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Diffstat (limited to 'sensors/Fusion/Device.h')
| -rw-r--r-- | sensors/Fusion/Device.h | 195 |
1 files changed, 195 insertions, 0 deletions
diff --git a/sensors/Fusion/Device.h b/sensors/Fusion/Device.h new file mode 100644 index 00000000..89d45ed9 --- /dev/null +++ b/sensors/Fusion/Device.h @@ -0,0 +1,195 @@ +//Copyright (C) Microsoft Corporation, All Rights Reserved +// +//Abstract: +// +// This module contains the type definitions for the client +// driver's device callback class. +// +//Environment: +// +// Windows User-Mode Driver Framework (UMDF) + +#pragma once + +#include <windows.h> +#include <wdf.h> +#include <math.h> + +#include "SensorsTrace.h" +#include <SensorsCx.h> +#include <SensorsUtils.h> +#include <Math3DHelper.h> +#include <SensorsDef.h> + +#define SENSOR_POOL_TAG_FUSIONSENSOR 'esuF' + +#define FusionSensor_Default_MinDataInterval_Ms (16) // 60Hz +#define FusionSensor_Default_DataInterval (100) // 10Hz +#define FusionSensor_Quarternion_Maximum (1.0f) +#define FusionSensor_Quarternion_Minimum (-1.0f) +#define FusionSensor_Quarternion_Resolution ((FusionSensor_Quarternion_Maximum-FusionSensor_Quarternion_Minimum)/65536) + + +// TODO: Customize the following 5 lines based on the hardware being used +#define GyrFakeDevice_Minimum_DegreesPerSecond (-2000.0f) +#define GyrFakeDevice_Maximum_DegreesPerSecond (2000.0f) +#define GyrFakeDevice_Precision (65536.0f) // 65536 = 2^16, 16 bit data +#define GyrFakeDevice_Range_DegreesPerSecond (GyrFakeDevice_Maximum_DegreesPerSecond - GyrFakeDevice_Minimum_DegreesPerSecond) +#define GyrFakeDevice_Resolution_DegreesPerSecond (GyrFakeDevice_Range_DegreesPerSecond / GyrFakeDevice_Precision) + +// TODO: Customize the following 3 lines based on the hardware being used +#define AccFakeDevice_Axis_Resolution (4.0f / 65536.0f) // in delta g +#define AccFakeDevice_Axis_Minimum (-2.0f) // in g +#define AccFakeDevice_Axis_Maximum (2.0f) // in g + +// Sensor Common Properties +typedef enum +{ + SENSOR_PROPERTY_STATE = 0, + SENSOR_PROPERTY_MIN_INTERVAL, + SENSOR_PROPERTY_MAX_DATAFIELDSIZE, + SENSOR_PROPERTY_SENSOR_TYPE, + SENSOR_PROPERTY_USE_GYRO, + SENSOR_PROPERTIES_COUNT +} SENSOR_COMMON_PROPERTIES_INDEX; + +// Sensor Enumeration Properties +typedef enum +{ + SENSOR_TYPE_GUID = 0, + SENSOR_MANUFACTURER, + SENSOR_MODEL, + SENSOR_PERSISTENT_UNIQUEID, + SENSOR_ISPRIMARY, + SENSOR_ENUMERATION_PROPERTIES_COUNT +} SENSOR_ENUMERATION_PROPERTIES_INDEX; + +// Accelerometer related data-field Properties +typedef enum +{ + SENSOR_ACC_RESOLUTION = 0, + SENSOR_ACC_MIN_RANGE, + SENSOR_ACC_MAX_RANGE, + SENSOR_ACC_DATA_FIELD_PROPERTY_COUNT +} SENSOR_ACC_DATA_FIELD_PROPERTY_INDEX; + +// Gyroscope related data-field Properties +typedef enum +{ + SENSOR_GYR_RESOLUTION = 0, + SENSOR_GYR_MIN_RANGE, + SENSOR_GYR_MAX_RANGE, + SENSOR_GYR_DATA_FIELD_PROPERTY_COUNT +} SENSOR_GYR_DATA_FIELD_PROPERTY_INDEX; + +// Supported Data +typedef enum +{ + FUSIONSENSOR_DATA_TIMESTAMP = 0, + FUSIONSENSOR_DATA_QUATERNION_W, + FUSIONSENSOR_DATA_QUATERNION_X, + FUSIONSENSOR_DATA_QUATERNION_Y, + FUSIONSENSOR_DATA_QUATERNION_Z, + FUSIONSENSOR_DATA_ACCURACY, + FUSIONSENSOR_DATA_DECLINATION_ANGLE, + FUSIONSENSOR_DATA_COUNT +} FUSIONSENSOR_DATA_INDEX; + +typedef enum +{ + FUSIONSENSOR_THRESHOLD_ROTATION_ANGLE = 0, + FUSIONSENSOR_THRESHOLD_LINEAR_ACCELERATION_X, + FUSIONSENSOR_THRESHOLD_LINEAR_ACCELERATION_Y, + FUSIONSENSOR_THRESHOLD_LINEAR_ACCELERATION_Z, + FUSIONSENSOR_THRESHOLD_ROTATION_RATE_X, + FUSIONSENSOR_THRESHOLD_ROTATION_RATE_Y, + FUSIONSENSOR_THRESHOLD_ROTATION_RATE_Z, + FUSIONSENSOR_THRESHOLD_COUNT +} FUSIONSENSOR_THRESHOLD_INDEX; + +typedef struct FusionSensorSample +{ + FILETIME Timestamp; + QUATERNION Quaternion; + ULONG Accuracy; + FLOAT DeclinationAngle; +} FusionSensorSample, *PFusionSensorSample; + +// +// Fusion Threshold +// +typedef struct _FusThreshold +{ + FLOAT RotationAngle; + VEC3D LinearAcceleration; + VEC3D RotationRate; +} FusThreshold, *PFusThreshold; + +typedef class FusionSensorDevice +{ +private: + // Simulator + WDFOBJECT m_SimulatorInstance; + + // WDF + WDFDEVICE m_FxDevice; + SENSOROBJECT m_SensorInstance; + WDFWAITLOCK m_Lock; + WDFTIMER m_Timer; + + // Sensor operation + BOOLEAN m_PoweredOn; + BOOLEAN m_Started; + ULONG m_Interval; + + BOOLEAN m_FirstSample; + ULONG m_StartTime; + ULONGLONG m_SampleCount; + + FusThreshold m_CachedThresholds; + + FusionSensorSample m_LastSample; + + // Sensor Specific Properties + PSENSOR_COLLECTION_LIST m_pEnumerationProperties; + PSENSOR_COLLECTION_LIST m_pProperties; + PSENSOR_PROPERTY_LIST m_pSupportedDataFields; + PSENSOR_COLLECTION_LIST m_pAccDataFieldProperties; // Accelerometer related datafield properties + PSENSOR_COLLECTION_LIST m_pGyrDataFieldProperties; // Gyroscope related datafield properties + PSENSOR_COLLECTION_LIST m_pThresholds; + PSENSOR_COLLECTION_LIST m_pData; + +public: + // WDF callbacks + static EVT_WDF_DRIVER_DEVICE_ADD OnDeviceAdd; + static EVT_WDF_DEVICE_PREPARE_HARDWARE OnPrepareHardware; + static EVT_WDF_DEVICE_RELEASE_HARDWARE OnReleaseHardware; + static EVT_WDF_DEVICE_D0_ENTRY OnD0Entry; + static EVT_WDF_DEVICE_D0_EXIT OnD0Exit; + static EVT_WDF_TIMER OnTimerExpire; + + // CLX callbacks + static EVT_SENSOR_DRIVER_START_SENSOR OnStart; + static EVT_SENSOR_DRIVER_STOP_SENSOR OnStop; + static EVT_SENSOR_DRIVER_GET_SUPPORTED_DATA_FIELDS OnGetSupportedDataFields; + static EVT_SENSOR_DRIVER_GET_PROPERTIES OnGetProperties; + static EVT_SENSOR_DRIVER_GET_DATA_FIELD_PROPERTIES OnGetDataFieldProperties; + static EVT_SENSOR_DRIVER_GET_DATA_INTERVAL OnGetDataInterval; + static EVT_SENSOR_DRIVER_SET_DATA_INTERVAL OnSetDataInterval; + static EVT_SENSOR_DRIVER_GET_DATA_THRESHOLDS OnGetDataThresholds; + static EVT_SENSOR_DRIVER_SET_DATA_THRESHOLDS OnSetDataThresholds; + static EVT_SENSOR_DRIVER_DEVICE_IO_CONTROL OnIoControl; + +private: + + NTSTATUS Initialize(_In_ WDFDEVICE Device, _In_ SENSOROBJECT SensorObj); + NTSTATUS GetData(); + +} FusionSensorDevice, *PFusionSensorDevice; + +// Set up accessor function to retrieve device context +WDF_DECLARE_CONTEXT_TYPE_WITH_NAME(FusionSensorDevice, GetFusionSensorContextFromSensorInstance); + +#define FusionSensorDevice_StepCount_Resolution (1) +#define FusionSensorDevice_StepCount_Minimum (0) +#define FusionSensorDevice_StepCount_Maximum (0xFFFFFFFF) |