blob: 7d57a92ad371e945e7c4e15e0694a5aadd602cda (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
|
/*
* STMicroelectronics SW 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 "SWRotationVector.h"
SWRotationVector::SWRotationVector(const char *name, int handle, int pipe_data_fd) :
SWSensorBaseWithPollrate(name, handle, SENSOR_TYPE_ROTATION_VECTOR,
pipe_data_fd, true, true, true, false)
{
sensor_t_data.stringType = SENSOR_STRING_TYPE_ROTATION_VECTOR;
sensor_t_data.flags = SENSOR_FLAG_CONTINUOUS_MODE;
type_dependencies[SENSOR_BASE_DEPENDENCY_0] = SENSOR_TYPE_ST_ACCEL_MAGN_GYRO_FUSION9X;
type_sensor_need_trigger = SENSOR_TYPE_ST_ACCEL_MAGN_GYRO_FUSION9X;
num_data_axis = SENSOR_BASE_4AXIS;
}
SWRotationVector::~SWRotationVector()
{
}
void SWRotationVector::TriggerEventReceived()
{
int data_remaining;
SensorBaseData quaternion;
do {
data_remaining = GetLatestValidDataFromDependency(SENSOR_BASE_DEPENDENCY_0, &quaternion);
if (data_remaining < 0)
return;
memcpy(sensor_event.data, quaternion.processed, num_data_axis * sizeof(float));
sensor_event.timestamp = quaternion.timestamp;
SWSensorBaseWithPollrate::WriteDataToPipe();
SWSensorBaseWithPollrate::ProcessData(&quaternion);
} while (data_remaining > 0);
}
|
