/EDVSBoardOS/MotionDriver/mllite/results_holder.c

/*

 $License:

    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.

    See included License.txt for License information.

 $

 */

/**

 *   @defgroup  Results_Holder results_holder

 *   @brief     Motion Library - Results Holder

 *              Holds the data for MPL

 *

 *   @{

 *       @file results_holder.c

 *       @brief Results Holder for HAL.

 */



#include <string.h>



#include "results_holder.h"

#include "ml_math_func.h"

#include "mlmath.h"

#include "start_manager.h"

#include "data_builder.h"

#include "message_layer.h"

#include "log.h"



// These 2 status bits are used to control when the 9 axis quaternion is updated

#define INV_COMPASS_CORRECTION_SET 1

#define INV_6_AXIS_QUAT_SET 2



struct results_t {

    long nav_quat[4];

    long gam_quat[4];

    inv_time_t nav_timestamp;

    inv_time_t gam_timestamp;

    long local_field[3]; /**< local earth's magnetic field */

    long mag_scale[3]; /**< scale factor to apply to magnetic field reading */

    long compass_correction[4]; /**< quaternion going from gyro,accel quaternion to 9 axis */

    int acc_state; /**< Describes accel state */

    int got_accel_bias; /**< Flag describing if accel bias is known */

    long compass_bias_error[3]; /**< Error Squared */

    unsigned char motion_state;

    unsigned int motion_state_counter; /**< Incremented for each no motion event in a row */

    long compass_count; /**< compass state internal counter */

    int got_compass_bias; /**< Flag describing if compass bias is known */

    int large_mag_field; /**< Flag describing if there is a large magnetic field */

    int compass_state; /**< Internal compass state */

    long status;

    struct inv_sensor_cal_t *sensor;

    float quat_confidence_interval;

};

static struct results_t rh;



/** @internal

* Store a quaternion more suitable for gaming. This quaternion is often determined

* using only gyro and accel.

* @param[in] quat Length 4, Quaternion scaled by 2^30

*/

void inv_store_gaming_quaternion(const long *quat, inv_time_t timestamp)

{

    rh.status |= INV_6_AXIS_QUAT_SET;

    memcpy(&rh.gam_quat, quat, sizeof(rh.gam_quat));

    rh.gam_timestamp = timestamp;

}



/** @internal

* Sets the quaternion adjustment from 6 axis (accel, gyro) to 9 axis quaternion.

* @param[in] data Quaternion Adjustment

* @param[in] timestamp Timestamp of when this is valid

*/

void inv_set_compass_correction(const long *data, inv_time_t timestamp)

{

    rh.status |= INV_COMPASS_CORRECTION_SET;

    memcpy(rh.compass_correction, data, sizeof(rh.compass_correction));

    rh.nav_timestamp = timestamp;

}



/** @internal

* Gets the quaternion adjustment from 6 axis (accel, gyro) to 9 axis quaternion.

* @param[out] data Quaternion Adjustment

* @param[out] timestamp Timestamp of when this is valid

*/

void inv_get_compass_correction(long *data, inv_time_t *timestamp)

{

    memcpy(data, rh.compass_correction, sizeof(rh.compass_correction));

    *timestamp = rh.nav_timestamp;

}



/** Returns non-zero if there is a large magnetic field. See inv_set_large_mag_field() for setting this variable.

 * @return Returns non-zero if there is a large magnetic field.

 */

int inv_get_large_mag_field()

{

    return rh.large_mag_field;

}



/** Set to non-zero if there as a large magnetic field. See inv_get_large_mag_field() for getting this variable.

 * @param[in] state value to set for magnetic field strength. Should be non-zero if it is large.

 */

void inv_set_large_mag_field(int state)

{

    rh.large_mag_field = state;

}



/** Gets the accel state set by inv_set_acc_state()

 * @return accel state.

 */

int inv_get_acc_state()

{

    return rh.acc_state;

}



/** Sets the accel state. See inv_get_acc_state() to get the value.

 * @param[in] state value to set accel state to.

 */

void inv_set_acc_state(int state)

{

    rh.acc_state = state;

    return;

}



/** Returns the motion state

* @param[out] cntr Number of previous times a no motion event has occured in a row.

* @return Returns INV_SUCCESS if successful or an error code if not.

*/

int inv_get_motion_state(unsigned int *cntr)

{

    *cntr = rh.motion_state_counter;

    return rh.motion_state;

}



/** Sets the motion state

 * @param[in] state motion state where INV_NO_MOTION is not moving

 *            and INV_MOTION is moving.

 */

void inv_set_motion_state(unsigned char state)

{

    long set;

    if (state == rh.motion_state) {

        if (state == INV_NO_MOTION) {

            rh.motion_state_counter++;

        } else {

            rh.motion_state_counter = 0;

        }

        return;

    }

    rh.motion_state_counter = 0;

    rh.motion_state = state;

    /* Equivalent to set = state, but #define's may change. */

    if (state == INV_MOTION)

        set = INV_MSG_MOTION_EVENT;

    else

        set = INV_MSG_NO_MOTION_EVENT;

    inv_set_message(set, (INV_MSG_MOTION_EVENT | INV_MSG_NO_MOTION_EVENT), 0);

}



/** Sets the local earth's magnetic field

* @param[in] data Local earth's magnetic field in uT scaled by 2^16.

*            Length = 3. Y typically points north, Z typically points down in

*                        northern hemisphere and up in southern hemisphere.

*/

void inv_set_local_field(const long *data)

{

    memcpy(rh.local_field, data, sizeof(rh.local_field));

}



/** Gets the local earth's magnetic field

* @param[out] data Local earth's magnetic field in uT scaled by 2^16.

*            Length = 3. Y typically points north, Z typically points down in

*                        northern hemisphere and up in southern hemisphere.

*/

void inv_get_local_field(long *data)

{

    memcpy(data, rh.local_field, sizeof(rh.local_field));

}



/** Sets the compass sensitivity

 * @param[in] data Length 3, sensitivity for each compass axis

 *  scaled such that 1.0 = 2^30.

 */

void inv_set_mag_scale(const long *data)

{

    memcpy(rh.mag_scale, data, sizeof(rh.mag_scale));

}



/** Gets the compass sensitivity

 * @param[out] data Length 3, sensitivity for each compass axis

 *  scaled such that 1.0 = 2^30.

 */

void inv_get_mag_scale(long *data)

{

    memcpy(data, rh.mag_scale, sizeof(rh.mag_scale));

}



/** Gets gravity vector

 * @param[out] data gravity vector in body frame scaled such that 1.0 = 2^30.

 * @return Returns INV_SUCCESS if successful or an error code if not.

 */

inv_error_t inv_get_gravity(long *data)

{

    data[0] =

        inv_q29_mult(rh.nav_quat[1], rh.nav_quat[3]) - inv_q29_mult(rh.nav_quat[2], rh.nav_quat[0]);

    data[1] =

        inv_q29_mult(rh.nav_quat[2], rh.nav_quat[3]) + inv_q29_mult(rh.nav_quat[1], rh.nav_quat[0]);

    data[2] =

        (inv_q29_mult(rh.nav_quat[3], rh.nav_quat[3]) + inv_q29_mult(rh.nav_quat[0], rh.nav_quat[0])) -

        1073741824L;



    return INV_SUCCESS;

}



/** Returns a quaternion based only on gyro and accel.

 * @param[out] data 6-axis  gyro and accel quaternion scaled such that 1.0 = 2^30.

 * @return Returns INV_SUCCESS if successful or an error code if not.

 */

inv_error_t inv_get_6axis_quaternion(long *data)

{

    memcpy(data, rh.gam_quat, sizeof(rh.gam_quat));

    return INV_SUCCESS;

}



/** Returns a quaternion.

 * @param[out] data 9-axis quaternion scaled such that 1.0 = 2^30.

 * @return Returns INV_SUCCESS if successful or an error code if not.

 */

inv_error_t inv_get_quaternion(long *data)

{

    if (rh.status & (INV_COMPASS_CORRECTION_SET | INV_6_AXIS_QUAT_SET)) {

        inv_q_mult(rh.compass_correction, rh.gam_quat, rh.nav_quat);

        rh.status &= ~(INV_COMPASS_CORRECTION_SET | INV_6_AXIS_QUAT_SET);

    }

    memcpy(data, rh.nav_quat, sizeof(rh.nav_quat));

    return INV_SUCCESS;

}



/** Returns a quaternion.

 * @param[out] data 9-axis quaternion.

 * @return Returns INV_SUCCESS if successful or an error code if not.

 */

inv_error_t inv_get_quaternion_float(float *data)

{

    long ldata[4];

    inv_error_t result = inv_get_quaternion(ldata);

    data[0] = inv_q30_to_float(ldata[0]);

    data[1] = inv_q30_to_float(ldata[1]);

    data[2] = inv_q30_to_float(ldata[2]);

    data[3] = inv_q30_to_float(ldata[3]);

    return result;

}



/** Returns a quaternion with accuracy and timestamp.

 * @param[out] data 9-axis quaternion scaled such that 1.0 = 2^30.

 * @param[out] accuracy Accuracy of quaternion, 0-3, where 3 is most accurate.

 * @param[out] timestamp Timestamp of this quaternion in nanoseconds

 */

void inv_get_quaternion_set(long *data, int *accuracy, inv_time_t *timestamp)

{

    inv_get_quaternion(data);

    *timestamp = inv_get_last_timestamp();

    if (inv_get_compass_on()) {

        *accuracy = inv_get_mag_accuracy();

    } else if (inv_get_gyro_on()) {

        *accuracy = inv_get_gyro_accuracy();

    }else if (inv_get_accel_on()) {

        *accuracy = inv_get_accel_accuracy();

    } else {

        *accuracy = 0;

    }

}



/** Callback that gets called everytime there is new data. It is 

 * registered by inv_start_results_holder().

 * @param[in] sensor_cal New sensor data to process.

 * @return Returns INV_SUCCESS if successful or an error code if not.

 */

inv_error_t inv_generate_results(struct inv_sensor_cal_t *sensor_cal)

{

    rh.sensor = sensor_cal;

    return INV_SUCCESS;

}



/** Function to turn on this module. This is automatically called by

 *  inv_enable_results_holder(). Typically not called by users.

 * @return Returns INV_SUCCESS if successful or an error code if not.

 */

inv_error_t inv_start_results_holder(void)

{

    inv_register_data_cb(inv_generate_results, INV_PRIORITY_RESULTS_HOLDER,

        INV_GYRO_NEW | INV_ACCEL_NEW | INV_MAG_NEW);

    return INV_SUCCESS;

}



/** Initializes results holder. This is called automatically by the

* enable function inv_enable_results_holder(). 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_results_holder(void)

{

    memset(&rh, 0, sizeof(rh));

    rh.mag_scale[0] = 1L<<30;

    rh.mag_scale[1] = 1L<<30;

    rh.mag_scale[2] = 1L<<30;

    rh.compass_correction[0] = 1L<<30;

    rh.gam_quat[0] = 1L<<30;

    rh.nav_quat[0] = 1L<<30;

    rh.quat_confidence_interval = (float)M_PI;

    return INV_SUCCESS;

}



/** Turns on storage of results.

*/

inv_error_t inv_enable_results_holder()

{

    inv_error_t result;

    result = inv_init_results_holder();

    if ( result ) {

        return result;

    }



    result = inv_register_mpl_start_notification(inv_start_results_holder);

    return result;

}



/** Sets state of if we know the accel bias.

 * @return return 1 if we know the accel bias, 0 if not.

 *            it is set with inv_set_accel_bias_found()

 */

int inv_got_accel_bias()

{

    return rh.got_accel_bias;

}



/** Sets whether we know the accel bias

 * @param[in] state Set to 1 if we know the accel bias. 

 *            Can be retrieved with inv_got_accel_bias()

 */

void inv_set_accel_bias_found(int state)

{

    rh.got_accel_bias = state;

}



/** Sets state of if we know the compass bias.

 * @return return 1 if we know the compass bias, 0 if not.

 *            it is set with inv_set_compass_bias_found()

 */

int inv_got_compass_bias()

{

    return rh.got_compass_bias;

}



/** Sets whether we know the compass bias

 * @param[in] state Set to 1 if we know the compass bias. 

 *            Can be retrieved with inv_got_compass_bias()

 */

void inv_set_compass_bias_found(int state)

{

    rh.got_compass_bias = state;

}



/** Sets the compass state.

 * @param[in] state Compass state. It can be retrieved with inv_get_compass_state().

 */

void inv_set_compass_state(int state)

{

    rh.compass_state = state;

}



/** Get's the compass state

 * @return the compass state that was set with inv_set_compass_state()

 */

int inv_get_compass_state()

{

    return rh.compass_state;

}



/** Set compass bias error. See inv_get_compass_bias_error()

 * @param[in] bias_error Set's how accurate we know the compass bias. It is the 

 * error squared.

 */

void inv_set_compass_bias_error(const long *bias_error)

{

    memcpy(rh.compass_bias_error, bias_error, sizeof(rh.compass_bias_error));

}



/** Get's compass bias error. See inv_set_compass_bias_error() for setting.

 * @param[out] bias_error Accuracy as to how well the compass bias is known. It is the error squared.

 */

void inv_get_compass_bias_error(long *bias_error)

{

    memcpy(bias_error, rh.compass_bias_error, sizeof(rh.compass_bias_error));

}



/**

 *  @brief      Returns 3-element vector of accelerometer data in body frame

 *                with gravity removed

 *  @param[out] data    3-element vector of accelerometer data in body frame

 *                with gravity removed

 *  @return     INV_SUCCESS if successful

 *              INV_ERROR_INVALID_PARAMETER if invalid input pointer

 */

inv_error_t inv_get_linear_accel(long *data)

{

    long gravity[3];



    if (data != NULL)

    {

        inv_get_accel_set(data, NULL, NULL);

        inv_get_gravity(gravity);

        data[0] -= gravity[0] >> 14;

        data[1] -= gravity[1] >> 14;

        data[2] -= gravity[2] >> 14;

        return INV_SUCCESS;

    }

    else {

        return INV_ERROR_INVALID_PARAMETER;

    }

}



/**

 *  @brief      Returns 3-element vector of accelerometer data in body frame

 *  @param[out] data    3-element vector of accelerometer data in body frame

 *  @return     INV_SUCCESS if successful

 *              INV_ERROR_INVALID_PARAMETER if invalid input pointer

 */

inv_error_t inv_get_accel(long *data)

{

    if (data != NULL) {

        inv_get_accel_set(data, NULL, NULL);

        return INV_SUCCESS;

    }

    else {

        return INV_ERROR_INVALID_PARAMETER;

    }

}



/**

 *  @brief      Returns 3-element vector of accelerometer float data

 *  @param[out] data    3-element vector of accelerometer float data

 *  @return     INV_SUCCESS if successful

 *              INV_ERROR_INVALID_PARAMETER if invalid input pointer

 */

inv_error_t inv_get_accel_float(float *data)

{

    long tdata[3];

    unsigned char i;



    if (data != NULL && !inv_get_accel(tdata)) {

        for (i = 0; i < 3; ++i) {

            data[i] = ((float)tdata[i] / (1L << 16));

        }

        return INV_SUCCESS;

    }

    else {

        return INV_ERROR_INVALID_PARAMETER;

    }

}



/**

 *  @brief      Returns 3-element vector of gyro float data

 *  @param[out] data    3-element vector of gyro float data

 *  @return     INV_SUCCESS if successful

 *              INV_ERROR_INVALID_PARAMETER if invalid input pointer

 */

inv_error_t inv_get_gyro_float(float *data)

{

    long tdata[3];

    unsigned char i;



    if (data != NULL) {

        inv_get_gyro_set(tdata, NULL, NULL);

        for (i = 0; i < 3; ++i) {

            data[i] = ((float)tdata[i] / (1L << 16));

        }

        return INV_SUCCESS;

    }

    else {

        return INV_ERROR_INVALID_PARAMETER;

    }

}



/** Set 9 axis 95% heading confidence interval for quaternion

* @param[in] ci Confidence interval in radians.

*/

void inv_set_heading_confidence_interval(float ci)

{

    rh.quat_confidence_interval = ci;

}



/** Get 9 axis 95% heading confidence interval for quaternion

* @return Confidence interval in radians.

*/

float inv_get_heading_confidence_interval(void)

{

    return rh.quat_confidence_interval;

}



/**

 *  @brief      Returns 3-element vector of linear accel float data

 *  @param[out] data    3-element vector of linear aceel float data

 *  @return     INV_SUCCESS if successful

 *              INV_ERROR_INVALID_PARAMETER if invalid input pointer

 */

inv_error_t inv_get_linear_accel_float(float *data)

{

    long tdata[3];

    unsigned char i;



    if (data != NULL && !inv_get_linear_accel(tdata)) {

        for (i = 0; i < 3; ++i) {

            data[i] = ((float)tdata[i] / (1L << 16));

        }

        return INV_SUCCESS;

    }

    else {

        return INV_ERROR_INVALID_PARAMETER;

    }

}



/**

 * @}

 */