From 0850f97bc90f715e7e4496203cf7cf26050819a2 Mon Sep 17 00:00:00 2001 From: Anna Si Date: Fri, 13 Feb 2015 12:48:44 -0800 Subject: manta: batching and timestamp issues Signed-off-by: Mark Salyzyn Signed-off-by: Anna Si Bug: 18958411 Change-Id: Ie06912843e82811a6728cf0a67ce1cf801efa997 --- .../software/core/mllite/data_builder.c | 127 +++++++++++++++++++-- 1 file changed, 119 insertions(+), 8 deletions(-) (limited to '60xx/libsensors_iio/software/core/mllite/data_builder.c') diff --git a/60xx/libsensors_iio/software/core/mllite/data_builder.c b/60xx/libsensors_iio/software/core/mllite/data_builder.c index 48993bc..0aa418d 100644 --- a/60xx/libsensors_iio/software/core/mllite/data_builder.c +++ b/60xx/libsensors_iio/software/core/mllite/data_builder.c @@ -62,6 +62,7 @@ struct inv_data_builder_t { struct process_t process[INV_MAX_DATA_CB]; struct inv_db_save_t save; int compass_disturbance; + int mode; #ifdef INV_PLAYBACK_DBG int debug_mode; int last_mode; @@ -239,6 +240,117 @@ void inv_set_accel_sample_rate(long sample_rate_us) } } +/** Pick the smallest non-negative number. Priority to td1 on equal +* If both are negative, return the largest. +*/ +static int inv_pick_best_time_difference(long td1, long td2) +{ + if (td1 >= 0) { + if (td2 >= 0) { + if (td1 <= td2) { + // td1 + return 0; + } else { + // td2 + return 1; + } + } else { + // td1 + return 0; + } + } else if (td2 >= 0) { + // td2 + return 1; + } else { + // Both are negative + if (td1 >= td2) { + // td1 + return 0; + } else { + // td2 + return 1; + } + } +} + +/** Returns timestame based upon a raw sensor, and returns if that sample has a new piece of data. +*/ +static int inv_raw_sensor_timestamp(int sensor_number, inv_time_t *ts) +{ + int status = 0; + switch (sensor_number) { + case 0: // Quat + *ts = sensors.quat.timestamp; + if (inv_data_builder.mode & INV_QUAT_NEW) + if (sensors.quat.timestamp_prev != sensors.quat.timestamp) + status = 1; + return status; + case 1: // Gyro + *ts = sensors.gyro.timestamp; + if (inv_data_builder.mode & INV_GYRO_NEW) + if (sensors.gyro.timestamp_prev != sensors.gyro.timestamp) + status = 1; + return status; + case 2: // Accel + *ts = sensors.accel.timestamp; + if (inv_data_builder.mode & INV_ACCEL_NEW) + if (sensors.accel.timestamp_prev != sensors.accel.timestamp) + status = 1; + return status; + case 3: // Compass + *ts = sensors.compass.timestamp; + if (inv_data_builder.mode & INV_MAG_NEW) + if (sensors.compass.timestamp_prev != sensors.compass.timestamp) + status = 1; + return status; + default: + *ts = 0; + return 0; + } + return 0; +} + +/** Gets best timestamp and if there is a new piece of data for a 9-axis sensor combination. +* It does this by finding a raw sensor that has the closest sample rate that is at least as +* often desired. It also returns if that raw sensor has a new piece of data. +* Priority is Quaternion-6axis, Quaternion 3-axis, Gyro, Accel +* @return Returns 1, if the raw sensor being attached has new data, 0 otherwise. +*/ +int inv_get_6_axis_gyro_accel_timestamp(long sample_rate_us, inv_time_t *ts) +{ + long td[2]; + int idx; + + if ((sensors.quat.status & (INV_QUAT_6AXIS | INV_SENSOR_ON)) == (INV_QUAT_6AXIS | INV_SENSOR_ON)) { + // Sensor number is 0 (Quat) + return inv_raw_sensor_timestamp(0, ts); + } else if ((sensors.accel.status & INV_SENSOR_ON) == 0) { + return 0; // Accel must be on or 6-axis quat must be on + } + + // At this point, we know accel is on. Check if 3-axis quat is on + td[0] = sample_rate_us - sensors.quat.sample_rate_us; + td[1] = sample_rate_us - sensors.accel.sample_rate_us; + if ((sensors.quat.status & (INV_QUAT_3AXIS | INV_SENSOR_ON)) == (INV_QUAT_3AXIS | INV_SENSOR_ON)) { + idx = inv_pick_best_time_difference(td[0], td[1]); + idx *= 2; + // 0 = quat, 3=accel + return inv_raw_sensor_timestamp(idx, ts); + } + + // No Quaternion data from outside, Gyro must be on + if ((sensors.gyro.status & INV_SENSOR_ON) == 0) { + return 0; // Gyro must be on + } + + td[0] = sample_rate_us - sensors.gyro.sample_rate_us; + idx = inv_pick_best_time_difference(td[0], td[1]); + idx *= 2; // 0=gyro 2=accel + idx++; + // 1 = gyro, 3=accel + return inv_raw_sensor_timestamp(idx, ts); +} + /** Set Compass Sample rate in micro seconds. * @param[in] sample_rate_us Set Gyro Sample rate in micro seconds. */ @@ -895,7 +1007,6 @@ inv_error_t inv_execute_on_data(void) { inv_error_t result, first_error; int kk; - int mode; #ifdef INV_PLAYBACK_DBG if (inv_data_builder.debug_mode == RD_RECORD) { @@ -904,22 +1015,22 @@ inv_error_t inv_execute_on_data(void) } #endif // Determine what new data we have - mode = 0; + inv_data_builder.mode = 0; if (sensors.gyro.status & INV_NEW_DATA) - mode |= INV_GYRO_NEW; + inv_data_builder.mode |= INV_GYRO_NEW; if (sensors.accel.status & INV_NEW_DATA) - mode |= INV_ACCEL_NEW; + inv_data_builder.mode |= INV_ACCEL_NEW; if (sensors.compass.status & INV_NEW_DATA) - mode |= INV_MAG_NEW; + inv_data_builder.mode |= INV_MAG_NEW; if (sensors.temp.status & INV_NEW_DATA) - mode |= INV_TEMP_NEW; + inv_data_builder.mode |= INV_TEMP_NEW; if (sensors.quat.status & INV_QUAT_NEW) - mode |= INV_QUAT_NEW; + inv_data_builder.mode |= INV_QUAT_NEW; first_error = INV_SUCCESS; for (kk = 0; kk < inv_data_builder.num_cb; ++kk) { - if (mode & inv_data_builder.process[kk].data_required) { + if (inv_data_builder.mode & inv_data_builder.process[kk].data_required) { result = inv_data_builder.process[kk].func(&sensors); if (result && !first_error) { first_error = result; -- cgit v1.2.3