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/**************************************************************************
* @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;
TGyroscopeConfiguration gGyroscopeConfiguration;
bool iGyroscopeInit()
{
pthread_mutex_lock(&mutexCb);
cbGyroscope = 0;
pthread_mutex_unlock(&mutexCb);
pthread_mutex_lock(&mutexData);
//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;
//only if valid callback and not already registered
if(callback && !cbGyroscope)
{
pthread_mutex_lock(&mutexCb);
cbGyroscope = callback;
pthread_mutex_unlock(&mutexCb);
retval = true;
}
return retval;
}
bool snsGyroscopeDeregisterCallback(GyroscopeCallback callback)
{
bool retval = false;
if((cbGyroscope == callback) && callback)
{
pthread_mutex_lock(&mutexCb);
cbGyroscope = 0;
pthread_mutex_unlock(&mutexCb);
retval = true;
}
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);
}
}
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