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Diffstat (limited to 'libsensors/akmdfs/AKFS_APIs.c')
| -rw-r--r-- | libsensors/akmdfs/AKFS_APIs.c | 389 |
1 files changed, 0 insertions, 389 deletions
diff --git a/libsensors/akmdfs/AKFS_APIs.c b/libsensors/akmdfs/AKFS_APIs.c deleted file mode 100644 index ace9bc1..0000000 --- a/libsensors/akmdfs/AKFS_APIs.c +++ /dev/null @@ -1,389 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * - ******************************************************************************/ -#include "AKFS_Common.h" -#include "AKFS_Disp.h" -#include "AKFS_FileIO.h" -#include "AKFS_APIs.h" - -#ifdef WIN32 -#include "AK8975_LinuxDriver.h" -#endif - -static AK8975PRMS g_prms; - -/*! - Initialize library. At first, 0 is set to all parameters. After that, some - parameters, which should not be 0, are set to specific value. Some of initial - values can be customized by editing the file \c "AKFS_CSpec.h". - @return The return value is #AKM_SUCCESS. - @param[in] hpat Specify a layout pattern number. The number is determined - according to the mount orientation of the magnetometer. - @param[in] regs[3] Specify the ASA values which are read out from - fuse ROM. regs[0] is ASAX, regs[1] is ASAY, regs[2] is ASAZ. - */ -int16 AKFS_Init( - const AKFS_PATNO hpat, - const uint8 regs[] -) -{ - AKMDATA(AKMDATA_DUMP, "%s: hpat=%d, r[0]=0x%02X, r[1]=0x%02X, r[2]=0x%02X\n", - __FUNCTION__, hpat, regs[0], regs[1], regs[2]); - - /* Set 0 to the AK8975 structure. */ - memset(&g_prms, 0, sizeof(AK8975PRMS)); - - /* Sensitivity */ - g_prms.mfv_hs.u.x = AK8975_HSENSE_DEFAULT; - g_prms.mfv_hs.u.y = AK8975_HSENSE_DEFAULT; - g_prms.mfv_hs.u.z = AK8975_HSENSE_DEFAULT; - g_prms.mfv_as.u.x = AK8975_ASENSE_DEFAULT; - g_prms.mfv_as.u.y = AK8975_ASENSE_DEFAULT; - g_prms.mfv_as.u.z = AK8975_ASENSE_DEFAULT; - - /* Initialize variables that initial value is not 0. */ - g_prms.mi_hnaveV = CSPEC_HNAVE_V; - g_prms.mi_hnaveD = CSPEC_HNAVE_D; - g_prms.mi_anaveV = CSPEC_ANAVE_V; - g_prms.mi_anaveD = CSPEC_ANAVE_D; - - /* Copy ASA values */ - g_prms.mi_asa.u.x = regs[0]; - g_prms.mi_asa.u.y = regs[1]; - g_prms.mi_asa.u.z = regs[2]; - - /* Copy layout pattern */ - g_prms.m_hpat = hpat; - - return AKM_SUCCESS; -} - -/*! - Release resources. This function is for future expansion. - @return The return value is #AKM_SUCCESS. - */ -int16 AKFS_Release(void) -{ - return AKM_SUCCESS; -} - -/* - This function is called just before a measurement sequence starts. - This function reads parameters from file, then initializes algorithm - parameters. - @return The return value is #AKM_SUCCESS. - @param[in] path Specify a path to the settings file. - */ -int16 AKFS_Start( - const char* path -) -{ - AKMDATA(AKMDATA_DUMP, "%s: path=%s\n", __FUNCTION__, path); - - /* Read setting files from a file */ - if (AKFS_LoadParameters(&g_prms, path) != AKM_SUCCESS) { - AKMERROR_STR("AKFS_Load"); - } - - /* Initialize buffer */ - AKFS_InitBuffer(AKFS_HDATA_SIZE, g_prms.mfv_hdata); - AKFS_InitBuffer(AKFS_HDATA_SIZE, g_prms.mfv_hvbuf); - AKFS_InitBuffer(AKFS_ADATA_SIZE, g_prms.mfv_adata); - AKFS_InitBuffer(AKFS_ADATA_SIZE, g_prms.mfv_avbuf); - - /* Initialize for AOC */ - AKFS_InitAOC(&g_prms.m_aocv); - /* Initialize magnetic status */ - g_prms.mi_hstatus = 0; - - return AKM_SUCCESS; -} - -/*! - This function is called when a measurement sequence is done. - This fucntion writes parameters to file. - @return The return value is #AKM_SUCCESS. - @param[in] path Specify a path to the settings file. - */ -int16 AKFS_Stop( - const char* path -) -{ - AKMDATA(AKMDATA_DUMP, "%s: path=%s\n", __FUNCTION__, path); - - /* Write setting files to a file */ - if (AKFS_SaveParameters(&g_prms, path) != AKM_SUCCESS) { - AKMERROR_STR("AKFS_Save"); - } - - return AKM_SUCCESS; -} - -/*! - This function is called when new magnetometer data is available. The output - vector format and coordination system follow the Android definition. - @return The return value is #AKM_SUCCESS. - Otherwise the return value is #AKM_FAIL. - @param[in] mag A set of measurement data from magnetometer. X axis value - should be in mag[0], Y axis value should be in mag[1], Z axis value should be - in mag[2]. - @param[in] status A status of magnetometer. This status indicates the result - of measurement data, i.e. overflow, success or fail, etc. - @param[out] vx X axis value of magnetic field vector. - @param[out] vy Y axis value of magnetic field vector. - @param[out] vz Z axis value of magnetic field vector. - @param[out] accuracy Accuracy of magnetic field vector. - */ -int16 AKFS_Get_MAGNETIC_FIELD( - const int16 mag[3], - const int16 status, - AKFLOAT* vx, - AKFLOAT* vy, - AKFLOAT* vz, - int16* accuracy -) -{ - int16 akret; - int16 aocret; - AKFLOAT radius; - - AKMDATA(AKMDATA_DUMP, "%s: m[0]=%d, m[1]=%d, m[2]=%d, st=%d\n", - __FUNCTION__, mag[0], mag[1], mag[2], status); - - /* Decomposition */ - /* Sensitivity adjustment, i.e. multiply ASA, is done in this function. */ - akret = AKFS_DecompAK8975( - mag, - status, - &g_prms.mi_asa, - AKFS_HDATA_SIZE, - g_prms.mfv_hdata - ); - if(akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - - /* Adjust coordination */ - akret = AKFS_Rotate( - g_prms.m_hpat, - &g_prms.mfv_hdata[0] - ); - if (akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - - /* AOC for magnetometer */ - /* Offset estimation is done in this function */ - aocret = AKFS_AOC( - &g_prms.m_aocv, - g_prms.mfv_hdata, - &g_prms.mfv_ho - ); - - /* Subtract offset */ - /* Then, a magnetic vector, the unit is uT, is stored in mfv_hvbuf. */ - akret = AKFS_VbNorm( - AKFS_HDATA_SIZE, - g_prms.mfv_hdata, - 1, - &g_prms.mfv_ho, - &g_prms.mfv_hs, - AK8975_HSENSE_TARGET, - AKFS_HDATA_SIZE, - g_prms.mfv_hvbuf - ); - if(akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - - /* Averaging */ - akret = AKFS_VbAve( - AKFS_HDATA_SIZE, - g_prms.mfv_hvbuf, - CSPEC_HNAVE_V, - &g_prms.mfv_hvec - ); - if (akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - - /* Check the size of magnetic vector */ - radius = AKFS_SQRT( - (g_prms.mfv_hvec.u.x * g_prms.mfv_hvec.u.x) + - (g_prms.mfv_hvec.u.y * g_prms.mfv_hvec.u.y) + - (g_prms.mfv_hvec.u.z * g_prms.mfv_hvec.u.z)); - - if (radius > AKFS_GEOMAG_MAX) { - g_prms.mi_hstatus = 0; - } else { - if (aocret) { - g_prms.mi_hstatus = 3; - } - } - - *vx = g_prms.mfv_hvec.u.x; - *vy = g_prms.mfv_hvec.u.y; - *vz = g_prms.mfv_hvec.u.z; - *accuracy = g_prms.mi_hstatus; - - /* Debug output */ - AKMDATA(AKMDATA_MAG, "Mag(%d):%8.2f, %8.2f, %8.2f\n", - *accuracy, *vx, *vy, *vz); - - return AKM_SUCCESS; -} - -/*! - This function is called when new accelerometer data is available. The output - vector format and coordination system follow the Android definition. - @return The return value is #AKM_SUCCESS when function succeeds. Otherwise - the return value is #AKM_FAIL. - @param[in] acc A set of measurement data from accelerometer. X axis value - should be in acc[0], Y axis value should be in acc[1], Z axis value should be - in acc[2]. - @param[in] status A status of accelerometer. This status indicates the result - of acceleration data, i.e. overflow, success or fail, etc. - @param[out] vx X axis value of acceleration vector. - @param[out] vy Y axis value of acceleration vector. - @param[out] vz Z axis value of acceleration vector. - @param[out] accuracy Accuracy of acceleration vector. - This value is always 3. - */ -int16 AKFS_Get_ACCELEROMETER( - const int16 acc[3], - const int16 status, - AKFLOAT* vx, - AKFLOAT* vy, - AKFLOAT* vz, - int16* accuracy -) -{ - int16 akret; - - AKMDATA(AKMDATA_DUMP, "%s: a[0]=%d, a[1]=%d, a[2]=%d, st=%d\n", - __FUNCTION__, acc[0], acc[1], acc[2], status); - - /* Save data to buffer */ - AKFS_BufShift( - AKFS_ADATA_SIZE, - 1, - g_prms.mfv_adata - ); - g_prms.mfv_adata[0].u.x = acc[0]; - g_prms.mfv_adata[0].u.y = acc[1]; - g_prms.mfv_adata[0].u.z = acc[2]; - - /* Subtract offset, adjust sensitivity */ - /* As a result, a unit of acceleration data in mfv_avbuf is '1G = 9.8' */ - akret = AKFS_VbNorm( - AKFS_ADATA_SIZE, - g_prms.mfv_adata, - 1, - &g_prms.mfv_ao, - &g_prms.mfv_as, - AK8975_ASENSE_TARGET, - AKFS_ADATA_SIZE, - g_prms.mfv_avbuf - ); - if(akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - - /* Averaging */ - akret = AKFS_VbAve( - AKFS_ADATA_SIZE, - g_prms.mfv_avbuf, - CSPEC_ANAVE_V, - &g_prms.mfv_avec - ); - if (akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - - /* Adjust coordination */ - /* It is not needed. Because, the data from AK8975 driver is already - follows Android coordinate system. */ - - *vx = g_prms.mfv_avec.u.x; - *vy = g_prms.mfv_avec.u.y; - *vz = g_prms.mfv_avec.u.z; - *accuracy = 3; - - /* Debug output */ - AKMDATA(AKMDATA_ACC, "Acc(%d):%8.2f, %8.2f, %8.2f\n", - *accuracy, *vx, *vy, *vz); - - return AKM_SUCCESS; -} - -/*! - Get orientation sensor's elements. The vector format and coordination system - follow the Android definition. Before this function is called, magnetic - field vector and acceleration vector should be stored in the buffer by - calling #AKFS_Get_MAGNETIC_FIELD and #AKFS_Get_ACCELEROMETER. - @return The return value is #AKM_SUCCESS when function succeeds. Otherwise - the return value is #AKM_FAIL. - @param[out] azimuth Azimuthal angle in degree. - @param[out] pitch Pitch angle in degree. - @param[out] roll Roll angle in degree. - @param[out] accuracy Accuracy of orientation sensor. - */ -int16 AKFS_Get_ORIENTATION( - AKFLOAT* azimuth, - AKFLOAT* pitch, - AKFLOAT* roll, - int16* accuracy -) -{ - int16 akret; - - /* Azimuth calculation */ - /* Coordination system follows the Android coordination. */ - akret = AKFS_Direction( - AKFS_HDATA_SIZE, - g_prms.mfv_hvbuf, - CSPEC_HNAVE_D, - AKFS_ADATA_SIZE, - g_prms.mfv_avbuf, - CSPEC_ANAVE_D, - &g_prms.mf_azimuth, - &g_prms.mf_pitch, - &g_prms.mf_roll - ); - - if(akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - *azimuth = g_prms.mf_azimuth; - *pitch = g_prms.mf_pitch; - *roll = g_prms.mf_roll; - *accuracy = g_prms.mi_hstatus; - - /* Debug output */ - AKMDATA(AKMDATA_ORI, "Ori(%d):%8.2f, %8.2f, %8.2f\n", - *accuracy, *azimuth, *pitch, *roll); - - return AKM_SUCCESS; -} - |