File content as of revision 15:35c40765f7c3:

#ifndef __UPDATER_H
#define __UPDATER_H

#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:
    /// 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
     */
    void gyro(int g[3], float& dt);
    
    /** Get encoder count
     * @return encoder count since last call
     */
    int encoder();

private:
    /// Basic constructor (singleton)
    Updater() {}
    
    /// Update all sensors
    void update(); 
    
    Timer *t; // timer used to measure dt
    int _gyro[3]; // gyro raw
    int _ecount; // encoder count
    float _dt;
    int _interval;
    int thisTime;
    int lastTime;
};

#endif