microbit: formatting changes to MicroBitAccelerometer.h (.cpp)
Removed trailing whitespace, and tabulated lines with no content.
This commit is contained in:
James Devine
parent
a209857007
commit
d8240cfb74
2 changed files with 72 additions and 72 deletions
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@ -57,7 +57,7 @@
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#define MICROBIT_ACCELEROMETER_EVT_FACE_UP 5
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#define MICROBIT_ACCELEROMETER_EVT_FACE_DOWN 6
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#define MICROBIT_ACCELEROMETER_EVT_FREEFALL 7
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#define MICROBIT_ACCELEROMETER_EVT_3G 8
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#define MICROBIT_ACCELEROMETER_EVT_3G 8
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#define MICROBIT_ACCELEROMETER_EVT_6G 9
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#define MICROBIT_ACCELEROMETER_EVT_8G 10
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#define MICROBIT_ACCELEROMETER_EVT_SHAKE 11
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@ -140,10 +140,10 @@ struct ShakeHistory
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class MicroBitAccelerometer : public MicroBitComponent
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{
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/**
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* Unique, enumerated ID for this component.
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* Unique, enumerated ID for this component.
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* Used to track asynchronous events in the event bus.
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*/
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uint16_t address; // I2C address of this accelerometer.
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uint16_t samplePeriod; // The time between samples, in milliseconds.
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uint8_t sampleRange; // The sample range of the accelerometer in g.
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@ -152,20 +152,20 @@ class MicroBitAccelerometer : public MicroBitComponent
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float pitch; // Pitch of the device, in radians.
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float roll; // Roll of the device, in radians.
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uint8_t sigma; // the number of ticks that the instantaneous gesture has been stable.
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BasicGesture lastGesture; // the last, stable gesture recorded.
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BasicGesture lastGesture; // the last, stable gesture recorded.
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BasicGesture currentGesture; // the instantaneous, unfiltered gesture detected.
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ShakeHistory shake; // State information needed to detect shake events.
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public:
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/**
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* Constructor.
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* Constructor.
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* Create an accelerometer representation with the given ID.
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* @param id the ID of the new object.
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* @param address the default base address of the accelerometer.
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* @param address the default base address of the accelerometer.
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*
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* Example:
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* @code
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* @code
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* accelerometer(MICROBIT_ID_ACCELEROMETER, MMA8653_DEFAULT_ADDR)
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* @endcode
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*/
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@ -199,7 +199,7 @@ class MicroBitAccelerometer : public MicroBitComponent
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int setPeriod(int period);
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/**
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* Reads the currently configured sample rate of the accelerometer.
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* Reads the currently configured sample rate of the accelerometer.
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* @return The time between samples, in milliseconds.
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*/
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int getPeriod();
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@ -214,17 +214,17 @@ class MicroBitAccelerometer : public MicroBitComponent
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int setRange(int range);
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/**
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* Reads the currently configured sample range of the accelerometer.
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* Reads the currently configured sample range of the accelerometer.
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* @return The sample range, in g.
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*/
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int getRange();
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/**
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* Attempts to determine the 8 bit ID from the accelerometer.
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* Attempts to determine the 8 bit ID from the accelerometer.
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* @return the 8 bit ID returned by the accelerometer, or MICROBIT_I2C_ERROR if the request fails.
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*
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* Example:
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* @code
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* @code
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* uBit.accelerometer.whoAmI();
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* @endcode
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*/
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@ -236,32 +236,32 @@ class MicroBitAccelerometer : public MicroBitComponent
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* @return The force measured in the X axis, in milli-g.
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*
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* Example:
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* @code
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* @code
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* uBit.accelerometer.getX();
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* @endcode
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*/
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int getX(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN);
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/**
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* Reads the Y axis value of the latest update from the accelerometer.
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* @return The force measured in the Y axis, in milli-g.
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*
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* Example:
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* @code
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* @code
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* uBit.accelerometer.getY();
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* @endcode
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*/
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*/
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int getY(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN);
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/**
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* Reads the Z axis value of the latest update from the accelerometer.
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* @return The force measured in the Z axis, in milli-g.
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*
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* Example:
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* @code
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* @code
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* uBit.accelerometer.getZ();
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* @endcode
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*/
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*/
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int getZ(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN);
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/**
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@ -269,10 +269,10 @@ class MicroBitAccelerometer : public MicroBitComponent
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* @return The pitch of the device, in degrees.
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*
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* Example:
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* @code
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* @code
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* uBit.accelerometer.getPitch();
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* @endcode
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*/
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*/
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int getPitch();
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float getPitchRadians();
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@ -281,10 +281,10 @@ class MicroBitAccelerometer : public MicroBitComponent
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* @return The roll of the device, in degrees.
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*
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* Example:
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* @code
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* @code
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* uBit.accelerometer.getRoll();
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* @endcode
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*/
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*/
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int getRoll();
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float getRollRadians();
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@ -293,16 +293,16 @@ class MicroBitAccelerometer : public MicroBitComponent
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* @return The last gesture detected.
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*
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* Example:
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* @code
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* @code
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* if (uBit.accelerometer.getGesture() == SHAKE)
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* @endcode
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*/
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*/
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BasicGesture getGesture();
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/**
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* periodic callback from MicroBit idle thread.
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* Check if any data is ready for reading by checking the interrupt flag on the accelerometer
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*/
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*/
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virtual void idleTick();
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/**
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@ -341,7 +341,7 @@ class MicroBitAccelerometer : public MicroBitComponent
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/**
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*
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* Updates the basic gesture recognizer. This performs instantaneous pose recognition, and also some low pass filtering to promote
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* Updates the basic gesture recognizer. This performs instantaneous pose recognition, and also some low pass filtering to promote
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* stability.
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*/
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void updateGesture();
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@ -48,32 +48,32 @@ int MicroBitAccelerometer::configure()
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// Now configure the accelerometer accordingly.
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// First place the device into standby mode, so it can be configured.
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result = writeCommand(MMA8653_CTRL_REG1, 0x00);
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if (result != 0)
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if (result != 0)
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return MICROBIT_I2C_ERROR;
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// Enable high precisiosn mode. This consumes a bit more power, but still only 184 uA!
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result = writeCommand(MMA8653_CTRL_REG2, 0x10);
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if (result != 0)
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if (result != 0)
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return MICROBIT_I2C_ERROR;
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// Enable the INT1 interrupt pin.
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result = writeCommand(MMA8653_CTRL_REG4, 0x01);
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if (result != 0)
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if (result != 0)
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return MICROBIT_I2C_ERROR;
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// Select the DATA_READY event source to be routed to INT1
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result = writeCommand(MMA8653_CTRL_REG5, 0x01);
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if (result != 0)
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if (result != 0)
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return MICROBIT_I2C_ERROR;
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// Configure for the selected g range.
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result = writeCommand(MMA8653_XYZ_DATA_CFG, actualSampleRange->xyz_data_cfg);
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if (result != 0)
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if (result != 0)
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return MICROBIT_I2C_ERROR;
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// Bring the device back online, with 10bit wide samples at the requested frequency.
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result = writeCommand(MMA8653_CTRL_REG1, actualSampleRate->ctrl_reg1 | 0x01);
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if (result != 0)
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if (result != 0)
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return MICROBIT_I2C_ERROR;
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return MICROBIT_OK;
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@ -124,13 +124,13 @@ int MicroBitAccelerometer::readCommand(uint8_t reg, uint8_t* buffer, int length)
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}
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/**
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* Constructor.
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* Constructor.
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* Create an accelerometer representation with the given ID.
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* @param id the ID of the new object.
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* @param address the default base address of the accelerometer.
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* @param address the default base address of the accelerometer.
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*
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* Example:
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* @code
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* @code
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* accelerometer(MICROBIT_ID_ACCELEROMETER, MMA8653_DEFAULT_ADDR)
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* @endcode
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*/
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@ -161,11 +161,11 @@ MicroBitAccelerometer::MicroBitAccelerometer(uint16_t id, uint16_t address) : sa
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}
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/**
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* Attempts to determine the 8 bit ID from the accelerometer.
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* Attempts to determine the 8 bit ID from the accelerometer.
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* @return the 8 bit ID returned by the accelerometer, or MICROBIT_I2C_ERROR if the request fails.
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*
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* Example:
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* @code
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* @code
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* uBit.accelerometer.whoAmI();
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* @endcode
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*/
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@ -174,7 +174,7 @@ int MicroBitAccelerometer::whoAmI()
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uint8_t data;
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int result;
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result = readCommand(MMA8653_WHOAMI, &data, 1);
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result = readCommand(MMA8653_WHOAMI, &data, 1);
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if (result !=0)
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return MICROBIT_I2C_ERROR;
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@ -197,7 +197,7 @@ int MicroBitAccelerometer::update()
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return MICROBIT_I2C_ERROR;
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// read MSB values...
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sample.x = data[0];
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sample.x = data[0];
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sample.y = data[2];
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sample.z = data[4];
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@ -221,7 +221,7 @@ int MicroBitAccelerometer::update()
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// Indicate that pitch and roll data is now stale, and needs to be recalculated if needed.
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status &= ~MICROBIT_ACCEL_PITCH_ROLL_VALID;
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// Update gesture tracking
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// Update gesture tracking
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updateGesture();
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// Indicate that a new sample is available
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@ -257,9 +257,9 @@ BasicGesture MicroBitAccelerometer::instantaneousPosture()
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// Test for shake events.
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// We detect a shake by measuring zero crossings in each axis. In other words, if we see a strong acceleration to the left followed by
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// a string acceleration to the right, then we can infer a shake. Similarly, we can do this for each acxis (left/right, up/down, in/out).
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//
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//
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// If we see enough zero crossings in succession (MICROBIT_ACCELEROMETER_SHAKE_COUNT_THRESHOLD), then we decide that the device
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// has been shaken.
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// has been shaken.
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if ((getX() < -MICROBIT_ACCELEROMETER_SHAKE_TOLERANCE && shake.x) || (getX() > MICROBIT_ACCELEROMETER_SHAKE_TOLERANCE && !shake.x))
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{
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shakeDetected = true;
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@ -289,7 +289,7 @@ BasicGesture MicroBitAccelerometer::instantaneousPosture()
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if(--shake.count == 0)
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shake.shaken = 0;
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}
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}
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}
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if (shake.shaken)
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return GESTURE_SHAKE;
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@ -334,10 +334,10 @@ void MicroBitAccelerometer::updateGesture()
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BasicGesture g = instantaneousPosture();
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// Perform some low pass filtering to reduce jitter from any detected effects
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if (g == currentGesture)
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if (g == currentGesture)
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{
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if (sigma < MICROBIT_ACCELEROMETER_GESTURE_DAMPING)
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sigma++;
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sigma++;
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}
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else
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{
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@ -350,7 +350,7 @@ void MicroBitAccelerometer::updateGesture()
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{
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lastGesture = currentGesture;
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MicroBitEvent e(MICROBIT_ID_GESTURE, lastGesture);
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}
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}
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}
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/**
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@ -367,7 +367,7 @@ int MicroBitAccelerometer::setPeriod(int period)
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}
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/**
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* Reads the currently configured sample rate of the accelerometer.
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* Reads the currently configured sample rate of the accelerometer.
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* @return The time between samples, in milliseconds.
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*/
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int MicroBitAccelerometer::getPeriod()
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@ -389,7 +389,7 @@ int MicroBitAccelerometer::setRange(int range)
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}
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/**
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* Reads the currently configured sample range of the accelerometer.
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* Reads the currently configured sample range of the accelerometer.
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* @return The sample range, in g.
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*/
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int MicroBitAccelerometer::getRange()
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@ -403,7 +403,7 @@ int MicroBitAccelerometer::getRange()
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* @return The force measured in the X axis, in milli-g.
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*
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* Example:
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* @code
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* @code
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* uBit.accelerometer.getX();
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* uBit.accelerometer.getX(RAW);
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* @endcode
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@ -414,7 +414,7 @@ int MicroBitAccelerometer::getX(MicroBitCoordinateSystem system)
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{
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case SIMPLE_CARTESIAN:
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return -sample.x;
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case NORTH_EAST_DOWN:
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return sample.y;
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@ -430,18 +430,18 @@ int MicroBitAccelerometer::getX(MicroBitCoordinateSystem system)
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* @return The force measured in the Y axis, in milli-g.
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*
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* Example:
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* @code
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* @code
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* uBit.accelerometer.getY();
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* uBit.accelerometer.getY(RAW);
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* @endcode
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*/
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*/
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int MicroBitAccelerometer::getY(MicroBitCoordinateSystem system)
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{
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switch (system)
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{
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case SIMPLE_CARTESIAN:
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return -sample.y;
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case NORTH_EAST_DOWN:
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return -sample.x;
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@ -457,11 +457,11 @@ int MicroBitAccelerometer::getY(MicroBitCoordinateSystem system)
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* @return The force measured in the Z axis, in milli-g.
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*
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* Example:
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* @code
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* @code
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* uBit.accelerometer.getZ();
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* uBit.accelerometer.getZ(RAW);
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* @endcode
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*/
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*/
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int MicroBitAccelerometer::getZ(MicroBitCoordinateSystem system)
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{
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switch (system)
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@ -475,16 +475,16 @@ int MicroBitAccelerometer::getZ(MicroBitCoordinateSystem system)
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return sample.z;
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}
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}
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/**
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* Provides a rotation compensated pitch of the device, based on the latest update from the accelerometer.
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* @return The pitch of the device, in degrees.
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*
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* Example:
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* @code
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* @code
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* uBit.accelerometer.getPitch();
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* @endcode
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*/
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*/
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int MicroBitAccelerometer::getPitch()
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{
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return (int) ((360*getPitchRadians()) / (2*PI));
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@ -503,10 +503,10 @@ float MicroBitAccelerometer::getPitchRadians()
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* @return The roll of the device, in degrees.
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*
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* Example:
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* @code
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* @code
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* uBit.accelerometer.getRoll();
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* @endcode
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*/
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*/
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int MicroBitAccelerometer::getRoll()
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{
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return (int) ((360*getRollRadians()) / (2*PI));
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@ -541,10 +541,10 @@ void MicroBitAccelerometer::recalculatePitchRoll()
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* @return The last gesture detected.
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*
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* Example:
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* @code
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* @code
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* if (uBit.accelerometer.getGesture() == SHAKE)
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* @endcode
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*/
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*/
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BasicGesture MicroBitAccelerometer::getGesture()
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{
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return lastGesture;
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@ -553,7 +553,7 @@ BasicGesture MicroBitAccelerometer::getGesture()
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/**
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* periodic callback from MicroBit clock.
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* Check if any data is ready for reading by checking the interrupt flag on the accelerometer
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*/
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*/
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void MicroBitAccelerometer::idleTick()
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{
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// Poll interrupt line from accelerometer.
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@ -572,18 +572,18 @@ int MicroBitAccelerometer::isIdleCallbackNeeded()
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}
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const MMA8653SampleRangeConfig MMA8653SampleRange[MMA8653_SAMPLE_RANGES] = {
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{2, 0},
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{4, 1},
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{2, 0},
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{4, 1},
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{8, 2}
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};
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const MMA8653SampleRateConfig MMA8653SampleRate[MMA8653_SAMPLE_RATES] = {
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{1250, 0x00},
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{2500, 0x08},
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{5000, 0x10},
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{10000, 0x18},
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{20000, 0x20},
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{80000, 0x28},
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{1250, 0x00},
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{2500, 0x08},
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{5000, 0x10},
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{10000, 0x18},
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{20000, 0x20},
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{80000, 0x28},
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{160000, 0x30},
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{640000, 0x38}
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};
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