diff options
Diffstat (limited to 'libsensors_iio/src/SWGyroscopeUncalibrated.cpp')
-rw-r--r-- | libsensors_iio/src/SWGyroscopeUncalibrated.cpp | 49 |
1 files changed, 49 insertions, 0 deletions
diff --git a/libsensors_iio/src/SWGyroscopeUncalibrated.cpp b/libsensors_iio/src/SWGyroscopeUncalibrated.cpp new file mode 100644 index 0000000..55e8bfe --- /dev/null +++ b/libsensors_iio/src/SWGyroscopeUncalibrated.cpp @@ -0,0 +1,49 @@ +/* + * STMicroelectronics Gyroscope Uncalibrated 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 "SWGyroscopeUncalibrated.h" + +SWGyroscopeUncalibrated::SWGyroscopeUncalibrated(const char *name, int handle, int pipe_data_fd) : + SWSensorBaseWithPollrate(name, handle, SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, + pipe_data_fd, true, true, true, true) +{ + sensor_t_data.stringType = SENSOR_STRING_TYPE_GYROSCOPE_UNCALIBRATED; + sensor_t_data.flags = SENSOR_FLAG_CONTINUOUS_MODE; + + type_dependencies[SENSOR_BASE_DEPENDENCY_0] = SENSOR_TYPE_GYROSCOPE; + type_sensor_need_trigger = SENSOR_TYPE_GYROSCOPE; +} + +SWGyroscopeUncalibrated::~SWGyroscopeUncalibrated() +{ + +} + +void SWGyroscopeUncalibrated::TriggerEventReceived() +{ + int data_remaining; + SensorBaseData gyro_data; + + do { + data_remaining = GetLatestValidDataFromDependency(SENSOR_BASE_DEPENDENCY_0, &gyro_data); + if (data_remaining < 0) + return; + + memcpy(sensor_event.uncalibrated_gyro.uncalib, gyro_data.raw, num_data_axis * sizeof(float)); + memcpy(sensor_event.uncalibrated_gyro.bias, gyro_data.offset, num_data_axis * sizeof(float)); + sensor_event.timestamp = gyro_data.timestamp; + + SWSensorBaseWithPollrate::WriteDataToPipe(); + SWSensorBaseWithPollrate::ProcessData(&gyro_data); + } while (data_remaining > 0); +} |