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/*
* 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 impliedt data output.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <cutils/log.h>
#include "LSM9DS0Accelerometer.hpp"
#include "SensorsHAL.hpp"
#include "SensorUtils.hpp"
struct sensor_t LSM9DS0Accelerometer::sensorDescription = {
.name = "LSM9DS0 Accelerometer",
.vendor = "Unknown",
.version = 1,
.handle = -1,
.type = SENSOR_TYPE_ACCELEROMETER,
.maxRange = 16.0f,
.resolution = 0.061,
.power = 0.000350,
.minDelay = 0,
.fifoReservedEventCount = 0,
.fifoMaxEventCount = 0,
.stringType = SENSOR_STRING_TYPE_ACCELEROMETER,
.requiredPermission = "",
.maxDelay = 1000,
.flags = SENSOR_FLAG_CONTINUOUS_MODE,
.reserved = {},
};
Sensor * LSM9DS0Accelerometer::createSensor(int pollFd) {
return new LSM9DS0Accelerometer(pollFd,
SensorUtils::getI2cBusNumber(),
LSM9DS0_DEFAULT_GYRO_ADDR, LSM9DS0_DEFAULT_XM_ADDR);
}
void LSM9DS0Accelerometer::initModule() {
SensorContext::addSensorModule(&sensorDescription, createSensor);
}
LSM9DS0Accelerometer::LSM9DS0Accelerometer(int pollFd,
int bus, uint8_t gAddress, uint8_t xmAddress)
: LSM9DS0 (bus, gAddress, xmAddress), pollFd(pollFd) {
handle = sensorDescription.handle;
type = SENSOR_TYPE_ACCELEROMETER;
}
LSM9DS0Accelerometer::~LSM9DS0Accelerometer() {}
int LSM9DS0Accelerometer::pollEvents(sensors_event_t* data, int count) {
updateAccelerometer();
getAccelerometer(&data->acceleration.x, &data->acceleration.y, &data->acceleration.z);
data->acceleration.x *= Sensor::kGravitationalAcceleration;
data->acceleration.y *= Sensor::kGravitationalAcceleration;
data->acceleration.z *= Sensor::kGravitationalAcceleration;
return 1;
}
// LSM9DS0 accelerometer sensor implementation
int LSM9DS0Accelerometer::activate(int handle, int enabled) {
init();
/* start or stop the acquisition thread */
return activateAcquisitionThread(pollFd, handle, enabled);
}
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