Add Orientation Tracker

lib/CMakeLists.txt

@@ -35,7 +35,8 @@ set(HEADER_FILES
 		include/chiaki/time.h
 		include/chiaki/fec.h
 		include/chiaki/regist.h
-		include/chiaki/opusdecoder.h)
+		include/chiaki/opusdecoder.h
+		include/chiaki/orientation.h)
 
 set(SOURCE_FILES
 		src/common.c
@@ -73,7 +74,8 @@ set(SOURCE_FILES
 		src/time.c
 		src/fec
 		src/regist.c
-		src/opusdecoder.c)
+		src/opusdecoder.c
+		src/orientation.c)
 
 if(CHIAKI_ENABLE_FFMPEG_DECODER)
 	list(APPEND HEADER_FILES include/chiaki/ffmpegdecoder.h)

lib/include/chiaki/orientation.h

@@ -0,0 +1,43 @@
+// SPDX-License-Identifier: LicenseRef-AGPL-3.0-only-OpenSSL
+
+#ifndef CHIAKI_ORIENTATION_H
+#define CHIAKI_ORIENTATION_H
+
+#include "common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Quaternion orientation from accelerometer and gyroscope
+ * using Madgwick's algorithm.
+ * See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
+ */
+typedef struct chiaki_orientation_t
+{
+	float x, y, z, w;
+} ChiakiOrientation;
+
+CHIAKI_EXPORT void chiaki_orientation_init(ChiakiOrientation *orient);
+CHIAKI_EXPORT void chiaki_orientation_update(ChiakiOrientation *orient, float gx, float gy, float gz, float ax, float ay, float az, float time_step_sec);
+
+/**
+ * Extension of ChiakiOrientation, also tracking an absolute timestamp
+ */
+typedef struct chiaki_orientation_tracker_t
+{
+	ChiakiOrientation orient;
+	uint32_t timestamp;
+	bool first_sample;
+} ChiakiOrientationTracker;
+
+CHIAKI_EXPORT void chiaki_orientation_tracker_init(ChiakiOrientationTracker *tracker);
+CHIAKI_EXPORT void chiaki_orientation_tracker_update(ChiakiOrientationTracker *tracker,
+		float gx, float gy, float gz, float ax, float ay, float az, uint32_t timestamp_us);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // CHIAKI_ORIENTATION_H

lib/src/orientation.c

@@ -0,0 +1,126 @@
+// SPDX-License-Identifier: LicenseRef-AGPL-3.0-only-OpenSSL
+
+#include <chiaki/orientation.h>
+
+CHIAKI_EXPORT void chiaki_orientation_init(ChiakiOrientation *orient)
+{
+	orient->x = orient->y = orient->z = 0.0f;
+	orient->w = 1.0f;
+}
+
+#define BETA 0.1f		// 2 * proportional gain
+static float inv_sqrt(float x);
+
+CHIAKI_EXPORT void chiaki_orientation_update(ChiakiOrientation *orient, float gx, float gy, float gz, float ax, float ay, float az, float time_step_sec)
+{
+	float q0 = orient->w, q1 = orient->x, q2 = orient->y, q3 = orient->z;
+	// Madgwick's IMU algorithm.
+	// See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
+	float recip_norm;
+	float s0, s1, s2, s3;
+	float q_dot1, q_dot2, q_dot3, q_dot4;
+	float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2 ,_8q1, _8q2, q0q0, q1q1, q2q2, q3q3;
+
+	// Rate of change of quaternion from gyroscope
+	q_dot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz);
+	q_dot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy);
+	q_dot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx);
+	q_dot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx);
+
+	// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
+	if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f)))
+	{
+		// Normalise accelerometer measurement
+		recip_norm = inv_sqrt(ax * ax + ay * ay + az * az);
+		ax *= recip_norm;
+		ay *= recip_norm;
+		az *= recip_norm;
+
+		// Auxiliary variables to avoid repeated arithmetic
+		_2q0 = 2.0f * q0;
+		_2q1 = 2.0f * q1;
+		_2q2 = 2.0f * q2;
+		_2q3 = 2.0f * q3;
+		_4q0 = 4.0f * q0;
+		_4q1 = 4.0f * q1;
+		_4q2 = 4.0f * q2;
+		_8q1 = 8.0f * q1;
+		_8q2 = 8.0f * q2;
+		q0q0 = q0 * q0;
+		q1q1 = q1 * q1;
+		q2q2 = q2 * q2;
+		q3q3 = q3 * q3;
+
+		// Gradient decent algorithm corrective step
+		s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay;
+		s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az;
+		s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az;
+		s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay;
+		recip_norm = inv_sqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude
+		s0 *= recip_norm;
+		s1 *= recip_norm;
+		s2 *= recip_norm;
+		s3 *= recip_norm;
+
+		// Apply feedback step
+		q_dot1 -= BETA * s0;
+		q_dot2 -= BETA * s1;
+		q_dot3 -= BETA * s2;
+		q_dot4 -= BETA * s3;
+	}
+
+	// Integrate rate of change of quaternion to yield quaternion
+	q0 += q_dot1 * time_step_sec;
+	q1 += q_dot2 * time_step_sec;
+	q2 += q_dot3 * time_step_sec;
+	q3 += q_dot4 * time_step_sec;
+
+	// Normalise quaternion
+	recip_norm = inv_sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
+	q0 *= recip_norm;
+	q1 *= recip_norm;
+	q2 *= recip_norm;
+	q3 *= recip_norm;
+
+	orient->x = q1;
+	orient->y = q2;
+	orient->z = q3;
+	orient->w = q0;
+}
+
+static float inv_sqrt(float x)
+{
+	// Fast inverse square-root
+	// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root
+	float halfx = 0.5f * x;
+	float y = x;
+	long i = *(long*)&y;
+	i = 0x5f3759df - (i>>1);
+	y = *(float*)&i;
+	y = y * (1.5f - (halfx * y * y));
+	return y;
+}
+
+CHIAKI_EXPORT void chiaki_orientation_tracker_init(ChiakiOrientationTracker *tracker)
+{
+	chiaki_orientation_init(&tracker->orient);
+	tracker->timestamp = 0;
+	tracker->first_sample = true;
+}
+
+CHIAKI_EXPORT void chiaki_orientation_tracker_update(ChiakiOrientationTracker *tracker,
+		float gx, float gy, float gz, float ax, float ay, float az, uint32_t timestamp_us)
+{
+	if(tracker->first_sample)
+	{
+		tracker->first_sample = false;
+		tracker->timestamp = timestamp_us;
+		return;
+	}
+	uint64_t delta_us = timestamp_us;
+	if(delta_us < tracker->timestamp)
+		delta_us += (1ULL << 32);
+	delta_us -= tracker->timestamp;
+	tracker->timestamp = timestamp_us;
+	chiaki_orientation_update(&tracker->orient, gx, gy, gz, ax, ay, az, (float)delta_us / 1000000.0f);
+}

setsu/demo/motion.c

@@ -44,7 +44,7 @@ void sigint(int s)
 
 #define BAR_LENGTH 100
 #define BAR_MAX 2.0f
-#define BAR_MAX_GYRO 180.0f
+#define BAR_MAX_GYRO M_PI
 
 void print_state()
 {
@@ -69,7 +69,7 @@ void print_state()
 			}
 			bool cov = ((vals.v[b] < 0.0f) == (cur < 0.0f)) && fabsf(vals.v[b]) > fabsf(cur);
 			float next = BAR_VAL(bi + 1);
-#define MARK_VAL (b > 2 ? 90.0f : 1.0f)
+#define MARK_VAL (b > 2 ? 0.5f * M_PI : 1.0f)
 			bool mark = cur < -MARK_VAL && next >= -MARK_VAL || prev < MARK_VAL && cur >= MARK_VAL;
 			buf[i++] = cov ? (mark ? '#' : '=') : (mark ? '.' : ' ');
 #undef BAR_VAL

setsu/include/setsu.h

@@ -80,7 +80,7 @@ typedef struct setsu_event_t
 				struct
 				{
 					float accel_x, accel_y, accel_z; // unit is 1G
-					float gyro_x, gyro_y, gyro_z; // unit is deg/sec
+					float gyro_x, gyro_y, gyro_z; // unit is rad/sec
 					uint32_t timestamp; // microseconds
 				} motion;
 			};

setsu/src/setsu.c

@@ -11,6 +11,7 @@
 #include <unistd.h>
 #include <fcntl.h>
 #include <errno.h>
+#include <math.h>
 
 #include <stdio.h>
 
@@ -22,6 +23,8 @@
 #define SETSU_LOG(...) do {} while(0)
 #endif
 
+#define DEG2RAD (2.0f * M_PI / 360.0f)
+
 typedef struct setsu_avail_device_t
 {
 	struct setsu_avail_device_t *next;
@@ -686,9 +689,9 @@ static void device_drain(Setsu *setsu, SetsuDevice *dev, SetsuEventCb cb, void *
 				event.motion.accel_x = (float)dev->motion.accel_x / (float)dev->motion.accel_res_x;
 				event.motion.accel_y = (float)dev->motion.accel_y / (float)dev->motion.accel_res_y;
 				event.motion.accel_z = (float)dev->motion.accel_z / (float)dev->motion.accel_res_z;
-				event.motion.gyro_x = (float)dev->motion.gyro_x / (float)dev->motion.gyro_res_x;
-				event.motion.gyro_y = (float)dev->motion.gyro_y / (float)dev->motion.gyro_res_y;
-				event.motion.gyro_z = (float)dev->motion.gyro_z / (float)dev->motion.gyro_res_z;
+				event.motion.gyro_x = DEG2RAD * (float)dev->motion.gyro_x / (float)dev->motion.gyro_res_x;
+				event.motion.gyro_y = DEG2RAD * (float)dev->motion.gyro_y / (float)dev->motion.gyro_res_y;
+				event.motion.gyro_z = DEG2RAD * (float)dev->motion.gyro_z / (float)dev->motion.gyro_res_z;
 				event.motion.timestamp = dev->motion.timestamp;
 				SEND_EVENT();
 				dev->motion.dirty = false;