iio_core: Patches for IIO core kernel standard

Applying patches from Kuan Loon Lay.

Signed-off-by: Noel Eck <noel.eck@intel.com>

examples/c++/kxcjk1013.cxx

@@ -1,6 +1,6 @@
 /*
  * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
- * Copyright (c) 2015 Intel Corporation.
+ * Copyright (c) 2016 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -22,8 +22,9 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
+#include <iomanip>
+#include <unistd.h>
 #include <signal.h>
 #include "kxcjk1013.hpp"
 
@@ -44,7 +45,8 @@ data_callback(char* data)
 {
     float x, y, z;
     accelerometer->extract3Axis(data, &x, &y, &z);
-    printf("% .1f               % .1f               % .1f\n", x, y, z);
+    cout << fixed << setprecision(1);
+    cout << x << '\t' << y << '\t' << z << "[m/s^2]" << endl;
 }
 
 int
@@ -54,7 +56,10 @@ main()
     //! [Interesting]
     // Instantiate a KXCJK1013 Accelerometer Sensor on iio device 0
     accelerometer = new upm::KXCJK1013(0);
+    // Available scales are 0.009582(2g), 0.019163(4g), and 0.038326(8g)
     accelerometer->setScale(0.019163);
+    // Available sampling frequency are 0.781000, 1.563000, 3.125000, 6.250000, 12.500000, 25, 50,
+    // 100, 200, 400, 800, and 1600
     accelerometer->setSamplingFrequency(25.0);
     accelerometer->enable3AxisChannel();
     accelerometer->installISR(data_callback, NULL);

examples/c++/l3gd20.cxx

@@ -1,6 +1,6 @@
 /*
  * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
- * Copyright (c) 2015 Intel Corporation.
+ * Copyright (c) 2016 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -22,8 +22,9 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#include <unistd.h>
 #include <iostream>
+#include <iomanip>
+#include <unistd.h>
 #include <signal.h>
 #include "l3gd20.hpp"
 
@@ -43,8 +44,10 @@ void
 data_callback(char* data)
 {
     float x, y, z;
-    if (gyroscope->extract3Axis(data, &x, &y, &z))
+    if (gyroscope->extract3Axis(data, &x, &y, &z)) {
-        printf("% .2f               % .2f               % .2f\n", x, y, z);
+        cout << fixed << setprecision(1);
+        cout << x << '\t' << y << '\t' << z << "[rad/sec]" << endl;
+    }
 }
 
 int
@@ -54,7 +57,9 @@ main()
     //! [Interesting]
     // Instantiate a L3GD20 Gyroscope Sensor on iio device 3
     gyroscope = new upm::L3GD20(3);
+    // Available scales are 0.000153(250dps), 0.000305(500dps), and 0.001222(2000dps)
     gyroscope->setScale(0.001222);
+    // Available sampling frequency are 95, 190, 380, and 760
     gyroscope->setSamplingFrequency(95.0);
     gyroscope->enable3AxisChannel();
     gyroscope->installISR(data_callback, NULL);

src/kxcjk1013/kxcjk1013.cxx

@@ -1,6 +1,6 @@
 /*
  * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
- * Copyright (c) 2015 Intel Corporation.
+ * Copyright (c) 2016 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -30,8 +30,6 @@
 
 #define NUMBER_OF_BITS_IN_BYTE 8
 
-#define NUMBER_OF_BITS_IN_BYTE 8
-
 using namespace upm;
 
 KXCJK1013::KXCJK1013(int device)
@@ -51,7 +49,7 @@ KXCJK1013::KXCJK1013(int device)
     if (mraa_iio_create_trigger(m_iio, trigger) != MRAA_SUCCESS)
         fprintf(stderr, "Create trigger %s failed\n", trigger);
 
-    if (mraa_iio_get_mounting_matrix(m_iio, m_mount_matrix) == MRAA_SUCCESS)
+    if (mraa_iio_get_mount_matrix(m_iio, "in_mount_matrix", m_mount_matrix) == MRAA_SUCCESS)
         m_mount_matrix_exist = true;
     else
         m_mount_matrix_exist = false;
@@ -62,7 +60,7 @@ KXCJK1013::KXCJK1013(int device)
 
 KXCJK1013::~KXCJK1013()
 {
-    if(m_iio)
+    if (m_iio)
         mraa_iio_close(m_iio);
 }
 
@@ -146,6 +144,7 @@ KXCJK1013::disableBuffer()
 bool
 KXCJK1013::setScale(float scale)
 {
+    m_scale = scale;
     mraa_iio_write_float(m_iio, "in_accel_scale", scale);
 
     return true;
@@ -187,6 +186,7 @@ KXCJK1013::extract3Axis(char* data, float* x, float* y, float* z)
     iio_y = getChannelValue((unsigned char*) (data + channels[1].location), &channels[1]);
     iio_z = getChannelValue((unsigned char*) (data + channels[2].location), &channels[2]);
 
+    // Raw data is acceleration in direction. Units after application of scale are m/s^2
     *x = (iio_x * m_scale);
     *y = (iio_y * m_scale);
     *z = (iio_z * m_scale);

src/kxcjk1013/kxcjk1013.hpp

@@ -1,6 +1,6 @@
 /*
  * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
- * Copyright (c) 2015 Intel Corporation.
+ * Copyright (c) 2016 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -85,7 +85,7 @@ class KXCJK1013
 
     /**
      * Enable trigger buffer
-     * @param trigger buffer length in string
+     * @param trigger buffer length in integer
      */
     bool enableBuffer(int length);
 
@@ -96,13 +96,18 @@ class KXCJK1013
 
     /**
      * Set scale
-     * @param scale in string
+     * @param scale in float
+     * Available scales are 0.009582(2g), 0.019163(4g), and 0.038326(8g)
+     * Default scale is 0.019163
      */
     bool setScale(const float scale);
 
     /**
      * Set sampling frequency
-     * @param sampling frequency in string
+     * @param sampling frequency in float
+     * Available sampling frequency are 0.781000, 1.563000, 3.125000, 6.250000, 12.500000, 25, 50,
+     * 100, 200, 400, 800, and 1600
+     * Default sampling frequency is 25
      */
     bool setSamplingFrequency(const float sampling_frequency);
 
@@ -124,7 +129,7 @@ class KXCJK1013
     mraa_iio_context m_iio;
     int m_iio_device_num;
     bool m_mount_matrix_exist; // is mount matrix exist
-    float m_mount_matrix[9]; // mount matrix
+    float m_mount_matrix[9];   // mount matrix
-    float m_scale; // accelerometer data scale
+    float m_scale;             // accelerometer data scale
 };
 }

src/l3gd20/l3gd20.cxx

@@ -1,6 +1,6 @@
 /*
  * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
- * Copyright (c) 2015 Intel Corporation.
+ * Copyright (c) 2016 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -56,7 +56,7 @@ L3GD20::L3GD20(int device)
     if (mraa_iio_create_trigger(m_iio, trigger) != MRAA_SUCCESS)
         fprintf(stderr, "Create trigger %s failed\n", trigger);
 
-    if (mraa_iio_get_mounting_matrix(m_iio, m_mount_matrix) == MRAA_SUCCESS)
+    if (mraa_iio_get_mount_matrix(m_iio, "in_mount_matrix", m_mount_matrix) == MRAA_SUCCESS)
         m_mount_matrix_exist = true;
     else
         m_mount_matrix_exist = false;
@@ -88,18 +88,10 @@ L3GD20::~L3GD20()
         free(m_filter.buff);
         m_filter.buff = NULL;
     }
-    if(m_iio)
+    if (m_iio)
         mraa_iio_close(m_iio);
 }
 
-#ifdef JAVACALLBACK
-void
-L3GD20::installISR(IsrCallback* cb)
-{
-    installISR(generic_callback_isr, cb);
-}
-#endif
-
 void
 L3GD20::installISR(void (*isr)(char*), void* arg)
 {
@@ -177,6 +169,8 @@ L3GD20::disableBuffer()
 bool
 L3GD20::setScale(float scale)
 {
+    m_scale = scale;
+
     mraa_iio_write_float(m_iio, "in_anglvel_x_scale", scale);
     mraa_iio_write_float(m_iio, "in_anglvel_y_scale", scale);
     mraa_iio_write_float(m_iio, "in_anglvel_z_scale", scale);
@@ -224,6 +218,8 @@ L3GD20::extract3Axis(char* data, float* x, float* y, float* z)
     iio_y = getChannelValue((unsigned char*) (data + channels[1].location), &channels[1]);
     iio_z = getChannelValue((unsigned char*) (data + channels[2].location), &channels[2]);
 
+    // Raw data is x, y, z axis angular velocity. Units after application of scale are radians per
+    // second
     *x = (iio_x * m_scale);
     *y = (iio_y * m_scale);
     *z = (iio_z * m_scale);

src/l3gd20/l3gd20.hpp

@@ -1,6 +1,6 @@
 /*
  * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
- * Copyright (c) 2015 Intel Corporation.
+ * Copyright (c) 2016 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -100,7 +100,7 @@ class L3GD20
 
     /**
      * Enable trigger buffer
-     * @param trigger buffer length in string
+     * @param trigger buffer length in integer
      */
     bool enableBuffer(int length);
 
@@ -111,13 +111,17 @@ class L3GD20
 
     /**
      * Set scale
-     * @param scale in string
+     * @param scale in float
+     * Available scales are 0.000153(250dps), 0.000305(500dps), and 0.001222(2000dps)
+     * Default scale is 0.000153
      */
     bool setScale(const float scale);
 
     /**
      * Set sampling frequency
-     * @param sampling frequency  in string
+     * @param sampling frequency in float
+     * Available sampling frequency are 95, 190, 380, and 760
+     * Default sampling frequency is 95
      */
     bool setSamplingFrequency(const float sampling_frequency);
 
@@ -202,9 +206,9 @@ class L3GD20
     bool m_mount_matrix_exist; // is mount matrix exist
     float m_mount_matrix[9];   // mount matrix
     float m_scale;             // gyroscope data scale
-    int m_event_count; // sample data arrive
+    int m_event_count;         // sample data arrive
-    bool m_calibrated;        // calibrate state
+    bool m_calibrated;         // calibrate state
-    gyro_cal_t m_cal_data;    // calibrate data
+    gyro_cal_t m_cal_data;     // calibrate data
-    filter_median_t m_filter; // filter data
+    filter_median_t m_filter;  // filter data
 };
 }