1 /*---------------------------------------------------------------------------* 2 Project: horizon 3 File: hid_GyroscopeReader.h 4 5 Copyright 2010 Nintendo. All rights reserved. 6 7 These coded instructions, statements, and computer programs contain 8 proprietary information of Nintendo of America Inc. and/or Nintendo 9 Company Ltd., and are protected by Federal copyright law. They may 10 not be disclosed to third parties or copied or duplicated in any form, 11 in whole or in part, without the prior written consent of Nintendo. 12 13 $Rev: $ 14 *---------------------------------------------------------------------------*/ 15 16 /* Please see man pages for details 17 18 19 */ 20 21 #ifndef NN_HID_CTR_GYROSCOPEREADER_H_ 22 #define NN_HID_CTR_GYROSCOPEREADER_H_ 23 24 #include <nn/Handle.h> 25 #include <nn/Result.h> 26 #include <nn/types.h> 27 #include <nn/hid/CTR/hid_Result.h> 28 #include <nn/hid/CTR/hid_Api.h> 29 #include <nn/hid/CTR/hid_Gyroscope.h> 30 #include <nn/hid/CTR/hid_AccelerometerReader.h> 31 #include <nn/hid/CTR/hid_DeviceStatus.h> 32 #include <nn/util/util_SizedEnum.h> 33 #include <nn/util/util_NonCopyable.h> 34 35 namespace nn 36 { 37 namespace hid 38 { 39 namespace CTR 40 { 41 42 /* Please see man pages for details 43 44 */ 45 enum ZeroDriftMode 46 { 47 GYROSCOPE_ZERODRIFT_LOOSE, // 48 GYROSCOPE_ZERODRIFT_STANDARD,// 49 GYROSCOPE_ZERODRIFT_TIGHT,// 50 GYROSCOPE_ZERODRIFT_NUM 51 }; 52 53 54 /* Please see man pages for details 55 56 */ 57 class GyroscopeReader: private nn::util::NonCopyable<GyroscopeReader> 58 { 59 public: 60 61 62 /* Please see man pages for details 63 64 65 */ 66 67 /* Please see man pages for details 68 69 70 71 72 73 74 75 76 77 78 */ 79 GyroscopeReader(AccelerometerReader* pAccelerometerReader = NULL, Gyroscope& gyroscope = GetGyroscope()); 80 81 /* Please see man pages for details 82 83 */ 84 85 ~GyroscopeReader(); 86 87 /* 88 89 */ 90 91 /* Please see man pages for details 92 93 94 */ 95 96 /* Please see man pages for details 97 98 99 100 101 102 103 104 */ 105 void Read(GyroscopeStatus* pBufs, s32* pReadLen, s32 bufLen); 106 107 /* Please see man pages for details 108 109 110 111 112 113 114 115 */ 116 bool ReadLatest(GyroscopeStatus* pBuf); 117 118 /* 119 120 */ 121 122 /* Please see man pages for details 123 124 125 */ 126 127 /* Please see man pages for details 128 129 130 131 */ 132 133 void Reset(); 134 135 /* 136 137 */ 138 139 /* Please see man pages for details 140 141 142 */ 143 144 145 /* Please see man pages for details 146 147 148 149 150 151 */ 152 void SetAngle(f32 ax, f32 ay, f32 az); 153 154 /* Please see man pages for details 155 156 157 158 */ 159 void SetDirection(const Direction& direction); 160 161 /* Please see man pages for details 162 163 164 165 166 167 */ 168 void SetAngleMagnification(f32 pitch, f32 yaw, f32 roll); 169 170 /* Please see man pages for details 171 172 173 174 175 176 177 */ 178 void SetDirectionMagnification(f32 magnification); 179 180 /* 181 182 */ 183 184 /* Please see man pages for details 185 186 187 */ 188 189 /* Please see man pages for details 190 191 192 */ 193 void EnableZeroPlay(); 194 195 /* Please see man pages for details 196 197 198 */ 199 void DisableZeroPlay(); 200 201 /* Please see man pages for details 202 203 204 */ 205 bool IsEnableZeroPlay() const; 206 207 /* Please see man pages for details 208 209 210 211 212 213 214 215 */ 216 f32 GetZeroPlayEffect() const; 217 218 219 /* Please see man pages for details 220 221 222 223 224 225 226 227 228 */ 229 void SetZeroPlayParam(f32 radius); 230 231 /* Please see man pages for details 232 233 234 235 236 237 238 */ 239 void GetZeroPlayParam(f32& radius) const; 240 241 /* Please see man pages for details 242 243 244 245 246 247 */ 248 void ResetZeroPlayParam(); 249 250 /* 251 252 */ 253 254 255 /* Please see man pages for details 256 257 258 */ 259 260 /* Please see man pages for details 261 262 263 */ 264 void EnableZeroDrift(); 265 266 /* Please see man pages for details 267 268 269 */ 270 void DisableZeroDrift(); 271 272 /* Please see man pages for details 273 274 275 276 277 278 */ 279 bool IsEnableZeroDrift() const; 280 281 /* Please see man pages for details 282 283 284 285 286 287 */ 288 f32 GetZeroDriftEffect() const; 289 290 /* Please see man pages for details 291 292 293 294 295 296 */ 297 void ResetZeroDriftMode(); 298 299 /* Please see man pages for details 300 301 302 303 304 305 306 307 308 309 310 311 312 313 */ 314 void SetZeroDriftMode(const ZeroDriftMode& mode); 315 316 /* Please see man pages for details 317 318 319 320 */ 321 void GetZeroDriftMode(ZeroDriftMode& mode) const; 322 323 /* 324 325 */ 326 327 328 /* Please see man pages for details 329 330 331 */ 332 333 /* Please see man pages for details 334 335 336 337 338 339 340 341 342 343 */ 344 void EnableAccRevise(); 345 346 /* Please see man pages for details 347 348 349 */ 350 void DisableAccRevise(); 351 352 /* Please see man pages for details 353 354 355 356 357 358 */ 359 bool IsEnableAccRevise() const; 360 361 /* Please see man pages for details 362 363 364 365 366 */ 367 f32 GetAccReviseEffect() const; 368 369 370 /* Please see man pages for details 371 372 373 374 375 376 377 378 379 380 381 382 */ 383 void SetAccReviseParam(f32 revisePower, f32 reviseRange); 384 385 /* Please see man pages for details 386 387 388 389 390 */ 391 void GetAccReviseParam(f32& revisePower, f32& reviseRange) const; 392 393 /* Please see man pages for details 394 395 396 397 398 399 */ 400 void ResetAccReviseParam(); 401 402 /* 403 404 */ 405 406 /* Please see man pages for details 407 408 409 */ 410 411 /* Please see man pages for details 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 */ 428 void EnableAxisRotation(); 429 430 /* Please see man pages for details 431 432 433 434 */ 435 void DisableAxisRotation(); 436 437 /* Please see man pages for details 438 439 440 */ 441 bool IsEnableAxisRotation() const; 442 443 /* Please see man pages for details 444 445 446 */ 447 void SetAxisRotationMatrix(const nn::math::MTX34& mtx); 448 449 /* Please see man pages for details 450 451 452 453 454 455 456 457 */ 458 nn::math::MTX34 GetAxisRotationMatrix() const; 459 460 /* Please see man pages for details 461 462 463 464 465 466 467 */ 468 void GetAxisRotationMatrix(nn::math::MTX34* pMtx) const; 469 470 /* Please see man pages for details 471 472 473 */ 474 void ResetAxisRotationMatrix(); 475 476 /* 477 478 */ 479 480 private : 481 482 void ReadLocal(GyroscopeStatus* pBufs, s32* pReadLen, s32 bufLen); 483 void GetZeroDriftParam(f32& radius, s32& count, f32& power) const; 484 void SetZeroDriftParam(f32 radius, s32 count, f32 power); 485 f32 ReviseDirection_Acceleration(Direction& rev_dir, const nn::math::VEC3& acc); 486 void CalculateGyroscopeAxisStatus( 487 f32 *destSpeed, 488 s32 *nearSamplingNum, 489 f32 *zeroOffset, 490 s32 srcSpeed, 491 f32 speedScale, 492 s32* oldValueArray); 493 void CalculateDirection(); 494 void InitializeCalibrationData(); 495 496 private : 497 /* Maximum number for the drift correction count*/ 498 static const u32 GYROSCOPE_DRIFT_COUNT_MAX = 256; //Must be to a power of 2 499 500 501 private : 502 static const s32 GYROSCOPE_LOCAL_BUFFER_SIZE = 32; 503 s32 m_GyroscopeLocalBufferSize; 504 GyroscopeStatus m_GyroscopeStatusLocalBuffer[GYROSCOPE_LOCAL_BUFFER_SIZE]; 505 bool m_IsFirstRead; 506 util::SizedEnum1<ZeroDriftMode> m_ZeroDriftMode; 507 NN_PADDING2; 508 509 AccelerometerReader m_DefaultAccelerometerReader; 510 511 GyroscopeStatus m_CurrentStatus; 512 AccelerometerReader* m_pAccelerometerReader; 513 514 nn::math::VEC3 m_SpeedOld; 515 nn::math::VEC3 m_SpeedVector; 516 nn::math::VEC3 m_SpeedScale; 517 f32 m_DirectionMagnification; // Magnification when calculating attitude 518 519 f32 m_Period; // Coefficient for calculations 520 f32 m_FreqDegree; // Coefficient for calculations 521 f32 m_FreqRadian; // Coefficient for calculations 522 523 bool m_EnableZeroPlay; // Enable zero point play? 524 bool m_EnableZeroDrift; // Use automatic zero point correction? 525 bool m_EnableAccRevise; // Correct attitude using acceleration? 526 bool m_EnableRotate; 527 528 f32 m_ZeroPlayRadius; // Radius of zero point play (1 = 360deg/sec) 529 f32 m_ZeroDriftRadius; // Drift count play radius (1 = 360deg/sec) 530 s32 m_ZeroDriftCount; // Drift correction count 531 f32 m_ZeroDriftPower; // Drift correction power 532 f32 m_AccRevisePower; // Acceleration correction strength 533 f32 m_AccReviseRange; // Acceleration correction enable radius 534 535 f32 m_ZeroPlayEffect; // Play circle inner status 0: outside - 1: center 536 f32 m_ZeroDriftEffect; // Drift correction count continuation state (0-1) 537 f32 m_AccRevEffect; // How much acceleration correction is applied 538 539 nn::math::VEC3 m_CalibrationZero; // Calibration value 540 f64 m_CalibrationScale[3]; // Calibration value 541 542 nn::math::VEC3 m_CountZero; // Count value indicating zero point 543 s32 m_CountIdx; // Buffer index where the newest is stored 544 s32 m_CountT[3][GYROSCOPE_DRIFT_COUNT_MAX]; // XYZ hardware value 545 f32 m_DpsPitchMagnification; // Magnification for calculating angular velocity in the pitch direction 546 f32 m_DpsYawMagnification; // Magnification for calculating angular velocity in the yaw direction 547 f32 m_DpsRollMagnification; // Magnification for calculating angular velocity in the roll direction 548 NN_PADDING4; 549 550 /*from Low*/ 551 Gyroscope& m_Gyroscope; 552 s32 m_IndexOfRead; 553 s64 m_TickOfRead; 554 555 /*rotate axis*/ 556 nn::math::MTX34 m_RotateMtx; 557 558 }; 559 560 } // namespace CTR { 561 } // namespace hid { 562 } // namespace nn { 563 564 #endif // #ifndef NN_HID_CTR_GYROSCOPEREADER_H_ 565