Nargott
diff --git a/‎cpp_utils/Doxyfile
Lines changed: 1 addition & 1 deletion b/‎cpp_utils/Doxyfile
Lines changed: 1 addition & 1 deletion
diff --git a/‎cpp_utils/FreeRTOS.cpp
Lines changed: 2 additions & 2 deletions b/‎cpp_utils/FreeRTOS.cpp
Lines changed: 2 additions & 2 deletions
diff --git a/‎cpp_utils/FreeRTOS.h
Lines changed: 3 additions & 0 deletions b/‎cpp_utils/FreeRTOS.h
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diff --git a/‎cpp_utils/GPIO.cpp
Lines changed: 29 additions & 2 deletions b/‎cpp_utils/GPIO.cpp
Lines changed: 29 additions & 2 deletions
diff --git a/‎cpp_utils/GPIO.h
Lines changed: 8 additions & 2 deletions b/‎cpp_utils/GPIO.h
Lines changed: 8 additions & 2 deletions
diff --git a/‎cpp_utils/I2C.cpp
Lines changed: 22 additions & 14 deletions b/‎cpp_utils/I2C.cpp
Lines changed: 22 additions & 14 deletions
diff --git a/‎cpp_utils/I2C.h
Lines changed: 17 additions & 11 deletions b/‎cpp_utils/I2C.h
Lines changed: 17 additions & 11 deletions
diff --git a/‎cpp_utils/MPU6050.cpp
Lines changed: 12 additions & 3 deletions b/‎cpp_utils/MPU6050.cpp
Lines changed: 12 additions & 3 deletions
diff --git a/‎cpp_utils/MPU6050.h
Lines changed: 14 additions & 22 deletions b/‎cpp_utils/MPU6050.h
Lines changed: 14 additions & 22 deletions
@@ -226,7 +226,7 @@ SEPARATE_MEMBER_PAGES  = NO
 # uses this value to replace tabs by spaces in code fragments.
 # Minimum value: 1, maximum value: 16, default value: 4.
 
-TAB_SIZE               = 4
+TAB_SIZE               = 3
 
 # This tag can be used to specify a number of aliases that act as commands in
 # the documentation. An alias has the form:
 
@@ -47,8 +47,8 @@ void FreeRTOS::deleteTask(TaskHandle_t pTask) {
 }
 
 /**
- * Get the time in milliseconds since the FreeRTOS scheduler started.
- * @return The time in milliseconds since the FreeRTOS scheduler started.
+ * Get the time in milliseconds since the %FreeRTOS scheduler started.
+ * @return The time in milliseconds since the %FreeRTOS scheduler started.
  */
 uint32_t FreeRTOS::getTimeSinceStart() {
 	return (uint32_t)(xTaskGetTickCount()*portTICK_PERIOD_MS);
 
@@ -13,6 +13,9 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
+/**
+ * @brief Interface to %FreeRTOS functions.
+ */
 class FreeRTOS {
 public:
 	FreeRTOS();
 
@@ -6,20 +6,47 @@
  */
 
 #include "GPIO.h"
+#include <driver/gpio.h>
 
+/**
+ * @brief Class instance constructor.
+ */
 GPIO::GPIO() {
 	// TODO Auto-generated constructor stub
 
 }
 
 /**
- * Determine if the pin is a valid pin for an ESP32 (i.e. is it in range).
+ * @brief Determine if the pin is a valid pin for an ESP32 (i.e. is it in range).
+ *
  * @param [in] pin The pin number to validate.
  * @return The value of true if the pin is valid and false otherwise.
  */
-bool GPIO::inRange(int pin) {
+bool GPIO::inRange(gpio_num_t pin) {
 	if (pin>=0 && pin<=39) {
 		return true;
 	}
 	return false;
 }
+
+/**
+ * @brief Read a value from the given pin.
+ * @param [in] pin The pin to read from.
+ */
+bool GPIO::read(gpio_num_t pin) {
+	return ::gpio_get_level(pin);
+}
+
+
+/**
+ * @brief Write a value to the given pin.
+ *
+ * @param [in] pin The gpio pin to change.
+ * @param [out] value The value to be written to the pin.
+ */
+void GPIO::write(gpio_num_t pin, bool value) {
+	::gpio_set_level(pin, value);
+}
+
+
+
@@ -7,11 +7,17 @@
 
 #ifndef COMPONENTS_CPP_UTILS_GPIO_H_
 #define COMPONENTS_CPP_UTILS_GPIO_H_
-
+#include <driver/gpio.h>
+/**
+ * @brief Interface to GPIO functions.
+ */
 class GPIO {
 public:
 	GPIO();
-	static bool inRange(int pin);
+	static bool inRange(gpio_num_t pin);
+	static bool read(gpio_num_t pin);
+	static void write(gpio_num_t pin, bool value);
+
 };
 
 #endif /* COMPONENTS_CPP_UTILS_GPIO_H_ */
@@ -14,7 +14,8 @@
 
 
 /**
- * Create an instance of an I2C object.
+ * @brief Create an instance of an %I2C object.
+ *
  * @param[in] sdaPin The pin number used for the SDA line.
  * @param[in] sclPin The pin number used for the SCL line.
  */
@@ -35,7 +36,9 @@ I2C::I2C(int sdaPin, int sclPin) {
 
 
 /**
- * Begin a new I2C transaction.
+ * @brief Begin a new %I2C transaction.
+ *
+ * Begin a transaction by sending a start.
  */
 void I2C::beginTransaction() {
 	cmd = i2c_cmd_link_create();
@@ -44,9 +47,10 @@ void I2C::beginTransaction() {
 }
 
 /**
- * End an I2C transaction.
- * This call will execute the I2C requests that have been queued up since the preceding call to the
- * `beginTransaction()` function.
+ * @brief End an I2C transaction.
+ *
+ * This call will execute the %I2C requests that have been queued up since the preceding call to the
+ * beginTransaction() function.  An %I2C stop() is also called.
  */
 void I2C::endTransaction() {
 	ESP_ERROR_CHECK(i2c_master_stop(cmd));
@@ -56,9 +60,10 @@ void I2C::endTransaction() {
 
 
 /**
- * Write a single byte to the I2C slave.
+ * @brief Write a single byte to the %I2C slave.
+ *
  * @param[in] byte The byte to write to the slave.
- * @param[in] ack Whether or not an acknowledgement is expected from the slave.
+ * @param[in] ack Whether or not an acknowledgment is expected from the slave.
  */
 void I2C::write(uint8_t byte, bool ack) {
 	if (directionKnown == false) {
@@ -69,10 +74,11 @@ void I2C::write(uint8_t byte, bool ack) {
 }
 
 /**
- * Write a sequence of byte to the I2C slave.
- * @param[in] bytes The sequence of bytes to write to the I2C slave.
+ * @brief Write a sequence of byte to the %I2C slave.
+ *
+ * @param[in] bytes The sequence of bytes to write to the %I2C slave.
  * @param[in] length The number of bytes to write.
- * @param[in] ack Whether or not an acknowledgement is expected from the slave.
+ * @param[in] ack Whether or not an acknowledgment is expected from the slave.
  */
 void I2C::write(uint8_t *bytes, size_t length, bool ack) {
 	if (directionKnown == false) {
@@ -84,14 +90,15 @@ void I2C::write(uint8_t *bytes, size_t length, bool ack) {
 
 
 /**
- * Add an I2C start request to the command stream.
+ * @brief Add an I2C start request to the command stream.
  */
 void I2C::start() {
 	ESP_ERROR_CHECK(i2c_master_start(cmd));
 }
 
 /**
- * Read a single byte from the slave.
+ * @brief Read a single byte from the slave.
+ *
  * @param[out] byte The address into which the read byte will be stored.
  * @param[in] ack Whether or not we should send an ACK to the slave after reading a byte.
  */
@@ -104,7 +111,8 @@ void I2C::readByte(uint8_t* byte, bool ack) {
 }
 
 /**
- * Read a sequence of bytes from the slave.
+ * @brief Read a sequence of bytes from the slave.
+ *
  * @param[out] byte The address into which the read bytes will be stored.
  * @param[in] length The number of expected bytes to read.
  * @param[in] ack Whether or not we should send an ACK to the slave after reading a byte.
@@ -119,7 +127,7 @@ void I2C::read(uint8_t* bytes, size_t length, bool ack) {
 
 
 /**
- * Add an I2C stop request to the command stream.
+ * @brief Add an %I2C stop request to the command stream.
  */
 void I2C::stop() {
 	ESP_ERROR_CHECK(i2c_master_stop(cmd));
 
@@ -11,6 +11,10 @@
 #include <sys/types.h>
 #include <driver/i2c.h>
 
+
+/**
+ * @brief Interface to %I2C functions.
+ */
 class I2C {
 private:
 	uint8_t address;
@@ -21,30 +25,32 @@ class I2C {
 	I2C(int sdaPin, int sclPin);
 	void beginTransaction();
 	void endTransaction();
-	void write(uint8_t byte, bool ack=true);
-	void write(uint8_t *bytes, size_t length, bool ack=true);
-	void readByte(uint8_t *byte, bool ack=true);
-	void read(uint8_t *bytes, size_t length, bool ack=true);
-	void start();
-	void stop();
-
 	/**
-	 * Get the address of the I2C slave against which we are working.
-	 * @return The address of the I2C slave.
+	 * @brief Get the address of the %I2C slave against which we are working.
+	 *
+	 * @return The address of the %I2C slave.
 	 */
 	uint8_t getAddress() const
 	{
 		return address;
 	}
 
+	void read(uint8_t *bytes, size_t length, bool ack=true);
+	void readByte(uint8_t *byte, bool ack=true);
+
 	/**
-	 * Set the address of the I2C slave against which we will be working.
-	 * @param[in] address The address of the I2C slave.
+	 * @brief Set the address of the %I2C slave against which we will be working.
+	 *
+	 * @param[in] address The address of the %I2C slave.
 	 */
 	void setAddress(uint8_t address)
 	{
 		this->address = address;
 	}
+	void start();
+	void stop();
+	void write(uint8_t byte, bool ack=true);
+	void write(uint8_t *bytes, size_t length, bool ack=true);
 };
 
 #endif /* MAIN_I2C_H_ */
@@ -12,7 +12,7 @@
 #define MPU6050_PWR_MGMT_1   0x6B
 
 /**
- * Construct an MPU6050 handler.
+ * @brief Construct an MPU6050 handler.
  */
 MPU6050::MPU6050() {
 	i2c = new I2C(PIN_SDA, PIN_CLK);
@@ -31,13 +31,19 @@ MPU6050::MPU6050() {
 }
 
 
+/**
+ * @brief Destory the class instance.
+ */
 MPU6050::~MPU6050() {
 	delete i2c;
 }
 
 
 /**
- * Read the acceleration value from the device.
+ * @brief Read the acceleration value from the device.
+ *
+ * Calling this method results in communication with the device to retrieve the
+ * acceleration data that is then stored in the class instance ready for retrieval.
  */
 void MPU6050::readAccel() {
 	i2c->beginTransaction();
@@ -56,7 +62,10 @@ void MPU6050::readAccel() {
 } // readAccel
 
 /**
- * Read the gyroscopic values from the device.
+ * @brief Read the gyroscopic values from the device.
+ *
+ * Calling this method results in communication with the device to retrieve the
+ * gyroscopic data that is then stored in the class instance ready for retrieval.
  */
 void MPU6050::readGyro() {
 	i2c->beginTransaction();
 
@@ -1,15 +1,15 @@
-/**
- * Encapsulate the MPU6050.
- *
- * This class encapsulates the MPU6050 accelerometer and gyroscope.
- * The MPU6050 uses I2C as the communication between the master and the slave.
- */
-
-
 #ifndef MAIN_MPU6050_H_
 #define MAIN_MPU6050_H_
 #include "I2C.h"
 
+/**
+ * @brief Driver for the MPU6050 accelerometer and gyroscope.
+ *
+ * The MPU6050 uses I2C as the communication between the master and the slave.  The class stores
+ * the last read values as class instance local data.  The data can be retrieved from the class
+ * using the appropriate getters.  The readAccel() and readGyro() methods cause communication
+ * with the device to retrieve and locally hold the values from the device.
+ */
 class MPU6050 {
 private:
 	I2C *i2c;
@@ -19,60 +19,52 @@ class MPU6050 {
 	MPU6050();
 	virtual ~MPU6050();
 
-	/**
-	 * Read the acceleration values from the MPU-6050.
-	 */
 	void readAccel();
 
-	/**
-	 * Read the gyor values from the MPU-6050.
-	 */
 	void readGyro();
 
 	/**
-	 * Retrieve the X acceleration value.
+	 * @brief Get the X acceleration value.
 	 */
 	short getAccelX() const
 	{
 		return accel_x;
 	}
 
 	/**
-	 * Retrieve the Y acceleration value.
+	 * @brief Get the Y acceleration value.
 	 */
 	short getAccelY() const
 	{
 		return accel_y;
 	}
 
 	/**
-	 * Retrieve the Z acceleration value.
+	 * @brief Get the Z acceleration value.
 	 */
 	short getAccelZ() const
 	{
 		return accel_z;
 	}
 
 	/**
-	 * Retrieve X gyro value.
+	 * @brief Get the X gyroscopic value.
 	 */
 	short getGyroX() const
 	{
 		return gyro_x;
 	}
 
-
 	/**
-	 * Retrieve Y gyro value.
+	 * @brief Get the Y gyroscopic value.
 	 */
 	short getGyroY() const
 	{
 		return gyro_y;
 	}
 
-
 	/**
-	 * Retrieve Z gyro value.
+	 * @brief Get the Z gyroscopic value.
 	 */
 	short getGyroZ() const
 	{