curieimu.hpp

/*
 * 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 {

#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:

      CurieImu (int subplatform_offset=512);

      ~CurieImu();

      void updateAccel();

      void updateGyro();

      void updateMotion();

      int16_t* getAccel();

      int16_t getAccelX();

      int16_t getAccelY();

      int16_t getAccelZ();

      int16_t* getGyro();

      int16_t getGyroX();

      int16_t getGyroY();

      int16_t getGyroZ();

      int16_t getTemperature();

      int16_t* getMotion();

      int16_t getAxis();

      int16_t getDirection();

      void enableShockDetection(bool enable);

      bool isShockDetected();

      void getNextShock();

      void enableStepCounter(bool enable);

      bool isStepDetected();

      int16_t getStepCount();

      void enableTapDetection(bool enable);

      bool isTapDetected();

      void getNextTap();

      void lock();

      void unlock();

      void waitForResponse();

      void proceed();

      void setResults(uint8_t* buf, int length);

      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;
};

}