diff options
| -rw-r--r-- | brnkl_motion.api | 3 | ||||
| -rw-r--r-- | motionMonitor/Component.cdef | 27 | ||||
| -rw-r--r-- | motionMonitor/motionMonitor.c | 116 | ||||
| -rw-r--r-- | motionService.adef | 32 | ||||
| -rw-r--r-- | readme.md | 0 |
5 files changed, 178 insertions, 0 deletions
diff --git a/brnkl_motion.api b/brnkl_motion.api new file mode 100644 index 0000000..f5d3154 --- /dev/null +++ b/brnkl_motion.api @@ -0,0 +1,3 @@ +FUNCTION int8 hasSuddenImpact (); +FUNCTION le_result_t getSuddenImpact (double x OUT, double y OUT, double z OUT); +FUNCTION le_result_t getCurrentAcceleration (double x OUT, double y OUT, double z OUT); diff --git a/motionMonitor/Component.cdef b/motionMonitor/Component.cdef new file mode 100644 index 0000000..9627adf --- /dev/null +++ b/motionMonitor/Component.cdef @@ -0,0 +1,27 @@ +cflags: +{ + -std=c99 + -I$BRNKL_ROOT/apps/util +} + +requires: +{ + api: + { + interrupt = le_gpio.api + } +} + +provides: +{ + api: + { + $CURDIR/../brnkl_motion.api + } +} + +sources: +{ + motionMonitor.c + $BRNKL_ROOT/apps/util/util.c +} diff --git a/motionMonitor/motionMonitor.c b/motionMonitor/motionMonitor.c new file mode 100644 index 0000000..9028653 --- /dev/null +++ b/motionMonitor/motionMonitor.c @@ -0,0 +1,116 @@ +#include "interfaces.h" +#include "legato.h" +#include "util.h" + +static const char FormatStr[] = + "/sys/bus/i2c/devices/3-0068/iio:device0/in_%s_%s"; +static const char AccType[] = "accel"; +static const char GyroType[] = "anglvel"; +static const char CompX[] = "x_raw"; +static const char CompY[] = "y_raw"; +static const char CompZ[] = "z_raw"; +static const char CompScale[] = "scale"; + +typedef struct { + double x; + double y; + double z; +} Acceleration; + +bool hasSuddenImpact = false; +Acceleration suddenImpact = {0, 0, 0}; + +/** + * Reports the x, y and z accelerometer readings in meters per second squared. + */ +le_result_t brnkl_motion_getCurrentAcceleration(double* xAcc, + double* yAcc, + double* zAcc) { + le_result_t r; + char path[256]; + + double scaling = 0.0; + int pathLen = snprintf(path, sizeof(path), FormatStr, AccType, CompScale); + LE_ASSERT(pathLen < sizeof(path)); + r = ioutil_readDoubleFromFile(path, &scaling); + if (r != LE_OK) { + goto done; + } + + pathLen = snprintf(path, sizeof(path), FormatStr, AccType, CompX); + LE_ASSERT(pathLen < sizeof(path)); + r = ioutil_readDoubleFromFile(path, xAcc); + if (r != LE_OK) { + goto done; + } + *xAcc *= scaling; + + pathLen = snprintf(path, sizeof(path), FormatStr, AccType, CompY); + LE_ASSERT(pathLen < sizeof(path)); + r = ioutil_readDoubleFromFile(path, yAcc); + if (r != LE_OK) { + goto done; + } + *yAcc *= scaling; + + pathLen = snprintf(path, sizeof(path), FormatStr, AccType, CompZ); + LE_ASSERT(pathLen < sizeof(path)); + r = ioutil_readDoubleFromFile(path, zAcc); + *zAcc *= scaling; + +done: + LE_INFO("Showing accel: x: %f, y: %f, z: %f", *xAcc, *yAcc, *zAcc); + return r; +} + +le_result_t brnkl_motion_getSuddenImpact(double* xAcc, + double* yAcc, + double* zAcc) { + *xAcc = suddenImpact.x; + *yAcc = suddenImpact.y; + *zAcc = suddenImpact.z; + suddenImpact.x = 0; + suddenImpact.y = 0; + suddenImpact.z = 0; + hasSuddenImpact = false; + return LE_OK; +} + +int8_t brnkl_motion_hasSuddenImpact() { + return hasSuddenImpact; +} + +// take a reading but make sure its "larger" than +// whatever is already in the buffer +void interruptChangeHandler(bool state, void* ctx) { + double x, y, z; + le_result_t r = brnkl_motion_getCurrentAcceleration(&x, &y, &z); + LE_INFO("TRIGGERED x:%f y:%f z:%f", x, y, z); + if (r == LE_OK) { + bool updateX = fabs(x) > fabs(suddenImpact.x); + bool updateY = fabs(y) > fabs(suddenImpact.y); + bool updateZ = fabs(z) > fabs(suddenImpact.z); + if (updateX) { + suddenImpact.x = x; + } + if (updateY) { + suddenImpact.y = y; + } + if (updateZ) { + suddenImpact.z = z; + } + if (updateX || updateY || updateZ) { + hasSuddenImpact = true; + } + } +} + +void initGpio() { + interrupt_SetInput(INTERRUPT_ACTIVE_HIGH); + interrupt_AddChangeEventHandler(INTERRUPT_EDGE_RISING, interruptChangeHandler, + NULL, 0); +} + +COMPONENT_INIT { + initGpio(); +} diff --git a/motionService.adef b/motionService.adef new file mode 100644 index 0000000..f76663d --- /dev/null +++ b/motionService.adef @@ -0,0 +1,32 @@ +sandboxed: false +version: 2.14.0 +start: auto + +executables: +{ + motionService = ( motionMonitor ) +} + +processes: +{ + envVars: + { + LE_LOG_LEVEL = DEBUG + } + run: + { + ( motionService ) + } + faultAction: restartApp +} + +bindings: +{ + + motionService.motionMonitor.interrupt -> gpioService.le_gpioPin23 +} + +extern: +{ + motionService.motionMonitor.brnkl_motion +} diff --git a/readme.md b/readme.md new file mode 100644 index 0000000..e69de29 --- /dev/null +++ b/readme.md |