kopia lustrzana https://github.com/Hamlib/Hamlib
138 wiersze
3.7 KiB
C++
138 wiersze
3.7 KiB
C++
/*
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* Hamlib Rotator backend - Radant
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* Copyright (c) 2001-2003 by Stephane Fillod
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* Contributed by Francois Retief <fgretief@sun.ac.za>
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* Copyright (c) 2014 by Alexander Schultze <alexschultze@gmail.com>
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h> /* String function definitions */
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#include <unistd.h> /* UNIX standard function definitions */
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#include <math.h>
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#include "hamlib/rotator.h"
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#include "register.h"
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#include "androidsensor.h"
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#include "ndkimu.cpp"
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/* ************************************************************************* */
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static NdkImu *imu;
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static int
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androidsensor_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
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// To-Do
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return RIG_OK;
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}
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static int
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androidsensor_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s called: ", __func__);
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imu->update();
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float accData[3], magData[3];
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imu->getAccData(accData);
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imu->getMagData(magData);
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float R[9] = {0}, I[9] = {0}, orientation[3] = {0};
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bool status = imu->getRotationMatrix(R, 9, I, 9, accData, magData);
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if(status)
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imu->getOrientation(R, 9, orientation);
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*az = (orientation[0] / M_PI * 180 );
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*el = (orientation[1] / M_PI * 180 ) * -1;
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rig_debug(RIG_DEBUG_TRACE, "%f %f\n", az, el);
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return RIG_OK;
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}
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static int
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androidsensor_rot_stop(ROT *rot)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
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// To-Do
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return RIG_OK;
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}
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static int
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androidsensor_rot_init(ROT *rot)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s called, make new NdkImu\n", __func__);
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imu = new NdkImu();
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return RIG_OK;
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}
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static int
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androidsensor_rot_cleanup(ROT *rot)
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{
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rig_debug(RIG_DEBUG_TRACE, "%s called, delete imu\n", __func__);
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delete imu;
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return RIG_OK;
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}
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/* ************************************************************************* */
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const struct rot_caps androidsensor_rot_caps =
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{
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ROT_MODEL(ROT_MODEL_ANDROIDSENSOR),
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.model_name = "ACC/MAG",
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.mfg_name = "Android Sensor",
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.version = "20210925.0",
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.copyright = "LGPL",
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.rot_type = ROT_TYPE_AZEL,
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.port_type = RIG_PORT_NONE,
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.min_az = -180.0,
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.max_az = 180.0,
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.min_el = -180.0,
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.max_el = 180.0,
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.priv = NULL, /* priv */
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.set_position = androidsensor_rot_set_position,
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.get_position = androidsensor_rot_get_position,
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.stop = androidsensor_rot_stop,
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.rot_init = androidsensor_rot_init,
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.rot_cleanup = androidsensor_rot_cleanup,
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};
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/* ************************************************************************* */
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DECLARE_INITROT_BACKEND(androidsensor)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot_register(&androidsensor_rot_caps);
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return RIG_OK;
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}
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/* ************************************************************************* */
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/* end of file */
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