Refactor Accelerometer/Magnetometer code to enable new drivers

.gitignore

@@ -3,4 +3,5 @@ build
 yotta_modules
 yotta_targets
 *.swp
+*~
 Makefile

inc/core/MicroBitComponent.h

@@ -68,6 +68,9 @@ DEALINGS IN THE SOFTWARE.
 #define MICROBIT_ID_MULTIBUTTON_ATTACH  31
 #define MICROBIT_ID_SERIAL              32
 
+#define MICROBIT_ID_IO_INT1             33          //INT1
+#define MICROBIT_ID_IO_INT2             34          //INT2
+
 #define MICROBIT_ID_MESSAGE_BUS_LISTENER            1021          // Message bus indication that a handler for a given ID has been registered.
 #define MICROBIT_ID_NOTIFY_ONE                      1022          // Notfication channel, for general purpose synchronisation
 #define MICROBIT_ID_NOTIFY                          1023          // Notfication channel, for general purpose synchronisation

inc/core/MicroBitUtil.h

@@ -0,0 +1,61 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2017 Lancaster University.
+
+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.
+*/
+
+/**
+ * This file contains functions used to maintain compatability and portability.
+ * It also contains constants that are used elsewhere in the DAL.
+ */
+
+#ifndef MICROBIT_UTIL_H
+#define MICROBIT_UTIL_H
+
+#include "MicroBitConfig.h"
+
+#define CREATE_KEY_VALUE_TABLE(NAME, PAIRS) const KeyValueTable NAME { PAIRS, sizeof(PAIRS) / sizeof(KeyValueTableEntry) };
+
+/**
+ * Provides a simple key/value pair lookup table with range lookup support.
+ * Normally stored in FLASH to reduce RAM usage. Keys should be pre-sorted
+ * in ascending order.
+ */
+
+struct KeyValueTableEntry
+{
+    const uint32_t key;
+    const uint32_t value;
+};
+
+struct KeyValueTable
+{
+    const KeyValueTableEntry *data;
+    const int length;
+
+    KeyValueTableEntry* find(const uint32_t key) const;
+    uint32_t get(const uint32_t key) const;
+    uint32_t getKey(const uint32_t key) const;
+    bool hasKey(const uint32_t key) const;
+};
+
+
+#endif

inc/drivers/FXOS8700.h

@@ -0,0 +1,240 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2017 Lancaster University.
+
+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 FXOS8700_H
+#define FXOS8700_H
+
+#include "MicroBitConfig.h"
+#include "MicroBitComponent.h"
+#include "MicroBitPin.h"
+#include "MicroBitI2C.h"
+#include "MicroBitAccelerometer.h"
+#include "MicroBitCompass.h"
+#include "CoordinateSystem.h"
+#include "MicroBitUtil.h"
+
+/**
+  * I2C constants
+  */
+#define FXOS8700_DEFAULT_ADDR       0x3C
+
+/**
+  * FXOS8700 Register map
+  */
+#define FXOS8700_STATUS_REG         0x00
+#define FXOS8700_OUT_X_MSB          0x01
+#define FXOS8700_OUT_X_LSB          0x02
+#define FXOS8700_OUT_Y_MSB          0x03
+#define FXOS8700_OUT_Y_LSB          0x04
+#define FXOS8700_OUT_Z_MSB          0x05
+#define FXOS8700_OUT_Z_LSB          0x06
+#define FXOS8700_F_SETUP            0x09
+#define FXOS8700_TRIG_CFG           0x0A
+#define FXOS8700_SYSMOD             0x0B
+#define FXOS8700_INT_SOURCE         0x0C
+#define FXOS8700_WHO_AM_I           0x0D
+#define FXOS8700_XYZ_DATA_CFG       0x0E
+#define FXOS8700_HP_FILTER_CUTOFF   0x0F
+#define FXOS8700_PL_STATUS          0x10
+#define FXOS8700_PL_CFG             0x11
+#define FXOS8700_PL_COUNT           0x12
+#define FXOS8700_PL_BF_ZCOMP        0x13
+#define FXOS8700_PL_THS_REG         0x14
+#define FXOS8700_A_FFMT_CFG         0x15
+#define FXOS8700_A_FFMT_SRC         0x16
+#define FXOS8700_A_FFMT_THS         0x17
+#define FXOS8700_A_FFMT_COUNT       0x18
+#define FXOS8700_TRANSIENT_CFG      0x1D
+#define FXOS8700_TRANSIENT_SRC      0x1E
+#define FXOS8700_TRANSIENT_THS      0x1F
+#define FXOS8700_TRANSIENT_COUNT    0x20
+#define FXOS8700_PULSE_CFG          0x21
+#define FXOS8700_PULSE_SRC          0x22
+#define FXOS8700_PULSE_THSX         0x23
+#define FXOS8700_PULSE_THSY         0x24
+#define FXOS8700_PULSE_THSZ         0x25
+#define FXOS8700_PULSE_TMLT         0x26
+#define FXOS8700_PULSE_LTCY         0x27
+#define FXOS8700_PULSE_WIND         0x28
+#define FXOS8700_ASLP_COUNT         0x29
+#define FXOS8700_CTRL_REG1          0x2A
+#define FXOS8700_CTRL_REG2          0x2B
+#define FXOS8700_CTRL_REG3          0x2C
+#define FXOS8700_CTRL_REG4          0x2D
+#define FXOS8700_CTRL_REG5          0x2E
+#define FXOS8700_OFF_X              0x2F
+#define FXOS8700_OFF_Y              0x30
+#define FXOS8700_OFF_Z              0x31
+#define FXOS8700_M_DR_STATUS        0x32
+#define FXOS8700_M_OUT_X_MSB        0x33
+#define FXOS8700_M_OUT_X_LSB        0x34
+#define FXOS8700_M_OUT_Y_MSB        0x35
+#define FXOS8700_M_OUT_Y_LSB        0x36
+#define FXOS8700_M_OUT_Z_MSB        0x37
+#define FXOS8700_M_OUT_Z_LSB        0x38
+#define FXOS8700_CMP_X_MSB          0x39
+#define FXOS8700_CMP_X_LSB          0x3A
+#define FXOS8700_CMP_Y_MSB          0x3B
+#define FXOS8700_CMP_Y_LSB          0x3C
+#define FXOS8700_CMP_Z_MSB          0x3D
+#define FXOS8700_CMP_Z_LSB          0x3E
+#define FXOS8700_M_OFF_X_MSB        0x3F
+#define FXOS8700_M_OFF_X_LSB        0x40
+#define FXOS8700_M_OFF_Y_MSB        0x41
+#define FXOS8700_M_OFF_Y_LSB        0x42
+#define FXOS8700_M_OFF_Z_MSB        0x43
+#define FXOS8700_M_OFF_Z_LSB        0x44
+#define FXOS8700_MAX_X_MSB          0x45
+#define FXOS8700_MAX_X_LSB          0x46
+#define FXOS8700_MAX_Y_MSB          0x47
+#define FXOS8700_MAX_Y_LSB          0x48
+#define FXOS8700_MAX_Z_MSB          0x49
+#define FXOS8700_MAX_Z_LSB          0x4A
+#define FXOS8700_MIN_X_MSB          0x4B
+#define FXOS8700_MIN_X_LSB          0x4C
+#define FXOS8700_MIN_Y_MSB          0x4D
+#define FXOS8700_MIN_Y_LSB          0x4E
+#define FXOS8700_MIN_Z_MSB          0x4F
+#define FXOS8700_MIN_Z_LSB          0x50
+#define FXOS8700_TEMP               0x51
+#define FXOS8700_M_THS_CFG          0x52
+#define FXOS8700_M_THS_SRC          0x53
+#define FXOS8700_M_THS_X_MSB        0x54
+#define FXOS8700_M_THS_X_LSB        0x55
+#define FXOS8700_M_THS_Y_MSB        0x56
+#define FXOS8700_M_THS_Y_LSB        0x57
+#define FXOS8700_M_THS_Z_MSB        0x58
+#define FXOS8700_M_THS_Z_LSB        0x59
+#define FXOS8700_M_THS_COUNT        0x5A
+#define FXOS8700_M_CTRL_REG1        0x5B
+#define FXOS8700_M_CTRL_REG2        0x5C
+#define FXOS8700_M_CTRL_REG3        0x5D
+#define FXOS8700_M_INT_SRC          0x5E
+#define FXOS8700_A_VECM_CFG         0x5F
+#define FXOS8700_A_VECM_THS_MSB     0x60
+#define FXOS8700_A_VECM_THS_LSB     0x61
+#define FXOS8700_A_VECM_CNT         0x62
+#define FXOS8700_A_VECM_INITX_MSB   0x63
+#define FXOS8700_A_VECM_INITX_LSB   0x64
+#define FXOS8700_A_VECM_INITY_MSB   0x65
+#define FXOS8700_A_VECM_INITY_LSB   0x66
+#define FXOS8700_A_VECM_INITZ_MSB   0x67
+#define FXOS8700_A_VECM_INITZ_LSB   0x68
+#define FXOS8700_M_VECM_CFG         0x69
+#define FXOS8700_M_VECM_THS_MSB     0x6A
+#define FXOS8700_M_VECM_THS_LSB     0x6B
+#define FXOS8700_M_VECM_CNT         0x6C
+#define FXOS8700_M_VECM_INITX_MSB   0x6D
+#define FXOS8700_M_VECM_INITX_LSB   0x6E
+#define FXOS8700_M_VECM_INITY_MSB   0x6F
+#define FXOS8700_M_VECM_INITY_LSB   0x70
+#define FXOS8700_M_VECM_INITZ_MSB   0x71
+#define FXOS8700_M_VECM_INITZ_LSB   0x72
+#define FXOS8700_A_FFMT_THS_X_MSB   0x73
+#define FXOS8700_A_FFMT_THS_X_LSB   0x74
+#define FXOS8700_A_FFMT_THS_Y_MSB   0x75
+#define FXOS8700_A_FFMT_THS_Y_LSB   0x76
+#define FXOS8700_A_FFMT_THS_Z_MSB   0x77
+#define FXOS8700_A_FFMT_THS_Z_LSB   0x78
+
+
+/**
+ * FXOS8700 constants
+ */
+#define FXOS8700_WHOAMI_VAL      0xC7
+
+/**
+ * Class definition for an FXSO8700 hybrid Accelerometer/Magnetometer
+ */
+class FXOS8700 : public MicroBitAccelerometer, public MicroBitCompass
+{
+    MicroBitI2C&            i2c;                    // The I2C interface to use.
+    MicroBitPin             &int1;                  // Data ready interrupt.
+    uint16_t                address;                // I2C address of this accelerometer.
+
+    public:
+
+    /**
+     * Constructor.
+     * Create a software abstraction of an accelerometer.
+     *
+     * @param _i2c an instance of I2C used to communicate with the onboard accelerometer.
+     * @param _int1 a pin connected to the INT1 interrupt source of the sensor.
+     * @param address the default I2C address of the accelerometer. Defaults to: FXOS8700_DEFAULT_ADDR.
+     *
+     */
+    FXOS8700(MicroBitI2C &_i2c, MicroBitPin &_int1, CoordinateSpace &coordinateSpace, uint16_t address = FXOS8700_DEFAULT_ADDR, uint16_t aid = MICROBIT_ID_ACCELEROMETER, uint16_t cid = MICROBIT_ID_COMPASS);
+
+    /**
+     * Configures the accelerometer for G 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 accelerometer could not be configured.
+     */
+    int configure();
+
+    /**
+     * Reads the acceleration data from the accelerometer, and stores it in our buffer.
+     * This only happens if the accelerometer indicates that it has new data via int1.
+     *
+     * 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 technique is called lazy instantiation, and it 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 requestUpdate();
+
+    /**
+     * Attempts to read the 8 bit ID from the accelerometer, this can be used for
+     * validation purposes.
+     *
+     * @return the 8 bit ID returned by the accelerometer, or DEVICE_I2C_ERROR if the request fails.
+     *
+     * @code
+     * accelerometer.whoAmI();
+     * @endcode
+     */
+    int whoAmI();
+
+    /**
+     * A periodic callback invoked by the fiber scheduler idle thread.
+     *
+     * Internally calls updateSample().
+     */
+    virtual void idleCallback();
+
+    /**
+     * Destructor.
+     */
+    ~FXOS8700();
+
+};
+
+#endif

inc/drivers/LSM303Accelerometer.h

@@ -0,0 +1,152 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2017 Lancaster University.
+
+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 LSM303_A_H
+#define LSM303_A_H
+
+#include "MicroBitConfig.h"
+#include "MicroBitComponent.h"
+#include "CoordinateSystem.h"
+#include "MicroBitAccelerometer.h"
+#include "MicroBitI2C.h"
+#include "MicroBitUtil.h"
+
+/**
+  * I2C constants
+  */
+#define LSM303_A_DEFAULT_ADDR           0x32
+
+/**
+  * LSM303 Register map (partial)
+  */
+
+#define LSM303_STATUS_REG_AUX_A		    0x07
+#define LSM303_OUT_TEMP_L_A		        0x0C
+#define LSM303_OUT_TEMP_H_A		        0x0D
+#define LSM303_INT_COUNTER_REG_A		0x0E
+#define LSM303_WHO_AM_I_A		        0x0F
+#define LSM303_TEMP_CFG_REG_A		    0x1F
+#define LSM303_CTRL_REG1_A		        0x20
+#define LSM303_CTRL_REG2_A		        0x21
+#define LSM303_CTRL_REG3_A		        0x22
+#define LSM303_CTRL_REG4_A		        0x23
+#define LSM303_CTRL_REG5_A		        0x24
+#define LSM303_CTRL_REG6_A		        0x25
+#define LSM303_DATACAPTURE_A		    0x26
+#define LSM303_STATUS_REG_A		        0x27
+#define LSM303_OUT_X_L_A		        0x28
+#define LSM303_OUT_X_H_A		        0x29
+#define LSM303_OUT_Y_L_A		        0x2A
+#define LSM303_OUT_Y_H_A		        0x2B
+#define LSM303_OUT_Z_L_A		        0x2C
+#define LSM303_OUT_Z_H_A		        0x2D
+#define LSM303_FIFO_CTRL_REG_A		    0x2E
+#define LSM303_FIFO_SRC_REG_A		    0x2F
+#define LSM303_INT1_CFG_A		        0x30
+#define LSM303_INT1_SRC_A		        0x31
+#define LSM303_INT1_THS_A		        0x32
+#define LSM303_INT1_DURATION_A		    0x33
+#define LSM303_INT2_CFG_A		        0x34
+#define LSM303_INT2_SRC_A		        0x35
+#define LSM303_INT2_THS_A		        0x36
+#define LSM303_INT2_DURATION_A		    0x37
+#define LSM303_CLICK_CFG_A		        0x38
+#define LSM303_CLICK_SRC_A		        0x39
+#define LSM303_CLICK_THS_A		        0x3A
+#define LSM303_TIME_LIMIT_A		        0x3B
+#define LSM303_TIME_LATENCY_A		    0x3C
+#define LSM303_TIME_WINDOW_A		    0x3D
+#define LSM303_ACT_THS_A		        0x3E
+#define LSM303_ACT_DUR_A		        0x3F
+
+/**
+  * LSM303_A constants
+  */
+#define LSM303_A_WHOAMI_VAL             0x33
+
+/**
+ * Class definition for LSM303Accelerometer.
+ * This class provides a simple wrapper between the hybrid FXOS8700 accelerometer and higher level accelerometer funcitonality.
+ */
+class LSM303Accelerometer : public MicroBitAccelerometer
+{
+    MicroBitI2C&            i2c;                    // The I2C interface to use.
+    MicroBitPin&            int1;                   // Data ready interrupt.
+    uint16_t                address;                // I2C address of this accelerometer.
+
+    public:
+
+    /**
+     * Constructor.
+     * Create a software abstraction of an accelerometer.
+     *
+     * @param coordinateSpace The orientation of the sensor. Defaults to: SIMPLE_CARTESIAN
+     * @param id The unique EventModel id of this component. Defaults to: MICROBIT_ID_ACCELEROMETER
+     *
+     */
+    LSM303Accelerometer(MicroBitI2C& _i2c, MicroBitPin &_int1, CoordinateSpace &coordinateSpace, uint16_t address = LSM303_A_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_ACCELEROMETER);
+
+    /**
+     * Configures the accelerometer for G 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 MICROBIT_OK on success, MICROBIT_I2C_ERROR if the accelerometer 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 funciton 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 MICROBIT_OK on success, MICROBIT_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();
+
+    /**
+     * A periodic callback invoked by the fiber scheduler idle thread.
+     *
+     * Internally calls updateSample().
+     */
+    virtual void idleCallback();
+
+
+    /**
+     * Destructor.
+     */
+    ~LSM303Accelerometer();
+
+};
+
+#endif
+

inc/drivers/LSM303Magnetometer.h

@@ -0,0 +1,139 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2017 Lancaster University.
+
+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 LSM303_M_H
+#define LSM303_M_H
+
+#include "MicroBitConfig.h"
+#include "MicroBitComponent.h"
+#include "CoordinateSystem.h"
+#include "MicroBitCompass.h"
+#include "MicroBitI2C.h"
+#include "MicroBitUtil.h"
+
+/**
+  * Term to convert sample data into SI units. 
+  * TODO: Write this, if necessary
+  */
+#define LSM303_M_NORMALIZE_SAMPLE(x) ((int)x)
+
+/**
+  * LSM303_M MAGIC ID value
+  * Returned from the MAG_WHO_AM_I register for ID purposes.
+  */
+#define LSM303_M_WHOAMI_VAL             0x20
+
+/**
+  * I2C constants
+  */
+#define LSM303_M_DEFAULT_ADDR           0x3C
+
+/**
+  * LSM303_M Register map
+  */
+#define LSM303_OFFSET_X_REG_L_M			0x45
+#define LSM303_OFFSET_X_REG_H_M			0x46
+#define LSM303_OFFSET_Y_REG_L_M			0x47
+#define LSM303_OFFSET_Y_REG_H_M			0x48
+#define LSM303_OFFSET_Z_REG_L_M			0x49
+#define LSM303_OFFSET_Z_REG_H_M			0x4A
+#define LSM303_WHO_AM_I_M				0x4F
+#define LSM303_CFG_REG_A_M				0x60
+#define LSM303_CFG_REG_B_M				0x61
+#define LSM303_CFG_REG_C_M				0x62
+#define LSM303_INT_CRTL_REG_M			0x63
+#define LSM303_INT_SOURCE_REG_M			0x64
+#define LSM303_INT_THS_L_REG_M			0x65
+#define LSM303_INT_THS_H_REG_M			0x66
+#define LSM303_STATUS_REG_M				0x67
+#define LSM303_OUTX_L_REG_M				0x68
+#define LSM303_OUTX_H_REG_M				0x69
+#define LSM303_OUTY_L_REG_M				0x6A
+#define LSM303_OUTY_H_REG_M				0x6B
+#define LSM303_OUTZ_L_REG_M				0x6C
+#define LSM303_OUTZ_H_REG_M				0x6D
+
+
+
+/**
+ * Class definition for LSM303_M.
+ *
+ * This class provides the low level driver implementation for the LSM303_M Magnetometer
+ *
+ */
+class LSM303Magnetometer : public MicroBitCompass
+{
+    MicroBitI2C&            i2c;                    // The I2C interface to use.
+    MicroBitPin&            int1;                   // Data ready interrupt.
+    uint16_t                address;                // I2C address of this compass.
+
+    public:
+
+    /**
+     * Constructor.
+     * Create a software abstraction of an compass.
+     *
+     * @param coordinateSpace The orientation of the sensor. Defaults to: SIMPLE_CARTESIAN
+     * @param id The unique EventModel id of this component. Defaults to: MICROBIT_ID_ACCELEROMETER
+     *
+     */
+    LSM303Magnetometer(MicroBitI2C& _i2c, MicroBitPin &_int1, CoordinateSpace &coordinateSpace, uint16_t address = LSM303_M_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS);
+
+    /**
+     * Configures the compass for the 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 MICROBIT_OK on success, MICROBIT_I2C_ERROR if the compass could not be configured.
+     */
+    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 MICROBIT_OK on success, MICROBIT_I2C_ERROR if the update fails.
+     */
+    virtual int requestUpdate();
+
+    /**
+     * A periodic callback invoked by the fiber scheduler idle thread.
+     *
+     * Internally calls updateSample().
+     */
+    virtual void idleCallback();
+
+
+    /**
+     * Destructor.
+     */
+    ~LSM303Magnetometer();
+
+};
+
+#endif
+

inc/drivers/MAG3110.h

@@ -0,0 +1,134 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2017 Lancaster University.
+
+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 MAG3110_H
+#define MAG3110_H
+
+#include "MicroBitConfig.h"
+#include "MicroBitComponent.h"
+#include "CoordinateSystem.h"
+#include "MicroBitCompass.h"
+#include "MicroBitI2C.h"
+#include "MicroBitUtil.h"
+
+/**
+  * Term to convert sample data into SI units
+  */
+#define MAG3110_NORMALIZE_SAMPLE(x) (100 * (int)x)
+
+/**
+  * MAG3110 MAGIC ID value
+  * Returned from the MAG_WHO_AM_I register for ID purposes.
+  */
+#define MAG3110_WHOAMI_VAL 0xC4
+
+/**
+  * I2C constants
+  */
+#define MAG3110_DEFAULT_ADDR    0x1D
+
+/**
+  * MAG3110 Register map
+  */
+#define MAG_DR_STATUS 0x00
+#define MAG_OUT_X_MSB 0x01
+#define MAG_OUT_X_LSB 0x02
+#define MAG_OUT_Y_MSB 0x03
+#define MAG_OUT_Y_LSB 0x04
+#define MAG_OUT_Z_MSB 0x05
+#define MAG_OUT_Z_LSB 0x06
+#define MAG_WHOAMI    0x07
+#define MAG_SYSMOD    0x08
+#define MAG_OFF_X_MSB 0x09
+#define MAG_OFF_X_LSB 0x0A
+#define MAG_OFF_Y_MSB 0x0B
+#define MAG_OFF_Y_LSB 0x0C
+#define MAG_OFF_Z_MSB 0x0D
+#define MAG_OFF_Z_LSB 0x0E
+#define MAG_DIE_TEMP  0x0F
+#define MAG_CTRL_REG1 0x10
+#define MAG_CTRL_REG2 0x11
+
+
+/**
+ * Class definition for MAG3110.
+ *
+ * This class provides the low level driver implementation for the MAG3110 Magnetometer
+ *
+ */
+class MAG3110 : public MicroBitCompass
+{
+    MicroBitI2C&            i2c;                    // The I2C interface to use.
+    MicroBitPin&            int1;                   // Data ready interrupt.
+    uint16_t                address;                // I2C address of this compass.
+
+    public:
+
+    /**
+     * Constructor.
+     * Create a software abstraction of an compass.
+     *
+     * @param coordinateSpace The orientation of the sensor. Defaults to: SIMPLE_CARTESIAN
+     * @param id The unique EventModel id of this component. Defaults to: MICROBIT_ID_ACCELEROMETER
+     *
+     */
+    MAG3110(MicroBitI2C& _i2c, MicroBitPin &_int1, CoordinateSpace &coordinateSpace, uint16_t address = MAG3110_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS);
+
+    /**
+     * Configures the compass for the 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 MICROBIT_OK on success, MICROBIT_I2C_ERROR if the compass could not be configured.
+     */
+    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 MICROBIT_OK on success, MICROBIT_I2C_ERROR if the update fails.
+     */
+    virtual int requestUpdate();
+
+    /**
+     * A periodic callback invoked by the fiber scheduler idle thread.
+     *
+     * Internally calls updateSample().
+     */
+    virtual void idleCallback();
+
+
+    /**
+     * Destructor.
+     */
+    ~MAG3110();
+
+};
+
+#endif
+

inc/drivers/MMA8653.h

@@ -0,0 +1,128 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2017 Lancaster University.
+
+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 MMA8653_H
+#define MMA8653_H
+
+#include "MicroBitConfig.h"
+#include "MicroBitComponent.h"
+#include "CoordinateSystem.h"
+#include "MicroBitAccelerometer.h"
+#include "MicroBitI2C.h"
+#include "MicroBitUtil.h"
+
+/**
+  * Relevant pin assignments
+  */
+#define MICROBIT_PIN_ACCEL_DATA_READY          P0_28
+
+/**
+  * I2C constants
+  */
+#define MMA8653_DEFAULT_ADDR    0x3A
+
+/**
+  * MMA8653 Register map (partial)
+  */
+#define MMA8653_STATUS          0x00
+#define MMA8653_OUT_X_MSB       0x01
+#define MMA8653_WHOAMI          0x0D
+#define MMA8653_XYZ_DATA_CFG    0x0E
+#define MMA8653_CTRL_REG1       0x2A
+#define MMA8653_CTRL_REG2       0x2B
+#define MMA8653_CTRL_REG3       0x2C
+#define MMA8653_CTRL_REG4       0x2D
+#define MMA8653_CTRL_REG5       0x2E
+
+
+/**
+  * MMA8653 constants
+  */
+#define MMA8653_WHOAMI_VAL      0x5A
+
+/**
+ * Class definition for MMA8653.
+ * This class provides a simple wrapper between the hybrid FXOS8700 accelerometer and higher level accelerometer funcitonality.
+ */
+class MMA8653 : public MicroBitAccelerometer
+{
+    MicroBitI2C&            i2c;                    // The I2C interface to use.
+    MicroBitPin&            int1;                   // Data ready interrupt.
+    uint16_t                address;                // I2C address of this accelerometer.
+
+    public:
+
+    /**
+     * Constructor.
+     * Create a software abstraction of an accelerometer.
+     *
+     * @param coordinateSpace The orientation of the sensor. Defaults to: SIMPLE_CARTESIAN
+     * @param id The unique EventModel id of this component. Defaults to: MICROBIT_ID_ACCELEROMETER
+     *
+     */
+    MMA8653(MicroBitI2C& _i2c, MicroBitPin &_int1, CoordinateSpace &coordinateSpace, uint16_t address = MMA8653_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_ACCELEROMETER);
+
+    /**
+     * Configures the accelerometer for G 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 MICROBIT_OK on success, MICROBIT_I2C_ERROR if the accelerometer 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 funciton 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 MICROBIT_OK on success, MICROBIT_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();
+
+    /**
+     * A periodic callback invoked by the fiber scheduler idle thread.
+     *
+     * Internally calls updateSample().
+     */
+    virtual void idleCallback();
+
+
+    /**
+     * Destructor.
+     */
+    ~MMA8653();
+
+};
+
+#endif
+

inc/drivers/MicroBitAccelerometer.h

@@ -1,8 +1,7 @@
 /*
 The MIT License (MIT)
 
-Copyright (c) 2016 British Broadcasting Corporation.
-This software is provided by Lancaster University by arrangement with the BBC.
+Copyright (c) 2017 Lancaster University.
 
 Permission is hereby granted, free of charge, to any person obtaining a
 copy of this software and associated documentation files (the "Software"),
@@ -23,61 +22,28 @@ FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 DEALINGS IN THE SOFTWARE.
 */
 
-#ifndef MICROBIT_ACCELEROMETER_H
-#define MICROBIT_ACCELEROMETER_H
+#ifndef MICROBIT_ACCELEROMTER_H
+#define MICROBIT_ACCELEROMTER_H
 
-#include "mbed.h"
 #include "MicroBitConfig.h"
 #include "MicroBitComponent.h"
-#include "MicroBitCoordinateSystem.h"
-#include "MicroBitI2C.h"
+#include "MicroBitPin.h"
+#include "CoordinateSystem.h"
 
 /**
-  * Relevant pin assignments
-  */
-#define MICROBIT_PIN_ACCEL_DATA_READY          P0_28
-
-/**
-  * Status flags
-  */
-#define MICROBIT_ACCEL_PITCH_ROLL_VALID           0x02
-#define MICROBIT_ACCEL_ADDED_TO_IDLE              0x04
-
-/**
-  * I2C constants
-  */
-#define MMA8653_DEFAULT_ADDR    0x3A
-
-/**
-  * MMA8653 Register map (partial)
-  */
-#define MMA8653_STATUS          0x00
-#define MMA8653_OUT_X_MSB       0x01
-#define MMA8653_WHOAMI          0x0D
-#define MMA8653_XYZ_DATA_CFG    0x0E
-#define MMA8653_CTRL_REG1       0x2A
-#define MMA8653_CTRL_REG2       0x2B
-#define MMA8653_CTRL_REG3       0x2C
-#define MMA8653_CTRL_REG4       0x2D
-#define MMA8653_CTRL_REG5       0x2E
-
-
-/**
-  * MMA8653 constants
-  */
-#define MMA8653_WHOAMI_VAL      0x5A
-
-#define MMA8653_SAMPLE_RANGES   3
-#define MMA8653_SAMPLE_RATES    8
+ * Status flags
+ */
+#define MICROBIT_ACCELEROMETER_IMU_DATA_VALID               0x02
+#define MICROBIT_ACCEL_ADDED_TO_IDLE                        0x04
 
 /**
-  * Accelerometer events
-  */
+ * Accelerometer events
+ */
 #define MICROBIT_ACCELEROMETER_EVT_DATA_UPDATE              1
 
 /**
-  * Gesture events
-  */
+ * Gesture events
+ */
 #define MICROBIT_ACCELEROMETER_EVT_NONE                     0
 #define MICROBIT_ACCELEROMETER_EVT_TILT_UP                  1
 #define MICROBIT_ACCELEROMETER_EVT_TILT_DOWN                2
@@ -92,8 +58,8 @@ DEALINGS IN THE SOFTWARE.
 #define MICROBIT_ACCELEROMETER_EVT_SHAKE                    11
 
 /**
-  * Gesture recogniser constants
-  */
+ * Gesture recogniser constants
+ */
 #define MICROBIT_ACCELEROMETER_REST_TOLERANCE               200
 #define MICROBIT_ACCELEROMETER_TILT_TOLERANCE               200
 #define MICROBIT_ACCELEROMETER_FREEFALL_TOLERANCE           400
@@ -102,39 +68,16 @@ DEALINGS IN THE SOFTWARE.
 #define MICROBIT_ACCELEROMETER_6G_TOLERANCE                 6144
 #define MICROBIT_ACCELEROMETER_8G_TOLERANCE                 8192
 #define MICROBIT_ACCELEROMETER_GESTURE_DAMPING              5
-#define MICROBIT_ACCELEROMETER_SHAKE_DAMPING                10 
+#define MICROBIT_ACCELEROMETER_SHAKE_DAMPING                10
 #define MICROBIT_ACCELEROMETER_SHAKE_RTX                    30
 
 #define MICROBIT_ACCELEROMETER_REST_THRESHOLD               (MICROBIT_ACCELEROMETER_REST_TOLERANCE * MICROBIT_ACCELEROMETER_REST_TOLERANCE)
-#define MICROBIT_ACCELEROMETER_FREEFALL_THRESHOLD           (MICROBIT_ACCELEROMETER_FREEFALL_TOLERANCE * MICROBIT_ACCELEROMETER_FREEFALL_TOLERANCE)
-#define MICROBIT_ACCELEROMETER_3G_THRESHOLD                 (MICROBIT_ACCELEROMETER_3G_TOLERANCE * MICROBIT_ACCELEROMETER_3G_TOLERANCE)
-#define MICROBIT_ACCELEROMETER_6G_THRESHOLD                 (MICROBIT_ACCELEROMETER_6G_TOLERANCE * MICROBIT_ACCELEROMETER_6G_TOLERANCE)
-#define MICROBIT_ACCELEROMETER_8G_THRESHOLD                 (MICROBIT_ACCELEROMETER_8G_TOLERANCE * MICROBIT_ACCELEROMETER_8G_TOLERANCE)
+#define MICROBIT_ACCELEROMETER_FREEFALL_THRESHOLD           ((uint32_t)MICROBIT_ACCELEROMETER_FREEFALL_TOLERANCE * (uint32_t)MICROBIT_ACCELEROMETER_FREEFALL_TOLERANCE)
+#define MICROBIT_ACCELEROMETER_3G_THRESHOLD                 ((uint32_t)MICROBIT_ACCELEROMETER_3G_TOLERANCE * (uint32_t)MICROBIT_ACCELEROMETER_3G_TOLERANCE)
+#define MICROBIT_ACCELEROMETER_6G_THRESHOLD                 ((uint32_t)MICROBIT_ACCELEROMETER_6G_TOLERANCE * (uint32_t)MICROBIT_ACCELEROMETER_6G_TOLERANCE)
+#define MICROBIT_ACCELEROMETER_8G_THRESHOLD                 ((uint32_t)MICROBIT_ACCELEROMETER_8G_TOLERANCE * (uint32_t)MICROBIT_ACCELEROMETER_8G_TOLERANCE)
 #define MICROBIT_ACCELEROMETER_SHAKE_COUNT_THRESHOLD        4
 
-struct MMA8653Sample
-{
-    int16_t         x;
-    int16_t         y;
-    int16_t         z;
-};
-
-struct MMA8653SampleRateConfig
-{
-    uint32_t        sample_period;
-    uint8_t         ctrl_reg1;
-};
-
-struct MMA8653SampleRangeConfig
-{
-    uint8_t         sample_range;
-    uint8_t         xyz_data_cfg;
-};
-
-
-extern const MMA8653SampleRangeConfig MMA8653SampleRange[];
-extern const MMA8653SampleRateConfig MMA8653SampleRate[];
-
 struct ShakeHistory
 {
     uint16_t    shaken:1,
@@ -151,302 +94,257 @@ struct ShakeHistory
 };
 
 /**
- * Class definition for MicroBit Accelerometer.
- *
- * Represents an implementation of the Freescale MMA8653 3 axis accelerometer
- * Also includes basic data caching and on demand activation.
+ * Class definition for MicroBitAccelerometer.
  */
 class MicroBitAccelerometer : public MicroBitComponent
 {
-    uint16_t        address;            // I2C address of this accelerometer.
-    uint16_t        samplePeriod;       // The time between samples, in milliseconds.
-    uint8_t         sampleRange;        // The sample range of the accelerometer in g.
-    MMA8653Sample   sample;             // The last sample read.
-    DigitalIn       int1;               // Data ready interrupt.
-    float           pitch;              // Pitch of the device, in radians.
-    MicroBitI2C&    i2c;                // The I2C interface to use.
-    float           roll;               // Roll of the device, in radians.
-    uint8_t         sigma;              // the number of ticks that the instantaneous gesture has been stable.
-    uint8_t         impulseSigma;       // the number of ticks since an impulse event has been generated.
-    uint16_t        lastGesture;        // the last, stable gesture recorded.
-    uint16_t        currentGesture;     // the instantaneous, unfiltered gesture detected.
-    ShakeHistory    shake;              // State information needed to detect shake events.
+    protected:
+
+        uint16_t        samplePeriod;       // The time between samples, in milliseconds.
+        uint8_t         sampleRange;        // The sample range of the accelerometer 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.
+
+        float           pitch;              // Pitch of the device, in radians.
+        float           roll;               // Roll of the device, in radians.
+
+        uint8_t         sigma;              // the number of ticks that the instantaneous gesture has been stable.
+        uint8_t         impulseSigma;       // the number of ticks since an impulse event has been generated.
+        uint16_t        lastGesture;        // the last, stable gesture recorded.
+        uint16_t        currentGesture;     // the instantaneous, unfiltered gesture detected.
+        ShakeHistory    shake;              // State information needed to detect shake events.
 
     public:
 
-    /**
-      * Constructor.
-      * Create a software abstraction of an accelerometer.
-      *
-      * @param _i2c an instance of MicroBitI2C used to communicate with the onboard accelerometer.
-      *
-      * @param address the default I2C address of the accelerometer. Defaults to: MMA8653_DEFAULT_ADDR.
-      *
-      * @param id the unique EventModel id of this component. Defaults to: MICROBIT_ID_ACCELEROMETER
-      *
-      * @code
-      * MicroBitI2C i2c = MicroBitI2C(I2C_SDA0, I2C_SCL0);
-      *
-      * MicroBitAccelerometer accelerometer = MicroBitAccelerometer(i2c);
-      * @endcode
-     */
-    MicroBitAccelerometer(MicroBitI2C &_i2c, uint16_t address = MMA8653_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_ACCELEROMETER);
-
-    /**
-      * Configures the accelerometer for G 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 MICROBIT_OK on success, MICROBIT_I2C_ERROR if the accelerometer could not be configured.
-      */
-    int configure();
-
-    /**
-      * Reads the acceleration data from the accelerometer, and stores it in our buffer.
-      * This only happens if the accelerometer indicates that it has new data via int1.
-      *
-      * 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 technique is called lazy instantiation, and it means that we do not
-      * obtain the overhead from non-chalantly adding this component to fiber components.
-      *
-      * @return MICROBIT_OK on success, MICROBIT_I2C_ERROR if the read request fails.
-      */
-    int updateSample();
-
-    /**
-      * Attempts to set the sample rate of the accelerometer to the specified value (in ms).
-      *
-      * @param period the requested time between samples, in milliseconds.
-      *
-      * @return MICROBIT_OK on success, MICROBIT_I2C_ERROR is the request fails.
-      *
-      * @code
-      * // sample rate is now 20 ms.
-      * accelerometer.setPeriod(20);
-      * @endcode
-      *
-      * @note The requested rate may not be possible on the hardware. In this case, the
-      * nearest lower rate is chosen.
-      */
-    int setPeriod(int period);
-
-    /**
-      * Reads the currently configured sample rate of the accelerometer.
-      *
-      * @return The time between samples, in milliseconds.
-      */
-    int getPeriod();
-
-    /**
-      * Attempts to set the sample range of the accelerometer to the specified value (in g).
-      *
-      * @param range The requested sample range of samples, in g.
-      *
-      * @return MICROBIT_OK on success, MICROBIT_I2C_ERROR is the request fails.
-      *
-      * @code
-      * // the sample range of the accelerometer is now 8G.
-      * accelerometer.setRange(8);
-      * @endcode
-      *
-      * @note The requested range may not be possible on the hardware. In this case, the
-      * nearest lower range is chosen.
-      */
-    int setRange(int range);
-
-    /**
-      * Reads the currently configured sample range of the accelerometer.
-      *
-      * @return The sample range, in g.
-      */
-    int getRange();
-
-    /**
-      * Attempts to read the 8 bit ID from the accelerometer, this can be used for
-      * validation purposes.
-      *
-      * @return the 8 bit ID returned by the accelerometer, or MICROBIT_I2C_ERROR if the request fails.
-      *
-      * @code
-      * accelerometer.whoAmI();
-      * @endcode
-      */
-    int whoAmI();
-
-    /**
-      * Reads the value of the X axis from the latest update retrieved from the accelerometer.
-      *
-      * @param system The coordinate system to use. By default, a simple cartesian system is provided.
-      *
-      * @return The force measured in the X axis, in milli-g.
-      *
-      * @code
-      * accelerometer.getX();
-      * @endcode
-      */
-    int getX(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN);
-
-    /**
-      * Reads the value of the Y axis from the latest update retrieved from the accelerometer.
-      *
-      * @return The force measured in the Y axis, in milli-g.
-      *
-      * @code
-      * accelerometer.getY();
-      * @endcode
-      */
-    int getY(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN);
-
-    /**
-      * Reads the value of the Z axis from the latest update retrieved from the accelerometer.
-      *
-      * @return The force measured in the Z axis, in milli-g.
-      *
-      * @code
-      * accelerometer.getZ();
-      * @endcode
-      */
-    int getZ(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN);
-
-    /**
-      * Provides a rotation compensated pitch of the device, based on the latest update retrieved from the accelerometer.
-      *
-      * @return The pitch of the device, in degrees.
-      *
-      * @code
-      * accelerometer.getPitch();
-      * @endcode
-      */
-    int getPitch();
-
-    /**
-      * Provides a rotation compensated pitch of the device, based on the latest update retrieved from the accelerometer.
-      *
-      * @return The pitch of the device, in radians.
-      *
-      * @code
-      * accelerometer.getPitchRadians();
-      * @endcode
-      */
-    float getPitchRadians();
-
-    /**
-      * Provides a rotation compensated roll of the device, based on the latest update retrieved from the accelerometer.
-      *
-      * @return The roll of the device, in degrees.
-      *
-      * @code
-      * accelerometer.getRoll();
-      * @endcode
-      */
-    int getRoll();
-
-    /**
-      * Provides a rotation compensated roll of the device, based on the latest update retrieved from the accelerometer.
-      *
-      * @return The roll of the device, in radians.
-      *
-      * @code
-      * accelerometer.getRollRadians();
-      * @endcode
-      */
-    float getRollRadians();
-
-    /**
-      * Retrieves the last recorded gesture.
-      *
-      * @return The last gesture that was detected.
-      *
-      * Example:
-      * @code
-      * MicroBitDisplay display;
-      *
-      * if (accelerometer.getGesture() == SHAKE)
-      *     display.scroll("SHAKE!");
-      * @endcode
-      */
-    uint16_t getGesture();
-
-    /**
-      * A periodic callback invoked by the fiber scheduler idle thread.
-      *
-      * Internally calls updateSample().
-      */
-    virtual void idleTick();
-
-    /**
-      * Destructor for MicroBitButton, where we deregister this instance from the array of fiber components.
-      */
-    ~MicroBitAccelerometer();
+        /**
+         * Constructor.
+         * Create a software abstraction of an accelerometer.
+         *
+         * @param coordinateSpace the orientation of the sensor. Defaults to: SIMPLE_CARTESIAN
+         * @param id the unique EventModel id of this component. Defaults to: MICROBIT_ID_ACCELEROMETER
+         *
+         */
+        MicroBitAccelerometer(CoordinateSpace &coordinateSpace, uint16_t id = MICROBIT_ID_ACCELEROMETER);
+
+        /**
+         * Attempts to set the sample rate of the accelerometer to the specified value (in ms).
+         *
+         * @param period the requested time between samples, in milliseconds.
+         * @return MICROBIT_OK on success, MICROBIT_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 accelerometer device drivers.
+         */
+        virtual int setPeriod(int period);
+
+        /**
+         * Reads the currently configured sample rate of the accelerometer.
+         *
+         * @return The time between samples, in milliseconds.
+         */
+        virtual int getPeriod();
+
+        /**
+         * Attempts to set the sample range of the accelerometer to the specified value (in g).
+         *
+         * @param range The requested sample range of samples, in g.
+         *
+         * @return MICROBIT_OK on success, MICROBIT_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 accelerometer device drivers.
+         */
+        virtual int setRange(int range);
+
+        /**
+         * Reads the currently configured sample range of the accelerometer.
+         *
+         * @return The sample range, in g.
+         */
+        virtual int getRange();
+
+        /**
+         * Configures the accelerometer for G 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 MICROBIT_OK on success, MICROBIT_I2C_ERROR if the accelerometer 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 funciton 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 MICROBIT_OK on success, MICROBIT_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 accelerometer 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 MICROBIT_OK on success, MICROBIT_I2C_ERROR if the read request fails.
+         */
+        virtual int update();
+
+        /**
+         * Reads the last accelerometer 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 milli-g.
+         */
+        Sample3D getSample(CoordinateSystem coordinateSystem);
+
+        /**
+         * Reads the last accelerometer value stored, and in the coordinate system defined in the constructor.
+         * @return The force measured in each axis, in milli-g.
+         */
+        Sample3D getSample();
+
+        /**
+         * reads the value of the x axis from the latest update retrieved from the accelerometer,
+         * using the default coordinate system as specified in the constructor.
+         *
+         * @return the force measured in the x axis, in milli-g.
+         */
+        int getX();
+
+        /**
+         * reads the value of the y axis from the latest update retrieved from the accelerometer,
+         * using the default coordinate system as specified in the constructor.
+         *
+         * @return the force measured in the y axis, in milli-g.
+         */
+        int getY();
+
+        /**
+         * reads the value of the z axis from the latest update retrieved from the accelerometer,
+         * using the default coordinate system as specified in the constructor.
+         *
+         * @return the force measured in the z axis, in milli-g.
+         */
+        int getZ();
+
+        /**
+         * Provides a rotation compensated pitch of the device, based on the latest update retrieved from the accelerometer.
+         *
+         * @return The pitch of the device, in degrees.
+         *
+         * @code
+         * accelerometer.getPitch();
+         * @endcode
+         */
+        int getPitch();
+
+        /**
+         * Provides a rotation compensated pitch of the device, based on the latest update retrieved from the accelerometer.
+         *
+         * @return The pitch of the device, in radians.
+         *
+         * @code
+         * accelerometer.getPitchRadians();
+         * @endcode
+         */
+        float getPitchRadians();
+
+        /**
+         * Provides a rotation compensated roll of the device, based on the latest update retrieved from the accelerometer.
+         *
+         * @return The roll of the device, in degrees.
+         *
+         * @code
+         * accelerometer.getRoll();
+         * @endcode
+         */
+        int getRoll();
+
+        /**
+         * Provides a rotation compensated roll of the device, based on the latest update retrieved from the accelerometer.
+         *
+         * @return The roll of the device, in radians.
+         *
+         * @code
+         * accelerometer.getRollRadians();
+         * @endcode
+         */
+        float getRollRadians();
+
+        /**
+         * Retrieves the last recorded gesture.
+         *
+         * @return The last gesture that was detected.
+         *
+         * Example:
+         * @code
+         *
+         * if (accelerometer.getGesture() == SHAKE)
+         *     display.scroll("SHAKE!");
+         * @endcode
+         */
+        uint16_t getGesture();
+
+        /**
+         * Destructor.
+         */
+        ~MicroBitAccelerometer();
 
     private:
 
-    /**
-      * Issues a standard, 2 byte I2C command write to the accelerometer.
-      *
-      * Blocks the calling thread until complete.
-      *
-      * @param reg The address of the register to write to.
-      *
-      * @param value The value to write.
-      *
-      * @return MICROBIT_OK on success, MICROBIT_I2C_ERROR if the the write request failed.
-      */
-    int writeCommand(uint8_t reg, uint8_t value);
-
-    /**
-      * Issues a read command, copying data into the specified buffer.
-      *
-      * Blocks the calling thread until complete.
-      *
-      * @param reg The address of the register to access.
-      *
-      * @param buffer Memory area to read the data into.
-      *
-      * @param length The number of bytes to read.
-      *
-      * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER or MICROBIT_I2C_ERROR if the the read request failed.
-      */
-    int readCommand(uint8_t reg, uint8_t* buffer, int length);
-
-    /**
-      * Recalculate roll and pitch values for the current sample.
-      *
-      * @note We only do this at most once per sample, as the necessary trigonemteric functions are rather
-      *       heavyweight for a CPU without a floating point unit.
-      */
-    void recalculatePitchRoll();
-
-    /**
-      * Updates the basic gesture recognizer. This performs instantaneous pose recognition, and also some low pass filtering to promote
-      * stability.
-      */
-    void updateGesture();
-
-    /**
-      * A service function.
-      * It calculates the current scalar acceleration 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 acceleration of the device across all axes.
-      */
-    int instantaneousAccelerationSquared();
-
-    /**
-     * Service function.
-     * Determines a 'best guess' posture of the device based on instantaneous data.
-     *
-     * This makes no use of historic data, and forms this input to the filter implemented in updateGesture().
-     *
-     * @return A 'best guess' of the current posture of the device, based on instanataneous data.
-     */
-    uint16_t instantaneousPosture();
+        /**
+         * Recalculate roll and pitch values for the current sample.
+         *
+         * @note We only do this at most once per sample, as the necessary trigonemteric functions are rather
+         *       heavyweight for a CPU without a floating point unit.
+         */
+        void recalculatePitchRoll();
+
+        /**
+         * Updates the basic gesture recognizer. This performs instantaneous pose recognition, and also some low pass filtering to promote
+         * stability.
+         */
+        void updateGesture();
+
+        /**
+         * A service function.
+         * It calculates the current scalar acceleration 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 acceleration of the device across all axes.
+         */
+        uint32_t instantaneousAccelerationSquared();
+
+        /**
+         * Service function.
+         * Determines a 'best guess' posture of the device based on instantaneous data.
+         *
+         * This makes no use of historic data, and forms this input to the filter implemented in updateGesture().
+         *
+         * @return A 'best guess' of the current posture of the device, based on instanataneous data.
+         */
+        uint16_t instantaneousPosture();
 };
 
 #endif

inc/drivers/MicroBitCompass.h

@@ -1,8 +1,7 @@
 /*
 The MIT License (MIT)
 
-Copyright (c) 2016 British Broadcasting Corporation.
-This software is provided by Lancaster University by arrangement with the BBC.
+Copyright (c) 2017 Lancaster University.
 
 Permission is hereby granted, free of charge, to any person obtaining a
 copy of this software and associated documentation files (the "Software"),
@@ -23,491 +22,266 @@ FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 DEALINGS IN THE SOFTWARE.
 */
 
-#ifndef MICROBIT_COMPASS_H
-#define MICROBIT_COMPASS_H
+#ifndef MICROBIT_COMPASS
+#define MICROBIT_COMPASS
 
-#include "mbed.h"
 #include "MicroBitConfig.h"
 #include "MicroBitComponent.h"
-#include "MicroBitCoordinateSystem.h"
+#include "CoordinateSystem.h"
 #include "MicroBitAccelerometer.h"
-#include "MicroBitStorage.h"
 
-/**
-  * Relevant pin assignments
-  */
-#define MICROBIT_PIN_COMPASS_DATA_READY          P0_29
-
-/**
-  * I2C constants
-  */
-#define MAG3110_DEFAULT_ADDR    0x1D
-
-/**
-  * MAG3110 Register map
-  */
-#define MAG_DR_STATUS 0x00
-#define MAG_OUT_X_MSB 0x01
-#define MAG_OUT_X_LSB 0x02
-#define MAG_OUT_Y_MSB 0x03
-#define MAG_OUT_Y_LSB 0x04
-#define MAG_OUT_Z_MSB 0x05
-#define MAG_OUT_Z_LSB 0x06
-#define MAG_WHOAMI    0x07
-#define MAG_SYSMOD    0x08
-#define MAG_OFF_X_MSB 0x09
-#define MAG_OFF_X_LSB 0x0A
-#define MAG_OFF_Y_MSB 0x0B
-#define MAG_OFF_Y_LSB 0x0C
-#define MAG_OFF_Z_MSB 0x0D
-#define MAG_OFF_Z_LSB 0x0E
-#define MAG_DIE_TEMP  0x0F
-#define MAG_CTRL_REG1 0x10
-#define MAG_CTRL_REG2 0x11
 
 /**
-  * Configuration options
-  */
-struct MAG3110SampleRateConfig
-{