Nikhilesh Behera
/
Adafruit9-DOf
Port of Adafruit Arduino code
Fork of Adafruit9-DOf by
Header/Adafruit_Sensor.h@0:772bf4786416, 2015-03-21 (annotated)
- Committer:
- bmanga95
- Date:
- Sat Mar 21 12:33:05 2015 +0000
- Revision:
- 0:772bf4786416
First version
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bmanga95 | 0:772bf4786416 | 1 | /* |
bmanga95 | 0:772bf4786416 | 2 | * Copyright (C) 2008 The Android Open Source Project |
bmanga95 | 0:772bf4786416 | 3 | * |
bmanga95 | 0:772bf4786416 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
bmanga95 | 0:772bf4786416 | 5 | * you may not use this file except in compliance with the License. |
bmanga95 | 0:772bf4786416 | 6 | * You may obtain a copy of the License at |
bmanga95 | 0:772bf4786416 | 7 | * |
bmanga95 | 0:772bf4786416 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
bmanga95 | 0:772bf4786416 | 9 | * |
bmanga95 | 0:772bf4786416 | 10 | * Unless required by applicable law or agreed to in writing, software< /span> |
bmanga95 | 0:772bf4786416 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
bmanga95 | 0:772bf4786416 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
bmanga95 | 0:772bf4786416 | 13 | * See the License for the specific language governing permissions and |
bmanga95 | 0:772bf4786416 | 14 | * limitations under the License. |
bmanga95 | 0:772bf4786416 | 15 | */ |
bmanga95 | 0:772bf4786416 | 16 | |
bmanga95 | 0:772bf4786416 | 17 | #include <cstdint> |
bmanga95 | 0:772bf4786416 | 18 | using namespace std; |
bmanga95 | 0:772bf4786416 | 19 | |
bmanga95 | 0:772bf4786416 | 20 | /* Update by K. Townsend (Adafruit Industries) for lighter typedefs, and |
bmanga95 | 0:772bf4786416 | 21 | * extended sensor support to include color, voltage and current */ |
bmanga95 | 0:772bf4786416 | 22 | |
bmanga95 | 0:772bf4786416 | 23 | #ifndef _ADAFRUIT_SENSOR_H |
bmanga95 | 0:772bf4786416 | 24 | #define _ADAFRUIT_SENSOR_H |
bmanga95 | 0:772bf4786416 | 25 | |
bmanga95 | 0:772bf4786416 | 26 | |
bmanga95 | 0:772bf4786416 | 27 | /* Intentionally modeled after sensors.h in the Android API: |
bmanga95 | 0:772bf4786416 | 28 | * https://github.com/android/platform_hardware_libhardware/blob/master/include/hardware/sensors.h */ |
bmanga95 | 0:772bf4786416 | 29 | |
bmanga95 | 0:772bf4786416 | 30 | /* Constants */ |
bmanga95 | 0:772bf4786416 | 31 | #define SENSORS_GRAVITY_EARTH (9.80665F) /**< Earth's gravity in m/s^2 */ |
bmanga95 | 0:772bf4786416 | 32 | #define SENSORS_GRAVITY_MOON (1.6F) /**< The moon's gravity in m/s^2 */ |
bmanga95 | 0:772bf4786416 | 33 | #define SENSORS_GRAVITY_SUN (275.0F) /**< The sun's gravity in m/s^2 */ |
bmanga95 | 0:772bf4786416 | 34 | #define SENSORS_GRAVITY_STANDARD (SENSORS_GRAVITY_EARTH) |
bmanga95 | 0:772bf4786416 | 35 | #define SENSORS_MAGFIELD_EARTH_MAX (60.0F) /**< Maximum magnetic field on Earth's surface */ |
bmanga95 | 0:772bf4786416 | 36 | #define SENSORS_MAGFIELD_EARTH_MIN (30.0F) /**< Minimum magnetic field on Earth's surface */ |
bmanga95 | 0:772bf4786416 | 37 | #define SENSORS_PRESSURE_SEALEVELHPA (1013.25F) /**< Average sea level pressure is 1013.25 hPa */ |
bmanga95 | 0:772bf4786416 | 38 | #define SENSORS_DPS_TO_RADS (0.017453293F) /**< Degrees/s to rad/s multiplier */ |
bmanga95 | 0:772bf4786416 | 39 | #define SENSORS_GAUSS_TO_MICROTESLA (100) /**< Gauss to micro-Tesla multiplier */ |
bmanga95 | 0:772bf4786416 | 40 | |
bmanga95 | 0:772bf4786416 | 41 | /** Sensor types */ |
bmanga95 | 0:772bf4786416 | 42 | typedef enum |
bmanga95 | 0:772bf4786416 | 43 | { |
bmanga95 | 0:772bf4786416 | 44 | SENSOR_TYPE_ACCELEROMETER = (1), /**< Gravity + linear acceleration */ |
bmanga95 | 0:772bf4786416 | 45 | SENSOR_TYPE_MAGNETIC_FIELD = (2), |
bmanga95 | 0:772bf4786416 | 46 | SENSOR_TYPE_ORIENTATION = (3), |
bmanga95 | 0:772bf4786416 | 47 | SENSOR_TYPE_GYROSCOPE = (4), |
bmanga95 | 0:772bf4786416 | 48 | SENSOR_TYPE_LIGHT = (5), |
bmanga95 | 0:772bf4786416 | 49 | SENSOR_TYPE_PRESSURE = (6), |
bmanga95 | 0:772bf4786416 | 50 | SENSOR_TYPE_PROXIMITY = (8), |
bmanga95 | 0:772bf4786416 | 51 | SENSOR_TYPE_GRAVITY = (9), |
bmanga95 | 0:772bf4786416 | 52 | SENSOR_TYPE_LINEAR_ACCELERATION = (10), /**< Acceleration not including gravity */ |
bmanga95 | 0:772bf4786416 | 53 | SENSOR_TYPE_ROTATION_VECTOR = (11), |
bmanga95 | 0:772bf4786416 | 54 | SENSOR_TYPE_RELATIVE_HUMIDITY = (12), |
bmanga95 | 0:772bf4786416 | 55 | SENSOR_TYPE_AMBIENT_TEMPERATURE = (13), |
bmanga95 | 0:772bf4786416 | 56 | SENSOR_TYPE_VOLTAGE = (15), |
bmanga95 | 0:772bf4786416 | 57 | SENSOR_TYPE_CURRENT = (16), |
bmanga95 | 0:772bf4786416 | 58 | SENSOR_TYPE_COLOR = (17) |
bmanga95 | 0:772bf4786416 | 59 | } sensors_type_t; |
bmanga95 | 0:772bf4786416 | 60 | |
bmanga95 | 0:772bf4786416 | 61 | /** struct sensors_vec_s is used to return a vector in a common format. */ |
bmanga95 | 0:772bf4786416 | 62 | typedef struct { |
bmanga95 | 0:772bf4786416 | 63 | union { |
bmanga95 | 0:772bf4786416 | 64 | float v[3]; |
bmanga95 | 0:772bf4786416 | 65 | struct { |
bmanga95 | 0:772bf4786416 | 66 | float x; |
bmanga95 | 0:772bf4786416 | 67 | float y; |
bmanga95 | 0:772bf4786416 | 68 | float z; |
bmanga95 | 0:772bf4786416 | 69 | }; |
bmanga95 | 0:772bf4786416 | 70 | /* Orientation sensors */ |
bmanga95 | 0:772bf4786416 | 71 | struct { |
bmanga95 | 0:772bf4786416 | 72 | float roll; /**< Rotation around the longitudinal axis (the plane body, 'X axis'). Roll is positive and increasing when moving downward. -90�<=roll<=90� */ |
bmanga95 | 0:772bf4786416 | 73 | float pitch; /**< Rotation around the lateral axis (the wing span, 'Y axis'). Pitch is positive and increasing when moving upwards. -180�<=pitch<=180�) */ |
bmanga95 | 0:772bf4786416 | 74 | float heading; /**< Angle between the longitudinal axis (the plane body) and magnetic north, measured clockwise when viewing from the top of the device. 0-359� */ |
bmanga95 | 0:772bf4786416 | 75 | }; |
bmanga95 | 0:772bf4786416 | 76 | }; |
bmanga95 | 0:772bf4786416 | 77 | int8_t status; |
bmanga95 | 0:772bf4786416 | 78 | uint8_t reserved[3]; |
bmanga95 | 0:772bf4786416 | 79 | } sensors_vec_t; |
bmanga95 | 0:772bf4786416 | 80 | |
bmanga95 | 0:772bf4786416 | 81 | /** struct sensors_color_s is used to return color data in a common format. */ |
bmanga95 | 0:772bf4786416 | 82 | typedef struct { |
bmanga95 | 0:772bf4786416 | 83 | union { |
bmanga95 | 0:772bf4786416 | 84 | float c[3]; |
bmanga95 | 0:772bf4786416 | 85 | /* RGB color space */ |
bmanga95 | 0:772bf4786416 | 86 | struct { |
bmanga95 | 0:772bf4786416 | 87 | float r; /**< Red component */ |
bmanga95 | 0:772bf4786416 | 88 | float g; /**< Green component */ |
bmanga95 | 0:772bf4786416 | 89 | float b; /**< Blue component */ |
bmanga95 | 0:772bf4786416 | 90 | }; |
bmanga95 | 0:772bf4786416 | 91 | }; |
bmanga95 | 0:772bf4786416 | 92 | uint32_t rgba; /**< 24-bit RGBA value */ |
bmanga95 | 0:772bf4786416 | 93 | } sensors_color_t; |
bmanga95 | 0:772bf4786416 | 94 | |
bmanga95 | 0:772bf4786416 | 95 | /* Sensor event (36 bytes) */ |
bmanga95 | 0:772bf4786416 | 96 | /** struct sensor_event_s is used to provide a single sensor event in a common format. */ |
bmanga95 | 0:772bf4786416 | 97 | typedef struct |
bmanga95 | 0:772bf4786416 | 98 | { |
bmanga95 | 0:772bf4786416 | 99 | int32_t version; /**< must be sizeof(struct sensors_event_t) */ |
bmanga95 | 0:772bf4786416 | 100 | int32_t sensor_id; /**< unique sensor identifier */ |
bmanga95 | 0:772bf4786416 | 101 | int32_t type; /**< sensor type */ |
bmanga95 | 0:772bf4786416 | 102 | int32_t reserved0; /**< reserved */ |
bmanga95 | 0:772bf4786416 | 103 | int32_t timestamp; /**< time is in milliseconds */ |
bmanga95 | 0:772bf4786416 | 104 | union |
bmanga95 | 0:772bf4786416 | 105 | { |
bmanga95 | 0:772bf4786416 | 106 | float data[4]; |
bmanga95 | 0:772bf4786416 | 107 | sensors_vec_t acceleration; /**< acceleration values are in meter per second per second (m/s^2) */ |
bmanga95 | 0:772bf4786416 | 108 | sensors_vec_t magnetic; /**< magnetic vector values are in micro-Tesla (uT) */ |
bmanga95 | 0:772bf4786416 | 109 | sensors_vec_t orientation; /**< orientation values are in degrees */ |
bmanga95 | 0:772bf4786416 | 110 | sensors_vec_t gyro; /**< gyroscope values are in rad/s */ |
bmanga95 | 0:772bf4786416 | 111 | float temperature; /**< temperature is in degrees centigrade (Celsius) */ |
bmanga95 | 0:772bf4786416 | 112 | float distance; /**< distance in centimeters */ |
bmanga95 | 0:772bf4786416 | 113 | float light; /**< light in SI lux units */ |
bmanga95 | 0:772bf4786416 | 114 | float pressure; /**< pressure in hectopascal (hPa) */ |
bmanga95 | 0:772bf4786416 | 115 | float relative_humidity; /**< relative humidity in percent */ |
bmanga95 | 0:772bf4786416 | 116 | float current; /**< current in milliamps (mA) */ |
bmanga95 | 0:772bf4786416 | 117 | float voltage; /**< voltage in volts (V) */ |
bmanga95 | 0:772bf4786416 | 118 | sensors_color_t color; /**< color in RGB component values */ |
bmanga95 | 0:772bf4786416 | 119 | }; |
bmanga95 | 0:772bf4786416 | 120 | } sensors_event_t; |
bmanga95 | 0:772bf4786416 | 121 | |
bmanga95 | 0:772bf4786416 | 122 | /* Sensor details (40 bytes) */ |
bmanga95 | 0:772bf4786416 | 123 | /** struct sensor_s is used to describe basic information about a specific sensor. */ |
bmanga95 | 0:772bf4786416 | 124 | typedef struct |
bmanga95 | 0:772bf4786416 | 125 | { |
bmanga95 | 0:772bf4786416 | 126 | char name[12]; /**< sensor name */ |
bmanga95 | 0:772bf4786416 | 127 | int32_t version; /**< version of the hardware + driver */ |
bmanga95 | 0:772bf4786416 | 128 | int32_t sensor_id; /**< unique sensor identifier */ |
bmanga95 | 0:772bf4786416 | 129 | int32_t type; /**< this sensor's type (ex. SENSOR_TYPE_LIGHT) */ |
bmanga95 | 0:772bf4786416 | 130 | float max_value; /**< maximum value of this sensor's value in SI units */ |
bmanga95 | 0:772bf4786416 | 131 | float min_value; /**< minimum value of this sensor's value in SI units */ |
bmanga95 | 0:772bf4786416 | 132 | float resolution; /**< smallest difference between two values reported by this sensor */ |
bmanga95 | 0:772bf4786416 | 133 | int32_t min_delay; /**< min delay in microseconds between events. zero = not a constant rate */ |
bmanga95 | 0:772bf4786416 | 134 | } sensor_t; |
bmanga95 | 0:772bf4786416 | 135 | |
bmanga95 | 0:772bf4786416 | 136 | class Adafruit_Sensor { |
bmanga95 | 0:772bf4786416 | 137 | public: |
bmanga95 | 0:772bf4786416 | 138 | // Constructor(s) |
bmanga95 | 0:772bf4786416 | 139 | void constructor(); |
bmanga95 | 0:772bf4786416 | 140 | |
bmanga95 | 0:772bf4786416 | 141 | // These must be defined by the subclass |
bmanga95 | 0:772bf4786416 | 142 | virtual void enableAutoRange(bool enabled) = 0; |
bmanga95 | 0:772bf4786416 | 143 | virtual void getEvent(sensors_event_t*) = 0; |
bmanga95 | 0:772bf4786416 | 144 | virtual void getSensor(sensor_t*) = 0; |
bmanga95 | 0:772bf4786416 | 145 | |
bmanga95 | 0:772bf4786416 | 146 | private: |
bmanga95 | 0:772bf4786416 | 147 | bool _autoRange; |
bmanga95 | 0:772bf4786416 | 148 | }; |
bmanga95 | 0:772bf4786416 | 149 | |
bmanga95 | 0:772bf4786416 | 150 | #endif |