909 lines
26 KiB
C
909 lines
26 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 <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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#include <json-c/json.h>
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#include "crc32.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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FusionQuaternion noises;
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};
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static bool send_payload(device3_type* device, uint8_t size, uint8_t* payload) {
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if (!device->claimed) {
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return false;
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}
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int payload_size = size;
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if (payload_size > device->max_packet_size_out) {
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payload_size = device->max_packet_size_out;
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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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payload,
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payload_size,
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&transferred,
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0
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);
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if ((0 != error) || (transferred != payload_size)) {
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perror("ERROR: sending payload failed\n");
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return false;
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}
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return (transferred == size);
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}
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static bool recv_payload(device3_type* device, uint8_t size, uint8_t* payload) {
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if (!device->claimed) {
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return false;
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}
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int payload_size = size;
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if (payload_size > device->max_packet_size_in) {
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payload_size = device->max_packet_size_in;
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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_in,
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payload,
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device->max_packet_size_in,
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&transferred,
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0
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);
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if (transferred >= payload_size) {
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transferred = payload_size;
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}
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if (error == LIBUSB_ERROR_TIMEOUT) {
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return false;
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}
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if ((0 != error) || (transferred != payload_size)) {
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perror("ERROR: receiving payload failed\n");
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return false;
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}
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return (transferred == size);
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}
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#define DEVICE3_MSG_GET_CAL_DATA_LENGTH 0x14
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#define DEVICE3_MSG_CAL_DATA_GET_NEXT_SEGMENT 0x15
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#define DEVICE3_MSG_ALLOCATE_CAL_DATA_BUFFER 0x16
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#define DEVICE3_MSG_WRITE_CAL_DATA_SEGMENT 0x17
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#define DEVICE3_MSG_FREE_CAL_BUFFER 0x18
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#define DEVICE3_MSG_START_IMU_DATA 0x19
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#define DEVICE3_MSG_GET_STATIC_ID 0x1A
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#define DEVICE3_MSG_UNKNOWN 0x1D
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struct __attribute__((__packed__)) device3_payload_packet_t {
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uint8_t head;
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uint32_t checksum;
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uint16_t length;
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uint8_t msgid;
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uint8_t data [56];
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};
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typedef struct device3_payload_packet_t device3_payload_packet_type;
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static bool send_payload_msg(device3_type* device, uint8_t msgid, uint8_t len, const uint8_t* data) {
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static device3_payload_packet_type packet;
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const uint16_t packet_len = 3 + len;
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const uint16_t payload_len = 5 + packet_len;
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packet.head = 0xAA;
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packet.length = packet_len;
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packet.msgid = msgid;
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memcpy(packet.data, data, len);
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packet.checksum = crc32_checksum((const uint8_t*) (&packet.length), packet.length);
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return send_payload(device, payload_len, (uint8_t*) (&packet));
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}
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static bool send_payload_msg_signal(device3_type* device, uint8_t msgid, uint8_t signal) {
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return send_payload_msg(device, msgid, 1, &signal);
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}
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static bool recv_payload_msg(device3_type* device, uint8_t msgid, uint8_t len, uint8_t* data) {
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static device3_payload_packet_type packet;
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packet.head = 0;
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packet.length = 0;
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packet.msgid = 0;
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const uint16_t packet_len = 3 + len;
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const uint16_t payload_len = 5 + packet_len;
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if (!recv_payload(device, payload_len, (uint8_t*) (&packet))) {
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return false;
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}
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if (packet.msgid != msgid) {
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return false;
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}
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memcpy(data, packet.data, len);
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return true;
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}
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static FusionVector json_object_get_vector(struct json_object* obj) {
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if ((!json_object_is_type(obj, json_type_array)) ||
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(json_object_array_length(obj) != 3)) {
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return FUSION_VECTOR_ZERO;
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}
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FusionVector vector;
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vector.axis.x = (float) json_object_get_double(json_object_array_get_idx(obj, 0));
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vector.axis.y = (float) json_object_get_double(json_object_array_get_idx(obj, 1));
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vector.axis.z = (float) json_object_get_double(json_object_array_get_idx(obj, 2));
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return vector;
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}
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static FusionQuaternion json_object_get_quaternion(struct json_object* obj) {
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if ((!json_object_is_type(obj, json_type_array)) ||
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(json_object_array_length(obj) != 3)) {
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return FUSION_IDENTITY_QUATERNION;
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}
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FusionQuaternion quaternion;
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quaternion.element.x = (float) json_object_get_double(json_object_array_get_idx(obj, 0));
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quaternion.element.y = (float) json_object_get_double(json_object_array_get_idx(obj, 1));
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quaternion.element.z = (float) json_object_get_double(json_object_array_get_idx(obj, 2));
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quaternion.element.w = (float) json_object_get_double(json_object_array_get_idx(obj, 3));
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return quaternion;
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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 (!send_payload_msg(device, DEVICE3_MSG_GET_STATIC_ID, 0, NULL)) {
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return device;
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}
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uint32_t static_id = 0;
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if (recv_payload_msg(device, DEVICE3_MSG_GET_STATIC_ID, 4, (uint8_t*) &static_id)) {
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device->static_id = static_id;
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} else {
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device->static_id = 0x20220101;
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}
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device->calibration = malloc(sizeof(device3_calibration_type));
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device3_reset_calibration(device);
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if (!send_payload_msg(device, DEVICE3_MSG_GET_CAL_DATA_LENGTH, 0, NULL)) {
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return device;
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}
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uint32_t calibration_len = 0;
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if (recv_payload_msg(device, DEVICE3_MSG_GET_CAL_DATA_LENGTH, 4, (uint8_t*) &calibration_len)) {
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char* calibration_data = malloc(calibration_len);
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uint32_t position = 0;
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while (position < calibration_len) {
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const uint32_t remaining = (calibration_len - position);
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if (!send_payload_msg(device, DEVICE3_MSG_CAL_DATA_GET_NEXT_SEGMENT, 0, NULL)) {
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break;
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}
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const uint8_t next = (remaining > 56? 56 : remaining);
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if (!recv_payload_msg(device, DEVICE3_MSG_CAL_DATA_GET_NEXT_SEGMENT, next, (uint8_t*) calibration_data + position)) {
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break;
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}
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position += next;
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}
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struct json_tokener* tokener = json_tokener_new();
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struct json_object* root = json_tokener_parse_ex(tokener, calibration_data, calibration_len);
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struct json_object* imu = json_object_object_get(root, "IMU");
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struct json_object* dev1 = json_object_object_get(imu, "device_1");
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FusionVector accel_bias = json_object_get_vector(json_object_object_get(dev1, "accel_bias"));
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FusionQuaternion accel_q_gyro = json_object_get_quaternion(json_object_object_get(dev1, "accel_q_gyro"));
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FusionVector gyro_bias = json_object_get_vector(json_object_object_get(dev1, "gyro_bias"));
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FusionVector gyro_p_mag = json_object_get_vector(json_object_object_get(dev1, "gyro_p_mag"));
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FusionQuaternion gyro_q_mag = json_object_get_quaternion(json_object_object_get(dev1, "gyro_q_mag"));
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FusionQuaternion imu_noises = json_object_get_quaternion(json_object_object_get(dev1, "imu_noises"));
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FusionVector mag_bias = json_object_get_vector(json_object_object_get(dev1, "mag_bias"));
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FusionVector scale_accel = json_object_get_vector(json_object_object_get(dev1, "scale_accel"));
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FusionVector scale_gyro = json_object_get_vector(json_object_object_get(dev1, "scale_gyro"));
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//FusionVector scale_mag = json_object_get_vector(json_object_object_get(dev1, "scale_mag"));
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FusionMatrix gyro_misalignment = FusionQuaternionToMatrix(accel_q_gyro);
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FusionQuaternion accel_q_mag = FusionQuaternionMultiply(accel_q_gyro, gyro_q_mag);
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device->calibration->gyroscopeMisalignment = gyro_misalignment;
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device->calibration->gyroscopeSensitivity = scale_gyro;
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device->calibration->gyroscopeOffset = gyro_bias;
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device->calibration->accelerometerSensitivity = scale_accel;
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device->calibration->accelerometerOffset = accel_bias;
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FusionMatrix mag_misalignment = FusionQuaternionToMatrix(accel_q_mag);
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mag_bias = FusionMatrixMultiplyVector(mag_misalignment, mag_bias);
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device->calibration->softIronMatrix = mag_misalignment;
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device->calibration->hardIronOffset = FusionVectorAdd(gyro_p_mag, mag_bias);
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device->calibration->noises = imu_noises;
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json_tokener_free(tokener);
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free(calibration_data);
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}
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if (!send_payload_msg_signal(device, DEVICE3_MSG_START_IMU_DATA, 0x1)) {
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return device;
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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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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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device->calibration->noises = FUSION_IDENTITY_QUATERNION;
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device->calibration->noises.element.w = 0.0f;
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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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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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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);
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}
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static int32_t pack32bit_signed(const uint8_t* data) {
|
|
uint32_t unsigned_value = (data[0]) | (data[1] << 8) | (data[2] << 16) | (data[3] << 24);
|
|
return ((int32_t) unsigned_value);
|
|
}
|
|
|
|
static int32_t pack24bit_signed(const uint8_t* data) {
|
|
uint32_t unsigned_value = (data[0]) | (data[1] << 8) | (data[2] << 16);
|
|
if ((data[2] & 0x80) != 0) unsigned_value |= (0xFF << 24);
|
|
return ((int32_t) unsigned_value);
|
|
}
|
|
|
|
static int16_t pack16bit_signed(const uint8_t* data) {
|
|
uint16_t unsigned_value = (data[0]) | (data[1] << 8);
|
|
return (int16_t) unsigned_value;
|
|
}
|
|
|
|
static int32_t pack32bit_signed_swap(const uint8_t* data) {
|
|
uint32_t unsigned_value = (data[0] << 24) | (data[1] << 16) | (data[2] << 8) | (data[3]);
|
|
return ((int32_t) unsigned_value);
|
|
}
|
|
|
|
static int16_t pack16bit_signed_swap(const uint8_t* data) {
|
|
uint16_t unsigned_value = (data[0] << 8) | (data[1]);
|
|
return (int16_t) unsigned_value;
|
|
}
|
|
|
|
static void readIMU_from_packet(const device3_packet_type* packet,
|
|
FusionVector* gyroscope,
|
|
FusionVector* accelerometer,
|
|
FusionVector* magnetometer) {
|
|
int32_t vel_m = pack16bit_signed(packet->angular_multiplier);
|
|
int32_t vel_d = pack32bit_signed(packet->angular_divisor);
|
|
|
|
int32_t vel_x = pack24bit_signed(packet->angular_velocity_x);
|
|
int32_t vel_y = pack24bit_signed(packet->angular_velocity_y);
|
|
int32_t vel_z = pack24bit_signed(packet->angular_velocity_z);
|
|
|
|
gyroscope->axis.x = (float) vel_x * (float) vel_m / (float) vel_d;
|
|
gyroscope->axis.y = (float) vel_y * (float) vel_m / (float) vel_d;
|
|
gyroscope->axis.z = (float) vel_z * (float) vel_m / (float) vel_d;
|
|
|
|
int32_t accel_m = pack16bit_signed(packet->acceleration_multiplier);
|
|
int32_t accel_d = pack32bit_signed(packet->acceleration_divisor);
|
|
|
|
int32_t accel_x = pack24bit_signed(packet->acceleration_x);
|
|
int32_t accel_y = pack24bit_signed(packet->acceleration_y);
|
|
int32_t accel_z = pack24bit_signed(packet->acceleration_z);
|
|
|
|
accelerometer->axis.x = (float) accel_x * (float) accel_m / (float) accel_d;
|
|
accelerometer->axis.y = (float) accel_y * (float) accel_m / (float) accel_d;
|
|
accelerometer->axis.z = (float) accel_z * (float) accel_m / (float) accel_d;
|
|
|
|
int32_t magnet_m = pack16bit_signed_swap(packet->magnetic_multiplier);
|
|
int32_t magnet_d = pack32bit_signed_swap(packet->magnetic_divisor);
|
|
|
|
int16_t magnet_x = pack16bit_signed_swap(packet->magnetic_x);
|
|
int16_t magnet_y = pack16bit_signed_swap(packet->magnetic_y);
|
|
int16_t magnet_z = pack16bit_signed_swap(packet->magnetic_z);
|
|
|
|
magnetometer->axis.x = (float) magnet_x * (float) magnet_m / (float) magnet_d;
|
|
magnetometer->axis.y = (float) magnet_y * (float) magnet_m / (float) magnet_d;
|
|
magnetometer->axis.z = (float) magnet_z * (float) magnet_m / (float) magnet_d;
|
|
}
|
|
|
|
#define min(x, y) ((x) < (y)? (x) : (y))
|
|
#define max(x, y) ((x) > (y)? (x) : (y))
|
|
|
|
static void apply_calibration(const device3_type* device,
|
|
FusionVector* gyroscope,
|
|
FusionVector* accelerometer,
|
|
FusionVector* magnetometer) {
|
|
FusionMatrix gyroscopeMisalignment;
|
|
FusionVector gyroscopeSensitivity;
|
|
FusionVector gyroscopeOffset;
|
|
|
|
FusionMatrix accelerometerMisalignment;
|
|
FusionVector accelerometerSensitivity;
|
|
FusionVector accelerometerOffset;
|
|
|
|
FusionMatrix softIronMatrix;
|
|
FusionVector hardIronOffset;
|
|
|
|
if (device->calibration) {
|
|
gyroscopeMisalignment = device->calibration->gyroscopeMisalignment;
|
|
gyroscopeSensitivity = device->calibration->gyroscopeSensitivity;
|
|
gyroscopeOffset = device->calibration->gyroscopeOffset;
|
|
|
|
accelerometerMisalignment = device->calibration->accelerometerMisalignment;
|
|
accelerometerSensitivity = device->calibration->accelerometerSensitivity;
|
|
accelerometerOffset = device->calibration->accelerometerOffset;
|
|
|
|
softIronMatrix = device->calibration->softIronMatrix;
|
|
hardIronOffset = device->calibration->hardIronOffset;
|
|
} else {
|
|
gyroscopeMisalignment = FUSION_IDENTITY_MATRIX;
|
|
gyroscopeSensitivity = FUSION_VECTOR_ONES;
|
|
gyroscopeOffset = FUSION_VECTOR_ZERO;
|
|
|
|
accelerometerMisalignment = FUSION_IDENTITY_MATRIX;
|
|
accelerometerSensitivity = FUSION_VECTOR_ONES;
|
|
accelerometerOffset = FUSION_VECTOR_ZERO;
|
|
|
|
accelerometerMisalignment.array[2][2] = -1.0f;
|
|
|
|
softIronMatrix = FUSION_IDENTITY_MATRIX;
|
|
hardIronOffset = FUSION_VECTOR_ZERO;
|
|
}
|
|
|
|
*gyroscope = FusionCalibrationInertial(
|
|
*gyroscope,
|
|
gyroscopeMisalignment,
|
|
gyroscopeSensitivity,
|
|
gyroscopeOffset
|
|
);
|
|
|
|
*accelerometer = FusionCalibrationInertial(
|
|
*accelerometer,
|
|
accelerometerMisalignment,
|
|
accelerometerSensitivity,
|
|
accelerometerOffset
|
|
);
|
|
|
|
*magnetometer = FusionCalibrationMagnetic(
|
|
*magnetometer,
|
|
softIronMatrix,
|
|
hardIronOffset
|
|
);
|
|
}
|
|
|
|
int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool accel, bool magnet) {
|
|
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;
|
|
int transferred, error;
|
|
|
|
bool initialized = false;
|
|
|
|
FusionVector cal_gyroscope;
|
|
FusionVector cal_accelerometer;
|
|
FusionVector cal_magnetometer [2];
|
|
|
|
const float factor = iterations > 0? 1.0f / ((float) iterations) : 0.0f;
|
|
|
|
while (iterations > 0) {
|
|
memset(&packet, 0, sizeof(device3_packet_type));
|
|
|
|
transferred = 0;
|
|
error = libusb_bulk_transfer(
|
|
device->handle,
|
|
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);
|
|
|
|
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;
|
|
}
|
|
|
|
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);
|
|
|
|
// According to the ICM-42688-P datasheet: (offset: 25 °C, sensitivity: 132.48 LSB/°C)
|
|
device->temperature = ((float) temperature) / 132.48f + 25.0f;
|
|
|
|
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);
|
|
|
|
FusionAhrsUpdate((FusionAhrs*) device->ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
|
|
|
|
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) {
|
|
FusionQuaternion quaternion = FusionAhrsGetQuaternion((const FusionAhrs*) ahrs);
|
|
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);
|
|
}
|