void
psmove_calibration_get_usb_accel_values(PSMoveCalibration *calibration,
int *x1, int *x2, int *y1, int *y2, int *z1, int *z2)
{
assert(calibration != NULL);
assert(psmove_calibration_supported(calibration));
char *data = calibration->usb_calibration;
int orientation;
/* Minimum (negative) value of each axis */
orientation = 1;
*x1 = psmove_calibration_decode(data, 0x04 + 6*orientation);
orientation = 5;
*y1 = psmove_calibration_decode(data, 0x04 + 6*orientation + 2);
orientation = 2;
*z1 = psmove_calibration_decode(data, 0x04 + 6*orientation + 4);
/* Maximum (positive) values of each axis */
orientation = 3;
*x2 = psmove_calibration_decode(data, 0x04 + 6*orientation);
orientation = 4;
*y2 = psmove_calibration_decode(data, 0x04 + 6*orientation + 2);
orientation = 0;
*z2 = psmove_calibration_decode(data, 0x04 + 6*orientation + 4);
}
void
psmove_calibration_get_usb_gyro_values(PSMoveCalibration *calibration,
int *x, int *y, int *z)
{
assert(calibration != NULL);
assert(psmove_calibration_supported(calibration));
char *data = calibration->usb_calibration;
int bx, by, bz; /* Bias(?) values, need to sustract those */
bx = psmove_calibration_decode(data, 0x2a);
by = psmove_calibration_decode(data, 0x2a + 2);
bz = psmove_calibration_decode(data, 0x2a + 4);
int orientation;
orientation = 0;
*x = psmove_calibration_decode(data, 0x46 + 8*orientation) - bx;
orientation = 1;
*y = psmove_calibration_decode(data, 0x46 + 8*orientation + 2) - by;
orientation = 2;
*z = psmove_calibration_decode(data, 0x46 + 8*orientation + 4) - bz;
}
PSMoveCalibration *
psmove_calibration_new(PSMove *move)
{
PSMove_Data_BTAddr addr;
char *serial;
int i;
PSMoveCalibration *calibration =
(PSMoveCalibration*)calloc(1, sizeof(PSMoveCalibration));
calibration->move = move;
if (psmove_connection_type(move) == Conn_USB) {
_psmove_read_btaddrs(move, NULL, &addr);
serial = _psmove_btaddr_to_string(addr);
} else {
serial = psmove_get_serial(move);
}
if (!serial) {
psmove_CRITICAL("Could not determine serial from controller");
free(calibration);
return NULL;
}
for (i = 0; i<(int)strlen(serial); i++) {
if (serial[i] == ':') {
serial[i] = '_';
}
}
size_t calibration_filename_length = strlen(serial) + strlen(PSMOVE_CALIBRATION_EXTENSION) + 1;
char *calibration_filename = (char *)malloc(calibration_filename_length);
strcpy(calibration_filename, serial);
strcat(calibration_filename, PSMOVE_CALIBRATION_EXTENSION);
calibration->filename = psmove_util_get_file_path(calibration_filename);
calibration->system_filename = psmove_util_get_system_file_path(calibration_filename);
free(calibration_filename);
free(serial);
/* Try to load the calibration data from disk, or from USB */
psmove_calibration_load(calibration);
if (!psmove_calibration_supported(calibration)) {
if (psmove_connection_type(move) == Conn_USB) {
psmove_DEBUG("Storing calibration from USB\n");
psmove_calibration_read_from_usb(calibration);
psmove_calibration_save(calibration);
}
}
/* Pre-calculate values used for mapping input */
if (psmove_calibration_supported(calibration)) {
/* Accelerometer reading (high/low) for each axis */
int axlow, axhigh, aylow, ayhigh, azlow, azhigh;
psmove_calibration_get_usb_accel_values(calibration,
&axlow, &axhigh, &aylow, &ayhigh, &azlow, &azhigh);
/**
*
* Calculation of accelerometer mapping (as factor of gravity, 1g):
*
* 2 * (raw - low)
* calibrated = ---------------- - 1
* (high - low)
*
* with:
*
* raw .... Raw sensor reading
* low .... Raw reading at -1g
* high ... Raw reading at +1g
*
* Now define:
*
* 2
* f = --------------
* (high - low)
*
* And combine constants:
*
* c = - (f * low) - 1
*
* Then we get:
*
* calibrated = f * raw + c
*
**/
/* Accelerometer factors "f" */
calibration->ax = 2.f / (float)(axhigh - axlow);
calibration->ay = 2.f / (float)(ayhigh - aylow);
calibration->az = 2.f / (float)(azhigh - azlow);
/* Accelerometer constants "c" */
calibration->bx = - (calibration->ax * (float)axlow) - 1.f;
calibration->by = - (calibration->ay * (float)aylow) - 1.f;
calibration->bz = - (calibration->az * (float)azlow) - 1.f;
/**
* Calculation of gyroscope mapping (in radiant per second):
*
* raw
* calibrated = -------- * 2 PI
* rpm60
*
* 60 * rpm80
* rpm60 = ------------
* 80
*
* with:
*
* raw ..... Raw sensor reading
* rpm80 ... Sensor reading at 80 RPM (from calibration blob)
* rpm60 ... Sensor reading at 60 RPM (1 rotation per second)
*
* Or combined:
*
* 80 * raw * 2 PI
* calibrated = -----------------
* 60 * rpm80
*
* Now define:
*
* 2 * PI * 80
* f = -------------
* 60 * rpm80
*
* Then we get:
*
* calibrated = f * raw
*
**/
int gx80, gy80, gz80;
psmove_calibration_get_usb_gyro_values(calibration,
&gx80, &gy80, &gz80);
float factor = (float)(2.0 * M_PI * 80.0) / 60.0;
calibration->gx = factor / (float)gx80;
calibration->gy = factor / (float)gy80;
calibration->gz = factor / (float)gz80;
} else {
/* No calibration data - pass-through input data */
calibration->ax = 1.f;
calibration->ay = 1.f;
calibration->az = 1.f;
calibration->bx = 0.f;
calibration->by = 0.f;
calibration->bz = 0.f;
calibration->gx = 1.f;
calibration->gy = 1.f;
calibration->gz = 1.f;
}
return calibration;
}
