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Diffstat (limited to 'src/sensors-service/gyroscope.c')
| -rw-r--r-- | src/sensors-service/gyroscope.c | 217 |
1 files changed, 217 insertions, 0 deletions
diff --git a/src/sensors-service/gyroscope.c b/src/sensors-service/gyroscope.c new file mode 100644 index 0000000..a0bf7b6 --- /dev/null +++ b/src/sensors-service/gyroscope.c @@ -0,0 +1,217 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup SensorsService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "globals.h" +#include "gyroscope.h" +#include "sns-meta-data.h" + +static pthread_mutex_t mutexCb = PTHREAD_MUTEX_INITIALIZER; //protects the callbacks +static pthread_mutex_t mutexData = PTHREAD_MUTEX_INITIALIZER; //protects the data + +static volatile GyroscopeCallback cbGyroscope = 0; +static TGyroscopeData gGyroscopeData = {0}; +TGyroscopeConfiguration gGyroscopeConfiguration; + +static TSensorStatus gStatus = {0}; +static volatile SensorStatusCallback cbStatus = 0; + + +bool iGyroscopeInit() +{ + pthread_mutex_lock(&mutexCb); + cbGyroscope = 0; + pthread_mutex_unlock(&mutexCb); + + pthread_mutex_lock(&mutexData); + gGyroscopeData.validityBits = 0; + //example gyroscope configuration for a 3-axis gyro + gGyroscopeConfiguration.angleYaw = 0; + gGyroscopeConfiguration.anglePitch = 0; + gGyroscopeConfiguration.angleRoll = 0; + gGyroscopeConfiguration.momentOfYawInertia = 0; + gGyroscopeConfiguration.sigmaGyroscope = 0; + gGyroscopeConfiguration.typeBits = + GYROSCOPE_YAWRATE_PROVIDED | + GYROSCOPE_PITCHRATE_PROVIDED | + GYROSCOPE_ROLLRATE_PROVIDED; + gGyroscopeConfiguration.validityBits = + GYROSCOPE_CONFIG_ANGLEYAW_VALID | + GYROSCOPE_CONFIG_ANGLEPITCH_VALID | + GYROSCOPE_CONFIG_ANGLEROLL_VALID | + GYROSCOPE_CONFIG_TYPE_VALID; + pthread_mutex_unlock(&mutexData); + + return true; +} + +bool iGyroscopeDestroy() +{ + pthread_mutex_lock(&mutexCb); + cbGyroscope = 0; + pthread_mutex_unlock(&mutexCb); + + return true; +} + +bool snsGyroscopeGetGyroscopeData(TGyroscopeData * gyroData) +{ + bool retval = false; + if(gyroData) + { + pthread_mutex_lock(&mutexData); + *gyroData = gGyroscopeData; + pthread_mutex_unlock(&mutexData); + retval = true; + } + return retval; +} + +bool snsGyroscopeRegisterCallback(GyroscopeCallback callback) +{ + bool retval = false; + + pthread_mutex_lock(&mutexCb); + //only if valid callback and not already registered + if(callback && !cbGyroscope) + { + cbGyroscope = callback; + retval = true; + } + pthread_mutex_unlock(&mutexCb); + + return retval; +} + +bool snsGyroscopeDeregisterCallback(GyroscopeCallback callback) +{ + bool retval = false; + + pthread_mutex_lock(&mutexCb); + if((cbGyroscope == callback) && callback) + { + cbGyroscope = 0; + retval = true; + } + pthread_mutex_unlock(&mutexCb); + + return retval; +} + +bool snsGyroscopeGetMetaData(TSensorMetaData *data) +{ + bool retval = false; + + if(data) + { + pthread_mutex_lock(&mutexData); + *data = gSensorsMetaData[1]; + pthread_mutex_unlock(&mutexData); + retval = true; + } + + return retval; +} + +bool snsGyroscopeGetConfiguration(TGyroscopeConfiguration* gyroConfig) +{ + bool retval = false; + if(gyroConfig) + { + pthread_mutex_lock(&mutexData); + *gyroConfig = gGyroscopeConfiguration; + pthread_mutex_unlock(&mutexData); + retval = true; + } + + return retval; +} + +void updateGyroscopeData(const TGyroscopeData gyroData[], uint16_t numElements) +{ + if (gyroData != NULL && numElements > 0) + { + pthread_mutex_lock(&mutexData); + gGyroscopeData = gyroData[numElements-1]; + pthread_mutex_unlock(&mutexData); + pthread_mutex_lock(&mutexCb); + if (cbGyroscope) + { + cbGyroscope(gyroData, numElements); + } + pthread_mutex_unlock(&mutexCb); + } +} + +bool snsGyroscopeGetStatus(TSensorStatus* status){ + bool retval = false; + if(status) + { + pthread_mutex_lock(&mutexData); + *status = gStatus; + pthread_mutex_unlock(&mutexData); + retval = true; + } + return retval; +} + +bool snsGyroscopeRegisterStatusCallback(SensorStatusCallback callback) +{ + bool retval = false; + + pthread_mutex_lock(&mutexCb); + //only if valid callback and not already registered + if(callback && !cbStatus) + { + cbStatus = callback; + retval = true; + } + pthread_mutex_unlock(&mutexCb); + + return retval; +} + +bool snsGyroscopeDeregisterStatusCallback(SensorStatusCallback callback) +{ + bool retval = false; + + pthread_mutex_lock(&mutexCb); + if((cbStatus == callback) && callback) + { + cbStatus = 0; + retval = true; + } + pthread_mutex_unlock(&mutexCb); + + return retval; +} + +void updateGyroscopeStatus(const TSensorStatus* status) +{ + if (status) + { + pthread_mutex_lock(&mutexData); + gStatus = *status; + pthread_mutex_unlock(&mutexData); + pthread_mutex_lock(&mutexCb); + if (cbStatus) + { + cbStatus(status); + } + pthread_mutex_unlock(&mutexCb); + } +}
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