diff options
Diffstat (limited to 'motionMonitor')
| -rw-r--r-- | motionMonitor/motionMonitor.c | 149 |
1 files changed, 68 insertions, 81 deletions
diff --git a/motionMonitor/motionMonitor.c b/motionMonitor/motionMonitor.c index a4736e2..0af8728 100644 --- a/motionMonitor/motionMonitor.c +++ b/motionMonitor/motionMonitor.c @@ -6,27 +6,28 @@ #define N_CHANGE_BLOCKS 200 #define SAMPLE_PERIOD_MS 100 -void *impactMonitor(void *); +void* impactMonitor(void*); -typedef struct{ +typedef struct { double x; double y; double z; } Acceleration; -double xAccImpact [N_CHANGE_BLOCKS]; -double yAccImpact [N_CHANGE_BLOCKS]; -double zAccImpact [N_CHANGE_BLOCKS]; -uint64_t timestamps [N_CHANGE_BLOCKS]; - -static const char FormatStr[] = "/sys/devices/i2c-0/0-0068/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"; +double xAccImpact[N_CHANGE_BLOCKS]; +double yAccImpact[N_CHANGE_BLOCKS]; +double zAccImpact[N_CHANGE_BLOCKS]; +uint64_t timestamps[N_CHANGE_BLOCKS]; + +static const char FormatStr[] = + "/sys/devices/i2c-0/0-0068/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"; -int totalImpacts = 0; +int totalImpacts = 0; static const double impactThreshold = 20.0; Acceleration suddenImpact = {0, 0, 0}; @@ -34,55 +35,45 @@ Acceleration suddenImpact = {0, 0, 0}; pthread_t impactThread; pthread_mutex_t impactMutex; - /* * 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; - r = ioutil_readDoubleFromFile(path, &scaling); - if (r != LE_OK) - { - goto done; - } +le_result_t brnkl_motion_getCurrentAcceleration(double* xAcc, + double* yAcc, + double* zAcc) { + le_result_t r; + char path[256]; - r = ioutil_readDoubleFromFile(path, xAcc); - if (r != LE_OK) - { - goto done; - } - *xAcc *= scaling; + double scaling = 0.0; + r = ioutil_readDoubleFromFile(path, &scaling); + if (r != LE_OK) { + goto done; + } - r = ioutil_readDoubleFromFile(path, yAcc); - if (r != LE_OK) - { - goto done; - } - *yAcc *= scaling; + r = ioutil_readDoubleFromFile(path, xAcc); + if (r != LE_OK) { + goto done; + } + *xAcc *= scaling; - r = ioutil_readDoubleFromFile(path, zAcc); - *zAcc *= scaling; + r = ioutil_readDoubleFromFile(path, yAcc); + if (r != LE_OK) { + goto done; + } + *yAcc *= scaling; + + r = ioutil_readDoubleFromFile(path, zAcc); + *zAcc *= scaling; done: - LE_INFO("Showing accel X: %f Y: %f Z: %f ", *xAcc, *yAcc, *zAcc); - return r; + LE_INFO("Showing accel X: %f Y: %f Z: %f ", *xAcc, *yAcc, *zAcc); + return r; } -le_result_t recordImpact(double* xAcc, double* yAcc, double* zAcc){ - if( - totalImpacts > N_CHANGE_BLOCKS || - totalImpacts > N_CHANGE_BLOCKS || - totalImpacts > N_CHANGE_BLOCKS - ) +le_result_t recordImpact(double* xAcc, double* yAcc, double* zAcc) { + if (totalImpacts > N_CHANGE_BLOCKS || totalImpacts > N_CHANGE_BLOCKS || + totalImpacts > N_CHANGE_BLOCKS) return LE_OUT_OF_RANGE; timestamps[totalImpacts] = GetCurrentTimestamp(); @@ -95,31 +86,28 @@ le_result_t recordImpact(double* xAcc, double* yAcc, double* zAcc){ return LE_OK; } -le_result_t brnkl_motion_getSuddenImpact(double* xAcc, size_t *xSize, - double* yAcc, size_t *ySize, - double* zAcc, size_t *zSize) { - - if(!totalImpacts) +le_result_t brnkl_motion_getSuddenImpact(double* xAcc, + size_t* xSize, + double* yAcc, + size_t* ySize, + double* zAcc, + size_t* zSize) { + if (!totalImpacts) LE_INFO("No Sudden Impacts to Report"); else { pthread_mutex_lock(&impactMutex); - //check + // check - if( - totalImpacts < *xSize || - totalImpacts < *ySize || - totalImpacts < *zSize - ) - return LE_OUT_OF_RANGE; + if (totalImpacts < *xSize || totalImpacts < *ySize || totalImpacts < *zSize) + return LE_OUT_OF_RANGE; - for(int i = 0; i < totalImpacts; i++){ + for (int i = 0; i < totalImpacts; i++) { xAcc[i] = xAccImpact[i]; yAcc[i] = yAccImpact[i]; zAcc[i] = zAccImpact[i]; } - - *xSize = *ySize = *zSize = totalImpacts; + *xSize = *ySize = *zSize = totalImpacts; totalImpacts = 0; @@ -133,25 +121,24 @@ le_result_t brnkl_motion_getSuddenImpact(double* xAcc, size_t *xSize, *Monitors accelerometer from iio on 100ms intervals *Sets hasSuddenImpact flag when accelerometer surpasses threshold */ -void *impactMonitor(void * ptr){ +void* impactMonitor(void* ptr) { double x, y, z; le_result_t r = LE_OK; - for(;;){ + for (;;) { brnkl_motion_getCurrentAcceleration(&x, &y, &z); - double impactMagnitude = sqrt(x*x + y*y + z*z); + double impactMagnitude = sqrt(x * x + y * y + z * z); - if(impactMagnitude > impactThreshold){ - //3. add x, y, z to impact array + if (impactMagnitude > impactThreshold) { + // 3. add x, y, z to impact array pthread_mutex_lock(&impactMutex); r = recordImpact(&x, &y, &z); pthread_mutex_unlock(&impactMutex); - } - if(r != LE_OK) + } + if (r != LE_OK) LE_ERROR("Impact Not Recorded"); - usleep(SAMPLE_PERIOD_MS*1000); - + usleep(SAMPLE_PERIOD_MS * 1000); } return ptr; } @@ -159,15 +146,15 @@ void *impactMonitor(void * ptr){ /* *Create thread to monitor accelerometer iio */ -void initThread(){ +void initThread() { int thread, mutx; LE_INFO("initThread called"); - mutx = pthread_mutex_init(&impactMutex, NULL); - thread = pthread_create( &impactThread, NULL, impactMonitor, NULL); + mutx = pthread_mutex_init(&impactMutex, NULL); + thread = pthread_create(&impactThread, NULL, impactMonitor, NULL); LE_INFO("mutexResult: %d", mutx); - if(thread || mutx){ + if (thread || mutx) { LE_ERROR("Reader Thread or Mutex Creation Failed"); - }else{ + } else { LE_INFO("Reader Thread Created"); } } |