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diff --git a/peripheral/libupm/src/adxrs610/adxrs610.h b/peripheral/libupm/src/adxrs610/adxrs610.h
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+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <iostream>
+#include <string>
+#include <mraa/aio.hpp>
+
+// volts per degree / second (typ)
+#define m_degreeCoeff 0.006
+
+// volts per degree C (typ)
+#define m_temperatureCoeff 0.009
+
+// nominal temperature at m_centerVolts
+#define m_temperatureNom 25.0
+
+namespace upm {
+  /**
+   * @brief DFRobot ADXRS610 Gyro Breakout Board
+   * @defgroup adxrs610 libupm-adxrs610
+   * @ingroup dfrobot analog compass
+   */
+
+  /**
+   * @library adxrs610
+   * @sensor adxrs610
+   * @comname DFRobot ADXRS610 Gyro Breakout Board
+   * @altname ADXRS610
+   * @type compass
+   * @man dfrobot
+   * @web http://www.dfrobot.com/index.php?route=product/product&product_id=642
+   * @con analog
+   *
+   * @brief DFRobot ADXRS610 Gyro Beakout board
+   *
+   * The ADXRS610 is a MEMS based single axis gyroscope with a range
+   * of +/- 300 degrees/sec.  It also incorporates a temperature
+   * sensing unit that can be used for advanced calibration.
+   *
+   * This sensor returns an analog voltage proportional to the
+   * rotation about the Z-axis in degrees/sec.  The temperature
+   * component returns a proportional analog values in degrees C.
+   *
+   * This driver was developed using the DFRobot ADXRS610 Gyro Beakout board.
+   *
+   * @image html adxrs610.jpg
+   * @snippet adxrs610.cxx Interesting
+   */
+
+  class ADXRS610 {
+  public:
+
+    /**
+     * ADXRS610 constructor
+     *
+     * @param dPin Analog pin to use for DATAOUT
+     * @param tPin Analog pin to use for temperature measurement
+     * @param aref Analog reference voltage; default is 5.0 V
+     */
+    ADXRS610(int dPin, int tPin, float aref=5.0);
+
+    /**
+     * ADXRS610 destructor
+     */
+    ~ADXRS610();
+
+    /**
+     * Returns the voltage detected on the DATA analog pin
+     *
+     * @return The detected voltage
+     */
+    float getDataVolts();
+
+    /**
+     * Returns the voltage detected on the TEMP analog pin
+     *
+     * @return The detected voltage
+     */
+    float getTemperatureVolts();
+
+    /**
+     * This method allows you to specify a deadband region around the
+     * zero point of the gyro (at rest).  This can be used as a
+     * primitive filter to ignore movment around the zero point.
+     *
+     * @param deadband The voltage around the zero point which will be
+     * ignored
+     */
+    void setDeadband(float deadband) { m_deadband = deadband; };
+
+    /**
+     * Set the zero point.  This is the point measured and averaged
+     * when the sensor is not moving.  It is set at construction time
+     * (averaged over a number of samples), but can be overriden here.
+     *
+     * @param zeroPoint The averaged zero point of the sensor at rest
+     */
+    void setZeroPoint(float zeroPoint) { m_zeroPoint = zeroPoint; };
+
+    /**
+     * This method samples the data pin samples times to produce an
+     * average.  This value can then be used as the zero point
+     * (setZeroPoint()).
+     *
+     * @param samples the number of samples to take an average over.
+     * The default is 50.  
+     * @return the average of the reading over samples times.
+     */
+    float calibrateZeroPoint(unsigned int samples=50);
+
+    /**
+     * Return the zero point value.
+     *
+     * @return the current zero point value
+     */
+    float getZeroPoint() { return m_zeroPoint; };
+
+    /**
+     * Return the measured temperature in Celcius.  Note, the
+     * datasheet says that this value is very repeatable, but is not
+     * an accurate absolute temperature.
+     *
+     * @return the current temperature in C
+     */
+    float getTemperature();
+
+    /**
+     * Return the measured angular velocity in degrees/sec.
+     *
+     * @return the current angular velocity in degrees/sec
+     */
+    float getAngularVelocity();
+
+  protected:
+    mraa::Aio m_aioData;
+    mraa::Aio m_aioTemp;
+
+  private:
+    float m_aref;
+    // ADC resolution
+    int m_aRes;
+
+    // measured or set zero point value
+    float m_zeroPoint;
+    // desired deadband, default is 0.0
+    float m_deadband;
+
+    // aref / 2
+    float m_centerVolts;
+  };
+}
+
+