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128 lines
3.7 KiB
C
128 lines
3.7 KiB
C
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2017 Intel Corporation.
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*
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* The MIT License
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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 "lsm6ds3h.h"
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#include "upm_fti.h"
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/**
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* This file implements the Function Table Interface (FTI) for this sensor
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*/
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const char upm_lsm6ds3h_name[] = "LSM6DS3H";
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const char upm_lsm6ds3h_description[] =
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"Triple Axis Digital Accelerometer and Gyroscope";
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const upm_protocol_t upm_lsm6ds3h_protocol[] = {UPM_I2C, UPM_SPI, UPM_GPIO};
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const upm_sensor_t upm_lsm6ds3h_category[] = {UPM_ACCELEROMETER,
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UPM_GYROSCOPE};
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// forward declarations
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const void *upm_lsm6ds3h_get_ft(upm_sensor_t sensor_type);
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void *upm_lsm6ds3h_init_name();
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void upm_lsm6ds3h_close(void *dev);
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upm_result_t upm_lsm6ds3h_get_acc_value(void *dev, float *value,
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upm_acceleration_u unit);
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upm_result_t upm_lsm6ds3h_get_gyr_value(void *dev, float *value);
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const upm_sensor_descriptor_t upm_lsm6ds3h_get_descriptor()
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{
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upm_sensor_descriptor_t usd;
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usd.name = upm_lsm6ds3h_name;
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usd.description = upm_lsm6ds3h_description;
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usd.protocol_size = 3;
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usd.protocol = upm_lsm6ds3h_protocol;
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usd.category_size = 2;
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usd.category = upm_lsm6ds3h_category;
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return usd;
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}
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static const upm_sensor_ft ft =
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{
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.upm_sensor_init_name = upm_lsm6ds3h_init_name,
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.upm_sensor_close = upm_lsm6ds3h_close,
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};
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static const upm_acceleration_ft aft =
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{
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.upm_acceleration_get_value = upm_lsm6ds3h_get_acc_value
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};
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static const upm_gyroscope_ft gft =
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{
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.upm_gyroscope_get_value = upm_lsm6ds3h_get_gyr_value
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};
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const void *upm_lsm6ds3h_get_ft(upm_sensor_t sensor_type)
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{
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switch(sensor_type)
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{
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case UPM_SENSOR:
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return &ft;
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case UPM_ACCELEROMETER:
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return &aft;
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case UPM_GYROSCOPE:
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return &gft;
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default:
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return NULL;
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}
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}
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void *upm_lsm6ds3h_init_name()
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{
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return NULL;
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}
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void upm_lsm6ds3h_close(void *dev)
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{
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lsm6ds3h_close((lsm6ds3h_context)dev);
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}
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upm_result_t upm_lsm6ds3h_get_acc_value(void *dev, float *value,
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upm_acceleration_u unit)
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{
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if (lsm6ds3h_update((lsm6ds3h_context)dev))
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return UPM_ERROR_OPERATION_FAILED;
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// no conversion facility in place yet, so we don't do anything
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// with units
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lsm6ds3h_get_accelerometer(dev, &value[0], &value[1], &value[2]);
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return UPM_SUCCESS;
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}
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upm_result_t upm_lsm6ds3h_get_gyr_value(void *dev, float *value)
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{
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if (lsm6ds3h_update((lsm6ds3h_context)dev))
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return UPM_ERROR_OPERATION_FAILED;
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lsm6ds3h_get_gyroscope(dev, &value[0], &value[1], &value[2]);
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return UPM_SUCCESS;
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}
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