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/*
* 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);
}
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