Diff: Updater.h

Revision:

15:35c40765f7c3

Parent:

14:1dd83e626153

Child:

25:b8176ebb96c6

--- a/Updater.h	Wed Dec 12 18:21:57 2018 +0000
+++ b/Updater.h	Thu Dec 13 00:30:59 2018 +0000
@@ -4,17 +4,28 @@
 #include "mbed.h"
 #include "L3G4200D.h"
 
+/** Periodically reads sensor data
+ * This class executes an update function at a configurable interval to read 
+ * and update sensor data. The class makes use of EventQueue and Event for
+ * task scheduling and runs events on the mbed_highprio_event_queue
+ */
 class Updater: private mbed::NonCopyable<Updater> {
 public:
-    /** Start the updater running - cannot be exited!
-     * @param interval_ms is the interval in ms between calls to update()
-     * @note Makes use of RTOS EventQueue and Event.
-     */
-    void start(int interval_ms);
-
     /// Return singleton instance
     static Updater *instance();
     
+    /** Sets the interval for running updater()
+     * @param interval_ms is the interval in milliseconds
+     */
+    void setInterval(int interval_ms);
+
+    /** Start the updater running
+     * @note Makes use of RTOS EventQueue and Event. The function runs in an
+     * infinite loop so best to start in a separate thread or from main thread
+     * when done with everything else.
+     */
+    void start();
+  
     /** Get gyro values
      * @return g array of x, y, and z gyro values
      * @return dt time since data last updated
@@ -37,6 +48,7 @@
     int _gyro[3]; // gyro raw
     int _ecount; // encoder count
     float _dt;
+    int _interval;
     int thisTime;
     int lastTime;
 };