// Copyright (C) Microsoft Corporation, All Rights Reserved. // // Abstract: // // This module contains the implementation of sensor specific functions. // // Environment: // // Windows User-Mode Driver Framework (WUDF) #include "Clients.h" #include "RelativeFusionClient.tmh" #define SENSORV2_POOL_TAG_RELATIVE_FUSION '2FsR' #define RelativeFusion_Initial_MinDataInterval_Ms (10) // 100Hz #define RelativeFusion_Quarternion_Maximum (1.0f) #define RelativeFusion_Quarternion_Minimum (-1.0f) #define RelativeFusion_Quarternion_Resolution ((RelativeFusion_Quarternion_Maximum-RelativeFusion_Quarternion_Minimum)/65536) // Relative Fusion Sensor Unique ID // {0D324DDF-05AD-4285-875A-B2BCF565D2BA} DEFINE_GUID(GUID_RelativeFusionDevice_UniqueID, 0xd324ddf, 0x5ad, 0x4285, 0x87, 0x5a, 0xb2, 0xbc, 0xf5, 0x65, 0xd2, 0xba); // Sensor data typedef enum { RELATIVE_FUSION_DATA_TIMESTAMP = 0, RELATIVE_FUSION_DATA_QUATERNION_W, RELATIVE_FUSION_DATA_QUATERNION_X, RELATIVE_FUSION_DATA_QUATERNION_Y, RELATIVE_FUSION_DATA_QUATERNION_Z, RELATIVE_FUSION_DATA_COUNT } RELATIVE_FUSION_DATA_INDEX; // Sensor thresholds typedef enum { RELATIVE_FUSION_THRESHOLD_QUATERNION_W = 0, RELATIVE_FUSION_THRESHOLD_QUATERNION_X, RELATIVE_FUSION_THRESHOLD_QUATERNION_Y, RELATIVE_FUSION_THRESHOLD_QUATERNION_Z, RELATIVE_FUSION_THRESHOLD_COUNT } RELATIVE_FUSION_THRESHOLD_INDEX; //------------------------------------------------------------------------------ // Function: Initialize // // This routine initializes the sensor to its default properties // // Arguments: // Device: IN: WDFDEVICE object // SensorInstance: IN: SENSOROBJECT for each sensor instance // // Return Value: // NTSTATUS code //------------------------------------------------------------------------------ NTSTATUS RelativeFusionDevice::Initialize( _In_ WDFDEVICE Device, _In_ SENSOROBJECT SensorInstance ) { NTSTATUS Status = STATUS_SUCCESS; SENSOR_FunctionEnter(); // // Store device and instance // m_Device = Device; m_SensorInstance = SensorInstance; m_Started = FALSE; // // Create Lock // Status = WdfWaitLockCreate(WDF_NO_OBJECT_ATTRIBUTES, &m_Lock); if (!NT_SUCCESS(Status)) { TraceError("COMBO %!FUNC! Relative Fusion WdfWaitLockCreate failed %!STATUS!", Status); goto Exit; } // // Create timer object for polling sensor samples // { WDF_OBJECT_ATTRIBUTES TimerAttributes; WDF_TIMER_CONFIG TimerConfig; WDF_TIMER_CONFIG_INIT(&TimerConfig, OnTimerExpire); WDF_OBJECT_ATTRIBUTES_INIT(&TimerAttributes); TimerAttributes.ParentObject = SensorInstance; TimerAttributes.ExecutionLevel = WdfExecutionLevelPassive; Status = WdfTimerCreate(&TimerConfig, &TimerAttributes, &m_Timer); if (!NT_SUCCESS(Status)) { TraceError("COMBO %!FUNC! RelativeFusionDevice WdfTimerCreate failed %!STATUS!", Status); goto Exit; } } // // Sensor Enumeration Properties // { WDF_OBJECT_ATTRIBUTES MemoryAttributes; WDFMEMORY MemoryHandle = NULL; ULONG Size = SENSOR_COLLECTION_LIST_SIZE(SENSOR_ENUMERATION_PROPERTIES_COUNT); MemoryHandle = NULL; WDF_OBJECT_ATTRIBUTES_INIT(&MemoryAttributes); MemoryAttributes.ParentObject = SensorInstance; Status = WdfMemoryCreate(&MemoryAttributes, PagedPool, SENSORV2_POOL_TAG_RELATIVE_FUSION, Size, &MemoryHandle, reinterpret_cast(&m_pEnumerationProperties)); if (!NT_SUCCESS(Status) || nullptr == m_pEnumerationProperties) { TraceError("COMBO %!FUNC! RelativeFusionDevice WdfMemoryCreate failed %!STATUS!", Status); goto Exit; } SENSOR_COLLECTION_LIST_INIT(m_pEnumerationProperties, Size); m_pEnumerationProperties->Count = SENSOR_ENUMERATION_PROPERTIES_COUNT; m_pEnumerationProperties->List[SENSOR_TYPE_GUID].Key = DEVPKEY_Sensor_Type; InitPropVariantFromCLSID(GUID_SensorType_RelativeOrientation, &(m_pEnumerationProperties->List[SENSOR_TYPE_GUID].Value)); m_pEnumerationProperties->List[SENSOR_MANUFACTURER].Key = DEVPKEY_Sensor_Manufacturer; InitPropVariantFromString(L"Manufacturer name", &(m_pEnumerationProperties->List[SENSOR_MANUFACTURER].Value)); m_pEnumerationProperties->List[SENSOR_MODEL].Key = DEVPKEY_Sensor_Model; InitPropVariantFromString(L"Relative Fusion Device", &(m_pEnumerationProperties->List[SENSOR_MODEL].Value)); m_pEnumerationProperties->List[SENSOR_CONNECTION_TYPE].Key = DEVPKEY_Sensor_ConnectionType; // The DEVPKEY_Sensor_ConnectionType values match the SensorConnectionType enumeration InitPropVariantFromUInt32(static_cast(SensorConnectionType::Integrated), &(m_pEnumerationProperties->List[SENSOR_CONNECTION_TYPE].Value)); m_pEnumerationProperties->List[SENSOR_PERSISTENT_UNIQUEID].Key = DEVPKEY_Sensor_PersistentUniqueId; InitPropVariantFromCLSID(GUID_RelativeFusionDevice_UniqueID, &(m_pEnumerationProperties->List[SENSOR_PERSISTENT_UNIQUEID].Value)); m_pEnumerationProperties->List[SENSOR_ISPRIMARY].Key = DEVPKEY_Sensor_IsPrimary; InitPropVariantFromBoolean(FALSE, &(m_pEnumerationProperties->List[SENSOR_ISPRIMARY].Value)); } // // Supported Data-Fields // { WDF_OBJECT_ATTRIBUTES MemoryAttributes; WDFMEMORY MemoryHandle = NULL; ULONG Size = SENSOR_PROPERTY_LIST_SIZE(RELATIVE_FUSION_DATA_COUNT); MemoryHandle = NULL; WDF_OBJECT_ATTRIBUTES_INIT(&MemoryAttributes); MemoryAttributes.ParentObject = SensorInstance; Status = WdfMemoryCreate(&MemoryAttributes, PagedPool, SENSORV2_POOL_TAG_RELATIVE_FUSION, Size, &MemoryHandle, reinterpret_cast(&m_pSupportedDataFields)); if (!NT_SUCCESS(Status) || nullptr == m_pSupportedDataFields) { TraceError("COMBO %!FUNC! RelativeFusionDevice WdfMemoryCreate failed %!STATUS!", Status); goto Exit; } SENSOR_PROPERTY_LIST_INIT(m_pSupportedDataFields, Size); m_pSupportedDataFields->Count = RELATIVE_FUSION_DATA_COUNT; m_pSupportedDataFields->List[RELATIVE_FUSION_DATA_TIMESTAMP] = PKEY_SensorData_Timestamp; m_pSupportedDataFields->List[RELATIVE_FUSION_DATA_QUATERNION_W] = PKEY_SensorData_QuaternionW; m_pSupportedDataFields->List[RELATIVE_FUSION_DATA_QUATERNION_X] = PKEY_SensorData_QuaternionX; m_pSupportedDataFields->List[RELATIVE_FUSION_DATA_QUATERNION_Y] = PKEY_SensorData_QuaternionY; m_pSupportedDataFields->List[RELATIVE_FUSION_DATA_QUATERNION_Z] = PKEY_SensorData_QuaternionZ; } // // Data // { WDF_OBJECT_ATTRIBUTES MemoryAttributes; WDFMEMORY MemoryHandle = NULL; ULONG Size = SENSOR_COLLECTION_LIST_SIZE(RELATIVE_FUSION_DATA_COUNT); FILETIME Time = {0}; MemoryHandle = NULL; WDF_OBJECT_ATTRIBUTES_INIT(&MemoryAttributes); MemoryAttributes.ParentObject = SensorInstance; Status = WdfMemoryCreate(&MemoryAttributes, PagedPool, SENSORV2_POOL_TAG_RELATIVE_FUSION, Size, &MemoryHandle, reinterpret_cast(&m_pData)); if (!NT_SUCCESS(Status) || nullptr == m_pData) { TraceError("COMBO %!FUNC! RelativeFusionDevice WdfMemoryCreate failed %!STATUS!", Status); goto Exit; } SENSOR_COLLECTION_LIST_INIT(m_pData, Size); m_pData->Count = RELATIVE_FUSION_DATA_COUNT; m_pData->List[RELATIVE_FUSION_DATA_TIMESTAMP].Key = PKEY_SensorData_Timestamp; GetSystemTimePreciseAsFileTime(&Time); InitPropVariantFromFileTime(&Time, &(m_pData->List[RELATIVE_FUSION_DATA_TIMESTAMP].Value)); m_pData->List[RELATIVE_FUSION_DATA_QUATERNION_W].Key = PKEY_SensorData_QuaternionW; InitPropVariantFromFloat(0.0, &(m_pData->List[RELATIVE_FUSION_DATA_QUATERNION_W].Value)); m_pData->List[RELATIVE_FUSION_DATA_QUATERNION_X].Key = PKEY_SensorData_QuaternionX; InitPropVariantFromFloat(0.0, &(m_pData->List[RELATIVE_FUSION_DATA_QUATERNION_X].Value)); m_pData->List[RELATIVE_FUSION_DATA_QUATERNION_Y].Key = PKEY_SensorData_QuaternionY; InitPropVariantFromFloat(0.0, &(m_pData->List[RELATIVE_FUSION_DATA_QUATERNION_Y].Value)); m_pData->List[RELATIVE_FUSION_DATA_QUATERNION_Z].Key = PKEY_SensorData_QuaternionZ; InitPropVariantFromFloat(0.0, &(m_pData->List[RELATIVE_FUSION_DATA_QUATERNION_Z].Value)); ZeroMemory(&m_LastSample, sizeof(m_LastSample)); ZeroMemory(&m_CachedData, sizeof(m_CachedData)); m_CachedData.W = 1.0f; // This is the initial position } // // Sensor Properties // { WDF_OBJECT_ATTRIBUTES MemoryAttributes; WDFMEMORY MemoryHandle = NULL; ULONG Size = SENSOR_COLLECTION_LIST_SIZE(SENSOR_COMMON_PROPERTY_COUNT); MemoryHandle = NULL; WDF_OBJECT_ATTRIBUTES_INIT(&MemoryAttributes); MemoryAttributes.ParentObject = SensorInstance; Status = WdfMemoryCreate(&MemoryAttributes, PagedPool, SENSORV2_POOL_TAG_RELATIVE_FUSION, Size, &MemoryHandle, reinterpret_cast(&m_pProperties)); if (!NT_SUCCESS(Status) || nullptr == m_pProperties) { TraceError("COMBO %!FUNC! RelativeFusionDevice WdfMemoryCreate failed %!STATUS!", Status); goto Exit; } SENSOR_COLLECTION_LIST_INIT(m_pProperties, Size); m_pProperties->Count = SENSOR_COMMON_PROPERTY_COUNT; m_pProperties->List[SENSOR_COMMON_PROPERTY_STATE].Key = PKEY_Sensor_State; InitPropVariantFromUInt32(SensorState_Initializing, &(m_pProperties->List[SENSOR_COMMON_PROPERTY_STATE].Value)); m_pProperties->List[SENSOR_COMMON_PROPERTY_MIN_INTERVAL].Key = PKEY_Sensor_MinimumDataInterval_Ms; InitPropVariantFromUInt32(RelativeFusion_Initial_MinDataInterval_Ms, &(m_pProperties->List[SENSOR_COMMON_PROPERTY_MIN_INTERVAL].Value)); m_IntervalMs = RelativeFusion_Initial_MinDataInterval_Ms; m_MinimumIntervalMs = RelativeFusion_Initial_MinDataInterval_Ms; m_pProperties->List[SENSOR_COMMON_PROPERTY_MAX_DATAFIELDSIZE].Key = PKEY_Sensor_MaximumDataFieldSize_Bytes; InitPropVariantFromUInt32(CollectionsListGetMarshalledSize(m_pData), &(m_pProperties->List[SENSOR_COMMON_PROPERTY_MAX_DATAFIELDSIZE].Value)); m_pProperties->List[SENSOR_COMMON_PROPERTY_TYPE].Key = PKEY_Sensor_Type; InitPropVariantFromCLSID(GUID_SensorType_RelativeOrientation, &(m_pProperties->List[SENSOR_COMMON_PROPERTY_TYPE].Value)); } // // Data filed properties // { WDF_OBJECT_ATTRIBUTES MemoryAttributes; WDFMEMORY MemoryHandle = NULL; ULONG Size = SENSOR_COLLECTION_LIST_SIZE(SENSOR_DATA_FIELD_PROPERTY_COUNT); MemoryHandle = NULL; WDF_OBJECT_ATTRIBUTES_INIT(&MemoryAttributes); MemoryAttributes.ParentObject = SensorInstance; Status = WdfMemoryCreate(&MemoryAttributes, PagedPool, SENSORV2_POOL_TAG_RELATIVE_FUSION, Size, &MemoryHandle, reinterpret_cast(&m_pDataFieldProperties)); if (!NT_SUCCESS(Status) || nullptr == m_pDataFieldProperties) { TraceError("COMBO %!FUNC! RelativeFusionDevice WdfMemoryCreate failed %!STATUS!", Status); goto Exit; } SENSOR_COLLECTION_LIST_INIT(m_pDataFieldProperties, Size); m_pDataFieldProperties->Count = SENSOR_DATA_FIELD_PROPERTY_COUNT; m_pDataFieldProperties->List[SENSOR_RESOLUTION].Key = PKEY_SensorDataField_Resolution; InitPropVariantFromFloat(RelativeFusion_Quarternion_Resolution, &(m_pDataFieldProperties->List[SENSOR_RESOLUTION].Value)); m_pDataFieldProperties->List[SENSOR_MIN_RANGE].Key = PKEY_SensorDataField_RangeMinimum; InitPropVariantFromFloat(RelativeFusion_Quarternion_Minimum, &(m_pDataFieldProperties->List[SENSOR_MIN_RANGE].Value)); m_pDataFieldProperties->List[SENSOR_MAX_RANGE].Key = PKEY_SensorDataField_RangeMaximum; InitPropVariantFromFloat(RelativeFusion_Quarternion_Maximum, &(m_pDataFieldProperties->List[SENSOR_MAX_RANGE].Value)); } // // Set default threshold // { WDF_OBJECT_ATTRIBUTES MemoryAttributes; WDFMEMORY MemoryHandle = NULL; ULONG Size = SENSOR_COLLECTION_LIST_SIZE(RELATIVE_FUSION_THRESHOLD_COUNT); MemoryHandle = NULL; WDF_OBJECT_ATTRIBUTES_INIT(&MemoryAttributes); MemoryAttributes.ParentObject = SensorInstance; Status = WdfMemoryCreate(&MemoryAttributes, PagedPool, SENSORV2_POOL_TAG_RELATIVE_FUSION, Size, &MemoryHandle, reinterpret_cast(&m_pThresholds)); if (!NT_SUCCESS(Status) || nullptr == m_pThresholds) { TraceError("COMBO %!FUNC! RelativeFusionDevice WdfMemoryCreate failed %!STATUS!", Status); goto Exit; } SENSOR_COLLECTION_LIST_INIT(m_pThresholds, Size); m_pThresholds->Count = RELATIVE_FUSION_THRESHOLD_COUNT; m_pThresholds->List[RELATIVE_FUSION_THRESHOLD_QUATERNION_W].Key = PKEY_SensorData_QuaternionW; InitPropVariantFromFloat(0.0f, &(m_pThresholds->List[RELATIVE_FUSION_THRESHOLD_QUATERNION_W].Value)); m_pThresholds->List[RELATIVE_FUSION_THRESHOLD_QUATERNION_X].Key = PKEY_SensorData_QuaternionX; InitPropVariantFromFloat(0.0f, &(m_pThresholds->List[RELATIVE_FUSION_THRESHOLD_QUATERNION_X].Value)); m_pThresholds->List[RELATIVE_FUSION_THRESHOLD_QUATERNION_Y].Key = PKEY_SensorData_QuaternionY; InitPropVariantFromFloat(0.0f, &(m_pThresholds->List[RELATIVE_FUSION_THRESHOLD_QUATERNION_Y].Value)); m_pThresholds->List[RELATIVE_FUSION_THRESHOLD_QUATERNION_Z].Key = PKEY_SensorData_QuaternionZ; InitPropVariantFromFloat(0.0f, &(m_pThresholds->List[RELATIVE_FUSION_THRESHOLD_QUATERNION_Z].Value)); ZeroMemory(&m_CachedThresholds, sizeof(m_CachedThresholds)); m_FirstSample = TRUE; } Exit: SENSOR_FunctionExit(Status); return Status; } //------------------------------------------------------------------------------ // Function: GetData // // This routine is called by worker thread to read a single sample, compare threshold // and push it back to CLX. It simulates hardware thresholding by only generating data // when the change of data is greater than threshold. // // Arguments: // None // // Return Value: // NTSTATUS code //------------------------------------------------------------------------------ NTSTATUS RelativeFusionDevice::GetData( ) { BOOLEAN DataReady = FALSE; FILETIME TimeStamp = {0}; NTSTATUS Status = STATUS_SUCCESS; SENSOR_FunctionEnter(); // new sample? if (FALSE != m_FirstSample) { Status = GetPerformanceTime (&m_StartTime); if (!NT_SUCCESS(Status)) { m_StartTime = 0; TraceError("COMBO %!FUNC! RelativeFusionDevice GetPerformanceTime %!STATUS!", Status); } m_SampleCount = 0; DataReady = TRUE; } else { // Compare the change of data to threshold, and only push the data back to // clx if the change exceeds threshold. This is usually done in HW. if ((abs(m_CachedData.W - m_LastSample.W) >= m_CachedThresholds.W) || (abs(m_CachedData.X - m_LastSample.X) >= m_CachedThresholds.X) || (abs(m_CachedData.Y - m_LastSample.Y) >= m_CachedThresholds.Y) || (abs(m_CachedData.Z - m_LastSample.Z) >= m_CachedThresholds.Z)) { DataReady = TRUE; } } if (FALSE != DataReady) { // update last sample m_LastSample = m_CachedData; // push to clx InitPropVariantFromFloat(m_LastSample.W, &(m_pData->List[RELATIVE_FUSION_DATA_QUATERNION_W].Value)); InitPropVariantFromFloat(m_LastSample.X, &(m_pData->List[RELATIVE_FUSION_DATA_QUATERNION_X].Value)); InitPropVariantFromFloat(m_LastSample.Y, &(m_pData->List[RELATIVE_FUSION_DATA_QUATERNION_Y].Value)); InitPropVariantFromFloat(m_LastSample.Z, &(m_pData->List[RELATIVE_FUSION_DATA_QUATERNION_Z].Value)); GetSystemTimePreciseAsFileTime(&TimeStamp); InitPropVariantFromFileTime(&TimeStamp, &(m_pData->List[RELATIVE_FUSION_DATA_TIMESTAMP].Value)); SensorsCxSensorDataReady(m_SensorInstance, m_pData); m_FirstSample = FALSE; } else { Status = STATUS_DATA_NOT_ACCEPTED; TraceInformation("COMBO %!FUNC! RelativeFusionDevice Data did NOT meet the threshold"); } SENSOR_FunctionExit(Status); return Status; } //------------------------------------------------------------------------------ // Function: UpdateCachedThreshold // // This routine updates the cached threshold // // Arguments: // None // // Return Value: // NTSTATUS code //------------------------------------------------------------------------------ NTSTATUS RelativeFusionDevice::UpdateCachedThreshold( ) { NTSTATUS Status = STATUS_UNSUCCESSFUL; SENSOR_FunctionEnter(); Status = PropKeyFindKeyGetFloat(m_pThresholds, &PKEY_SensorData_QuaternionW, &m_CachedThresholds.W); if (!NT_SUCCESS(Status)) { TraceError("COMBO %!FUNC! RelativeFusionDevice PropKeyFindKeyGetFloat for W failed! %!STATUS!", Status); goto Exit; } Status = PropKeyFindKeyGetFloat(m_pThresholds, &PKEY_SensorData_QuaternionX, &m_CachedThresholds.X); if (!NT_SUCCESS(Status)) { TraceError("COMBO %!FUNC! RelativeFusionDevice PropKeyFindKeyGetFloat for X failed! %!STATUS!", Status); goto Exit; } Status = PropKeyFindKeyGetFloat(m_pThresholds, &PKEY_SensorData_QuaternionY, &m_CachedThresholds.Y); if (!NT_SUCCESS(Status)) { TraceError("COMBO %!FUNC! RelativeFusionDevice PropKeyFindKeyGetFloat for Y failed! %!STATUS!", Status); goto Exit; } Status = PropKeyFindKeyGetFloat(m_pThresholds, &PKEY_SensorData_QuaternionZ, &m_CachedThresholds.Z); if (!NT_SUCCESS(Status)) { TraceError("COMBO %!FUNC! RelativeFusionDevice PropKeyFindKeyGetFloat for Z failed! %!STATUS!", Status); goto Exit; } Exit: SENSOR_FunctionExit(Status); return Status; }