iio-gyroscope-console-and-mqtt-publish.c File Reference

#include <limits.h>
#include <errno.h>
#include <sol-iio.h>
#include <sol-log.h>
#include <sol-mainloop.h>
#include <sol-mqtt.h>
#include <math.h>

Data Structures
struct	filter_median
struct	gyro_cal
struct	iio_gyroscope_data

Macros
#define	DENOISE_MEDIAN
#define	GYRO_CALIBRATE
#define	GYRO_DENOISE_MAX_SAMPLES   5
#define	GYRO_DENOISE_NUM_FIELDS   3
#define	GYRO_DROP_SAMPLES   5 /* Drop first few gyro samples for noisy sensor */
#define	GYRO_DS_SIZE   100
#define	GYRO_MAX_ERR   0.05

Functions
static void	clamp_gyro_readings_to_zero (struct gyro_cal *cal_data, double *x, double *y, double *z)
static void	denoise_median (struct filter_median *filter_data, double *x, double *y, double *z)
static bool	gyro_collect (struct gyro_cal *cal_data, double x, double y, double z)
static void	iio_gyroscope_reader_cb (void *data, struct sol_iio_device *device)
int	main (int argc, char *argv[])
static double	median (double *queue, unsigned int size)
static void	on_connect (void *data, struct sol_mqtt *mqtt)
static void	on_disconnect (void *data, struct sol_mqtt *mqtt)
static unsigned int	partition (double *list, unsigned int left, unsigned int right, unsigned int pivot_index)
static void	reset_calibrate (struct gyro_cal *cal_data)
static bool	try_reconnect (void *data)

Variables
static struct sol_timeout *	timeout

Macro Definition Documentation

#define DENOISE_MEDIAN

#define GYRO_CALIBRATE

#define GYRO_DENOISE_MAX_SAMPLES   5

Examples:

/src/samples/iio+network/iio-gyroscope-console-and-mqtt-publish.c.

Referenced by main().

#define GYRO_DENOISE_NUM_FIELDS   3

Examples:

/src/samples/iio+network/iio-gyroscope-console-and-mqtt-publish.c.

Referenced by main().

#define GYRO_DROP_SAMPLES   5 /* Drop first few gyro samples for noisy sensor */

Examples:

/src/samples/iio+network/iio-gyroscope-console-and-mqtt-publish.c.

Referenced by iio_gyroscope_reader_cb().

#define GYRO_DS_SIZE   100

Examples:

/src/samples/iio+network/iio-gyroscope-console-and-mqtt-publish.c.

Referenced by gyro_collect().

#define GYRO_MAX_ERR   0.05

Examples:

/src/samples/iio+network/iio-gyroscope-console-and-mqtt-publish.c.

Referenced by gyro_collect().

Function Documentation

static void clamp_gyro_readings_to_zero ( struct gyro_cal *  cal_data, double *  x, double *  y, double *  z  )

static

Examples:

/src/samples/iio+network/iio-gyroscope-console-and-mqtt-publish.c.

References gyro_cal::calibrated.

Referenced by iio_gyroscope_reader_cb().

static void denoise_median ( struct filter_median *  filter_data, double *  x, double *  y, double *  z  )

static

Examples:

/src/samples/iio+network/iio-gyroscope-console-and-mqtt-publish.c.

References filter_median::buff, filter_median::count, filter_median::idx, median(), and filter_median::sample_size.

Referenced by iio_gyroscope_reader_cb().

static bool gyro_collect ( struct gyro_cal *  cal_data, double  x, double  y, double  z  )

static

Examples:

/src/samples/iio+network/iio-gyroscope-console-and-mqtt-publish.c.

References gyro_cal::bias_x, gyro_cal::bias_y, gyro_cal::bias_z, gyro_cal::count, GYRO_DS_SIZE, GYRO_MAX_ERR, gyro_cal::max_x, gyro_cal::max_y, gyro_cal::max_z, gyro_cal::min_x, gyro_cal::min_y, gyro_cal::min_z, and reset_calibrate().

Referenced by iio_gyroscope_reader_cb().

static void iio_gyroscope_reader_cb ( void *  data, struct sol_iio_device *  device  )

static

Examples:

/src/samples/iio+network/iio-gyroscope-console-and-mqtt-publish.c.

References sol_mqtt_message::api_version, gyro_cal::bias_x, gyro_cal::bias_y, gyro_cal::bias_z, iio_gyroscope_data::cal_data, gyro_cal::calibrated, iio_gyroscope_data::channel_x, iio_gyroscope_data::channel_y, iio_gyroscope_data::channel_z, clamp_gyro_readings_to_zero(), denoise_median(), iio_gyroscope_data::drop_samples_count, iio_gyroscope_data::filter_data, gyro_collect(), GYRO_DROP_SAMPLES, iio_gyroscope_data::mqtt, iio_gyroscope_data::mqtt_topic, sol_mqtt_message::payload, SOL_BUFFER_INIT_CONST, sol_iio_mount_calibration(), sol_iio_read_channel_value(), SOL_INT_CHECK_GOTO, SOL_MQTT_CONNECTED, sol_mqtt_get_connection_status(), SOL_MQTT_MESSAGE_API_VERSION, sol_mqtt_publish(), SOL_MQTT_QOS_EXACTLY_ONCE, SOL_SET_API_VERSION, SOL_WRN, sol_direction_vector::x, sol_direction_vector::y, and sol_direction_vector::z.

Referenced by main().

int main	(	int	argc,
		char *	argv[]
	)

References sol_iio_config::api_version, sol_mqtt_config::api_version, filter_median::buff, sol_iio_config::buffer_size, iio_gyroscope_data::cal_data, iio_gyroscope_data::channel_x, iio_gyroscope_data::channel_y, iio_gyroscope_data::channel_z, filter_median::count, sol_iio_config::data, iio_gyroscope_data::drop_samples_count, iio_gyroscope_data::filter_data, GYRO_DENOISE_MAX_SAMPLES, GYRO_DENOISE_NUM_FIELDS, sol_mqtt_config::host, filter_median::idx, iio_gyroscope_reader_cb(), iio_gyroscope_data::mqtt, iio_gyroscope_data::mqtt_topic, sol_iio_channel_config::offset, on_connect(), on_disconnect(), sol_mqtt_config::port, reset_calibrate(), filter_median::sample_size, sol_iio_config::sampling_frequency, sol_iio_channel_config::scale, sol_iio_add_channel(), sol_iio_address_device(), SOL_IIO_CHANNEL_CONFIG_INIT, sol_iio_close(), SOL_IIO_CONFIG_API_VERSION, sol_iio_device_start_buffer(), sol_iio_open(), sol_iio_config::sol_iio_reader_cb, sol_init(), SOL_INT_CHECK_GOTO, SOL_MQTT_CONFIG_API_VERSION, sol_mqtt_connect(), sol_mqtt_disconnect(), SOL_MQTT_HANDLERS_API_VERSION, SOL_NULL_CHECK_GOTO, sol_run(), SOL_SET_API_VERSION, sol_shutdown(), sol_timeout_del(), timeout, sol_iio_config::trigger_name, and sol_iio_channel_config::use_custom_offset.

static double median ( double *  queue, unsigned int  size  )

static

Examples:

/src/samples/iio+network/iio-gyroscope-console-and-mqtt-publish.c.

References partition().

Referenced by denoise_median().

static void on_connect ( void *  data, struct sol_mqtt *  mqtt  )

static

References SOL_INF, SOL_MQTT_CONNECTED, sol_mqtt_get_connection_status(), sol_timeout_add(), SOL_WRN, timeout, and try_reconnect().

Referenced by main().

static void on_disconnect ( void *  data, struct sol_mqtt *  mqtt  )

static

References SOL_INF, sol_timeout_add(), and try_reconnect().

Referenced by main().

static unsigned int partition ( double *  list, unsigned int  left, unsigned int  right, unsigned int  pivot_index  )

static

Examples:

/src/samples/iio+network/iio-gyroscope-console-and-mqtt-publish.c.

Referenced by median().

static void reset_calibrate ( struct gyro_cal *  cal_data )

static

Examples:

/src/samples/iio+network/iio-gyroscope-console-and-mqtt-publish.c.

References gyro_cal::bias_x, gyro_cal::bias_y, gyro_cal::bias_z, gyro_cal::calibrated, gyro_cal::count, gyro_cal::max_x, gyro_cal::max_y, gyro_cal::max_z, gyro_cal::min_x, gyro_cal::min_y, and gyro_cal::min_z.

Referenced by gyro_collect(), and main().

static bool try_reconnect ( void *  data )

static

Examples:

/src/samples/iio+network/iio-gyroscope-console-and-mqtt-publish.c, /src/samples/mqtt/mqtt-publish.c, and /src/samples/mqtt/mqtt-subscribe.c.

References SOL_INF, and sol_mqtt_reconnect().

Referenced by on_connect(), and on_disconnect().

Variable Documentation

struct sol_timeout* timeout

static

Referenced by main(), and on_connect().