Accelerometer data retrieval

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Contents

Scope

This document describes a way to access the data provided by the accelerometers. Furthermore the format of the acquired datastream is explained in detail. This document does not cover the physical basics of acceleration or the mathematical details on this subject.


Axis orientation

To understand the values provided by the accelerometers it is crucial to understand how the sensors are oriented. In the following I will refer to the sensors as first and second sensor. The way to access the data sources of these two will be described later on in this document.

The Z axis is pointing from the display downwards to to the back of the openmoko. This applies to both of the sensors.


Orientation of the first sensor

To explain the axis orientation I have created some images for easier understanding.

Axis orientation of the first accelerometer


Orientation of the second sensor

In contrast to the first sensor the second one is turned 45 degrees around the Z axis. See the attached image to get a clue about its orientation.

Axis orientation of the second accelerometer

Data acquisition

The information from both of the accelerometers is exported through two different input event based file mappings. These device nodes can be found at /dev/input/event2 and /dev/input/event3.

The sensor I am refering to as the first one is event2. Therefore the second one is accessible through the event3 device.

These device nodes can be opened by the default filesystems calls for reading files. The data can be read from the stream as soon as the sensor measures it.


Data structure

To be able to use the measured data it is important to understand the format in which the data is provided. The structure of the given data is based on the kernel input event message system which exports the following data structure:

struct input_event { struct timeval time; __u16 type; __u16 code; __s32 value; };

The data is written to the stream message by message. Therefore the minimal used blocksize is 128 bit (16 byte).

Lets have a look at an example readout of the accelerometer data, divided into the used sections.

|----- time ------| |type| |code| |-value-| 8c66 4819 721c 0006 0002 0002 03a8 0000 8c66 4819 7222 0006 0000 0000 0000 0000 8c66 4819 99e6 0006 0002 0000 0048 0000 8c66 4819 9a36 0006 0002 0001 0024 0000 8c66 4819 9a50 0006 0002 0002 0396 0000 8c66 4819 9a57 0006 0000 0000 0000 0000


I think the time structure does not need further explaination. A lot more interesting is the type, code and value part of every message. Lets take a closer look at these parts.


Event types

The types categorize the incoming messages. All possible types can be found in the kernel sources or include files in INCLUDEDIR/linux/input.h During the tests with the accelerometers I observed the fact that only two different message types are used.

0x00
According to linux/input.h this event is called EV_SYN. It signals the wish to syncronize. Normally this event is used in combination with code 0x00 to mark the send data complete and therefore applyable.
0x02
This event is called EV_REL and signals relative movement. It is used to transmit the acceleration the sensors encounter.

The definition should not be taken too seriously in this context, because the data values provided by the accelerometer always represent the absolute acceleration measured at the given time.


Event codes

Both types of event may supply different codes. These codes can be understood as some kind of further specification about the specified data values


Syncronization event codes

The syncronization event may use quite a lot of codes, as linux/input.h shows. However the only used one seems to be the 0x00 code.

0x00
This code is refered to as SYN_REPORT. It means that the last dataset was completely transmitted. Therefore the before transmitted set of data values can be considered complete. This means if this message is recieved you may process the given data further.


Relative movement event codes

The amount of possible codes for this event type is quite big. The only used ones are the following ones.

0x00
REL_X - Acceleration in x direction
0x01
REL_Y - Acceleration in y direction
0x02
REL_Z - Acceleration in z direction

The X, Y and Z axis are to be understand as defined in the chapter about Axis orientation.

A typical message block

A typical message block consists of 3 messages containing the acceleration data for every of the three axis followed by a syncronization message to signal the end of the block.

The following example is such a message block with detailed explanation of its different messages and data sections.

8c66 4819 99e6 0006   0002   0000   0048 0000
|------Time-------|  EV_REL  REL_X  |-Value-|
(Measured acceleration in x axis direction of 72)

8c66 4819 9a36 0006   0002   0001   0024 0000
|------Time-------|  EV_REL  REL_Y  |-Value-|
(Measured acceleration in y axis direction of 36)

8c66 4819 9a50 0006   0002   0002   0396 0000
|------Time-------|  EV_REL  REL_Z  |-Value-|
(Measured acceleration in z axis direction of 918)

8c66 4819 9a57 0006   0000   0000        0000 0000
|------Time-------|  EV_SYN  SYN_REPORT  |-Value-|
(The transmitted data block is complete you may process the given data)

Test application

A simple test application written in ruby:

#!/usr/bin/env ruby
x = 0
y = 0
z = 0
File.open("/dev/input/event3") do |f|
while true
event = f.read(16).unpack("llSSl")
time = event[0] + event[1] / 1000000.0
type = event[2]
code = event[3]
value = event[4]
if type == 2
x = value if code == 0
y = value if code == 1
z = value if code == 2
end
if type == 0 && code == 0
sum = Math::sqrt(x*x + y*y + z*z).to_i
printf("%5d %5d %5d %5d\n", x, y, z, sum)
end
end
end

Equivalent version in python:

Template:TODO: The whitespace here has been lost! And the python is now broken :)

#!/usr/bin/python
import struct
from math import sqrt

x = 0
y = 0
z = 0
secondsensorfile = "/dev/input/event3"
#int, int, short, short, int
fmt = 'iihhi'
#open file in binary mode
in_file = open(secondsensorfile,"rb")
event = in_file.read(16)
while event:
(time1,time2, type, code, value) = \
struct.unpack(fmt,event)
time = time1 + time2 / 1000000.0

if type == 2:
if code == 0:
x = value
if code == 1:
y = value
if code == 2:
z = value
if type == 0 and code == 0:
sum = int(sqrt(x*x + y*y + z*z))
print x, y, z, sum
event = in_file.read(16)
in_file.close()

The /sys interface

To get the sampling rate of the first accelerometer spi0.0 :

  1. cat /sys/bus/spi/drivers/lis302dl/spi0.0/sample_rate

100

To set the sampling rate :

  1. echo 400 > /sys/bus/spi/drivers/lis302dl/spi0.0/sample_rate
  2. cat /sys/bus/spi/drivers/lis302dl/spi0.0/sample_rate

400

The other one is spi0.1. See GTA02 sysfs#Accelerometers for the other options.

See also

External Links

Personal tools

Scope

This document describes a way to access the data provided by the accelerometers. Furthermore the format of the acquired datastream is explained in detail. This document does not cover the physical basics of acceleration or the mathematical details on this subject.


Axis orientation

To understand the values provided by the accelerometers it is crucial to understand how the sensors are oriented. In the following I will refer to the sensors as first and second sensor. The way to access the data sources of these two will be described later on in this document.

The Z axis is pointing from the display downwards to to the back of the openmoko. This applies to both of the sensors.


Orientation of the first sensor

To explain the axis orientation I have created some images for easier understanding.

Axis orientation of the first accelerometer


Orientation of the second sensor

In contrast to the first sensor the second one is turned 45 degrees around the Z axis. See the attached image to get a clue about its orientation.

Axis orientation of the second accelerometer

Data acquisition

The information from both of the accelerometers is exported through two different input event based file mappings. These device nodes can be found at /dev/input/event2 and /dev/input/event3.

The sensor I am refering to as the first one is event2. Therefore the second one is accessible through the event3 device.

These device nodes can be opened by the default filesystems calls for reading files. The data can be read from the stream as soon as the sensor measures it.


Data structure

To be able to use the measured data it is important to understand the format in which the data is provided. The structure of the given data is based on the kernel input event message system which exports the following data structure:

struct input_event { struct timeval time; __u16 type; __u16 code; __s32 value; };

The data is written to the stream message by message. Therefore the minimal used blocksize is 128 bit (16 byte).

Lets have a look at an example readout of the accelerometer data, divided into the used sections.

|----- time ------| |type| |code| |-value-| 8c66 4819 721c 0006 0002 0002 03a8 0000 8c66 4819 7222 0006 0000 0000 0000 0000 8c66 4819 99e6 0006 0002 0000 0048 0000 8c66 4819 9a36 0006 0002 0001 0024 0000 8c66 4819 9a50 0006 0002 0002 0396 0000 8c66 4819 9a57 0006 0000 0000 0000 0000


I think the time structure does not need further explaination. A lot more interesting is the type, code and value part of every message. Lets take a closer look at these parts.


Event types

The types categorize the incoming messages. All possible types can be found in the kernel sources or include files in INCLUDEDIR/linux/input.h During the tests with the accelerometers I observed the fact that only two different message types are used.

0x00
According to linux/input.h this event is called EV_SYN. It signals the wish to syncronize. Normally this event is used in combination with code 0x00 to mark the send data complete and therefore applyable.
0x02
This event is called EV_REL and signals relative movement. It is used to transmit the acceleration the sensors encounter.

The definition should not be taken too seriously in this context, because the data values provided by the accelerometer always represent the absolute acceleration measured at the given time.


Event codes

Both types of event may supply different codes. These codes can be understood as some kind of further specification about the specified data values


Syncronization event codes

The syncronization event may use quite a lot of codes, as linux/input.h shows. However the only used one seems to be the 0x00 code.

0x00
This code is refered to as SYN_REPORT. It means that the last dataset was completely transmitted. Therefore the before transmitted set of data values can be considered complete. This means if this message is recieved you may process the given data further.


Relative movement event codes

The amount of possible codes for this event type is quite big. The only used ones are the following ones.

0x00
REL_X - Acceleration in x direction
0x01
REL_Y - Acceleration in y direction
0x02
REL_Z - Acceleration in z direction

The X, Y and Z axis are to be understand as defined in the chapter about Axis orientation.

A typical message block

A typical message block consists of 3 messages containing the acceleration data for every of the three axis followed by a syncronization message to signal the end of the block.

The following example is such a message block with detailed explanation of its different messages and data sections.

8c66 4819 99e6 0006   0002   0000   0048 0000
|------Time-------|  EV_REL  REL_X  |-Value-|
(Measured acceleration in x axis direction of 72)

8c66 4819 9a36 0006   0002   0001   0024 0000
|------Time-------|  EV_REL  REL_Y  |-Value-|
(Measured acceleration in y axis direction of 36)

8c66 4819 9a50 0006   0002   0002   0396 0000
|------Time-------|  EV_REL  REL_Z  |-Value-|
(Measured acceleration in z axis direction of 918)

8c66 4819 9a57 0006   0000   0000        0000 0000
|------Time-------|  EV_SYN  SYN_REPORT  |-Value-|
(The transmitted data block is complete you may process the given data)

Test application

A simple test application written in ruby:

#!/usr/bin/env ruby
x = 0
y = 0
z = 0
File.open("/dev/input/event3") do |f|
while true
event = f.read(16).unpack("llSSl")
time = event[0] + event[1] / 1000000.0
type = event[2]
code = event[3]
value = event[4]
if type == 2
x = value if code == 0
y = value if code == 1
z = value if code == 2
end
if type == 0 && code == 0
sum = Math::sqrt(x*x + y*y + z*z).to_i
printf("%5d %5d %5d %5d\n", x, y, z, sum)
end
end
end

Equivalent version in python:

Template:TODO: The whitespace here has been lost! And the python is now broken :)

#!/usr/bin/python
import struct
from math import sqrt

x = 0
y = 0
z = 0
secondsensorfile = "/dev/input/event3"
#int, int, short, short, int
fmt = 'iihhi'
#open file in binary mode
in_file = open(secondsensorfile,"rb")
event = in_file.read(16)
while event:
(time1,time2, type, code, value) = \
struct.unpack(fmt,event)
time = time1 + time2 / 1000000.0

if type == 2:
if code == 0:
x = value
if code == 1:
y = value
if code == 2:
z = value
if type == 0 and code == 0:
sum = int(sqrt(x*x + y*y + z*z))
print x, y, z, sum
event = in_file.read(16)
in_file.close()

The /sys interface

To get the sampling rate of the first accelerometer spi0.0 :

  1. cat /sys/bus/spi/drivers/lis302dl/spi0.0/sample_rate

100

To set the sampling rate :

  1. echo 400 > /sys/bus/spi/drivers/lis302dl/spi0.0/sample_rate
  2. cat /sys/bus/spi/drivers/lis302dl/spi0.0/sample_rate

400

The other one is spi0.1. See GTA02 sysfs#Accelerometers for the other options.

See also

External Links