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/*
* 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);
}
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