diff options
Diffstat (limited to 'libsensors_iio/src/Accelerometer.cpp')
-rw-r--r-- | libsensors_iio/src/Accelerometer.cpp | 55 |
1 files changed, 55 insertions, 0 deletions
diff --git a/libsensors_iio/src/Accelerometer.cpp b/libsensors_iio/src/Accelerometer.cpp new file mode 100644 index 0000000..98ed7c6 --- /dev/null +++ b/libsensors_iio/src/Accelerometer.cpp @@ -0,0 +1,55 @@ +/* + * STMicroelectronics Accelerometer Sensor Class + * + * Copyright 2013-2015 STMicroelectronics Inc. + * Author: Denis Ciocca - <denis.ciocca@st.com> + * + * Licensed under the Apache License, Version 2.0 (the "License"). + */ + +#include <fcntl.h> +#include <assert.h> +#include <signal.h> + +#include "Accelerometer.h" + +Accelerometer::Accelerometer(HWSensorBaseCommonData *data, const char *name, + struct iio_sampling_frequency_available *sfa, int handle, + unsigned int hw_fifo_len, int pipe_data_fd, float power_consumption, bool wakeup) : + HWSensorBaseWithPollrate(data, name, sfa, handle, + SENSOR_TYPE_ACCELEROMETER, hw_fifo_len, pipe_data_fd, power_consumption) +{ + sensor_t_data.stringType = SENSOR_STRING_TYPE_ACCELEROMETER; + sensor_t_data.flags = SENSOR_FLAG_CONTINUOUS_MODE; + + if (wakeup) + sensor_t_data.flags |= SENSOR_FLAG_WAKE_UP; + + sensor_t_data.resolution = data->channels[0].scale; + sensor_t_data.maxRange = sensor_t_data.resolution * (pow(2, data->channels[0].bits_used - 1) - 1); +} + +Accelerometer::~Accelerometer() +{ + +} + +void Accelerometer::ProcessData(SensorBaseData *data) +{ + float tmp_raw_data[num_data_axis]; + + memcpy(tmp_raw_data, data->raw, num_data_axis * sizeof(float)); + + data->raw[0] = SENSOR_X_DATA(tmp_raw_data[0], tmp_raw_data[1], tmp_raw_data[2], CONFIG_ST_HAL_ACCEL_ROT_MATRIX); + data->raw[1] = SENSOR_Y_DATA(tmp_raw_data[0], tmp_raw_data[1], tmp_raw_data[2], CONFIG_ST_HAL_ACCEL_ROT_MATRIX); + data->raw[2] = SENSOR_Z_DATA(tmp_raw_data[0], tmp_raw_data[1], tmp_raw_data[2], CONFIG_ST_HAL_ACCEL_ROT_MATRIX); + + sensor_event.acceleration.x = data->raw[0]; + sensor_event.acceleration.y = data->raw[1]; + sensor_event.acceleration.z = data->raw[2]; + sensor_event.acceleration.status = SENSOR_STATUS_UNRELIABLE; + sensor_event.timestamp = data->timestamp; + + HWSensorBaseWithPollrate::WriteDataToPipe(); + HWSensorBaseWithPollrate::ProcessData(data); +} |