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提交 46bca6f8 编写于 作者: B bernard
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Add C programming language APIs.

上级 58163f49
隐藏空白更改
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Showing with 130 addition and 72 deletion
components/drivers/sensors/sensor.cpp
浏览文件 @ 46bca6f8
......@@ -71,7 +71,7 @@ int SensorBase::publish(sensors_event_t *event)
if (this->evtHandler != NULL)
{
/* invoke subscribed handler */
(*evtHandler)(this, event, this->userData);
(*evtHandler)(event, this->userData);
}
return 0;
......@@ -189,3 +189,39 @@ int SensorManager::pollSensor(SensorBase *sensor, sensors_event_t *events, int n
return index;
}
int rt_sensor_subscribe(int type, SensorEventHandler_t *handler, void *user_data)
{
return SensorManager::subscribe(type, handler, user_data);
}
rt_sensor_t rt_sensor_get_default(int type)
{
return (rt_sensor_t)SensorManager::getDefaultSensor(type);
}
int rt_sensor_poll(rt_sensor_t sensor, sensors_event_t *event)
{
SensorBase *sensor_base;
if (sensor == NULL || event == NULL) return -1;
return sensor_base->poll(event);
}
int rt_sensor_configure(rt_sensor_t sensor, SensorConfig *config)
{
SensorBase *sensor_base;
if (sensor == NULL || config == NULL) return -1;
sensor_base = (SensorBase*)sensor;
return sensor_base->setConfig(config);
}
int rt_sensor_activate(rt_sensor_t sensor, int enable)
{
SensorBase *sensor_base;
if (sensor == NULL) return -1;
sensor_base = (SensorBase*)sensor;
return sensor_base->activate(enable);
}
components/drivers/sensors/sensor.h
浏览文件 @ 46bca6f8
......@@ -36,7 +36,9 @@
#include <rtdevice.h>
#include <stdint.h>
#ifdef __CC_ARM /* skip warning in armcc */
#pragma anon_unions
#endif
/**
* Handles must be higher than SENSORS_HANDLE_BASE and must be unique.
......@@ -729,23 +731,23 @@ enum
* all values are in SI units (m/s^2)
*/
#define SENSORS_GRAVITY_SUN (275.0f)
#define SENSORS_GRAVITY_MOON (1.6f)
#define SENSORS_GRAVITY_MOON (1.6f)
#define SENSORS_GRAVITY_EARTH (9.80665f)
#define SENSORS_GRAVITY_STANDARD (SENSORS_GRAVITY_EARTH)
#define SENSORS_GRAVITY_STANDARD (SENSORS_GRAVITY_EARTH)
/** Maximum magnetic field on Earth's surface */
#define MAGNETIC_FIELD_EARTH_MAX (60.0f)
#define MAGNETIC_FIELD_EARTH_MAX (60.0f)
/** Minimum magnetic field on Earth's surface */
#define MAGNETIC_FIELD_EARTH_MIN (30.0f)
#define MAGNETIC_FIELD_EARTH_MIN (30.0f)
/** Average sea level pressure is 1013.25 hPa */
#define SENSORS_PRESSURE_SEALEVELHPA (1013.25F)
#define SENSORS_PRESSURE_SEALEVELHPA (1013.25F)
/** Degrees/s to rad/s multiplier */
#define SENSORS_DPS_TO_RADS (0.017453293F)
#define SENSORS_DPS_TO_RADS (0.017453293F)
/** Gauss to micro-Tesla multiplier */
#define SENSORS_GAUSS_TO_MICROTESLA (100)
#define SENSORS_GAUSS_TO_MICROTESLA (100)
/**
* status of orientation sensor
......@@ -785,15 +787,15 @@ typedef struct
*/
typedef struct
{
struct
{
int16_t x;
int16_t y;
int16_t z;
};
int8_t status;
uint8_t reserved[1];
struct
{
int16_t x;
int16_t y;
int16_t z;
};
int8_t status;
uint8_t reserved[1];
} sensors_raw_vec_t;
/**
......@@ -858,21 +860,21 @@ typedef struct sensors_event_t
/* acceleration values are in meter per second per second (m/s^2) */
sensors_vec_t acceleration;
/* raw acceleration data */
sensors_raw_vec_t raw_acceleration;
/* raw acceleration data */
sensors_raw_vec_t raw_acceleration;
/* magnetic vector values are in micro-Tesla (uT) */
sensors_vec_t magnetic;
/* raw magnetic data */
sensors_raw_vec_t raw_magnetic;
/* raw magnetic data */
sensors_raw_vec_t raw_magnetic;
/* orientation values are in degrees */
sensors_vec_t orientation;
/* gyroscope values are in rad/s */
sensors_vec_t gyro;
/* raw gyroscope data */
sensors_raw_vec_t raw_gyro;
/* raw gyroscope data */
sensors_raw_vec_t raw_gyro;
/* temperature is in degrees centigrade (Celsius) */
float temperature;
......@@ -918,7 +920,6 @@ typedef sensors_event_t sensors_meta_data_event_t;
typedef struct sensor_t
{
/* Name of this sensor.
* All sensors of the same "type" must have a different "name".
*/
......@@ -979,17 +980,17 @@ typedef struct sensor_t
enum SensorMode
{
SENSOR_MODE_RAW,
SENSOR_MODE_CALIBRATED,
SENSOR_MODE_NORMAL,
SENSOR_MODE_RAW,
SENSOR_MODE_CALIBRATED,
SENSOR_MODE_NORMAL,
};
enum SensorAccelRange
{
SENSOR_ACCEL_RANGE_2G,
SENSOR_ACCEL_RANGE_4G,
SENSOR_ACCEL_RANGE_8G,
SENSOR_ACCEL_RANGE_16G,
SENSOR_ACCEL_RANGE_2G,
SENSOR_ACCEL_RANGE_4G,
SENSOR_ACCEL_RANGE_8G,
SENSOR_ACCEL_RANGE_16G,
};
#define SENSOR_ACCEL_SENSITIVITY_2G (0.001F)
#define SENSOR_ACCEL_SENSITIVITY_4G (0.002F)
......@@ -998,56 +999,58 @@ enum SensorAccelRange
enum SensorGyroRange
{
SENSOR_GYRO_RANGE_250DPS,
SENSOR_GYRO_RANGE_500DPS,
SENSOR_GYRO_RANGE_1000DPS,
SENSOR_GYRO_RANGE_2000DPS,
SENSOR_GYRO_RANGE_250DPS,
SENSOR_GYRO_RANGE_500DPS,
SENSOR_GYRO_RANGE_1000DPS,
SENSOR_GYRO_RANGE_2000DPS,
};
#define SENSOR_GYRO_SENSITIVITY_250DPS (0.00875F)
#define SENSOR_GYRO_SENSITIVITY_500DPS (0.0175F)
#define SENSOR_GYRO_SENSITIVITY_1000DPS (0.035F)
#define SENSOR_GYRO_SENSITIVITY_2000DPS (0.070F)
#define SENSOR_GYRO_SENSITIVITY_250DPS (0.00875F)
#define SENSOR_GYRO_SENSITIVITY_500DPS (0.0175F)
#define SENSOR_GYRO_SENSITIVITY_1000DPS (0.035F)
#define SENSOR_GYRO_SENSITIVITY_2000DPS (0.070F)
enum SensorDataRate
{
SENSOR_DATARATE_3200HZ,
SENSOR_DATARATE_1600HZ,
SENSOR_DATARATE_800HZ,
SENSOR_DATARATE_400HZ,
SENSOR_DATARATE_200HZ,
SENSOR_DATARATE_100HZ,
SENSOR_DATARATE_50HZ,
SENSOR_DATARATE_25HZ,
SENSOR_DATARATE_12_5HZ,
SENSOR_DATARATE_6_25HZ,
SENSOR_DATARATE_3_13HZ,
SENSOR_DATARATE_1_56HZ,
SENSOR_DATARATE_0_78HZ,
SENSOR_DATARATE_0_39HZ,
SENSOR_DATARATE_0_20HZ,
SENSOR_DATARATE_0_10HZ,
SENSOR_DATARATE_3200HZ,
SENSOR_DATARATE_1600HZ,
SENSOR_DATARATE_800HZ,
SENSOR_DATARATE_400HZ,
SENSOR_DATARATE_200HZ,
SENSOR_DATARATE_100HZ,
SENSOR_DATARATE_50HZ,
SENSOR_DATARATE_25HZ,
SENSOR_DATARATE_12_5HZ,
SENSOR_DATARATE_6_25HZ,
SENSOR_DATARATE_3_13HZ,
SENSOR_DATARATE_1_56HZ,
SENSOR_DATARATE_0_78HZ,
SENSOR_DATARATE_0_39HZ,
SENSOR_DATARATE_0_20HZ,
SENSOR_DATARATE_0_10HZ,
};
class SensorBase;
class SensorManager;
typedef void (*SensorEventHandler_t)(SensorBase *sensor, sensors_event_t *event, void *user_data);
/**
* Sensor Configuration
*/
typedef struct SensorConfig
{
int mode;
int mode;
enum SensorDataRate data_rate;
enum SensorDataRate data_rate;
union range
{
enum SensorAccelRange accel_range;
enum SensorGyroRange gyro_range;
} range;
union range
{
enum SensorAccelRange accel_range;
enum SensorGyroRange gyro_range;
} range;
}SensorConfig;
typedef void (*SensorEventHandler_t)(sensors_event_t *event, void *user_data);
#ifdef __cplusplus
class SensorBase;
class SensorManager;
/**
* Sensor Base Class
*/
......@@ -1068,8 +1071,8 @@ public:
int getType(void);
int setConfig(SensorConfig *config);
int getConfig(SensorConfig *config);
int setConfig(SensorConfig *config);
int getConfig(SensorConfig *config);
int subscribe(SensorEventHandler_t *handler, void *user_data);
int publish(sensors_event_t *event);
......@@ -1078,8 +1081,8 @@ protected:
SensorBase *next;
SensorBase *prev;
/* sensor configuration */
SensorConfig config;
/* sensor configuration */
SensorConfig config;
SensorEventHandler_t *evtHandler;
void *userData;
......@@ -1102,9 +1105,28 @@ public:
static SensorBase *getDefaultSensor(int type);
static int subscribe(int type, SensorEventHandler_t *handler, void *user_data);
static int sensorEventReady(SensorBase *sensor);
static int pollSensor(SensorBase *sensor, sensors_event_t *events, int number, int duration);
static int sensorEventReady(SensorBase *sensor);
static int pollSensor(SensorBase *sensor, sensors_event_t *events, int number, int duration);
};
#endif
/* C programming language APIs */
/* rt_sensor_t is a C typedef for SensorBase */
typedef void* rt_sensor_t;
#ifdef __cplusplus
extern "C" {
#endif
rt_sensor_t rt_sensor_get_default(int type);
int rt_sensor_subscribe(rt_sensor_t sensor, SensorEventHandler_t *handler, void *user_data);
int rt_sensor_activate (rt_sensor_t sensor, int enable);
int rt_sensor_configure(rt_sensor_t sensor, SensorConfig *config);
int rt_sensor_poll(rt_sensor_t sensor, sensors_event_t *event);
#ifdef __cplusplus
}
#endif
#endif
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