diff options
Diffstat (limited to 'peripheral/libupm/src/kxcjk1013/kxcjk1013.cxx')
| -rwxr-xr-x[-rw-r--r--] | peripheral/libupm/src/kxcjk1013/kxcjk1013.cxx | 26 |
1 files changed, 15 insertions, 11 deletions
diff --git a/peripheral/libupm/src/kxcjk1013/kxcjk1013.cxx b/peripheral/libupm/src/kxcjk1013/kxcjk1013.cxx index 0eafbb7..bf1021a 100644..100755 --- a/peripheral/libupm/src/kxcjk1013/kxcjk1013.cxx +++ b/peripheral/libupm/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 @@ -26,7 +26,9 @@ #include <string> #include <stdexcept> #include <string.h> -#include "kxcjk1013.h" +#include "kxcjk1013.hpp" + +#define NUMBER_OF_BITS_IN_BYTE 8 using namespace upm; @@ -45,9 +47,9 @@ KXCJK1013::KXCJK1013(int device) sprintf(trigger, "hrtimer-kxcjk1013-hr-dev%d", device); if (mraa_iio_create_trigger(m_iio, trigger) != MRAA_SUCCESS) - fprintf(stderr, "Create trigger failed\n"); + 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; @@ -58,7 +60,8 @@ KXCJK1013::KXCJK1013(int device) KXCJK1013::~KXCJK1013() { - // mraa_iio_stop(m_iio); + if (m_iio) + mraa_iio_close(m_iio); } void @@ -70,21 +73,20 @@ KXCJK1013::installISR(void (*isr)(char*), void* arg) int64_t KXCJK1013::getChannelValue(unsigned char* input, mraa_iio_channel* chan) { - uint64_t u64; + uint64_t u64 = 0; int i; - int storagebits = chan->bytes * 8; + int storagebits = chan->bytes * NUMBER_OF_BITS_IN_BYTE; int realbits = chan->bits_used; int zeroed_bits = storagebits - realbits; uint64_t sign_mask; uint64_t value_mask; - u64 = 0; if (!chan->lendian) - for (i = 0; i < storagebits / 8; i++) - u64 = (u64 << 8) | input[i]; + for (i = 0; i < storagebits / NUMBER_OF_BITS_IN_BYTE; i++) + u64 = (u64 << NUMBER_OF_BITS_IN_BYTE) | input[i]; else - for (i = storagebits / 8 - 1; i >= 0; i--) + for (i = storagebits / NUMBER_OF_BITS_IN_BYTE - 1; i >= 0; i--) u64 = (u64 << 8) | input[i]; u64 = (u64 >> chan->shift) & (~0ULL >> zeroed_bits); @@ -142,6 +144,7 @@ KXCJK1013::disableBuffer() bool KXCJK1013::setScale(float scale) { + m_scale = scale; mraa_iio_write_float(m_iio, "in_accel_scale", scale); return true; @@ -183,6 +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); |