phidgets 0.1.3 → 1.0.0

data/ext/phidgets/phidgets_sound_sensor.c

@@ -0,0 +1,284 @@
+
+#include "phidgets.h"
+
+#define SOUND_SENSOR_SPL_CHANGE_CALLBACK    0
+
+
+VALUE ph_sound_init(VALUE self) {
+  ph_data_t *ph = get_ph_data(self);
+  ph_raise(PhidgetSoundSensor_create((PhidgetSoundSensorHandle *)(&(ph->handle))));
+  return self;
+}
+
+VALUE ph_sound_get_data_interval(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetSoundSensor_getDataInterval);
+}
+
+VALUE ph_sound_set_data_interval(VALUE self, VALUE interval) {
+  ph_raise(PhidgetSoundSensor_setDataInterval((PhidgetSoundSensorHandle)get_ph_handle(self), NUM2UINT(interval)));
+  return Qnil;
+}
+
+VALUE ph_sound_get_min_data_interval(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetSoundSensor_getMinDataInterval);
+}
+
+VALUE ph_sound_get_max_data_interval(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetSoundSensor_getMaxDataInterval);
+}
+
+VALUE ph_sound_get_db(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetSoundSensor_getdB);
+}
+
+VALUE ph_sound_get_max_db(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetSoundSensor_getMaxdB);
+}
+
+VALUE ph_sound_get_dba(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetSoundSensor_getdBA);
+}
+
+VALUE ph_sound_get_dbc(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetSoundSensor_getdBC);
+}
+
+VALUE ph_sound_get_noise_floor(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetSoundSensor_getNoiseFloor);
+}
+
+VALUE ph_sound_get_octaves(VALUE self) {
+  double octaves[10];
+  ph_raise(PhidgetSoundSensor_getOctaves((PhidgetSoundSensorHandle)get_ph_handle(self), &octaves));
+  return rb_ary_new3(10, DBL2NUM(octaves[0]), DBL2NUM(octaves[1]), DBL2NUM(octaves[2]), DBL2NUM(octaves[3]), DBL2NUM(octaves[4]), DBL2NUM(octaves[5]), DBL2NUM(octaves[6]), DBL2NUM(octaves[7]), DBL2NUM(octaves[8]), DBL2NUM(octaves[9]));
+}
+
+VALUE ph_sound_get_spl_change_trigger(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetSoundSensor_getSPLChangeTrigger);
+}
+
+VALUE ph_sound_set_spl_change_trigger(VALUE self, VALUE change_trigger) {
+  ph_raise(PhidgetSoundSensor_setSPLChangeTrigger((PhidgetSoundSensorHandle)get_ph_handle(self), NUM2DBL(change_trigger)));
+  return Qnil;
+}
+
+VALUE ph_sound_get_min_spl_change_trigger(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetSoundSensor_getMinSPLChangeTrigger);
+}
+
+VALUE ph_sound_get_max_spl_change_trigger(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetSoundSensor_getMaxSPLChangeTrigger);
+}
+
+VALUE ph_sound_get_spl_range(VALUE self) {
+  return ph_get_int(get_ph_handle(self), (phidget_get_int_func)PhidgetSoundSensor_getSPLRange);
+}
+
+VALUE ph_sound_set_spl_range(VALUE self, VALUE spl_range) {
+  ph_raise(PhidgetSoundSensor_setSPLRange((PhidgetSoundSensorHandle)get_ph_handle(self), NUM2INT(spl_range)));
+  return Qnil;
+}
+
+
+void CCONV ph_sound_on_spl_change(PhidgetSoundSensorHandle phid, void *userPtr, double db, double dba, double dbc, const double octaves[10]) {
+  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
+  while(sem_wait(&callback_data->handler_ready)!=0) {};
+  callback_data->arg1 = DBL2NUM(db);
+  callback_data->arg2 = DBL2NUM(dba);
+  callback_data->arg3 = DBL2NUM(dbc);
+  callback_data->arg4 = rb_ary_new3(10, DBL2NUM(octaves[0]), DBL2NUM(octaves[1]), DBL2NUM(octaves[2]), DBL2NUM(octaves[3]), DBL2NUM(octaves[4]), DBL2NUM(octaves[5]), DBL2NUM(octaves[6]), DBL2NUM(octaves[7]), DBL2NUM(octaves[8]), DBL2NUM(octaves[9]));
+  sem_post(&callback_data->callback_called);
+}
+
+
+VALUE ph_sound_set_on_spl_change_handler(VALUE self, VALUE handler) {
+  ph_data_t *ph = get_ph_data(self);
+  ph_callback_data_t *callback_data = &ph->dev_callbacks[SOUND_SENSOR_SPL_CHANGE_CALLBACK];
+  if( TYPE(handler) == T_NIL ) {
+    callback_data->callback = T_NIL;
+    callback_data->exit = true;
+    ph_raise(PhidgetSoundSensor_setOnSPLChangeHandler((PhidgetSoundSensorHandle)ph->handle, NULL, (void *)NULL));
+    sem_post(&callback_data->callback_called);
+  } else {
+    callback_data->exit = false;
+    callback_data->phidget = self;
+    callback_data->callback = handler;
+    ph_raise(PhidgetSoundSensor_setOnSPLChangeHandler((PhidgetSoundSensorHandle)ph->handle, ph_sound_on_spl_change, (void *)callback_data));
+    ph_callback_thread(callback_data);
+  }
+  return Qnil;
+}
+
+
+void Init_sound() {
+  VALUE ph_module = rb_const_get(rb_cObject, rb_intern("Phidgets"));
+  VALUE ph_common = rb_const_get(ph_module, rb_intern("Common"));
+  VALUE ph_sound = rb_define_class_under(ph_module, "SoundSensor", ph_common);
+
+
+  rb_define_const(ph_sound, "SPL_RANGE_102dB", INT2NUM(SPL_RANGE_102dB));
+  rb_define_const(ph_sound, "SPL_RANGE_82dB", INT2NUM(SPL_RANGE_82dB));
+
+
+  /* Document-method: new
+   * call-seq: new
+   *
+   * Creates a Phidget SoundSensor object.
+   */
+  rb_define_method(ph_sound, "initialize", ph_sound_init, 0);
+
+  /* Document-method: getDataInterval
+   * call-seq: getDataInterval -> interval
+   *
+   * The DataInterval is the time that must elapse before the channel will fire another SPLChange event.
+   * The data interval is bounded by MinDataInterval and MaxDataInterval.
+   * The timing between SPLChange events can also affected by the SPLChangeTrigger.
+   */
+  rb_define_method(ph_sound, "getDataInterval", ph_sound_get_data_interval, 0);
+  rb_define_alias(ph_sound, "data_interval", "getDataInterval");
+
+  /* Document-method: setDataInterval
+   * call-seq: setDataInterval(interval)
+   *
+   * The DataInterval is the time that must elapse before the channel will fire another SPLChange event.
+   * The data interval is bounded by MinDataInterval and MaxDataInterval.
+   * The timing between SPLChange events can also affected by the SPLChangeTrigger.
+   */
+  rb_define_method(ph_sound, "setDataInterval", ph_sound_set_data_interval, 1);
+  rb_define_alias(ph_sound, "data_interval=", "setDataInterval");
+
+  /* Document-method: getMinDataInterval
+   * call-seq: getMinDataInterval -> interval
+   *
+   * The minimum value that DataInterval can be set to.
+   */
+  rb_define_method(ph_sound, "getMinDataInterval", ph_sound_get_min_data_interval, 0);
+  rb_define_alias(ph_sound, "min_data_interval", "getMinDataInterval");
+
+  /* Document-method: getMaxDataInterval
+   * call-seq: getMaxDataInterval -> interval
+   *
+   * The maximum value that DataInterval can be set to.
+   */
+  rb_define_method(ph_sound, "getMaxDataInterval", ph_sound_get_max_data_interval, 0);
+  rb_define_alias(ph_sound, "max_data_interval", "getMaxDataInterval");
+
+  /* Document-method: getdB
+   * call-seq: getdB -> db
+   *
+   * The most recent dB SPL value that has been calculated.
+   * This value is bounded by MaxdB.
+   */
+  rb_define_method(ph_sound, "getdB", ph_sound_get_db, 0);
+  rb_define_alias(ph_sound, "db", "getdB");
+
+  /* Document-method: getMaxdB
+   * call-seq: getMaxdB -> db
+   *
+   * The maximum value the SPLChange event will report.
+   */
+  rb_define_method(ph_sound, "getMaxdB", ph_sound_get_max_db, 0);
+  rb_define_alias(ph_sound, "max_db", "getMaxdB");
+
+  /* Document-method: getdBA
+   * call-seq: getdBA -> dba
+   *
+   * The most recent dBA SPL value that has been calculated.
+   * The dBA SPL value is calculated by applying a A-weighted filter to the Octaves data.
+   */
+  rb_define_method(ph_sound, "getdBA", ph_sound_get_dba, 0);
+  rb_define_alias(ph_sound, "dba", "getdBA");
+
+  /* Document-method: getdBC
+   * call-seq: getdBC -> dbc
+   *
+   * The most recent dBC SPL value that has been calculated.
+   * The dBC SPL value is calculated by applying a C-weighted filter to the Octaves data.
+   */
+  rb_define_method(ph_sound, "getdBC", ph_sound_get_dbc, 0);
+  rb_define_alias(ph_sound, "dbc", "getdBC");
+
+  /* Document-method: getNoiseFloor
+   * call-seq: getNoiseFloor -> noise_floor
+   *
+   * The minimum SPL value that the channel can accurately measure.
+   * Input SPLs below this level will not produce an output from the microphone.
+   */
+  rb_define_method(ph_sound, "getNoiseFloor", ph_sound_get_noise_floor, 0);
+  rb_define_alias(ph_sound, "noise_floor", "getNoiseFloor");
+
+  /* Document-method: getOctaves
+   * call-seq: getOctaves -> octaves
+   *
+   * The unweighted value of each frequency band.
+   * The following frequency bands are represented:
+   *   octaves[0] = 31.5 Hz
+   *   octaves[1] = 63 Hz
+   *   octaves[2] = 125 Hz
+   *   octaves[3] = 250 Hz
+   *   octaves[4] = 500 Hz
+   *   octaves[5] = 1 kHz
+   *   octaves[6] = 2 kHz
+   *   octaves[7] = 4 kHz
+   *   octaves[8] = 8 kHz
+   *   octaves[9] = 16 kHz
+   */
+  rb_define_method(ph_sound, "getOctaves", ph_sound_get_octaves, 0);
+  rb_define_alias(ph_sound, "octaves", "getOctaves");
+
+  /* Document-method: getSPLChangeTrigger
+   * call-seq: getSPLChangeTrigger -> change_trigger
+   *
+   * The channel will not issue a SPLChange event until the dB value has changed by the amount specified by the SPLChangeTrigger.
+   * Setting the SPLChangeTrigger to 0 will result in the channel firing events every DataInterval. This is useful for applications that implement their own data filtering.
+   */
+  rb_define_method(ph_sound, "getSPLChangeTrigger", ph_sound_get_spl_change_trigger, 0);
+  rb_define_alias(ph_sound, "spl_change_trigger", "getSPLChangeTrigger");
+
+  /* Document-method: setSPLChangeTrigger
+   * call-seq: setSPLChangeTrigger(change_trigger)
+   *
+   * The channel will not issue a SPLChange event until the dB value has changed by the amount specified by the SPLChangeTrigger.
+   * Setting the SPLChangeTrigger to 0 will result in the channel firing events every DataInterval. This is useful for applications that implement their own data filtering.
+   */
+  rb_define_method(ph_sound, "setSPLChangeTrigger", ph_sound_set_spl_change_trigger, 1);
+  rb_define_alias(ph_sound, "spl_change_trigger=", "setSPLChangeTrigger");
+
+  /* Document-method: getMinSPLChangeTrigger
+   * call-seq: getMinSPLChangeTrigger -> change_trigger
+   *
+   * The minimum value that SPLChangeTrigger can be set to.
+   */
+  rb_define_method(ph_sound, "getMinSPLChangeTrigger", ph_sound_get_min_spl_change_trigger, 0);
+  rb_define_alias(ph_sound, "min_spl_change_trigger", "getMinSPLChangeTrigger");
+
+  /* Document-method: getMaxSPLChangeTrigger
+   * call-seq: getMaxSPLChangeTrigger -> change_trigger
+   *
+   * The maximum value that SPLChangeTrigger can be set to.
+   */
+  rb_define_method(ph_sound, "getMaxSPLChangeTrigger", ph_sound_get_max_spl_change_trigger, 0);
+  rb_define_alias(ph_sound, "max_spl_change_trigger", "getMaxSPLChangeTrigger");
+
+  /* Document-method: getSPLRange
+   * call-seq: getSPLRange -> spl_range
+   *
+   * When selecting a range, first decide how sensitive you want the microphone to be. Select a smaller range when you want more sensitivity from the microphone.
+   * If a Saturation event occurrs, increase the range.
+   */
+  rb_define_method(ph_sound, "getSPLRange", ph_sound_get_spl_range, 0);
+  rb_define_alias(ph_sound, "spl_range", "getSPLRange");
+
+  /* Document-method: setSPLRange
+   * call-seq: setSPLRange(spl_range)
+   *
+   * When selecting a range, first decide how sensitive you want the microphone to be. Select a smaller range when you want more sensitivity from the microphone.
+   * If a Saturation event occurrs, increase the range.
+   */
+  rb_define_method(ph_sound, "setSPLRange", ph_sound_set_spl_range, 1);
+  rb_define_alias(ph_sound, "spl_range=", "setSPLRange");
+
+
+  rb_define_private_method(ph_sound, "ext_setOnSPLChangeHandler", ph_sound_set_on_spl_change_handler, 1);
+}
+

data/ext/phidgets/phidgets_spatial.c

@@ -1,369 +1,175 @@
 
 #include "phidgets.h"
 
+#define SPATIAL_SPATIAL_DATA_CALLBACK  0
 
-VALUE ph_spatial_init(VALUE self);
-VALUE ph_spatial_get_acceleration_axis_count(VALUE self);
-VALUE ph_spatial_get_gyro_axis_count(VALUE self);
-VALUE ph_spatial_get_compass_axis_count(VALUE self);
-VALUE ph_spatial_get_acceleration(VALUE self, VALUE index);
-VALUE ph_spatial_get_acceleration_min(VALUE self, VALUE index);
-VALUE ph_spatial_get_acceleration_max(VALUE self, VALUE index);
-VALUE ph_spatial_get_angular_rate(VALUE self, VALUE index);
-VALUE ph_spatial_get_angular_rate_min(VALUE self, VALUE index);
-VALUE ph_spatial_get_angular_rate_max(VALUE self, VALUE index);
-VALUE ph_spatial_get_magnetic_field(VALUE self, VALUE index);
-VALUE ph_spatial_get_magnetic_field_min(VALUE self, VALUE index);
-VALUE ph_spatial_get_magnetic_field_max(VALUE self, VALUE index);
-VALUE ph_spatial_get_data_rate(VALUE self);
-VALUE ph_spatial_get_data_rate_min(VALUE self);
-VALUE ph_spatial_get_data_rate_max(VALUE self);
-VALUE ph_spatial_set_data_rate(VALUE self, VALUE rate);
-VALUE ph_spatial_zero_gyro(VALUE self);
-VALUE ph_spatial_set_compass_correction_parameters(VALUE self, VALUE mag_field, VALUE offset0, VALUE offset1, VALUE offset2, VALUE gain0, VALUE gain1, VALUE gain2, VALUE T0, VALUE T1, VALUE T2, VALUE T3, VALUE T4, VALUE T5);
-VALUE ph_spatial_reset_compass_correction_parameters(VALUE self);
 
-#ifdef PH_CALLBACK
-VALUE ph_spatial_set_on_spatial_data_handler(VALUE self, VALUE handler);
-int ph_spatial_on_spatial_data(CPhidgetSpatialHandle phid, void *userPtr, CPhidgetSpatial_SpatialEventDataHandle *data, int data_count);
-#endif
+VALUE ph_spatial_init(VALUE self) {
+  ph_data_t *ph = get_ph_data(self);
+  ph_raise(PhidgetSpatial_create((PhidgetSpatialHandle *)(&(ph->handle))));
+  return self;
+}
 
+VALUE ph_spatial_get_data_interval(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetSpatial_getDataInterval);
+}
 
-void Init_spatial() {
-  VALUE ph_module = rb_const_get(rb_cObject, rb_intern("Phidgets"));
-  VALUE ph_common = rb_const_get(ph_module, rb_intern("Common"));
-  VALUE ph_spatial = rb_define_class_under(ph_module, "Spatial", ph_common);
+VALUE ph_spatial_set_data_interval(VALUE self, VALUE interval) {
+  ph_raise(PhidgetSpatial_setDataInterval((PhidgetSpatialHandle)get_ph_handle(self), NUM2UINT(interval)));
+  return Qnil;
+}
 
-  /* Document-method: new
-   * call-seq: new
-   *
-   * Creates a Phidget Spatial object.
-   */
-  rb_define_method(ph_spatial, "initialize", ph_spatial_init, 0);
+VALUE ph_spatial_get_min_data_interval(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetSpatial_getMinDataInterval);
+}
 
-  /* Document-method: getAccelerationAxisCount
-   * call-seq: getAccelerationAxisCount -> count
-   *
-   * Gets the number of acceleration axes supplied by this board.
-   */
-  rb_define_method(ph_spatial, "getAccelerationAxisCount", ph_spatial_get_acceleration_axis_count, 0);
+VALUE ph_spatial_get_max_data_interval(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetSpatial_getMaxDataInterval);
+}
 
-  /* Document-method: getGyroAxisCount
-   * call-seq: getGyroAxisCount -> count
-   *
-   * Gets the number of gyroscope axes supplied by this board.
-   */
-  rb_define_method(ph_spatial, "getGyroAxisCount", ph_spatial_get_gyro_axis_count, 0);
+VALUE ph_spatial_set_magnetometer_correction_parameters(VALUE self, VALUE mag_field, VALUE offset0, VALUE offset1, VALUE offset2, VALUE gain0, VALUE gain1, VALUE gain2, VALUE T0, VALUE T1, VALUE T2, VALUE T3, VALUE T4, VALUE T5) {
+  ph_raise(PhidgetSpatial_setMagnetometerCorrectionParameters((PhidgetSpatialHandle)get_ph_handle(self), NUM2DBL(mag_field), NUM2DBL(offset0), NUM2DBL(offset1), NUM2DBL(offset2),
+      NUM2DBL(gain0), NUM2DBL(gain1), NUM2DBL(gain2), NUM2DBL(T0), NUM2DBL(T1), NUM2DBL(T2), NUM2DBL(T3), NUM2DBL(T4), NUM2DBL(T5)));
+  return Qnil;
+}
 
-  /* Document-method: getCompassAxisCount
-   * call-seq: getCompassAxisCount -> count
-   *
-   * Gets the number of compass axes supplied by this board.
-   */
-  rb_define_method(ph_spatial, "getCompassAxisCount", ph_spatial_get_compass_axis_count, 0);
+VALUE ph_spatial_reset_magnetometer_correction_parameters(VALUE self) {
+  ph_raise(PhidgetSpatial_resetMagnetometerCorrectionParameters((PhidgetSpatialHandle)get_ph_handle(self)));
+  return Qnil;
+}
 
-  /* Document-method: getAcceleration
-   * call-seq: getAcceleration(index) -> acceleration
-   *
-   * Gets the current acceleration of an axis.
-   */
-  rb_define_method(ph_spatial, "getAcceleration", ph_spatial_get_acceleration, 1);
+VALUE ph_spatial_save_magnetometer_correction_parameters(VALUE self) {
+  ph_raise(PhidgetSpatial_saveMagnetometerCorrectionParameters((PhidgetSpatialHandle)get_ph_handle(self)));
+  return Qnil;
+}
 
-  /* Document-method: getAccelerationMin
-   * call-seq: getAccelerationMin(index) -> acceleration
-   *
-   * Gets the minimum acceleration supported by an axis.
-   */
-  rb_define_method(ph_spatial, "getAccelerationMin", ph_spatial_get_acceleration_min, 1);
+VALUE ph_spatial_zero_gyro(VALUE self) {
+  ph_raise(PhidgetSpatial_zeroGyro((PhidgetSpatialHandle)get_ph_handle(self)));
+  return Qnil;
+}
 
-  /* Document-method: getAccelerationMax
-   * call-seq: getAccelerationMax(index) -> acceleration
-   *
-   * Gets the maximum accleration supported by an axis.
-   */
-  rb_define_method(ph_spatial, "getAccelerationMax", ph_spatial_get_acceleration_max, 1);
 
-  /* Document-method: getAngularRate
-   * call-seq: getAngularRate(index) -> rate
-   *
-   * Gets the current angular rate of an axis.
-   */
-  rb_define_method(ph_spatial, "getAngularRate", ph_spatial_get_angular_rate, 1);
+void CCONV ph_spatial_on_spatial_data(PhidgetSpatialHandle phid, void *userPtr, const double accel[3], const double angularRate[3], const double magneticField[3], double timestamp) {
+  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
+  while(sem_wait(&callback_data->handler_ready)!=0) {};
+  callback_data->arg1 = rb_ary_new3(3, DBL2NUM(accel[0]), DBL2NUM(accel[1]), DBL2NUM(accel[2]));
+  callback_data->arg2 = rb_ary_new3(3, DBL2NUM(angularRate[0]), DBL2NUM(angularRate[1]), DBL2NUM(angularRate[2]));
+  callback_data->arg3 = rb_ary_new3(3, DBL2NUM(magneticField[0]), DBL2NUM(magneticField[1]), DBL2NUM(magneticField[2]));
+  callback_data->arg4 = DBL2NUM(timestamp);
+  sem_post(&callback_data->callback_called);
+}
 
-  /* Document-method: getAngularRateMin
-   * call-seq: getAngularRateMin(index) -> rate
-   *
-   * Gets the minimum angular rate supported by an axis.
-   */
-  rb_define_method(ph_spatial, "getAngularRateMin", ph_spatial_get_angular_rate_min, 1);
 
-  /* Document-method: getAngularRateMax
-   * call-seq: getAngularRateMax(index) -> rate
+VALUE ph_spatial_set_on_spatial_data_handler(VALUE self, VALUE handler) {
+  ph_data_t *ph = get_ph_data(self);
+  ph_callback_data_t *callback_data = &ph->dev_callbacks[SPATIAL_SPATIAL_DATA_CALLBACK];
+  if( TYPE(handler) == T_NIL ) {
+    callback_data->callback = T_NIL;
+    callback_data->exit = true;
+    ph_raise(PhidgetSpatial_setOnSpatialDataHandler((PhidgetSpatialHandle)ph->handle, NULL, (void *)NULL));
+    sem_post(&callback_data->callback_called);
+  } else {
+    callback_data->exit = false;
+    callback_data->phidget = self;
+    callback_data->callback = handler;
+    ph_raise(PhidgetSpatial_setOnSpatialDataHandler((PhidgetSpatialHandle)ph->handle, ph_spatial_on_spatial_data, (void *)callback_data));
+    ph_callback_thread(callback_data);
+  }
+  return Qnil;
+}
+
+
+void Init_spatial() {
+  VALUE ph_module = rb_const_get(rb_cObject, rb_intern("Phidgets"));
+  VALUE ph_common = rb_const_get(ph_module, rb_intern("Common"));
+  VALUE ph_spatial = rb_define_class_under(ph_module, "Spatial", ph_common);
+
+  /* Document-method: new
+   * call-seq: new
    *
-   * Gets the maximum angular rate supported by an axis.
+   * Creates a Phidget Spatial object.
    */
-  rb_define_method(ph_spatial, "getAngularRateMax", ph_spatial_get_angular_rate_max, 1);
+  rb_define_method(ph_spatial, "initialize", ph_spatial_init, 0);
 
-  /* Document-method: getMagneticField
-   * call-seq: getMagneticField(index) -> field
+  /* Document-method: getDataInterval
+   * call-seq: getDataInterval -> interval
    *
-   * Gets the current magnetic field stregth of an axis.
+   * The DataInterval is the time that must elapse before the channel will fire another SpatialData event.
+   * The data interval is bounded by MinDataInterval and MaxDataInterval.
    */
-  rb_define_method(ph_spatial, "getMagneticField", ph_spatial_get_magnetic_field, 1);
+  rb_define_method(ph_spatial, "getDataInterval", ph_spatial_get_data_interval, 0);
+  rb_define_alias(ph_spatial, "data_interval", "getDataInterval");
 
-  /* Document-method: getMagneticFieldMin
-   * call-seq: getMagneticFieldMin(index) -> field
+  /* Document-method: setDataInterval
+   * call-seq: setDataInterval(interval)
    *
-   * Gets the minimum magnetic field stregth supported by an axis.
+   * The DataInterval is the time that must elapse before the channel will fire another SpatialData event.
+   * The data interval is bounded by MinDataInterval and MaxDataInterval.
    */
-  rb_define_method(ph_spatial, "getMagneticFieldMin", ph_spatial_get_magnetic_field_min, 1);
+  rb_define_method(ph_spatial, "setDataInterval", ph_spatial_set_data_interval, 1);
+  rb_define_alias(ph_spatial, "data_interval=", "setDataInterval");
 
-  /* Document-method: getMagneticFieldMax
-   * call-seq: getMagneticFieldMax(index) -> field
+  /* Document-method: getMinDataInterval
+   * call-seq: getMinDataInterval -> interval
    *
-   * Gets the maximum magnetic field stregth supported by an axis.
+   * The minimum value that DataInterval can be set to.
    */
-  rb_define_method(ph_spatial, "getMagneticFieldMax", ph_spatial_get_magnetic_field_max, 1);
+  rb_define_method(ph_spatial, "getMinDataInterval", ph_spatial_get_min_data_interval, 0);
+  rb_define_alias(ph_spatial, "min_data_interval", "getMinDataInterval");
 
-  /* Document-method: getDataRate
-   * call-seq: getDataRate -> rate
+  /* Document-method: getMaxDataInterval
+   * call-seq: getMaxDataInterval -> interval
    *
-   * Get the data rate in milliseconds.
+   * The maximum value that DataInterval can be set to.
    */
-  rb_define_method(ph_spatial, "getDataRate", ph_spatial_get_data_rate, 0);
+  rb_define_method(ph_spatial, "getMaxDataInterval", ph_spatial_get_max_data_interval, 0);
+  rb_define_alias(ph_spatial, "max_data_interval", "getMaxDataInterval");
 
-  /* Document-method: getDataRateMin
-   * call-seq: getDataRateMin -> rate
+  /* Document-method: setMagnetometerCorrectionParameters
+   * call-seq: setMagnetometerCorrectionParameters(mag_field, offset0, offset1, offset2, gain0, gain1, gain2, T0, T1, T2, T3, T4, T5)
    *
-   * Gets the minimum supported data rate in milliseconds.
+   * Calibrate your device for the environment it will be used in.
+   * Due to physical location, hard and soft iron offsets, and even bias errors, your device should be calibrated.
+   * We have created a calibration program that will provide you with the MagnetometerCorrectionParameters for your specific situation.
+   * See your device's User Guide for more information.
    */
-  rb_define_method(ph_spatial, "getDataRateMin", ph_spatial_get_data_rate_min, 0);
+  rb_define_method(ph_spatial, "setMagnetometerCorrectionParameters", ph_spatial_set_magnetometer_correction_parameters, 13);
+  rb_define_alias(ph_spatial, "set_magnetometer_correction_parameters", "setMagnetometerCorrectionParameters");
 
-  /* Document-method: getDataRateMax
-   * call-seq: getDataRateMax -> rate
+  /* Document-method: resetMagnetometerCorrectionParameters
+   * call-seq: resetMagnetometerCorrectionParameters
    *
-   * Gets the maximum supported data rate in milliseconds.
+   * Resets the MagnetometerCorrectionParameters to their default values.
+   * Due to physical location, hard and soft iron offsets, and even bias errors, your device should be calibrated.
+   * We have created a calibration program that will provide you with the MagnetometerCorrectionParameters for your specific situation.
+   * See your device's User Guide for more information
    */
-  rb_define_method(ph_spatial, "getDataRateMax", ph_spatial_get_data_rate_max, 0);
+  rb_define_method(ph_spatial, "resetMagnetometerCorrectionParameters", ph_spatial_reset_magnetometer_correction_parameters, 0);
+  rb_define_alias(ph_spatial, "reset_magnetometer_correction_parameters", "resetMagnetometerCorrectionParameters");
 
-  /* Document-method: setDataRate
-   * call-seq: setDataRate(rate)
+  /* Document-method: saveMagnetometerCorrectionParameters
+   * call-seq: saveMagnetometerCorrectionParameters
    *
-   * Sets the data rate in milliseconds.
+   * Saves the MagnetometerCorrectionParameters.
+   * Due to physical location, hard and soft iron offsets, and even bias errors, your device should be calibrated.
+   * We have created a calibration program that will provide you with the MagnetometerCorrectionParameters for your specific situation.
+   * See your device's User Guide for more information
    */
-  rb_define_method(ph_spatial, "setDataRate", ph_spatial_set_data_rate, 1);
+  rb_define_method(ph_spatial, "saveMagnetometerCorrectionParameters", ph_spatial_save_magnetometer_correction_parameters, 0);
+  rb_define_alias(ph_spatial, "save_magnetometer_correction_parameters", "saveMagnetometerCorrectionParameters");
 
   /* Document-method: zeroGyro
    * call-seq: zeroGyro
    *
-   * Zeroes the gyroscope. This takes about two seconds and the gyro zxes will report 0 during the process.
-   * This should only be called when the board is not moving.
+   * Re-zeros the gyroscope in 1-2 seconds.
+   * The device must be stationary when zeroing.
+   * The angular rate will be reported as 0.0°/s while zeroing.
+   * Zeroing the gyroscope is a method of compensating for the drift that is inherent to all gyroscopes. See your device's User Guide for more information on dealing with drift.
    */
   rb_define_method(ph_spatial, "zeroGyro", ph_spatial_zero_gyro, 0);
-
-  /* Document-method: setCompassCorrectionParameters
-   * call-seq: setCompassCorrectionParameters(mag_field, offset0, offset1, offset2, gain0, gain1, gain2, T0, T1, T2, T3, T4, T5)
-   *
-   * Sets the compass correction factors. This can be used to correcting any sensor errors,
-   * including hard and soft iron offsets and sensor error factors.
-   */
-  rb_define_method(ph_spatial, "setCompassCorrectionParameters", ph_spatial_set_compass_correction_parameters, 13);
-
-  /* Document-method: resetCompassCorrectionParameters
-   * call-seq: resetCompassCorrectionParameters
-   *
-   * Resets the compass correction factors. Magnetic field data will be presented directly as reported by the sensor.
-   */
-  rb_define_method(ph_spatial, "resetCompassCorrectionParameters", ph_spatial_reset_compass_correction_parameters, 0);
-
-#ifdef PH_CALLBACK
-  rb_define_private_method(ph_spatial, "ext_setOnSpatialDataHandler", ph_spatial_set_on_spatial_data_handler, 1);
-#endif
-
-  rb_define_alias(ph_spatial, "acceleration_axis_count", "getAccelerationAxisCount");
-  rb_define_alias(ph_spatial, "gyro_axis_count", "getGyroAxisCount");
-  rb_define_alias(ph_spatial, "compass_axis_count", "getCompassAxisCount");
-  rb_define_alias(ph_spatial, "acceleration", "getAcceleration");
-  rb_define_alias(ph_spatial, "acceleration_min", "getAccelerationMin");
-  rb_define_alias(ph_spatial, "acceleration_max", "getAccelerationMax");
-  rb_define_alias(ph_spatial, "angular_rate", "getAngularRate");
-  rb_define_alias(ph_spatial, "angular_rate_min", "getAngularRateMin");
-  rb_define_alias(ph_spatial, "angular_rate_max", "getAngularRateMax");
-  rb_define_alias(ph_spatial, "magnetic_field", "getMagneticField");
-  rb_define_alias(ph_spatial, "magnetic_field_min", "getMagneticFieldMin");
-  rb_define_alias(ph_spatial, "magnetic_field_max", "getMagneticFieldMax");
-  rb_define_alias(ph_spatial, "data_rate", "getDataRate");
-  rb_define_alias(ph_spatial, "data_rate_min", "getDataRateMin");
-  rb_define_alias(ph_spatial, "data_rate_max", "getDataRateMax");
-  rb_define_alias(ph_spatial, "data_rate=", "setDataRate");
   rb_define_alias(ph_spatial, "zero_gyro", "zeroGyro");
-  rb_define_alias(ph_spatial, "set_compass_correction_parameters", "setCompassCorrectionParameters");
-  rb_define_alias(ph_spatial, "reset_compass_correction_parameters", "resetCompassCorrectionParameters");
-}
-
-
-
-VALUE ph_spatial_init(VALUE self) {
-  ph_data_t *ph = get_ph_data(self);
-  ph_raise(CPhidgetSpatial_create((CPhidgetSpatialHandle *)(&(ph->handle))));
-  return self;
-}
-
-VALUE ph_spatial_get_acceleration_axis_count(VALUE self) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  int count;
-  ph_raise(CPhidgetSpatial_getAccelerationAxisCount(handle, &count));
-  return INT2FIX(count);
-}
-
-VALUE ph_spatial_get_gyro_axis_count(VALUE self) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  int count;
-  ph_raise(CPhidgetSpatial_getGyroAxisCount(handle, &count));
-  return INT2FIX(count);
-}
-
-VALUE ph_spatial_get_compass_axis_count(VALUE self) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  int count;
-  ph_raise(CPhidgetSpatial_getCompassAxisCount(handle, &count));
-  return INT2FIX(count);
-}
-
-VALUE ph_spatial_get_acceleration(VALUE self, VALUE index) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  double value;
-  ph_raise(CPhidgetSpatial_getAcceleration(handle, FIX2INT(index), &value));
-  return rb_float_new(value);
-}
-
-VALUE ph_spatial_get_acceleration_min(VALUE self, VALUE index) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  double value;
-  ph_raise(CPhidgetSpatial_getAccelerationMin(handle, FIX2INT(index), &value));
-  return rb_float_new(value);
-}
-
-VALUE ph_spatial_get_acceleration_max(VALUE self, VALUE index) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  double value;
-  ph_raise(CPhidgetSpatial_getAccelerationMax(handle, FIX2INT(index), &value));
-  return rb_float_new(value);
-}
-
-VALUE ph_spatial_get_angular_rate(VALUE self, VALUE index) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  double value;
-  ph_raise(CPhidgetSpatial_getAngularRate(handle, FIX2INT(index), &value));
-  return rb_float_new(value);
-}
-
-VALUE ph_spatial_get_angular_rate_min(VALUE self, VALUE index) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  double value;
-  ph_raise(CPhidgetSpatial_getAngularRateMin(handle, FIX2INT(index), &value));
-  return rb_float_new(value);
-}
-
-VALUE ph_spatial_get_angular_rate_max(VALUE self, VALUE index) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  double value;
-  ph_raise(CPhidgetSpatial_getAngularRateMax(handle, FIX2INT(index), &value));
-  return rb_float_new(value);
-}
-
-VALUE ph_spatial_get_magnetic_field(VALUE self, VALUE index) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  double value;
-  ph_raise(CPhidgetSpatial_getMagneticField(handle, FIX2INT(index), &value));
-  return rb_float_new(value);
-}
-
-VALUE ph_spatial_get_magnetic_field_min(VALUE self, VALUE index) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  double value;
-  ph_raise(CPhidgetSpatial_getMagneticFieldMin(handle, FIX2INT(index), &value));
-  return rb_float_new(value);
-}
-
-VALUE ph_spatial_get_magnetic_field_max(VALUE self, VALUE index) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  double value;
-  ph_raise(CPhidgetSpatial_getMagneticFieldMax(handle, FIX2INT(index), &value));
-  return rb_float_new(value);
-}
 
-VALUE ph_spatial_get_data_rate(VALUE self) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  int value;
-  ph_raise(CPhidgetSpatial_getDataRate(handle, &value));
-  return INT2FIX(value);
-}
-
-VALUE ph_spatial_get_data_rate_min(VALUE self) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  int value;
-  ph_raise(CPhidgetSpatial_getDataRateMin(handle, &value));
-  return INT2FIX(value);
-}
-
-VALUE ph_spatial_get_data_rate_max(VALUE self) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  int value;
-  ph_raise(CPhidgetSpatial_getDataRateMax(handle, &value));
-  return INT2FIX(value);
-}
-
-VALUE ph_spatial_set_data_rate(VALUE self, VALUE milliseconds) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  ph_raise(CPhidgetSpatial_setDataRate(handle, FIX2INT(milliseconds)));
-  return Qnil;
-}
-
-VALUE ph_spatial_zero_gyro(VALUE self) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  ph_raise(CPhidgetSpatial_zeroGyro(handle));
-  return Qnil;
-}
-
-VALUE ph_spatial_set_compass_correction_parameters(VALUE self, VALUE mag_field, VALUE offset0, VALUE offset1, VALUE offset2, VALUE gain0, VALUE gain1, VALUE gain2, VALUE T0, VALUE T1, VALUE T2, VALUE T3, VALUE T4, VALUE T5) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  ph_raise(CPhidgetSpatial_setCompassCorrectionParameters(handle, NUM2DBL(mag_field), NUM2DBL(offset0), NUM2DBL(offset1), NUM2DBL(offset2),
-      NUM2DBL(gain0), NUM2DBL(gain1), NUM2DBL(gain2), NUM2DBL(T0), NUM2DBL(T1), NUM2DBL(T2), NUM2DBL(T3), NUM2DBL(T4), NUM2DBL(T5)));
-  return Qnil;
-}
-
-VALUE ph_spatial_reset_compass_correction_parameters(VALUE self) {
-  CPhidgetSpatialHandle handle = (CPhidgetSpatialHandle)get_ph_handle(self);
-  ph_raise(CPhidgetSpatial_resetCompassCorrectionParameters(handle));
-  return Qnil;
-}
 
-
-#ifdef PH_CALLBACK
-VALUE ph_spatial_set_on_spatial_data_handler(VALUE self, VALUE handler) {
-  ph_data_t *ph = get_ph_data(self);
-  ph_callback_data_t *callback_data = &ph->dev_callback_1;
-  if( TYPE(handler) == T_NIL ) {
-    callback_data->exit = true;
-    ph_raise(CPhidgetSpatial_set_OnSpatialData_Handler((CPhidgetSpatialHandle)ph->handle, NULL, (void *)NULL));
-  } else {
-    callback_data->called = false;
-    callback_data->exit = false;
-    callback_data->phidget = self;
-    callback_data->callback = handler;
-    ph_raise(CPhidgetSpatial_set_OnSpatialData_Handler((CPhidgetSpatialHandle)ph->handle, ph_spatial_on_spatial_data, (void *)callback_data));
-    ph_callback_thread(callback_data);
-  }
-  return Qnil;
-}
-
-
-int ph_spatial_on_spatial_data(CPhidgetSpatialHandle phid, void *userPtr, CPhidgetSpatial_SpatialEventDataHandle *data, int data_count) {
-  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
-  callback_data->called = true;
-  return EPHIDGET_OK;
+  rb_define_private_method(ph_spatial, "ext_setOnSpatialDataHandler", ph_spatial_set_on_spatial_data_handler, 1);
 }
 
-#endif
-