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Florian Märkl 2021-01-06 15:47:42 +01:00
commit 32e1539c22
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6 changed files with 182 additions and 8 deletions
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4
setsu/demo/motion.c
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@ -44,7 +44,7 @@ void sigint(int s)
#define BAR_LENGTH 100
#define BAR_MAX 2.0f
#define BAR_MAX_GYRO 180.0f
#define BAR_MAX_GYRO M_PI
void print_state()
{
@ -69,7 +69,7 @@ void print_state()
}
bool cov = ((vals.v[b] < 0.0f) == (cur < 0.0f)) && fabsf(vals.v[b]) > fabsf(cur);
float next = BAR_VAL(bi + 1);
#define MARK_VAL (b > 2 ? 90.0f : 1.0f)
#define MARK_VAL (b > 2 ? 0.5f * M_PI : 1.0f)
bool mark = cur < -MARK_VAL && next >= -MARK_VAL || prev < MARK_VAL && cur >= MARK_VAL;
buf[i++] = cov ? (mark ? '#' : '=') : (mark ? '.' : ' ');
#undef BAR_VAL

2
setsu/include/setsu.h
View file

@ -80,7 +80,7 @@ typedef struct setsu_event_t
struct
{
float accel_x, accel_y, accel_z; // unit is 1G
float gyro_x, gyro_y, gyro_z; // unit is deg/sec
float gyro_x, gyro_y, gyro_z; // unit is rad/sec
uint32_t timestamp; // microseconds
} motion;
};

9
setsu/src/setsu.c
View file

@ -11,6 +11,7 @@
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <stdio.h>
@ -22,6 +23,8 @@
#define SETSU_LOG(...) do {} while(0)
#endif
#define DEG2RAD (2.0f * M_PI / 360.0f)
typedef struct setsu_avail_device_t
{
struct setsu_avail_device_t *next;
@ -686,9 +689,9 @@ static void device_drain(Setsu *setsu, SetsuDevice *dev, SetsuEventCb cb, void *
event.motion.accel_x = (float)dev->motion.accel_x / (float)dev->motion.accel_res_x;
event.motion.accel_y = (float)dev->motion.accel_y / (float)dev->motion.accel_res_y;
event.motion.accel_z = (float)dev->motion.accel_z / (float)dev->motion.accel_res_z;
event.motion.gyro_x = (float)dev->motion.gyro_x / (float)dev->motion.gyro_res_x;
event.motion.gyro_y = (float)dev->motion.gyro_y / (float)dev->motion.gyro_res_y;
event.motion.gyro_z = (float)dev->motion.gyro_z / (float)dev->motion.gyro_res_z;
event.motion.gyro_x = DEG2RAD * (float)dev->motion.gyro_x / (float)dev->motion.gyro_res_x;
event.motion.gyro_y = DEG2RAD * (float)dev->motion.gyro_y / (float)dev->motion.gyro_res_y;
event.motion.gyro_z = DEG2RAD * (float)dev->motion.gyro_z / (float)dev->motion.gyro_res_z;
event.motion.timestamp = dev->motion.timestamp;
SEND_EVENT();
dev->motion.dirty = false;