GyroAttr: Add gyro attr to pub to iotconnect

GyroAttr.cpp

+#include "GyroAttr.h"
+#include "mbed_trace.h"
+
+#define TRACE_GROUP  "Gyro"
+
+GyroAttr::GyroAttr(BMI160* _imu) :
+    imu(_imu),
+    gyro(NULL),
+    x(NULL),
+    y(NULL),
+    z(NULL),
+    interval_ms(0),
+    thread(osPriorityNormal, GYRO_SENSOR_UPDATE_THREAD_STACK_SIZE)
+{
+    init_attr();
+}
+
+GyroAttr::~GyroAttr()
+{
+    if (gyro) {
+        cJSON_Delete(gyro);
+    }
+}
+
+int GyroAttr::sensor_init()
+{
+    int ret = 0;
+
+    ret = imu->setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL);
+    if (ret != BMI160::RTN_NO_ERROR) {
+        tr_error("Sensor power mode set failed: %d", ret);
+        return ret;
+    }
+    ThisThread::sleep_for(100);
+
+    ret = imu->setSensorPowerMode(BMI160::ACC, BMI160::NORMAL);
+    if (ret != BMI160::RTN_NO_ERROR) {
+        tr_error("Sensor power mode set failed: %d", ret);
+        return ret;
+    }
+    ThisThread::sleep_for(100);
+
+    ret = imu->getSensorConfig(acc_config);
+    if (ret != BMI160::RTN_NO_ERROR) {
+        tr_error("Sensor get config failed: %d", ret);
+        return ret;
+    }
+
+    acc_config.range = BMI160::SENS_4G;
+    acc_config.us = BMI160::ACC_US_OFF;
+    acc_config.bwp = BMI160::ACC_BWP_2;
+    acc_config.odr = BMI160::ACC_ODR_8;
+    ret = imu->setSensorConfig(acc_config);
+    if (ret != BMI160::RTN_NO_ERROR) {
+        tr_error("Sensor set config failed: %d", ret);
+        return ret;
+    }
+
+    ret = imu->getSensorConfig(gyro_config);
+    if (ret != BMI160::RTN_NO_ERROR) {
+        tr_error("Sensor get config failed: %d", ret);
+        return ret;
+    }
+    ThisThread::sleep_for(100);
+
+    return BMI160::RTN_NO_ERROR;
+}
+
+void GyroAttr::init_attr()
+{
+    gyro = cJSON_CreateObject();
+    x = cJSON_AddNumberToObject(gyro, "x", 0);
+    y = cJSON_AddNumberToObject(gyro, "y", 0);
+    z = cJSON_AddNumberToObject(gyro, "z", 0);
+}
+
+cJSON* GyroAttr::get_gyro()
+{
+    return gyro;
+}
+
+int GyroAttr::start_sensor_update(int _interval_ms)
+{
+    osStatus ret;
+
+    interval_ms = _interval_ms;
+
+    ret = thread.start(callback(this, &GyroAttr::sensor_update_main_loop));
+
+    if (ret != osOK) {
+        tr_error("Start thread failed with osStatus: %d", ret);
+        return -1;
+    }
+    return 0;
+}
+
+
+void GyroAttr::sensor_update_main_loop()
+{
+    BMI160::SensorData acc_data;
+    BMI160::SensorData gyro_data;
+    BMI160::SensorTime sensor_time;
+
+    while(1) {
+        imu->getGyroAccXYZandSensorTime(acc_data, gyro_data, sensor_time,
+            acc_config.range, gyro_config.range);
+
+        x->valueint = gyro_data.xAxis.raw;
+        y->valueint = gyro_data.yAxis.raw;
+        z->valueint = gyro_data.zAxis.raw;
+
+        tr_debug("Read Gyro RAW Date:x=%d, y=%d, z=%d",
+            gyro_data.xAxis.raw,
+            gyro_data.yAxis.raw,
+            gyro_data.zAxis.raw);
+
+        ThisThread::sleep_for(interval_ms);
+    }
+}
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GyroAttr.h

+#ifndef __GYRO_ATTR_H__
+#define __GYRO_ATTR_H__
+
+#include "mbed.h"
+#include "bmi160.h"
+#include "cJSON.h"
+
+#define GYRO_SENSOR_UPDATE_THREAD_STACK_SIZE 2048
+
+class GyroAttr
+{
+public:
+    GyroAttr(BMI160* _imu);
+    ~GyroAttr();
+
+    int sensor_init();
+    int start_sensor_update(int _interval_ms);
+    cJSON* get_gyro();
+
+private:
+    void init_attr();
+    void sensor_update_main_loop();
+
+private:
+    BMI160* imu;
+    BMI160::AccConfig acc_config;
+    BMI160::GyroConfig gyro_config;
+    cJSON *gyro;
+    cJSON *x, *y, *z;
+    int interval_ms;
+
+     Thread thread;
+};
+
+
+
+
+#endif
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main.cpp

 
 #include "mbed.h"
+#include "mbed_trace.h"
+#include "GyroAttr.h"
+
+#define TRACE_GROUP  "Main"
+
+I2C i2c(I2C_SDA, I2C_SCL);
+BMI160_I2C *imu = NULL;
+GyroAttr *gyro = NULL;
 
 int main() {
+    char *js = NULL;
+
+    mbed_trace_init();
+
+    i2c.frequency(400000);
+    imu = new BMI160_I2C(i2c, BMI160_I2C::I2C_ADRS_SDO_LO);
+    gyro = new GyroAttr(imu);
+
+    gyro->sensor_init();
+    gyro->start_sensor_update(500);
+
+    while(true) {
+
+        js = cJSON_PrintUnformatted(gyro->get_gyro());
+
+        if (js) {
+            printf("%s\n", js);
+            free(js);
+        }
+
+        ThisThread::sleep_for(2000);
+
+    }
+
     return 0;
+
 }
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