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/*
* STMicroelectronics Accel-Magn 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 "SWAccelMagnFusion6X.h"
extern "C" {
#include "iNemoEngineGeoMagAPI.h"
}
SWAccelMagnFusion6X::SWAccelMagnFusion6X(const char *name, int handle, int pipe_data_fd) :
SWSensorBaseWithPollrate(name, handle, SENSOR_TYPE_ST_ACCEL_MAGN_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_MAGNETIC_FIELD;
type_sensor_need_trigger = SENSOR_TYPE_MAGNETIC_FIELD;
}
SWAccelMagnFusion6X::~SWAccelMagnFusion6X()
{
}
int SWAccelMagnFusion6X::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) {
sensor_event.timestamp = 0;
iNemoEngine_GeoMag_API_Initialization();
}
return 0;
}
int SWAccelMagnFusion6X::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 SWAccelMagnFusion6X::SplitAndProcessData(SensorBaseData data[ST_GEOMAG_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_GEOMAGNETIC_ROTATION_VECTOR:
id = ST_GEOMAG_ROTATION_VECTOR_OUT_ID;
break;
case SENSOR_TYPE_ORIENTATION:
id = ST_GEOMAG_ORIENTATION_OUT_ID;
break;
case SENSOR_TYPE_LINEAR_ACCELERATION:
id = ST_GEOMAG_LINEAR_ACCEL_OUT_ID;
break;
case SENSOR_TYPE_GRAVITY:
id = ST_GEOMAG_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 SWAccelMagnFusion6X::TriggerEventReceived()
{
int deltatime;
int64_t time_diff = 0;
SensorBaseData accel_data, magn_data;
int err, data_remaining_magn, nomaxdata = 10;
do {
data_remaining_magn = GetLatestValidDataFromDependency(SENSOR_BASE_DEPENDENCY_1, &magn_data);
if (data_remaining_magn < 0)
return;
do {
err = GetLatestValidDataFromDependency(SENSOR_BASE_DEPENDENCY_0, &accel_data);
if (err < 0) {
nomaxdata--;
usleep(200);
continue;
}
time_diff = magn_data.timestamp - accel_data.timestamp;
} while ((time_diff >= GetRealPollrate()) && (nomaxdata > 0));
if ((err >= 0) && (sensor_event.timestamp > 0)) {
deltatime = (int)NS_TO_MS((uint64_t)(magn_data.timestamp - sensor_event.timestamp));
iNemoEngine_GeoMag_API_Run(accel_data.raw, magn_data.processed, deltatime);
}
sensor_event.timestamp = magn_data.timestamp;
err = iNemoEngine_GeoMag_API_Get_Quaternion(outdata[ST_GEOMAG_ROTATION_VECTOR_OUT_ID].processed);
if (err < 0)
return;
err = iNemoEngine_GeoMag_API_Get_Hpr(outdata[ST_GEOMAG_ORIENTATION_OUT_ID].processed);
if (err < 0)
return;
err = iNemoEngine_GeoMag_API_Get_LinAcc(outdata[ST_GEOMAG_LINEAR_ACCEL_OUT_ID].processed);
if (err < 0)
return;
err = iNemoEngine_GeoMag_API_Get_Gravity(outdata[ST_GEOMAG_GRAVITY_OUT_ID].processed);
if (err < 0)
return;
outdata[ST_GEOMAG_ROTATION_VECTOR_OUT_ID].timestamp = sensor_event.timestamp;
outdata[ST_GEOMAG_ORIENTATION_OUT_ID].timestamp = sensor_event.timestamp;
outdata[ST_GEOMAG_LINEAR_ACCEL_OUT_ID].timestamp = sensor_event.timestamp;
outdata[ST_GEOMAG_GRAVITY_OUT_ID].timestamp = sensor_event.timestamp;
SplitAndProcessData(outdata);
} while (data_remaining_magn > 0);
}
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