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/*
* 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 "sensor_cal.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(2.0, data->channels[0].bits_used - 1.0) - 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];
if (accl_cal_data_loaded == true)
sensor_event.acceleration.status = SENSOR_STATUS_ACCURACY_LOW;
else
sensor_event.acceleration.status = SENSOR_STATUS_UNRELIABLE;
sensor_event.timestamp = data->timestamp;
HWSensorBaseWithPollrate::WriteDataToPipe();
HWSensorBaseWithPollrate::ProcessData(data);
}
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