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sensors-hal-iio Linux

Introduction

This is the documentation page for the Linux components of the sensors-hal iio.

Configuration

runtime configuration (startup)

Configuration file can be used to set parameters at runtime (during init). If a parameter is set in the configuration file, default value for that parameter will be discarded.

Here a list of possible parameters:

  • max-odr
  • rot-matrix-1.SENSORTYPE
  • rot-matrix-2.SENSORTYPE
  • placement-1.SENSORTYPE
  • placement-2.SENSORTYPE
  • max-range.SENSORTYPE

where SENSORTYPE can be one of these values:

  • accel
  • magn
  • gyro

Example of configuration file usage (default /etc/stm-sensors-hal/config):

#max odr that can be used is 250Hz
max-odr = 250

#accel rotation matrix
rot-matrix-1.accel = "1.0,0,0,0,1.0,0,0,0,1.0"
#accel position in mm
placement-1.accel = "10,20,30"

#accel full-scale to support reading of at least 70m/s^2
max-range.accel = 70
#magn full-scale to support reading of at least 2000uT
max-range.magn = 2000
#gyro full-scale to support reading of at least 8rad/s
max-range.gyro = 8

Default settings

Default parameters can be set at compile time by changing the CMakeLists.txt cflags (under core, see core documentation).

Build instructions

1> clone this repository into desired folder:

git clone https://github.com/STMicroelectronics/st-mems-android-linux-sensors-hal.git

release build

cmake -DCMAKE_BUILD_TYPE=Release ${PROJECT_SOURCE_PATH}

debug build

cmake -DCMAKE_BUILD_TYPE=Debug ${PROJECT_SOURCE_PATH}

export compile commands

cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON ${PROJECT_SOURCE_PATH}

cross-compile

  • arm64
cmake -DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-arm64.cmake ${PROJECT_SOURCE_PATH}
  • arm32
cmake -DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-arm32.cmake ${PROJECT_SOURCE_PATH}

ninja build

cmake -GNinja ${PROJECT_SOURCE_PATH}