837 lines
22 KiB
C
837 lines
22 KiB
C
//
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// Created by thejackimonster on 30.03.23.
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//
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// Copyright (c) 2023 thejackimonster. All rights reserved.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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// THE SOFTWARE.
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//
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#include "device3.h"
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#include <float.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <Fusion/Fusion.h>
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#include <libusb-1.0/libusb.h>
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struct device3_calibration_t {
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FusionMatrix gyroscopeMisalignment;
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FusionVector gyroscopeSensitivity;
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FusionVector gyroscopeOffset;
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FusionMatrix accelerometerMisalignment;
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FusionVector accelerometerSensitivity;
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FusionVector accelerometerOffset;
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FusionMatrix softIronMatrix;
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FusionVector hardIronOffset;
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};
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struct device3_correction_t {
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FusionQuaternion inverseDrift;
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FusionQuaternion stable;
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};
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static void reset_filter_v3(float* filter) {
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for (uint8_t i = 0; i < 3; i++) {
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const uint8_t i4 = i * 4;
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filter[i4 + 0] = -FLT_MAX;
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filter[i4 + 1] = -FLT_MIN;
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filter[i4 + 2] = +FLT_MAX;
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filter[i4 + 3] = +FLT_MIN;
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}
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}
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device3_type* device3_open(device3_event_callback callback) {
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device3_type* device = (device3_type*) malloc(sizeof(device3_type));
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if (!device) {
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perror("Not allocated!\n");
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return NULL;
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}
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memset(device, 0, sizeof(device3_type));
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device->vendor_id = 0x3318;
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device->product_id = 0x0424;
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device->callback = callback;
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if (0 != libusb_init((libusb_context**) &(device->context))) {
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perror("No context!\n");
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return device;
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}
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device->handle = libusb_open_device_with_vid_pid(
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device->context,
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device->vendor_id,
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device->product_id
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);
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if (!device->handle) {
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perror("No handle!\n");
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return device;
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}
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libusb_device* dev = libusb_get_device(device->handle);
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if (!dev) {
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perror("No dev!\n");
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return device;
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}
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struct libusb_device_descriptor desc;
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if (0 != libusb_get_device_descriptor(dev, &desc)) {
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perror("No desc!\n");
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return device;
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}
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struct libusb_config_descriptor* config;
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for (uint8_t i = 0; i < desc.bNumConfigurations; i++) {
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if (0 != libusb_get_config_descriptor(dev, i, &config)) {
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continue;
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}
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const struct libusb_interface* interface;
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for (uint8_t j = 0; j < config->bNumInterfaces; j++) {
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interface = &(config->interface[j]);
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const struct libusb_interface_descriptor* setting;
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for (int k = 0; k < interface->num_altsetting; k++) {
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setting = &(interface->altsetting[k]);
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if (LIBUSB_CLASS_HID != setting->bInterfaceClass) {
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continue;
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}
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if (3 != setting->bInterfaceNumber) {
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continue;
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}
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device->interface_number = setting->bInterfaceNumber;
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if (2 != setting->bNumEndpoints) {
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continue;
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}
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device->endpoint_address_in = setting->endpoint[0].bEndpointAddress;
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device->max_packet_size_in = setting->endpoint[0].wMaxPacketSize;
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device->endpoint_address_out = setting->endpoint[1].bEndpointAddress;
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device->max_packet_size_out = setting->endpoint[1].wMaxPacketSize;
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}
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}
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}
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if (3 != device->interface_number) {
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perror("No interface!\n");
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return device;
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}
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if (1 == libusb_kernel_driver_active(device->handle, device->interface_number)) {
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if (0 == libusb_detach_kernel_driver(device->handle, device->interface_number)) {
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device->detached = true;
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} else {
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perror("Not detached!\n");
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return device;
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}
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}
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if (0 == libusb_claim_interface(device->handle, device->interface_number)) {
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device->claimed = true;
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}
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if (device->claimed) {
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uint8_t initial_imu_payload [9] = {
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0xaa, 0xc5, 0xd1, 0x21,
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0x42, 0x04, 0x00, 0x19,
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0x01
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};
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int size = device->max_packet_size_out;
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if (sizeof(initial_imu_payload) < size) {
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size = sizeof(initial_imu_payload);
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}
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int transferred = 0;
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int error = libusb_bulk_transfer(
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device->handle,
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device->endpoint_address_out,
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initial_imu_payload,
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size,
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&transferred,
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0
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);
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if ((0 != error) || (transferred != sizeof(initial_imu_payload))) {
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perror("ERROR\n");
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return device;
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}
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}
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const uint32_t SAMPLE_RATE = 1000;
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device->offset = malloc(sizeof(FusionOffset));
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device->ahrs = malloc(sizeof(FusionAhrs));
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FusionOffsetInitialise((FusionOffset*) device->offset, SAMPLE_RATE);
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FusionAhrsInitialise((FusionAhrs*) device->ahrs);
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device->calibration = malloc(sizeof(device3_calibration_type));
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device3_reset_calibration(device);
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reset_filter_v3(device->filters.angular_velocity);
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reset_filter_v3(device->filters.acceleration);
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reset_filter_v3(device->filters.magnetic);
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device->correction = malloc(sizeof(device3_correction_type));
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device->correction->inverseDrift = FUSION_IDENTITY_QUATERNION;
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device->correction->stable = FUSION_IDENTITY_QUATERNION;
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const FusionAhrsSettings settings = {
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.convention = FusionConventionNwu,
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.gain = 0.5f,
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.accelerationRejection = 10.0f,
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.magneticRejection = 20.0f,
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.rejectionTimeout = 5 * SAMPLE_RATE, /* 5 seconds */
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};
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FusionAhrsSetSettings((FusionAhrs*) device->ahrs, &settings);
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return device;
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}
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void device3_reset_calibration(device3_type* device) {
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if (!device) {
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perror("No device!\n");
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return;
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}
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if (!device->calibration) {
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perror("Not allocated!\n");
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return;
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}
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device->calibration->gyroscopeMisalignment = FUSION_IDENTITY_MATRIX;
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device->calibration->gyroscopeSensitivity = FUSION_VECTOR_ONES;
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device->calibration->gyroscopeOffset = FUSION_VECTOR_ZERO;
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device->calibration->accelerometerMisalignment = FUSION_IDENTITY_MATRIX;
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device->calibration->accelerometerSensitivity = FUSION_VECTOR_ONES;
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device->calibration->accelerometerOffset = FUSION_VECTOR_ZERO;
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device->calibration->accelerometerMisalignment.array[2][2] = -1.0f;
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device->calibration->softIronMatrix = FUSION_IDENTITY_MATRIX;
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device->calibration->hardIronOffset = FUSION_VECTOR_ZERO;
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}
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int device3_load_calibration(device3_type* device, const char* path) {
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if (!device) {
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perror("No device!\n");
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return -1;
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}
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if (!device->calibration) {
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perror("Not allocated!\n");
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return -2;
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}
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FILE* file = fopen(path, "rb");
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if (!file) {
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perror("No file opened!\n");
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return -3;
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}
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size_t count;
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count = fread(device->calibration, 1, sizeof(device3_calibration_type), file);
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if (sizeof(device3_calibration_type) != count) {
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perror("Not fully loaded!\n");
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}
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count = fread(&(device->filters), 1, sizeof(device3_filters_type), file);
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if (sizeof(device3_filters_type) != count) {
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perror("Not fully loaded!\n");
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}
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if (0 != fclose(file)) {
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perror("No file closed!\n");
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return -4;
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}
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return 0;
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}
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int device3_save_calibration(device3_type* device, const char* path) {
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if (!device) {
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perror("No device!\n");
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return -1;
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}
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if (!device->calibration) {
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perror("Not allocated!\n");
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return -2;
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}
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FILE* file = fopen(path, "wb");
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if (!file) {
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perror("No file opened!\n");
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return -3;
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}
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size_t count;
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count = fwrite(device->calibration, 1, sizeof(device3_calibration_type), file);
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if (sizeof(device3_calibration_type) != count) {
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perror("Not fully saved!\n");
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}
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count = fwrite(&(device->filters), 1, sizeof(device3_filters_type), file);
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if (sizeof(device3_filters_type) != count) {
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perror("Not fully saved!\n");
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}
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if (0 != fclose(file)) {
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perror("No file closed!\n");
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return -4;
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}
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return 0;
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}
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static void device3_callback(device3_type* device,
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uint64_t timestamp,
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device3_event_type event) {
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if (!device->callback) {
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return;
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}
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device->callback(timestamp, event, device->ahrs, device->correction);
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}
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static int32_t pack32bit_signed(const uint8_t* data) {
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uint32_t unsigned_value = (data[0]) | (data[1] << 8) | (data[2] << 16) | (data[3] << 24);
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return ((int32_t) unsigned_value);
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}
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static int32_t pack24bit_signed(const uint8_t* data) {
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uint32_t unsigned_value = (data[0]) | (data[1] << 8) | (data[2] << 16);
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if ((data[2] & 0x80) != 0) unsigned_value |= (0xFF << 24);
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return ((int32_t) unsigned_value);
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}
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static int16_t pack16bit_signed(const uint8_t* data) {
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uint16_t unsigned_value = (data[0]) | (data[1] << 8);
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return (int16_t) unsigned_value;
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}
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static int32_t pack32bit_signed_swap(const uint8_t* data) {
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uint32_t unsigned_value = (data[0] << 24) | (data[1] << 16) | (data[2] << 8) | (data[3]);
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return ((int32_t) unsigned_value);
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}
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static int16_t pack16bit_signed_swap(const uint8_t* data) {
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uint16_t unsigned_value = (data[0] << 8) | (data[1]);
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return (int16_t) unsigned_value;
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}
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static void readIMU_from_packet(const device3_packet_type* packet,
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FusionVector* gyroscope,
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FusionVector* accelerometer,
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FusionVector* magnetometer) {
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int32_t vel_m = pack16bit_signed(packet->angular_multiplier);
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int32_t vel_d = pack32bit_signed(packet->angular_divisor);
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int32_t vel_x = pack24bit_signed(packet->angular_velocity_x);
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int32_t vel_y = pack24bit_signed(packet->angular_velocity_y);
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int32_t vel_z = pack24bit_signed(packet->angular_velocity_z);
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gyroscope->axis.x = (float) vel_x * (float) vel_m / (float) vel_d;
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gyroscope->axis.y = (float) vel_y * (float) vel_m / (float) vel_d;
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gyroscope->axis.z = (float) vel_z * (float) vel_m / (float) vel_d;
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int32_t accel_m = pack16bit_signed(packet->acceleration_multiplier);
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int32_t accel_d = pack32bit_signed(packet->acceleration_divisor);
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int32_t accel_x = pack24bit_signed(packet->acceleration_x);
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int32_t accel_y = pack24bit_signed(packet->acceleration_y);
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int32_t accel_z = pack24bit_signed(packet->acceleration_z);
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accelerometer->axis.x = (float) accel_x * (float) accel_m / (float) accel_d;
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accelerometer->axis.y = (float) accel_y * (float) accel_m / (float) accel_d;
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accelerometer->axis.z = (float) accel_z * (float) accel_m / (float) accel_d;
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int32_t magnet_m = pack16bit_signed_swap(packet->magnetic_multiplier);
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int32_t magnet_d = pack32bit_signed_swap(packet->magnetic_divisor);
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int16_t magnet_x = pack16bit_signed_swap(packet->magnetic_x);
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int16_t magnet_y = pack16bit_signed_swap(packet->magnetic_y);
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int16_t magnet_z = pack16bit_signed_swap(packet->magnetic_z);
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magnetometer->axis.x = (float) magnet_x * (float) magnet_m / (float) magnet_d;
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magnetometer->axis.y = (float) magnet_y * (float) magnet_m / (float) magnet_d;
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magnetometer->axis.z = (float) magnet_z * (float) magnet_m / (float) magnet_d;
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}
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#define min(x, y) ((x) < (y)? (x) : (y))
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#define max(x, y) ((x) > (y)? (x) : (y))
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static void apply_calibration(const device3_type* device,
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FusionVector* gyroscope,
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FusionVector* accelerometer,
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FusionVector* magnetometer) {
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FusionMatrix gyroscopeMisalignment;
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FusionVector gyroscopeSensitivity;
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FusionVector gyroscopeOffset;
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FusionMatrix accelerometerMisalignment;
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FusionVector accelerometerSensitivity;
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FusionVector accelerometerOffset;
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FusionMatrix softIronMatrix;
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FusionVector hardIronOffset;
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if (device->calibration) {
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gyroscopeMisalignment = device->calibration->gyroscopeMisalignment;
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gyroscopeSensitivity = device->calibration->gyroscopeSensitivity;
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gyroscopeOffset = device->calibration->gyroscopeOffset;
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accelerometerMisalignment = device->calibration->accelerometerMisalignment;
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accelerometerSensitivity = device->calibration->accelerometerSensitivity;
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accelerometerOffset = device->calibration->accelerometerOffset;
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softIronMatrix = device->calibration->softIronMatrix;
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hardIronOffset = device->calibration->hardIronOffset;
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} else {
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gyroscopeMisalignment = FUSION_IDENTITY_MATRIX;
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gyroscopeSensitivity = FUSION_VECTOR_ONES;
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gyroscopeOffset = FUSION_VECTOR_ZERO;
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accelerometerMisalignment = FUSION_IDENTITY_MATRIX;
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accelerometerSensitivity = FUSION_VECTOR_ONES;
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accelerometerOffset = FUSION_VECTOR_ZERO;
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accelerometerMisalignment.array[2][2] = -1.0f;
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softIronMatrix = FUSION_IDENTITY_MATRIX;
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hardIronOffset = FUSION_VECTOR_ZERO;
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}
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*gyroscope = FusionCalibrationInertial(
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*gyroscope,
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gyroscopeMisalignment,
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gyroscopeSensitivity,
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gyroscopeOffset
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);
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*accelerometer = FusionCalibrationInertial(
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*accelerometer,
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accelerometerMisalignment,
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accelerometerSensitivity,
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accelerometerOffset
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);
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*magnetometer = FusionCalibrationMagnetic(
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*magnetometer,
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softIronMatrix,
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hardIronOffset
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);
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}
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static void update_filter_v3(float* filter, FusionVector v3) {
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for (uint8_t i = 0; i < 3; i++) {
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const float v = v3.array[i];
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const uint8_t i4 = i * 4;
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if (v <= -0.0f) {
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filter[i4 + 0] = max(v, filter[i4 + 0]);
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filter[i4 + 1] = min(v, filter[i4 + 1]);
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}
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if (v >= +0.0f) {
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filter[i4 + 2] = min(v, filter[i4 + 2]);
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filter[i4 + 3] = max(v, filter[i4 + 3]);
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}
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}
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}
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|
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int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool accel, bool magnet) {
|
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if (!device) {
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perror("No device!\n");
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return -1;
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}
|
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|
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if (!device->claimed) {
|
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perror("Not claimed!\n");
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return -2;
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}
|
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|
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if (device->max_packet_size_in != sizeof(device3_packet_type)) {
|
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perror("Not proper size!\n");
|
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return -3;
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}
|
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|
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device3_packet_type packet;
|
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int transferred, error;
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|
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bool initialized = false;
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|
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FusionVector cal_gyroscope;
|
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FusionVector cal_accelerometer;
|
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FusionVector cal_magnetometer [2];
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|
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const float factor = iterations > 0? 1.0f / iterations : 0.0f;
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|
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while (iterations > 0) {
|
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memset(&packet, 0, sizeof(device3_packet_type));
|
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|
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transferred = 0;
|
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error = libusb_bulk_transfer(
|
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device->handle,
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device->endpoint_address_in,
|
|
(uint8_t*) &packet,
|
|
device->max_packet_size_in,
|
|
&transferred,
|
|
0
|
|
);
|
|
|
|
if (error == LIBUSB_ERROR_TIMEOUT) {
|
|
continue;
|
|
}
|
|
|
|
if ((0 != error) || (device->max_packet_size_in != transferred)) {
|
|
perror("Not expected issue!\n");
|
|
return -4;
|
|
}
|
|
|
|
if ((packet.signature[0] != 0x01) || (packet.signature[1] != 0x02)) {
|
|
continue;
|
|
}
|
|
|
|
FusionVector gyroscope;
|
|
FusionVector accelerometer;
|
|
FusionVector magnetometer;
|
|
|
|
readIMU_from_packet(&packet, &gyroscope, &accelerometer, &magnetometer);
|
|
|
|
if (initialized) {
|
|
cal_gyroscope = FusionVectorAdd(cal_gyroscope, gyroscope);
|
|
cal_accelerometer = FusionVectorAdd(cal_accelerometer, accelerometer);
|
|
} else {
|
|
cal_gyroscope = gyroscope;
|
|
cal_accelerometer = accelerometer;
|
|
}
|
|
|
|
apply_calibration(device, &gyroscope, &accelerometer, &magnetometer);
|
|
|
|
update_filter_v3(device->filters.angular_velocity, gyroscope);
|
|
update_filter_v3(device->filters.acceleration, accelerometer);
|
|
update_filter_v3(device->filters.magnetic, magnetometer);
|
|
|
|
if (initialized) {
|
|
cal_magnetometer[0].axis.x = min(cal_magnetometer[0].axis.x, magnetometer.axis.x);
|
|
cal_magnetometer[0].axis.y = min(cal_magnetometer[0].axis.y, magnetometer.axis.y);
|
|
cal_magnetometer[0].axis.z = min(cal_magnetometer[0].axis.z, magnetometer.axis.z);
|
|
cal_magnetometer[1].axis.x = max(cal_magnetometer[1].axis.x, magnetometer.axis.x);
|
|
cal_magnetometer[1].axis.y = max(cal_magnetometer[1].axis.y, magnetometer.axis.y);
|
|
cal_magnetometer[1].axis.z = max(cal_magnetometer[1].axis.z, magnetometer.axis.z);
|
|
} else {
|
|
cal_magnetometer[0] = magnetometer;
|
|
cal_magnetometer[1] = magnetometer;
|
|
initialized = true;
|
|
}
|
|
|
|
iterations--;
|
|
}
|
|
|
|
if (factor > 0.0f) {
|
|
if (gyro) {
|
|
device->calibration->gyroscopeOffset = FusionVectorAdd(
|
|
device->calibration->gyroscopeOffset,
|
|
FusionVectorMultiplyScalar(
|
|
cal_gyroscope,
|
|
factor
|
|
)
|
|
);
|
|
}
|
|
|
|
if (accel) {
|
|
device->calibration->accelerometerOffset = FusionVectorAdd(
|
|
device->calibration->accelerometerOffset,
|
|
FusionVectorMultiplyScalar(
|
|
cal_accelerometer,
|
|
factor
|
|
)
|
|
);
|
|
}
|
|
|
|
if (magnet) {
|
|
device->calibration->hardIronOffset = FusionVectorAdd(
|
|
device->calibration->hardIronOffset,
|
|
FusionVectorMultiplyScalar(
|
|
FusionVectorAdd(cal_magnetometer[0], cal_magnetometer[1]),
|
|
0.5f
|
|
)
|
|
);
|
|
}
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static void apply_filter_v3(const float* filter, FusionVector* v3) {
|
|
for (uint8_t i = 0; i < 3; i++) {
|
|
float v = v3->array[i];
|
|
const uint8_t i4 = i * 4;
|
|
|
|
if ((v <= -0.0f) && (filter[i4 + 1] < filter[i4 + 0])) {
|
|
v = (v - filter[i4 + 0]) * filter[i4 + 1] / (filter[i4 + 1] - filter[i4 + 0]);
|
|
}
|
|
|
|
if ((v >= +0.0f) && (filter[i4 + 3] > filter[i4 + 2])) {
|
|
v = (v - filter[i4 + 2]) * filter[i4 + 3] / (filter[i4 + 3] - filter[i4 + 2]);
|
|
}
|
|
|
|
v3->array[i] = v;
|
|
}
|
|
}
|
|
|
|
static void apply_filter_drop_v3(const float* filter, FusionVector* v3) {
|
|
for (uint8_t i = 0; i < 3; i++) {
|
|
const float v = v3->array[i] * 1e-5f;
|
|
const uint8_t i4 = i * 4;
|
|
|
|
if ((v >= filter[i4 + 0]) && (v <= filter[i4 + 2])) {
|
|
v3->array[i] = 0.0f;
|
|
} else {
|
|
v3->array[i] -= (filter[i4 + 0] + filter[i4 + 2]) * 0.5f;
|
|
}
|
|
}
|
|
}
|
|
|
|
static void update_correction_with_ahrs(device3_correction_type* correction,
|
|
const FusionAhrs* ahrs) {
|
|
FusionAhrsFlags flags = FusionAhrsGetFlags(ahrs);
|
|
|
|
if (flags.magneticRejectionTimeout || flags.accelerationRejectionTimeout) {
|
|
FusionQuaternion unstable = FusionAhrsGetQuaternion(ahrs);
|
|
|
|
const float u2 = (
|
|
unstable.element.w * unstable.element.w +
|
|
unstable.element.x * unstable.element.x +
|
|
unstable.element.y * unstable.element.y +
|
|
unstable.element.z * unstable.element.z
|
|
);
|
|
|
|
unstable.element.w *= +1.0f / u2;
|
|
unstable.element.x *= -1.0f / u2;
|
|
unstable.element.y *= -1.0f / u2;
|
|
unstable.element.z *= -1.0f / u2;
|
|
|
|
correction->inverseDrift = FusionQuaternionMultiply(unstable, correction->stable);
|
|
} else {
|
|
correction->stable = FusionQuaternionMultiply(
|
|
FusionAhrsGetQuaternion(ahrs),
|
|
correction->inverseDrift
|
|
);
|
|
}
|
|
}
|
|
|
|
int device3_read(device3_type* device, int timeout) {
|
|
if (!device) {
|
|
perror("No device!\n");
|
|
return -1;
|
|
}
|
|
|
|
if (!device->claimed) {
|
|
perror("Not claimed!\n");
|
|
return -2;
|
|
}
|
|
|
|
if (device->max_packet_size_in != sizeof(device3_packet_type)) {
|
|
perror("Not proper size!\n");
|
|
return -3;
|
|
}
|
|
|
|
device3_packet_type packet;
|
|
memset(&packet, 0, sizeof(device3_packet_type));
|
|
|
|
int transferred = 0;
|
|
int error = libusb_bulk_transfer(
|
|
device->handle,
|
|
device->endpoint_address_in,
|
|
(uint8_t*) &packet,
|
|
device->max_packet_size_in,
|
|
&transferred,
|
|
timeout
|
|
);
|
|
|
|
if (error == LIBUSB_ERROR_TIMEOUT) {
|
|
return 1;
|
|
}
|
|
|
|
if ((0 != error) || (device->max_packet_size_in != transferred)) {
|
|
perror("Not expected issue!\n");
|
|
return -4;
|
|
}
|
|
|
|
const uint64_t timestamp = packet.timestamp;
|
|
|
|
if ((packet.signature[0] == 0xaa) && (packet.signature[1] == 0x53)) {
|
|
device3_callback(device, timestamp, DEVICE3_EVENT_INIT);
|
|
return 0;
|
|
}
|
|
|
|
if ((packet.signature[0] != 0x01) || (packet.signature[1] != 0x02)) {
|
|
perror("Not matching signature!\n");
|
|
return -5;
|
|
}
|
|
|
|
const uint64_t delta = timestamp - device->last_timestamp;
|
|
const float deltaTime = (float) ((double) delta / 1e9);
|
|
|
|
device->last_timestamp = timestamp;
|
|
|
|
int16_t temperature = pack16bit_signed(packet.temperature);
|
|
|
|
device->temperature = (float) temperature;
|
|
|
|
FusionVector gyroscope;
|
|
FusionVector accelerometer;
|
|
FusionVector magnetometer;
|
|
|
|
readIMU_from_packet(&packet, &gyroscope, &accelerometer, &magnetometer);
|
|
apply_calibration(device, &gyroscope, &accelerometer, &magnetometer);
|
|
|
|
gyroscope = FusionOffsetUpdate((FusionOffset*) device->offset, gyroscope);
|
|
|
|
update_filter_v3(device->filters.angular_velocity, gyroscope);
|
|
update_filter_v3(device->filters.acceleration, accelerometer);
|
|
update_filter_v3(device->filters.magnetic, magnetometer);
|
|
|
|
apply_filter_v3(device->filters.angular_velocity, &gyroscope);
|
|
apply_filter_v3(device->filters.acceleration, &accelerometer);
|
|
apply_filter_v3(device->filters.magnetic, &magnetometer);
|
|
|
|
apply_filter_drop_v3(device->filters.angular_velocity, &gyroscope);
|
|
|
|
FusionAhrsUpdate((FusionAhrs*) device->ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
|
|
|
|
if (device->correction) {
|
|
update_correction_with_ahrs(device->correction, (const FusionAhrs*) device->ahrs);
|
|
}
|
|
|
|
device3_callback(device, timestamp, DEVICE3_EVENT_UPDATE);
|
|
return 0;
|
|
}
|
|
|
|
device3_vec3_type device3_get_earth_acceleration(const device3_ahrs_type* ahrs) {
|
|
FusionVector acceleration = FusionAhrsGetEarthAcceleration((const FusionAhrs*) ahrs);
|
|
device3_vec3_type a;
|
|
a.x = acceleration.axis.x;
|
|
a.y = acceleration.axis.y;
|
|
a.z = acceleration.axis.z;
|
|
return a;
|
|
}
|
|
|
|
device3_vec3_type device3_get_linear_acceleration(const device3_ahrs_type* ahrs) {
|
|
FusionVector acceleration = FusionAhrsGetLinearAcceleration((const FusionAhrs*) ahrs);
|
|
device3_vec3_type a;
|
|
a.x = acceleration.axis.x;
|
|
a.y = acceleration.axis.y;
|
|
a.z = acceleration.axis.z;
|
|
return a;
|
|
}
|
|
|
|
device3_quat_type device3_get_orientation(const device3_ahrs_type* ahrs,
|
|
const device3_correction_type* correction) {
|
|
FusionQuaternion quaternion = FusionAhrsGetQuaternion((const FusionAhrs*) ahrs);
|
|
|
|
if (correction) {
|
|
quaternion = FusionQuaternionMultiply(
|
|
quaternion,
|
|
correction->inverseDrift
|
|
);
|
|
}
|
|
|
|
device3_quat_type q;
|
|
q.x = quaternion.element.x;
|
|
q.y = quaternion.element.y;
|
|
q.z = quaternion.element.z;
|
|
q.w = quaternion.element.w;
|
|
return q;
|
|
}
|
|
|
|
device3_vec3_type device3_get_euler(device3_quat_type quat) {
|
|
FusionQuaternion quaternion;
|
|
quaternion.element.x = quat.x;
|
|
quaternion.element.y = quat.y;
|
|
quaternion.element.z = quat.z;
|
|
quaternion.element.w = quat.w;
|
|
FusionEuler euler = FusionQuaternionToEuler(quaternion);
|
|
device3_vec3_type e;
|
|
e.x = euler.angle.pitch;
|
|
e.y = euler.angle.roll;
|
|
e.z = euler.angle.yaw;
|
|
return e;
|
|
}
|
|
|
|
void device3_close(device3_type* device) {
|
|
if (!device) {
|
|
perror("No device!\n");
|
|
return;
|
|
}
|
|
|
|
if (device->calibration) {
|
|
free(device->calibration);
|
|
}
|
|
|
|
if (device->ahrs) {
|
|
free(device->ahrs);
|
|
}
|
|
|
|
if (device->offset) {
|
|
free(device->offset);
|
|
}
|
|
|
|
if ((device->claimed) &&
|
|
(0 == libusb_release_interface(device->handle, device->interface_number))) {
|
|
device->claimed = false;
|
|
}
|
|
|
|
if ((device->detached) &&
|
|
(0 == libusb_attach_kernel_driver(device->handle, device->interface_number))) {
|
|
device->detached = false;
|
|
}
|
|
|
|
if (device->handle) {
|
|
libusb_close(device->handle);
|
|
device->handle = NULL;
|
|
}
|
|
|
|
if (device->context) {
|
|
libusb_exit(device->context);
|
|
device->context = NULL;
|
|
}
|
|
|
|
free(device);
|
|
}
|