diff options
Diffstat (limited to 'libsensors_iio/src/SWOrientation.cpp')
-rw-r--r-- | libsensors_iio/src/SWOrientation.cpp | 50 |
1 files changed, 50 insertions, 0 deletions
diff --git a/libsensors_iio/src/SWOrientation.cpp b/libsensors_iio/src/SWOrientation.cpp new file mode 100644 index 0000000..2b7a807 --- /dev/null +++ b/libsensors_iio/src/SWOrientation.cpp @@ -0,0 +1,50 @@ +/* + * STMicroelectronics SW Orientation 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 "SWOrientation.h" + +SWOrientation::SWOrientation(const char *name, int handle, int pipe_data_fd) : + SWSensorBaseWithPollrate(name, handle, SENSOR_TYPE_ORIENTATION, + pipe_data_fd, true, false, true, false) +{ + sensor_t_data.stringType = SENSOR_STRING_TYPE_ORIENTATION; + sensor_t_data.flags = SENSOR_FLAG_CONTINUOUS_MODE; + + sensor_t_data.maxRange = 360.0f; + + type_dependencies[SENSOR_BASE_DEPENDENCY_0] = SENSOR_TYPE_ST_ACCEL_MAGN_GYRO_FUSION9X; + type_sensor_need_trigger = SENSOR_TYPE_ST_ACCEL_MAGN_GYRO_FUSION9X; +} + +SWOrientation::~SWOrientation() +{ + +} + +void SWOrientation::TriggerEventReceived() +{ + int data_remaining; + SensorBaseData orientation; + + do { + data_remaining = GetLatestValidDataFromDependency(SENSOR_BASE_DEPENDENCY_0, &orientation); + if (data_remaining < 0) + return; + + memcpy(sensor_event.data, orientation.processed, num_data_axis * sizeof(float)); + sensor_event.timestamp = orientation.timestamp; + + SWSensorBaseWithPollrate::WriteDataToPipe(); + SWSensorBaseWithPollrate::ProcessData(&orientation); + } while (data_remaining > 0); +} |