#include "transform.h"
+/*----------------------------------------------------------------------------*/
+
+/* Macros related to Intel Sensor Hub */
+
+#define GRAVITY 9.80665f
+
+/* 720 LSG = 1G */
+#define LSG (1024.0f)
+#define NUMOFACCDATA (8.0f)
+
+/* conversion of acceleration data to SI units (m/s^2) */
+#define CONVERT_A (GRAVITY_EARTH / LSG / NUMOFACCDATA)
+#define CONVERT_A_X(x) ((float(x)/1000) * (GRAVITY * -1.0))
+#define CONVERT_A_Y(x) ((float(x)/1000) * (GRAVITY * 1.0))
+#define CONVERT_A_Z(x) ((float(x)/1000) * (GRAVITY * 1.0))
+
+/* conversion of magnetic data to uT units */
+#define CONVERT_M (1.0f/6.6f)
+#define CONVERT_M_X (-CONVERT_M)
+#define CONVERT_M_Y (-CONVERT_M)
+#define CONVERT_M_Z (CONVERT_M)
+
+/* conversion of orientation data to degree units */
+#define CONVERT_O (1.0f/64.0f)
+#define CONVERT_O_A (CONVERT_O)
+#define CONVERT_O_P (CONVERT_O)
+#define CONVERT_O_R (-CONVERT_O)
+
+/*conversion of gyro data to SI units (radian/sec) */
+#define CONVERT_GYRO ((2000.0f/32767.0f)*((float)M_PI / 180.0f))
+#define CONVERT_GYRO_X (-CONVERT_GYRO)
+#define CONVERT_GYRO_Y (-CONVERT_GYRO)
+#define CONVERT_GYRO_Z (CONVERT_GYRO)
+
+#define BIT(x) (1 << (x))
+
+inline unsigned int set_bit_range(int start, int end)
+{
+ int i;
+ unsigned int value = 0;
+
+ for (i = start; i < end; ++i)
+ value |= BIT(i);
+ return value;
+}
+
+inline float convert_from_vtf_format(int size, int exponent, unsigned int value)
+{
+ int divider=1;
+ int i;
+ float sample;
+ int mul = 1.0;
+
+ value = value & set_bit_range(0, size*8);
+ if (value & BIT(size*8-1)) {
+ value = ((1LL << (size*8)) - value);
+ mul = -1.0;
+ }
+ sample = value * 1.0;
+ if (exponent < 0) {
+ exponent = abs(exponent);
+ for (i = 0; i < exponent; ++i) {
+ divider = divider*10;
+ }
+ return mul * sample/divider;
+ } else {
+ return mul * sample * pow(10.0, exponent);
+ }
+}
+
+// Platform sensor orientation
+#define DEF_ORIENT_ACCEL_X -1
+#define DEF_ORIENT_ACCEL_Y -1
+#define DEF_ORIENT_ACCEL_Z -1
+
+#define DEF_ORIENT_GYRO_X 1
+#define DEF_ORIENT_GYRO_Y 1
+#define DEF_ORIENT_GYRO_Z 1
+
+// G to m/s2
+#define CONVERT_FROM_VTF16(s,d,x) (convert_from_vtf_format(s,d,x))
+#define CONVERT_A_G_VTF16E14_X(s,d,x) (DEF_ORIENT_ACCEL_X *\
+ convert_from_vtf_format(s,d,x)*GRAVITY)
+#define CONVERT_A_G_VTF16E14_Y(s,d,x) (DEF_ORIENT_ACCEL_Y *\
+ convert_from_vtf_format(s,d,x)*GRAVITY)
+#define CONVERT_A_G_VTF16E14_Z(s,d,x) (DEF_ORIENT_ACCEL_Z *\
+ convert_from_vtf_format(s,d,x)*GRAVITY)
+
+// Degree/sec to radian/sec
+#define CONVERT_G_D_VTF16E14_X(s,d,x) (DEF_ORIENT_GYRO_X *\
+ convert_from_vtf_format(s,d,x) * \
+ ((float)M_PI/180.0f))
+#define CONVERT_G_D_VTF16E14_Y(s,d,x) (DEF_ORIENT_GYRO_Y *\
+ convert_from_vtf_format(s,d,x) * \
+ ((float)M_PI/180.0f))
+#define CONVERT_G_D_VTF16E14_Z(s,d,x) (DEF_ORIENT_GYRO_Z *\
+ convert_from_vtf_format(s,d,x) * \
+ ((float)M_PI/180.0f))
+
+// Milli gauss to micro tesla
+#define CONVERT_M_MG_VTF16E14_X(s,d,x) (convert_from_vtf_format(s,d,x)/10)
+#define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x)/10)
+#define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x)/10)
+
+#define DATA_BYTES 2
+#define ACC_EXPONENT -2
+#define GYRO_EXPONENT -1
+#define MAGN_EXPONENT 0
+#define INC_EXPONENT -1
+#define ROT_EXPONENT -8
+
+/*----------------------------------------------------------------------------*/
+
static int64_t sample_as_int64(unsigned char* sample, struct datum_info_t* type)
{
uint16_t u16;
static void finalize_sample_ISH(int s, struct sensors_event_t* data)
{
+ int i = sensor_info[s].catalog_index;
+ int sensor_type = sensor_catalog[i].type;
+ float pitch, roll, yaw;
+
+ if (sensor_type == SENSOR_TYPE_ORIENTATION) {
+
+ pitch = data->data[0];
+ roll = data->data[1];
+ yaw = data->data[2];
+
+ data->data[0] = 360.0 - yaw;
+ data->data[1] = -pitch;
+ data->data[2] = -roll;
+ }
}
static float transform_sample_ISH(int s, int c, unsigned char* sample_data)
{
+ struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
+ int val = (int) sample_as_int64(sample_data, sample_type);
+ int i = sensor_info[s].catalog_index;
+ int sensor_type = sensor_catalog[i].type;
+
+ switch (sensor_type) {
+ case SENSOR_TYPE_ACCELEROMETER:
+ switch (c) {
+ case 0:
+ return CONVERT_A_G_VTF16E14_X(
+ DATA_BYTES, ACC_EXPONENT, val);
+
+ case 1:
+ return CONVERT_A_G_VTF16E14_Y(
+ DATA_BYTES, ACC_EXPONENT, val);
+
+ case 2:
+ return CONVERT_A_G_VTF16E14_Z(
+ DATA_BYTES, ACC_EXPONENT, val);
+ }
+ break;
+
+
+ case SENSOR_TYPE_GYROSCOPE:
+ switch (c) {
+ case 0:
+ return CONVERT_G_D_VTF16E14_X(
+ DATA_BYTES, GYRO_EXPONENT, val);
+
+ case 1:
+ return CONVERT_G_D_VTF16E14_Y(
+ DATA_BYTES, GYRO_EXPONENT, val);
+
+ case 2:
+ return CONVERT_G_D_VTF16E14_Z(
+ DATA_BYTES, GYRO_EXPONENT, val);
+ }
+ break;
+
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ switch (c) {
+ case 0:
+ return CONVERT_M_MG_VTF16E14_X(
+ DATA_BYTES, MAGN_EXPONENT, val);
+
+ case 1:
+ return CONVERT_M_MG_VTF16E14_Y(
+ DATA_BYTES, MAGN_EXPONENT, val);
+
+ case 2:
+ return CONVERT_M_MG_VTF16E14_Z(
+ DATA_BYTES, MAGN_EXPONENT, val);
+ }
+ break;
+
+ case SENSOR_TYPE_ORIENTATION:
+ return convert_from_vtf_format(DATA_BYTES, INC_EXPONENT,
+ val);
+
+ case SENSOR_TYPE_ROTATION_VECTOR:
+ return convert_from_vtf_format(DATA_BYTES, ROT_EXPONENT,
+ val);
+ }
+
return 0;
}
OSDN Git Service
