genuino - * @con firmata - * - * @brief API for the Curie IMU via Firmata - * - * Curie IMU is a 6-axxis acclerometer - * - * This module has been tested on an Genuino 101 running ConfigurableFirmata with CurieIMU - * - * @snippet curieimu.cxx Interesting - */ - -#define FIRMATA_START_SYSEX 0xF0 -#define FIRMATA_END_SYSEX 0xF7 -#define FIRMATA_CURIE_IMU 0x11 -#define FIRMATA_CURIE_IMU_READ_ACCEL 0x00 -#define FIRMATA_CURIE_IMU_READ_GYRO 0x01 -#define FIRMATA_CURIE_IMU_READ_TEMP 0x02 -#define FIRMATA_CURIE_IMU_SHOCK_DETECT 0x03 -#define FIRMATA_CURIE_IMU_STEP_COUNTER 0x04 -#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; -}; - -class CurieImu { - public: - - /** - * Instantiates a CurieImu object - * - * @param subplatformoffset Subplatform offset - */ - CurieImu (int subplatform_offset=512); - - /** - * Destructor for CurieImu object - */ - ~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(); - - /** - * Returns last accelerometer reading X, Y, and Z axis - * - * @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 - * - * @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 - * - * @return 16-bit integer containing the scaled temperature reading - */ - int16_t getTemperature(); - - /** - * Reads the X, Y, and Z axis of both gyroscope and accelerometer - * - * @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(); - - /** - * Returns last shock or tap axis reading - * - * @return axis value - */ - int16_t getAxis(); - - /** - * Returns last shock or tap direction reading - * - * @return direction value - */ - int16_t getDirection(); - - /** - * Turns shock detection notifications on/off - * - * @param enable enables/disables notifications - */ - void enableShockDetection(bool enable); - - /** - * Has there been a shock detected? - * - * @return true if any unprocessed shock notifications are in the queue - */ - bool isShockDetected(); - - /** - * Gets shock detect data from queue. Then m_axis gets axis data, and - * m_direction gets direction data - */ - void getNextShock(); - - /** - * Turns step counter notifications on/off - * - * @param enable enables/disables notifications - */ - void enableStepCounter(bool enable); - - /** - * Has there been a step detected? - * - * @return true if any unprocessed step notifications are in the queue - */ - bool isStepDetected(); - - /** - * Gets step count data from queue - * - * @return the total number of steps taken - */ - int16_t getStepCount(); - - /** - * Turns tap detection notifications on/off - * - * @param enable enables/disables notifications - */ - void enableTapDetection(bool enable); - - /** - * Has there been a tap detected? - * - * @return true if any unprocessed tap notifications are in the queue - */ - bool isTapDetected(); - - /** - * Gets tap detect data from queue. Then m_axis gets axis data, and - * m_direction gets direction data - */ - void getNextTap(); - - /** - * Locks responses from Firmata - */ - void lock(); - - /** - * Unlocks responses from Firmata - */ - void unlock(); - - /** - * Wait for a response from Firmata before proceeding - */ - void waitForResponse(); - - /** - * Proceed with original function call now that response - * from Firmata has been received - */ - void proceed(); - - /** - * Set results being returned from Firmata for processing - * - * @param buf is the buffer - * @param length is the length of results buffer - */ - void setResults(uint8_t* buf, int length); - - /** - * Processes asyncronous responses returned from Firmata - */ - void processResponse(); - - private: - mraa_firmata_context m_firmata; - pthread_mutex_t m_responseLock; - pthread_cond_t m_responseCond; - char* m_results; - - std::queue<IMUDataItem*> m_shockData; - std::queue<int> m_stepData; - std::queue<IMUDataItem*> m_tapData; - - int16_t m_accel[3]; - int16_t m_gyro[3]; - int16_t m_motion[6]; - - int16_t m_axis; - int16_t m_direction; -}; - -} |