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/*
* Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
* Copyright (c) 2016 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* Thanks to https://github.com/01org/android-iio-sensors-hal for gyroscope
* calibration and denoise algorithm.
*/
#pragma once
#include <string>
#include <mraa/iio.h>
namespace upm
{
/**
* @brief L3GD20 Tri-axis Digital Gyroscope
* @defgroup l3gd20 libupm-l3gd20
* @ingroup STMicroelectronics iio i2c tri-axis digital gyroscope
*/
/**
* @library l3gd20
* @sensor l3gd20
* @comname L3GD20 Tri-axis Digital Gyroscope
* @type gyroscope
* @man STMicroelectronics
* @con iio i2c
*
* @brief L3GD20 Tri-axis Digital Gyroscope API
*
* The L3GD20 The L3GD20 is a low-power three-axis angular rate sensor.
*
* @snippet l3gd20.cxx Interesting
*/
class L3GD20
{
public:
typedef struct {
float bias_x, bias_y, bias_z;
int count;
float min_x, min_y, min_z;
float max_x, max_y, max_z;
} gyro_cal_t;
typedef struct {
float* buff;
unsigned int idx;
unsigned int count;
unsigned int sample_size;
} filter_median_t;
/**
* L3GD20 Tri-axis Digital Gyroscope
*
* @param iio device number
*/
L3GD20(int device);
/**
* L3GD20 destructor
*/
~L3GD20();
/**
* Installs an interrupt service routine (ISR) to be called when
* an interrupt occurs
*
* @param interrupt channel
* @param fptr Pointer to a function to be called on interrupt
* @param arg Pointer to an object to be supplied as an
* argument to the ISR.
*/
void installISR(void (*isr)(char*), void* arg);
/**
* Extract the channel value based on channel type
* @param input Channel data
* @param chan MRAA iio-layer channel info
*/
int64_t getChannelValue(unsigned char* input, mraa_iio_channel* chan);
/**
* Enable trigger buffer
* @param trigger buffer length in integer
*/
bool enableBuffer(int length);
/**
* Disable trigger buffer
*/
bool disableBuffer();
/**
* Set scale
* @param scale in float
* Available scales are 0.000153(250dps), 0.000305(500dps), and 0.001222(2000dps)
* Default scale is 0.000153
*/
bool setScale(const float scale);
/**
* Set sampling frequency
* @param sampling frequency in float
* Available sampling frequency are 95, 190, 380, and 760
* Default sampling frequency is 95
*/
bool setSamplingFrequency(const float sampling_frequency);
/**
* Enable 3 axis scan element
*/
bool enable3AxisChannel();
/**
* Process enabled channel buffer and return x, y, z axis
* @param data Enabled channel data, 6 bytes, each axis 2 bytes
* @param x X-Axis
* @param y Y-Axis
* @param z Z-Axis
*/
bool extract3Axis(char* data, float* x, float* y, float* z);
/**
* Reset calibration data and start collect calibration data again
*/
void initCalibrate();
/**
* Get calibrated status, return true if calibrate successfully
*/
bool getCalibratedStatus();
/**
* Get calibrated data
*/
void getCalibratedData(float* bias_x, float* bias_y, float* bias_z);
/**
* Load calibrated data
*/
void loadCalibratedData(float bias_x, float bias_y, float bias_z);
/**
* Calibrate gyro
* @param x X-Axis
* @param y Y-Axis
* @param z Z-Axis
*/
bool gyroCollect(float x, float y, float z);
/**
* Denoise gyro
* @param x X-Axis
* @param y Y-Axis
* @param z Z-Axis
*/
void gyroDenoiseMedian(float* x, float* y, float* z);
/**
* median algorithm
* @param queue
* @param size
*/
float median(float* queue, unsigned int size);
/**
* partition algorithm
* @param list
* @param left
* @param right
* @param pivot_index
*/
unsigned int
partition(float* list, unsigned int left, unsigned int right, unsigned int pivot_index);
/**
* Clamp Gyro Readings to Zero
* @param x X-Axis
* @param y Y-Axis
* @param z Z-Axis
*/
void clampGyroReadingsToZero(float* x, float* y, float* z);
private:
mraa_iio_context m_iio;
int m_iio_device_num;
bool m_mount_matrix_exist; // is mount matrix exist
float m_mount_matrix[9]; // mount matrix
float m_scale; // gyroscope data scale
int m_event_count; // sample data arrive
bool m_calibrated; // calibrate state
gyro_cal_t m_cal_data; // calibrate data
filter_median_t m_filter; // filter data
};
}
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