#define SENSOR_NAME "GAMING_RV_SENSOR"
#define SENSOR_TYPE_GAMING_RV "GAMING_ROTATION_VECTOR"
-#define MIN_DELIVERY_DIFF_FACTOR 0.75f
+#define ACCELEROMETER_ENABLED 0x01
+#define GYROSCOPE_ENABLED 0x02
+#define GAMING_RV_ENABLED 3
+
+#define INITIAL_VALUE -1
#define MS_TO_US 1000
+#define ELEMENT_NAME "NAME"
#define ELEMENT_VENDOR "VENDOR"
+#define ELEMENT_RAW_DATA_UNIT "RAW_DATA_UNIT"
#define ELEMENT_DEFAULT_SAMPLING_TIME "DEFAULT_SAMPLING_TIME"
+#define ELEMENT_ACCEL_STATIC_BIAS "ACCEL_STATIC_BIAS"
+#define ELEMENT_GYRO_STATIC_BIAS "GYRO_STATIC_BIAS"
+#define ELEMENT_ACCEL_ROTATION_DIRECTION_COMPENSATION "ACCEL_ROTATION_DIRECTION_COMPENSATION"
+#define ELEMENT_GYRO_ROTATION_DIRECTION_COMPENSATION "GYRO_ROTATION_DIRECTION_COMPENSATION"
+#define ELEMENT_ACCEL_SCALE "ACCEL_SCALE"
+#define ELEMENT_GYRO_SCALE "GYRO_SCALE"
+
+void pre_process_data(sensor_data<float> &data_out, const float *data_in, float *bias, int *sign, float scale)
+{
+ data_out.m_data.m_vec[0] = sign[0] * (data_in[0] - bias[0]) / scale;
+ data_out.m_data.m_vec[1] = sign[1] * (data_in[1] - bias[1]) / scale;
+ data_out.m_data.m_vec[2] = sign[2] * (data_in[2] - bias[2]) / scale;
+}
gaming_rv_sensor::gaming_rv_sensor()
: m_accel_sensor(NULL)
, m_gyro_sensor(NULL)
-, m_fusion_sensor(NULL)
+, m_accuracy(-1)
, m_time(0)
{
cvirtual_sensor_config &config = cvirtual_sensor_config::get_instance();
else
m_hardware_fusion = true;
+ INFO("m_hardware_fusion = %d", m_hardware_fusion);
+
m_name = string(SENSOR_NAME);
register_supported_event(GAMING_RV_RAW_DATA_EVENT);
+ m_enable_gaming_rv = 0;
if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_VENDOR, m_vendor)) {
ERR("[VENDOR] is empty\n");
INFO("m_default_sampling_time = %d", m_default_sampling_time);
+ if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_ACCEL_STATIC_BIAS, m_accel_static_bias, 3)) {
+ ERR("[ACCEL_STATIC_BIAS] is empty\n");
+ throw ENXIO;
+ }
+
+ INFO("m_accel_static_bias = (%f, %f, %f)", m_accel_static_bias[0], m_accel_static_bias[1], m_accel_static_bias[2]);
+
+ if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_GYRO_STATIC_BIAS, m_gyro_static_bias,3)) {
+ ERR("[GYRO_STATIC_BIAS] is empty\n");
+ throw ENXIO;
+ }
+
+ INFO("m_gyro_static_bias = (%f, %f, %f)", m_gyro_static_bias[0], m_gyro_static_bias[1], m_gyro_static_bias[2]);
+
+ if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_ACCEL_ROTATION_DIRECTION_COMPENSATION, m_accel_rotation_direction_compensation, 3)) {
+ ERR("[ACCEL_ROTATION_DIRECTION_COMPENSATION] is empty\n");
+ throw ENXIO;
+ }
+
+ INFO("m_accel_rotation_direction_compensation = (%d, %d, %d)", m_accel_rotation_direction_compensation[0], m_accel_rotation_direction_compensation[1], m_accel_rotation_direction_compensation[2]);
+
+ if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_GYRO_ROTATION_DIRECTION_COMPENSATION, m_gyro_rotation_direction_compensation, 3)) {
+ ERR("[GYRO_ROTATION_DIRECTION_COMPENSATION] is empty\n");
+ throw ENXIO;
+ }
+
+ INFO("m_gyro_rotation_direction_compensation = (%d, %d, %d)", m_gyro_rotation_direction_compensation[0], m_gyro_rotation_direction_compensation[1], m_gyro_rotation_direction_compensation[2]);
+
+ if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_ACCEL_SCALE, &m_accel_scale)) {
+ ERR("[ACCEL_SCALE] is empty\n");
+ throw ENXIO;
+ }
+
+ INFO("m_accel_scale = %f", m_accel_scale);
+
+ if (!config.get(SENSOR_TYPE_GAMING_RV, ELEMENT_GYRO_SCALE, &m_gyro_scale)) {
+ ERR("[GYRO_SCALE] is empty\n");
+ throw ENXIO;
+ }
+
+ INFO("m_gyro_scale = %f", m_gyro_scale);
+
m_interval = m_default_sampling_time * MS_TO_US;
}
m_accel_sensor = sensor_plugin_loader::get_instance().get_sensor(ACCELEROMETER_SENSOR);
m_gyro_sensor = sensor_plugin_loader::get_instance().get_sensor(GYROSCOPE_SENSOR);
- m_fusion_sensor = sensor_plugin_loader::get_instance().get_sensor(FUSION_SENSOR);
-
- if (!m_accel_sensor || !m_gyro_sensor || !m_fusion_sensor) {
- ERR("Failed to load sensors, accel: 0x%x, gyro: 0x%x, fusion: 0x%x",
- m_accel_sensor, m_gyro_sensor, m_fusion_sensor);
+ if (!m_accel_sensor || !m_gyro_sensor) {
+ ERR("Failed to load sensors, accel: 0x%x, gyro: 0x%x",
+ m_accel_sensor, m_gyro_sensor);
return false;
}
m_gyro_sensor->start();
}
- m_fusion_sensor->register_supported_event(FUSION_EVENT);
- m_fusion_sensor->register_supported_event(FUSION_GAMING_ROTATION_VECTOR_ENABLED);
- m_fusion_sensor->add_client(FUSION_EVENT);
- m_fusion_sensor->add_interval((intptr_t)this, (m_interval/MS_TO_US), false);
- m_fusion_sensor->start();
-
activate();
return true;
}
m_gyro_sensor->stop();
}
- m_fusion_sensor->delete_client(FUSION_EVENT);
- m_fusion_sensor->delete_interval((intptr_t)this, false);
- m_fusion_sensor->unregister_supported_event(FUSION_EVENT);
- m_fusion_sensor->unregister_supported_event(FUSION_GAMING_ROTATION_VECTOR_ENABLED);
- m_fusion_sensor->stop();
-
deactivate();
return true;
}
m_gyro_sensor->add_interval(client_id, interval, false);
}
- m_fusion_sensor->add_interval(client_id, interval, false);
-
return sensor_base::add_interval(client_id, interval, false);
}
m_gyro_sensor->delete_interval(client_id, false);
}
- m_fusion_sensor->delete_interval(client_id, false);
-
return sensor_base::delete_interval(client_id, false);
}
void gaming_rv_sensor::synthesize(const sensor_event_t& event, vector<sensor_event_t> &outs)
{
+ const float MIN_DELIVERY_DIFF_FACTOR = 0.75f;
unsigned long long diff_time;
sensor_event_t rv_event;
+ quaternion<float> quaternion_gaming_rv;
+
+ if (event.event_type == ACCELEROMETER_RAW_DATA_EVENT) {
+ diff_time = event.data.timestamp - m_time;
+
+ if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR))
+ return;
+
+ pre_process_data(m_accel, event.data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, m_accel_scale);
- if (event.event_type == FUSION_EVENT) {
+ m_accel.m_time_stamp = event.data.timestamp;
+
+ m_enable_gaming_rv |= ACCELEROMETER_ENABLED;
+ } else if (event.event_type == GYROSCOPE_RAW_DATA_EVENT) {
diff_time = event.data.timestamp - m_time;
if (m_time && (diff_time < m_interval * MIN_DELIVERY_DIFF_FACTOR))
return;
+ pre_process_data(m_gyro, event.data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, m_gyro_scale);
+
+ m_gyro.m_time_stamp = event.data.timestamp;
+
+ m_enable_gaming_rv |= GYROSCOPE_ENABLED;
+ }
+
+ if (m_enable_gaming_rv == GAMING_RV_ENABLED) {
+ m_enable_gaming_rv = 0;
+
+ m_orientation_filter.get_device_orientation(&m_accel, &m_gyro, NULL);
+
+ quaternion_gaming_rv = m_orientation_filter.m_quat_gaming_rv;
+
m_time = get_timestamp();
rv_event.sensor_id = get_id();
rv_event.event_type = GAMING_RV_RAW_DATA_EVENT;
rv_event.data.accuracy = SENSOR_ACCURACY_GOOD;
rv_event.data.timestamp = m_time;
rv_event.data.value_count = 4;
- rv_event.data.values[0] = event.data.values[1];
- rv_event.data.values[1] = event.data.values[2];
- rv_event.data.values[2] = event.data.values[3];
- rv_event.data.values[3] = event.data.values[0];
+ rv_event.data.values[0] = quaternion_gaming_rv.m_quat.m_vec[1];
+ rv_event.data.values[1] = quaternion_gaming_rv.m_quat.m_vec[2];
+ rv_event.data.values[2] = quaternion_gaming_rv.m_quat.m_vec[3];
+ rv_event.data.values[3] = quaternion_gaming_rv.m_quat.m_vec[0];
push(rv_event);
}
int gaming_rv_sensor::get_sensor_data(unsigned int event_type, sensor_data_t &data)
{
- sensor_data_t fusion_data;
+ sensor_data<float> accel;
+ sensor_data<float> gyro;
+
+ sensor_data_t accel_data;
+ sensor_data_t gyro_data;
+
+ quaternion<float> quaternion_gaming_rv;
if (event_type != GAMING_RV_RAW_DATA_EVENT)
return -1;
- m_fusion_sensor->get_sensor_data(FUSION_GAMING_ROTATION_VECTOR_ENABLED, fusion_data);
+ m_accel_sensor->get_sensor_data(ACCELEROMETER_RAW_DATA_EVENT, accel_data);
+ m_gyro_sensor->get_sensor_data(GYROSCOPE_RAW_DATA_EVENT, gyro_data);
+
+ pre_process_data(accel, accel_data.values, m_accel_static_bias, m_accel_rotation_direction_compensation, m_accel_scale);
+ pre_process_data(gyro, gyro_data.values, m_gyro_static_bias, m_gyro_rotation_direction_compensation, m_gyro_scale);
+ accel.m_time_stamp = accel_data.timestamp;
+ gyro.m_time_stamp = gyro_data.timestamp;
+
+ m_orientation_filter_poll.get_device_orientation(&m_accel, &m_gyro, NULL);
+
+ quaternion_gaming_rv = m_orientation_filter_poll.m_quat_gaming_rv;
data.accuracy = SENSOR_ACCURACY_GOOD;
data.timestamp = get_timestamp();
data.value_count = 4;
- data.values[0] = fusion_data.values[1];
- data.values[1] = fusion_data.values[2];
- data.values[2] = fusion_data.values[3];
- data.values[3] = fusion_data.values[0];
+ data.values[0] = quaternion_gaming_rv.m_quat.m_vec[1];
+ data.values[1] = quaternion_gaming_rv.m_quat.m_vec[2];
+ data.values[2] = quaternion_gaming_rv.m_quat.m_vec[3];
+ data.values[3] = quaternion_gaming_rv.m_quat.m_vec[0];
return 0;
}
projects / platform / core / system / sensord.git / commitdiff