diff --git a/components/drivers/sensors/sensor.cpp b/components/drivers/sensors/sensor.cpp index 88342d6dac32eea48e29758d43373321dfb9919c..28487071929f3ad4cf8f3973b2d9e94e72a66829 100644 --- a/components/drivers/sensors/sensor.cpp +++ b/components/drivers/sensors/sensor.cpp @@ -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); +} + diff --git a/components/drivers/sensors/sensor.h b/components/drivers/sensors/sensor.h index 55452420561842fea2849389e35e70921f6dc0e5..2962b21a80294955b10b7dbb605c5cf00e57532f 100644 --- a/components/drivers/sensors/sensor.h +++ b/components/drivers/sensors/sensor.h @@ -36,7 +36,9 @@ #include #include +#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