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Fix issue when missing motion sensor was crashing instead of panicking. #360

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Aug 30, 2023
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Fix issue when missing motion sensor was crashing instead of panicking. #360

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186 changes: 27 additions & 159 deletions inc/MicroBitAccelerometer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -27,84 +27,53 @@ DEALINGS IN THE SOFTWARE.

#include "CodalConfig.h"
#include "MicroBitCompat.h"
#include "codal-core/inc/core/CodalComponent.h"
#include "codal-core/inc/driver-models/Accelerometer.h"
#include "codal-core/inc/driver-models/Compass.h"
#include "codal-core/inc/driver-models/I2C.h"
#include "codal-core/inc/driver-models/Pin.h"
#include "codal-core/inc/types/CoordinateSystem.h"
#include "MicroBitI2C.h"


/**
* Class definition for MicroBitAccelerometer.
*/
class MicroBitAccelerometer : public Accelerometer
namespace codal
{
public:
/**
* Class definition for MicroBitAccelerometer.
*/
class MicroBitAccelerometer : public Accelerometer
{
public:

static Accelerometer* driver; // The instance of an Accelerometer driver.
static NRF52Pin irq1; // IRQ pin for detected acceleromters to use
static CoordinateSpace coordinateSpace; // Default coordinate space

/**
* Constructor.
* Create a software abstraction of an accelerometer.
* Create an instance of an accelerometer that detects which on-board
* sensor is present and initialises the respective driver.
*
* @param coordinateSpace the orientation of the sensor. Defaults to: SIMPLE_CARTESIAN
* @param coordinateSpace the orientation of the sensor.
* @param id the unique EventModel id of this component. Defaults to: MICROBIT_ID_ACCELEROMETER
*
*/
MicroBitAccelerometer(MicroBitI2C &i2c, uint16_t id = MICROBIT_ID_ACCELEROMETER);
MicroBitAccelerometer(MicroBitI2C &i2c, CoordinateSpace &coordinateSpace, uint16_t id = MICROBIT_ID_ACCELEROMETER);

/**
* Device autodetection. Scans the given I2C bus for supported accelerometer devices.
* if found, constructs an appropriate driver and returns it.
*
* @param i2c the bus to scan.
*
*/
static Accelerometer& autoDetect(MicroBitI2C &i2c);

/**
* 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.
* Constructor for an empty driver.
*
* @note The requested rate may not be possible on the hardware. In this case, the
* nearest lower rate is chosen.
* This constructor should only be called when the on-board sensor is not
* detected, and we need an instance that's able to panic on first usage.
*
* @note This method should be overriden (if supported) by specific accelerometer device drivers.
*/
int setPeriod(int period);

/**
* Reads the currently configured sample rate of the accelerometer.
* @param coordinateSpace the orientation of the sensor.
* @param id the unique EventModel id of this component. Defaults to: MICROBIT_ID_ACCELEROMETER
*
* @return The time between samples, in milliseconds.
*/
int getPeriod();
MicroBitAccelerometer(CoordinateSpace &coordinateSpace, uint16_t id = MICROBIT_ID_ACCELEROMETER);

/**
* 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.
* Device autodetection. Scans the given I2C bus for supported accelerometer devices.
* if found, constructs an appropriate driver and returns it.
*
* @note The requested range may not be possible on the hardware. In this case, the
* nearest lower range is chosen.
* @param i2c the bus to scan.
*
* @note This method should be overriden (if supported) by specific accelerometer device drivers.
*/
int setRange(int range);

/**
* Reads the currently configured sample range of the accelerometer.
*
* @return The sample range, in g.
*/
int getRange();
static Accelerometer& autoDetect(MicroBitI2C &i2c);

/**
* Configures the accelerometer for G range and sample rate defined
Expand All @@ -113,125 +82,24 @@ class MicroBitAccelerometer : public Accelerometer
* 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.
*/
int configure();
virtual int configure() override;

/**
* 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
* 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.
*
* @note This method should be overidden by the hardware driver to implement the requested
* changes in hardware.
*/
int requestUpdate();

/**
* 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();
virtual int requestUpdate() override;

/**
* Destructor.
*/
~MicroBitAccelerometer();
};
};
}

#endif
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