void Accelerometer::setRate(float rate){
byte _b,_s;
int v = (int) (rate / 6.25);
int r = 0;
while (v >>= 1)
{
r++;
}
if (r <= 9) {
readFrom(DEVICE, ADXL345_BW_RATE, 1, &_b);
_s = (byte) (r + 6) | (_b & B11110000);
writeTo(DEVICE, ADXL345_BW_RATE, _s);
}
}
bool ObbFile::removeFrom(int fd)
{
if (fd < 0) {
return false;
}
if (!readFrom(fd)) {
return false;
}
ftruncate(fd, mFooterStart);
return true;
}
void Visitor<Reader<DataStream>>::readFrom(
const Space::ViewportModel& vp)
{
readFrom(static_cast<const IdentifiedObject<Space::ViewportModel>&>(vp));
m_stream
<< vp.name()
<< vp.transform()
<< vp.xDim()
<< vp.yDim()
<< vp.m_defaultValuesMap
<< vp.renderPrecision();
insertDelimiter();
}
ArrayGraph::ArrayGraph(const GraphAttributes& GA, const EdgeArray<float>& edgeLength, const NodeArray<float>& nodeSize) :
m_numNodes(0),
m_numEdges(0),
m_nodeXPos(0),
m_nodeYPos(0),
m_nodeSize(0),
m_nodeMoveRadius(0),
m_desiredEdgeLength(0),
m_nodeAdj(0),
m_edgeAdj(0)
{
allocate(GA.constGraph().numberOfNodes(), GA.constGraph().numberOfEdges());
readFrom(GA, edgeLength, nodeSize);
};
ISCORE_PLUGIN_SCENARIO_EXPORT void Visitor<Reader<DataStream>>::readFrom(const Scenario::StateModel& s)
{
readFrom(static_cast<const IdentifiedObject<Scenario::StateModel>&>(s));
// Common metadata
readFrom(s.metadata);
m_stream << s.m_eventId
<< s.m_previousConstraint
<< s.m_nextConstraint
<< s.m_heightPercentage;
// Message tree
m_stream << s.m_messageItemModel->rootNode();
// Processes plugins
m_stream << (int32_t) s.stateProcesses.size();
for(const auto& process : s.stateProcesses)
{
readFrom(process);
}
insertDelimiter();
}
void IMU3000::setSampleRate(byte divider, byte lowpass)
{
//writing divider
writeTo(IMU3000_REG_SMPLRT_DIV,divider);
//writing lowpass rate freq
byte lpf;
readFrom(IMU3000_REG_DLPF, 1, &lpf);
lpf &= ~IMU3000_DLPF_CFG_MASK;
lpf |= lowpass;
writeTo(IMU3000_REG_DLPF, lpf);
}
SpriteAnimationCollection * SpriteAnimationCollection::readFrom(const char * spriteAnimationDefinitionFileName) {
if(spriteAnimationDefinitionFileName == NULL || Utilities::stringLength(spriteAnimationDefinitionFileName) == 0) { return NULL; }
SpriteAnimationCollection * newSpriteAnimationCollection = NULL;
FileReader input(spriteAnimationDefinitionFileName);
if(!input.open()) {
return NULL;
}
newSpriteAnimationCollection = readFrom(input);
input.close();
return newSpriteAnimationCollection;
}
void setRegisterBit(uint8 regAdress, uint8 bitPos, uint8 state)
{
uint8 _b;
readFrom(regAdress, 1, &_b);
if (state)
{
_b |= (1 << bitPos); // forces nth bit of _b to be 1. all other bits left alone.
}
else
{
_b &= ~(1 << bitPos); // forces nth bit of _b to be 0. all other bits left alone.
}
writeTo(regAdress, _b);
}
void Visitor<Reader<DataStream>>::readFrom(const CurveSegmentModel& segmt)
{
// To allow recration using createProcess
m_stream << segmt.name();
// Save the parent class
readFrom(static_cast<const IdentifiedObject<CurveSegmentModel>&>(segmt));
// Save this class (this will be loaded by writeTo(*this) in CurveSegmentModel ctor
m_stream << segmt.previous() << segmt.following()
<< segmt.start() << segmt.end();
// Save the subclass
segmt.serialize(toVariant());
insertDelimiter();
}
ISCORE_PLUGIN_SCENARIO_EXPORT void Visitor<Reader<JSONObject>>::readFrom(const Scenario::StateModel& s)
{
readFrom(static_cast<const IdentifiedObject<Scenario::StateModel>&>(s));
// Common metadata
m_obj["Metadata"] = toJsonObject(s.metadata);
m_obj["Event"] = toJsonValue(s.m_eventId);
m_obj["PreviousConstraint"] = toJsonValue(s.m_previousConstraint);
m_obj["NextConstraint"] = toJsonValue(s.m_nextConstraint);
m_obj["HeightPercentage"] = s.m_heightPercentage;
// Message tree
m_obj["Messages"] = toJsonObject(s.m_messageItemModel->rootNode());
// Processes plugins
m_obj["StateProcesses"] = toJsonArray(s.stateProcesses);
}
bool ObbFile::readFrom(const char* filename)
{
int fd;
bool success = false;
fd = ::open(filename, O_RDONLY);
if (fd < 0) {
ALOGW("couldn't open file %s: %s", filename, strerror(errno));
goto out;
}
success = readFrom(fd);
close(fd);
if (!success) {
ALOGW("failed to read from %s (fd=%d)\n", filename, fd);
}
out:
return success;
}
void acc_adxl345_read_xyz(int16 *x, int16 *y, int16 *z)
{
uint8 _buff[6];
readFrom(ADXL345_DATAX0, ADXL345_TO_READ, _buff); //read the acceleration data from the ADXL345
//pc.printf("%d, %d\t%d, %d\t%d, %d\r\n", _buff[0], _buff[1], _buff[2], _buff[3], _buff[4], _buff[5]);
// each axis reading comes in 10 bit resolution, ie 2 bytes. Least Significat Byte first!!
// thus we are converting both bytes in to one int
*x = (int16)((((uint16)_buff[1]) << 8) | _buff[0]);
*y = (int16)((((uint16)_buff[3]) << 8) | _buff[2]);
*z = (int16)((((uint16)_buff[5]) << 8) | _buff[4]);
//pc.printf("%d, %d, %d\r\n", *x, *y, *z);
}
int IMU3000::getRange()
{
byte rng;
readFrom(IMU3000_REG_DLPF, 1, &rng);
switch(rng)
{
case RANGE_250:
return 250;
break;
case RANGE_500:
return 500;
break;
case RANGE_1000:
return 1000;
break;
case RANGE_2000:
return 2000;
break;
}
return 0;
}
/* =================================================
FUNCTION: getAccelerometerData
CREATED: 16-05-2014
DESCRIPTION: This function gathers raw sensor data.
PARAMETERS: result
GLOBAL VARIABLES: None.
RETURNS: result
AUTHOR: P. Kantue
================================================== */
void getAccelerometerData(int * result) {
int regAddress = 0x32; //first axis-acceleration-data register on the ADXL345
int buff[A_TO_READ];
readFrom(ACC, regAddress, A_TO_READ, buff); //read the acceleration data from the ADXL345
//each axis reading comes in 10 bit resolution, ie 2 bytes. Least Significant Byte first!!
//thus we are converting both bytes in to one int
// when the sensor is attached upright on board
result[2] = (((int)buff[1]) << 8) | buff[0];
result[0] = (((int)buff[3])<< 8) | buff[2];
result[1] = (((int)buff[5]) << 8) | buff[4];
// correct for sign change so that NED axis system is retained
result[0] = -result[0];
// when the sensor is attached flat on board
//result[0] = (((int)buff[1]) << 8) | buff[0];
//result[1] = (((int)buff[3])<< 8) | buff[2];
//result[2] = (((int)buff[5]) << 8) | buff[4];
}
int main (int argc, char *argv[])
{
int fd;
ssize_t numRead, numWrite;
int openFlags = O_CREAT | O_WRONLY | O_APPEND;
mode_t filePerms = S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP |
S_IROTH |S_IWOTH;
char *buf;
buf = malloc(MAX_READ);
if (buf == NULL) {
printf("%s\n", "mallocate failed");
return 0;
}
if (argc == 1) {
readFrom(fd, buf, MAX_READ);
}
else if (argc == 2) {
fd = open(argv[1], openFlags, filePerms);
if (fd == -1) {
printf("%s\n", "open failed");
return 0;
}
while (1) {
numRead = read(STDIN_FILENO, buf, MAX_READ);
if (numRead == -1) {
printf("%s\n", "read failed");
return 0;
}
numWrite = write(fd, buf, numRead);
if ( numWrite == -1) {
printf("%s\n", "open failed");
return 0;
}
}
}
return 0;
}
// Sets the range setting, possible values are: 2, 4, 8, 16
void Accelerometer::setRangeSetting(int val) {
byte _s;
byte _b;
switch (val) {
case 2:
_s = B00000000;
break;
case 4:
_s = B00000001;
break;
case 8:
_s = B00000010;
break;
case 16:
_s = B00000011;
break;
default:
_s = B00000000;
}
readFrom(DEVICE, ADXL345_DATA_FORMAT, 1, &_b);
_s |= (_b & B11101100);
writeTo(DEVICE, ADXL345_DATA_FORMAT, _s);
}
// Sets the range setting, possible values are: 2, 4, 8, 16
void CAdxl345::setRangeSetting(int val) {
byte _s;
byte _b;
switch (val) {
case 2:
_s = 0x00;
break;
case 4:
_s = 0x01;
break;
case 8:
_s = 0x02;
break;
case 16:
_s = 0x03;
break;
default:
_s = 0x00;
}
readFrom(DEVICE, ADXL345_DATA_FORMAT, 1, &_b);
_s |= (_b & 0x00EC);
writeTo(DEVICE, ADXL345_DATA_FORMAT, _s);
}
void ITG3200::setZgyroStandby(bool _Status) {
int a=0;
a=readFrom( _dev_address,PWR_MGM, 1, &_buff[0]);
a=writeTo( _dev_address,PWR_MGM, ((_buff[0] & PWRMGM_STBY_ZG) | _Status << 3));
}
byte ITG3200::getClockSource() {
int a=0;
a=readFrom( _dev_address,PWR_MGM, 1, &_buff[0]);
return (_buff[0] & PWRMGM_CLK_SEL);
}
void ITG3200::setPowerMode(bool _State) {
int a=0;
a=readFrom( _dev_address,PWR_MGM, 1, &_buff[0]);
a=writeTo( _dev_address,PWR_MGM, ((_buff[0] & ~PWRMGM_SLEEP) | _State << 6));
}
bool ITG3200::isZgyroStandby() {
int a=0;
a=readFrom( _dev_address,PWR_MGM, 1, &_buff[0]);
return (_buff[0] & PWRMGM_STBY_ZG) >> 3;
}
void ITG3200::readTemp(float *_Temp) {
int a=0;
a=readFrom( _dev_address,TEMP_OUT,2,_buff);
*_Temp = 35 + (((_buff[0] << 8) | _buff[1]) + 13200) / 280.0; // F=C*9/5+32
}
bool ITG3200::isLowPower() {
int a=0;
a=readFrom( _dev_address,PWR_MGM, 1, &_buff[0]);
return (_buff[0] & PWRMGM_SLEEP) >> 6;
}
bool ITG3200::isITGReady() {
int a=0;
a=readFrom( _dev_address,INT_STATUS, 1, &_buff[0]);
return ((_buff[0] & INTSTATUS_ITG_RDY) >> 2);
}
bool ITG3200::isRawDataReady() {
int a=0;
a=readFrom( _dev_address,INT_STATUS, 1, &_buff[0]);
return (_buff[0] & INTSTATUS_RAW_DATA_RDY);
}
bool ITG3200::isRawDataReadyOn() {
int a=0;
a=readFrom( _dev_address,INT_CFG, 1, &_buff[0]);
return (_buff[0] & INTCFG_RAW_RDY_EN);
}
bool ITG3200::isITGReadyOn() {
int a=0;
a=readFrom( _dev_address,INT_CFG, 1, &_buff[0]);
return ((_buff[0] & INTCFG_ITG_RDY_EN) >> 2);
}
void ITG3200::setLatchClearMode(bool _State) {
int a=0;
a=readFrom( _dev_address,INT_CFG, 1, &_buff[0]);
a=writeTo( _dev_address,INT_CFG, ((_buff[0] & ~INTCFG_INT_ANYRD_2CLEAR) | _State << 4));
}
bool ITG3200::isAnyRegClrMode() {
int a=0;
a=readFrom( _dev_address,INT_CFG, 1, &_buff[0]);
return ((_buff[0] & INTCFG_INT_ANYRD_2CLEAR) >> 4);
}
void ITG3200::setLatchMode(bool _State) {
int a=0;
a=readFrom( _dev_address,INT_CFG, 1, &_buff[0]);
a=writeTo( _dev_address,INT_CFG, ((_buff[0] & ~INTCFG_LATCH_INT_EN) | _State << 5));
}
