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/*
* STMicroelectronics Accel-Gyro Fusion 6X Sensor Class
*
* Copyright 2013-2015 STMicroelectronics Inc.
* Author: Denis Ciocca - <denis.ciocca@st.com>
*
* Licensed under the Apache License, Version 2.0 (the "License").
*/
#include <fcntl.h>
#include <assert.h>
#include <signal.h>
#include "SWAccelGyroFusion6X.h"
extern "C" {
#include "vSensorAPI.h"
}
SWAccelGyroFusion6X::SWAccelGyroFusion6X(const char *name, int handle, int pipe_data_fd) :
SWSensorBaseWithPollrate(name, handle, SENSOR_TYPE_ST_ACCEL_GYRO_FUSION6X,
pipe_data_fd, false, false, true, false)
{
sensor_t_data.flags = SENSOR_FLAG_CONTINUOUS_MODE;
sensor_t_data.resolution = ST_SENSOR_FUSION_RESOLUTION(1.0f);
sensor_t_data.maxRange = 1.0f;
type_dependencies[SENSOR_BASE_DEPENDENCY_0] = SENSOR_TYPE_ACCELEROMETER;
type_dependencies[SENSOR_BASE_DEPENDENCY_1] = SENSOR_TYPE_GYROSCOPE;
type_sensor_need_trigger = SENSOR_TYPE_GYROSCOPE;
vSensor_API_Initialization_6X(NULL);
}
SWAccelGyroFusion6X::~SWAccelGyroFusion6X()
{
}
int SWAccelGyroFusion6X::Enable(int handle, bool enable)
{
int err;
bool old_status;
old_status = GetStatus();
err = SWSensorBaseWithPollrate::Enable(handle, enable);
if (err < 0)
return err;
if ((GetStatus() && !old_status) || (!GetStatus() && old_status)) {
sensor_event.timestamp = 0;
vSensor_API_enable_6X(enable);
}
return 0;
}
int SWAccelGyroFusion6X::SetDelay(int handle, int64_t period_ns, int64_t timeout)
{
int err;
if ((period_ns > FREQUENCY_TO_NS(CONFIG_ST_HAL_MIN_FUSION_POLLRATE) && period_ns != INT64_MAX))
period_ns = FREQUENCY_TO_NS(CONFIG_ST_HAL_MIN_FUSION_POLLRATE);
err = SWSensorBaseWithPollrate::SetDelay(handle, period_ns, timeout);
if (err < 0)
return err;
real_pollrate = dependencies[SENSOR_BASE_DEPENDENCY_1]->GetRealPollrate();
return 0;
}
void SWAccelGyroFusion6X::SplitAndProcessData(SensorBaseData data[ST_ACCEL_GYRO_MAX_OUT_ID])
{
int i, id, sensor_type;
trigger_mutex *dep_mutex;
for (i = 0; i < (int)sensors_to_push_data_num; i++) {
if (sensors_to_push_data[i]->GetStatus()) {
switch (sensors_to_push_data_type[i]) {
case SENSOR_TYPE_GAME_ROTATION_VECTOR:
id = ST_ACCEL_GYRO_ROTATION_VECTOR_OUT_ID;
break;
case SENSOR_TYPE_LINEAR_ACCELERATION:
id = ST_ACCEL_GYRO_LINEAR_ACCEL_OUT_ID;
break;
case SENSOR_TYPE_GRAVITY:
id = ST_ACCEL_GYRO_GRAVITY_OUT_ID;
break;
default:
continue;
}
sensors_to_push_data[i]->ReceiveDataFromDependency(sensor_t_data.handle, &data[id]);
}
}
for (i = 0; i < (int)sensors_to_trigger_num; i++) {
if (sensors_to_trigger[i]->GetStatus()) {
dep_mutex = sensors_to_trigger[i]->GetMutexForTrigger();
pthread_mutex_lock(&dep_mutex->trigger_mutex);
pthread_cond_signal(&dep_mutex->trigger_data_cond);
pthread_mutex_unlock(&dep_mutex->trigger_mutex);
}
}
}
void SWAccelGyroFusion6X::TriggerEventReceived()
{
int64_t time_diff = 0;
SensorBaseData accel_data, gyro_data;
int err, data_remaining_accel, nomaxdata = 10;
memset(&gyro_data, 0, sizeof(SensorBaseData));
do {
data_remaining_accel = GetLatestValidDataFromDependency(SENSOR_BASE_DEPENDENCY_0, &accel_data);
if (data_remaining_accel < 0) {
return ;
}
vSensor_API_Run_6X(accel_data.raw, gyro_data.processed, accel_data.timestamp);
sensor_event.timestamp = accel_data.timestamp;
err = vSensor_API_Get_Quaternion_6X(outdata[ST_ACCEL_GYRO_ROTATION_VECTOR_OUT_ID].processed);
if (err < 0)
return;
err = vSensor_API_Get_LinAcc_6X(outdata[ST_ACCEL_GYRO_LINEAR_ACCEL_OUT_ID].processed);
if (err < 0)
return;
err = vSensor_API_Get_Gravity_6X(outdata[ST_ACCEL_GYRO_GRAVITY_OUT_ID].processed);
if (err < 0)
return;
outdata[ST_ACCEL_GYRO_ROTATION_VECTOR_OUT_ID].timestamp = sensor_event.timestamp;
outdata[ST_ACCEL_GYRO_LINEAR_ACCEL_OUT_ID].timestamp = sensor_event.timestamp;
outdata[ST_ACCEL_GYRO_GRAVITY_OUT_ID].timestamp = sensor_event.timestamp;
SplitAndProcessData(outdata);
} while (data_remaining_accel > 0);
}
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