Diff: peripheral/impl/Gyroscope.h

Revision:

5:caecc2426bbb

Parent:

4:f21aab30658a

--- a/peripheral/impl/Gyroscope.h	Mon Jun 03 23:33:00 2019 -0300
+++ b/peripheral/impl/Gyroscope.h	Thu Jun 06 23:54:07 2019 -0300
@@ -5,26 +5,34 @@
 #include "Sensor.h"
 #include "MPU6050.h"
 
-typedef struct {
+class GyroscopeData {
+public:
     int16_t ax, ay, az;
     int16_t gx, gy, gz;
-} GyroscopeData;
+
+    GyroscopeData(){}
+    ~GyroscopeData(){}
+};
 
 class Gyroscope: public Sensor<GyroscopeData> {
 public:
-    Gyroscope(I2C i2c);
+    Gyroscope(I2C &i2c);
     virtual ~Gyroscope();
 
     virtual GyroscopeData getValue();
-    virtual void setCallbackReadOcurred( void* (*callback)(GyroscopeData* value) );
+    virtual void setCallbackReadOcurred( void (*callback_sensor)(GyroscopeData* value), uint32_t timeout );
+    virtual void initializeTask();
+    virtual void finalizeTask();
 
 protected:
-    virtual void run(float timeout);
+    static void run(void const *self_context);
     virtual void acceptDataEvent(GyroscopeData* data);
 
 private:
     MPU6050 mpu;
-
+    Thread* t;
+    uint32_t timeout;
+    
     void getMotion(GyroscopeData* data);
 };