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iio_core: Patches for IIO core kernel standard
Applying patches from Kuan Loon Lay. Signed-off-by: Noel Eck <noel.eck@intel.com>
This commit is contained in:
parent
634208e3dc
commit
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11
examples/c++/kxcjk1013.cxx
Executable file → Normal file
11
examples/c++/kxcjk1013.cxx
Executable file → Normal file
@ -1,6 +1,6 @@
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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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* Copyright (c) 2016 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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@ -22,8 +22,9 @@
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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 <iomanip>
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#include <unistd.h>
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#include <signal.h>
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#include "kxcjk1013.hpp"
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@ -44,7 +45,8 @@ 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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cout << fixed << setprecision(1);
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cout << x << '\t' << y << '\t' << z << "[m/s^2]" << endl;
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}
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int
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@ -54,7 +56,10 @@ main()
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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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// Available scales are 0.009582(2g), 0.019163(4g), and 0.038326(8g)
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accelerometer->setScale(0.019163);
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// Available sampling frequency are 0.781000, 1.563000, 3.125000, 6.250000, 12.500000, 25, 50,
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// 100, 200, 400, 800, and 1600
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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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@ -1,6 +1,6 @@
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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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* Copyright (c) 2016 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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@ -22,8 +22,9 @@
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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 <iomanip>
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#include <unistd.h>
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#include <signal.h>
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#include "l3gd20.hpp"
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@ -43,8 +44,10 @@ 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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if (gyroscope->extract3Axis(data, &x, &y, &z))
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printf("% .2f % .2f % .2f\n", x, y, z);
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if (gyroscope->extract3Axis(data, &x, &y, &z)) {
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cout << fixed << setprecision(1);
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cout << x << '\t' << y << '\t' << z << "[rad/sec]" << endl;
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}
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}
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int
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@ -54,7 +57,9 @@ main()
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//! [Interesting]
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// Instantiate a L3GD20 Gyroscope Sensor on iio device 3
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gyroscope = new upm::L3GD20(3);
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// Available scales are 0.000153(250dps), 0.000305(500dps), and 0.001222(2000dps)
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gyroscope->setScale(0.001222);
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// Available sampling frequency are 95, 190, 380, and 760
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gyroscope->setSamplingFrequency(95.0);
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gyroscope->enable3AxisChannel();
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gyroscope->installISR(data_callback, NULL);
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0
src/kxcjk1013/CMakeLists.txt
Executable file → Normal file
0
src/kxcjk1013/CMakeLists.txt
Executable file → Normal file
0
src/kxcjk1013/jsupm_kxcjk1013.i
Executable file → Normal file
0
src/kxcjk1013/jsupm_kxcjk1013.i
Executable file → Normal file
@ -1,6 +1,6 @@
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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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* Copyright (c) 2016 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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@ -30,8 +30,6 @@
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#define NUMBER_OF_BITS_IN_BYTE 8
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#define NUMBER_OF_BITS_IN_BYTE 8
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using namespace upm;
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KXCJK1013::KXCJK1013(int device)
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@ -51,7 +49,7 @@ KXCJK1013::KXCJK1013(int device)
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if (mraa_iio_create_trigger(m_iio, trigger) != MRAA_SUCCESS)
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fprintf(stderr, "Create trigger %s failed\n", trigger);
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if (mraa_iio_get_mounting_matrix(m_iio, m_mount_matrix) == MRAA_SUCCESS)
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if (mraa_iio_get_mount_matrix(m_iio, "in_mount_matrix", 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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@ -62,7 +60,7 @@ KXCJK1013::KXCJK1013(int device)
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KXCJK1013::~KXCJK1013()
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{
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if(m_iio)
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if (m_iio)
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mraa_iio_close(m_iio);
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}
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@ -146,6 +144,7 @@ KXCJK1013::disableBuffer()
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bool
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KXCJK1013::setScale(float scale)
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{
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m_scale = scale;
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mraa_iio_write_float(m_iio, "in_accel_scale", scale);
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return true;
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@ -187,6 +186,7 @@ KXCJK1013::extract3Axis(char* data, float* x, float* y, float* z)
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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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// Raw data is acceleration in direction. Units after application of scale are m/s^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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17
src/kxcjk1013/kxcjk1013.hpp
Executable file → Normal file
17
src/kxcjk1013/kxcjk1013.hpp
Executable file → Normal file
@ -1,6 +1,6 @@
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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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* Copyright (c) 2016 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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@ -85,7 +85,7 @@ class KXCJK1013
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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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* @param trigger buffer length in integer
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*/
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bool enableBuffer(int length);
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@ -96,13 +96,18 @@ class KXCJK1013
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/**
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* Set scale
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* @param scale in string
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* @param scale in float
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* Available scales are 0.009582(2g), 0.019163(4g), and 0.038326(8g)
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* Default scale is 0.019163
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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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* @param sampling frequency in float
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* Available sampling frequency are 0.781000, 1.563000, 3.125000, 6.250000, 12.500000, 25, 50,
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* 100, 200, 400, 800, and 1600
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* Default sampling frequency is 25
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*/
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bool setSamplingFrequency(const float sampling_frequency);
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@ -124,7 +129,7 @@ class KXCJK1013
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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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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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0
src/kxcjk1013/pyupm_kxcjk1013.i
Executable file → Normal file
0
src/kxcjk1013/pyupm_kxcjk1013.i
Executable file → Normal file
18
src/l3gd20/l3gd20.cxx
Normal file → Executable file
18
src/l3gd20/l3gd20.cxx
Normal file → Executable file
@ -1,6 +1,6 @@
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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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* Copyright (c) 2016 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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@ -56,7 +56,7 @@ L3GD20::L3GD20(int device)
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if (mraa_iio_create_trigger(m_iio, trigger) != MRAA_SUCCESS)
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fprintf(stderr, "Create trigger %s failed\n", trigger);
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if (mraa_iio_get_mounting_matrix(m_iio, m_mount_matrix) == MRAA_SUCCESS)
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if (mraa_iio_get_mount_matrix(m_iio, "in_mount_matrix", 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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@ -88,18 +88,10 @@ L3GD20::~L3GD20()
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free(m_filter.buff);
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m_filter.buff = NULL;
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}
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if(m_iio)
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if (m_iio)
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mraa_iio_close(m_iio);
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}
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#ifdef JAVACALLBACK
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void
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L3GD20::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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L3GD20::installISR(void (*isr)(char*), void* arg)
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{
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@ -177,6 +169,8 @@ L3GD20::disableBuffer()
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bool
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L3GD20::setScale(float scale)
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{
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m_scale = scale;
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mraa_iio_write_float(m_iio, "in_anglvel_x_scale", scale);
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mraa_iio_write_float(m_iio, "in_anglvel_y_scale", scale);
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mraa_iio_write_float(m_iio, "in_anglvel_z_scale", scale);
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@ -224,6 +218,8 @@ L3GD20::extract3Axis(char* data, float* x, float* y, float* z)
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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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// Raw data is x, y, z axis angular velocity. Units after application of scale are radians per
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// second
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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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20
src/l3gd20/l3gd20.hpp
Executable file → Normal file
20
src/l3gd20/l3gd20.hpp
Executable file → Normal file
@ -1,6 +1,6 @@
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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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* Copyright (c) 2016 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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@ -100,7 +100,7 @@ class L3GD20
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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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* @param trigger buffer length in integer
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*/
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bool enableBuffer(int length);
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@ -111,13 +111,17 @@ class L3GD20
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/**
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* Set scale
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* @param scale in string
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* @param scale in float
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* Available scales are 0.000153(250dps), 0.000305(500dps), and 0.001222(2000dps)
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* Default scale is 0.000153
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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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* @param sampling frequency in float
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* Available sampling frequency are 95, 190, 380, and 760
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* Default sampling frequency is 95
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*/
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bool setSamplingFrequency(const float sampling_frequency);
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@ -202,9 +206,9 @@ class L3GD20
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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; // gyroscope data scale
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int m_event_count; // sample data arrive
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bool m_calibrated; // calibrate state
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gyro_cal_t m_cal_data; // calibrate data
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filter_median_t m_filter; // filter data
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int m_event_count; // sample data arrive
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bool m_calibrated; // calibrate state
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gyro_cal_t m_cal_data; // calibrate data
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filter_median_t m_filter; // filter data
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};
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}
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