Diff: Gyroscope.h

Revision:

44:5483079fa156

Parent:

40:8e852115fe55

--- a/Gyroscope.h	Wed May 27 11:45:00 2015 +0000
+++ b/Gyroscope.h	Fri May 29 12:21:31 2015 +0000
@@ -7,20 +7,53 @@
 class Gyroscope : public I2CPeripheral, public Sensor
 {
 public:
+    /* Flag to indicate if Gryoscope is calibrated or not */
+    bool isCalibrated;
+
     Gyroscope(I2C &i2c);
 
     void handleInterrupt(void);
-
+    
+    /**
+     * Incrementally calculates the average noise offset
+     * with every interrupt received from gyroscope
+     * until the desired iteration is reached  
+     */
+    void calibtrationInterrupt(void);    
+ 
     virtual void powerOff();
     virtual bool powerOn();
     virtual void start();
-    virtual void stop();
+    virtual void stop(); 
+    
+    /**
+     * Returns raw x,y,z data from obtained from gyroscpe
+     */
+    virtual Vector3 uncalibrated_read();
+    
+    /**
+     * Returns calibrated x,y,z values from gyroscope
+     * The offset calculated from calibration is added
+     * to the raw data: 
+     *    value = (rawValue + noiseOffset) * gyro_resolution    
+     */
     virtual Vector3 read();
     
+    /**
+     * Changes the interrupt handler of gyro
+     *  to calibrationInterrupt, which is responsible
+     *  for calculating noise offset
+     */
+    virtual void calibrate();
     volatile bool interruptSet;
-
+    
+    /* Sets offset to zero*/
+    virtual void reset();
+    
 protected:
-    InterruptIn int1;
+    int numSamples;     //Counter for calibration
+    Vector3 offset;     //Gyroscope noise compensation offset
+    InterruptIn int1;   //Interrupt from the gyroscope
     InterruptIn int2;
     size_t      tick;
 };