mirror of
https://github.com/HifiExperiments/overte.git
synced 2025-06-29 19:59:57 +02:00
284 lines
10 KiB
C++
284 lines
10 KiB
C++
//
|
|
// SerialInterface.cpp
|
|
// 2012 by Philip Rosedale for High Fidelity Inc.
|
|
//
|
|
// Read interface data from the gyros/accelerometer Invensense board using the SerialUSB
|
|
//
|
|
|
|
#include "SerialInterface.h"
|
|
|
|
#ifdef __APPLE__
|
|
#include <regex.h>
|
|
#include <sys/time.h>
|
|
#include <string>
|
|
#endif
|
|
|
|
const short NO_READ_MAXIMUM_MSECS = 3000;
|
|
const int GRAVITY_SAMPLES = 60; // Use the first few samples to baseline values
|
|
const int LONG_TERM_RATE_SAMPLES = 1000;
|
|
|
|
const bool USING_INVENSENSE_MPU9150 = 1;
|
|
|
|
void SerialInterface::pair() {
|
|
|
|
#ifdef __APPLE__
|
|
// look for a matching gyro setup
|
|
DIR *devDir;
|
|
struct dirent *entry;
|
|
int matchStatus;
|
|
regex_t regex;
|
|
|
|
// for now this only works on OS X, where the usb serial shows up as /dev/tty.usb*
|
|
if((devDir = opendir("/dev"))) {
|
|
while((entry = readdir(devDir))) {
|
|
regcomp(®ex, "tty\\.usb", REG_EXTENDED|REG_NOSUB);
|
|
matchStatus = regexec(®ex, entry->d_name, (size_t) 0, NULL, 0);
|
|
if (matchStatus == 0) {
|
|
char *serialPortname = new char[100];
|
|
sprintf(serialPortname, "/dev/%s", entry->d_name);
|
|
|
|
initializePort(serialPortname);
|
|
|
|
delete [] serialPortname;
|
|
}
|
|
regfree(®ex);
|
|
}
|
|
closedir(devDir);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
// connect to the serial port
|
|
void SerialInterface::initializePort(char* portname) {
|
|
#ifdef __APPLE__
|
|
_serialDescriptor = open(portname, O_RDWR | O_NOCTTY | O_NDELAY);
|
|
|
|
printLog("Opening SerialUSB %s: ", portname);
|
|
|
|
if (_serialDescriptor == -1) {
|
|
printLog("Failed.\n");
|
|
return;
|
|
}
|
|
|
|
struct termios options;
|
|
tcgetattr(_serialDescriptor, &options);
|
|
|
|
options.c_cflag |= (CLOCAL | CREAD | CS8);
|
|
options.c_cflag &= ~PARENB;
|
|
options.c_cflag &= ~CSTOPB;
|
|
options.c_cflag &= ~CSIZE;
|
|
tcsetattr(_serialDescriptor, TCSANOW, &options);
|
|
|
|
cfsetispeed(&options,B115200);
|
|
cfsetospeed(&options,B115200);
|
|
|
|
if (USING_INVENSENSE_MPU9150) {
|
|
// block on invensense reads until there is data to read
|
|
int currentFlags = fcntl(_serialDescriptor, F_GETFL);
|
|
fcntl(_serialDescriptor, F_SETFL, currentFlags & ~O_NONBLOCK);
|
|
|
|
// there are extra commands to send to the invensense when it fires up
|
|
|
|
// this takes it out of SLEEP
|
|
write(_serialDescriptor, "WR686B01\n", 9);
|
|
|
|
// delay after the wakeup
|
|
usleep(10000);
|
|
|
|
// this disables streaming so there's no garbage data on reads
|
|
write(_serialDescriptor, "SD\n", 3);
|
|
|
|
// delay after disabling streaming
|
|
usleep(10000);
|
|
|
|
// flush whatever was produced by the last two commands
|
|
tcflush(_serialDescriptor, TCIOFLUSH);
|
|
}
|
|
|
|
printLog("Connected.\n");
|
|
resetSerial();
|
|
|
|
active = true;
|
|
#endif
|
|
}
|
|
|
|
// Render the serial interface channel values onscreen as vertical lines
|
|
void SerialInterface::renderLevels(int width, int height) {
|
|
char val[40];
|
|
if (USING_INVENSENSE_MPU9150) {
|
|
// For invensense gyros, render as horizontal bars
|
|
const int LEVEL_CORNER_X = 10;
|
|
const int LEVEL_CORNER_Y = 200;
|
|
|
|
// Draw the numeric degree/sec values from the gyros
|
|
sprintf(val, "Yaw %4.1f", getLastYawRate());
|
|
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y, 0.10, 0, 1.0, 1, val, 0, 1, 0);
|
|
sprintf(val, "Pitch %4.1f", getLastPitchRate());
|
|
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 15, 0.10, 0, 1.0, 1, val, 0, 1, 0);
|
|
sprintf(val, "Roll %4.1f", getLastRollRate());
|
|
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 30, 0.10, 0, 1.0, 1, val, 0, 1, 0);
|
|
sprintf(val, "X %4.3f", _lastAccelX);
|
|
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 45, 0.10, 0, 1.0, 1, val, 0, 1, 0);
|
|
sprintf(val, "Y %4.3f", _lastAccelY);
|
|
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 60, 0.10, 0, 1.0, 1, val, 0, 1, 0);
|
|
sprintf(val, "Z %4.3f", _lastAccelZ);
|
|
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 75, 0.10, 0, 1.0, 1, val, 0, 1, 0);
|
|
|
|
// Draw the levels as horizontal lines
|
|
const int LEVEL_CENTER = 150;
|
|
const float ACCEL_VIEW_SCALING = 50.f;
|
|
glLineWidth(2.0);
|
|
glColor4f(1, 1, 1, 1);
|
|
glBegin(GL_LINES);
|
|
// Gyro rates
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 3);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + getLastYawRate(), LEVEL_CORNER_Y - 3);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 12);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + getLastPitchRate(), LEVEL_CORNER_Y + 12);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 27);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + getLastRollRate(), LEVEL_CORNER_Y + 27);
|
|
// Gyro Estimated Rotation
|
|
glColor4f(0, 1, 1, 1);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 1);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _estimatedRotation.y, LEVEL_CORNER_Y - 1);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 14);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _estimatedRotation.z, LEVEL_CORNER_Y + 14);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 29);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _estimatedRotation.x, LEVEL_CORNER_Y + 29);
|
|
|
|
|
|
// Acceleration
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 42);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + (int)((_lastAccelX - _gravity.x)* ACCEL_VIEW_SCALING),
|
|
LEVEL_CORNER_Y + 42);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 57);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + (int)((_lastAccelY - _gravity.y) * ACCEL_VIEW_SCALING),
|
|
LEVEL_CORNER_Y + 57);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 72);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + (int)((_lastAccelZ - _gravity.z) * ACCEL_VIEW_SCALING),
|
|
LEVEL_CORNER_Y + 72);
|
|
|
|
glEnd();
|
|
// Draw green vertical centerline
|
|
glColor4f(0, 1, 0, 0.5);
|
|
glBegin(GL_LINES);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 6);
|
|
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 30);
|
|
glEnd();
|
|
}
|
|
}
|
|
|
|
void convertHexToInt(unsigned char* sourceBuffer, int& destinationInt) {
|
|
unsigned int byte[2];
|
|
|
|
for(int i = 0; i < 2; i++) {
|
|
sscanf((char*) sourceBuffer + 2 * i, "%2x", &byte[i]);
|
|
}
|
|
|
|
int16_t result = (byte[0] << 8);
|
|
result += byte[1];
|
|
|
|
destinationInt = result;
|
|
}
|
|
void SerialInterface::readData(float deltaTime) {
|
|
#ifdef __APPLE__
|
|
|
|
int initialSamples = totalSamples;
|
|
|
|
if (USING_INVENSENSE_MPU9150) {
|
|
unsigned char sensorBuffer[36];
|
|
|
|
// ask the invensense for raw gyro data
|
|
write(_serialDescriptor, "RD683B0E\n", 9);
|
|
read(_serialDescriptor, sensorBuffer, 36);
|
|
|
|
int accelXRate, accelYRate, accelZRate;
|
|
|
|
convertHexToInt(sensorBuffer + 6, accelZRate);
|
|
convertHexToInt(sensorBuffer + 10, accelYRate);
|
|
convertHexToInt(sensorBuffer + 14, accelXRate);
|
|
|
|
const float LSB_TO_METERS_PER_SECOND2 = 1.f / 16384.f * GRAVITY_EARTH;
|
|
// From MPU-9150 register map, with setting on
|
|
// highest resolution = +/- 2G
|
|
|
|
_lastAccelX = ((float) accelXRate) * LSB_TO_METERS_PER_SECOND2;
|
|
_lastAccelY = ((float) accelYRate) * LSB_TO_METERS_PER_SECOND2;
|
|
_lastAccelZ = ((float) -accelZRate) * LSB_TO_METERS_PER_SECOND2;
|
|
|
|
int rollRate, yawRate, pitchRate;
|
|
|
|
convertHexToInt(sensorBuffer + 22, rollRate);
|
|
convertHexToInt(sensorBuffer + 26, yawRate);
|
|
convertHexToInt(sensorBuffer + 30, pitchRate);
|
|
|
|
// Convert the integer rates to floats
|
|
const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec.
|
|
_lastRollRate = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND;
|
|
_lastYawRate = ((float) -yawRate) * LSB_TO_DEGREES_PER_SECOND;
|
|
_lastPitchRate = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND;
|
|
|
|
// Update raw rotation estimates
|
|
_estimatedRotation += deltaTime * glm::vec3(_lastRollRate - _averageGyroRates[0],
|
|
_lastYawRate - _averageGyroRates[1],
|
|
_lastPitchRate - _averageGyroRates[2]);
|
|
|
|
// Accumulate a set of initial baseline readings for setting gravity
|
|
if (totalSamples == 0) {
|
|
_averageGyroRates[0] = _lastRollRate;
|
|
_averageGyroRates[1] = _lastYawRate;
|
|
_averageGyroRates[2] = _lastPitchRate;
|
|
_gravity.x = _lastAccelX;
|
|
_gravity.y = _lastAccelY;
|
|
_gravity.z = _lastAccelZ;
|
|
|
|
}
|
|
else {
|
|
// Cumulate long term average to (hopefully) take DC bias out of rotation rates
|
|
_averageGyroRates[0] = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageGyroRates[0] +
|
|
1.f/(float)LONG_TERM_RATE_SAMPLES * _lastRollRate;
|
|
_averageGyroRates[1] = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageGyroRates[1] +
|
|
1.f/(float)LONG_TERM_RATE_SAMPLES * _lastYawRate;
|
|
_averageGyroRates[2] = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageGyroRates[2] +
|
|
1.f/(float)LONG_TERM_RATE_SAMPLES * _lastPitchRate;
|
|
|
|
if (totalSamples < GRAVITY_SAMPLES) {
|
|
_gravity = (1.f - 1.f/(float)GRAVITY_SAMPLES) * _gravity +
|
|
1.f/(float)GRAVITY_SAMPLES * glm::vec3(_lastAccelX, _lastAccelY, _lastAccelZ);
|
|
}
|
|
}
|
|
|
|
totalSamples++;
|
|
}
|
|
|
|
if (initialSamples == totalSamples) {
|
|
timeval now;
|
|
gettimeofday(&now, NULL);
|
|
|
|
if (diffclock(&lastGoodRead, &now) > NO_READ_MAXIMUM_MSECS) {
|
|
printLog("No data - Shutting down SerialInterface.\n");
|
|
resetSerial();
|
|
}
|
|
} else {
|
|
gettimeofday(&lastGoodRead, NULL);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void SerialInterface::resetAverages() {
|
|
totalSamples = 0;
|
|
_gravity = glm::vec3(0, 0, 0);
|
|
_averageGyroRates = glm::vec3(0, 0, 0);
|
|
}
|
|
|
|
void SerialInterface::resetSerial() {
|
|
#ifdef __APPLE__
|
|
resetAverages();
|
|
active = false;
|
|
gettimeofday(&lastGoodRead, NULL);
|
|
#endif
|
|
}
|
|
|
|
|
|
|
|
|