Merge pull request #445 from adafruit/quaternion-service

Quaternion service

Author: ladyada

cores/nRF5/common_func.h

@@ -145,6 +145,7 @@ const char* dbg_err_str(int32_t err_id); // TODO move to other place
 #define PRTNT_HEAP()          if (CFG_DEBUG == 3) PRINTF("\n%s: %d: Heap free: %d\n", __FUNCTION__, __LINE__, util_heap_get_free_size())
 #define PRINT_STR(x)          PRINTF("%s: %d: " #x " = %s\n"   , __FUNCTION__, __LINE__, (char*)(x) )
 #define PRINT_INT(x)          PRINTF("%s: %d: " #x " = %ld\n"  , __FUNCTION__, __LINE__, (uint32_t) (x) )
+#define PRINT_FLOAT(x)        PRINTF("%s: %d: " #x " = %f\n"  , __FUNCTION__, __LINE__, (float) (x) )
 
 #define PRINT_HEX(x) \
   do {\
@@ -184,6 +185,7 @@ const char* dbg_err_str(int32_t err_id); // TODO move to other place
 #define PRINT_STR(x)
 #define PRINT_INT(x)
 #define PRINT_HEX(x)
+#define PRINT_FLOAT(x)
 #define PRINT_BUFFER(buf, n)
 #define ADALOG(...)
 

libraries/BLEAdafruitService/library.properties

@@ -8,3 +8,4 @@ category=Communication
 url=https://github.com/adafruit/Adafruit_nRF52_Arduino
 architectures=*
 includes=BLEAdafruitService.h
+depends=Adafruit NeoPixel, Adafruit Unified Sensor, Adafruit AHRS, Adafruit Sensor Calibration

libraries/BLEAdafruitService/src/BLEAdafruitService.h

@@ -38,6 +38,7 @@
 #include "services/BLEAdafruitHumid.h"
 #include "services/BLEAdafruitLightSensor.h"
 #include "services/BLEAdafruitMagnetic.h"
+#include "services/BLEAdafruitQuaternion.h"
 #include "services/BLEAdafruitTemperature.h"
 #include "services/BLEAdafruitTone.h"
 

libraries/BLEAdafruitService/src/services/BLEAdafruitAccel.cpp

@@ -56,19 +56,9 @@ const uint8_t BLEAdafruitAccel::UUID128_CHR_DATA[16] =
 // Constructor
 BLEAdafruitAccel::BLEAdafruitAccel(void)
   : BLEAdafruitSensor(UUID128_SERVICE, UUID128_CHR_DATA)
-{
-
-}
-
-err_t BLEAdafruitAccel::begin (void)
 {
   // Setup Measurement Characteristic
   _measurement.setProperties(CHR_PROPS_READ | CHR_PROPS_NOTIFY);
   _measurement.setPermission(SECMODE_OPEN, SECMODE_NO_ACCESS);
   _measurement.setFixedLen(4*3);
-
-  // Invoke base class begin(), this will add Service, Measurement and Period characteristics
-  VERIFY_STATUS( BLEAdafruitSensor::begin(DEFAULT_PERIOD) );
-
-  return ERROR_NONE;
 }

libraries/BLEAdafruitService/src/services/BLEAdafruitAccel.h

@@ -30,10 +30,10 @@ class BLEAdafruitAccel : public BLEAdafruitSensor
   public:
     static const uint8_t UUID128_SERVICE[16];
     static const uint8_t UUID128_CHR_DATA[16];
-    static const int32_t DEFAULT_PERIOD = 1000;
 
     BLEAdafruitAccel(void);
-    virtual err_t begin(void);
+
+    using BLEAdafruitSensor::begin;
 };
 
 #endif /* BLEADAFRUIT_ACCEL_H_ */

libraries/BLEAdafruitService/src/services/BLEAdafruitAddressablePixel.h

@@ -25,7 +25,7 @@
 #ifndef BLEADAFRUIT_ADDRESSABLEPIXEL_H_
 #define BLEADAFRUIT_ADDRESSABLEPIXEL_H_
 
-#include "Adafruit_NeoPixel.h"
+#include <Adafruit_NeoPixel.h>
 
 class BLEAdafruitAddressablePixel : public BLEService
 {

libraries/BLEAdafruitService/src/services/BLEAdafruitBaro.cpp

@@ -56,19 +56,9 @@ const uint8_t BLEAdafruitBaro::UUID128_CHR_DATA[16] =
 // Constructor
 BLEAdafruitBaro::BLEAdafruitBaro(void)
   : BLEAdafruitSensor(UUID128_SERVICE, UUID128_CHR_DATA)
-{
-
-}
-
-err_t BLEAdafruitBaro::begin (void)
 {
   // Setup Measurement Characteristic
   _measurement.setProperties(CHR_PROPS_READ | CHR_PROPS_NOTIFY);
   _measurement.setPermission(SECMODE_OPEN, SECMODE_NO_ACCESS);
   _measurement.setFixedLen(4);
-
-  // Invoke base class begin(), this will add Service, Measurement and Period characteristics
-  VERIFY_STATUS( BLEAdafruitSensor::begin(DEFAULT_PERIOD) );
-
-  return ERROR_NONE;
 }

libraries/BLEAdafruitService/src/services/BLEAdafruitBaro.h

@@ -30,10 +30,10 @@ class BLEAdafruitBaro : public BLEAdafruitSensor
   public:
     static const uint8_t UUID128_SERVICE[16];
     static const uint8_t UUID128_CHR_DATA[16];
-    static const int32_t DEFAULT_PERIOD = 1000;
 
     BLEAdafruitBaro(void);
-    virtual err_t begin(void);
+
+    using BLEAdafruitSensor::begin;
 };
 
 #endif /* BLEADAFRUIT_BARO_H_ */

libraries/BLEAdafruitService/src/services/BLEAdafruitButton.cpp

@@ -56,18 +56,9 @@ const uint8_t BLEAdafruitButton::UUID128_CHR_DATA[16] =
 // Constructor
 BLEAdafruitButton::BLEAdafruitButton(void)
   : BLEAdafruitSensor(UUID128_SERVICE, UUID128_CHR_DATA)
-{
-}
-
-err_t BLEAdafruitButton::begin(void)
 {
   // Setup Measurement Characteristic
   _measurement.setProperties(CHR_PROPS_READ | CHR_PROPS_NOTIFY);
   _measurement.setPermission(SECMODE_OPEN, SECMODE_NO_ACCESS);
   _measurement.setFixedLen(4);
-
-  // Invoke base class begin(), this will add Service, Measurement and Period characteristics
-  VERIFY_STATUS( BLEAdafruitSensor::begin(DEFAULT_PERIOD) );
-
-  return ERROR_NONE;
 }

libraries/BLEAdafruitService/src/services/BLEAdafruitButton.h

@@ -30,10 +30,10 @@ class BLEAdafruitButton : public BLEAdafruitSensor
   public:
     static const uint8_t UUID128_SERVICE[16];
     static const uint8_t UUID128_CHR_DATA[16];
-    static const int32_t DEFAULT_PERIOD = 100;
 
     BLEAdafruitButton(void);
-    virtual err_t begin(void);
+
+    using BLEAdafruitSensor::begin;
 };
 
 #endif /* BLEADAFRUIT_BUTTON_H_ */