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kxtj3: fixed requested issues

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* Virtual destructor
* Add header guards
* Constructor default values
* Remove methods with pointer parameters in C++ code

Signed-off-by: Assam Boudjelthia <assam.boudjelthia@fi.rohmeurope.com>
Signed-off-by: Noel Eck <noel.eck@intel.com>
This commit is contained in:
Assam Boudjelthia 2018-06-19 12:33:01 +03:00 committed by Noel Eck
parent 09e536b4ff
commit 01cc3a0734
5 changed files with 47 additions and 63 deletions
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36
examples/c++/kxtj3.cxx
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@ -22,6 +22,8 @@
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <iostream>
#include <iomanip>
#include <unistd.h>
#include <signal.h>
#include "kxtj3.hpp"
@ -38,17 +40,17 @@ void signal_int_handler(int signo)
isStopped = true;
}
void print_acceleration_data(upm::KXTJ3 *dev)
void print_acceleration_data(upm::KXTJ3 &dev)
{
float wait_time = dev->GetAccelerationSamplePeriod() * SECOND_IN_MICRO_S;
uint8_t sample_counter = 0;
float wait_time = dev.GetAccelerationSamplePeriod() * SECOND_IN_MICRO_S;
int sample_counter = SAMPLE_COUNT;
std::vector<float> xyz;
while (sample_counter < SAMPLE_COUNT && !isStopped)
while ((sample_counter-- > 0) && !isStopped)
{
xyz = dev->GetAccelerationVector();
printf("%.02f | %.02f | %.02f\n", xyz[0], xyz[1], xyz[2]);
xyz = dev.GetAccelerationVector();
std::cout << std::fixed << std::setprecision(3)
<< xyz[0] << " | " << xyz[1] << " | " << xyz[2] << std::endl;
usleep(wait_time);
sample_counter++;
}
}
@ -56,21 +58,15 @@ int main(int argc, char **argv)
{
signal(SIGINT, signal_int_handler);
printf("Sensor init\n");
upm::KXTJ3 *dev = new upm::KXTJ3(I2C_BUS, SENSOR_ADDR);
if (!dev)
{
printf("kxtj3_init() failed.\n");
return -1;
}
std::cout << "Sensor init" << std::endl;
upm::KXTJ3 dev(I2C_BUS, SENSOR_ADDR);
printf("Setting settings:\nODR: 25 Hz\nResolution: High\nAcceleration range: 16g with 14bits");
dev->SensorInit(KXTJ3_ODR_25, HIGH_RES, KXTJ3_RANGE_16G_14);
printf("Showing acceleration data:\n");
std::cout << "Setting settings:\nODR: 25 Hz\nResolution: "
<< "High\nAcceleration range: 16g with 14bits" << std::endl;
dev.SensorInit(KXTJ3_ODR_25, HIGH_RES, KXTJ3_RANGE_16G_14);
std::cout << "Showing acceleration data:" << std::endl;
print_acceleration_data(dev);
printf("Closing sensor\n");
delete dev;
dev = nullptr;
std::cout << "Closing sensor" << std::endl;
return 0;
}

4
src/kxtj3/kxtj3.c
View File

@ -274,7 +274,7 @@ static upm_result_t kxtj3_read_register(const kxtj3_context dev, uint8_t reg, ui
int value = mraa_i2c_read_byte_data(dev->i2c, reg);
if (value == -1)
{
printf("%s: mraa_i2c_read_byte_data() failed.\n", __FUNCTION__, reg);
printf("%s: mraa_i2c_read_byte_data() failed.\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
@ -344,7 +344,7 @@ static bool kxtj3_check_mraa_i2c_connection(kxtj3_context dev, int bus, uint8_t
if (!(dev->i2c = mraa_i2c_init(bus)))
{
printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__, bus);
printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__);
kxtj3_close(dev);
return false;
}

27
src/kxtj3/kxtj3.cxx
View File

@ -22,7 +22,10 @@
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <iostream>
#include <stdexcept>
#include <string>
#include "kxtj3.hpp"
using namespace upm;
@ -107,22 +110,11 @@ void KXTJ3::SensorSoftwareReset()
throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_sensor_software_reset() failed");
}
void KXTJ3::GetAccelerationRaw(float *x, float *y, float *z)
{
if (kxtj3_get_acceleration_data_raw(m_kxtj3, x, y, z) != UPM_SUCCESS)
throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_get_acceleration_data_raw() failed");
}
void KXTJ3::GetAcceleration(float *x, float *y, float *z)
{
if (kxtj3_get_acceleration_data(m_kxtj3, x, y, z) != UPM_SUCCESS)
throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_get_acceleration_data() failed");
}
std::vector<float> KXTJ3::GetAccelerationRawVector()
{
std::vector<float> xyz(3);
GetAccelerationRaw(&xyz[0], &xyz[1], &xyz[2]);
if (kxtj3_get_acceleration_data_raw(m_kxtj3, &xyz[0], &xyz[1], &xyz[2]) != UPM_SUCCESS)
throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_get_acceleration_data_raw() failed");
return xyz;
}
@ -130,7 +122,8 @@ std::vector<float> KXTJ3::GetAccelerationRawVector()
std::vector<float> KXTJ3::GetAccelerationVector()
{
std::vector<float> xyz(3);
GetAcceleration(&xyz[0], &xyz[1], &xyz[2]);
if (kxtj3_get_acceleration_data(m_kxtj3, &xyz[0], &xyz[1], &xyz[2]) != UPM_SUCCESS)
throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_get_acceleration_data() failed");
return xyz;
}
@ -235,6 +228,12 @@ void KXTJ3::EnableWakeUpSingleAxisDirection(KXTJ3_WAKEUP_SOURCE_T axis)
throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_enable_wakeup_single_axis_direction() failed");
}
void KXTJ3::DisableWakeUpSingleAxisDirection(KXTJ3_WAKEUP_SOURCE_T axis)
{
if (kxtj3_disable_wakeup_single_axis_direction(m_kxtj3, axis) != UPM_SUCCESS)
throw std::runtime_error(std::string(__FUNCTION__) + "kxtj3_disable_wakeup_single_axis_direction() failed");
}
kxtj3_wakeup_axes KXTJ3::GetWakeUpAxisDirection()
{
return kxtj3_get_wakeup_axis_and_direction(m_kxtj3);

9
src/kxtj3/kxtj3.h
View File

@ -22,23 +22,26 @@
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#ifdef __cplusplus
extern "C"
{
#endif
#include <assert.h>
#include <unistd.h>
#include <mraa/i2c.h>
#include <mraa/gpio.h>
#include <upm/upm_types.h>
#include <upm.h>
#include "kxtj3_registers.h"
/**
* @brief C API for the kxtj3 driver
* @defgroup kxtj3 libupm-kxtj3
* @ingroup Kionix i2c acceleromter
* @ingroup Kionix i2c accelerometer
*
* @include kxtj3.c
*/
@ -47,7 +50,7 @@ extern "C"
* @library kxtj3
* @sensor kxtj3
* @comname tri-axis accelerometer
* @type acceleromter
* @type accelerometer
* @man Kionix
* @con i2c
*

34
src/kxtj3/kxtj3.hpp
View File

@ -22,6 +22,8 @@
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <vector>
#include <mraa/gpio.hpp>
@ -30,7 +32,7 @@
/**
* @brief C API for the kxtj3 driver
* @defgroup kxtj3 libupm-kxtj3
* @ingroup Kionix i2c acceleromter
* @ingroup Kionix i2c accelerometer
*
* @include kxtj3.cxx
*/
@ -39,7 +41,7 @@
* @library kxtj3
* @sensor kxtj3
* @comname tri-axis accelerometer
* @type acceleromter
* @type accelerometer
* @man Kionix
* @con i2c
*
@ -62,7 +64,7 @@ public:
* @param addr I2C address of the sensor
* @throws std::runtime_error on initialization failure
*/
KXTJ3(int bus, uint8_t addr);
KXTJ3(int bus, uint8_t addr = 0x0f);
/**
* @brief KXTJ3 destructor
@ -72,7 +74,7 @@ public:
*
* @throws std::runtime_error on initialization failure
*/
~KXTJ3();
virtual ~KXTJ3();
/**
* @brief Initializes the sensor with given sampling rate, resolution and acceleration range.
@ -194,26 +196,6 @@ public:
*/
void SensorSoftwareReset();
/**
* @brief Gets raw accelerometer data from the sensor
*
* @param x Pointer to a floating point variable to store the x-axis value. Set to NULL if not wanted.
* @param y Pointer to a floating point variable to store the y-axis value. Set to NULL if not wanted.
* @param z Pointer to a floating point variable to store the z-axis value. Set to NULL if not wanted.
* @throws std::runtime_error on failure
*/
void GetAccelerationRaw(float *x, float *y, float *z);
/**
* @brief Gets converted (m/s^2) accelerometer data from the sensor
*
* @param x Pointer to a floating point variable to store the x-axis value. Set to NULL if not wanted.
* @param y Pointer to a floating point variable to store the y-axis value. Set to NULL if not wanted.
* @param z Pointer to a floating point variable to store the z-axis value. Set to NULL if not wanted.
* @throws std::runtime_error on failure
*/
void GetAcceleration(float *x, float *y, float *z);
/**
* Gets raw acceleration data from the sensor.
*
@ -575,5 +557,9 @@ public:
private:
kxtj3_context m_kxtj3;
/* Disable implicit copy and assignment operators */
KXTJ3(const KXTJ3 &) = delete;
KXTJ3 &operator=(const KXTJ3 &) = delete;
};
} // namespace upm