1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
|
#include "interfaces.h"
#include "legato.h"
#include "util.h"
#include <pthread.h>
void *impactMonitor(void *);
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";
bool hasSuddenImpact = false;
static const int impactThreshold = 20;
typedef struct {
double x;
double y;
double z;
} Acceleration;
pthread_t impact_thread;
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];
if(hasSuddenImpact){
LE_INFO("hasSuddenImpact");
hasSuddenImpact = false;
}
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;
}
/*
*return 1 if hardware has been in a sudden impact.
*/
int8_t brnkl_motion_hasSuddenImpact() {
if(hasSuddenImpact){
hasSuddenImpact = false;
return 1;
}
return 0;
}
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;
}
/*
*Monitors accelerometer from iio on 100ms intervals
*Sets hasSuddenImpact flag when accelerometer surpasses threshold
*/
void *impactMonitor(void * ptr){
double x, y, z;
for(;;){
brnkl_motion_getCurrentAcceleration(&x, &y, &z);
if(
abs(x) +
abs(y) +
abs(z) >
impactThreshold
)
hasSuddenImpact = true;
usleep(100*1000);
}
return ptr;
}
/*
*Create thread to monitor accelerometer iio
*/
void initThread(){
int thread;
thread = pthread_create( &impact_thread, NULL, impactMonitor, NULL);
if(thread){
LE_INFO("Reader Thread Created");
}else{
LE_ERROR("Reader Thread Creation Failed");
}
}
COMPONENT_INIT {
initThread();
}
|
