File content as of revision 1:61b8141da36e:

#include "InputHandler.h"

#define START_THREAD 1

InputHandler::InputHandler(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr, PinName digitalIn)
    :imu(sda, scl, xgAddr, mAddr),
     pushButton(digitalIn, PullUp)
{
    imu.begin();
    imu.calibrate(1);
}

void InputHandler::start() {
    Thread thread(&InputHandler::threadStarter, this, osPriorityNormal,1024);
}

float InputHandler::getXAccel() {
    stdio_mutex.lock();
    float temp = xAccel;
    stdio_mutex.unlock();
    return temp;
}

float InputHandler::getYAccel() {
    stdio_mutex.lock();
    float temp = (yAccel);// + 1.0) / 2.0;
    stdio_mutex.unlock();
    return temp;
}

float InputHandler::getZAccel() {
    stdio_mutex.lock();
    float temp = (zAccel);// + 1.0) / 2.0;
    stdio_mutex.unlock();
    return temp;
}

bool InputHandler::getPushed() { 
    stdio_mutex.lock();
    float temp = isPushed;
    stdio_mutex.unlock();
    return temp;
}

void InputHandler::threadStarter(void const *p) {
  InputHandler *instance = (InputHandler*)p;
  instance->retrieveInputs();
}
        
void InputHandler::retrieveInputs() {
    while(true) {
        imu.readAccel();
         
        stdio_mutex.lock();
        xAccel = -imu.calcAccel(imu.ax);
        yAccel = -imu.calcAccel(imu.ay);     
        zAccel = -imu.calcAccel(imu.az);
        isPushed = pushButton.read() == 0;
        //printf("xAccel: %.6f\n\ryAccel: %.6f\n\risPushed: %s", xAccel, yAccel, isPushed ? "true" : "false");
        stdio_mutex.unlock();
        
        Thread::wait(20); // ~60Hz
    } 
}