ipc_gyroscope

Gyroscope Service. More...

Data Structures
struct	a_ipc_dyn_array_enum_gyro_result
	Dynamic-length array of a_ipc_enum_gyro_result. More...
struct	a_ipc_msg_gyro_request_req
	Request the gyro service. More...
struct	a_ipc_msg_gyro_request_rsp
	gyro request result. More...
struct	a_ipc_msg_gyro_release_req_norsp
	Release gyro service for given user user. More...
struct	a_ipc_msg_gyro_configure_req
	Request to configure the gyro service. More...
struct	a_ipc_msg_gyro_configure_rsp
	Sent in response to gyro_configure_req message. More...
struct	a_ipc_msg_gyro_publish_ind
	Gyro data event. More...
struct	a_ipc_msg_gyro_subscribe_req
	Subscribe to updates for gyro. More...
struct	a_ipc_msg_gyro_subscribe_rsp
	Sent in response to a_ipc_msg_gyro_subscribe_req. More...
struct	a_ipc_msg_gyro_unsubscribe_req_norsp
	Unsubscribe from updates for gyro. More...

Enumerations
enum	a_ipc_enum_gyro_result { A_IPC_ENUM_GYRO_RESULT_OK , A_IPC_ENUM_GYRO_RESULT_ERROR }
	Result codes. More...

Functions
A_IPC_RESULT	a_ipc_init_gyro_request_req (a_ipc_msg *msg, uint32_t user_maxlength)
	Initialize the message buffer to contain a_ipc_msg_gyro_request_req. More...
A_IPC_RESULT	a_ipc_init_gyro_request_rsp (a_ipc_msg *msg)
	Initialize the message buffer to contain a_ipc_msg_gyro_request_rsp. More...
A_IPC_RESULT	a_ipc_init_gyro_release_req_norsp (a_ipc_msg *msg, uint32_t user_maxlength)
	Initialize the message buffer to contain a_ipc_msg_gyro_release_req_norsp. More...
A_IPC_RESULT	a_ipc_init_gyro_configure_req (a_ipc_msg *msg)
	Initialize the message buffer to contain a_ipc_msg_gyro_configure_req. More...
A_IPC_RESULT	a_ipc_init_gyro_configure_rsp (a_ipc_msg *msg)
	Initialize the message buffer to contain a_ipc_msg_gyro_configure_rsp. More...
A_IPC_RESULT	a_ipc_init_gyro_publish_ind (a_ipc_msg *msg, uint32_t sample_buffer_maxlength)
	Initialize the message buffer to contain a_ipc_msg_gyro_publish_ind. More...
A_IPC_RESULT	a_ipc_init_gyro_subscribe_req (a_ipc_msg *msg)
	Initialize the message buffer to contain a_ipc_msg_gyro_subscribe_req. More...
A_IPC_RESULT	a_ipc_init_gyro_subscribe_rsp (a_ipc_msg *msg)
	Initialize the message buffer to contain a_ipc_msg_gyro_subscribe_rsp. More...
A_IPC_RESULT	a_ipc_init_gyro_unsubscribe_req_norsp (a_ipc_msg *msg)
	Initialize the message buffer to contain a_ipc_msg_gyro_unsubscribe_req_norsp. More...

Detailed Description

Gyroscope Service.

This page contains documentation of the gyroscope Service API.

According to the interface description, the values in the a_ipc_msg_gyro_publish_ind comes as an array of bytes. To be able to read out the actual values, these bytes need to be re-composed to an gyro_sample struct:

struct gyro_sample {
          int16_t x;
          int16_t y;
          int16_t z;
          int16_t pad;
          int64_t ts;
   } __attribute__ ((__packed__));

Here is an example of how to do this:

static void handle_publish_ind(a_ipc_msg* message)
{
       struct gyro_sample {
              int16_t x;
              int16_t y;
              int16_t z;
              int16_t pad;
              int64_t ts;
       } __attribute__ ((__packed__));
   
       struct gyro_sample* samples = (struct gyro_sample*)
          message->gyro_publish_ind.sample_buffer.value;
   
       int number_of_samples =
          message->gyro_publish_ind.sample_buffer.length /
          sizeof(struct gyro_sample);
   
       for (int i = 0; i < number_of_samples; i++)
       {
              printf("Received values (sample %d of %d):\n", i + 1, number_of_samples);
              printf("x: %i\n", samples[i].x);
              printf("y: %i\n", samples[i].y);
              printf("z: %i\n", samples[i].z);
              printf("time stamp: %lu\n", samples[i].ts);
       }
   
       exit_main_loop_with_return_code(0);
}

---

Data Structure Documentation

a_ipc_dyn_array_enum_gyro_result

struct a_ipc_dyn_array_enum_gyro_result

Dynamic-length array of a_ipc_enum_gyro_result.

Data Fields
uint32_t	length	Length of the array (number of elements)
a_ipc_enum_gyro_result *	value	The contents of the array.

a_ipc_msg_gyro_request_req

struct a_ipc_msg_gyro_request_req

Request the gyro service.

Response is delivered in a_ipc_msg_gyro_request_rsp.

Create using a_ipc_init_gyro_request_req().

Message type is A_IPC_MSG_GYRO_REQUEST_REQ.

Data Fields
a_ipc_dyn_string	user	User identifier, max 15 characters long.

a_ipc_msg_gyro_request_rsp

struct a_ipc_msg_gyro_request_rsp

gyro request result.

Sent in response to a_ipc_msg_gyro_request_req.

Create using a_ipc_init_gyro_request_rsp().

Message type is A_IPC_MSG_GYRO_REQUEST_RSP.

Data Fields
a_ipc_enum_gyro_result	result	Result of the operation.

a_ipc_msg_gyro_release_req_norsp

struct a_ipc_msg_gyro_release_req_norsp

Release gyro service for given user user.

Create using a_ipc_init_gyro_release_req_norsp().

Message type is A_IPC_MSG_GYRO_RELEASE_REQ_NORSP.

Data Fields
a_ipc_dyn_string	user	User identifier, max 15 characters long.

a_ipc_msg_gyro_configure_req

struct a_ipc_msg_gyro_configure_req

Request to configure the gyro service.

Response is delivered in a_ipc_msg_gyro_configure_rsp.

Create using a_ipc_init_gyro_configure_req().

Message type is A_IPC_MSG_GYRO_CONFIGURE_REQ.

Data Fields
uint32_t	samplerate_sps	Requested sample rate in samples per second.
uint32_t	samples_per_buffer	Number of samples per buffer.

a_ipc_msg_gyro_configure_rsp

struct a_ipc_msg_gyro_configure_rsp

Sent in response to gyro_configure_req message.

Sent in response to a_ipc_msg_gyro_configure_req.

Create using a_ipc_init_gyro_configure_rsp().

Message type is A_IPC_MSG_GYRO_CONFIGURE_RSP.

Data Fields
uint32_t	actual_samplerate_sps	Actual sample rate configured, in samples per second.
a_ipc_enum_gyro_result	result	Result of the operation.

a_ipc_msg_gyro_publish_ind

struct a_ipc_msg_gyro_publish_ind

Gyro data event.

Subscribe using a_ipc_msg_gyro_subscribe_req and unsubscribe using a_ipc_msg_gyro_unsubscribe_req_norsp.

Create using a_ipc_init_gyro_publish_ind().

Message type is A_IPC_MSG_GYRO_PUBLISH_IND.

Data Fields
uint32_t	no_of_samples	Number of samples included in sample buffer.
a_ipc_dyn_array_uint8	sample_buffer	The sample values.

a_ipc_msg_gyro_subscribe_req

struct a_ipc_msg_gyro_subscribe_req

Subscribe to updates for gyro.

a_ipc_msg_gyro_publish_ind will be received until a_ipc_msg_gyro_unsubscribe_req_norsp is sent.

Response is delivered in a_ipc_msg_gyro_subscribe_rsp.

Create using a_ipc_init_gyro_subscribe_req().

Message type is A_IPC_MSG_GYRO_SUBSCRIBE_REQ.

a_ipc_msg_gyro_subscribe_rsp

struct a_ipc_msg_gyro_subscribe_rsp

Sent in response to a_ipc_msg_gyro_subscribe_req.

Create using a_ipc_init_gyro_subscribe_rsp().

Message type is A_IPC_MSG_GYRO_SUBSCRIBE_RSP.

Data Fields
a_ipc_enum_ipc_subscribe_result	result	The result of the subscription request.

a_ipc_msg_gyro_unsubscribe_req_norsp

struct a_ipc_msg_gyro_unsubscribe_req_norsp

Unsubscribe from updates for gyro.

a_ipc_msg_gyro_publish_ind will no longer be received.

Create using a_ipc_init_gyro_unsubscribe_req_norsp().

Message type is A_IPC_MSG_GYRO_UNSUBSCRIBE_REQ_NORSP.

Enumeration Type Documentation

a_ipc_enum_gyro_result

enum a_ipc_enum_gyro_result

Result codes.

Enumerator
A_IPC_ENUM_GYRO_RESULT_OK	OK.
A_IPC_ENUM_GYRO_RESULT_ERROR	Error.

Function Documentation

a_ipc_init_gyro_configure_req()

A_IPC_RESULT a_ipc_init_gyro_configure_req

(

a_ipc_msg *

msg

)

Initialize the message buffer to contain a_ipc_msg_gyro_configure_req.

msg->info.type will be A_IPC_MSG_GYRO_CONFIGURE_REQ.

This function can be called on an already initialized message to change its type.

Parameters

msg	The message buffer to initialize

a_ipc_init_gyro_configure_rsp()

A_IPC_RESULT a_ipc_init_gyro_configure_rsp

(

a_ipc_msg *

msg

)

Initialize the message buffer to contain a_ipc_msg_gyro_configure_rsp.

msg->info.type will be A_IPC_MSG_GYRO_CONFIGURE_RSP.

This function can be called on an already initialized message to change its type.

Parameters

msg	The message buffer to initialize

a_ipc_init_gyro_publish_ind()

A_IPC_RESULT a_ipc_init_gyro_publish_ind	(	a_ipc_msg *	msg,
		uint32_t	sample_buffer_maxlength
	)

Initialize the message buffer to contain a_ipc_msg_gyro_publish_ind.

msg->info.type will be A_IPC_MSG_GYRO_PUBLISH_IND.

This function can be called on an already initialized message to change its type.

Parameters

msg	The message buffer to initialize
sample_buffer_maxlength	The number of array elements to reserve for sample_buffer in the message.

a_ipc_init_gyro_release_req_norsp()

A_IPC_RESULT a_ipc_init_gyro_release_req_norsp	(	a_ipc_msg *	msg,
		uint32_t	user_maxlength
	)

Initialize the message buffer to contain a_ipc_msg_gyro_release_req_norsp.

msg->info.type will be A_IPC_MSG_GYRO_RELEASE_REQ_NORSP.

This function can be called on an already initialized message to change its type.

Parameters

msg	The message buffer to initialize
user_maxlength	The maximum string length for user in the message.

a_ipc_init_gyro_request_req()

A_IPC_RESULT a_ipc_init_gyro_request_req	(	a_ipc_msg *	msg,
		uint32_t	user_maxlength
	)

Initialize the message buffer to contain a_ipc_msg_gyro_request_req.

msg->info.type will be A_IPC_MSG_GYRO_REQUEST_REQ.

This function can be called on an already initialized message to change its type.

Parameters

msg	The message buffer to initialize
user_maxlength	The maximum string length for user in the message.

a_ipc_init_gyro_request_rsp()

A_IPC_RESULT a_ipc_init_gyro_request_rsp

(

a_ipc_msg *

msg

)

Initialize the message buffer to contain a_ipc_msg_gyro_request_rsp.

msg->info.type will be A_IPC_MSG_GYRO_REQUEST_RSP.

This function can be called on an already initialized message to change its type.

Parameters

msg	The message buffer to initialize

a_ipc_init_gyro_subscribe_req()

A_IPC_RESULT a_ipc_init_gyro_subscribe_req

(

a_ipc_msg *

msg

)

Initialize the message buffer to contain a_ipc_msg_gyro_subscribe_req.

msg->info.type will be A_IPC_MSG_GYRO_SUBSCRIBE_REQ.

This function can be called on an already initialized message to change its type.

Parameters

msg	The message buffer to initialize

a_ipc_init_gyro_subscribe_rsp()

A_IPC_RESULT a_ipc_init_gyro_subscribe_rsp

(

a_ipc_msg *

msg

)

Initialize the message buffer to contain a_ipc_msg_gyro_subscribe_rsp.

msg->info.type will be A_IPC_MSG_GYRO_SUBSCRIBE_RSP.

This function can be called on an already initialized message to change its type.

Parameters

msg	The message buffer to initialize

a_ipc_init_gyro_unsubscribe_req_norsp()

A_IPC_RESULT a_ipc_init_gyro_unsubscribe_req_norsp

(

a_ipc_msg *

msg

)

Initialize the message buffer to contain a_ipc_msg_gyro_unsubscribe_req_norsp.

msg->info.type will be A_IPC_MSG_GYRO_UNSUBSCRIBE_REQ_NORSP.

This function can be called on an already initialized message to change its type.

Parameters

msg	The message buffer to initialize

Variable Documentation

actual_samplerate_sps

uint32_t a_ipc_msg_gyro_configure_rsp::actual_samplerate_sps

Actual sample rate configured, in samples per second.

no_of_samples

uint32_t a_ipc_msg_gyro_publish_ind::no_of_samples

Number of samples included in sample buffer.

result [1/3]

a_ipc_enum_gyro_result a_ipc_msg_gyro_request_rsp::result

Result of the operation.

result [2/3]

a_ipc_enum_gyro_result a_ipc_msg_gyro_configure_rsp::result

Result of the operation.

result [3/3]

a_ipc_enum_ipc_subscribe_result a_ipc_msg_gyro_subscribe_rsp::result

The result of the subscription request.

sample_buffer

a_ipc_dyn_array_uint8 a_ipc_msg_gyro_publish_ind::sample_buffer

The sample values.

samplerate_sps

uint32_t a_ipc_msg_gyro_configure_req::samplerate_sps

Requested sample rate in samples per second.

samples_per_buffer

uint32_t a_ipc_msg_gyro_configure_req::samples_per_buffer

Number of samples per buffer.

user [1/2]

a_ipc_dyn_string a_ipc_msg_gyro_request_req::user

User identifier, max 15 characters long.

user [2/2]

a_ipc_dyn_string a_ipc_msg_gyro_release_req_norsp::user

User identifier, max 15 characters long.