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kx122: Return values instead of receiving pointers

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For better compatibility with Python

Signed-off-by: Antoine W. Campagna <AntoineW@Campagna.org>
Signed-off-by: Noel Eck <noel.eck@intel.com>
This commit is contained in:
Antoine W. Campagna 2018-03-25 21:42:39 -04:00 committed by Noel Eck
parent fc56e56048
commit e99f1d73fd
2 changed files with 55 additions and 28 deletions
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55
src/kx122/kx122.cxx
View File

@ -57,11 +57,15 @@ float KX122::getSamplePeriod()
return kx122_get_sample_period(m_kx122);
}
void KX122::getWhoAmI(uint8_t *data)
uint8_t KX122::getWhoAmI()
{
if(kx122_get_who_am_i(m_kx122,data)){
uint8_t data;
if(kx122_get_who_am_i(m_kx122, &data)){
throw std::runtime_error(std::string(__FUNCTION__) + "kx122_get_who_am_i failed");
}
return data;
}
void KX122::getRawAccelerationData(float *x, float *y, float *z)
{
@ -221,11 +225,14 @@ bool KX122::getInterruptStatus()
return kx122_get_interrupt_status(m_kx122);
}
void KX122::getInterruptSource(uint8_t *data)
uint8_t KX122::getInterruptSource()
{
if(kx122_get_interrupt_source(m_kx122,data)){
uint8_t data;
if(kx122_get_interrupt_source(m_kx122, &data)){
throw std::runtime_error(std::string(__FUNCTION__) + "kx122_get_interrupt_source failed");
}
return data;
}
void KX122::clearInterrupt()
@ -305,25 +312,53 @@ void KX122::setBufferMode(KX122_BUFFER_MODE_T mode)
}
}
void KX122::getBufferStatus(uint *samples)
uint KX122::getBufferStatus()
{
if(kx122_get_buffer_status(m_kx122,samples)){
uint nb_samples = 0;
if(kx122_get_buffer_status(m_kx122, &nb_samples)){
throw std::runtime_error(std::string(__FUNCTION__) + "kx122_get_buffer_status failed");
}
return nb_samples;
}
void KX122::getRawBufferSamples(uint len, float *x_array, float *y_array, float *z_array)
//Maximum number of samples that can be stored in the buffer of the KX122
#define MAX_SAMPLES_IN_BUFFER 681
std::vector<float> KX122::getRawBufferSamples(uint len)
{
if(kx122_read_buffer_samples_raw(m_kx122,len,x_array,y_array,z_array)){
float bufferx[MAX_SAMPLES_IN_BUFFER], buffery[MAX_SAMPLES_IN_BUFFER], bufferz[MAX_SAMPLES_IN_BUFFER];
if(kx122_read_buffer_samples_raw(m_kx122,len,bufferx,buffery,bufferz)){
throw std::runtime_error(std::string(__FUNCTION__) + "kx122_read_buffer_samples_raw failed");
}
std::vector<float> xyz_array(len * 3);
for (uint i = 0; i < len; i++)
{
xyz_array[i * 3 + 0] = bufferx[i];
xyz_array[i * 3 + 1] = buffery[i];
xyz_array[i * 3 + 2] = bufferz[i];
}
return xyz_array;
}
void KX122::getBufferSamples(uint len, float *x_array, float *y_array, float *z_array)
std::vector<float> KX122::getBufferSamples(uint len)
{
if(kx122_read_buffer_samples(m_kx122,len,x_array,y_array,z_array)){
float bufferx[MAX_SAMPLES_IN_BUFFER], buffery[MAX_SAMPLES_IN_BUFFER], bufferz[MAX_SAMPLES_IN_BUFFER];
if(kx122_read_buffer_samples(m_kx122,len,bufferx,buffery,bufferz)){
throw std::runtime_error(std::string(__FUNCTION__) + "kx122_read_buffer_samples failed");
}
std::vector<float> xyz_array(len * 3);
for (uint i = 0; i < len; i++)
{
xyz_array[i * 3 + 0] = bufferx[i];
xyz_array[i * 3 + 1] = buffery[i];
xyz_array[i * 3 + 2] = bufferz[i];
}
return xyz_array;
}
void KX122::clearBuffer()

28
src/kx122/kx122.hpp
View File

@ -83,10 +83,10 @@ namespace upm{
/**
Gets who am i value of the sensor.
@param data Pointer to a uint8_t variable to store the value.
@return Who am I value of the sensor.
@throws std::runtime_error on failure.
*/
void getWhoAmI(uint8_t *data);
uint8_t getWhoAmI();
/**
Gets raw accelerometer data from the sensor.
@ -340,10 +340,10 @@ namespace upm{
See datasheet for more details.
@param data Pointer to a uint8_t variable to store the value.
@return Interrupt source value.
@throws std::runtime_error on failure.
*/
void getInterruptSource(uint8_t *data);
uint8_t getInterruptSource();
/**
Clears latching interrupts (Wakeup, Data Ready).
@ -471,36 +471,28 @@ namespace upm{
/**
Gets the current amount of samples in the buffer.
@param samples Pointer to an uint variable to store the data.
@return number of samples in the buffer.
@throws std::runtime_error on failure.
*/
void getBufferStatus(uint *samples);
uint getBufferStatus();
/**
Gets the specified amount of raw acceleration samples from the buffer.
Make sure the array size is at least the amount of samples to be read.
@param len The amount of samples to read from the buffer.
@param x_array Pointer to an floating point array to store the x-axis data. Can be set to NULL if not wanted.
@param y_array Pointer to an floating point array to store the y-axis data. Can be set to NULL if not wanted.
@param z_array Pointer to an floating point array to store the z-axis data. Can be set to NULL if not wanted.
@return vector containing x, y & z-axis data
@throws std::runtime_error on failure.
*/
void getRawBufferSamples(uint len, float *x_array, float *y_array, float *z_array);
std::vector<float> getRawBufferSamples(uint len);
/**
Gets the specified amount of converted (m/s^2) acceleration samples from the buffer.
Make sure the array size is at least the amount of samples to be read.
@param len The amount of samples to read from the buffer.
@param x_array Pointer to an floating point array to store the x-axis data. Can be set to NULL if not wanted.
@param y_array Pointer to an floating point array to store the y-axis data. Can be set to NULL if not wanted.
@param z_array Pointer to an floating point array to store the z-axis data. Can be set to NULL if not wanted.
@return vector containing x, y & z-axis data
@throws std::runtime_error on failure.
*/
void getBufferSamples(uint len, float *x_array, float *y_array, float *z_array);
std::vector<float> getBufferSamples(uint len);
/**
Clears the buffer, removing all existing samples from the buffer.