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Add imu range setting

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This commit is contained in:
kalman
2018-11-20 15:23:07 +08:00
parent 6d39773439
commit ee19a8c857
9 changed files with 147 additions and 8 deletions
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23
src/mynteye/device/channels.cc
View File

@@ -63,6 +63,12 @@ int XuCamCtrlId(Option option) {
case Option::FRAME_RATE:
return 7;
break;
case Option::ACCELEROMETER_RANGE:
return 9;
break;
case Option::GYROSCOPE_RANGE:
return 10;
break;
default:
LOG(FATAL) << "No cam ctrl id for " << option;
}
@@ -135,7 +141,8 @@ void Channels::UpdateControlInfos() {
for (auto &&option : std::vector<Option>{
Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE}) {
Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE,
Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE}) {
control_infos_[option] = XuControlInfo(option);
}
@@ -177,6 +184,8 @@ std::int32_t Channels::GetControlValue(const Option &option) const {
case Option::DESIRED_BRIGHTNESS:
case Option::IR_CONTROL:
case Option::HDR_MODE:
case Option::ACCELEROMETER_RANGE:
case Option::GYROSCOPE_RANGE:
return XuCamCtrlGet(option);
case Option::ZERO_DRIFT_CALIBRATION:
case Option::ERASE_CHIP:
@@ -232,6 +241,16 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
break;
XuCamCtrlSet(option, value);
} break;
case Option::ACCELEROMETER_RANGE: {
if (!in_range() || !in_values({4, 8, 16, 32}))
break;
XuCamCtrlSet(option, value);
} break;
case Option::GYROSCOPE_RANGE: {
if (!in_range() || !in_values({500, 1000, 2000, 4000}))
break;
XuCamCtrlSet(option, value);
} break;
case Option::EXPOSURE_MODE:
case Option::MAX_GAIN:
case Option::MAX_EXPOSURE_TIME:
@@ -268,6 +287,8 @@ bool Channels::RunControlAction(const Option &option) const {
case Option::DESIRED_BRIGHTNESS:
case Option::IR_CONTROL:
case Option::HDR_MODE:
case Option::ACCELEROMETER_RANGE:
case Option::GYROSCOPE_RANGE:
LOG(WARNING) << option << " run action useless";
return false;
default:

3
src/mynteye/device/config.cc
View File

@@ -26,7 +26,8 @@ const std::map<Model, OptionSupports> option_supports_map = {
{Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST, Option::FRAME_RATE,
Option::IMU_FREQUENCY, Option::EXPOSURE_MODE, Option::MAX_GAIN,
Option::MAX_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
Option::HDR_MODE, Option::ZERO_DRIFT_CALIBRATION, Option::ERASE_CHIP}}};
Option::HDR_MODE, Option::ZERO_DRIFT_CALIBRATION, Option::ERASE_CHIP,
Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE}}};
const std::map<Model, std::map<Capabilities, StreamRequests>>
stream_requests_map = {

20
src/mynteye/device/motions.cc
View File

@@ -34,6 +34,14 @@ Motions::~Motions() {
void Motions::SetMotionCallback(motion_callback_t callback) {
motion_callback_ = callback;
if (motion_callback_) {
accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
if (accel_range == -1)
accel_range = 8;
gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
if (gyro_range == -1)
gyro_range = 1000;
channels_->SetImuCallback([this](const ImuPacket &packet) {
if (!motion_callback_ && !motion_datas_enabled_) {
return;
@@ -46,12 +54,12 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
// LOG(WARNING) << "Imu timestamp offset is incorrect";
// }
imu->timestamp = packet.timestamp + seg.offset;
imu->accel[0] = seg.accel[0] * 8.f / 0x10000;
imu->accel[1] = seg.accel[1] * 8.f / 0x10000;
imu->accel[2] = seg.accel[2] * 8.f / 0x10000;
imu->gyro[0] = seg.gyro[0] * 1000.f / 0x10000;
imu->gyro[1] = seg.gyro[1] * 1000.f / 0x10000;
imu->gyro[2] = seg.gyro[2] * 1000.f / 0x10000;
imu->accel[0] = seg.accel[0] * 1.f * accel_range / 0x10000;
imu->accel[1] = seg.accel[1] * 1.f * accel_range / 0x10000;
imu->accel[2] = seg.accel[2] * 1.f * accel_range / 0x10000;
imu->gyro[0] = seg.gyro[0] * 1.f * gyro_range / 0x10000;
imu->gyro[1] = seg.gyro[1] * 1.f * gyro_range / 0x10000;
imu->gyro[2] = seg.gyro[2] * 1.f * gyro_range / 0x10000;
imu->temperature = seg.temperature / 326.8f + 25;
std::lock_guard<std::mutex> _(mtx_datas_);

3
src/mynteye/device/motions.h
View File

@@ -57,6 +57,9 @@ class Motions {
bool is_imu_tracking;
std::mutex mtx_datas_;
int accel_range = 8;
int gyro_range = 1000;
};
MYNTEYE_END_NAMESPACE