[DeviceDriver] change the name style of method of C++ code; Add raw mode for sensor.

components/drivers/sensors/sensor.cpp

@@ -13,27 +13,52 @@
  */
 
 #include <stddef.h>
+#include <string.h>
+
 #include "sensor.h"
 
 /**
- * Sensor
+ * SensorBase
  */
-Sensor::Sensor()
+SensorBase::SensorBase(int type)
 {
+	memset(&(this->config), 0x0, sizeof(SensorConfig));
+
+	this->type = type;
     this->next = this->prev = NULL;
-    Subscribe(NULL, NULL);
+    subscribe(NULL, NULL);
 }
 
-Sensor::~Sensor()
+SensorBase::~SensorBase()
 {
 }
 
-int Sensor::GetType(void)
+int SensorBase::getType(void)
 {
     return this->type;
 }
 
-int Sensor::Subscribe(SensorEventHandler_t *handler, void *user_data)
+int SensorBase::setConfig(SensorConfig *config)
+{
+	int result;
+
+	/* configure to the low level sensor */
+	result = this->configure(config);
+	if (result == 0)
+	{
+		this->config = *config;
+	}
+
+	return result;
+}
+
+int SensorBase::getConfig(SensorConfig *config)
+{
+	*config = this->config;
+	return 0;
+}
+
+int SensorBase::subscribe(SensorEventHandler_t *handler, void *user_data)
 {
     this->evtHandler = handler;
     this->userData = user_data;
@@ -41,7 +66,7 @@ int Sensor::Subscribe(SensorEventHandler_t *handler, void *user_data)
     return 0;
 }
 
-int Sensor::Publish(sensors_event_t *event)
+int SensorBase::publish(sensors_event_t *event)
 {
     if (this->evtHandler != NULL)
     {
@@ -55,57 +80,52 @@ int Sensor::Publish(sensors_event_t *event)
 /**
  * Sensor Manager
  */
-/* sensor manager instance */
-static SensorManager _sensor_manager;
+/* sensors list */
+static SensorBase *sensor_list = NULL;
 
 SensorManager::SensorManager()
 {
-    sensorList = NULL;
 }
 
 SensorManager::~SensorManager()
 {
 }
 
-int SensorManager::RegisterSensor(Sensor *sensor)
+int SensorManager::registerSensor(SensorBase *sensor)
 {
-    SensorManager *self = &_sensor_manager;
-
     RT_ASSERT(sensor != RT_NULL);
 
     /* add sensor into the list */
-    if (self->sensorList == NULL)
+    if (sensor_list == NULL)
     {
         sensor->prev = sensor->next = sensor;
     }
     else
     {
-        sensor->prev = self->sensorList;
-        sensor->next = self->sensorList->next;
+        sensor_list->prev->next = sensor;
+        sensor->prev = sensor_list->prev;
 
-        self->sensorList->next->prev = sensor;
-        self->sensorList->next = sensor;
+        sensor_list->prev = sensor;
+        sensor->next = sensor_list;
     }
 
     /* point the sensorList to this sensor */
-    self->sensorList = sensor;
+    sensor_list = sensor;
 
     return 0;
 }
 
-int SensorManager::DeregisterSensor(Sensor *sensor)
+int SensorManager::unregisterSensor(SensorBase *sensor)
 {
-    SensorManager *self = &_sensor_manager;
-
     /* disconnect sensor list */
     sensor->next->prev = sensor->prev;
     sensor->prev->next = sensor->next;
 
     /* check the sensorList */
-    if (sensor == self->sensorList)
+    if (sensor == sensor_list)
     {
-        if (sensor->next == sensor) self->sensorList = NULL; /* empty list */
-        else self->sensorList = sensor->next;
+        if (sensor->next == sensor) sensor_list = NULL; /* empty list */
+        else sensor_list = sensor->next;
     }
 
     /* re-initialize sensor node */
@@ -114,35 +134,58 @@ int SensorManager::DeregisterSensor(Sensor *sensor)
     return 0;
 }
 
-Sensor *SensorManager::GetDefaultSensor(int type)
+SensorBase *SensorManager::getDefaultSensor(int type)
 {
-    SensorManager *self = &_sensor_manager;
-    Sensor *sensor = self->sensorList;
+    SensorBase *sensor = sensor_list;
 
     if (sensor == NULL) return NULL;
 
     do
     {
         /* find the same type */
-        if (sensor->GetType() == type) return sensor;
+        if (sensor->getType() == type) return sensor;
 
         sensor = sensor->next;
-    }while (sensor != self->sensorList);
+	}while (sensor != sensor_list);
 
     return NULL;
 }
 
-int SensorManager::Subscribe(int type, SensorEventHandler_t *handler, void *user_data)
+int SensorManager::subscribe(int type, SensorEventHandler_t *handler, void *user_data)
 {
-    Sensor *sensor;
+    SensorBase *sensor;
 
-    sensor = SensorManager::GetDefaultSensor(type);
+    sensor = SensorManager::getDefaultSensor(type);
     if (sensor != NULL)
     {
-        sensor->Subscribe(handler, user_data);
+        sensor->subscribe(handler, user_data);
         return 0;
     }
 
     return -1;
 }
 
+int SensorManager::sensorEventReady(SensorBase *sensor)
+{
+	return 0;
+}
+
+int SensorManager::pollSensor(SensorBase *sensor, sensors_event_t *events, int number, int duration)
+{
+	rt_tick_t tick;
+	int result, index;
+
+	if (sensor == NULL) return -1;
+
+	tick = rt_tick_get();
+	for (index = 0; index < number; index ++)
+	{
+		result = sensor->poll(&events[index]);
+		if (result < 0) break;
+
+		if (rt_tick_get() - tick > duration) break;
+	}
+
+	return index;
+}
+

components/drivers/sensors/sensor.h

@@ -36,6 +36,8 @@
 #include <rtdevice.h>
 #include <stdint.h>
 
+#pragma anon_unions
+
 /**
  * Handles must be higher than SENSORS_HANDLE_BASE and must be unique.
  * A Handle identifies a given sensors. The handle is used to activate
@@ -726,14 +728,24 @@ enum
  * Values returned by the accelerometer in various locations in the universe.
  * all values are in SI units (m/s^2)
  */
-#define GRAVITY_SUN                 (275.0f)
-#define GRAVITY_EARTH               (9.80665f)
+#define SENSORS_GRAVITY_SUN                 (275.0f)
+#define SENSORS_GRAVITY_MOON				(1.6f)
+#define SENSORS_GRAVITY_EARTH               (9.80665f)
+#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)
+
+/** Degrees/s to rad/s multiplier */
+#define SENSORS_DPS_TO_RADS               	(0.017453293F)
+/** Gauss to micro-Tesla multiplier */
+#define SENSORS_GAUSS_TO_MICROTESLA       	(100)
 
 /**
  * status of orientation sensor
@@ -768,6 +780,22 @@ typedef struct
     uint8_t reserved[3];
 } sensors_vec_t;
 
+/**
+ * sensor raw vector data
+ */
+typedef struct 
+{
+	struct 
+	{
+		int16_t x;
+		int16_t y;
+		int16_t z;
+	};
+
+	int8_t status;
+	uint8_t reserved[1];
+} sensors_raw_vec_t;
+
 /**
  * uncalibrated gyroscope and magnetometer event data
  */
@@ -830,15 +858,21 @@ 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;
 
             /* magnetic vector values are in micro-Tesla (uT) */
             sensors_vec_t   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;
 
             /* temperature is in degrees centigrade (Celsius) */
             float           temperature;
@@ -943,41 +977,109 @@ typedef struct sensor_t
     void           *reserved[6];
 } sensor_t;
 
-class SensorConfigure
+enum SensorMode
+{
+	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,
+};
+#define SENSOR_ACCEL_SENSITIVITY_2G  (0.001F)
+#define SENSOR_ACCEL_SENSITIVITY_4G  (0.002F)
+#define SENSOR_ACCEL_SENSITIVITY_8G  (0.004F)
+#define SENSOR_ACCEL_SENSITIVITY_16G (0.012F)
+
+enum SensorGyroRange
+{
+	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)
+
+enum SensorDataRate
 {
-    int32_t delay;
+	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 Sensor;
+class SensorBase;
 class SensorManager;
-typedef void (*SensorEventHandler_t)(Sensor *sensor, sensors_event_t *event, void *user_data);
+typedef void (*SensorEventHandler_t)(SensorBase *sensor, sensors_event_t *event, void *user_data);
+
+/**
+ * Sensor Configuration
+ */
+typedef struct SensorConfig
+{
+	int mode;
+
+	enum SensorDataRate data_rate;
+
+	union range
+	{
+		enum SensorAccelRange accel_range;
+		enum SensorGyroRange  gyro_range;
+	} range;
+}SensorConfig;
 
 /**
  * Sensor Base Class
  */
-class Sensor
+class SensorBase
 {
 private:
     int type;
 
 public:
-    Sensor();
-    ~Sensor();
+    SensorBase(int type);
+    ~SensorBase();
 
-    virtual int Configure(SensorConfigure *config) = 0;
-    virtual int Activate(int enable) = 0;
+    virtual int configure(SensorConfig *config) = 0;
+    virtual int activate(int enable) = 0;
 
-    virtual int Poll(sensors_event_t *events, int number, int duration) = 0;
-    virtual void GetSensor(struct sensor_t *sensor) = 0;
+    virtual int poll(sensors_event_t *events) = 0;
+    virtual void getSensor(struct sensor_t *sensor) = 0;
 
-    int GetType(void);
+    int getType(void);
 
-    int Subscribe(SensorEventHandler_t *handler, void *user_data);
-    int Publish(sensors_event_t *event);
+	int setConfig(SensorConfig *config);
+	int getConfig(SensorConfig *config);
+
+    int subscribe(SensorEventHandler_t *handler, void *user_data);
+    int publish(sensors_event_t *event);
 
 protected:
-    Sensor *next;
-    Sensor *prev;
+    SensorBase *next;
+    SensorBase *prev;
+
+	/* sensor configuration */
+	SensorConfig config;
 
     SensorEventHandler_t *evtHandler;
     void *userData;
@@ -994,14 +1096,14 @@ public:
     SensorManager();
     ~SensorManager();
 
-    static int RegisterSensor(Sensor *sensor);
-    static int DeregisterSensor(Sensor *sensor);
+    static int registerSensor(SensorBase *sensor);
+    static int unregisterSensor(SensorBase *sensor);
 
-    static Sensor *GetDefaultSensor(int type);
-    static int Subscribe(int type, SensorEventHandler_t *handler, void *user_data);
+    static SensorBase *getDefaultSensor(int type);
+    static int subscribe(int type, SensorEventHandler_t *handler, void *user_data);
 
-private:
-    Sensor *sensorList;
+	static int sensorEventReady(SensorBase *sensor);
+	static int pollSensor(SensorBase *sensor, sensors_event_t *events, int number, int duration);
 };
 
 #endif