Hi,
this all sounds good to me. I’ll make the changes to generic_accel*
and the sensor API, unless somebody beats me to it.
Sterling
On 13 Dec 2016, at 6:10, David G. Simmons wrote:
+1 on the more 'generic' data types. With this, *any* sensor can
simply return a SENSOR_VALUE_TYPE_FLOAT_TRIPLET whereas if we use
SENSOR_VALUE_TYPE_MS2_TRIPLET then a sensor that wants to return a
float triplet that ISN'T M/s^2 would either have to define its own
data type or would use a rather confusing data type. And even if a
sensor DID want to define it's own data type, it could simple be
#define MY_SENSOR_FLOAT_TRIPLET SENSOR_VALUE_TYPE_FLOAT_TRIPLET
and I'm done.
dg
On Dec 13, 2016, at 1:07 AM, Kevin Townsend <[email protected]>
wrote:
We can just have the following:
/**
* Triplet of INT32 values.
*/
#define SENSOR_VALUE_TYPE_INT32_TRIPLET (4)
/**
* Triplet of 32-bit float values.
*/
#define SENSOR_VALUE_TYPE_FLOAT_TRIPLET (5)
The rationale here is that we will know based on the sensor type what
kind of data we have, and this might be more concise than having
multiple entries like rad/s, uTesla, etc., for every sensor type or
vector type output. Just detecting the sensor type should be enough
if we standardize sensors to output the same value types, which I
think adds value to the system as well.
If every accelerometer driver outputs m/s^2, and every magnetometer
outputs uTesla, it means you can drop in any other accel/mag/etc. if
a part becomes EOL, and other than changing the driver there should
be very little implact on the rest of the system. It also simplifies
the sensor value types above since the values types can be inferred
from the sensor type, and we just need to know if it's INT32, FLOAT,
FLOAT TRIPLET, (16Q16 fixed???, DOUBLE???), etc.
The only gotcha for vectors is that the order will need be be defined
so that 0 = X, 1 = Y and 2 = Z for triples, etc., and we'll probably
also want a quaternion/quadruplet type though that's down the road:
/**
* 32-bit float based quaternion quadruplet.
*/
#define SENSOR_VALUE_TYPE_QUATERNION (6)
