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android / platform / hardware / invensense / refs/heads/lollipop-mr1-cts-release / . / 60xx / libsensors_iio / software / core / mllite / data_builder.c
blob: 0aa418d4a43370e1cf8f5d38f5be08d663c2c220 [file] [log] [blame]
/*
$License:
Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
See included License.txt for License information.
$
*/
/**
* @defgroup Data_Builder data_builder
* @brief Motion Library - Data Builder
* Constructs and Creates the data for MPL
*
* @{
* @file data_builder.c
* @brief Data Builder.
*/
#undef MPL_LOG_NDEBUG
#define MPL_LOG_NDEBUG 0 /* Use 0 to turn on MPL_LOGV output */
#include <string.h>
#include "ml_math_func.h"
#include "data_builder.h"
#include "mlmath.h"
#include "storage_manager.h"
#include "message_layer.h"
#include "results_holder.h"
#include "log.h"
#undef MPL_LOG_TAG
#define MPL_LOG_TAG "MPL"
typedef inv_error_t (*inv_process_cb_func)(struct inv_sensor_cal_t *data);
struct process_t {
inv_process_cb_func func;
int priority;
int data_required;
};
struct inv_db_save_t {
/** Compass Bias in Chip Frame in Hardware units scaled by 2^16 */
long compass_bias[3];
/** Gyro Bias in Chip Frame in Hardware units scaled by 2^16 */
long gyro_bias[3];
/** Temperature when *gyro_bias was stored. */
long gyro_temp;
/** Accel Bias in Chip Frame in Hardware units scaled by 2^16 */
long accel_bias[3];
/** Temperature when accel bias was stored. */
long accel_temp;
long gyro_temp_slope[3];
/** Sensor Accuracy */
int gyro_accuracy;
int accel_accuracy;
int compass_accuracy;
};
struct inv_data_builder_t {
int num_cb;
struct process_t process[INV_MAX_DATA_CB];
struct inv_db_save_t save;
int compass_disturbance;
int mode;
#ifdef INV_PLAYBACK_DBG
int debug_mode;
int last_mode;
FILE *file;
#endif
};
void inv_apply_calibration(struct inv_single_sensor_t *sensor, const long *bias);
static void inv_set_contiguous(void);
static struct inv_data_builder_t inv_data_builder;
static struct inv_sensor_cal_t sensors;
/** Change this key if the data being stored by this file changes */
#define INV_DB_SAVE_KEY 53395
#ifdef INV_PLAYBACK_DBG
/** Turn on data logging to allow playback of same scenario at a later time.
* @param[in] file File to write to, must be open.
*/
void inv_turn_on_data_logging(FILE *file)
{
MPL_LOGV("input data logging started\n");
inv_data_builder.file = file;
inv_data_builder.debug_mode = RD_RECORD;
}
/** Turn off data logging to allow playback of same scenario at a later time.
* File passed to inv_turn_on_data_logging() must be closed after calling this.
*/
void inv_turn_off_data_logging()
{
MPL_LOGV("input data logging stopped\n");
inv_data_builder.debug_mode = RD_NO_DEBUG;
inv_data_builder.file = NULL;
}
#endif
/** This function receives the data that was stored in non-volatile memory between power off */
static inv_error_t inv_db_load_func(const unsigned char *data)
{
memcpy(&inv_data_builder.save, data, sizeof(inv_data_builder.save));
// copy in the saved accuracy in the actual sensors accuracy
sensors.gyro.accuracy = inv_data_builder.save.gyro_accuracy;
sensors.accel.accuracy = inv_data_builder.save.accel_accuracy;
sensors.compass.accuracy = inv_data_builder.save.compass_accuracy;
// TODO
if (sensors.compass.accuracy == 3) {
inv_set_compass_bias_found(1);
}
return INV_SUCCESS;
}
/** This function returns the data to be stored in non-volatile memory between power off */
static inv_error_t inv_db_save_func(unsigned char *data)
{
memcpy(data, &inv_data_builder.save, sizeof(inv_data_builder.save));
return INV_SUCCESS;
}
/** Initialize the data builder
*/
inv_error_t inv_init_data_builder(void)
{
/* TODO: Hardcode temperature scale/offset here. */
memset(&inv_data_builder, 0, sizeof(inv_data_builder));
memset(&sensors, 0, sizeof(sensors));
return inv_register_load_store(inv_db_load_func, inv_db_save_func,
sizeof(inv_data_builder.save),
INV_DB_SAVE_KEY);
}
/** Gyro sensitivity.
* @return A scale factor to convert device units to degrees per second scaled by 2^16
* such that degrees_per_second = device_units * sensitivity / 2^30. Typically
* it works out to be the maximum rate * 2^15.
*/
long inv_get_gyro_sensitivity()
{
return sensors.gyro.sensitivity;
}
/** Accel sensitivity.
* @return A scale factor to convert device units to g's scaled by 2^16
* such that g_s = device_units * sensitivity / 2^30. Typically
* it works out to be the maximum accel value in g's * 2^15.
*/
long inv_get_accel_sensitivity(void)
{
return sensors.accel.sensitivity;
}
/** Compass sensitivity.
* @return A scale factor to convert device units to micro Tesla scaled by 2^16
* such that uT = device_units * sensitivity / 2^30. Typically
* it works out to be the maximum uT * 2^15.
*/
long inv_get_compass_sensitivity(void)
{
return sensors.compass.sensitivity;
}
/** Sets orientation and sensitivity field for a sensor.
* @param[out] sensor Structure to apply settings to
* @param[in] orientation Orientation description of how part is mounted.
* @param[in] sensitivity A Scale factor to convert from hardware units to
* standard units (dps, uT, g).
*/
void set_sensor_orientation_and_scale(struct inv_single_sensor_t *sensor,
int orientation, long sensitivity)
{
sensor->sensitivity = sensitivity;
sensor->orientation = orientation;
}
/** Sets the Orientation and Sensitivity of the gyro data.
* @param[in] orientation A scalar defining the transformation from chip mounting
* to the body frame. The function inv_orientation_matrix_to_scalar()
* can convert the transformation matrix to this scalar and describes the
* scalar in further detail.
* @param[in] sensitivity A scale factor to convert device units to degrees per second scaled by 2^16
* such that degrees_per_second = device_units * sensitivity / 2^30. Typically
* it works out to be the maximum rate * 2^15.
*/
void inv_set_gyro_orientation_and_scale(int orientation, long sensitivity)
{
#ifdef INV_PLAYBACK_DBG
if (inv_data_builder.debug_mode == RD_RECORD) {
int type = PLAYBACK_DBG_TYPE_G_ORIENT;
fwrite(&type, sizeof(type), 1, inv_data_builder.file);
fwrite(&orientation, sizeof(orientation), 1, inv_data_builder.file);
fwrite(&sensitivity, sizeof(sensitivity), 1, inv_data_builder.file);
}
#endif
set_sensor_orientation_and_scale(&sensors.gyro, orientation,
sensitivity);
}
/** Set Gyro Sample rate in micro seconds.
* @param[in] sample_rate_us Set Gyro Sample rate in us
*/
void inv_set_gyro_sample_rate(long sample_rate_us)
{
#ifdef INV_PLAYBACK_DBG
if (inv_data_builder.debug_mode == RD_RECORD) {
int type = PLAYBACK_DBG_TYPE_G_SAMPLE_RATE;
fwrite(&type, sizeof(type), 1, inv_data_builder.file);
fwrite(&sample_rate_us, sizeof(sample_rate_us), 1, inv_data_builder.file);
}
#endif
sensors.gyro.sample_rate_us = sample_rate_us;
sensors.gyro.sample_rate_ms = sample_rate_us / 1000;
if (sensors.gyro.bandwidth == 0) {
sensors.gyro.bandwidth = (int)(1000000L / sample_rate_us);
}
}
/** Set Accel Sample rate in micro seconds.
* @param[in] sample_rate_us Set Accel Sample rate in us
*/
void inv_set_accel_sample_rate(long sample_rate_us)
{
#ifdef INV_PLAYBACK_DBG
if (inv_data_builder.debug_mode == RD_RECORD) {
int type = PLAYBACK_DBG_TYPE_A_SAMPLE_RATE;
fwrite(&type, sizeof(type), 1, inv_data_builder.file);
fwrite(&sample_rate_us, sizeof(sample_rate_us), 1, inv_data_builder.file);
}
#endif
sensors.accel.sample_rate_us = sample_rate_us;
sensors.accel.sample_rate_ms = sample_rate_us / 1000;
if (sensors.accel.bandwidth == 0) {
sensors.accel.bandwidth = (int)(1000000L / sample_rate_us);
}
}
/** Pick the smallest non-negative number. Priority to td1 on equal
* If both are negative, return the largest.
*/
static int inv_pick_best_time_difference(long td1, long td2)
{
if (td1 >= 0) {
if (td2 >= 0) {
if (td1 <= td2) {
// td1
return 0;
} else {
// td2
return 1;
}
} else {
// td1
return 0;
}
} else if (td2 >= 0) {
// td2
return 1;
} else {
// Both are negative
if (td1 >= td2) {
// td1
return 0;
} else {
// td2
return 1;
}
}
}
/** Returns timestame based upon a raw sensor, and returns if that sample has a new piece of data.
*/
static int inv_raw_sensor_timestamp(int sensor_number, inv_time_t *ts)
{
int status = 0;
switch (sensor_number) {
case 0: // Quat
*ts = sensors.quat.timestamp;
if (inv_data_builder.mode & INV_QUAT_NEW)
if (sensors.quat.timestamp_prev != sensors.quat.timestamp)
status = 1;
return status;
case 1: // Gyro
*ts = sensors.gyro.timestamp;
if (inv_data_builder.mode & INV_GYRO_NEW)
if (sensors.gyro.timestamp_prev != sensors.gyro.timestamp)
status = 1;
return status;
case 2: // Accel
*ts = sensors.accel.timestamp;
if (inv_data_builder.mode & INV_ACCEL_NEW)
if (sensors.accel.timestamp_prev != sensors.accel.timestamp)
status = 1;
return status;
case 3: // Compass
*ts = sensors.compass.timestamp;
if (inv_data_builder.mode & INV_MAG_NEW)
if (sensors.compass.timestamp_prev != sensors.compass.timestamp)
status = 1;
return status;
default:
*ts = 0;
return 0;
}
return 0;
}
/** Gets best timestamp and if there is a new piece of data for a 9-axis sensor combination.
* It does this by finding a raw sensor that has the closest sample rate that is at least as
* often desired. It also returns if that raw sensor has a new piece of data.
* Priority is Quaternion-6axis, Quaternion 3-axis, Gyro, Accel
* @return Returns 1, if the raw sensor being attached has new data, 0 otherwise.
*/
int inv_get_6_axis_gyro_accel_timestamp(long sample_rate_us, inv_time_t *ts)
{
long td[2];
int idx;
if ((sensors.quat.status & (INV_QUAT_6AXIS | INV_SENSOR_ON)) == (INV_QUAT_6AXIS | INV_SENSOR_ON)) {
// Sensor number is 0 (Quat)
return inv_raw_sensor_timestamp(0, ts);
} else if ((sensors.accel.status & INV_SENSOR_ON) == 0) {
return 0; // Accel must be on or 6-axis quat must be on
}
// At this point, we know accel is on. Check if 3-axis quat is on
td[0] = sample_rate_us - sensors.quat.sample_rate_us;
td[1] = sample_rate_us - sensors.accel.sample_rate_us;
if ((sensors.quat.status & (INV_QUAT_3AXIS | INV_SENSOR_ON)) == (INV_QUAT_3AXIS | INV_SENSOR_ON)) {
idx = inv_pick_best_time_difference(td[0], td[1]);
idx *= 2;
// 0 = quat, 3=accel
return inv_raw_sensor_timestamp(idx, ts);
}
// No Quaternion data from outside, Gyro must be on
if ((sensors.gyro.status & INV_SENSOR_ON) == 0) {
return 0; // Gyro must be on
}
td[0] = sample_rate_us - sensors.gyro.sample_rate_us;
idx = inv_pick_best_time_difference(td[0], td[1]);
idx *= 2; // 0=gyro 2=accel
idx++;
// 1 = gyro, 3=accel
return inv_raw_sensor_timestamp(idx, ts);
}
/** Set Compass Sample rate in micro seconds.
* @param[in] sample_rate_us Set Gyro Sample rate in micro seconds.
*/
void inv_set_compass_sample_rate(long sample_rate_us)
{
#ifdef INV_PLAYBACK_DBG
if (inv_data_builder.debug_mode == RD_RECORD) {
int type = PLAYBACK_DBG_TYPE_C_SAMPLE_RATE;
fwrite(&type, sizeof(type), 1, inv_data_builder.file);
fwrite(&sample_rate_us, sizeof(sample_rate_us), 1, inv_data_builder.file);
}
#endif
sensors.compass.sample_rate_us = sample_rate_us;
sensors.compass.sample_rate_ms = sample_rate_us / 1000;
if (sensors.compass.bandwidth == 0) {
sensors.compass.bandwidth = (int)(1000000L / sample_rate_us);
}
}
void inv_get_gyro_sample_rate_ms(long *sample_rate_ms)
{
*sample_rate_ms = sensors.gyro.sample_rate_ms;
}
void inv_get_accel_sample_rate_ms(long *sample_rate_ms)
{
*sample_rate_ms = sensors.accel.sample_rate_ms;
}
void inv_get_compass_sample_rate_ms(long *sample_rate_ms)
{
*sample_rate_ms = sensors.compass.sample_rate_ms;
}
/** Set Quat Sample rate in micro seconds.
* @param[in] sample_rate_us Set Quat Sample rate in us
*/
void inv_set_quat_sample_rate(long sample_rate_us)
{
#ifdef INV_PLAYBACK_DBG
if (inv_data_builder.debug_mode == RD_RECORD) {
int type = PLAYBACK_DBG_TYPE_Q_SAMPLE_RATE;
fwrite(&type, sizeof(type), 1, inv_data_builder.file);
fwrite(&sample_rate_us, sizeof(sample_rate_us), 1, inv_data_builder.file);
}
#endif
sensors.quat.sample_rate_us = sample_rate_us;
sensors.quat.sample_rate_ms = sample_rate_us / 1000;
}
/** Set Gyro Bandwidth in Hz
* @param[in] bandwidth_hz Gyro bandwidth in Hz
*/
void inv_set_gyro_bandwidth(int bandwidth_hz)
{
sensors.gyro.bandwidth = bandwidth_hz;
}
/** Set Accel Bandwidth in Hz
* @param[in] bandwidth_hz Gyro bandwidth in Hz
*/
void inv_set_accel_bandwidth(int bandwidth_hz)
{
sensors.accel.bandwidth = bandwidth_hz;
}
/** Set Compass Bandwidth in Hz
* @param[in] bandwidth_hz Gyro bandwidth in Hz
*/
void inv_set_compass_bandwidth(int bandwidth_hz)
{
sensors.compass.bandwidth = bandwidth_hz;
}
/** Helper function stating whether the compass is on or off.
* @return TRUE if compass if on, 0 if compass if off
*/
int inv_get_compass_on()
{
return (sensors.compass.status & INV_SENSOR_ON) == INV_SENSOR_ON;
}
/** Helper function stating whether the gyro is on or off.
* @return TRUE if gyro if on, 0 if gyro if off
*/
int inv_get_gyro_on()
{
return (sensors.gyro.status & INV_SENSOR_ON) == INV_SENSOR_ON;
}
/** Helper function stating whether the acceleromter is on or off.
* @return TRUE if accel if on, 0 if accel if off
*/
int inv_get_accel_on()
{
return (sensors.accel.status & INV_SENSOR_ON) == INV_SENSOR_ON;
}
/** Get last timestamp across all 3 sensors that are on.
* This find out which timestamp has the largest value for sensors that are on.
* @return Returns INV_SUCCESS if successful or an error code if not.
*/
inv_time_t inv_get_last_timestamp()
{
inv_time_t timestamp = 0;
if (sensors.accel.status & INV_SENSOR_ON) {
timestamp = sensors.accel.timestamp;
}
if (sensors.gyro.status & INV_SENSOR_ON) {
if (timestamp < sensors.gyro.timestamp) {
timestamp = sensors.gyro.timestamp;
}
}
if (sensors.compass.status & INV_SENSOR_ON) {
if (timestamp < sensors.compass.timestamp) {
timestamp = sensors.compass.timestamp;
}
}
if (sensors.temp.status & INV_SENSOR_ON) {
if (timestamp < sensors.temp.timestamp)
timestamp = sensors.temp.timestamp;
}
return timestamp;
}
/** Sets the orientation and sensitivity of the gyro data.
* @param[in] orientation A scalar defining the transformation from chip mounting
* to the body frame. The function inv_orientation_matrix_to_scalar()
* can convert the transformation matrix to this scalar and describes the
* scalar in further detail.
* @param[in] sensitivity A scale factor to convert device units to g's
* such that g's = device_units * sensitivity / 2^30. Typically
* it works out to be the maximum g_value * 2^15.
*/
void inv_set_accel_orientation_and_scale(int orientation, long sensitivity)
{
#ifdef INV_PLAYBACK_DBG
if (inv_data_builder.debug_mode == RD_RECORD) {
int type = PLAYBACK_DBG_TYPE_A_ORIENT;
fwrite(&type, sizeof(type), 1, inv_data_builder.file);
fwrite(&orientation, sizeof(orientation), 1, inv_data_builder.file);
fwrite(&sensitivity, sizeof(sensitivity), 1, inv_data_builder.file);
}
#endif
set_sensor_orientation_and_scale(&sensors.accel, orientation,
sensitivity);
}
/** Sets the Orientation and Sensitivity of the gyro data.
* @param[in] orientation A scalar defining the transformation from chip mounting
* to the body frame. The function inv_orientation_matrix_to_scalar()
* can convert the transformation matrix to this scalar and describes the
* scalar in further detail.
* @param[in] sensitivity A scale factor to convert device units to uT
* such that uT = device_units * sensitivity / 2^30. Typically
* it works out to be the maximum uT_value * 2^15.
*/
void inv_set_compass_orientation_and_scale(int orientation, long sensitivity)
{
#ifdef INV_PLAYBACK_DBG
if (inv_data_builder.debug_mode == RD_RECORD) {
int type = PLAYBACK_DBG_TYPE_C_ORIENT;
fwrite(&type, sizeof(type), 1, inv_data_builder.file);
fwrite(&orientation, sizeof(orientation), 1, inv_data_builder.file);
fwrite(&sensitivity, sizeof(sensitivity), 1, inv_data_builder.file);
}
#endif
set_sensor_orientation_and_scale(&sensors.compass, orientation, sensitivity);
}
void inv_matrix_vector_mult(const long *A, const long *x, long *y)
{
y[0] = inv_q30_mult(A[0], x[0]) + inv_q30_mult(A[1], x[1]) + inv_q30_mult(A[2], x[2]);
y[1] = inv_q30_mult(A[3], x[0]) + inv_q30_mult(A[4], x[1]) + inv_q30_mult(A[5], x[2]);
y[2] = inv_q30_mult(A[6], x[0]) + inv_q30_mult(A[7], x[1]) + inv_q30_mult(A[8], x[2]);
}
/** Takes raw data stored in the sensor, removes bias, and converts it to
* calibrated data in the body frame. Also store raw data for body frame.
* @param[in,out] sensor structure to modify
* @param[in] bias bias in the mounting frame, in hardware units scaled by
* 2^16. Length 3.
*/
void inv_apply_calibration(struct inv_single_sensor_t *sensor, const long *bias)
{
long raw32[3];
// Convert raw to calibrated
raw32[0] = (long)sensor->raw[0] << 15;
raw32[1] = (long)sensor->raw[1] << 15;
raw32[2] = (long)sensor->raw[2] << 15;
inv_convert_to_body_with_scale(sensor->orientation, sensor->sensitivity << 1, raw32, sensor->raw_scaled);
raw32[0] -= bias[0] >> 1;
raw32[1] -= bias[1] >> 1;
raw32[2] -= bias[2] >> 1;
inv_convert_to_body_with_scale(sensor->orientation, sensor->sensitivity << 1, raw32, sensor->calibrated);
sensor->status |= INV_CALIBRATED;
}
/** Returns the current bias for the compass
* @param[out] bias Compass bias in hardware units scaled by 2^16. In mounting frame.
* Length 3.
*/
void inv_get_compass_bias(long *bias)
{
if (bias != NULL) {
memcpy(bias, inv_data_builder.save.compass_bias, sizeof(inv_data_builder.save.compass_bias));
}
}
void inv_set_compass_bias(const long *bias, int accuracy)
{
if (memcmp(inv_data_builder.save.compass_bias, bias, sizeof(inv_data_builder.save.compass_bias))) {
memcpy(inv_data_builder.save.compass_bias, bias, sizeof(inv_data_builder.save.compass_bias));
inv_apply_calibration(&sensors.compass, inv_data_builder.save.compass_bias);
}
sensors.compass.accuracy = accuracy;
inv_data_builder.save.compass_accuracy = accuracy;
inv_set_message(INV_MSG_NEW_CB_EVENT, INV_MSG_NEW_CB_EVENT, 0);
}
/** Set the state of a compass disturbance
* @param[in] dist 1=disturbance, 0=no disturbance
*/
void inv_set_compass_disturbance(int dist)
{
inv_data_builder.compass_disturbance = dist;
}
int inv_get_compass_disturbance(void) {
return inv_data_builder.compass_disturbance;
}
/** Sets the accel bias.
* @param[in] bias Accel bias, length 3. In HW units scaled by 2^16 in body frame
* @param[in] accuracy Accuracy rating from 0 to 3, with 3 being most accurate.
*/
void inv_set_accel_bias(const long *bias, int accuracy)
{
if (bias) {
if (memcmp(inv_data_builder.save.accel_bias, bias, sizeof(inv_data_builder.save.accel_bias))) {
memcpy(inv_data_builder.save.accel_bias, bias, sizeof(inv_data_builder.save.accel_bias));
inv_apply_calibration(&sensors.accel, inv_data_builder.save.accel_bias);
}
}
sensors.accel.accuracy = accuracy;
inv_data_builder.save.accel_accuracy = accuracy;
inv_set_message(INV_MSG_NEW_AB_EVENT, INV_MSG_NEW_AB_EVENT, 0);
}
/** Sets the accel accuracy.
* @param[in] accuracy Accuracy rating from 0 to 3, with 3 being most accurate.
*/
void inv_set_accel_accuracy(int accuracy)
{
sensors.accel.accuracy = accuracy;
inv_data_builder.save.accel_accuracy = accuracy;
inv_set_message(INV_MSG_NEW_AB_EVENT, INV_MSG_NEW_AB_EVENT, 0);
}
/** Sets the accel bias with control over which axis.
* @param[in] bias Accel bias, length 3. In HW units scaled by 2^16 in body frame
* @param[in] accuracy Accuracy rating from 0 to 3, with 3 being most accurate.
* @param[in] mask Mask to select axis to apply bias set.
*/
void inv_set_accel_bias_mask(const long *bias, int accuracy, int mask)
{
if (bias) {
if (mask & 1){
inv_data_builder.save.accel_bias[0] = bias[0];
}
if (mask & 2){
inv_data_builder.save.accel_bias[1] = bias[1];
}
if (mask & 4){
inv_data_builder.save.accel_bias[2] = bias[2];
}
inv_apply_calibration(&sensors.accel, inv_data_builder.save.accel_bias);
}
sensors.accel.accuracy = accuracy;
inv_data_builder.save.accel_accuracy = accuracy;
inv_set_message(INV_MSG_NEW_AB_EVENT, INV_MSG_NEW_AB_EVENT, 0);
}
/** Sets the gyro bias
* @param[in] bias Gyro bias in hardware units scaled by 2^16. In chip mounting frame.
* Length 3.
* @param[in] accuracy Accuracy of bias. 0 = least accurate, 3 = most accurate.
*/
void inv_set_gyro_bias(const long *bias, int accuracy)
{
if (bias != NULL) {
if (memcmp(inv_data_builder.save.gyro_bias, bias, sizeof(inv_data_builder.save.gyro_bias))) {
memcpy(inv_data_builder.save.gyro_bias, bias, sizeof(inv_data_builder.save.gyro_bias));
inv_apply_calibration(&sensors.gyro, inv_data_builder.save.gyro_bias);
}
}
sensors.gyro.accuracy = accuracy;
inv_data_builder.save.gyro_accuracy = accuracy;
/* TODO: What should we do if there's no temperature data? */
if (sensors.temp.calibrated[0])
inv_data_builder.save.gyro_temp = sensors.temp.calibrated[0];
else
/* Set to 27 deg C for now until we've got a better solution. */
inv_data_builder.save.gyro_temp = 1769472L;
inv_set_message(INV_MSG_NEW_GB_EVENT, INV_MSG_NEW_GB_EVENT, 0);
}
/* TODO: Add this information to inv_sensor_cal_t */
/**
* Get the gyro biases and temperature record from MPL
* @param[in] bias
* Gyro bias in hardware units scaled by 2^16.
* In chip mounting frame.
* Length 3.
* @param[in] temp
* Tempearature in degrees C.
*/
void inv_get_gyro_bias(long *bias, long *temp)
{
if (bias != NULL)
memcpy(bias, inv_data_builder.save.gyro_bias,
sizeof(inv_data_builder.save.gyro_bias));
if (temp != NULL)
temp[0] = inv_data_builder.save.gyro_temp;
}
/** Get Accel Bias
* @param[out] bias Accel bias where
* @param[out] temp Temperature where 1 C = 2^16
*/
void inv_get_accel_bias(long *bias, long *temp)
{
if (bias != NULL)
memcpy(bias, inv_data_builder.save.accel_bias,
sizeof(inv_data_builder.save.accel_bias));
if (temp != NULL)
temp[0] = inv_data_builder.save.accel_temp;
}
/**
* Record new accel data for use when inv_execute_on_data() is called
* @param[in] accel accel data.
* Length 3.
* Calibrated data is in m/s^2 scaled by 2^16 in body frame.
* Raw data is in device units in chip mounting frame.
* @param[in] status
* Lower 2 bits are the accuracy, with 0 being inaccurate, and 3
* being most accurate.
* The upper bit INV_CALIBRATED, is set if the data was calibrated
* outside MPL and it is not set if the data being passed is raw.
* Raw data should be in device units, typically in a 16-bit range.
* @param[in] timestamp
* Monotonic time stamp, for Android it's in nanoseconds.
* @return Returns INV_SUCCESS if successful or an error code if not.
*/
inv_error_t inv_build_accel(const long *accel, int status, inv_time_t timestamp)
{
#ifdef INV_PLAYBACK_DBG
if (inv_data_builder.debug_mode == RD_RECORD) {
int type = PLAYBACK_DBG_TYPE_ACCEL;
fwrite(&type, sizeof(type), 1, inv_data_builder.file);
fwrite(accel, sizeof(accel[0]), 3, inv_data_builder.file);
fwrite(&timestamp, sizeof(timestamp), 1, inv_data_builder.file);
}
#endif
if ((status & INV_CALIBRATED) == 0) {
sensors.accel.raw[0] = (short)accel[0];
sensors.accel.raw[1] = (short)accel[1];
sensors.accel.raw[2] = (short)accel[2];
sensors.accel.status |= INV_RAW_DATA;
inv_apply_calibration(&sensors.accel, inv_data_builder.save.accel_bias);
} else {
sensors.accel.calibrated[0] = accel[0];
sensors.accel.calibrated[1] = accel[1];
sensors.accel.calibrated[2] = accel[2];
sensors.accel.status |= INV_CALIBRATED;
sensors.accel.accuracy = status & 3;
inv_data_builder.save.accel_accuracy = status & 3;
}
sensors.accel.status |= INV_NEW_DATA | INV_SENSOR_ON;
sensors.accel.timestamp_prev = sensors.accel.timestamp;
sensors.accel.timestamp = timestamp;
return INV_SUCCESS;
}
/** Record new gyro data and calls inv_execute_on_data() if previous
* sample has not been processed.
* @param[in] gyro Data is in device units. Length 3.
* @param[in] timestamp Monotonic time stamp, for Android it's in nanoseconds.
* @param[out] executed Set to 1 if data processing was done.
* @return Returns INV_SUCCESS if successful or an error code if not.
*/
inv_error_t inv_build_gyro(const short *gyro, inv_time_t timestamp)
{
#ifdef INV_PLAYBACK_DBG
if (inv_data_builder.debug_mode == RD_RECORD) {
int type = PLAYBACK_DBG_TYPE_GYRO;
fwrite(&type, sizeof(type), 1, inv_data_builder.file);
fwrite(gyro, sizeof(gyro[0]), 3, inv_data_builder.file);
fwrite(&timestamp, sizeof(timestamp), 1, inv_data_builder.file);
}
#endif
memcpy(sensors.gyro.raw, gyro, 3 * sizeof(short));
sensors.gyro.status |= INV_NEW_DATA | INV_RAW_DATA | INV_SENSOR_ON;
sensors.gyro.timestamp_prev = sensors.gyro.timestamp;
sensors.gyro.timestamp = timestamp;
inv_apply_calibration(&sensors.gyro, inv_data_builder.save.gyro_bias);
return INV_SUCCESS;
}
/** Record new compass data for use when inv_execute_on_data() is called
* @param[in] compass Compass data, if it was calibrated outside MPL, the units are uT scaled by 2^16.
* Length 3.
* @param[in] status Lower 2 bits are the accuracy, with 0 being inaccurate, and 3 being most accurate.
* The upper bit INV_CALIBRATED, is set if the data was calibrated outside MPL and it is
* not set if the data being passed is raw. Raw data should be in device units, typically
* in a 16-bit range.
* @param[in] timestamp Monotonic time stamp, for Android it's in nanoseconds.
* @param[out] executed Set to 1 if data processing was done.
* @return Returns INV_SUCCESS if successful or an error code if not.
*/
inv_error_t inv_build_compass(const long *compass, int status,
inv_time_t timestamp)
{
#ifdef INV_PLAYBACK_DBG
if (inv_data_builder.debug_mode == RD_RECORD) {
int type = PLAYBACK_DBG_TYPE_COMPASS;
fwrite(&type, sizeof(type), 1, inv_data_builder.file);
fwrite(compass, sizeof(compass[0]), 3, inv_data_builder.file);
fwrite(&timestamp, sizeof(timestamp), 1, inv_data_builder.file);
}
#endif
if ((status & INV_CALIBRATED) == 0) {
sensors.compass.raw[0] = (short)compass[0];
sensors.compass.raw[1] = (short)compass[1];
sensors.compass.raw[2] = (short)compass[2];
inv_apply_calibration(&sensors.compass, inv_data_builder.save.compass_bias);
sensors.compass.status |= INV_RAW_DATA;
} else {
sensors.compass.calibrated[0] = compass[0];
sensors.compass.calibrated[1] = compass[1];
sensors.compass.calibrated[2] = compass[2];
sensors.compass.status |= INV_CALIBRATED;
sensors.compass.accuracy = status & 3;
inv_data_builder.save.compass_accuracy = status & 3;
}
sensors.compass.timestamp_prev = sensors.compass.timestamp;
sensors.compass.timestamp = timestamp;
sensors.compass.status |= INV_NEW_DATA | INV_SENSOR_ON;
return INV_SUCCESS;
}
/** Record new temperature data for use when inv_execute_on_data() is called.
* @param[in] temp Temperature data in q16 format.
* @param[in] timestamp Monotonic time stamp; for Android it's in
* nanoseconds.
* @return Returns INV_SUCCESS if successful or an error code if not.
*/
inv_error_t inv_build_temp(const long temp, inv_time_t timestamp)
{
#ifdef INV_PLAYBACK_DBG
if (inv_data_builder.debug_mode == RD_RECORD) {
int type = PLAYBACK_DBG_TYPE_TEMPERATURE;
fwrite(&type, sizeof(type), 1, inv_data_builder.file);
fwrite(&temp, sizeof(temp), 1, inv_data_builder.file);
fwrite(&timestamp, sizeof(timestamp), 1, inv_data_builder.file);
}
#endif
sensors.temp.calibrated[0] = temp;
sensors.temp.status |= INV_NEW_DATA | INV_RAW_DATA | INV_SENSOR_ON;
sensors.temp.timestamp_prev = sensors.temp.timestamp;
sensors.temp.timestamp = timestamp;
/* TODO: Apply scale, remove offset. */
return INV_SUCCESS;
}
/** quaternion data
* @param[in] quat Quaternion data. 2^30 = 1.0 or 2^14=1 for 16-bit data.
* Real part first. Length 4.
* @param[in] status number of axis, 16-bit or 32-bit
* @param[in] timestamp
* @param[in] timestamp Monotonic time stamp; for Android it's in
* nanoseconds.
* @param[out] executed Set to 1 if data processing was done.
* @return Returns INV_SUCCESS if successful or an error code if not.
*/
inv_error_t inv_build_quat(const long *quat, int status, inv_time_t timestamp)
{
#ifdef INV_PLAYBACK_DBG
if (inv_data_builder.debug_mode == RD_RECORD) {
int type = PLAYBACK_DBG_TYPE_QUAT;
fwrite(&type, sizeof(type), 1, inv_data_builder.file);
fwrite(quat, sizeof(quat[0]), 4, inv_data_builder.file);
fwrite(&timestamp, sizeof(timestamp), 1, inv_data_builder.file);
}
#endif
memcpy(sensors.quat.raw, quat, sizeof(sensors.quat.raw));
sensors.quat.timestamp = timestamp;
sensors.quat.status |= INV_NEW_DATA | INV_RAW_DATA | INV_SENSOR_ON;
sensors.quat.status |= (INV_BIAS_APPLIED & status);
return INV_SUCCESS;
}
/** This should be called when the accel has been turned off. This is so
* that we will know if the data is contiguous.
*/
void inv_accel_was_turned_off()
{
sensors.accel.status = 0;
}
/** This should be called when the compass has been turned off. This is so
* that we will know if the data is contiguous.
*/
void inv_compass_was_turned_off()
{
sensors.compass.status = 0;
}
/** This should be called when the quaternion data from the DMP has been turned off. This is so
* that we will know if the data is contiguous.
*/
void inv_quaternion_sensor_was_turned_off(void)
{
sensors.quat.status = 0;
}
/** This should be called when the gyro has been turned off. This is so
* that we will know if the data is contiguous.
*/
void inv_gyro_was_turned_off()
{
sensors.gyro.status = 0;
}
/** This should be called when the temperature sensor has been turned off.
* This is so that we will know if the data is contiguous.
*/
void inv_temperature_was_turned_off()
{
sensors.temp.status = 0;
}
/** Registers to receive a callback when there is new sensor data.
* @internal
* @param[in] func Function pointer to receive callback when there is new sensor data
* @param[in] priority Lower priority numbers receive a callback before larger numbers. All priority
* numbers must be unique.
* @param[in] sensor_type Sets the type of data that triggers the callback. Must be non-zero. May be
* a combination. INV_ACCEL_NEW = accel data, INV_GYRO_NEW =
* gyro data, INV_MAG_NEW = compass data. So passing in
* INV_ACCEL_NEW | INV_MAG_NEW, a
* callback would be generated if there was new magnetomer data OR new accel data.
*/
inv_error_t inv_register_data_cb(
inv_error_t (*func)(struct inv_sensor_cal_t *data),
int priority, int sensor_type)
{
inv_error_t result = INV_SUCCESS;
int kk, nn;
// Make sure we haven't registered this function already
// Or used the same priority
for (kk = 0; kk < inv_data_builder.num_cb; ++kk) {
if ((inv_data_builder.process[kk].func == func) ||
(inv_data_builder.process[kk].priority == priority)) {
return INV_ERROR_INVALID_PARAMETER; //fixme give a warning
}
}
// Make sure we have not filled up our number of allowable callbacks
if (inv_data_builder.num_cb <= INV_MAX_DATA_CB - 1) {
kk = 0;
if (inv_data_builder.num_cb != 0) {
// set kk to be where this new callback goes in the array
while ((kk < inv_data_builder.num_cb) &&
(inv_data_builder.process[kk].priority < priority)) {
kk++;
}
if (kk != inv_data_builder.num_cb) {
// We need to move the others
for (nn = inv_data_builder.num_cb; nn > kk; --nn) {
inv_data_builder.process[nn] =
inv_data_builder.process[nn - 1];
}
}
}
// Add new callback
inv_data_builder.process[kk].func = func;
inv_data_builder.process[kk].priority = priority;
inv_data_builder.process[kk].data_required = sensor_type;
inv_data_builder.num_cb++;
} else {
MPL_LOGE("Unable to add feature callback as too many were already registered\n");
result = INV_ERROR_MEMORY_EXAUSTED;
}
return result;
}
/** Unregisters the callback that happens when new sensor data is received.
* @internal
* @param[in] func Function pointer to receive callback when there is new sensor data
* @param[in] priority Lower priority numbers receive a callback before larger numbers. All priority
* numbers must be unique.
* @param[in] sensor_type Sets the type of data that triggers the callback. Must be non-zero. May be
* a combination. INV_ACCEL_NEW = accel data, INV_GYRO_NEW =
* gyro data, INV_MAG_NEW = compass data. So passing in
* INV_ACCEL_NEW | INV_MAG_NEW, a
* callback would be generated if there was new magnetomer data OR new accel data.
*/
inv_error_t inv_unregister_data_cb(
inv_error_t (*func)(struct inv_sensor_cal_t *data))
{
int kk, nn;
for (kk = 0; kk < inv_data_builder.num_cb; ++kk) {
if (inv_data_builder.process[kk].func == func) {
// Delete this callback
for (nn = kk + 1; nn < inv_data_builder.num_cb; ++nn) {
inv_data_builder.process[nn - 1] =
inv_data_builder.process[nn];
}
inv_data_builder.num_cb--;
return INV_SUCCESS;
}
}
return INV_SUCCESS; // We did not find the callback
}
/** After at least one of inv_build_gyro(), inv_build_accel(), or
* inv_build_compass() has been called, this function should be called.
* It will process the data it has received and update all the internal states
* and features that have been turned on.
* @return Returns INV_SUCCESS if successful or an error code if not.
*/
inv_error_t inv_execute_on_data(void)
{
inv_error_t result, first_error;
int kk;
#ifdef INV_PLAYBACK_DBG
if (inv_data_builder.debug_mode == RD_RECORD) {
int type = PLAYBACK_DBG_TYPE_EXECUTE;
fwrite(&type, sizeof(type), 1, inv_data_builder.file);
}
#endif
// Determine what new data we have
inv_data_builder.mode = 0;
if (sensors.gyro.status & INV_NEW_DATA)
inv_data_builder.mode |= INV_GYRO_NEW;
if (sensors.accel.status & INV_NEW_DATA)
inv_data_builder.mode |= INV_ACCEL_NEW;
if (sensors.compass.status & INV_NEW_DATA)
inv_data_builder.mode |= INV_MAG_NEW;
if (sensors.temp.status & INV_NEW_DATA)
inv_data_builder.mode |= INV_TEMP_NEW;
if (sensors.quat.status & INV_QUAT_NEW)
inv_data_builder.mode |= INV_QUAT_NEW;
first_error = INV_SUCCESS;
for (kk = 0; kk < inv_data_builder.num_cb; ++kk) {
if (inv_data_builder.mode & inv_data_builder.process[kk].data_required) {
result = inv_data_builder.process[kk].func(&sensors);
if (result && !first_error) {
first_error = result;
}
}
}
inv_set_contiguous();
return first_error;
}
/** Cleans up status bits after running all the callbacks. It sets the contiguous flag.
*
*/
static void inv_set_contiguous(void)
{
inv_time_t current_time = 0;
if (sensors.gyro.status & INV_NEW_DATA) {
sensors.gyro.status |= INV_CONTIGUOUS;
current_time = sensors.gyro.timestamp;
}
if (sensors.accel.status & INV_NEW_DATA) {
sensors.accel.status |= INV_CONTIGUOUS;
current_time = MAX(current_time, sensors.accel.timestamp);
}
if (sensors.compass.status & INV_NEW_DATA) {
sensors.compass.status |= INV_CONTIGUOUS;
current_time = MAX(current_time, sensors.compass.timestamp);
}
if (sensors.temp.status & INV_NEW_DATA) {
sensors.temp.status |= INV_CONTIGUOUS;
current_time = MAX(current_time, sensors.temp.timestamp);
}
if (sensors.quat.status & INV_NEW_DATA) {
sensors.quat.status |= INV_CONTIGUOUS;
current_time = MAX(current_time, sensors.quat.timestamp);
}
#if 0
/* See if sensors are still on. These should be turned off by inv_*_was_turned_off()
* type functions. This is just in case that breaks down. We make sure
* all the data is within 2 seconds of the newest piece of data*/
if (inv_delta_time_ms(current_time, sensors.gyro.timestamp) >= 2000)
inv_gyro_was_turned_off();
if (inv_delta_time_ms(current_time, sensors.accel.timestamp) >= 2000)
inv_accel_was_turned_off();
if (inv_delta_time_ms(current_time, sensors.compass.timestamp) >= 2000)
inv_compass_was_turned_off();
/* TODO: Temperature might not need to be read this quickly. */
if (inv_delta_time_ms(current_time, sensors.temp.timestamp) >= 2000)
inv_temperature_was_turned_off();
#endif
/* clear bits */
sensors.gyro.status &= ~INV_NEW_DATA;
sensors.accel.status &= ~INV_NEW_DATA;
sensors.compass.status &= ~INV_NEW_DATA;
sensors.temp.status &= ~INV_NEW_DATA;
sensors.quat.status &= ~INV_NEW_DATA;
}
/** Gets a whole set of accel data including data, accuracy and timestamp.
* @param[out] data Accel Data where 1g = 2^16
* @param[out] accuracy Accuracy 0 being not accurate, and 3 being most accurate.
* @param[out] timestamp The timestamp of the data sample.
*/
void inv_get_accel_set(long *data, int8_t *accuracy, inv_time_t *timestamp)
{
if (data != NULL) {
memcpy(data, sensors.accel.calibrated, sizeof(sensors.accel.calibrated));
}
if (timestamp != NULL) {
*timestamp = sensors.accel.timestamp;
}
if (accuracy != NULL) {
*accuracy = sensors.accel.accuracy;
}
}
/** Gets a whole set of gyro data including data, accuracy and timestamp.
* @param[out] data Gyro Data where 1 dps = 2^16
* @param[out] accuracy Accuracy 0 being not accurate, and 3 being most accurate.
* @param[out] timestamp The timestamp of the data sample.
*/
void inv_get_gyro_set(long *data, int8_t *accuracy, inv_time_t *timestamp)
{
memcpy(data, sensors.gyro.calibrated, sizeof(sensors.gyro.calibrated));
if (timestamp != NULL) {
*timestamp = sensors.gyro.timestamp;
}
if (accuracy != NULL) {
*accuracy = sensors.gyro.accuracy;
}
}
/** Gets a whole set of gyro raw data including data, accuracy and timestamp.
* @param[out] data Gyro Data where 1 dps = 2^16
* @param[out] accuracy Accuracy 0 being not accurate, and 3 being most accurate.
* @param[out] timestamp The timestamp of the data sample.
*/
void inv_get_gyro_set_raw(long *data, int8_t *accuracy, inv_time_t *timestamp)
{
memcpy(data, sensors.gyro.raw_scaled, sizeof(sensors.gyro.raw_scaled));
if (timestamp != NULL) {
*timestamp = sensors.gyro.timestamp;
}
if (accuracy != NULL) {
*accuracy = sensors.gyro.accuracy;
}
}
/** Get's latest gyro data.
* @param[out] gyro Gyro Data, Length 3. 1 dps = 2^16.
*/
void inv_get_gyro(long *gyro)
{
memcpy(gyro, sensors.gyro.calibrated, sizeof(sensors.gyro.calibrated));
}
/** Gets a whole set of compass data including data, accuracy and timestamp.
* @param[out] data Compass Data where 1 uT = 2^16
* @param[out] accuracy Accuracy 0 being not accurate, and 3 being most accurate.
* @param[out] timestamp The timestamp of the data sample.
*/
void inv_get_compass_set(long *data, int8_t *accuracy, inv_time_t *timestamp)
{
memcpy(data, sensors.compass.calibrated, sizeof(sensors.compass.calibrated));
if (timestamp != NULL) {
*timestamp = sensors.compass.timestamp;
}
if (accuracy != NULL) {
if (inv_data_builder.compass_disturbance)
*accuracy = 0;
else
*accuracy = sensors.compass.accuracy;
}
}
/** Gets a whole set of temperature data including data, accuracy and timestamp.
* @param[out] data Temperature data where 1 degree C = 2^16
* @param[out] accuracy 0 to 3, where 3 is most accurate.
* @param[out] timestamp The timestamp of the data sample.
*/
void inv_get_temp_set(long *data, int *accuracy, inv_time_t *timestamp)
{
data[0] = sensors.temp.calibrated[0];
if (timestamp)
*timestamp = sensors.temp.timestamp;
if (accuracy)
*accuracy = sensors.temp.accuracy;
}
/** Returns accuracy of gyro.
* @return Accuracy of gyro with 0 being not accurate, and 3 being most accurate.
*/
int inv_get_gyro_accuracy(void)
{
return sensors.gyro.accuracy;
}
/** Returns accuracy of compass.
* @return Accuracy of compass with 0 being not accurate, and 3 being most accurate.
*/
int inv_get_mag_accuracy(void)
{
if (inv_data_builder.compass_disturbance)
return 0;
return sensors.compass.accuracy;
}
/** Returns accuracy of accel.
* @return Accuracy of accel with 0 being not accurate, and 3 being most accurate.
*/
int inv_get_accel_accuracy(void)
{
return sensors.accel.accuracy;
}
inv_error_t inv_get_gyro_orient(int *orient)
{
*orient = sensors.gyro.orientation;
return 0;
}
inv_error_t inv_get_accel_orient(int *orient)
{
*orient = sensors.accel.orientation;
return 0;
}
/**
* @}
*/