Sensor HAL: Add LSM303D accel and orient

BUG=NONE
Signed-off-by: Bruce Beare <bruce.j.beare@intel.com>
Change-Id: I455f8e4e51d6a2e7945b54f3d51613294431ff6f

1 files changed, 78 insertions, 0 deletions

diff --git a/peripheral/sensors/edison_arduino/sensors/LSM303dAccelerometer.cpp b/peripheral/sensors/edison_arduino/sensors/LSM303dAccelerometer.cpp
new file mode 100644
index 0000000..dc6cd1c
--- /dev/null
+++ b/peripheral/sensors/edison_arduino/sensors/LSM303dAccelerometer.cpp
@@ -0,0 +1,78 @@
+/*
+ * Copyright (C) 2015 Intel Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <cutils/log.h>
+#include "LSM303dAccelerometer.hpp"
+#include "SensorsHAL.hpp"
+#include "SensorUtils.hpp"
+
+struct sensor_t LSM303dAccelerometer::sensorDescription = {
+  .name = "LSM303d Accelerometer",
+  .vendor = "Unknown",
+  .version = 1,
+  .handle = -1,
+  .type = SENSOR_TYPE_ACCELEROMETER,
+  .maxRange = 16.0f,
+  .resolution = 0.00003f,
+  .power = 0.0003f,
+  .minDelay = 0,
+  .fifoReservedEventCount = 0,
+  .fifoMaxEventCount = 0,
+  .stringType = SENSOR_STRING_TYPE_ACCELEROMETER,
+  .requiredPermission = "",
+  .maxDelay = 0,
+  .flags = SENSOR_FLAG_CONTINUOUS_MODE,
+  .reserved = {},
+};
+
+Sensor * LSM303dAccelerometer::createSensor(int pollFd) {
+  return new LSM303dAccelerometer(pollFd, SensorUtils::getI2cBusNumber());
+}
+
+void LSM303dAccelerometer::initModule() {
+  SensorContext::addSensorModule(&sensorDescription, createSensor);
+}
+
+LSM303dAccelerometer::LSM303dAccelerometer(int pollFd,
+    int bus, int address, int scale)
+    : LSM303d(bus, address, scale), pollFd(pollFd), scale(scale) {
+  this->type = SENSOR_TYPE_ACCELEROMETER;
+  this->handle = sensorDescription.handle;
+}
+
+LSM303dAccelerometer::~LSM303dAccelerometer() {}
+
+/*
+ * The raw data from the X,Y,Z axis are expressed in a 16 bit two's complement
+ * format.
+ *   1. We divide the 16bit value by (2**15) to convert it to floating point +-[0..1]
+ *   2. We multiply by the scaling factor to adjust for max range (2,4,6,8,16 G)
+ *   3. We multiply by the gravitational accelleration to convert from "g" to m/s**2
+ */
+int LSM303dAccelerometer::pollEvents(sensors_event_t* data, int count) {
+  getAcceleration();
+  int16_t *rawdatap = getRawAccelData();
+  double conversion_constant = (double)scale * (double)Sensor::kGravitationalAcceleration / pow(2,15);
+  data->acceleration.x = (double)rawdatap[0] * conversion_constant;
+  data->acceleration.y = (double)rawdatap[1] * conversion_constant;
+  data->acceleration.z = (double)rawdatap[2] * conversion_constant;
+  return 1;
+}
+
+int LSM303dAccelerometer::activate(int handle, int enabled) {
+  /* start or stop the acquisition thread */
+  return activateAcquisitionThread(pollFd, handle, enabled);
+}