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/*
* Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
* Copyright (c) 2016 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <iostream>
#include <string>
#include <stdexcept>
#include <string.h>
#include "kxcjk1013.hpp"
#define NUMBER_OF_BITS_IN_BYTE 8
using namespace upm;
KXCJK1013::KXCJK1013(int device)
{
float accel_scale;
char trigger[64];
if (!(m_iio = mraa_iio_init(device))) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_iio_init() failed, invalid device?");
return;
}
m_scale = 1;
m_iio_device_num = device;
sprintf(trigger, "hrtimer-kxcjk1013-hr-dev%d", device);
if (mraa_iio_create_trigger(m_iio, trigger) != MRAA_SUCCESS)
fprintf(stderr, "Create trigger %s failed\n", trigger);
if (mraa_iio_get_mount_matrix(m_iio, "in_mount_matrix", m_mount_matrix) == MRAA_SUCCESS)
m_mount_matrix_exist = true;
else
m_mount_matrix_exist = false;
if (mraa_iio_read_float(m_iio, "in_accel_scale", &accel_scale) == MRAA_SUCCESS)
m_scale = accel_scale;
}
KXCJK1013::~KXCJK1013()
{
if (m_iio)
mraa_iio_close(m_iio);
}
void
KXCJK1013::installISR(void (*isr)(char*), void* arg)
{
mraa_iio_trigger_buffer(m_iio, isr, NULL);
}
int64_t
KXCJK1013::getChannelValue(unsigned char* input, mraa_iio_channel* chan)
{
uint64_t u64 = 0;
int i;
int storagebits = chan->bytes * NUMBER_OF_BITS_IN_BYTE;
int realbits = chan->bits_used;
int zeroed_bits = storagebits - realbits;
uint64_t sign_mask;
uint64_t value_mask;
if (!chan->lendian)
for (i = 0; i < storagebits / NUMBER_OF_BITS_IN_BYTE; i++)
u64 = (u64 << NUMBER_OF_BITS_IN_BYTE) | input[i];
else
for (i = storagebits / NUMBER_OF_BITS_IN_BYTE - 1; i >= 0; i--)
u64 = (u64 << 8) | input[i];
u64 = (u64 >> chan->shift) & (~0ULL >> zeroed_bits);
if (!chan->signedd)
return (int64_t) u64; /* We don't handle unsigned 64 bits int */
/* Signed integer */
switch (realbits) {
case 0 ... 1:
return 0;
case 8:
return (int64_t)(int8_t) u64;
case 16:
return (int64_t)(int16_t) u64;
case 32:
return (int64_t)(int32_t) u64;
case 64:
return (int64_t) u64;
default:
sign_mask = 1 << (realbits - 1);
value_mask = sign_mask - 1;
if (u64 & sign_mask)
return -((~u64 & value_mask) + 1); /* Negative value: return 2-complement */
else
return (int64_t) u64; /* Positive value */
}
}
bool
KXCJK1013::enableBuffer(int length)
{
mraa_iio_write_int(m_iio, "buffer/length", length);
// enable must be last step, else will have error in writing above config
mraa_iio_write_int(m_iio, "buffer/enable", 1);
return true;
}
bool
KXCJK1013::disableBuffer()
{
mraa_iio_write_int(m_iio, "buffer/enable", 0);
return true;
}
bool
KXCJK1013::setScale(float scale)
{
m_scale = scale;
mraa_iio_write_float(m_iio, "in_accel_scale", scale);
return true;
}
bool
KXCJK1013::setSamplingFrequency(float sampling_frequency)
{
mraa_iio_write_float(m_iio, "in_accel_sampling_frequency", sampling_frequency);
return true;
}
bool
KXCJK1013::enable3AxisChannel()
{
char trigger[64];
sprintf(trigger, "kxcjk1013-hr-dev%d", m_iio_device_num);
mraa_iio_write_string(m_iio, "trigger/current_trigger", trigger);
mraa_iio_write_int(m_iio, "scan_elements/in_accel_x_en", 1);
mraa_iio_write_int(m_iio, "scan_elements/in_accel_y_en", 1);
mraa_iio_write_int(m_iio, "scan_elements/in_accel_z_en", 1);
// need update channel data size after enable
mraa_iio_update_channels(m_iio);
return true;
}
void
KXCJK1013::extract3Axis(char* data, float* x, float* y, float* z)
{
mraa_iio_channel* channels = mraa_iio_get_channels(m_iio);
float tmp[3];
int i = 0;
int iio_x, iio_y, iio_z;
iio_x = getChannelValue((unsigned char*) (data + channels[0].location), &channels[0]);
iio_y = getChannelValue((unsigned char*) (data + channels[1].location), &channels[1]);
iio_z = getChannelValue((unsigned char*) (data + channels[2].location), &channels[2]);
// Raw data is acceleration in direction. Units after application of scale are m/s^2
*x = (iio_x * m_scale);
*y = (iio_y * m_scale);
*z = (iio_z * m_scale);
if (m_mount_matrix_exist) {
tmp[0] = *x * m_mount_matrix[0] + *y * m_mount_matrix[1] + *z * m_mount_matrix[2];
tmp[1] = *x * m_mount_matrix[3] + *y * m_mount_matrix[4] + *z * m_mount_matrix[5];
tmp[2] = *x * m_mount_matrix[6] + *y * m_mount_matrix[7] + *z * m_mount_matrix[8];
*x = tmp[0];
*y = tmp[1];
*z = tmp[2];
}
}
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