diff options
| -rw-r--r-- | .gitmodules | 0 | ||||
| -rw-r--r-- | Makefile | 6 | ||||
| -rw-r--r-- | motionMonitor/Component.cdef | 4 | ||||
| -rw-r--r-- | readme.md | 76 | ||||
| -rw-r--r-- | util/util.c | 366 | ||||
| -rw-r--r-- | util/util.h | 77 |
6 files changed, 527 insertions, 2 deletions
diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..e69de29 --- /dev/null +++ b/.gitmodules diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..d15a379 --- /dev/null +++ b/Makefile @@ -0,0 +1,6 @@ +wp85: + mkapp -t wp85 motionService.adef -b +clean: + rm -r _build_* \ + *.update \ + *.app diff --git a/motionMonitor/Component.cdef b/motionMonitor/Component.cdef index 9627adf..ea17866 100644 --- a/motionMonitor/Component.cdef +++ b/motionMonitor/Component.cdef @@ -1,7 +1,7 @@ cflags: { -std=c99 - -I$BRNKL_ROOT/apps/util + -I$CURDIR/../util } requires: @@ -23,5 +23,5 @@ provides: sources: { motionMonitor.c - $BRNKL_ROOT/apps/util/util.c + $CURDIR/../util/util.c } @@ -0,0 +1,76 @@ +MangOH Motion Service +====== +This application is designed to operate on a [MongOH Red](https://mangoh.io/mangoh-red-new) WP85 board. Using **general input output** this project uses pthreads to probe the onboard bmi160 chip intermittently in order to detect a significant motion on the board. + +## Prerequisites + +When cloning use ``git clone https://github.com/brnkl/motion-service.git``. + + +## Building +Compile the project using + +wp85: ``make wp85`` + +## Setting Variables +To change the sensitivity of impact detection you must edit the `motionMonitor/motionMonitor.c` file. +The Accelerometer measures acceleration in 3 dimensions, X, Y, and Z. These dimensions of acceleration are recorded and the magnitude of their resulting vector is calculated using ``double impactMagnitude = sqrt(x * x + y * y + z * z);``. As visualized in the image below. + + + + +`#define DEFAULT_THRESHOLD_MS2 17` determines the magnitude of the resulting vector that will trigger the application to detect a sudden impact. + +If adjusting the value of `DEFAUTL_THRESHOLD_MS2` keep in mind that gravity implies a motionless magnitude of -9.8m/s^2. + +## Bindings +App.adef +``` +... +bindings: +{ + myClientApp.myComponent.brnkl_motion -> motionService.brnkl_motion +} +... +``` +Component.cdef +``` +... +requires: +{ + api: + { + brnkl_motion.api + } +} +... +``` + +## Example +For getting the current acceleration +```C +struct Acceleration{ + double x; + double y; + double z; +}; + +struct Acceleration v = value; + +le_result_t result = brnkl_motion_getCurrentAccleration(&v->x, &v->y, &v->z); +``` +To get a list of all recent impacts. + +``` + double xAcc[N_MAX_IMPACT_VALUES], yAcc[N_MAX_IMPACT_VALUES], zAcc[N_MAX_IMPACT_VALUES]; + + uint64_t timestamps[N_MAX_IMPACT_VALUES]; + + size_t xSize = N_MAX_IMPACT_VALUES, ySize = N_MAX_IMPACT_VALUES, + zSize = N_MAX_IMPACT_VALUES, timestampsSize = N_MAX_IMPACT_VALUES; + + le_result_t r = brnkl_motion_getSuddenImpact( + xAcc, &xSize, yAcc, &ySize, zAcc, &zSize, timestamps, ×tampsSize); + +``` + diff --git a/util/util.c b/util/util.c new file mode 100644 index 0000000..3042c22 --- /dev/null +++ b/util/util.c @@ -0,0 +1,366 @@ +#include "util.h" +#include "legato.h" +#include <termios.h> + +le_result_t readFromFile(const char* path, + void* value, + int (*scanCallback)(FILE* f, void* val)) { + FILE* f = fopen(path, "r"); + if (f == NULL) { + LE_WARN("Couldn't open '%s' - %m", path); + return LE_IO_ERROR; + } + int numScanned = scanCallback(f, value); + if (numScanned != 1) + return LE_FORMAT_ERROR; + fclose(f); + return LE_OK; +} + +int scanIntCallback(FILE* f, void* value) { + int* val = value; + return fscanf(f, "%d", val); +} + +int scanDoubleCallback(FILE* f, void* value) { + double* val = value; + return fscanf(f, "%lf", val); +} + +le_result_t ioutil_readIntFromFile(const char* path, int* value) { + return readFromFile(path, value, scanIntCallback); +} + +le_result_t ioutil_readDoubleFromFile(const char* path, double* value) { + return readFromFile(path, value, scanDoubleCallback); +} + +le_result_t writeToFile(const char* path, + void* value, + size_t size, + size_t count, + const char* openMode) { + FILE* f = fopen(path, openMode); + if (f == NULL) { + LE_WARN("Failed to open %s for writing", path); + return LE_IO_ERROR; + } + fwrite(value, size, count, f); + fflush(f); + fclose(f); + return LE_OK; +} + +le_result_t ioutil_writeToFile(const char* path, + void* value, + size_t size, + size_t count) { + return writeToFile(path, value, size, count, "w"); +} + +le_result_t ioutil_appendToFile(const char* path, + void* value, + size_t size, + size_t count) { + return writeToFile(path, value, size, count, "a"); +} + +le_result_t util_flattenRes(le_result_t* res, int nRes) { + for (int i = 0; i < nRes; i++) { + if (res[i] != LE_OK) + return res[i]; + } + return LE_OK; +} + +int util_getUnixDatetime() { + struct timeval tv; + gettimeofday(&tv, NULL); + return tv.tv_sec; +} + +/** + * Get the last modified datetime + * of the file at path + */ +time_t util_getMTime(char* path) { + struct stat st; + if (stat(path, &st) != 0) + return -1; + else + return st.st_mtime; +} + +bool util_fileExists(const char* path) { + struct stat st; + return stat(path, &st) == 0; +} + +bool util_alreadyMounted(const char* devPath) { + char content[2048]; + FILE* f = fopen("/proc/mounts", "r"); + if (f == NULL) { + return false; + } + fread(content, sizeof(char), sizeof(content), f); + // if this ref is non-null, we found a match + return strstr(content, devPath) != NULL; +} + +uint64_t GetCurrentTimestamp(void) { + struct timeval tv; + gettimeofday(&tv, NULL); + uint64_t utcMilliSec = + (uint64_t)(tv.tv_sec) * 1000 + (uint64_t)(tv.tv_usec) / 1000; + return utcMilliSec; +} + +// TODO verify this is working +le_result_t gpio_exportPin(char* pin) { + int len = strlen(pin); + return ioutil_writeToFile("/sys/class/gpio/export", &pin, sizeof(char), len); +} + +le_result_t gpio_unexportPin(char* pin) { + int len = strlen(pin); + return ioutil_writeToFile("/sys/class/gpio/unexport", &pin, sizeof(char), + len); +} + +void getGpioPath(char* outputStr, char* pin, char* subDir) { + sprintf(outputStr, "/sys/class/gpio/gpio%s/%s", pin, subDir); +} + +le_result_t gpio_setDirection(char* pin, char* direction) { + char path[100]; + getGpioPath(path, pin, "direction"); + return ioutil_writeToFile(path, direction, sizeof(char), strlen(direction)); +} + +le_result_t gpio_setPull(char* pin, char* pull) { + char path[100]; + getGpioPath(path, pin, "pull"); + return ioutil_writeToFile(path, pull, sizeof(char), strlen(pull)); +} + +le_result_t gpio_pullDown(char* pin) { + return gpio_setPull(pin, "down"); +} + +le_result_t gpio_pullUp(char* pin) { + return gpio_setPull(pin, "up"); +} + +le_result_t gpio_setInput(char* pin) { + return gpio_setDirection(pin, "in"); +} + +le_result_t gpio_setOutput(char* pin) { + return gpio_setDirection(pin, "out"); +} + +le_result_t gpio_setActiveState(char* pin, bool isActiveLow) { + // Any non zero value toggles the existing value + // so we must read the existing value first + char path[100]; + int isActiveLowSet; + getGpioPath(path, pin, "active_low"); + le_result_t readRes = ioutil_readIntFromFile(path, &isActiveLowSet); + le_result_t writeRes = LE_OK; + if (isActiveLow != isActiveLowSet) { + writeRes = ioutil_writeToFile(path, "1", sizeof(char), 1); + } + return readRes == LE_OK && writeRes == LE_OK ? LE_OK : LE_FAULT; +} + +le_result_t gpio_isActive(char* pin, bool* isActive) { + char path[50]; + getGpioPath(path, pin, "value"); + int val; + le_result_t readRes = ioutil_readIntFromFile(path, &val); + *isActive = val; + return readRes; +} + +le_result_t gpio_setValue(char* pin, bool state) { + char path[50]; + getGpioPath(path, pin, "value"); + char* strState = state ? "1" : "0"; + return ioutil_writeToFile(path, &strState, sizeof(char), strlen(strState)); +} + +le_result_t gpio_setLow(char* pin) { + return gpio_setValue(pin, LOW); +} + +le_result_t gpio_setHigh(char* pin) { + return gpio_setValue(pin, HIGH); +} + +void* util_find(Functional* f) { + f->args.i = 0; + while (f->args.i < f->n) { + if (f->callback(&f->args)) { + return f->derefCallback(f->args.i, f->args.arr); + } + f->args.i++; + } + return NULL; +} + +void util_listDir(const char* dir, char* dest, size_t size) { + struct dirent* de; + char toConcat[1024]; + DIR* dr = opendir(dir); + if (dr == NULL) + return; + while ((de = readdir(dr)) != NULL) { + if (de->d_name[0] != '.') { + snprintf(toConcat, size, "%s,", de->d_name); + strncat(dest, toConcat, size); + } + } + closedir(dr); +} + +/** + * Convert an integer baud rate to a speed_t + */ +speed_t fd_convertBaud(int baud) { + speed_t b; + switch (baud) { + case 50: + b = B50; + break; + case 75: + b = B75; + break; + case 110: + b = B110; + break; + case 134: + b = B134; + break; + case 150: + b = B150; + break; + case 200: + b = B200; + break; + case 300: + b = B300; + break; + case 600: + b = B600; + break; + case 1200: + b = B1200; + break; + case 1800: + b = B1800; + break; + case 2400: + b = B2400; + break; + case 9600: + b = B9600; + break; + case 19200: + b = B19200; + break; + case 38400: + b = B38400; + break; + case 57600: + b = B57600; + break; + case 115200: + b = B115200; + break; + case 230400: + b = B230400; + break; + case 921600: + b = B921600; + break; + default: + b = -2; + } + return b; +} + +/** + * Open a serial connection on device + * + * Lifted from here + * https://github.com/WiringPi/WiringPi/blob/master/wiringPi/wiringSerial.c + */ +int fd_openSerial(const char* device, int baud) { + struct termios options; + speed_t binaryBaud = fd_convertBaud(baud); + int status, fd; + if ((fd = open(device, O_RDWR | O_NOCTTY | O_NDELAY | O_NONBLOCK)) == -1) + return -1; + fcntl(fd, F_SETFL, O_RDWR); + tcgetattr(fd, &options); + cfmakeraw(&options); + cfsetispeed(&options, binaryBaud); + cfsetospeed(&options, binaryBaud); + + options.c_cflag |= (CLOCAL | CREAD); + options.c_cflag &= ~PARENB; + options.c_cflag &= ~CSTOPB; + options.c_cflag &= ~CSIZE; + options.c_cflag |= CS8; + options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); + options.c_oflag &= ~OPOST; + + options.c_cc[VMIN] = 0; + options.c_cc[VTIME] = 10; // Ten seconds (100 deciseconds) + + tcsetattr(fd, TCSANOW | TCSAFLUSH, &options); + + ioctl(fd, TIOCMGET, &status); + + status |= TIOCM_DTR; + status |= TIOCM_RTS; + + ioctl(fd, TIOCMSET, &status); + usleep(10000); // 10mS + return fd; +} + +int fd_puts(const int fd, const char* s) { + return write(fd, s, strlen(s)); +} + +int fd_getChar(const int fd) { + uint8_t x; + + if (read(fd, &x, 1) != 1) + return -1; + + return ((int)x) & 0xFF; +} + +void fd_flush(const int fd) { + // tcflush(fd, TCIOFLUSH); + tcdrain(fd); +} + +void fd_flushInput(const int fd) { + tcflush(fd, TCIFLUSH); +} + +int fd_dataAvail(int fd, int* data) { + return ioctl(fd, FIONREAD, data); +} + +double util_avgDouble(double* readings, int nReadings) { + double sum = 0; + for (int i = 0; i < nReadings; i++) { + sum += readings[i]; + } + + return sum / nReadings; +} diff --git a/util/util.h b/util/util.h new file mode 100644 index 0000000..06ef2fb --- /dev/null +++ b/util/util.h @@ -0,0 +1,77 @@ +#ifndef UTIL_H +#define UTIL_H + +#include "legato.h" +#include <termios.h> + +#define HIGH 1 +#define LOW 0 + +typedef struct { + int i; + void* arr; + void* ctxp; +} FunctionalArgs; + +typedef struct { + int n; // number of elements in array + bool (*callback)(FunctionalArgs* args); // callback applied to arr[i] + void* (*derefCallback)(int i, void* j); // callback used to deference arr[i] + FunctionalArgs args; +} Functional; + +// ioutil +le_result_t readFromFile(const char* path, + void* value, + int (*scanCallback)(FILE* f, void* val)); +int scanDoubleCallback(FILE* f, void* value); +le_result_t ioutil_readIntFromFile(const char* path, int* value); +le_result_t ioutil_readDoubleFromFile(const char* filePath, double* value); +le_result_t ioutil_writeToFile(const char* path, + void* value, + size_t size, + size_t count); + +le_result_t ioutil_appendToFile(const char* path, + void* value, + size_t size, + size_t count); + +// TODO fix this name (no PascalCase) +uint64_t GetCurrentTimestamp(void); +time_t util_getMTime(char* path); +int util_getUnixDatetime(); +le_result_t util_flattenRes(le_result_t* res, int nRes); +bool util_fileExists(const char* path); +bool util_alreadyMounted(const char* devPath); +double util_avgDouble(double* readings, int nReadings); + +// TODO verify this is working +le_result_t gpio_exportPin(char* pin); +le_result_t gpio_unexportPin(char* pin); +void getGpioPath(char* outputStr, char* pin, char* subDir); +le_result_t gpio_setDirection(char* pin, char* direction); +le_result_t gpio_setInput(char* pin); +le_result_t gpio_setOutput(char* pin); +le_result_t gpio_setActiveState(char* pin, bool isActiveLow); +le_result_t gpio_isActive(char* pin, bool* isActive); +le_result_t gpio_setValue(char* pin, bool state); +le_result_t gpio_setLow(char* pin); +le_result_t gpio_setHigh(char* pin); +le_result_t gpio_setPull(char* pin, char* pull); +le_result_t gpio_pullDown(char* pin); +le_result_t gpio_pullUp(char* pin); + +void* util_find(Functional* f); + +void util_listDir(const char* dir, char* dest, size_t size); + +int fd_openSerial(const char* device, int baud); +speed_t fd_convertBaud(int baud); +int fd_puts(const int fd, const char* s); +int fd_getChar(const int fd); +void fd_flush(const int fd); +int fd_dataAvail(int fd, int* data); +void fd_flushInput(const int fd); + +#endif |