refactor: improve whole project

1 files changed, 33 insertions, 104 deletions

diff --git a/src/sensor.hpp b/src/sensor.hpp
index 3fbc544..07b8f95 100644
--- a/src/sensor.hpp
+++ b/src/sensor.hpp
@@ -3,15 +3,7 @@
 
 #include "Arduino.h"
 #include "Wire.h"
-
-#define DEFAULT_THROTTLE_TIME 10 // milliseconds
-
-// Status codes
-#define SENSOR_OK 0
-#define SENSOR_THROTTLED 1
-#define SENSOR_ERR_READ -1
-#define SENSOR_ERR_WRITE -2
-#define SENSOR_ERR_NOT_CONNECTED -3
+#include "time_utils.hpp"
 
 #define SENSOR_WAKEUP 0x00
 
@@ -19,35 +11,33 @@
 #define RAW_TO_DPS_FACTOR (1.0 / 131.0)
 #define RAW_TO_G_FACTOR (1.0 / 16384.0)
 
-// Automatic calibration precision
-#define ACCEL_CAL_X_MAX 0.002
-#define ACCEL_CAL_X_MIN -0.002
-
-#define ACCEL_CAL_Y_MAX 0.002
-#define ACCEL_CAL_Y_MIN -0.002
-
-#define ACCEL_CAL_Z_MAX 0.002
-#define ACCEL_CAL_Z_MIN -0.002
-
-#define GYRO_CAL_X_MAX 0.2
-#define GYRO_CAL_X_MIN -0.2
-
-#define GYRO_CAL_Y_MAX 0.02
-#define GYRO_CAL_Y_MIN -0.02
-
-#define GYRO_CAL_Z_MAX 0.08
-#define GYRO_CAL_Z_MIN -0.08
-
-#define CALIBRATION_TIMEOUT 120000 // Milliseconds
+enum class SensorStatus
+{
+	OK = 0,
+	THROTTLED = 1,
+	ERR_READ = -1,
+	ERR_WRITE = -2,
+	ERR_NOT_CONNECTED = -3
+};
 
+/**
+ * A GY521 gyro and accelerometer sensor.
+ */
 class Sensor
 {
 public:
-	Sensor(uint8_t address, TwoWire *wire);
+	/**
+	 * A GY521 gyro and accelerometer sensor.
+	 *
+	 * @param address The address of the sensor
+	 * @param wire A Wire instance
+	 * @param throttle_time A minumum time between sensor reads for the sensor to throttle
+	 */
+	Sensor(uint8_t address, TwoWire *wire, unsigned int throttle_time);
 
 	/**
 	 * Initializes communication with the sensor.
-	 * 
+	 *
 	 * @returns Whether or not the sensor can be communicated with.
 	 */
 	bool begin();
@@ -63,59 +53,21 @@ public:
 	void reset();
 
 	/**
-	 * Returns whether or not throttling is enabled.
-	 */
-	bool getThrottleEnabled();
-
-	/**
-	 * Sets whether or not throttling is enabled.
-	 * 
-	 * @param throttle Throttling enable/disable
-	 */
-	void setThrottleEnabled(bool throttle);
-
-	/**
-	 * Returns the throttle time.
-	 */
-	uint16_t getThrottleTime();
-
-	/**
-	 * Sets the throttle time.
-	 * 
-	 * @param time_ms Time in milliseconds to throttle
-	 */
-	void setThrottleTime(uint16_t time_ms);
-
-	/**
 	 * Reads from the sensor.
-	 * 
-	 * @returns The sensor status.
-	 */
-	int16_t read();
-
-	/**
-	 * Returns the accelerometer sensitivity.
-	 * 
-	 * 0,1,2,3 ==> 2g 4g 8g 16g
+	 *
+	 * @returns Whether or not it succeeded.
 	 */
-	uint8_t getAccelSensitivity();
+	bool read();
 
 	/**
 	 * Sets the accelerometer sensitivity.
-	 * 
+	 *
 	 * @param sensitivity Accelerometer sensitivity. 0, 1, 2, 3 => 2g 4g 8g 16g
 	 * @returns Whether or not it succeeded.
 	 */
 	bool setAccelSensitivity(uint8_t sensitivity);
 
 	/**
-	 * Returns the gyro sensitivity.
-	 * 
-	 * 0, 1, 2, 3 => 250, 500, 1000, 2000 degrees/s
-	 */
-	uint8_t getGyroSensitivity();
-
-	/**
 	 * Sets the gyro sensitivity.
 	 *
 	 * @param sensitivity Gyro sensitivity.
@@ -150,11 +102,6 @@ public:
 	float getAngleY();
 
 	/**
-	 * Returns the current temperature.
-	 */
-	float getTemperature();
-
-	/**
 	 * Returns the current X axis in degrees/s.
 	 */
 	float getGyroX();
@@ -180,22 +127,17 @@ public:
 	float getRoll();
 
 	/**
-	 * Returns the last time the sensor was read.
-	 */
-	uint32_t lastTime();
-
-	/**
 	 * Sets the value of a key in the sensor's register.
-	 * 
+	 *
 	 * @param reg The address of a registry key
 	 * @param value A new value
-	 * @returns The sensor status
+	 * @returns Whether or not it succeeded.
 	 */
-	uint8_t setRegister(uint8_t reg, uint8_t value);
+	bool setRegister(uint8_t reg, uint8_t value);
 
 	/**
 	 * Returns the value of a key in the sensor's registry.
-	 * 
+	 *
 	 * @param reg The address of a registry key
 	 */
 	uint8_t getRegister(uint8_t reg);
@@ -203,17 +145,7 @@ public:
 	/**
 	 * Returns the last sensor status.
 	 */
-	int16_t getStatus();
-
-	/**
-	 * Automatically calibrates the sensor.
-	 *
-	 * @returns Whether or not the calibration succeeded.
-	 * 	Will return false if it times out.
-	 */
-	bool autoCalibrate();
-
-	bool is_calibrated;
+	SensorStatus getStatus();
 
 	// Accelerometer calibration values
 	float accel_cal_x;
@@ -229,12 +161,11 @@ private:
 	uint8_t _address;
 
 	bool _throttle_enabled;
-	uint16_t _throttleTime;
+	unsigned int _throttle_time;
 
-	uint32_t _lastTime;
-	uint32_t _lastMicros;
+	Time _last_time;
 
-	int16_t _status;
+	SensorStatus _status;
 
 	uint8_t _accel_sensitivity;
 	float _accel_to_g_force;
@@ -250,8 +181,6 @@ private:
 
 	float _pitch, _roll, _yaw;
 
-	float _temperature;
-
 	int16_t _readTwoBytes();
 
 	TwoWire *_wire;