1 files changed, 116 insertions, 0 deletions
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();
+}