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/*
* STMicroelectronics SW Geomagnetic Rotation Vector 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 "SWGeoMagRotationVector.h"
SWGeoMagRotationVector::SWGeoMagRotationVector(const char *name, int handle, int pipe_data_fd) :
SWSensorBaseWithPollrate(name, handle, SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR,
pipe_data_fd, true, true, true, false)
{
sensor_t_data.stringType = SENSOR_STRING_TYPE_GEOMAGNETIC_ROTATION_VECTOR;
sensor_t_data.flags = SENSOR_FLAG_CONTINUOUS_MODE;
type_dependencies[SENSOR_BASE_DEPENDENCY_0] = SENSOR_TYPE_ST_ACCEL_MAGN_FUSION6X;
type_sensor_need_trigger = SENSOR_TYPE_ST_ACCEL_MAGN_FUSION6X;
num_data_axis = SENSOR_BASE_4AXIS;
}
SWGeoMagRotationVector::~SWGeoMagRotationVector()
{
}
void SWGeoMagRotationVector::TriggerEventReceived()
{
int data_remaining;
SensorBaseData geomag_quaternion;
do {
data_remaining = GetLatestValidDataFromDependency(SENSOR_BASE_DEPENDENCY_0, &geomag_quaternion);
if (data_remaining < 0)
return;
memcpy(sensor_event.data, geomag_quaternion.processed, num_data_axis * sizeof(float));
sensor_event.timestamp = geomag_quaternion.timestamp;
SWSensorBaseWithPollrate::WriteDataToPipe();
SWSensorBaseWithPollrate::ProcessData(&geomag_quaternion);
} while (data_remaining > 0);
}
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