LSM303Accelerometer.h

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//
// Created by Michael Brookes on 05/05/2016.
//

#ifndef LSM303_ACCELEROMETER_LSM303ACCELEROMETER_H
#define LSM303_ACCELEROMETER_LSM303ACCELEROMETER_H
#define EMERGENCY_ROLL 25
#define EMERGENCY_PITCH 25

#include "../LSM303DLHC.h"
#include <bitset>
#include <math.h>

namespace quadro {

    namespace i2c {

        using namespace std;

        class LSM303Accelerometer : public LSM303DLHC {

        public:

            LSM303Accelerometer( unsigned char _deviceAddress = ACCEL_ADDRESS, int _busId = 1 );

            float calcRoll();

            float calcPitch();

            int start();

            float pitch; 

            float roll; 

            pthread_t threadHandle; 

        private:

            static void* runMainSensorUpdateThread( void* static_inst );


            int threadRet; 
        };

    }
}

#endif //LSM303_ACCELEROMETER_LSM303ACCELEROMETER_H