1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
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)
|
