diff options
Diffstat (limited to '60xx/libsensors_iio/software/core/mllite/hal_outputs.c')
| -rw-r--r-- | 60xx/libsensors_iio/software/core/mllite/hal_outputs.c | 497 |
1 files changed, 497 insertions, 0 deletions
diff --git a/60xx/libsensors_iio/software/core/mllite/hal_outputs.c b/60xx/libsensors_iio/software/core/mllite/hal_outputs.c new file mode 100644 index 0000000..caa1db7 --- /dev/null +++ b/60xx/libsensors_iio/software/core/mllite/hal_outputs.c @@ -0,0 +1,497 @@ +/*
+ $License:
+ Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
+ See included License.txt for License information.
+ $
+ */
+
+/**
+ * @defgroup HAL_Outputs hal_outputs
+ * @brief Motion Library - HAL Outputs
+ * Sets up common outputs for HAL
+ *
+ * @{
+ * @file hal_outputs.c
+ * @brief HAL Outputs.
+ */
+
+#include <string.h>
+
+#include "hal_outputs.h"
+#include "log.h"
+#include "ml_math_func.h"
+#include "mlmath.h"
+#include "start_manager.h"
+#include "data_builder.h"
+#include "results_holder.h"
+
+struct hal_output_t {
+ int accuracy_mag; /**< Compass accuracy */
+// int accuracy_gyro; /**< Gyro Accuracy */
+// int accuracy_accel; /**< Accel Accuracy */
+ int accuracy_quat; /**< quat Accuracy */
+
+ inv_time_t nav_timestamp;
+ inv_time_t gam_timestamp;
+// inv_time_t accel_timestamp;
+ inv_time_t mag_timestamp;
+ long nav_quat[4];
+ int gyro_status;
+ int accel_status;
+ int compass_status;
+ int nine_axis_status;
+ inv_biquad_filter_t lp_filter[3];
+ float compass_float[3];
+ long linear_acceleration_sample_rate_us;
+ long gravity_sample_rate_us;
+};
+
+static struct hal_output_t hal_out;
+
+void inv_set_linear_acceleration_sample_rate(long sample_rate_us)
+{
+ hal_out.linear_acceleration_sample_rate_us = sample_rate_us;
+}
+
+void inv_set_gravity_sample_rate(long sample_rate_us)
+{
+ hal_out.gravity_sample_rate_us = sample_rate_us;
+}
+
+/** Acceleration (m/s^2) in body frame.
+* @param[out] values Acceleration in m/s^2 includes gravity. So while not in motion, it
+* should return a vector of magnitude near 9.81 m/s^2
+* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
+* @param[out] timestamp The timestamp for this sensor. Derived from the timestamp sent to
+* inv_build_accel().
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_accelerometer(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ int status;
+ /* Converts fixed point to m/s^2. Fixed point has 1g = 2^16.
+ * So this 9.80665 / 2^16 */
+#define ACCEL_CONVERSION 0.000149637603759766f
+ long accel[3];
+ inv_get_accel_set(accel, accuracy, timestamp);
+ values[0] = accel[0] * ACCEL_CONVERSION;
+ values[1] = accel[1] * ACCEL_CONVERSION;
+ values[2] = accel[2] * ACCEL_CONVERSION;
+ if (hal_out.accel_status & INV_NEW_DATA)
+ status = 1;
+ else
+ status = 0;
+ return status;
+}
+
+/** Linear Acceleration (m/s^2) in Body Frame.
+* @param[out] values Linear Acceleration in body frame, length 3, (m/s^2). May show
+* accel biases while at rest.
+* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
+* @param[out] timestamp The timestamp for this sensor. Derived from the timestamp sent to
+* inv_build_accel().
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_linear_acceleration(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ long gravity[3], accel[3];
+ inv_time_t timestamp1;
+
+ inv_get_accel_set(accel, accuracy, ×tamp1);
+ inv_get_gravity(gravity);
+ accel[0] -= gravity[0] >> 14;
+ accel[1] -= gravity[1] >> 14;
+ accel[2] -= gravity[2] >> 14;
+ values[0] = accel[0] * ACCEL_CONVERSION;
+ values[1] = accel[1] * ACCEL_CONVERSION;
+ values[2] = accel[2] * ACCEL_CONVERSION;
+
+ return inv_get_6_axis_gyro_accel_timestamp(hal_out.linear_acceleration_sample_rate_us, timestamp);
+}
+
+/** Gravity vector (m/s^2) in Body Frame.
+* @param[out] values Gravity vector in body frame, length 3, (m/s^2)
+* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
+* @param[out] timestamp The timestamp for this sensor. Derived from the timestamp sent to
+* inv_build_accel().
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_gravity(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ long gravity[3];
+
+ *accuracy = (int8_t) hal_out.accuracy_quat;
+ inv_get_gravity(gravity);
+ values[0] = (gravity[0] >> 14) * ACCEL_CONVERSION;
+ values[1] = (gravity[1] >> 14) * ACCEL_CONVERSION;
+ values[2] = (gravity[2] >> 14) * ACCEL_CONVERSION;
+ return inv_get_6_axis_gyro_accel_timestamp(hal_out.gravity_sample_rate_us, timestamp);
+}
+
+/* Converts fixed point to rad/sec. Fixed point has 1 dps = 2^16.
+ * So this is: pi / 2^16 / 180 */
+#define GYRO_CONVERSION 2.66316109007924e-007f
+
+/** Gyroscope calibrated data (rad/s) in body frame.
+* @param[out] values Rotation Rate in rad/sec.
+* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
+* @param[out] timestamp The timestamp for this sensor. Derived from the timestamp sent to
+* inv_build_gyro().
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_gyroscope(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ long gyro[3];
+ int status;
+
+ inv_get_gyro_set(gyro, accuracy, timestamp);
+ values[0] = gyro[0] * GYRO_CONVERSION;
+ values[1] = gyro[1] * GYRO_CONVERSION;
+ values[2] = gyro[2] * GYRO_CONVERSION;
+ if (hal_out.gyro_status & INV_NEW_DATA)
+ status = 1;
+ else
+ status = 0;
+ return status;
+}
+
+/** Gyroscope raw data (rad/s) in body frame.
+* @param[out] values Rotation Rate in rad/sec.
+* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
+* @param[out] timestamp The timestamp for this sensor. Derived from the timestamp sent to
+* inv_build_gyro().
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_gyroscope_raw(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ long gyro[3];
+ int status;
+
+ inv_get_gyro_set_raw(gyro, accuracy, timestamp);
+ values[0] = gyro[0] * GYRO_CONVERSION;
+ values[1] = gyro[1] * GYRO_CONVERSION;
+ values[2] = gyro[2] * GYRO_CONVERSION;
+ if (hal_out.gyro_status & INV_NEW_DATA)
+ status = 1;
+ else
+ status = 0;
+ return status;
+}
+
+/**
+* This corresponds to Sensor.TYPE_ROTATION_VECTOR.
+* The rotation vector represents the orientation of the device as a combination
+* of an angle and an axis, in which the device has rotated through an angle @f$\theta@f$
+* around an axis {x, y, z}. <br>
+* The three elements of the rotation vector are
+* {x*sin(@f$\theta@f$/2), y*sin(@f$\theta@f$/2), z*sin(@f$\theta@f$/2)}, such that the magnitude of the rotation
+* vector is equal to sin(@f$\theta@f$/2), and the direction of the rotation vector is
+* equal to the direction of the axis of rotation.
+*
+* The three elements of the rotation vector are equal to the last three components of a unit quaternion
+* {x*sin(@f$\theta@f$/2), y*sin(@f$\theta@f$/2), z*sin(@f$\theta@f$/2)>. The 4th element is cos(@f$\theta@f$/2).
+*
+* Elements of the rotation vector are unitless. The x,y and z axis are defined in the same way as the acceleration sensor.
+* The reference coordinate system is defined as a direct orthonormal basis, where:
+
+ -X is defined as the vector product Y.Z (It is tangential to the ground at the device's current location and roughly points East).
+ -Y is tangential to the ground at the device's current location and points towards the magnetic North Pole.
+ -Z points towards the sky and is perpendicular to the ground.
+* @param[out] values Length 4.
+* @param[out] accuracy Accuracy 0 to 3, 3 = most accurate
+* @param[out] timestamp Timestamp. In (ns) for Android.
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_rotation_vector(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ *accuracy = (int8_t) hal_out.accuracy_quat;
+ *timestamp = hal_out.nav_timestamp;
+
+ if (hal_out.nav_quat[0] >= 0) {
+ values[0] = hal_out.nav_quat[1] * INV_TWO_POWER_NEG_30;
+ values[1] = hal_out.nav_quat[2] * INV_TWO_POWER_NEG_30;
+ values[2] = hal_out.nav_quat[3] * INV_TWO_POWER_NEG_30;
+ values[3] = hal_out.nav_quat[0] * INV_TWO_POWER_NEG_30;
+ } else {
+ values[0] = -hal_out.nav_quat[1] * INV_TWO_POWER_NEG_30;
+ values[1] = -hal_out.nav_quat[2] * INV_TWO_POWER_NEG_30;
+ values[2] = -hal_out.nav_quat[3] * INV_TWO_POWER_NEG_30;
+ values[3] = -hal_out.nav_quat[0] * INV_TWO_POWER_NEG_30;
+ }
+ values[4] = inv_get_heading_confidence_interval();
+
+ return hal_out.nine_axis_status;
+}
+
+
+/** Compass data (uT) in body frame.
+* @param[out] values Compass data in (uT), length 3. May be calibrated by having
+* biases removed and sensitivity adjusted
+* @param[out] accuracy Accuracy 0 to 3, 3 = most accurate
+* @param[out] timestamp Timestamp. In (ns) for Android.
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_magnetic_field(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ int status;
+ /* Converts fixed point to uT. Fixed point has 1 uT = 2^16.
+ * So this is: 1 / 2^16*/
+//#define COMPASS_CONVERSION 1.52587890625e-005f
+ int i;
+
+ *timestamp = hal_out.mag_timestamp;
+ *accuracy = (int8_t) hal_out.accuracy_mag;
+
+ for (i=0; i<3; i++) {
+ values[i] = hal_out.compass_float[i];
+ }
+ if (hal_out.compass_status & INV_NEW_DATA)
+ status = 1;
+ else
+ status = 0;
+ return status;
+}
+
+static void inv_get_rotation(float r[3][3])
+{
+ long rot[9];
+ float conv = 1.f / (1L<<30);
+
+ inv_quaternion_to_rotation(hal_out.nav_quat, rot);
+ r[0][0] = rot[0]*conv;
+ r[0][1] = rot[1]*conv;
+ r[0][2] = rot[2]*conv;
+ r[1][0] = rot[3]*conv;
+ r[1][1] = rot[4]*conv;
+ r[1][2] = rot[5]*conv;
+ r[2][0] = rot[6]*conv;
+ r[2][1] = rot[7]*conv;
+ r[2][2] = rot[8]*conv;
+}
+
+static void google_orientation(float *g)
+{
+ float rad2deg = (float)(180.0 / M_PI);
+ float R[3][3];
+
+ inv_get_rotation(R);
+
+ g[0] = atan2f(-R[1][0], R[0][0]) * rad2deg;
+ g[1] = atan2f(-R[2][1], R[2][2]) * rad2deg;
+ g[2] = asinf ( R[2][0]) * rad2deg;
+ if (g[0] < 0)
+ g[0] += 360;
+}
+
+
+/** This corresponds to Sensor.TYPE_ORIENTATION. All values are angles in degrees.
+* @param[out] values Length 3, Degrees.<br>
+* - values[0]: Azimuth, angle between the magnetic north direction
+* and the y-axis, around the z-axis (0 to 359). 0=North, 90=East, 180=South, 270=West<br>
+* - values[1]: Pitch, rotation around x-axis (-180 to 180), with positive values
+* when the z-axis moves toward the y-axis.<br>
+* - values[2]: Roll, rotation around y-axis (-90 to 90), with positive
+* values when the x-axis moves toward the z-axis.<br>
+*
+* @note This definition is different from yaw, pitch and roll used in aviation
+* where the X axis is along the long side of the plane (tail to nose).
+* Note: This sensor type exists for legacy reasons, please use getRotationMatrix()
+* in conjunction with remapCoordinateSystem() and getOrientation() to compute
+* these values instead.
+* Important note: For historical reasons the roll angle is positive in the
+* clockwise direction (mathematically speaking, it should be positive in
+* the counter-clockwise direction).
+* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
+* @param[out] timestamp The timestamp for this sensor.
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_orientation(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ *accuracy = (int8_t) hal_out.accuracy_quat;
+ *timestamp = hal_out.nav_timestamp;
+
+ google_orientation(values);
+
+ return hal_out.nine_axis_status;
+}
+
+/** Main callback to generate HAL outputs. Typically not called by library users.
+* @param[in] sensor_cal Input variable to take sensor data whenever there is new
+* sensor data.
+* @return Returns INV_SUCCESS if successful or an error code if not.
+*/
+inv_error_t inv_generate_hal_outputs(struct inv_sensor_cal_t *sensor_cal)
+{
+ int use_sensor = 0;
+ long sr = 1000;
+ long compass[3];
+ int8_t accuracy;
+ int i;
+ (void) sensor_cal;
+
+ inv_get_quaternion_set(hal_out.nav_quat, &hal_out.accuracy_quat,
+ &hal_out.nav_timestamp);
+ hal_out.gyro_status = sensor_cal->gyro.status;
+ hal_out.accel_status = sensor_cal->accel.status;
+ hal_out.compass_status = sensor_cal->compass.status;
+
+ // Find the highest sample rate and tie generating 9-axis to that one.
+ if (sensor_cal->gyro.status & INV_SENSOR_ON) {
+ sr = sensor_cal->gyro.sample_rate_ms;
+ use_sensor = 0;
+ }
+ if ((sensor_cal->accel.status & INV_SENSOR_ON) && (sr > sensor_cal->accel.sample_rate_ms)) {
+ sr = sensor_cal->accel.sample_rate_ms;
+ use_sensor = 1;
+ }
+ if ((sensor_cal->compass.status & INV_SENSOR_ON) && (sr > sensor_cal->compass.sample_rate_ms)) {
+ sr = sensor_cal->compass.sample_rate_ms;
+ use_sensor = 2;
+ }
+ if ((sensor_cal->quat.status & INV_SENSOR_ON) && (sr > sensor_cal->quat.sample_rate_ms)) {
+ sr = sensor_cal->quat.sample_rate_ms;
+ use_sensor = 3;
+ }
+
+ // Only output 9-axis if all 9 sensors are on.
+ if (sensor_cal->quat.status & INV_SENSOR_ON) {
+ // If quaternion sensor is on, gyros are not required as quaternion already has that part
+ if ((sensor_cal->accel.status & sensor_cal->compass.status & INV_SENSOR_ON) == 0) {
+ use_sensor = -1;
+ }
+ } else {
+ if ((sensor_cal->gyro.status & sensor_cal->accel.status & sensor_cal->compass.status & INV_SENSOR_ON) == 0) {
+ use_sensor = -1;
+ }
+ }
+
+ switch (use_sensor) {
+ case 0:
+ hal_out.nine_axis_status = (sensor_cal->gyro.status & INV_NEW_DATA) ? 1 : 0;
+ hal_out.nav_timestamp = sensor_cal->gyro.timestamp;
+ break;
+ case 1:
+ hal_out.nine_axis_status = (sensor_cal->accel.status & INV_NEW_DATA) ? 1 : 0;
+ hal_out.nav_timestamp = sensor_cal->accel.timestamp;
+ break;
+ case 2:
+ hal_out.nine_axis_status = (sensor_cal->compass.status & INV_NEW_DATA) ? 1 : 0;
+ hal_out.nav_timestamp = sensor_cal->compass.timestamp;
+ break;
+ case 3:
+ hal_out.nine_axis_status = (sensor_cal->quat.status & INV_NEW_DATA) ? 1 : 0;
+ hal_out.nav_timestamp = sensor_cal->quat.timestamp;
+ break;
+ default:
+ hal_out.nine_axis_status = 0; // Don't output quaternion related info
+ break;
+ }
+
+ /* Converts fixed point to uT. Fixed point has 1 uT = 2^16.
+ * So this is: 1 / 2^16*/
+ #define COMPASS_CONVERSION 1.52587890625e-005f
+
+ inv_get_compass_set(compass, &accuracy, &(hal_out.mag_timestamp) );
+ hal_out.accuracy_mag = (int ) accuracy;
+
+ for (i=0; i<3; i++) {
+ if ((sensor_cal->compass.status & (INV_NEW_DATA | INV_CONTIGUOUS)) ==
+ INV_NEW_DATA ) {
+ // set the state variables to match output with input
+ inv_calc_state_to_match_output(&hal_out.lp_filter[i], (float ) compass[i]);
+ }
+
+ if ((sensor_cal->compass.status & (INV_NEW_DATA | INV_RAW_DATA)) ==
+ (INV_NEW_DATA | INV_RAW_DATA) ) {
+
+ hal_out.compass_float[i] = inv_biquad_filter_process(&hal_out.lp_filter[i],
+ (float ) compass[i]) * COMPASS_CONVERSION;
+
+ } else if ((sensor_cal->compass.status & INV_NEW_DATA) == INV_NEW_DATA ) {
+ hal_out.compass_float[i] = (float ) compass[i] * COMPASS_CONVERSION;
+ }
+
+ }
+ return INV_SUCCESS;
+}
+
+/** Turns off generation of HAL outputs.
+* @return Returns INV_SUCCESS if successful or an error code if not.
+ */
+inv_error_t inv_stop_hal_outputs(void)
+{
+ inv_error_t result;
+ result = inv_unregister_data_cb(inv_generate_hal_outputs);
+ return result;
+}
+
+/** Turns on generation of HAL outputs. This should be called after inv_stop_hal_outputs()
+* to turn generation of HAL outputs back on. It is automatically called by inv_enable_hal_outputs().
+* @return Returns INV_SUCCESS if successful or an error code if not.
+*/
+inv_error_t inv_start_hal_outputs(void)
+{
+ inv_error_t result;
+ result =
+ inv_register_data_cb(inv_generate_hal_outputs,
+ INV_PRIORITY_HAL_OUTPUTS,
+ INV_GYRO_NEW | INV_ACCEL_NEW | INV_MAG_NEW);
+ return result;
+}
+/* file name: lowPassFilterCoeff_1_6.c */
+float compass_low_pass_filter_coeff[5] =
+{+2.000000000000f, +1.000000000000f, -1.279632424998f, +0.477592250073f, +0.049489956269f};
+
+/** Initializes hal outputs class. This is called automatically by the
+* enable function. It may be called any time the feature is enabled, but
+* is typically not needed to be called by outside callers.
+* @return Returns INV_SUCCESS if successful or an error code if not.
+*/
+inv_error_t inv_init_hal_outputs(void)
+{
+ int i;
+ memset(&hal_out, 0, sizeof(hal_out));
+ for (i=0; i<3; i++) {
+ inv_init_biquad_filter(&hal_out.lp_filter[i], compass_low_pass_filter_coeff);
+ }
+
+ return INV_SUCCESS;
+}
+
+/** Turns on creation and storage of HAL type results.
+* @return Returns INV_SUCCESS if successful or an error code if not.
+*/
+inv_error_t inv_enable_hal_outputs(void)
+{
+ inv_error_t result;
+
+ // don't need to check the result for inv_init_hal_outputs
+ // since it's always INV_SUCCESS
+ inv_init_hal_outputs();
+
+ result = inv_register_mpl_start_notification(inv_start_hal_outputs);
+ return result;
+}
+
+/** Turns off creation and storage of HAL type results.
+*/
+inv_error_t inv_disable_hal_outputs(void)
+{
+ inv_error_t result;
+
+ inv_stop_hal_outputs(); // Ignore error if we have already stopped this
+ result = inv_unregister_mpl_start_notification(inv_start_hal_outputs);
+ return result;
+}
+
+/**
+ * @}
+ */
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