Sensor HAL: Add LSM303D accel and orient

BUG=NONE
Signed-off-by: Bruce Beare <bruce.j.beare@intel.com>
Change-Id: I455f8e4e51d6a2e7945b54f3d51613294431ff6f

5 files changed, 304 insertions, 0 deletions

diff --git a/peripheral/sensors/edison_arduino/Android.mk b/peripheral/sensors/edison_arduino/Android.mk
index 9384434..7b2ae83 100644
--- a/peripheral/sensors/edison_arduino/Android.mk
+++ b/peripheral/sensors/edison_arduino/Android.mk
@@ -37,6 +37,14 @@ ifneq (,$(filter LSM9DS0Accelerometer, $(PLATFORM_SENSOR_LIST)))
 LOCAL_SRC_FILES += sensors/LSM9DS0Accelerometer.cpp
 endif
 
+ifneq (,$(filter LSM303dAccelerometer, $(PLATFORM_SENSOR_LIST)))
+LOCAL_SRC_FILES += sensors/LSM303dAccelerometer.cpp
+endif
+
+ifneq (,$(filter LSM303dOrientation, $(PLATFORM_SENSOR_LIST)))
+LOCAL_SRC_FILES += sensors/LSM303dOrientation.cpp
+endif
+
 ifneq (,$(filter GroveLight, $(PLATFORM_SENSOR_LIST)))
 LOCAL_SRC_FILES += sensors/GroveLight.cpp
 endif
diff --git a/peripheral/sensors/edison_arduino/sensors/LSM303dAccelerometer.cpp b/peripheral/sensors/edison_arduino/sensors/LSM303dAccelerometer.cpp
new file mode 100644
index 0000000..dc6cd1c
--- /dev/null
+++ b/peripheral/sensors/edison_arduino/sensors/LSM303dAccelerometer.cpp
@@ -0,0 +1,78 @@
+/*
+ * Copyright (C) 2015 Intel Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <cutils/log.h>
+#include "LSM303dAccelerometer.hpp"
+#include "SensorsHAL.hpp"
+#include "SensorUtils.hpp"
+
+struct sensor_t LSM303dAccelerometer::sensorDescription = {
+  .name = "LSM303d Accelerometer",
+  .vendor = "Unknown",
+  .version = 1,
+  .handle = -1,
+  .type = SENSOR_TYPE_ACCELEROMETER,
+  .maxRange = 16.0f,
+  .resolution = 0.00003f,
+  .power = 0.0003f,
+  .minDelay = 0,
+  .fifoReservedEventCount = 0,
+  .fifoMaxEventCount = 0,
+  .stringType = SENSOR_STRING_TYPE_ACCELEROMETER,
+  .requiredPermission = "",
+  .maxDelay = 0,
+  .flags = SENSOR_FLAG_CONTINUOUS_MODE,
+  .reserved = {},
+};
+
+Sensor * LSM303dAccelerometer::createSensor(int pollFd) {
+  return new LSM303dAccelerometer(pollFd, SensorUtils::getI2cBusNumber());
+}
+
+void LSM303dAccelerometer::initModule() {
+  SensorContext::addSensorModule(&sensorDescription, createSensor);
+}
+
+LSM303dAccelerometer::LSM303dAccelerometer(int pollFd,
+    int bus, int address, int scale)
+    : LSM303d(bus, address, scale), pollFd(pollFd), scale(scale) {
+  this->type = SENSOR_TYPE_ACCELEROMETER;
+  this->handle = sensorDescription.handle;
+}
+
+LSM303dAccelerometer::~LSM303dAccelerometer() {}
+
+/*
+ * The raw data from the X,Y,Z axis are expressed in a 16 bit two's complement
+ * format.
+ *   1. We divide the 16bit value by (2**15) to convert it to floating point +-[0..1]
+ *   2. We multiply by the scaling factor to adjust for max range (2,4,6,8,16 G)
+ *   3. We multiply by the gravitational accelleration to convert from "g" to m/s**2
+ */
+int LSM303dAccelerometer::pollEvents(sensors_event_t* data, int count) {
+  getAcceleration();
+  int16_t *rawdatap = getRawAccelData();
+  double conversion_constant = (double)scale * (double)Sensor::kGravitationalAcceleration / pow(2,15);
+  data->acceleration.x = (double)rawdatap[0] * conversion_constant;
+  data->acceleration.y = (double)rawdatap[1] * conversion_constant;
+  data->acceleration.z = (double)rawdatap[2] * conversion_constant;
+  return 1;
+}
+
+int LSM303dAccelerometer::activate(int handle, int enabled) {
+  /* start or stop the acquisition thread */
+  return activateAcquisitionThread(pollFd, handle, enabled);
+}
diff --git a/peripheral/sensors/edison_arduino/sensors/LSM303dAccelerometer.hpp b/peripheral/sensors/edison_arduino/sensors/LSM303dAccelerometer.hpp
new file mode 100644
index 0000000..9171799
--- /dev/null
+++ b/peripheral/sensors/edison_arduino/sensors/LSM303dAccelerometer.hpp
@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2015 Intel Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef LSM303d_ACCELEROMETER_HPP
+#define LSM303d_ACCELEROMETER_HPP
+
+#include <hardware/sensors.h>
+#include "Sensor.hpp"
+#include "lsm303d.h"
+
+struct sensors_event_t;
+
+/**
+ * LSM303dAccelerometer exposes the LSM303d accelerometer sensor
+ *
+ * Overrides the pollEvents & activate Sensor methods.
+ */
+class LSM303dAccelerometer : public Sensor, public upm::LSM303d {
+  public:
+    /**
+     * LSM303dAccelerometer constructor
+     * @param pollFd poll file descriptor
+     * @param bus number of the bus
+     * @param address device address
+     * @param magAddress magnetometer address
+     * @param scale Sensor sensitivity scaling
+     */
+    LSM303dAccelerometer(int pollFd,
+        int bus=0,
+        int address = LSM303d_ADDR,
+        int scale = LM303D_SCALE_2G);
+
+    /**
+     * LSM303dAccelerometer destructor
+     */
+    ~LSM303dAccelerometer() override;
+
+    /**
+     * Poll for events
+     * @param data where to store the events
+     * @param count the number of events returned must be <= to the count
+     * @return 0 on success and a negative error number otherwise
+     */
+    int pollEvents(sensors_event_t* data, int count) override;
+
+    /**
+     * Activate the sensor
+     * @param handle sensor identifier
+     * @param enabled 1 for enabling and 0 for disabling
+     * @return 0 on success and a negative error number otherwise
+     */
+    int activate(int handle, int enabled);
+
+  private:
+    static Sensor * createSensor(int pollFd);
+    static void initModule() __attribute__((constructor));
+
+    int pollFd;
+    int scale;
+    static struct sensor_t sensorDescription;
+};
+
+#endif  // LSM303d_ACCELEROMETER_HPP
diff --git a/peripheral/sensors/edison_arduino/sensors/LSM303dOrientation.cpp b/peripheral/sensors/edison_arduino/sensors/LSM303dOrientation.cpp
new file mode 100644
index 0000000..f766dfb
--- /dev/null
+++ b/peripheral/sensors/edison_arduino/sensors/LSM303dOrientation.cpp
@@ -0,0 +1,70 @@
+/*
+ * Copyright (C) 2015 Intel Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <cutils/log.h>
+#include "LSM303dOrientation.hpp"
+#include "SensorsHAL.hpp"
+#include "SensorUtils.hpp"
+
+struct sensor_t LSM303dOrientation::sensorDescription = {
+  .name = "LSM303d Orientation",
+  .vendor = "Unknown",
+  .version = 1,
+  .handle = -1,
+  .type = SENSOR_TYPE_ORIENTATION,
+  .maxRange = 12.0f,
+  .resolution = .00003f,
+  .power = 0.0003f,
+  .minDelay = 0,
+  .fifoReservedEventCount = 0,
+  .fifoMaxEventCount = 0,
+  .stringType = SENSOR_STRING_TYPE_ORIENTATION,
+  .requiredPermission = "",
+  .maxDelay = 0,
+  .flags = SENSOR_FLAG_CONTINUOUS_MODE,
+  .reserved = {},
+};
+
+Sensor * LSM303dOrientation::createSensor(int pollFd) {
+  return new LSM303dOrientation(pollFd, SensorUtils::getI2cBusNumber());
+}
+
+void LSM303dOrientation::initModule() {
+  SensorContext::addSensorModule(&sensorDescription, createSensor);
+}
+
+LSM303dOrientation::LSM303dOrientation(int pollFd,
+    int bus, int address)
+    : LSM303d(bus, address), pollFd(pollFd) {
+  this->type = SENSOR_TYPE_ORIENTATION;
+  this->handle = sensorDescription.handle;
+}
+
+LSM303dOrientation::~LSM303dOrientation() {}
+
+int LSM303dOrientation::pollEvents(sensors_event_t* data, int count) {
+  getCoordinates();
+  int16_t *rawdatap = getRawCoorData();
+  data->orientation.x = (double)rawdatap[0];
+  data->orientation.y = (double)rawdatap[1];
+  data->orientation.z = (double)rawdatap[2];
+  return 1;
+}
+
+int LSM303dOrientation::activate(int handle, int enabled) {
+  /* start or stop the acquisition thread */
+  return activateAcquisitionThread(pollFd, handle, enabled);
+}
diff --git a/peripheral/sensors/edison_arduino/sensors/LSM303dOrientation.hpp b/peripheral/sensors/edison_arduino/sensors/LSM303dOrientation.hpp
new file mode 100644
index 0000000..99ba077
--- /dev/null
+++ b/peripheral/sensors/edison_arduino/sensors/LSM303dOrientation.hpp
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2015 Intel Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef LSM303d_ORIENTATION_HPP
+#define LSM303d_ORIENTATION_HPP
+
+#include <hardware/sensors.h>
+#include "Sensor.hpp"
+#include "lsm303d.h"
+
+struct sensors_event_t;
+
+/**
+ * LSM303dOrientation exposes the LSM303d orientation sensor
+ *
+ * Overrides the pollEvents & activate Sensor methods.
+ */
+class LSM303dOrientation : public Sensor, public upm::LSM303d {
+  public:
+    /**
+     * LSM303dOrientation constructor
+     * @param pollFd poll file descriptor
+     * @param bus number of the bus
+     * @param address device address
+     */
+    LSM303dOrientation(int pollFd,
+        int bus=0,
+        int address = LSM303d_ADDR);
+
+    /**
+     * LSM303dOrientation destructor
+     */
+    ~LSM303dOrientation() override;
+
+    /**
+     * Poll for events
+     * @param data where to store the events
+     * @param count the number of events returned must be <= to the count
+     * @return 0 on success and a negative error number otherwise
+     */
+    int pollEvents(sensors_event_t* data, int count) override;
+
+    /**
+     * Activate the sensor
+     * @param handle sensor identifier
+     * @param enabled 1 for enabling and 0 for disabling
+     * @return 0 on success and a negative error number otherwise
+     */
+    int activate(int handle, int enabled);
+
+  private:
+    static Sensor * createSensor(int pollFd);
+    static void initModule() __attribute__((constructor));
+
+    int pollFd;
+    static struct sensor_t sensorDescription;
+};
+
+#endif  // LSM303d_ORIENTATION_HPP