From 27d2bd82c873ef1f8b25356f365e32503c22d527 Mon Sep 17 00:00:00 2001 From: Vibhor Gaur Date: Tue, 25 Nov 2014 11:20:32 +0530 Subject: [PATCH 01/16] Configuring proxi test file by removing redundancies and making compatible with IIO interface support Change-Id: I8a38fcad95460b09cb8f78eb07d61f5521b16541 --- test/src/proxi.c | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/test/src/proxi.c b/test/src/proxi.c index 1bbd23d..7ed2d64 100644 --- a/test/src/proxi.c +++ b/test/src/proxi.c @@ -21,7 +21,7 @@ #include #include #include -#include +#include #include static GMainLoop *mainloop; @@ -86,10 +86,7 @@ int main(int argc,char **argv) start_handle = sf_start(handle,0); - if (start_handle >= 0) { - printf("Success start \n"); - } - else { + if (start_handle < 0) { printf("Error\n\n\n\n"); sf_unregister_event(handle, event); sf_disconnect(handle); @@ -103,8 +100,10 @@ int main(int argc,char **argv) stop_handle = sf_stop(handle); - if (stop_handle >= 0) - printf("Success stop \n"); + if (stop_handle < 0) { + printf("Failed to stop proximity sensor\n\n"); + return -1; + } sf_disconnect(handle); -- 2.7.4 From 89abe0c89149c0c9b2da843c83c6bec7700952cf Mon Sep 17 00:00:00 2001 From: Vibhor Gaur Date: Wed, 26 Nov 2014 12:03:13 +0530 Subject: [PATCH 02/16] Fixing build issues in virtual sensors test files Change-Id: Ic009931a0bac60f27cd832e089097c034e5721af --- test/src/gravity.c | 2 +- test/src/linear_acceleration.c | 2 +- test/src/orientation.c | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/test/src/gravity.c b/test/src/gravity.c index 48081ce..a055013 100755 --- a/test/src/gravity.c +++ b/test/src/gravity.c @@ -21,7 +21,7 @@ #include #include #include -#include +#include #include #include diff --git a/test/src/linear_acceleration.c b/test/src/linear_acceleration.c index ed36928..5e157e5 100755 --- a/test/src/linear_acceleration.c +++ b/test/src/linear_acceleration.c @@ -21,7 +21,7 @@ #include #include #include -#include +#include #include #include diff --git a/test/src/orientation.c b/test/src/orientation.c index ca9b083..1886ad1 100755 --- a/test/src/orientation.c +++ b/test/src/orientation.c @@ -21,7 +21,7 @@ #include #include #include -#include +#include #include #include -- 2.7.4 From 25dac29563085e84c94308bbe436a3a02e03f6c8 Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Tue, 2 Dec 2014 14:20:34 +0530 Subject: [PATCH 03/16] Updating preprocessing and aiding system documentation - Added new equations for preprocessing and aiding system - Changed formating for documentation. - Updated diagrams for orientation and gravity. 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zeQreH`O({Ti|;$E506`$l)t;q{82z`)a8r0|IFf#4L;CmUxZ;8hG7s^5r$zH#vN7> zhG7`S9aa&BVHn08RuP6_7{(n|5r$zH#+Bc{{|6!Wtf?J<$=(0}002ovPDHLkV1lr= B5C#AM literal 0 HcmV?d00001 diff --git a/src/sensor_fusion/design/documentation/sensor_fusion.htm b/src/sensor_fusion/design/documentation/sensor_fusion.htm index 0ccfb0e..eb31730 100755 --- a/src/sensor_fusion/design/documentation/sensor_fusion.htm +++ b/src/sensor_fusion/design/documentation/sensor_fusion.htm @@ -1,16 +1,17 @@ Sensor Fusion for Tizen Sensor Framework -

    Introduction

    +

    Sensor Fusion for Tizen Sensor Framework

    + +

    Introduction

    Sensor Fusion is the process of combining the accelerometer, -gyroscope, geo-magnetic sensor, GPS data and barometer in order to generate -accurate virtual sensor outputs such as Orientation, Gravity, Linear -Acceleration, Altitude, etc. Sensor Fusion is used for extracting -individual virtual sensor components from composite sensor data and/or -combining multiple sensor data to create new sensor component data while -compensating for individual sensor errors. Ideally the following errors would -have to be corrected during sensor fusion:-

    +gyroscope and geo-magnetic sensor in order to generate accurate virtual sensor +outputs such as Orientation, Gravity, Linear Acceleration, etc. Sensor Fusion +is used for extracting individual virtual sensor components from composite +sensor data and/or combining multiple sensor data to create new sensor component +data while compensating for individual sensor errors. Ideally the following +errors would have to be corrected during sensor fusion:-

            - Bias: Any non-zero sensor output when the input is zero

    @@ -30,7 +31,7 @@ mechanical lock-in

            - Quantization error: inherent in all digitized systems

    -

    Sensors Used for Sensor Fusion

    +

    Sensors Used for Sensor Fusion

    Accelerometer Sensor :- Accelerometer data is a combination of linear acceleration and gravity components. Applications would be interested in using @@ -51,18 +52,7 @@ along Z axis to produce correct yaw measurement. Geo-Magnetic sensor along with GPS latitude-longitude measurements could be used to accurately estimate heading of the device.

    -

    Barometer Sensor :- Measures atmospheric pressure. Height of the device from -sea level could be measured based on change in atmospheric pressure at that height. -Sensor Fusion could also be used to combine the altitude from the GPS data with -height measured from the Barometer measurements and produce corrected altitude -measurements.

    - -

    GPS Data :- Provides exact position in terms of latitude, longitude coordinates -and altitude for the phone. Can be used along with barometer for producing -corrected altitude measurements. Could be used along with Geo-magnetic sensor -to determine the heading of a device.

    - -

    Orientation Estimation

    +

    Orientation Estimation

    @@ -73,7 +63,6 @@ to determine the heading of a device.

    -
    +

    Preprocessing of Sensor Data

    +
    @@ -91,7 +82,7 @@ Estimation.
    - +
    @@ -113,14 +104,48 @@ Estimation.
    -

    Driving System

    +
    +
    + +
    +
    + + +

    Orientation Computation Based on Aiding System

    + +
    +
    + +
    +
    + +
    +
    + +
    +
    + +
    +
    + +
    +
    + +
    +
    + +
    +
    + +
    +
    + +
    +
    + -

    The gyroscope output data consists for angular rates for pitch, roll and yaw. -Gyroscope angular rates are corrected for bias (both static bias and bias correction -from Kalman filter) and noise using low pass filter. The Gyroscope angular rates are -converted to Quaternions after scaling.

    +

    Driving System

    -

    Aiding System

    The accelerometer and geomagnetic sensor data are corrected for noise and compensated for static bias. Accelerometer is used to compute @@ -128,7 +153,7 @@ tilt (pitch and roll). The geomagnetic sensor along with the computed tilt data is used compute yaw. The computed Euler angles (pitch, roll and yaw) are converted to quaternions.

    -

    Noise Covariance Computation

    +

    Noise Covariance Computation

    The process noise covariance (Q) is calculated by computing covariance of windowed block of driving system data. The measurement noise @@ -136,7 +161,7 @@ covariance (R) is calculated by computing covariance of windowed block of aiding system data. The process and measurement covariance computed are to be used in Kalman filtering.

    -

    Kalman Filtering

    +

    Kalman Filtering

    @@ -152,7 +177,7 @@ Kalman filtering.

    ,where the first term is the quaternion representation of the Euler angles error and the next three terms are the error in knowledge of bias errors.

    -

    Determination of Gravity

    +

    Determination of Gravity

    When a device is subjected to motion in Euclidean space, the 3D accelerometer data generated from the device is a combination of linear acceleration and gravity components which are a measure of linear and rotational motion respectively.The @@ -193,7 +218,7 @@ given above, the values (GRx,GRy,GRz) are converted from (0,0,G) to (0,G,0) due shift in the axis which experiences the gravitational field (G is measure of Earth's gravity).

    -

    Determination of Linear Acceleration

    +

    Determination of Linear Acceleration

    Linear Acceleration virtual sensor data provides the measure of the acceleration of a device after removing the Gravity components on the 3-axes. Accurate linear -- 2.7.4 From a9b1209852994ad08882d338409b715301412eec Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Wed, 3 Dec 2014 09:58:05 +0530 Subject: [PATCH 04/16] Adding document equations for aiding and driving systems - Adding equations for aiding system and driving system orientation estimation - changed equation formating Change-Id: I913ae44de5fa30ee8c4a91aa3a62a7ff93f0588d --- .../design/documentation/equation/equation_12.png | Bin 0 -> 3022 bytes .../design/documentation/equation/equation_13.png | Bin 0 -> 2716 bytes .../design/documentation/equation/equation_14.png | Bin 0 -> 3297 bytes .../design/documentation/equation/equation_15.png | Bin 0 -> 2136 bytes .../design/documentation/equation/equation_16.png | Bin 0 -> 3392 bytes .../design/documentation/equation/equation_17.png | Bin 0 -> 3359 bytes .../design/documentation/equation/equation_18.png | Bin 0 -> 3165 bytes .../design/documentation/sensor_fusion.htm | 58 ++++++++++++++++----- 8 files changed, 46 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    @@ -143,15 +143,49 @@ Estimation.
    +
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    Orientation Computation Based on Driving System

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    Driving System

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    The accelerometer and geomagnetic sensor data are corrected -for noise and compensated for static bias. Accelerometer is used to compute -tilt (pitch and roll). The geomagnetic sensor along with the computed tilt data -is used compute yaw. The computed Euler angles (pitch, roll and yaw) are -converted to quaternions.

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    Noise Covariance Computation

    -- 2.7.4 From 021c5bfc000e41972f8c412e51b171e76cc3650f Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Thu, 4 Dec 2014 15:33:36 +0530 Subject: [PATCH 05/16] Adding document time update related equations - Added time update related equations to sensor fusion document. - cleanup of outdated section and diagram. Change-Id: I913ae44de5fa30ee8c4a91cc5c62a7ff93f0588d --- .../design/documentation/equation/equation_19.png | Bin 0 -> 3202 bytes .../design/documentation/equation/equation_20.png | Bin 0 -> 3358 bytes .../design/documentation/equation/equation_21.png | Bin 0 -> 3571 bytes .../design/documentation/equation/equation_22.png | Bin 0 -> 3717 bytes .../design/documentation/equation/equation_23.png | Bin 0 -> 3544 bytes .../design/documentation/equation/equation_24.png | Bin 0 -> 7122 bytes .../design/documentation/equation/equation_25.png | Bin 0 -> 5455 bytes .../design/documentation/equation/equation_26.png | Bin 0 -> 5784 bytes .../design/documentation/equation/equation_27.png | Bin 0 -> 8951 bytes .../design/documentation/equation/equation_28.png | Bin 0 -> 10788 bytes .../design/documentation/equation/equation_29.png | Bin 0 -> 2577 bytes .../design/documentation/equation/equation_30.png | Bin 0 -> 3520 bytes .../documentation/equation/state_equation.png | Bin 2183 -> 0 bytes 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    Noise Covariance Computation

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    Time Update System

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    The process noise covariance (Q) is calculated by computing -covariance of windowed block of driving system data. The measurement noise -covariance (R) is calculated by computing covariance of windowed block of aiding -system data. The process and measurement covariance computed are to be used in -Kalman filtering.

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    Fig. 3. Kalman Filter Stages.
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    To ensure linear Kalman filtering the following error state equation is used:

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    ,where the first term is the quaternion representation of the Euler angles -error and the next three terms are the error in knowledge of bias errors.

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    Determination of Gravity

    When a device is subjected to motion in Euclidean space, the 3D accelerometer -- 2.7.4 From f777d77df3c5fc8fe967436aa0ceea7817881114 Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Fri, 5 Dec 2014 10:45:15 +0530 Subject: [PATCH 06/16] Adding equations for measurement system, gravity, Linear Accel - Adding equations for measurement update system, gravity computation and linear acceleration Change-Id: I913ae44de5fa30ee8c4a90bb5c62a7ff93f0588d --- .../design/documentation/equation/equation_31.png | Bin 0 -> 2402 bytes .../design/documentation/equation/equation_32.png | Bin 0 -> 2219 bytes .../design/documentation/equation/equation_33.png | Bin 0 -> 2477 bytes .../design/documentation/equation/equation_34.png | Bin 0 -> 3145 bytes .../design/documentation/equation/equation_35.png | Bin 0 -> 5395 bytes .../design/documentation/equation/equation_36.png | Bin 0 -> 5473 bytes .../design/documentation/equation/equation_37.png | Bin 0 -> 3950 bytes 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    Determination of Gravity

    + +

    Measurement Update System

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    Determination of Gravity and Linear Acceleration

    When a device is subjected to motion in Euclidean space, the 3D accelerometer data generated from the device is a combination of linear acceleration and gravity components which are a measure of linear and rotational motion respectively.The @@ -277,6 +304,24 @@ width="40%" height="40%"> +

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    Gravity virtual sensor data provides the measure of the direction in which the Earth’s gravitational force is observed in the device’s frame of reference. The orientation of the device decides the measure of the influence of Earth’s gravitational @@ -284,10 +329,6 @@ force on the 3-axes of the device. The following equations are used for projecti the tilt(pitch, roll) of the device on the Earth’s gravity axis to determine earth’s gravitational effect on the devices reference axis.

    -

    GRx = Earth’s Gravity * sin(pitch)

    -

    GRy = Earth’s Gravity * sin(roll)

    -

    GRz = Earth’s Gravity * cos(pitch) * cos(roll)

    -
    @@ -309,9 +350,24 @@ a device after removing the Gravity components on the 3-axes. Accurate linear acceleration data are calculated by subtracting gravity components from the 3-axes calibrated accelerometer data.

    -

    LAx = Ax – GRy

    -

    LAy = Ay – GRx

    -

    LAz = Az – GRz

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    References

    -- 2.7.4 From e604e5ae802ff05364e223233d1c1f1b0a46cf34 Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Fri, 5 Dec 2014 17:14:10 +0530 Subject: [PATCH 07/16] Cleanup of unsupported sensors related code - Removing code related to motion sensor - cleanup of code for unused sensors Change-Id: I8e10ad057ac007cf7576560875cb5072a9efb7df --- packaging/sensord.spec | 2 +- sensor_plugins.xml.in | 1 - sensors.xml.in | 58 ----------- src/libsensord/CMakeLists.txt | 1 - src/libsensord/client_common.cpp | 41 -------- src/libsensord/sensor_internal.h | 1 - src/libsensord/sensor_internal_deprecated.h | 1 - src/libsensord/sensor_motion.h | 150 ---------------------------- src/libsensord/sensor_orientation.h | 0 src/shared/sensor_common.h | 5 - 10 files changed, 1 insertion(+), 259 deletions(-) delete mode 100755 src/libsensord/sensor_motion.h mode change 100644 => 100755 src/libsensord/sensor_orientation.h diff --git a/packaging/sensord.spec b/packaging/sensord.spec index f5aefe8..1cab59a 100755 --- a/packaging/sensord.spec +++ b/packaging/sensord.spec @@ -79,7 +79,7 @@ cmake . -DCMAKE_INSTALL_PREFIX=%{_prefix} -DACCEL=%{accel_state} \ -DGYRO=%{gyro_state} -DPROXI=%{proxi_state} -DLIGHT=%{light_state} \ -DGEO=%{geo_state} -DPRESSURE=%{pressure_state} -DTEMPERATURE=%{temperature_state} \ -DORIENTATION=%{orientation_state} -DGRAVITY=%{gravity_state} \ - -DLINEAR_ACCEL=%{linear_accel_state} -DMOTION=%{motion_state} \ + -DLINEAR_ACCEL=%{linear_accel_state} \ -DTEST_SUITE=%{build_test_suite} make %{?jobs:-j%jobs} diff --git a/sensor_plugins.xml.in b/sensor_plugins.xml.in index 40faa12..f40f79a 100755 --- a/sensor_plugins.xml.in +++ b/sensor_plugins.xml.in @@ -16,7 +16,6 @@ - diff --git a/sensors.xml.in b/sensors.xml.in index 37c1c34..3c4240b 100755 --- a/sensors.xml.in +++ b/sensors.xml.in @@ -167,64 +167,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/libsensord/CMakeLists.txt b/src/libsensord/CMakeLists.txt index bb2b159..6686be2 100755 --- a/src/libsensord/CMakeLists.txt +++ b/src/libsensord/CMakeLists.txt @@ -64,7 +64,6 @@ install(FILES sensor_accel.h DESTINATION include/sensor/) install(FILES sensor_geomag.h DESTINATION include/sensor/) install(FILES sensor_light.h DESTINATION include/sensor/) install(FILES sensor_proxi.h DESTINATION include/sensor/) -install(FILES sensor_motion.h DESTINATION include/sensor/) install(FILES sensor_gyro.h DESTINATION include/sensor/) install(FILES sensor_pressure.h DESTINATION include/sensor/) install(FILES sensor_context.h DESTINATION include/sensor/) diff --git a/src/libsensord/client_common.cpp b/src/libsensord/client_common.cpp index 8acb613..24932bb 100755 --- a/src/libsensord/client_common.cpp +++ b/src/libsensord/client_common.cpp @@ -32,10 +32,8 @@ log_element g_log_elements[] = { FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, GEOMAGNETIC_SENSOR, 0, 1), FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, LIGHT_SENSOR, 0, 1), FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, PROXIMITY_SENSOR, 0, 1), - FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, THERMOMETER_SENSOR, 0, 1), FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, GYROSCOPE_SENSOR, 0, 1), FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, PRESSURE_SENSOR, 0, 1), - FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, MOTION_SENSOR, 0, 1), FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, CONTEXT_SENSOR, 0, 1), FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, GRAVITY_SENSOR, 0, 1), FILL_LOG_ELEMENT(LOG_ID_SENSOR_TYPE, LINEAR_ACCEL_SENSOR, 0, 1), @@ -45,25 +43,11 @@ log_element g_log_elements[] = { FILL_LOG_ELEMENT(LOG_ID_EVENT, GEOMAGNETIC_EVENT_CALIBRATION_NEEDED, 0, 1), FILL_LOG_ELEMENT(LOG_ID_EVENT, PROXIMITY_EVENT_CHANGE_STATE, 0,1), FILL_LOG_ELEMENT(LOG_ID_EVENT, LIGHT_EVENT_CHANGE_LEVEL, 0, 1), - FILL_LOG_ELEMENT(LOG_ID_EVENT, MOTION_ENGINE_EVENT_SNAP, 0, 1), - FILL_LOG_ELEMENT(LOG_ID_EVENT, MOTION_ENGINE_EVENT_SHAKE, 0, 1), - FILL_LOG_ELEMENT(LOG_ID_EVENT, MOTION_ENGINE_EVENT_DOUBLETAP, 0, 1), - FILL_LOG_ELEMENT(LOG_ID_EVENT, MOTION_ENGINE_EVENT_PANNING, 0, 25), - FILL_LOG_ELEMENT(LOG_ID_EVENT, MOTION_ENGINE_EVENT_TOP_TO_BOTTOM, 0, 1), - FILL_LOG_ELEMENT(LOG_ID_EVENT, MOTION_ENGINE_EVENT_DIRECT_CALL, 0,1), - FILL_LOG_ELEMENT(LOG_ID_EVENT, MOTION_ENGINE_EVENT_SMART_RELAY, 0, 1), - FILL_LOG_ELEMENT(LOG_ID_EVENT, MOTION_ENGINE_EVENT_TILT_TO_UNLOCK, 0,1 ), - FILL_LOG_ELEMENT(LOG_ID_EVENT, MOTION_ENGINE_EVENT_SMART_ALERT, 0, 1), - FILL_LOG_ELEMENT(LOG_ID_EVENT, MOTION_ENGINE_EVENT_TILT, 0, 25), - FILL_LOG_ELEMENT(LOG_ID_EVENT, MOTION_ENGINE_EVENT_PANNING_BROWSE, 0, 25), - FILL_LOG_ELEMENT(LOG_ID_EVENT, MOTION_ENGINE_EVENT_NO_MOVE, 0, 1), - FILL_LOG_ELEMENT(LOG_ID_EVENT, MOTION_ENGINE_EVENT_SHAKE_ALWAYS_ON, 0, 1), FILL_LOG_ELEMENT(LOG_ID_EVENT, PROXIMITY_EVENT_STATE_REPORT_ON_TIME, 0, 10), FILL_LOG_ELEMENT(LOG_ID_EVENT, PROXIMITY_EVENT_DISTANCE_DATA_REPORT_ON_TIME, 0, 10), FILL_LOG_ELEMENT(LOG_ID_EVENT, CONTEXT_EVENT_REPORT, 0, 1), -#ifdef _RAWDATA_DEBUG FILL_LOG_ELEMENT(LOG_ID_EVENT, ACCELEROMETER_EVENT_RAW_DATA_REPORT_ON_TIME, 0, 10), FILL_LOG_ELEMENT(LOG_ID_EVENT, GYROSCOPE_EVENT_RAW_DATA_REPORT_ON_TIME, 0, 10), FILL_LOG_ELEMENT(LOG_ID_EVENT, GEOMAGNETIC_EVENT_RAW_DATA_REPORT_ON_TIME, 0, 10), @@ -75,7 +59,6 @@ log_element g_log_elements[] = { FILL_LOG_ELEMENT(LOG_ID_EVENT, ORIENTATION_EVENT_RAW_DATA_REPORT_ON_TIME, 0, 10), FILL_LOG_ELEMENT(LOG_ID_EVENT, PRESSURE_EVENT_RAW_DATA_REPORT_ON_TIME, 0, 10), FILL_LOG_ELEMENT(LOG_ID_EVENT, TEMPERATURE_EVENT_RAW_DATA_REPORT_ON_TIME, 0, 10), -#endif FILL_LOG_ELEMENT(LOG_ID_DATA, ACCELEROMETER_BASE_DATA_SET, 0, 25), FILL_LOG_ELEMENT(LOG_ID_DATA, GYRO_BASE_DATA_SET, 0, 25), @@ -159,13 +142,6 @@ const char* get_data_name(unsigned int data_id) bool is_one_shot_event(unsigned int event_type) { - switch (event_type) { - case MOTION_ENGINE_EVENT_SMART_ALERT: - case MOTION_ENGINE_EVENT_SMART_RELAY: - return true; - break; - } - return false; } @@ -192,14 +168,6 @@ bool is_ontime_event(unsigned int event_type) bool is_panning_event(unsigned int event_type) { - switch (event_type) { - case MOTION_ENGINE_EVENT_PANNING: - case MOTION_ENGINE_EVENT_TILT: - case MOTION_ENGINE_EVENT_PANNING_BROWSE: - return true; - break; - } - return false; } @@ -209,15 +177,6 @@ bool is_single_state_event(unsigned int event_type) case GEOMAGNETIC_EVENT_CALIBRATION_NEEDED: case LIGHT_EVENT_CHANGE_LEVEL: case PROXIMITY_EVENT_CHANGE_STATE: - case MOTION_ENGINE_EVENT_SNAP: - case MOTION_ENGINE_EVENT_SHAKE: - case MOTION_ENGINE_EVENT_SHAKE_ALWAYS_ON: - case MOTION_ENGINE_EVENT_DOUBLETAP: - case MOTION_ENGINE_EVENT_TOP_TO_BOTTOM: - case MOTION_ENGINE_EVENT_DIRECT_CALL: - case MOTION_ENGINE_EVENT_SMART_RELAY: - case MOTION_ENGINE_EVENT_TILT_TO_UNLOCK: - case MOTION_ENGINE_EVENT_NO_MOVE: return true; break; } diff --git a/src/libsensord/sensor_internal.h b/src/libsensord/sensor_internal.h index 8f2efd2..bec1487 100755 --- a/src/libsensord/sensor_internal.h +++ b/src/libsensord/sensor_internal.h @@ -43,7 +43,6 @@ extern "C" #include #include #include -#include #include #include #include diff --git a/src/libsensord/sensor_internal_deprecated.h b/src/libsensord/sensor_internal_deprecated.h index 79388be..f0a1a74 100755 --- a/src/libsensord/sensor_internal_deprecated.h +++ b/src/libsensord/sensor_internal_deprecated.h @@ -41,7 +41,6 @@ extern "C" #include #include #include -#include #include #include #include diff --git a/src/libsensord/sensor_motion.h b/src/libsensord/sensor_motion.h deleted file mode 100755 index 1fe2db5..0000000 --- a/src/libsensord/sensor_motion.h +++ /dev/null @@ -1,150 +0,0 @@ -/* - * libsensord - * - * Copyright (c) 2014 Samsung Electronics Co., Ltd. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * - */ - -#ifndef __SENSOR_MOTION_H__ -#define __SENSOR_MOTION_H__ - -//! Pre-defined events for the motion sensor -//! Sensor Plugin developer can add more event to their own headers - -#ifdef __cplusplus -extern "C" -{ -#endif - -enum motion_event_type { - MOTION_ENGINE_EVENT_SNAP = (MOTION_SENSOR << 16) | 0x0001, - MOTION_ENGINE_EVENT_SHAKE = (MOTION_SENSOR << 16) | 0x0002, - MOTION_ENGINE_EVENT_DOUBLETAP = (MOTION_SENSOR << 16) | 0x0004, - MOTION_ENGINE_EVENT_PANNING = (MOTION_SENSOR << 16) | 0x0008, - MOTION_ENGINE_EVENT_TOP_TO_BOTTOM = (MOTION_SENSOR << 16) | 0x0010, - MOTION_ENGINE_EVENT_DIRECT_CALL = (MOTION_SENSOR << 16) | 0x0020, - MOTION_ENGINE_EVENT_TILT_TO_UNLOCK = (MOTION_SENSOR << 16) | 0x0040, - MOTION_ENGINE_EVENT_LOCK_EXECUTE_CAMERA = (MOTION_SENSOR << 16) | 0x0080, - MOTION_ENGINE_EVENT_SMART_ALERT = (MOTION_SENSOR << 16) | 0x0100, - MOTION_ENGINE_EVENT_TILT = (MOTION_SENSOR << 16) | 0x0200, - MOTION_ENGINE_EVENT_PANNING_BROWSE = (MOTION_SENSOR << 16) | 0x0400, - MOTION_ENGINE_EVENT_NO_MOVE = (MOTION_SENSOR << 16) | 0x0800, - MOTION_ENGINE_EVENT_SHAKE_ALWAYS_ON = (MOTION_SENSOR << 16) | 0x1000, - MOTION_ENGINE_EVENT_SMART_RELAY = (MOTION_SENSOR << 16) | 0x2000, -}; - -enum motion_snap_event { - MOTION_ENGIEN_SNAP_NONE = 0, - MOTION_ENGIEN_NEGATIVE_SNAP_X = 1, - MOTION_ENGIEN_POSITIVE_SNAP_X = 2, - MOTION_ENGIEN_NEGATIVE_SNAP_Y = 3, - MOTION_ENGIEN_POSITIVE_SNAP_Y = 4, - MOTION_ENGIEN_NEGATIVE_SNAP_Z = 5, - MOTION_ENGIEN_POSITIVE_SNAP_Z = 6, - MOTION_ENGIEN_SNAP_LEFT = MOTION_ENGIEN_NEGATIVE_SNAP_X, - MOTION_ENGIEN_SNAP_RIGHT = MOTION_ENGIEN_POSITIVE_SNAP_X, - MOTION_ENGINE_SNAP_NONE = 0, - MOTION_ENGINE_NEGATIVE_SNAP_X = 1, - MOTION_ENGINE_POSITIVE_SNAP_X = 2, - MOTION_ENGINE_NEGATIVE_SNAP_Y = 3, - MOTION_ENGINE_POSITIVE_SNAP_Y = 4, - MOTION_ENGINE_NEGATIVE_SNAP_Z = 5, - MOTION_ENGINE_POSITIVE_SNAP_Z = 6, - MOTION_ENGINE_SNAP_LEFT = MOTION_ENGINE_NEGATIVE_SNAP_X, - MOTION_ENGINE_SNAP_RIGHT = MOTION_ENGINE_POSITIVE_SNAP_X, -}; - -enum motion_shake_event { - MOTION_ENGIEN_SHAKE_NONE = 0, - MOTION_ENGIEN_SHAKE_DETECTION = 1, - MOTION_ENGIEN_SHAKE_CONTINUING = 2, - MOTION_ENGIEN_SHAKE_FINISH = 3, - MOTION_ENGINE_SHAKE_BREAK = 4, - MOTION_ENGINE_SHAKE_NONE = 0, - MOTION_ENGINE_SHAKE_DETECTION = 1, - MOTION_ENGINE_SHAKE_CONTINUING = 2, - MOTION_ENGINE_SHAKE_FINISH = 3, -}; - -enum motion_doubletap_event { - MOTION_ENGIEN_DOUBLTAP_NONE = 0, - MOTION_ENGIEN_DOUBLTAP_DETECTION = 1, - MOTION_ENGINE_DOUBLTAP_NONE = 0, - MOTION_ENGINE_DOUBLTAP_DETECTION = 1, -}; - -enum motion_top_to_bottom_event { - MOTION_ENGIEN_TOP_TO_BOTTOM_NONE = 0, - MOTION_ENGIEN_TOP_TO_BOTTOM_WAIT = 1, - MOTION_ENGIEN_TOP_TO_BOTTOM_DETECTION = 2, - MOTION_ENGINE_TOP_TO_BOTTOM_NONE = 0, - MOTION_ENGINE_TOP_TO_BOTTOM_WAIT = 1, - MOTION_ENGINE_TOP_TO_BOTTOM_DETECTION = 2, -}; - -enum motion_direct_call_event_t { - MOTION_ENGINE_DIRECT_CALL_NONE, - MOTION_ENGINE_DIRECT_CALL_DETECTION, -}; - -enum motion_smart_relay_event_t { - MOTION_ENGINE_SMART_RELAY_NONE, - MOTION_ENGINE_SMART_RELAY_DETECTION, -}; - -enum motion_tilt_to_unlock_event_t { - MOTION_ENGINE_TILT_TO_UNLOCK_NONE, - MOTION_ENGINE_TILT_TO_UNLOCK_DETECTION, -}; - -enum motion_lock_execute_camera_event_t { - MOTION_ENGINE_LOCK_EXECUTE_CAMERA_NONE, - MOTION_ENGINE_LOCK_EXECUTE_CAMERA_L_DETECTION, - MOTION_ENGINE_LOCK_EXECUTE_CAMERA_R_DETECTION, -}; - -enum motion_smart_alert_t { - MOTION_ENGINE_SMART_ALERT_NONE, - MOTION_ENGINE_SMART_ALERT_DETECTION, -}; - -enum motion_no_move_t { - MOTION_ENGINE_NO_MOVE_NONE, - MOTION_ENGINE_NO_MOVE_DETECTION, -}; - -enum motion_property_id { - MOTION_PROPERTY_UNKNOWN = 0, - MOTION_PROPERTY_CHECK_ACCEL_SENSOR, - MOTION_PROPERTY_CHECK_GYRO_SENSOR, - MOTION_PROPERTY_CHECK_GEO_SENSOR, - MOTION_PROPERTY_CHECK_PRIXI_SENSOR, - MOTION_PROPERTY_CHECK_LIGHT_SENSOR, - MOTION_PROPERTY_CHECK_BARO_SENSOR, - MOTION_PROPERTY_LCD_TOUCH_ON, - MOTION_PROPERTY_LCD_TOUCH_OFF, - MOTION_PROPERTY_CHECK_GYRO_CAL_STATUS, -}; - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif -//! End of a file diff --git a/src/libsensord/sensor_orientation.h b/src/libsensord/sensor_orientation.h old mode 100644 new mode 100755 diff --git a/src/shared/sensor_common.h b/src/shared/sensor_common.h index 10c5918..c819197 100755 --- a/src/shared/sensor_common.h +++ b/src/shared/sensor_common.h @@ -49,14 +49,9 @@ typedef enum { GEOMAGNETIC_SENSOR, LIGHT_SENSOR, PROXIMITY_SENSOR, - THERMOMETER_SENSOR, GYROSCOPE_SENSOR, PRESSURE_SENSOR, - MOTION_SENSOR, - FUSION_SENSOR, CONTEXT_SENSOR, - FLAT_SENSOR, - AUTO_ROTATION_SENSOR, GRAVITY_SENSOR, LINEAR_ACCEL_SENSOR, ORIENTATION_SENSOR, -- 2.7.4 From cb2333c1abe9961e05a62628f81e8222717216fa Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Tue, 9 Dec 2014 09:41:08 +0530 Subject: [PATCH 08/16] Adding explanation for orientation estimation Change-Id: I601ca6fb11a146fcf8fb38cfb17cd6bd7f13a2e4 --- .../design/documentation/sensor_fusion.htm | 72 +++++++++++++++++----- 1 file changed, 57 insertions(+), 15 deletions(-) diff --git a/src/sensor_fusion/design/documentation/sensor_fusion.htm b/src/sensor_fusion/design/documentation/sensor_fusion.htm index d8896e3..b89f1da 100755 --- a/src/sensor_fusion/design/documentation/sensor_fusion.htm +++ b/src/sensor_fusion/design/documentation/sensor_fusion.htm @@ -3,7 +3,7 @@

    Sensor Fusion for Tizen Sensor Framework

    -

    Introduction

    +

    1. Introduction

    Sensor Fusion is the process of combining the accelerometer, gyroscope and geo-magnetic sensor in order to generate accurate virtual sensor @@ -31,12 +31,12 @@ mechanical lock-in

            - Quantization error: inherent in all digitized systems

    -

    Sensors Used for Sensor Fusion

    +

    2. Sensors Used for Sensor Fusion

    Accelerometer Sensor :- Accelerometer data is a combination of linear acceleration and gravity components. Applications would be interested in using linear acceleration and gravity sensor data separately. Sensor fusion could be -used to separate linear acceleration and gravity components.  Additionally, +used to separate linear acceleration and gravity components. Additionally, accelerometer is used for correcting the roll and pitch orientation measurements generated from the gyroscope. Using the same, corrected tilt measurement (roll and pitch) is generated.

    @@ -52,9 +52,7 @@ along Z axis to produce correct yaw measurement. Geo-Magnetic sensor along with GPS latitude-longitude measurements could be used to accurately estimate heading of the device.

    -

    Orientation Estimation

    - -

    +

    3. Orientation Estimation

    @@ -63,6 +61,22 @@ heading of the device.

    +

    The rotation of the device along the y-axis is considered as roll (Φ), +x-axis as pitch (Θ) and the z-axis as yaw (Ψ) as shown in Fig. 1. The +orientation of the device can be represented either in terms of Euler angles +(roll, pitch, yaw), or in the form of Rotation Matrix, or in the form of +Quaternions. These are different mathematical forms of representing the same +device orientation data. During orientation estimation all these representations +would be used based on requirements and for stability reasons. When the device is +lying flat on the x-y axis, the earth’s gravitational force is observed along the +device z-axis. The reference axis for the device considered in this paper is shown +in Fig. 1. The device reference x and y axis may change for each device, based on +the individual MEMS sensor chip reference axis (that can be obtained from the +datasheet) or the orientation of the sensor chip when it gets integrated into the +device. The equations related to the computation of orientation, gravity and +linear acceleration virtual sensors would have to be modified based on the change +in reference axes.

    +
    -

    Preprocessing of Sensor Data

    +

    The overall method for determining orientation of a device based on sensor +fusion is shown in Fig. 2. This paper proposes to improve on the existing approach +[1] to obtain more accurate orientation estimate. The Aiding System is used in sensor +fusion for computing an inaccurate value for device orientation based on the +accelerometer and the magnetometer sensor data. The accelerometer and magnetometer +sensor data is combined using the Triad algorithm explained in [3] to obtain an +inaccurate orientation measure. The problem with the orientation measured using the +aiding system is that the smaller orientation changes of the device are not detected +accurately. The orientation measured using the aiding system is not accurate due to +the effect of gravity on the sensor data. But the aiding system orientation measured +has the advantage that it is not affected by drift. The driving system is used for +computing the orientation of a device using the 3D angular rates measured by the +gyroscope sensor. The gyroscope sensor is accurate in detecting even small +orientation changes but the orientation derived from it are affected due to drift. +The drift in the measured gyroscope orientation is due to the integration of the +noise components present along with angular rates samples measured with the gyroscope. +

    + +

    The Kalman filtering stage consists of two systems, the time update system where +the current instances of the state vector and prediction error covariance are +estimated based on the measurements obtained from the previous time instance. The +orientation data that is measured using the aiding system and the driving system are +fused during this stage. The second stage of the Kalman filtering process is the +measurement update system, where the estimated state and prediction error covariance +are corrected based on the Kalman gain factor that computed in this stage. The bias +that is estimated during this stage is used to correct the pre-processed gyroscope +sensor data that is given as input to the time update system.

    + +

    3.1. Preprocessing of Sensor Data

    @@ -111,7 +153,7 @@ Estimation.
    -

    Orientation Computation Based on Aiding System

    +

    3.2. Orientation Computation Based on Aiding System

    @@ -161,7 +203,7 @@ Estimation.
    -

    Orientation Computation Based on Driving System

    +

    3.3. Orientation Computation Based on Driving System

    @@ -187,7 +229,7 @@ Estimation.
    -

    Time Update System

    +

    3.4. Time Update System

    @@ -262,7 +304,7 @@ Estimation.
    -

    Measurement Update System

    +

    3.5. Measurement Update System

    @@ -288,7 +330,7 @@ Estimation.
    -

    Determination of Gravity and Linear Acceleration

    +

    4. Determination of Gravity and Linear Acceleration

    When a device is subjected to motion in Euclidean space, the 3D accelerometer data generated from the device is a combination of linear acceleration and gravity components which are a measure of linear and rotational motion respectively.The @@ -323,10 +365,10 @@ width="40%" height="40%">

    Gravity virtual sensor data provides the measure of the direction in which the -Earth’s gravitational force is observed in the device’s frame of reference. The -orientation of the device decides the measure of the influence of Earth’s gravitational +Earth's gravitational force is observed in the device frame of reference. The +orientation of the device decides the measure of the influence of Earth's gravitational force on the 3-axes of the device. The following equations are used for projecting -the tilt(pitch, roll) of the device on the Earth’s gravity axis to determine earth’s +the tilt(pitch, roll) of the device on the Earth's gravity axis to determine earth's gravitational effect on the devices reference axis.

    -- 2.7.4 From 2b6ca42da0d16e257320d6dc908391a999de95d6 Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Thu, 11 Dec 2014 09:26:16 +0530 Subject: [PATCH 09/16] Supporting edge conditions during gravity computation - Adding edge use cases for gravity computation when rotation happens with pitch or roll at 90 degrees. Change-Id: Ia892d29964b62bada616e8da23cff5844308a59b --- src/gravity/gravity_sensor.cpp | 67 ++++++++++++++++++++++++++++++++---------- 1 file changed, 52 insertions(+), 15 deletions(-) diff --git a/src/gravity/gravity_sensor.cpp b/src/gravity/gravity_sensor.cpp index a870244..acb73a6 100755 --- a/src/gravity/gravity_sensor.cpp +++ b/src/gravity/gravity_sensor.cpp @@ -35,6 +35,7 @@ #define GRAVITY 9.80665 #define DEG2RAD (M_PI/180) +#define DEVIATION 0.1 #define SENSOR_NAME "GRAVITY_SENSOR" #define SENSOR_TYPE_GRAVITY "GRAVITY" @@ -165,13 +166,20 @@ bool gravity_sensor::delete_interval(int client_id) void gravity_sensor::synthesize(const sensor_event_t &event, vector &outs) { sensor_event_t gravity_event; - float conversion_const = 1; + float pitch, roll, azimuth; + + azimuth = event.data.values[0]; + pitch = event.data.values[1]; + roll = event.data.values[2]; const float MIN_DELIVERY_DIFF_FACTOR = 0.75f; unsigned long long diff_time; - if(m_orientation_data_unit == "DEGREES") - conversion_const = DEG2RAD; + if(m_orientation_data_unit == "DEGREES") { + azimuth *= DEG2RAD; + pitch *= DEG2RAD; + roll *= DEG2RAD; + } if (event.event_type == ORIENTATION_EVENT_RAW_DATA_REPORT_ON_TIME) { diff_time = event.data.timestamp - m_timestamp; @@ -182,10 +190,21 @@ void gravity_sensor::synthesize(const sensor_event_t &event, vector= (M_PI/2)-DEVIATION && roll <= (M_PI/2)+DEVIATION) || + (roll >= -(M_PI/2)-DEVIATION && roll <= -(M_PI/2)+DEVIATION)) { + gravity_event.data.values[0] = m_gravity_sign_compensation[0] * GRAVITY * sin(roll) * cos(azimuth); + gravity_event.data.values[1] = m_gravity_sign_compensation[1] * GRAVITY * sin(azimuth); + gravity_event.data.values[2] = m_gravity_sign_compensation[2] * GRAVITY * cos(roll); + } else if ((pitch >= (M_PI/2)-DEVIATION && pitch <= (M_PI/2)+DEVIATION) || + (pitch >= -(M_PI/2)-DEVIATION && pitch <= -(M_PI/2)+DEVIATION)) { + gravity_event.data.values[0] = m_gravity_sign_compensation[0] * GRAVITY * sin(azimuth); + gravity_event.data.values[1] = m_gravity_sign_compensation[1] * GRAVITY * sin(pitch) * cos(azimuth); + gravity_event.data.values[2] = m_gravity_sign_compensation[2] * GRAVITY * cos(pitch); + } else { + gravity_event.data.values[0] = m_gravity_sign_compensation[0] * GRAVITY * sin(roll); + gravity_event.data.values[1] = m_gravity_sign_compensation[1] * GRAVITY * sin(pitch); + gravity_event.data.values[2] = m_gravity_sign_compensation[2] * GRAVITY * cos(roll) * cos(pitch); + } gravity_event.data.value_count = 3; gravity_event.data.timestamp = m_timestamp; gravity_event.data.accuracy = SENSOR_ACCURACY_GOOD; @@ -197,10 +216,17 @@ void gravity_sensor::synthesize(const sensor_event_t &event, vector= (M_PI/2)-DEVIATION && roll <= (M_PI/2)+DEVIATION) || + (roll >= -(M_PI/2)-DEVIATION && roll <= -(M_PI/2)+DEVIATION)) { + data.values[0] = m_gravity_sign_compensation[0] * GRAVITY * sin(roll) * cos(azimuth); + data.values[1] = m_gravity_sign_compensation[1] * GRAVITY * sin(azimuth); + data.values[2] = m_gravity_sign_compensation[2] * GRAVITY * cos(roll); + } else if ((pitch >= (M_PI/2)-DEVIATION && pitch <= (M_PI/2)+DEVIATION) || + (pitch >= -(M_PI/2)-DEVIATION && pitch <= -(M_PI/2)+DEVIATION)) { + data.values[0] = m_gravity_sign_compensation[0] * GRAVITY * sin(azimuth); + data.values[1] = m_gravity_sign_compensation[1] * GRAVITY * sin(pitch) * cos(azimuth); + data.values[2] = m_gravity_sign_compensation[2] * GRAVITY * cos(pitch); + } else { + data.values[0] = m_gravity_sign_compensation[0] * GRAVITY * sin(roll); + data.values[1] = m_gravity_sign_compensation[1] * GRAVITY * sin(pitch); + data.values[2] = m_gravity_sign_compensation[2] * GRAVITY * cos(roll) * cos(pitch); + } data.value_count = 3; return 0; @@ -222,7 +259,7 @@ bool gravity_sensor::get_properties(sensor_properties_t &properties) { properties.min_range = -GRAVITY; properties.max_range = GRAVITY; - properties.resolution = 0.000001;; + properties.resolution = 0.000001; properties.vendor = m_vendor; properties.name = SENSOR_NAME; -- 2.7.4 From 8f1945a14052cac0e7864ccf576126d0419d115f Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Thu, 11 Dec 2014 10:03:00 +0530 Subject: [PATCH 10/16] Adding explanation for preprocessing sensor data - Adding explanation for the section on preprocessing sensor data, in html documentation. Change-Id: I3c372a56680531b9ef1859ccc5bd6b5d981f3ee0 --- .../design/documentation/sensor_fusion.htm | 26 ++++++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/src/sensor_fusion/design/documentation/sensor_fusion.htm b/src/sensor_fusion/design/documentation/sensor_fusion.htm index b89f1da..0e4726a 100755 --- a/src/sensor_fusion/design/documentation/sensor_fusion.htm +++ b/src/sensor_fusion/design/documentation/sensor_fusion.htm @@ -115,6 +115,18 @@ that is estimated during this stage is used to correct the pre-processed gyrosco sensor data that is given as input to the time update system.

    3.1. Preprocessing of Sensor Data

    +

    The raw sensor data obtained from accelerometer (RAx, RAy, RAz), gyroscope +(RGx, RGy, RGz) and magnetometer (Magx, Magy, Magz) would have to pre-processed +before the sensor fusion process. The raw sensor data obtained from the +accelerometer and gyroscope sensors are affected by static bias, which are the +non-zero sensor data values observed when the device is void of any external forces. +These static bias components on the 3-axes (BAx, BAy, BAz) for accelerometer and +(BGx, BGy, BGz) for gyroscope are removed from the reported sensor values as shown in +(1) and (2). There is no static bias compensation for magnetometer data, as the +sensor measures the deviation of the x-axis relative to the earth's magnetic poles +and it is not possible to determine if the phone is deviating from exact north. The +'i' in the equations below specifies the current time instant, 'i-1' specifies the +previous time instant and a '0' specifies it as an initialization value.

    @@ -128,6 +140,10 @@ sensor data that is given as input to the time update system.

    +

    The accelerometer and magnetometer data are normalized based on equations (3) +and (4) to obtain the calibrated accelerometer data (Ax, Ay, Az) and magnetometer +data (Mx, My, Mz).

    +
    @@ -140,12 +156,22 @@ sensor data that is given as input to the time update system.

    +

    The paper proposes that the gyroscope angular rates (on all 3 axes) before +being processed further are scaled to the range -1 to +1 (for accurate orientation +estimation) by dividing all data received by the maximum possible gyroscope +angular rate value apriori in each axis (5).

    +
    +

    Based on [1], the dynamically variable Gyroscope Bias (Bx, By, Bz) is computed +using the Kalman filter and provided as feedback to the input and is subtracted +from scaled gyroscope data to obtain the corrected and pre-processed gyroscope +data (Gx, Gy, Gz) given in (6).

    +
    -- 2.7.4 From 9cf7e7f34043daff01ca2281d0f574ba6692c2b1 Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Fri, 12 Dec 2014 16:02:42 +0530 Subject: [PATCH 11/16] Adding information for Aiding system Added explanation for orientation computation based on aiding system for sensor fusion html documentation. Change-Id: I49ced6087a178c8e57e2b39940b148585ddaf67a --- .../design/documentation/sensor_fusion.htm | 35 ++++++++++++++++++++++ 1 file changed, 35 insertions(+) diff --git a/src/sensor_fusion/design/documentation/sensor_fusion.htm b/src/sensor_fusion/design/documentation/sensor_fusion.htm index 0e4726a..11a1b37 100755 --- a/src/sensor_fusion/design/documentation/sensor_fusion.htm +++ b/src/sensor_fusion/design/documentation/sensor_fusion.htm @@ -181,6 +181,31 @@ data (Gx, Gy, Gz) given in (6).

    3.2. Orientation Computation Based on Aiding System

    +

    The device is placed on a flat surface as shown in the Fig. 1. The gravity +vector in the earth frame for the device (Ae) is given by (0, 0, ±1) since the +effect of gravity is observed on the z-axis reading of the Accelerometer. The sign +assigned is based on whether the z-axis of the accelerometer (when facing up) is +aligned towards gravity or against it. The magnetic field vector in the earth frame +for the device (Me) is given by (0, ±1, 0) since the magnetic north is detected on +the y-axis of the magnetometer. The sign assigned is based on whether the y-axis +of the magnetometer is aligned to earth’s magnetic field or against it. The gravity +vector in the device body frame (Ab) is given by (Ax, Ay, Az), which represents the +calibrated accelerometer sensor data. The magnetic field vector in the device body +frame (Mb) is given by (Mx, My, Mz) which represents the calibrated magnetometer +sensor data.

    + +

    The orientation of the device is computed based on the aiding system +(accelerometer + magnetometer) data and can be computed using the triad algorithm +[3]. The triad algorithm determines the orientation of the device based on the +gravity and magnetic field vectors obtained in the earth and device body frames. +The following equations represent the triad algorithm using which the orientation +of the device in the form of rotation matrix can be obtained. The symbol × denotes +the cross product of two vectors [8]. Combining the vectors obtained from (7) and +(9) along with the body frame gravity vector (Ab) the intermediate rotation matrix +is obtained for body frame MATb, as shown in (11). Combining the vectors obtained +from (8) and (10) along with the earth frame gravity vector (Ae) the intermediate +rotation matrix is obtained for earth frame MATe, as shown in (12).

    +
    @@ -217,12 +242,22 @@ data (Gx, Gy, Gz) given in (6).

    +

    Finally the rotation matrix of the device representing the orientation derived +from the aiding system RMaid is computed by multiplying the matrices MATb and MATe +as shown in (13).

    +
    +

    The device orientation computed in the form of aiding system rotation matrix is +then converted to quaternion representation Qaid (14) using the function +RotMat2Quat() which is explained in [6, 9]. Using quaternions to estimate +orientation overcomes the singularity issues faced when using Euler Angles and at +the same time they are computationally more efficient than using rotation matrix.

    +
    -- 2.7.4 From 653e9cebd7623972fd8bd4c69696e467585e4365 Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Mon, 15 Dec 2014 09:19:38 +0530 Subject: [PATCH 12/16] Adding information for Driving System Updating documentation for 'Orientation Computation based on driving system' section in html documentation. Change-Id: Ibb483e5ba4e658f1710bec934666a7696e5ab92c --- .../design/documentation/sensor_fusion.htm | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/src/sensor_fusion/design/documentation/sensor_fusion.htm b/src/sensor_fusion/design/documentation/sensor_fusion.htm index 11a1b37..c1f9e3a 100755 --- a/src/sensor_fusion/design/documentation/sensor_fusion.htm +++ b/src/sensor_fusion/design/documentation/sensor_fusion.htm @@ -266,6 +266,19 @@ the same time they are computationally more efficient than using rotation matrix

    3.3. Orientation Computation Based on Driving System

    +

    The sensor data obtained from the driving system (gyroscope) given by (Gx, Gy, Gz) +represents the calibrated angular rotation rate of the device in the 3-axes. Since +the calibrated gyroscope data provides the rate of change of angle in each axis, +the integration of the data acquired in each axis provides the orientation measure +of the device. During integration of the gyroscope data the noise present in each +instance of the measured data gets added up resulting in measured orientation +affected by drift. First the measured gyroscope data is converted to a quaternion +equivalent Qdriv [14, 15]. The initial value for the Qdriv is assigned based on the +computed Qaid initial value (15). The quaternion differential which denotes the +increment in rotation is computed by quaternion based multiplication [7, 9] of Qdriv +with gyroscope sensor data as shown in (16). The symbol ⊙ denotes quaternion +based multiplication in the following equations.

    +
    @@ -278,6 +291,13 @@ the same time they are computationally more efficient than using rotation matrix
    +

    Equation (17) represents the integration of the quaternion difference value with +the driving system quaternion to yield the measured quaternion value for that time +instant [1]. The value 'dt' represents the sampling interval for the gyroscope sensor +and 'Π' denotes the mathematical constant and denotes the ratio of a circle's +circumference to its diameter and is approximately equal to 3.14159. The driving +system quaternion is then normalized as shown in equation (18).

    +
    -- 2.7.4 From 30e4720a900b2d4896eb8f5ed9681ad4c6527b3c Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Tue, 16 Dec 2014 09:36:57 +0530 Subject: [PATCH 13/16] Adding information for time update system Adding description for Time update System section in sensor fusion html documentation. Change-Id: I94f87c6ccd3f4bfcfc005d37a480e4fd57fb11c8 --- .../design/documentation/sensor_fusion.htm | 40 ++++++++++++++++++++++ 1 file changed, 40 insertions(+) diff --git a/src/sensor_fusion/design/documentation/sensor_fusion.htm b/src/sensor_fusion/design/documentation/sensor_fusion.htm index c1f9e3a..231b129 100755 --- a/src/sensor_fusion/design/documentation/sensor_fusion.htm +++ b/src/sensor_fusion/design/documentation/sensor_fusion.htm @@ -312,18 +312,37 @@ system quaternion is then normalized as shown in equation (18).

    3.4. Time Update System

    +

    The orientation computed using the driving system sensor data is affected due to +the drift (from the integration of angular rates), the orientation computed using +the aiding system sensor data is not accurate (measurements are affected due to gravity). +To compensate for the deficiencies in the measurements of each system, the quaternion +orientation computations are combined using sensor fusion to obtain corrected/more +accurate device orientation data. The Quaternion error Qerr is computed in (19), as +described in [1].

    +
    +

    We introduce the equations (20) and (21) to compute the Euler error from the +quaternion error and then using this Euler error to compensate for drift on the driving +system orientation quaternion. First, the quaternion error Qerr is converted to the Euler +angle representation Eerr based on (20). The quaternion representation of orientation +error is converted to Euler angles representation using the function quat2euler() for +which information can be found in [9].

    +
    +

    The driving system quaternion is then compensated for the Euler angle error Eerr and +normalized as per (21) and (22) to correct for drift observed in the driving system sensor +data.

    +
    @@ -336,12 +355,25 @@ system quaternion is then normalized as shown in equation (18).

    +

    The quaternion Qdriv that is derived in (22) is now compensated for drift and corrected +for dynamic bias as shown in (6). The dynamic bias correction used in (6) is determined +using Kalman filtering as explained below. Based on [1], linear Kalman filtering is used +based on the error state equation, given in (23). The first three elements of the error +state vector are the Eerr values on the 3-axes (Φerr, Θerr, Ψerr) and the +next three elements are the bias compensation (Bx, By, Bz) that is mentioned in (6).

    +
    +

    The variance in the gyroscope angular rate measurements denoted by Qwn over a windowed +period is computed in (24). The random driving process noise variance Qwb is computed in +(25), where the noise standard deviation σw and time constant τw are obtained from the +gyroscope sensor datasheet. Based on [1], the overall process noise covariance Q is +derived from the computed Qwn and Qwb as shown in (26).

    +
    @@ -360,12 +392,20 @@ system quaternion is then normalized as shown in equation (18).

    +

    The variance in the aiding system orientation (roll, pitch and yaw) measurements are +used to compute the measurement noise covariance R [1] which is shown in (27). The aiding +system orientation in terms of Euler angles Eaid can be obtained by converting the +quaternion obtained in (14) to its equivalent Euler angles.

    +
    +

    The equations (28), (29) and (30) are used to determine the transformation matrix F, +apriori state vector error Δx- and prediction covariance P- based in [1].

    +
    -- 2.7.4 From 326d42647ffe8767d97ca60f147c3f6db5213a65 Mon Sep 17 00:00:00 2001 From: Ankur Date: Wed, 17 Dec 2014 16:41:59 +0530 Subject: [PATCH 14/16] Fixed Intialization Warnings -Reordered some variable intializations to remove warnings related to order of initializations. Change-Id: Ibf56efd6f19c11229a18fbe6a613ffcf2b172a16 --- src/geo/geo_sensor_hal.cpp | 6 +++--- src/libsensord/csensor_event_listener.cpp | 2 +- src/linear_accel/linear_accel_sensor.cpp | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/geo/geo_sensor_hal.cpp b/src/geo/geo_sensor_hal.cpp index d742b26..21a2276 100755 --- a/src/geo/geo_sensor_hal.cpp +++ b/src/geo/geo_sensor_hal.cpp @@ -40,13 +40,13 @@ using std::ifstream; #define GAUSS_TO_UTESLA(val) ((val) * 100.0f) geo_sensor_hal::geo_sensor_hal() -: m_x(0) +: m_polling_interval(POLL_1HZ_MS) +, m_x(0) , m_y(0) , m_z(0) , m_hdst(0) -, m_node_handle(-1) -, m_polling_interval(POLL_1HZ_MS) , m_fired_time(INITIAL_TIME) +, m_node_handle(-1) { const string sensorhub_interval_node_name = "mag_poll_delay"; csensor_config &config = csensor_config::get_instance(); diff --git a/src/libsensord/csensor_event_listener.cpp b/src/libsensord/csensor_event_listener.cpp index e093f21..78e705e 100755 --- a/src/libsensord/csensor_event_listener.cpp +++ b/src/libsensord/csensor_event_listener.cpp @@ -30,8 +30,8 @@ using std::pair; csensor_event_listener::csensor_event_listener() : m_client_id(CLIENT_ID_INVALID) -, m_thread_state(THREAD_STATE_TERMINATE) , m_poller(NULL) +, m_thread_state(THREAD_STATE_TERMINATE) , m_hup_observer(NULL) { } diff --git a/src/linear_accel/linear_accel_sensor.cpp b/src/linear_accel/linear_accel_sensor.cpp index f975733..96e6cce 100755 --- a/src/linear_accel/linear_accel_sensor.cpp +++ b/src/linear_accel/linear_accel_sensor.cpp @@ -53,8 +53,8 @@ #define LINEAR_ACCEL_ENABLED 3 linear_accel_sensor::linear_accel_sensor() -: m_gravity_sensor(NULL) -, m_accel_sensor(NULL) +: m_accel_sensor(NULL) +, m_gravity_sensor(NULL) , m_x(INITIAL_VALUE) , m_y(INITIAL_VALUE) , m_z(INITIAL_VALUE) -- 2.7.4 From c169c4e8efbe517eeb2a55f51d45e70df6047753 Mon Sep 17 00:00:00 2001 From: Ankur Date: Thu, 18 Dec 2014 16:13:02 +0530 Subject: [PATCH 15/16] Fixed Compilation warnings related to Intialization -Error fixed: Variable was being used before intialization -Testing will be done once the test cases are completed. Change-Id: I5316bce003717d97f6e3cd65a909d94e1c84ad0c --- src/gravity/gravity_sensor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/gravity/gravity_sensor.cpp b/src/gravity/gravity_sensor.cpp index acb73a6..64e39e7 100755 --- a/src/gravity/gravity_sensor.cpp +++ b/src/gravity/gravity_sensor.cpp @@ -218,6 +218,8 @@ int gravity_sensor::get_sensor_data(const unsigned int event_type, sensor_data_t sensor_data_t orientation_data; float pitch, roll, azimuth; + m_orientation_sensor->get_sensor_data(ORIENTATION_EVENT_RAW_DATA_REPORT_ON_TIME, orientation_data); + azimuth = orientation_data.values[0]; pitch = orientation_data.values[1]; roll = orientation_data.values[2]; @@ -231,8 +233,6 @@ int gravity_sensor::get_sensor_data(const unsigned int event_type, sensor_data_t if (event_type != GRAVITY_EVENT_RAW_DATA_REPORT_ON_TIME) return -1; - m_orientation_sensor->get_sensor_data(ORIENTATION_EVENT_RAW_DATA_REPORT_ON_TIME, orientation_data); - data.accuracy = SENSOR_ACCURACY_GOOD; data.timestamp = get_timestamp(); if ((roll >= (M_PI/2)-DEVIATION && roll <= (M_PI/2)+DEVIATION) || -- 2.7.4 From 11824fe5196cc1f71b42ef9d612dd9a83acd4b75 Mon Sep 17 00:00:00 2001 From: Ankur Date: Mon, 22 Dec 2014 16:37:30 +0530 Subject: [PATCH 16/16] Removed compiler warning for converting bool 'false' to pointer 'void *' -In the function sensor_get_sensor() in src/libsensord/client.cpp boolean 'false' was being converted to void * This was showing as a warning at compile time. For returning failed cases, NULL should be returned. The call to sensor_info_to_sensor in this function also returns NULL when failed. -Tested the code after change. Seems to be working fine. Change-Id: Id100370c9bc8b9f62c86acb6968f766b10370d7b --- src/libsensord/client.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/libsensord/client.cpp b/src/libsensord/client.cpp index 9acf884..2f1e649 100755 --- a/src/libsensord/client.cpp +++ b/src/libsensord/client.cpp @@ -423,7 +423,7 @@ API bool sensord_get_sensor_list(sensor_type_t type, sensor_t **list, int *senso API sensor_t sensord_get_sensor(sensor_type_t type) { - retvm_if (!get_sensor_list(), false, "Fail to get sensor list from server"); + retvm_if (!get_sensor_list(), NULL, "Fail to get sensor list from server"); const sensor_info *info; -- 2.7.4