libsensors_iio/src/Gyroscope.cpp

/*
 * STMicroelectronics Gyroscope Sensor Class
 *
 * Copyright 2013-2015 STMicroelectronics Inc.
 * Author: Denis Ciocca - <denis.ciocca@st.com>
 *
 * Licensed under the Apache License, Version 2.0 (the "License").
 */

#include <fcntl.h>
#include <assert.h>
#include <signal.h>

#include "sensor_cal.h"
#include "Gyroscope.h"

#ifdef CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED
extern "C" {
	#include "iNemoEngineAPI_gbias_estimation.h"
}
#endif /* CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED */

Gyroscope::Gyroscope(HWSensorBaseCommonData *data, const char *name,
		struct iio_sampling_frequency_available *sfa, int handle,
		unsigned int hw_fifo_len, int pipe_data_fd, float power_consumption, bool wakeup) :
			HWSensorBaseWithPollrate(data, name, sfa, handle,
			SENSOR_TYPE_GYROSCOPE, hw_fifo_len, pipe_data_fd, power_consumption)
{
	sensor_t_data.stringType = SENSOR_STRING_TYPE_GYROSCOPE;
	sensor_t_data.flags = SENSOR_FLAG_CONTINUOUS_MODE;

	if (wakeup)
		sensor_t_data.flags |= SENSOR_FLAG_WAKE_UP;

	sensor_t_data.resolution = data->channels[0].scale;
	sensor_t_data.maxRange = sensor_t_data.resolution * (pow(2, data->channels[0].bits_used - 1) - 1);

#ifdef CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED
	iNemoEngine_API_gbias_Initialization(NULL);

	type_dependencies[SENSOR_BASE_DEPENDENCY_0] = SENSOR_TYPE_ACCELEROMETER;
#endif /* CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED */
}

Gyroscope::~Gyroscope()
{

}

int Gyroscope::Enable(int handle, bool enable)
{
#ifdef CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED
	int err;
	bool old_status;

	old_status = GetStatus();

	err = HWSensorBaseWithPollrate::Enable(handle, enable);
	if (err < 0)
		return err;

	if (GetStatus() != old_status)
		iNemoEngine_API_gbias_enable(enable);

	return 0;
#else /* CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED */
	return HWSensorBaseWithPollrate::Enable(handle, enable);
#endif /* CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED */
}

int Gyroscope::SetDelay(int handle, int64_t period_ns, int64_t timeout)
{
#ifdef CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED
	int err;

	err = HWSensorBaseWithPollrate::SetDelay(handle, period_ns, timeout);
	if (err < 0)
		return err;


	iNemoEngine_API_gbias_set_frequency(NS_TO_FREQUENCY(GetRealPollrate()));

	return 0;
#else /* CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED */
	return HWSensorBaseWithPollrate::SetDelay(handle, period_ns, timeout);
#endif /* CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED */
}

void Gyroscope::ProcessData(SensorBaseData *data)
{
#define	X_SCALING_FACTOR	1
#define	Y_SCALING_FACTOR	(360 / 350)
#define	Z_SCALING_FACTOR	1

	float tmp_raw_data[num_data_axis];
#ifdef CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED
	int64_t time_diff = 0;
	int err, nomaxdata = 10;
	SensorBaseData accel_data;
#endif /* CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED */

	memcpy(tmp_raw_data, data->raw, num_data_axis * sizeof(float));

	data->raw[0] = SENSOR_X_DATA(tmp_raw_data[0], tmp_raw_data[1], tmp_raw_data[2], CONFIG_ST_HAL_GYRO_ROT_MATRIX);
	data->raw[1] = SENSOR_Y_DATA(tmp_raw_data[0], tmp_raw_data[1], tmp_raw_data[2], CONFIG_ST_HAL_GYRO_ROT_MATRIX);
	data->raw[2] = SENSOR_Z_DATA(tmp_raw_data[0], tmp_raw_data[1], tmp_raw_data[2], CONFIG_ST_HAL_GYRO_ROT_MATRIX);

#ifdef CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED
	do {
		err = GetLatestValidDataFromDependency(SENSOR_BASE_DEPENDENCY_0, &accel_data);
		if (err < 0) {
			nomaxdata--;
			usleep(200);
			continue;
		}

		time_diff = data->timestamp - accel_data.timestamp;

	} while ((time_diff >= GetRealPollrate()) && (nomaxdata > 0));

	if (err >= 0)
		iNemoEngine_API_gbias_Run(accel_data.raw, data->raw);

	iNemoEngine_API_Get_gbias(data->offset);

	sensor_event.gyro.status = SENSOR_STATUS_ACCURACY_HIGH;
#else /* CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED */
	if (gyro_cal_data_loaded == true)
		sensor_event.gyro.status = SENSOR_STATUS_ACCURACY_LOW;
	else
		sensor_event.gyro.status = SENSOR_STATUS_UNRELIABLE;
#endif /* CONFIG_ST_HAL_GYRO_GBIAS_ESTIMATION_ENABLED */

	data->processed[0] = data->raw[0] - data->offset[0];
	data->processed[1] = data->raw[1] - data->offset[1];
	data->processed[2] = data->raw[2] - data->offset[2];

	/* FIXME: scaling gyro data for better accuracy */
	sensor_event.gyro.x = data->processed[0] * X_SCALING_FACTOR;
	sensor_event.gyro.y = data->processed[1] * Y_SCALING_FACTOR;
	sensor_event.gyro.z = data->processed[2] * Z_SCALING_FACTOR;
	sensor_event.timestamp = data->timestamp;

	HWSensorBaseWithPollrate::WriteDataToPipe();
	HWSensorBaseWithPollrate::ProcessData(data);
}