Port Barometer and fix IMU

Author: facchinm

examples/Modulino_PlugNPlay/Modulino_PlugNPlay.ino

@@ -6,6 +6,7 @@ ModulinoPixels leds;
 ModulinoKnob encoder;
 ModulinoDistance distance;
 ModulinoMovement imu;
+ModulinoAir barometer;
 
 void setup() {
 
@@ -22,7 +23,6 @@ void setup() {
 
   imu.begin();
   barometer.begin();
-  //humidity.begin();
 }
 
 int skip = 0;
@@ -52,13 +52,10 @@ void loop() {
     Serial.print("\tz ");
     Serial.println(imu.getZ(), 3);
 
-    Serial.print("Pressure: " + String(barometer.readPressure()));
-    Serial.println("\tTemperature: " + String(barometer.readTemperature()));
+    Serial.print("Pressure: " + String(barometer.getPressure()));
+    Serial.println("\tTemperature: " + String(barometer.getTemperature()));
   }
 
-  //Serial.print("Humidity: " + String(humidity.readHumidity()));
-  //Serial.println("\tTemperature: " + String(humidity.readTemperature()));
-
   if (color.available()) {
     int r;
     int g;

src/Modulino.cpp

@@ -1,11 +1,10 @@
 #include "Modulino.h"
 
 // The only singleton that needs to exist
-ModulinoClass Modulino;
+// Build before other objects to fix the Wire object
+ModulinoClass Modulino __attribute__ ((init_priority (101)));
 
 APDS9999 color(Wire1);  // TODO: need to change to APDS9999 https://docs.broadcom.com/doc/APDS-9999-DS
-LPS22HBClass barometer(Wire1);
-HS300xClass humidity(Wire1);
 
 ModulinoColor RED(255, 0, 0);
 ModulinoColor BLUE(0, 0, 255);

src/Modulino.h

@@ -184,10 +184,13 @@ class ModulinoPixels : public Module {
   bool begin() {
     Module::begin();
   }
-  void set(int idx, ModulinoColor rgb, uint8_t brightness = 128) {
+  void set(int idx, ModulinoColor rgb, uint8_t brightness = 5) {
+    if (brightness > 0x1F) {
+      brightness = 0x1F;
+    }
     data[idx] = (uint32_t)rgb | brightness | 0xE0;
   }
-  void set(int idx, uint8_t r, uint8_t g, uint8_t b, uint8_t brightness = 128) {
+  void set(int idx, uint8_t r, uint8_t g, uint8_t b, uint8_t brightness = 5) {
     set(idx, ModulinoColor(r,g,b), brightness);
   }
   void clear(int idx) {
@@ -327,16 +330,24 @@ extern ModulinoClass Modulino;
   TODO: These classes need to be ported to Modulino ecosystem, as per the tof_sensor example
 */
 extern APDS9999 color;  // TODO: need to change to APDS9999 https://docs.broadcom.com/doc/APDS-9999-DS
-extern LPS22HBClass barometer;
 
 class ModulinoMovement : public Module {
 public:
   bool begin() {
-    imu.begin();
-    imu.setContinuousMode();
+    if (_imu == nullptr) {
+      _imu = new BoschSensorClass(*((TwoWire*)getWire()));
+    }
+    initialized = _imu->begin();
+    if (initialized) {
+      _imu->setContinuousMode();
+    }
+    return initialized != 0;
   }
   int update() {
-    return imu.readAcceleration(x, y, z);
+    if (initialized) {
+      return _imu->readAcceleration(x, y, z);
+    }
+    return 0;
   }
   float getX() {
     return x;
@@ -348,12 +359,39 @@ class ModulinoMovement : public Module {
     return z;
   }
 private:
-  BoschSensorClass imu = BoschSensorClass(*((TwoWire*)getWire()));
+  BoschSensorClass* _imu = nullptr;
   float x,y,z;
+  int initialized = 0;
 };
 
 class ModulinoAir : public Module {
-
+public:
+  bool begin() {
+    if (_barometer == nullptr) {
+      _barometer = new LPS22HBClass(*((TwoWire*)getWire()));
+    }
+    initialized = _barometer->begin();
+    if (initialized == 0) {
+      // unfortunately LPS22HBClass calles Wire.end() on failure, restart it
+      getWire()->begin();
+    }
+    return initialized != 0;
+  }
+  float getPressure() {
+    if (initialized) {
+      return _barometer->readPressure();
+    }
+    return 0;
+  }
+  float getTemperature() {
+    if (initialized) {
+      return _barometer->readTemperature();
+    }
+    return 0;
+  }
+private:
+  LPS22HBClass* _barometer = nullptr;
+  int initialized = 0;
 };
 
 class ModulinoLight : public Module {