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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 implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef MPU9150_ACCELEROMETER_HPP
#define MPU9150_ACCELEROMETER_HPP
#include <hardware/sensors.h>
#include "Sensor.hpp"
#include "mpu9150.hpp"
struct sensors_event_t;
/**
* MPU9150Accelerometer exposes the MPU9150 accelerometer sensor
*
* Overrides the pollEvents & activate Sensor methods.
*/
class MPU9150Accelerometer : public Sensor, public upm::MPU9150 {
public:
/**
* MPU9150Accelerometer constructor
* @param pollFd poll file descriptor
* @param bus number of the bus
* @param address device address
* @param magAddress magnetometer address
* @param enableAk8975 whether to enable AK8975 or not
*/
MPU9150Accelerometer(int pollFd, int bus=MPU9150_I2C_BUS,
int address=MPU9150_DEFAULT_I2C_ADDR,
int magAddress=AK8975_DEFAULT_I2C_ADDR, bool enableAk8975=false);
/**
* MPU9150Accelerometer destructor
*/
~MPU9150Accelerometer() override;
/**
* Poll for events
* @param data where to store the events
* @param count the number of events returned must be <= to the count
* @return number of events returned in data 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 // MPU9150_ACCELEROMETER_HPP
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