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