/EDVSBoardOS/MotionDriver/mllite/hal_outputs.c

/*

 $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 hal_out.nine_axis_status;

}



/** 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];

    int status;



    *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;

    if ((hal_out.accel_status & INV_NEW_DATA) || (hal_out.gyro_status & INV_NEW_DATA))

        status = 1;

    else

        status = 0;

    return status;

}



/* 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;

}



/**

 * @}

 */