mirror of
https://github.com/eclipse/upm.git
synced 2025-03-14 20:47:30 +03:00
kxcjk1013: Initial implementation
Signed-off-by: Lay, Kuan Loon <kuan.loon.lay@intel.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
parent
5b7522bec4
commit
3504dc7246
@ -241,6 +241,7 @@ endif()
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add_example (hdxxvxta)
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add_example (rhusb)
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add_example (apds9930)
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add_example (kxcjk1013)
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# These are special cases where you specify example binary, source file and module(s)
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include_directories (${PROJECT_SOURCE_DIR}/src)
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75
examples/c++/kxcjk1013.cxx
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75
examples/c++/kxcjk1013.cxx
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@ -0,0 +1,75 @@
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/*
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* Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <iostream>
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#include <signal.h>
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#include "kxcjk1013.h"
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using namespace std;
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int shouldRun = true;
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upm::KXCJK1013* accelerometer;
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void
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sig_handler(int signo)
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{
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if (signo == SIGINT)
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shouldRun = false;
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}
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void
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data_callback(char* data)
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{
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float x, y, z;
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accelerometer->extract3Axis(data, &x, &y, &z);
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printf("%.1f %.1f %.1f\n", x, y, z);
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// usleep(100);
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}
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int
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main()
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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// Instantiate a KXCJK1013 Accelerometer Sensor on iio device 0
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accelerometer = new upm::KXCJK1013(0);
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accelerometer->setScale(0.019163);
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accelerometer->setSamplingFrequency(25.0);
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accelerometer->enable3AxisChannel();
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accelerometer->installISR(data_callback, NULL);
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accelerometer->enableBuffer(16);
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while (shouldRun) {
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sleep(1);
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}
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accelerometer->disableBuffer();
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//! [Interesting]
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cout << "Exiting" << endl;
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delete accelerometer;
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return 0;
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}
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5
src/kxcjk1013/CMakeLists.txt
Executable file
5
src/kxcjk1013/CMakeLists.txt
Executable file
@ -0,0 +1,5 @@
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set (libname "kxcjk1013")
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set (libdescription "upm kxcjk1013 sensor module")
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set (module_src ${libname}.cxx)
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set (module_h ${libname}.h)
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upm_module_init()
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14
src/kxcjk1013/javaupm_kxcjk1013.i
Executable file
14
src/kxcjk1013/javaupm_kxcjk1013.i
Executable file
@ -0,0 +1,14 @@
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%module javaupm_kxcjk1013
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%include "../upm.i"
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%include "stdint.i"
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%include "typemaps.i"
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%feature("director") IsrCallback;
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%ignore generic_callback_isr;
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%include "../IsrCallback.h"
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%{
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#include "kxcjk1013.h"
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%}
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%include "kxcjk1013.h"
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8
src/kxcjk1013/jsupm_kxcjk1013.i
Executable file
8
src/kxcjk1013/jsupm_kxcjk1013.i
Executable file
@ -0,0 +1,8 @@
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%module jsupm_kxcjk1013
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%include "../upm.i"
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%{
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#include "kxcjk1013.h"
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%}
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%include "kxcjk1013.h"
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207
src/kxcjk1013/kxcjk1013.cxx
Normal file
207
src/kxcjk1013/kxcjk1013.cxx
Normal file
@ -0,0 +1,207 @@
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/*
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* Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <iostream>
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#include <string>
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#include <stdexcept>
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#include <string.h>
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#include "kxcjk1013.h"
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using namespace upm;
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KXCJK1013::KXCJK1013(int device)
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{
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float accel_scale;
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char trigger[64];
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if (!(m_iio = mraa_iio_init(device))) {
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_iio_init() failed, invalid device?");
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return;
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}
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m_scale = 1;
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m_iio_device_num = device;
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sprintf(trigger, "hrtimer-kxcjk1013-hr-dev%d", device);
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if (mraa_iio_create_trigger(m_iio, trigger) != MRAA_SUCCESS)
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fprintf(stderr, "Create trigger failed\n");
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if (mraa_iio_get_mounting_matrix(m_iio, m_mount_matrix) == MRAA_SUCCESS)
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m_mount_matrix_exist = true;
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else
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m_mount_matrix_exist = false;
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if (mraa_iio_read_float(m_iio, "in_accel_scale", &accel_scale) == MRAA_SUCCESS)
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m_scale = accel_scale;
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}
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KXCJK1013::~KXCJK1013()
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{
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// mraa_iio_stop(m_iio);
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}
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#ifdef JAVACALLBACK
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void
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KXCJK1013::installISR(IsrCallback* cb)
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{
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installISR(generic_callback_isr, cb);
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}
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#endif
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void
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KXCJK1013::installISR(void (*isr)(char*), void* arg)
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{
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mraa_iio_trigger_buffer(m_iio, isr, NULL);
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}
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int64_t
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KXCJK1013::getChannelValue(unsigned char* input, mraa_iio_channel* chan)
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{
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uint64_t u64;
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int i;
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int storagebits = chan->bytes * 8;
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int realbits = chan->bits_used;
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int zeroed_bits = storagebits - realbits;
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uint64_t sign_mask;
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uint64_t value_mask;
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u64 = 0;
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if (!chan->lendian)
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for (i = 0; i < storagebits / 8; i++)
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u64 = (u64 << 8) | input[i];
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else
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for (i = storagebits / 8 - 1; i >= 0; i--)
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u64 = (u64 << 8) | input[i];
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u64 = (u64 >> chan->shift) & (~0ULL >> zeroed_bits);
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if (!chan->signedd)
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return (int64_t) u64; /* We don't handle unsigned 64 bits int */
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/* Signed integer */
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switch (realbits) {
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case 0 ... 1:
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return 0;
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case 8:
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return (int64_t)(int8_t) u64;
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case 16:
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return (int64_t)(int16_t) u64;
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case 32:
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return (int64_t)(int32_t) u64;
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case 64:
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return (int64_t) u64;
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default:
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sign_mask = 1 << (realbits - 1);
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value_mask = sign_mask - 1;
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if (u64 & sign_mask)
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return -((~u64 & value_mask) + 1); /* Negative value: return 2-complement */
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else
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return (int64_t) u64; /* Positive value */
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}
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}
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bool
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KXCJK1013::enableBuffer(int length)
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{
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mraa_iio_write_integer(m_iio, "buffer/length", length);
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// enable must be last step, else will have error in writing above config
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mraa_iio_write_integer(m_iio, "buffer/enable", 1);
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return true;
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}
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bool
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KXCJK1013::disableBuffer()
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{
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mraa_iio_write_integer(m_iio, "buffer/enable", 0);
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return true;
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}
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bool
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KXCJK1013::setScale(float scale)
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{
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mraa_iio_write_float(m_iio, "in_accel_scale", scale);
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return true;
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}
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bool
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KXCJK1013::setSamplingFrequency(float sampling_frequency)
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{
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mraa_iio_write_float(m_iio, "in_accel_sampling_frequency", sampling_frequency);
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return true;
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}
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bool
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KXCJK1013::enable3AxisChannel()
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{
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char trigger[64];
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sprintf(trigger, "kxcjk1013-hr-dev%d", m_iio_device_num);
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mraa_iio_write_string(m_iio, "trigger/current_trigger", trigger);
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mraa_iio_write_integer(m_iio, "scan_elements/in_accel_x_en", 1);
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mraa_iio_write_integer(m_iio, "scan_elements/in_accel_y_en", 1);
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mraa_iio_write_integer(m_iio, "scan_elements/in_accel_z_en", 1);
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// need update channel data size after enable
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mraa_iio_update_channels(m_iio);
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return true;
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}
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void
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KXCJK1013::extract3Axis(char* data, float* x, float* y, float* z)
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{
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mraa_iio_channel* channels = mraa_iio_get_channels(m_iio);
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float tmp[3];
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int i = 0;
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int iio_x, iio_y, iio_z;
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iio_x = getChannelValue((unsigned char*) (data + channels[0].location), &channels[0]);
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iio_y = getChannelValue((unsigned char*) (data + channels[1].location), &channels[1]);
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iio_z = getChannelValue((unsigned char*) (data + channels[2].location), &channels[2]);
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*x = (iio_x * m_scale);
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*y = (iio_y * m_scale);
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*z = (iio_z * m_scale);
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if (m_mount_matrix_exist) {
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tmp[0] = *x * m_mount_matrix[0] + *y * m_mount_matrix[1] + *z * m_mount_matrix[2];
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tmp[1] = *x * m_mount_matrix[3] + *y * m_mount_matrix[4] + *z * m_mount_matrix[5];
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tmp[2] = *x * m_mount_matrix[6] + *y * m_mount_matrix[7] + *z * m_mount_matrix[8];
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*x = tmp[0];
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*y = tmp[1];
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*z = tmp[2];
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}
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}
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135
src/kxcjk1013/kxcjk1013.h
Normal file
135
src/kxcjk1013/kxcjk1013.h
Normal file
@ -0,0 +1,135 @@
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/*
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* Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* 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
|
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <string>
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#include <mraa/iio.h>
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#if defined(SWIGJAVA) || defined(JAVACALLBACK)
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#include "../IsrCallback.h"
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#endif
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namespace upm
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{
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/**
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* @brief KXCJK1013 Tri-axis Digital Accelerometer
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* @defgroup kxcjk1013 libupm-kxcjk1013
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* @ingroup Kionix iio i2c tri-axis digital accelerometer
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*/
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/**
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* @library kxcjk1013
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* @sensor kxcjk1013
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* @comname KXCJK1013 Tri-axis Digital Accelerometer
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* @type accelerometer
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* @man Kionix
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* @con iio i2c
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*
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* @brief KXCJK1013 Tri-axis Digital Accelerometer API
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*
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* The KXCJK is a tri-axis +/-2g, +/-4g or +/-8g silicon micromachined
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* accelerometer.
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*
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* @snippet kxcjk1013.cxx Interesting
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*/
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class KXCJK1013
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{
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public:
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/**
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* KXCJK1013 Tri-axis Digital Accelerometer
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*
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* @param iio device number
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*/
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KXCJK1013(int device);
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/**
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* KXCJK1013 destructor
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*/
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~KXCJK1013();
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/**
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* Installs an interrupt service routine (ISR) to be called when
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* an interrupt occurs
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*
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* @param interrupt channel
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* @param fptr Pointer to a function to be called on interrupt
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* @param arg Pointer to an object to be supplied as an
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* argument to the ISR.
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*/
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#if defined(SWIGJAVA) || defined(JAVACALLBACK)
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void installISR(IsrCallback* cb);
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#else
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void installISR(void (*isr)(char*), void* arg);
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#endif
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/**
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* Extract the channel value based on channel type
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* @param input Channel data
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* @param chan MRAA iio-layer channel info
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*/
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int64_t getChannelValue(unsigned char* input, mraa_iio_channel* chan);
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/**
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* Enable trigger buffer
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* @param trigger buffer length in string
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*/
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bool enableBuffer(int length);
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/**
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* Disable trigger buffer
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*/
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bool disableBuffer();
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/**
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* Set scale
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* @param scale in string
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*/
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bool setScale(const float scale);
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/**
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* Set sampling frequency
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* @param sampling frequency in string
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*/
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bool setSamplingFrequency(const float sampling_frequency);
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/**
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* Enable 3 axis scan element
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*/
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bool enable3AxisChannel();
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/**
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* Process enabled channel buffer and return x, y, z axis
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* @param data Enabled channel data, 6 bytes, each axis 2 bytes
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* @param x X-Axis
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* @param y Y-Axis
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* @param z Z-Axis
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*/
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void extract3Axis(char* data, float* x, float* y, float* z);
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private:
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mraa_iio_context m_iio;
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int m_iio_device_num;
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bool m_mount_matrix_exist; // is mount matrix exist
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float m_mount_matrix[9]; // mount matrix
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float m_scale; // accelerometer data scale
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};
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}
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9
src/kxcjk1013/pyupm_kxcjk1013.i
Executable file
9
src/kxcjk1013/pyupm_kxcjk1013.i
Executable file
@ -0,0 +1,9 @@
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%module pyupm_kxcjk1013
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%include "../upm.i"
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%feature("autodoc", "3");
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||||
%include "kxcjk1013.h"
|
||||
%{
|
||||
#include "kxcjk1013.h"
|
||||
%}
|
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Reference in New Issue
Block a user