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      1 /*
      2  $License:
      3    Copyright 2011 InvenSense, Inc.
      4 
      5  Licensed under the Apache License, Version 2.0 (the "License");
      6  you may not use this file except in compliance with the License.
      7  You may obtain a copy of the License at
      8 
      9  http://www.apache.org/licenses/LICENSE-2.0
     10 
     11  Unless required by applicable law or agreed to in writing, software
     12  distributed under the License is distributed on an "AS IS" BASIS,
     13  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
     14  See the License for the specific language governing permissions and
     15  limitations under the License.
     16   $
     17  */
     18 
     19 /******************************************************************************
     20  *
     21  * $Id:$
     22  *
     23  *****************************************************************************/
     24 
     25 #include "mlSetGyroBias.h"
     26 #include "mlFIFO.h"
     27 #include "ml.h"
     28 #include <string.h>
     29 #include "mldl.h"
     30 #include "mlMathFunc.h"
     31 
     32 typedef struct {
     33     int needToSetBias;
     34     short currentBias[3];
     35     int mode;
     36     int motion;
     37 } tSGB;
     38 
     39 tSGB sgb;
     40 
     41 /** Records a motion event that may cause a callback when the priority for this
     42  * feature is met.
     43  */
     44 void inv_set_motion_state(int motion)
     45 {
     46     sgb.motion = motion;
     47 }
     48 
     49 /** Converts from internal DMP gyro bias registers to external hardware gyro bias by
     50 * applying scaling and transformation.
     51 */
     52 void inv_convert_bias(const unsigned char *regs, short *bias)
     53 {
     54     long biasTmp2[3], biasTmp[3], biasPrev[3];
     55     int i;
     56     int sf;
     57     struct mldl_cfg *mldl_cfg = inv_get_dl_config();
     58 
     59     if (mldl_cfg->gyro_sens_trim != 0) {
     60         sf = 2000 * 131 / mldl_cfg->gyro_sens_trim;
     61     } else {
     62         sf = 2000;
     63     }
     64     for (i = 0; i < 3; i++) {
     65         biasTmp2[i] = inv_big8_to_int32(&regs[i * 4]);
     66     }
     67     // Rotate bias vector by the transpose of the orientation matrix
     68     for (i = 0; i < 3; ++i) {
     69         biasTmp[i] = inv_q30_mult(biasTmp2[0], inv_obj.gyro_orient[i]) +
     70             inv_q30_mult(biasTmp2[1], inv_obj.gyro_orient[i + 3]) +
     71             inv_q30_mult(biasTmp2[2], inv_obj.gyro_orient[i + 6]);
     72     }
     73 
     74     for (i = 0; i < GYRO_NUM_AXES; i++) {
     75         biasTmp[i] = (long)(biasTmp[i] * 1.39882274201861f / sf);
     76         biasPrev[i] = (long)mldl_cfg->offset[i];
     77         if (biasPrev[i] > 32767)
     78             biasPrev[i] -= 65536L;
     79     }
     80 
     81     for (i = 0; i < GYRO_NUM_AXES; i++) {
     82         bias[i] = (short)(biasPrev[i] - biasTmp[i]);
     83     }
     84 }
     85 
     86 /** Records hardware biases in format as used by hardware gyro registers.
     87 * Note, the hardware will add this value to the measured gyro data.
     88 */
     89 inv_error_t inv_set_gyro_bias_in_hw_unit(const short *bias, int mode)
     90 {
     91     if (sgb.currentBias[0] != bias[0])
     92         sgb.needToSetBias = 1;
     93     if (sgb.currentBias[1] != bias[1])
     94         sgb.needToSetBias = 1;
     95     if (sgb.currentBias[2] != bias[2])
     96         sgb.needToSetBias = 1;
     97     if (sgb.needToSetBias) {
     98         memcpy(sgb.currentBias, bias, sizeof(sgb.currentBias));
     99         sgb.mode = mode;
    100     }
    101     return INV_SUCCESS;
    102 }
    103 
    104 /** Records gyro biases
    105 * @param[in] bias Bias where 1dps is 2^16. In chip frame.
    106 */
    107 inv_error_t inv_set_gyro_bias_in_dps(const long *bias, int mode)
    108 {
    109     struct mldl_cfg *mldl_cfg = inv_get_dl_config();
    110     int sf, i;
    111     long biasTmp;
    112     short offset[3];
    113     inv_error_t result;
    114 
    115     if (mldl_cfg->gyro_sens_trim != 0) {
    116         sf = 2000 * 131 / mldl_cfg->gyro_sens_trim;
    117     } else {
    118         sf = 2000;
    119     }
    120 
    121     for (i = 0; i < GYRO_NUM_AXES; i++) {
    122         biasTmp = -bias[i] / sf;
    123         if (biasTmp < 0)
    124             biasTmp += 65536L;
    125         offset[i] = (short)biasTmp;
    126     }
    127     result = inv_set_gyro_bias_in_hw_unit(offset, mode);
    128     return result;
    129 }
    130 
    131 inv_error_t inv_set_gyro_bias_in_dps_float(const float *bias, int mode)
    132 {
    133     long biasL[3];
    134     inv_error_t result;
    135 
    136     biasL[0] = (long)(bias[0] * (1L << 16));
    137     biasL[1] = (long)(bias[1] * (1L << 16));
    138     biasL[2] = (long)(bias[2] * (1L << 16));
    139     result = inv_set_gyro_bias_in_dps(biasL, mode);
    140     return result;
    141 }
    142 
    143 inv_error_t MLSetGyroBiasCB(struct inv_obj_t * inv_obj)
    144 {
    145     inv_error_t result = INV_SUCCESS;
    146     if (sgb.needToSetBias) {
    147         result = inv_set_offset(sgb.currentBias);
    148         sgb.needToSetBias = 0;
    149     }
    150 
    151     // Check if motion state has changed
    152     if (sgb.motion == INV_MOTION) {
    153         // We are moving
    154         if (inv_obj->motion_state == INV_NO_MOTION) {
    155             //Trigger motion callback
    156             inv_obj->motion_state = INV_MOTION;
    157             inv_obj->flags[INV_MOTION_STATE_CHANGE] = INV_MOTION;
    158             if (inv_params_obj.motion_cb_func) {
    159                 inv_params_obj.motion_cb_func(INV_MOTION);
    160             }
    161         }
    162     } else if (sgb.motion == INV_NO_MOTION){
    163         // We are not moving
    164         if (inv_obj->motion_state == INV_MOTION) {
    165             //Trigger no motion callback
    166             inv_obj->motion_state = INV_NO_MOTION;
    167             inv_obj->got_no_motion_bias = TRUE;
    168             inv_obj->flags[INV_MOTION_STATE_CHANGE] = INV_NO_MOTION;
    169             if (inv_params_obj.motion_cb_func) {
    170                 inv_params_obj.motion_cb_func(INV_NO_MOTION);
    171             }
    172         }
    173     }
    174 
    175     return result;
    176 }
    177 
    178 inv_error_t inv_enable_set_bias(void)
    179 {
    180     inv_error_t result;
    181     memset(&sgb, 0, sizeof(sgb));
    182 
    183     sgb.motion = inv_obj.motion_state;
    184 
    185     result =
    186         inv_register_fifo_rate_process(MLSetGyroBiasCB,
    187                                        INV_PRIORITY_SET_GYRO_BIASES);
    188     if (result == INV_ERROR_INVALID_PARAMETER)
    189         result = INV_SUCCESS;    /* We already registered this */
    190     return result;
    191 }
    192 
    193 inv_error_t inv_disable_set_bias(void)
    194 {
    195     inv_error_t result;
    196     result = inv_unregister_fifo_rate_process(MLSetGyroBiasCB);
    197     return INV_SUCCESS;          // FIXME need to disable
    198 }
    199