www.pudn.com > MPL.zip > hal_outputs.c, change:2016-04-15,size:18333b


/* 
 $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]; 
}; 
 
static struct hal_output_t hal_out; 
 
/** 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_get_accel_set(accel, accuracy, timestamp); 
    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 1; 
} 
 
/** 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; 
    *timestamp = hal_out.nav_timestamp; 
    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 1; 
} 
 
/* 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; 
    hal_out.compass_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; 
} 
 
/** 
 * @} 
 */