libs/rt-thread-official
libs
/
rt-thread-official
mirror of https://github.com/RT-Thread/rt-thread.git
4
0
Fork 0
Code Issues Releases Wiki Activity

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

This commit is contained in:
bernard 2014-12-31 22:33:54 +08:00
parent b73283135d
commit 58163f49e0
2 changed files with 205 additions and 60 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

111
components/drivers/sensors/sensor.cpp
View File

@ -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;
}

154
components/drivers/sensors/sensor.h
View File

@ -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
{
int32_t delay;
SENSOR_MODE_RAW,
SENSOR_MODE_CALIBRATED,
SENSOR_MODE_NORMAL,
};
class Sensor;
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
{
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)(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