Remove unused GPL'd files (simple_apps, mpu.h)
The libsensors/* and mlsdk/* files reference an mpu.h which
is mlsdk/**/mpu.h that is not GPL.
Bug: 10612505
Change-Id: I15b4f883247d49c86cf5bcfad48315ee37ebb50d
diff --git a/60xx/libsensors_iio/software/core/driver/include/linux/mpu.h b/60xx/libsensors_iio/software/core/driver/include/linux/mpu.h
deleted file mode 100644
index 4391226..0000000
--- a/60xx/libsensors_iio/software/core/driver/include/linux/mpu.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/*
-* Copyright (C) 2012 Invensense, Inc.
-*
-* This software is licensed under the terms of the GNU General Public
-* License version 2, as published by the Free Software Foundation, and
-* may be copied, distributed, and modified under those terms.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-*/
-
-/**
- * @addtogroup DRIVERS
- * @brief Hardware drivers.
- *
- * @{
- * @file mpu.h
- * @brief mpu definition
- */
-
-#ifndef __MPU_H_
-#define __MPU_H_
-
-#ifdef __KERNEL__
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#endif
-
-enum secondary_slave_type {
- SECONDARY_SLAVE_TYPE_NONE,
- SECONDARY_SLAVE_TYPE_ACCEL,
- SECONDARY_SLAVE_TYPE_COMPASS,
- SECONDARY_SLAVE_TYPE_PRESSURE,
-
- SECONDARY_SLAVE_TYPE_TYPES
-};
-
-enum ext_slave_id {
- ID_INVALID = 0,
- GYRO_ID_MPU3050,
- GYRO_ID_MPU6050A2,
- GYRO_ID_MPU6050B1,
- GYRO_ID_MPU6050B1_NO_ACCEL,
- GYRO_ID_ITG3500,
-
- ACCEL_ID_LIS331,
- ACCEL_ID_LSM303DLX,
- ACCEL_ID_LIS3DH,
- ACCEL_ID_KXSD9,
- ACCEL_ID_KXTF9,
- ACCEL_ID_BMA150,
- ACCEL_ID_BMA222,
- ACCEL_ID_BMA250,
- ACCEL_ID_ADXL34X,
- ACCEL_ID_MMA8450,
- ACCEL_ID_MMA845X,
- ACCEL_ID_MPU6050,
-
- COMPASS_ID_AK8963,
- COMPASS_ID_AK8975,
- COMPASS_ID_AK8972,
- COMPASS_ID_AMI30X,
- COMPASS_ID_AMI306,
- COMPASS_ID_YAS529,
- COMPASS_ID_YAS530,
- COMPASS_ID_HMC5883,
- COMPASS_ID_LSM303DLH,
- COMPASS_ID_LSM303DLM,
- COMPASS_ID_MMC314X,
- COMPASS_ID_HSCDTD002B,
- COMPASS_ID_HSCDTD004A,
-
- PRESSURE_ID_BMA085,
-};
-
-#define INV_PROD_KEY(ver, rev) (ver * 100 + rev)
-/**
- * struct mpu_platform_data - Platform data for the mpu driver
- * @int_config: Bits [7:3] of the int config register.
- * @level_shifter: 0: VLogic, 1: VDD
- * @orientation: Orientation matrix of the gyroscope
- * @sec_slave_type: secondary slave device type, can be compass, accel, etc
- * @sec_slave_id: id of the secondary slave device
- * @secondary_i2c_address: secondary device's i2c address
- * @secondary_orientation: secondary device's orientation matrix
- * @key: key for MPL library.
- *
- * Contains platform specific information on how to configure the MPU3050 to
- * work on this platform. The orientation matricies are 3x3 rotation matricies
- * that are applied to the data to rotate from the mounting orientation to the
- * platform orientation. The values must be one of 0, 1, or -1 and each row and
- * column should have exactly 1 non-zero value.
- */
-struct mpu_platform_data {
- __u8 int_config;
- __u8 level_shifter;
- __s8 orientation[9];
- enum secondary_slave_type sec_slave_type;
- enum ext_slave_id sec_slave_id;
- __u16 secondary_i2c_addr;
- __s8 secondary_orientation[9];
- __u8 key[16];
-};
-
-#endif /* __MPU_H_ */
diff --git a/60xx/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared b/60xx/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
deleted file mode 100644
index 7635cd8..0000000
--- a/60xx/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
+++ /dev/null
Binary files differ
diff --git a/60xx/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk b/60xx/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk
deleted file mode 100644
index 7655e4d..0000000
--- a/60xx/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk
+++ /dev/null
@@ -1,95 +0,0 @@
-EXEC = inv_gesture_test$(SHARED_APP_SUFFIX)
-
-MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
-
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
-COMP ?= $(CROSS)gcc
-LINK ?= $(CROSS)gcc
-
-OBJFOLDER = $(CURDIR)/obj
-
-INV_ROOT = ../../../../..
-APP_DIR = $(CURDIR)/../..
-MLLITE_DIR = $(INV_ROOT)/software/core/mllite
-MPL_DIR = $(INV_ROOT)/software/core/mpl
-
-include $(INV_ROOT)/software/build/android/common.mk
-
-CFLAGS += $(CMDLINE_CFLAGS)
-CFLAGS += -Wall
-CFLAGS += -fpic
-CFLAGS += -nostdlib
-CFLAGS += -DNDEBUG
-CFLAGS += -D_REENTRANT
-CFLAGS += -DLINUX
-CFLAGS += -DANDROID
-CFLAGS += -mthumb-interwork
-CFLAGS += -fno-exceptions
-CFLAGS += -ffunction-sections
-CFLAGS += -funwind-tables
-CFLAGS += -fstack-protector
-CFLAGS += -fno-short-enums
-CFLAGS += -fmessage-length=0
-CFLAGS += -I$(MLLITE_DIR)
-CFLAGS += -I$(MPL_DIR)
-CFLAGS += -I$(COMMON_DIR)
-CFLAGS += -I$(HAL_DIR)/include
-CFLAGS += $(INV_INCLUDES)
-CFLAGS += $(INV_DEFINES)
-
-LLINK = -lc
-LLINK += -lm
-LLINK += -lutils
-LLINK += -lcutils
-LLINK += -lgcc
-LLINK += -ldl
-LLINK += -lstdc++
-LLINK += -llog
-LLINK += -lz
-
-LFLAGS += $(CMDLINE_LFLAGS)
-LFLAGS += $(ANDROID_LINK_EXECUTABLE)
-
-LRPATH = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
-
-####################################################################################################
-## sources
-
-INV_LIBS = $(MPL_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MPL_LIB_NAME).$(SHARED_LIB_EXT)
-INV_LIBS += $(MLLITE_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MLLITE_LIB_NAME).$(SHARED_LIB_EXT)
-
-#INV_SOURCES and VPATH provided by Makefile.filelist
-include ../filelist.mk
-
-INV_OBJS := $(addsuffix .o,$(INV_SOURCES))
-INV_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(INV_SOURCES))))
-
-####################################################################################################
-## rules
-
-.PHONY: all clean cleanall install
-
-all: $(EXEC) $(MK_NAME)
-
-$(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
- @$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
- $(LINK) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
-
-$(OBJFOLDER) :
- @$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
- mkdir obj
-
-$(INV_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c $(MK_NAME)
- @$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
- $(COMP) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(INV_INCLUDES) $(CFLAGS) -o $@ -c $<
-
-clean :
- rm -fR $(OBJFOLDER)
-
-cleanall :
- rm -fR $(EXEC) $(OBJFOLDER)
-
-install : $(EXEC)
- cp -f $(EXEC) $(INSTALL_DIR)
-
-
diff --git a/60xx/libsensors_iio/software/simple_apps/gesture_test/build/filelist.mk b/60xx/libsensors_iio/software/simple_apps/gesture_test/build/filelist.mk
deleted file mode 100644
index 75d93cf..0000000
--- a/60xx/libsensors_iio/software/simple_apps/gesture_test/build/filelist.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#### filelist.mk for inv_gesture_test ####
-
-# headers
-#HEADERS +=
-
-# sources
-SOURCES := $(APP_DIR)/inv_gesture_test.c
-
-INV_SOURCES += $(SOURCES)
-
-VPATH += $(APP_DIR)
diff --git a/60xx/libsensors_iio/software/simple_apps/gesture_test/inv_gesture_test.c b/60xx/libsensors_iio/software/simple_apps/gesture_test/inv_gesture_test.c
deleted file mode 100644
index d38d478..0000000
--- a/60xx/libsensors_iio/software/simple_apps/gesture_test/inv_gesture_test.c
+++ /dev/null
@@ -1,535 +0,0 @@
-/**
- * Gesture Test application for Invensense's MPU6/9xxx (w/ DMP).
- */
-
-#include <unistd.h>
-#include <dirent.h>
-#include <fcntl.h>
-#include <stdio.h>
-#include <errno.h>
-#include <sys/stat.h>
-#include <stdlib.h>
-#include <features.h>
-#include <dirent.h>
-#include <string.h>
-#include <poll.h>
-#include <stddef.h>
-#include <linux/input.h>
-#include <time.h>
-#include <linux/time.h>
-#include <unistd.h>
-#include <termios.h>
-
-#include "invensense.h"
-#include "ml_math_func.h"
-#include "storage_manager.h"
-#include "ml_stored_data.h"
-#include "ml_sysfs_helper.h"
-
-#define DEBUG_PRINT /* Uncomment to print Gyro & Accel read from Driver */
-
-#define MAX_SYSFS_NAME_LEN (100)
-#define MAX_SYSFS_ATTRB (sizeof(struct sysfs_attrbs) / sizeof(char*))
-
-#define FLICK_UPPER_THRES 3147790
-#define FLICK_LOWER_THRES -3147790
-#define FLICK_COUNTER 50
-#define POLL_TIME 2000 // 2sec
-
-#define FALSE 0
-#define TRUE 1
-
-char *sysfs_names_ptr;
-
-struct sysfs_attrbs {
- char *enable;
- char *power_state;
- char *dmp_on;
- char *dmp_int_on;
- char *self_test;
- char *dmp_firmware;
- char *firmware_loaded;
- char *display_orientation_on;
- char *orientation_on;
- char *event_flick;
- char *event_display_orientation;
- char *event_orientation;
- char *event_tap;
- char *flick_axis;
- char *flick_counter;
- char *flick_int_on;
- char *flick_lower;
- char *flick_upper;
- char *flick_message_on;
- char *tap_min_count;
- char *tap_on;
- char *tap_threshold;
- char *tap_time;
-} mpu;
-
-enum {
- tap,
- flick,
- gOrient,
- orient,
- numDMPFeatures
-};
-
-struct pollfd pfd[numDMPFeatures];
-
-/*******************************************************************************
- * DMP Feature Supported Functions
- ******************************************************************************/
-
-int read_sysfs_int(char *filename, int *var)
-{
- int res=0;
- FILE *fp;
-
- fp = fopen(filename, "r");
- if (fp!=NULL) {
- fscanf(fp, "%d\n", var);
- fclose(fp);
- } else {
- MPL_LOGE("ERR open file to read");
- res= -1;
- }
- return res;
-}
-
-int write_sysfs_int(char *filename, int data)
-{
- int res=0;
- FILE *fp;
-
- fp = fopen(filename, "w");
- if (fp!=NULL) {
- fprintf(fp, "%d\n", data);
- fclose(fp);
- } else {
- MPL_LOGE("ERR open file to write");
- res= -1;
- }
- return res;
-}
-
-/**************************************************
- This _kbhit() function is courtesy from Web
-***************************************************/
-int _kbhit() {
- static const int STDIN = 0;
- static bool initialized = false;
-
- if (! initialized) {
- // Use termios to turn off line buffering
- struct termios term;
- tcgetattr(STDIN, &term);
- term.c_lflag &= ~ICANON;
- tcsetattr(STDIN, TCSANOW, &term);
- setbuf(stdin, NULL);
- initialized = true;
- }
-
- int bytesWaiting;
- ioctl(STDIN, FIONREAD, &bytesWaiting);
- return bytesWaiting;
-}
-
-int inv_init_sysfs_attributes(void)
-{
- unsigned char i = 0;
- char sysfs_path[MAX_SYSFS_NAME_LEN];
- char *sptr;
- char **dptr;
-
- sysfs_names_ptr =
- (char*)malloc(sizeof(char[MAX_SYSFS_ATTRB][MAX_SYSFS_NAME_LEN]));
- sptr = sysfs_names_ptr;
- if (sptr != NULL) {
- dptr = (char**)&mpu;
- do {
- *dptr++ = sptr;
- sptr += sizeof(char[MAX_SYSFS_NAME_LEN]);
- } while (++i < MAX_SYSFS_ATTRB);
- } else {
- MPL_LOGE("couldn't alloc mem for sysfs paths");
- return -1;
- }
-
- // get proper (in absolute/relative) IIO path & build MPU's sysfs paths
- inv_get_sysfs_path(sysfs_path);
-
- sprintf(mpu.enable, "%s%s", sysfs_path, "/buffer/enable");
- sprintf(mpu.power_state, "%s%s", sysfs_path, "/power_state");
- sprintf(mpu.dmp_on,"%s%s", sysfs_path, "/dmp_on");
- sprintf(mpu.dmp_int_on, "%s%s", sysfs_path, "/dmp_int_on");
- sprintf(mpu.self_test, "%s%s", sysfs_path, "/self_test");
- sprintf(mpu.dmp_firmware, "%s%s", sysfs_path, "/dmp_firmware");
- sprintf(mpu.firmware_loaded, "%s%s", sysfs_path, "/firmware_loaded");
- sprintf(mpu.display_orientation_on, "%s%s", sysfs_path, "/display_orientation_on");
- sprintf(mpu.orientation_on, "%s%s", sysfs_path, "/orientation_on");
- sprintf(mpu.event_flick, "%s%s", sysfs_path, "/event_flick");
- sprintf(mpu.event_display_orientation, "%s%s", sysfs_path, "/event_display_orientation");
- sprintf(mpu.event_orientation, "%s%s", sysfs_path, "/event_orientation");
- sprintf(mpu.event_tap, "%s%s", sysfs_path, "/event_tap");
- sprintf(mpu.flick_axis, "%s%s", sysfs_path, "/flick_axis");
- sprintf(mpu.flick_counter, "%s%s", sysfs_path, "/flick_counter");
- sprintf(mpu.flick_int_on, "%s%s", sysfs_path, "/flick_int_on");
- sprintf(mpu.flick_lower, "%s%s", sysfs_path, "/flick_lower");
- sprintf(mpu.flick_upper, "%s%s", sysfs_path, "/flick_upper");
- sprintf(mpu.flick_message_on, "%s%s", sysfs_path, "/flick_message_on");
- sprintf(mpu.tap_min_count, "%s%s", sysfs_path, "/tap_min_count");
- sprintf(mpu.tap_on, "%s%s", sysfs_path, "/tap_on");
- sprintf(mpu.tap_threshold, "%s%s", sysfs_path, "/tap_threshold");
- sprintf(mpu.tap_time, "%s%s", sysfs_path, "/tap_time");
-
-#if 0
- // test print sysfs paths
- dptr = (char**)&mpu;
- for (i = 0; i < MAX_SYSFS_ATTRB; i++) {
- MPL_LOGE("sysfs path: %s", *dptr++);
- }
-#endif
- return 0;
-}
-
-int DmpFWloaded()
-{
- int res;
- read_sysfs_int(mpu.firmware_loaded, &res);
- return res;
-}
-
-int enable_flick(int en)
-{
- int res=0;
- int flickUpper=0, flickLower=0, flickCounter=0;
-
- if (write_sysfs_int(mpu.flick_int_on, en) < 0) {
- printf("GT:ERR-can't write 'flick_int_on'");
- res= -1;
- }
-
- if (en) {
- flickUpper= FLICK_UPPER_THRES;
- flickLower= FLICK_LOWER_THRES;
- flickCounter= FLICK_COUNTER;
- }
-
- if (write_sysfs_int(mpu.flick_upper, flickUpper) < 0) {
- printf("GT:ERR-can't write 'flick_upper'");
- res= -1;
- }
-
- if (write_sysfs_int(mpu.flick_lower, flickLower) < 0) {
- printf("GT:ERR-can't write 'flick_lower'");
- res= -1;
- }
-
- if (write_sysfs_int(mpu.flick_counter, flickCounter) < 0) {
- printf("GT:ERR-can't write 'flick_counter'");
- res= -1;
- }
-
- if (write_sysfs_int(mpu.flick_message_on, 0) < 0) {
- printf("GT:ERR-can't write 'flick_message_on'");
- res= -1;
- }
-
- if (write_sysfs_int(mpu.flick_axis, 0) < 0) {
- printf("GT:ERR_can't write 'flick_axis'");
- res= -1;
- }
-
- return res;
-}
-
-int enable_tap(int en)
-{
- if (write_sysfs_int(mpu.tap_on, en) < 0) {
- printf("GT:ERR-can't write 'tap_on'");
- return -1;
- }
-
- return 0;
-}
-
-int enable_displ_orient(int en)
-{
- if (write_sysfs_int(mpu.display_orientation_on, en) < 0) {
- printf("GT:ERR-can't write 'display_orientation_en'");
- return -1;
- }
-
- return 0;
-}
-
-int enable_orient(int en)
-{
- if (write_sysfs_int(mpu.orientation_on, en) < 0) {
- printf("GT:ERR-can't write 'orientation_on'");
- return -1;
- }
-
- return 0;
-}
-
-int flickHandler()
-{
- FILE *fp;
- int data;
-
-#ifdef DEBUG_PRINT
- printf("GT:Flick Handler\n");
-#endif
-
- fp = fopen(mpu.event_flick, "rt");
- fscanf(fp, "%d\n", &data);
- fclose (fp);
-
- printf("Flick= %x\n", data);
-
- return 0;
-}
-
-int tapHandler()
-{
- FILE *fp;
- int tap, tap_dir, tap_num;
-
- fp = fopen(mpu.event_tap, "rt");
- fscanf(fp, "%d\n", &tap);
- fclose(fp);
-
- tap_dir = tap/8;
- tap_num = tap%8 + 1;
-
-#ifdef DEBUG_PRINT
- printf("GT:Tap Handler **\n");
- printf("Tap= %x\n", tap);
- printf("Tap Dir= %x\n", tap_dir);
- printf("Tap Num= %x\n", tap_num);
-#endif
-
- switch (tap_dir) {
- case 1:
- printf("Tap Axis->X Pos\n");
- break;
- case 2:
- printf("Tap Axis->X Neg\n");
- break;
- case 3:
- printf("Tap Axis->Y Pos\n");
- break;
- case 4:
- printf("Tap Axis->Y Neg\n");
- break;
- case 5:
- printf("Tap Axis->Z Pos\n");
- break;
- case 6:
- printf("Tap Axis->Z Neg\n");
- break;
- default:
- printf("Tap Axis->Unknown\n");
- break;
- }
-
- return 0;
-}
-
-int googleOrientHandler()
-{
- FILE *fp;
- int orient;
-
-#ifdef DEBUG_PRINT
- printf("GT:Google Orient Handler\n");
-#endif
-
- fp = fopen(mpu.event_display_orientation, "rt");
- fscanf(fp, "%d\n", &orient);
- fclose(fp);
-
- printf("Google Orient-> %d\n", orient);
-
- return 0;
-}
-
-int orientHandler()
-{
- FILE *fp;
- int orient;
-
- fp = fopen(mpu.event_orientation, "rt");
- fscanf(fp, "%d\n", &orient);
- fclose(fp);
-
-#ifdef DEBUG_PRINT
- printf("GT:Reg Orient Handler\n");
-#endif
-
- if (orient & 0x01)
- printf("Orient->X Up\n");
-
- if (orient & 0x02)
- printf("Orient->X Down\n");
-
- if (orient & 0x04)
- printf("Orient->Y Up\n");
-
- if (orient & 0x08)
- printf("Orient->Y Down\n");
-
- if (orient & 0x10)
- printf("Orient->Z Up\n");
-
- if (orient & 0x20)
- printf("Orient->Z Down\n");
-
- if (orient & 0x40)
- printf("Orient->Flip\n");
-
- return 0;
-}
-
-int enableDMPFeatures(int en)
-{
- int res= -1;
-
- if (DmpFWloaded())
- {
- /* Currently there's no info regarding DMP's supported features/capabilities */
- /* An error in enabling features below could be an indication of the feature */
- /* not supported in current loaded DMP firmware */
-
- enable_flick(en);
- enable_tap(en);
- enable_displ_orient(en);
- enable_orient(en);
- res= 0;
- }
-
- return res;
-}
-
-int initFds()
-{
- int i;
-
- for (i=0; i< numDMPFeatures; i++) {
- switch(i) {
- case tap:
- pfd[i].fd = open(mpu.event_tap, O_RDONLY | O_NONBLOCK);
- break;
-
- case flick:
- pfd[i].fd = open(mpu.event_flick, O_RDONLY | O_NONBLOCK);
- break;
-
- case gOrient:
- pfd[i].fd = open(mpu.event_display_orientation, O_RDONLY | O_NONBLOCK);
- break;
-
- case orient:
- pfd[i].fd = open(mpu.event_orientation, O_RDONLY | O_NONBLOCK);
- break;
-
- default:
- pfd[i].fd = -1;
- }
-
- pfd[i].events = POLLPRI|POLLERR,
- pfd[i].revents = 0;
-#ifdef DEBUG_PRINT
- printf("GT:pfd[%d].fd= %d\n", i, pfd[i].fd);
-#endif
- }
-
- return 0;
-}
-
-int closeFds()
-{
- int i;
- for (i = 0; i < numDMPFeatures; i++) {
- if (!pfd[i].fd)
- close(pfd[i].fd);
- }
- return 0;
-}
-
-/*******************************************************************************
- * M a i n S e l f T e s t
- ******************************************************************************/
-
-int main(int argc, char **argv)
-{
- char data[4];
- int i, res= 0;
-
- res = inv_init_sysfs_attributes();
- if (res) {
- printf("GT:ERR-Can't allocate mem");
- return -1;
- }
-
- /* On Gesture/DMP supported features */
- enableDMPFeatures(1);
-
- /* init Fds to poll for Gesture data */
- initFds();
-
- /* prompt user to make gesture and how to stop program */
- printf("\n**Please make Gesture to see data. Press any key to stop Prog**\n\n");
-
- do {
- for (i=0; i< numDMPFeatures; i++) {
- read(pfd[i].fd, data, 4);
- }
-
- poll(pfd, numDMPFeatures, POLL_TIME);
-
- for (i=0; i< numDMPFeatures; i++) {
- if(pfd[i].revents != 0) {
- switch(i) {
- case tap:
- tapHandler();
- break;
-
- case flick:
- flickHandler();
- break;
-
- case gOrient:
- googleOrientHandler();
- break;
-
- case orient:
- orientHandler();
- break;
-
- default:
- printf("GT:ERR-Not supported");
- break;
- }
- pfd[i].revents= 0; //no need. reset anyway
- }
- }
-
- } while (!_kbhit());
-
- /* Off DMP features */
- enableDMPFeatures(0);
-
- /* release resources */
- closeFds();
- if (sysfs_names_ptr) {
- free(sysfs_names_ptr);
- }
-
- printf("\nThank You!\n");
-
- return res;
-}
-
diff --git a/60xx/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared b/60xx/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
deleted file mode 100644
index aab27bb..0000000
--- a/60xx/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
+++ /dev/null
Binary files differ
diff --git a/60xx/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk b/60xx/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk
deleted file mode 100644
index 234c1d9..0000000
--- a/60xx/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk
+++ /dev/null
@@ -1,109 +0,0 @@
-EXEC = inv_mpu_iio$(SHARED_APP_SUFFIX)
-
-MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
-
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
-COMP ?= $(CROSS)gcc
-LINK ?= $(CROSS)gcc
-
-OBJFOLDER = $(CURDIR)/obj
-
-INV_ROOT = ../../../../..
-APP_DIR = $(CURDIR)/../..
-MLLITE_DIR = $(INV_ROOT)/software/core/mllite
-COMMON_DIR = $(INV_ROOT)/software/simple_apps/common
-MPL_DIR = $(INV_ROOT)/software/core/mpl
-HAL_DIR = $(INV_ROOT)/software/core/HAL
-
-include $(INV_ROOT)/software/build/android/common.mk
-
-CFLAGS += $(CMDLINE_CFLAGS)
-CFLAGS += -Wall
-CFLAGS += -fpic
-CFLAGS += -nostdlib
-CFLAGS += -DNDEBUG
-CFLAGS += -D_REENTRANT
-CFLAGS += -DLINUX
-CFLAGS += -DANDROID
-CFLAGS += -mthumb-interwork
-CFLAGS += -fno-exceptions
-CFLAGS += -ffunction-sections
-CFLAGS += -funwind-tables
-CFLAGS += -fstack-protector
-CFLAGS += -fno-short-enums
-CFLAGS += -fmessage-length=0
-CFLAGS += -I$(MLLITE_DIR)
-CFLAGS += -I$(MPL_DIR)
-CFLAGS += -I$(COMMON_DIR)
-CFLAGS += -I$(HAL_DIR)/include
-CFLAGS += $(INV_INCLUDES)
-CFLAGS += $(INV_DEFINES)
-
-LLINK = -lc
-LLINK += -lm
-LLINK += -lutils
-LLINK += -lcutils
-LLINK += -lgcc
-LLINK += -ldl
-LLINK += -lstdc++
-LLINK += -llog
-LLINK += -lz
-
-PRE_LFLAGS := -Wl,-T,$(ANDROID_ROOT)/build/core/armelf.x
-PRE_LFLAGS += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtend_android.o
-PRE_LFLAGS += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtbegin_dynamic.o
-
-LFLAGS += $(CMDLINE_LFLAGS)
-LFLAGS += -nostdlib
-LFLAGS += -fpic
-LFLAGS += -Wl,--gc-sections
-LFLAGS += -Wl,--no-whole-archive
-LFLAGS += -Wl,-dynamic-linker,/system/bin/linker
-LFLAGS += $(ANDROID_LINK)
-ifneq ($(PRODUCT),panda)
-LFLAGS += -rdynamic
-endif
-
-LRPATH = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
-
-####################################################################################################
-## sources
-
-INV_LIBS = $(MPL_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MPL_LIB_NAME).$(SHARED_LIB_EXT)
-INV_LIBS += $(MLLITE_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MLLITE_LIB_NAME).$(SHARED_LIB_EXT)
-
-#INV_SOURCES and VPATH provided by Makefile.filelist
-include ../filelist.mk
-
-INV_OBJS := $(addsuffix .o,$(INV_SOURCES))
-INV_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(INV_SOURCES))))
-
-####################################################################################################
-## rules
-
-.PHONY: all clean cleanall install
-
-all: $(EXEC) $(MK_NAME)
-
-$(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
- @$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
- $(LINK) $(PRE_LFLAGS) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
-
-$(OBJFOLDER) :
- @$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
- mkdir obj
-
-$(INV_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c $(MK_NAME)
- @$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
- $(COMP) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(INV_INCLUDES) $(CFLAGS) -o $@ -c $<
-
-clean :
- rm -fR $(OBJFOLDER)
-
-cleanall :
- rm -fR $(EXEC) $(OBJFOLDER)
-
-install : $(EXEC)
- cp -f $(EXEC) $(INSTALL_DIR)
-
-
diff --git a/60xx/libsensors_iio/software/simple_apps/mpu_iio/build/filelist.mk b/60xx/libsensors_iio/software/simple_apps/mpu_iio/build/filelist.mk
deleted file mode 100644
index 8a3977a..0000000
--- a/60xx/libsensors_iio/software/simple_apps/mpu_iio/build/filelist.mk
+++ /dev/null
@@ -1,12 +0,0 @@
-#### filelist.mk for mpu_iio ####
-
-# headers
-#HEADERS += $(HAL_DIR)/include/inv_sysfs_utils.h
-HEADERS += $(APP_DIR)/iio_utils.h
-
-# sources
-SOURCES := $(APP_DIR)/mpu_iio.c
-
-INV_SOURCES += $(SOURCES)
-
-VPATH += $(APP_DIR) $(COMMON_DIR) $(HAL_DIR)/linux
diff --git a/60xx/libsensors_iio/software/simple_apps/mpu_iio/iio_utils.h b/60xx/libsensors_iio/software/simple_apps/mpu_iio/iio_utils.h
deleted file mode 100644
index 773ff2c..0000000
--- a/60xx/libsensors_iio/software/simple_apps/mpu_iio/iio_utils.h
+++ /dev/null
@@ -1,643 +0,0 @@
-/* IIO - useful set of util functionality
- *
- * Copyright (c) 2008 Jonathan Cameron
- *
- * This program is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 2 as published by
- * the Free Software Foundation.
- */
-
-/* Made up value to limit allocation sizes */
-#include <string.h>
-#include <stdlib.h>
-#include <ctype.h>
-#include <stdio.h>
-#include <stdint.h>
-#include <dirent.h>
-
-#define IIO_MAX_NAME_LENGTH 30
-
-#define FORMAT_SCAN_ELEMENTS_DIR "%s/scan_elements"
-#define FORMAT_TYPE_FILE "%s_type"
-
-const char *iio_dir = "/sys/bus/iio/devices/";
-
-/**
- * iioutils_break_up_name() - extract generic name from full channel name
- * @full_name: the full channel name
- * @generic_name: the output generic channel name
- **/
-static int iioutils_break_up_name(const char *full_name,
- char **generic_name)
-{
- char *current;
- char *w, *r;
- char *working;
- current = strdup(full_name);
- working = strtok(current, "_\0");
- w = working;
- r = working;
-
- while (*r != '\0') {
- if (!isdigit(*r)) {
- *w = *r;
- w++;
- }
- r++;
- }
- *w = '\0';
- *generic_name = strdup(working);
- free(current);
-
- return 0;
-}
-
-/**
- * struct iio_channel_info - information about a given channel
- * @name: channel name
- * @generic_name: general name for channel type
- * @scale: scale factor to be applied for conversion to si units
- * @offset: offset to be applied for conversion to si units
- * @index: the channel index in the buffer output
- * @bytes: number of bytes occupied in buffer output
- * @mask: a bit mask for the raw output
- * @is_signed: is the raw value stored signed
- * @enabled: is this channel enabled
- **/
-struct iio_channel_info {
- char *name;
- char *generic_name;
- float scale;
- float offset;
- unsigned index;
- unsigned bytes;
- unsigned bits_used;
- unsigned shift;
- uint64_t mask;
- unsigned be;
- unsigned is_signed;
- unsigned enabled;
- unsigned location;
-};
-
-/**
- * iioutils_get_type() - find and process _type attribute data
- * @is_signed: output whether channel is signed
- * @bytes: output how many bytes the channel storage occupies
- * @mask: output a bit mask for the raw data
- * @be: big endian
- * @device_dir: the iio device directory
- * @name: the channel name
- * @generic_name: the channel type name
- **/
-inline int iioutils_get_type(unsigned *is_signed,
- unsigned *bytes,
- unsigned *bits_used,
- unsigned *shift,
- uint64_t *mask,
- unsigned *be,
- const char *device_dir,
- const char *name,
- const char *generic_name)
-{
- FILE *sysfsfp;
- int ret;
- DIR *dp;
- char *scan_el_dir, *builtname, *builtname_generic, *filename = 0;
- char signchar, endianchar;
- unsigned padint;
- const struct dirent *ent;
-
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- ret = asprintf(&builtname, FORMAT_TYPE_FILE, name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_scan_el_dir;
- }
- ret = asprintf(&builtname_generic, FORMAT_TYPE_FILE, generic_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_builtname;
- }
-
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_builtname_generic;
- }
- while (ent = readdir(dp), ent != NULL)
- /*
- * Do we allow devices to override a generic name with
- * a specific one?
- */
- if ((strcmp(builtname, ent->d_name) == 0) ||
- (strcmp(builtname_generic, ent->d_name) == 0)) {
- ret = asprintf(&filename,
- "%s/%s", scan_el_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_closedir;
- }
- sysfsfp = fopen(filename, "r");
- if (sysfsfp == NULL) {
- printf("failed to open %s\n", filename);
- ret = -errno;
- goto error_free_filename;
- }
-
- ret = fscanf(sysfsfp,
- "%ce:%c%u/%u>>%u",
- &endianchar,
- &signchar,
- bits_used,
- &padint, shift);
- if (ret < 0) {
- printf("failed to pass scan type description\n");
- return ret;
- }
- *be = (endianchar == 'b');
- *bytes = padint / 8;
- if (*bits_used == 64)
- *mask = ~0;
- else
- *mask = (1 << *bits_used) - 1;
- if (signchar == 's')
- *is_signed = 1;
- else
- *is_signed = 0;
- fclose(sysfsfp);
- free(filename);
-
- filename = 0;
- }
-error_free_filename:
- if (filename)
- free(filename);
-error_closedir:
- closedir(dp);
-error_free_builtname_generic:
- free(builtname_generic);
-error_free_builtname:
- free(builtname);
-error_free_scan_el_dir:
- free(scan_el_dir);
-error_ret:
- return ret;
-}
-
-inline int iioutils_get_param_float(float *output,
- const char *param_name,
- const char *device_dir,
- const char *name,
- const char *generic_name)
-{
- FILE *sysfsfp;
- int ret;
- DIR *dp;
- char *builtname, *builtname_generic;
- char *filename = NULL;
- const struct dirent *ent;
-
- ret = asprintf(&builtname, "%s_%s", name, param_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- ret = asprintf(&builtname_generic,
- "%s_%s", generic_name, param_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_builtname;
- }
- dp = opendir(device_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_builtname_generic;
- }
- while (ent = readdir(dp), ent != NULL)
- if ((strcmp(builtname, ent->d_name) == 0) ||
- (strcmp(builtname_generic, ent->d_name) == 0)) {
- ret = asprintf(&filename,
- "%s/%s", device_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_closedir;
- }
- sysfsfp = fopen(filename, "r");
- if (!sysfsfp) {
- ret = -errno;
- goto error_free_filename;
- }
- fscanf(sysfsfp, "%f", output);
- break;
- }
-error_free_filename:
- if (filename)
- free(filename);
-error_closedir:
- closedir(dp);
-error_free_builtname_generic:
- free(builtname_generic);
-error_free_builtname:
- free(builtname);
-error_ret:
- return ret;
-}
-
-/**
- * bsort_channel_array_by_index() - reorder so that the array is in index order
- *
- **/
-
-inline void bsort_channel_array_by_index(struct iio_channel_info **ci_array,
- int cnt)
-{
-
- struct iio_channel_info temp;
- int x, y;
-
- for (x = 0; x < cnt; x++)
- for (y = 0; y < (cnt - 1); y++)
- if ((*ci_array)[y].index > (*ci_array)[y+1].index) {
- temp = (*ci_array)[y + 1];
- (*ci_array)[y + 1] = (*ci_array)[y];
- (*ci_array)[y] = temp;
- }
-}
-
-/**
- * build_channel_array() - function to figure out what channels are present
- * @device_dir: the IIO device directory in sysfs
- * @
- **/
-inline int build_channel_array(const char *device_dir,
- struct iio_channel_info **ci_array,
- int *counter)
-{
- DIR *dp;
- FILE *sysfsfp;
- int count, i;
- struct iio_channel_info *current;
- int ret;
- const struct dirent *ent;
- char *scan_el_dir;
- char *filename;
-
- *counter = 0;
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_name;
- }
- while (ent = readdir(dp), ent != NULL)
- if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
- "_en") == 0) {
- ret = asprintf(&filename,
- "%s/%s", scan_el_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_close_dir;
- }
- sysfsfp = fopen(filename, "r");
- if (sysfsfp == NULL) {
- ret = -errno;
- free(filename);
- goto error_close_dir;
- }
- fscanf(sysfsfp, "%u", &ret);
- printf("%s, %d\n", filename, ret);
- if (ret == 1)
- (*counter)++;
- fclose(sysfsfp);
- free(filename);
- }
- *ci_array = malloc(sizeof(**ci_array) * (*counter));
- if (*ci_array == NULL) {
- ret = -ENOMEM;
- goto error_close_dir;
- }
- closedir(dp);
- dp = opendir(scan_el_dir);
- //seekdir(dp, 0);
- count = 0;
- while (ent = readdir(dp), ent != NULL) {
- if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
- "_en") == 0) {
- current = &(*ci_array)[count++];
- ret = asprintf(&filename,
- "%s/%s", scan_el_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- /* decrement count to avoid freeing name */
- count--;
- goto error_cleanup_array;
- }
- sysfsfp = fopen(filename, "r");
- if (sysfsfp == NULL) {
- free(filename);
- ret = -errno;
- goto error_cleanup_array;
- }
- fscanf(sysfsfp, "%u", ¤t->enabled);
- fclose(sysfsfp);
-
- if (!current->enabled) {
- free(filename);
- count--;
- continue;
- }
-
- current->scale = 1.0;
- current->offset = 0;
- current->name = strndup(ent->d_name,
- strlen(ent->d_name) -
- strlen("_en"));
- if (current->name == NULL) {
- free(filename);
- ret = -ENOMEM;
- goto error_cleanup_array;
- }
- /* Get the generic and specific name elements */
- ret = iioutils_break_up_name(current->name,
- ¤t->generic_name);
- if (ret) {
- free(filename);
- goto error_cleanup_array;
- }
- ret = asprintf(&filename,
- "%s/%s_index",
- scan_el_dir,
- current->name);
- if (ret < 0) {
- free(filename);
- ret = -ENOMEM;
- goto error_cleanup_array;
- }
- sysfsfp = fopen(filename, "r");
- fscanf(sysfsfp, "%u", ¤t->index);
- fclose(sysfsfp);
- free(filename);
- /* Find the scale */
- ret = iioutils_get_param_float(¤t->scale,
- "scale",
- device_dir,
- current->name,
- current->generic_name);
- if (ret < 0)
- goto error_cleanup_array;
- ret = iioutils_get_param_float(¤t->offset,
- "offset",
- device_dir,
- current->name,
- current->generic_name);
- if (ret < 0)
- goto error_cleanup_array;
- ret = iioutils_get_type(¤t->is_signed,
- ¤t->bytes,
- ¤t->bits_used,
- ¤t->shift,
- ¤t->mask,
- ¤t->be,
- device_dir,
- current->name,
- current->generic_name);
- }
- }
-
- closedir(dp);
- /* reorder so that the array is in index order */
- bsort_channel_array_by_index(ci_array, *counter);
-
- return 0;
-
-error_cleanup_array:
- for (i = count - 1; i >= 0; i--)
- free((*ci_array)[i].name);
- free(*ci_array);
-error_close_dir:
- closedir(dp);
-error_free_name:
- free(scan_el_dir);
-error_ret:
- return ret;
-}
-
-inline int _write_sysfs_int(char *filename, char *basedir, int val, int verify)
-{
- int ret;
- FILE *sysfsfp;
- int test;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL)
- return -ENOMEM;
- sprintf(temp, "%s/%s", basedir, filename);
- sysfsfp = fopen(temp, "w");
- if (sysfsfp == NULL) {
- printf("failed to open %s\n", temp);
- ret = -errno;
- goto error_free;
- }
- fprintf(sysfsfp, "%d", val);
- fclose(sysfsfp);
- if (verify) {
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- printf("failed to open %s\n", temp);
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%d", &test);
- if (test != val) {
- printf("Possible failure in int write %d to %s%s\n",
- val,
- basedir,
- filename);
- ret = -1;
- }
- }
-error_free:
- free(temp);
- return ret;
-}
-
-int write_sysfs_int(char *filename, char *basedir, int val)
-{
- return _write_sysfs_int(filename, basedir, val, 0);
-}
-
-int write_sysfs_int_and_verify(char *filename, char *basedir, int val)
-{
- return _write_sysfs_int(filename, basedir, val, 1);
-}
-
-int _write_sysfs_string(char *filename, char *basedir, char *val, int verify)
-{
- int ret = 0;
- FILE *sysfsfp;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL) {
- printf("Memory allocation failed\n");
- return -ENOMEM;
- }
- sprintf(temp, "%s/%s", basedir, filename);
- sysfsfp = fopen(temp, "w");
- if (sysfsfp == NULL) {
- printf("Could not open %s\n", temp);
- ret = -errno;
- goto error_free;
- }
- fprintf(sysfsfp, "%s", val);
- fclose(sysfsfp);
- if (verify) {
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- printf("could not open file to verify\n");
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%s", temp);
- if (strcmp(temp, val) != 0) {
- printf("Possible failure in string write of %s "
- "Should be %s "
- "written to %s\%s\n",
- temp,
- val,
- basedir,
- filename);
- ret = -1;
- }
- }
-error_free:
- free(temp);
-
- return ret;
-}
-
-/**
- * write_sysfs_string_and_verify() - string write, readback and verify
- * @filename: name of file to write to
- * @basedir: the sysfs directory in which the file is to be found
- * @val: the string to write
- **/
-int write_sysfs_string_and_verify(char *filename, char *basedir, char *val)
-{
- return _write_sysfs_string(filename, basedir, val, 1);
-}
-
-int write_sysfs_string(char *filename, char *basedir, char *val)
-{
- return _write_sysfs_string(filename, basedir, val, 0);
-}
-
-int read_sysfs_posint(char *filename, char *basedir)
-{
- int ret;
- FILE *sysfsfp;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL) {
- printf("Memory allocation failed");
- return -ENOMEM;
- }
- sprintf(temp, "%s/%s", basedir, filename);
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%d\n", &ret);
- fclose(sysfsfp);
-error_free:
- free(temp);
- return ret;
-}
-
-int read_sysfs_float(char *filename, char *basedir, float *val)
-{
- float ret = 0;
- FILE *sysfsfp;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL) {
- printf("Memory allocation failed");
- return -ENOMEM;
- }
- sprintf(temp, "%s/%s", basedir, filename);
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%f\n", val);
- fclose(sysfsfp);
-error_free:
- free(temp);
- return ret;
-}
-int enable(const char *device_dir,
- struct iio_channel_info **ci_array,
- int *counter)
-{
- DIR *dp;
- int ret;
- const struct dirent *ent;
- char *scan_el_dir;
-
- *counter = 0;
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_name;
- }
- while (ent = readdir(dp), ent != NULL)
- if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
- "_en") == 0) {
- write_sysfs_int_and_verify((char *)ent->d_name, scan_el_dir, 1);
- }
- return 0;
-error_ret:
-error_free_name:
- return -1;
-}
-int disable_q_out(const char *device_dir,
- struct iio_channel_info **ci_array,
- int *counter) {
- DIR *dp;
- int ret;
- const struct dirent *ent;
- char *scan_el_dir;
-
- *counter = 0;
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_name;
- }
- while (ent = readdir(dp), ent != NULL)
- if (strncmp(ent->d_name, "in_quaternion", strlen("in_quaternion")) == 0) {
- write_sysfs_int_and_verify((char *)ent->d_name, scan_el_dir, 0);
- }
- return 0;
-error_ret:
-error_free_name:
- return -1;
-
-}
-
diff --git a/60xx/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c b/60xx/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c
deleted file mode 100644
index b3d323c..0000000
--- a/60xx/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c
+++ /dev/null
@@ -1,685 +0,0 @@
-/* Industrialio buffer test code.
- *
- * Copyright (c) 2008 Jonathan Cameron
- *
- * This program is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 2 as published by
- * the Free Software Foundation.
- *
- * This program is primarily intended as an example application.
- * Reads the current buffer setup from sysfs and starts a short capture
- * from the specified device, pretty printing the result after appropriate
- * conversion.
- *
- * Command line parameters
- * generic_buffer -n <device_name> -t <trigger_name>
- * If trigger name is not specified the program assumes you want a dataready
- * trigger associated with the device and goes looking for it.
- *
- */
-
-#include <unistd.h>
-#include <dirent.h>
-#include <fcntl.h>
-#include <stdio.h>
-#include <errno.h>
-#include <sys/stat.h>
-#include <dirent.h>
-#include <linux/types.h>
-#include <string.h>
-#include <poll.h>
-#include "iio_utils.h"
-#include "ml_load_dmp.h"
-#include "ml_sysfs_helper.h"
-#include "authenticate.h"
-
-#define FLICK_SUPPORTED (0)
-
-/**
- * size_from_channelarray() - calculate the storage size of a scan
- * @channels: the channel info array
- * @num_channels: size of the channel info array
- *
- * Has the side effect of filling the channels[i].location values used
- * in processing the buffer output.
- **/
-int size_from_channelarray(struct iio_channel_info *channels, int num_channels)
-{
- int bytes = 0;
- int i = 0;
- while (i < num_channels) {
- if (bytes % channels[i].bytes == 0)
- channels[i].location = bytes;
- else
- channels[i].location = bytes - bytes%channels[i].bytes
- + channels[i].bytes;
- bytes = channels[i].location + channels[i].bytes;
- i++;
- }
- return bytes;
-}
-
-void print2byte(int input, struct iio_channel_info *info)
-{
- /* shift before conversion to avoid sign extension
- of left aligned data */
- input = input >> info->shift;
- if (info->is_signed) {
- int16_t val = input;
- val &= (1 << info->bits_used) - 1;
- val = (int16_t)(val << (16 - info->bits_used)) >>
- (16 - info->bits_used);
- /*printf("%d, %05f, scale=%05f", val,
- (float)(val + info->offset)*info->scale, info->scale);*/
- printf("%d, ", val);
-
- } else {
- uint16_t val = input;
- val &= (1 << info->bits_used) - 1;
- printf("%05f ", ((float)val + info->offset)*info->scale);
- }
-}
-/**
- * process_scan() - print out the values in SI units
- * @data: pointer to the start of the scan
- * @infoarray: information about the channels. Note
- * size_from_channelarray must have been called first to fill the
- * location offsets.
- * @num_channels: the number of active channels
- **/
-void process_scan(char *data,
- struct iio_channel_info *infoarray,
- int num_channels)
-{
- int k;
- //char *tmp;
- for (k = 0; k < num_channels; k++) {
- switch (infoarray[k].bytes) {
- /* only a few cases implemented so far */
- case 2:
- print2byte(*(uint16_t *)(data + infoarray[k].location),
- &infoarray[k]);
- //tmp = data + infoarray[k].location;
- break;
- case 4:
- if (infoarray[k].is_signed) {
- int32_t val = *(int32_t *)
- (data +
- infoarray[k].location);
- if ((val >> infoarray[k].bits_used) & 1)
- val = (val & infoarray[k].mask) |
- ~infoarray[k].mask;
- /* special case for timestamp */
- printf(" %d ", val);
- }
- break;
- case 8:
- if (infoarray[k].is_signed) {
- int64_t val = *(int64_t *)
- (data +
- infoarray[k].location);
- if ((val >> infoarray[k].bits_used) & 1)
- val = (val & infoarray[k].mask) |
- ~infoarray[k].mask;
- /* special case for timestamp */
- if (infoarray[k].scale == 1.0f &&
- infoarray[k].offset == 0.0f)
- printf(" %lld", val);
- else
- printf("%05f ", ((float)val +
- infoarray[k].offset)*
- infoarray[k].scale);
- }
- break;
- default:
- break;
- }
- }
- printf("\n");
-}
-
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
-void enable_flick(char *p, int on){
- int ret;
- printf("flick:%s\n", p);
- ret = write_sysfs_int_and_verify("flick_int_on", p, on);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("flick_upper", p, 3147790);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("flick_lower", p, -3147790);
- if (ret < 0)
- return;
-
- ret = write_sysfs_int_and_verify("flick_counter", p, 50);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("flick_message_on", p, 0);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("flick_axis", p, 0);
-}
-#endif
-
-void HandleOrient(int orient)
-{
- if (orient & 0x01)
- printf("INV_X_UP\n");
- if (orient & 0x02)
- printf("INV_X_DOWN\n");
- if (orient & 0x04)
- printf("INV_Y_UP\n");
- if (orient & 0x08)
- printf("INV_Y_DOWN\n");
- if (orient & 0x10)
- printf("INV_Z_UP\n");
- if (orient & 0x20)
- printf("INV_Z_DOWN\n");
- if (orient & 0x40)
- printf("INV_ORIENTATION_FLIP\n");
-}
-
-void HandleTap(int tap)
-{
- int tap_dir = tap/8;
- int tap_num = tap%8 + 1;
-
- switch (tap_dir) {
- case 1:
- printf("INV_TAP_AXIS_X_POS\n");
- break;
- case 2:
- printf("INV_TAP_AXIS_X_NEG\n");
- break;
- case 3:
- printf("INV_TAP_AXIS_Y_POS\n");
- break;
- case 4:
- printf("INV_TAP_AXIS_Y_NEG\n");
- break;
- case 5:
- printf("INV_TAP_AXIS_Z_POS\n");
- break;
- case 6:
- printf("INV_TAP_AXIS_Z_NEG\n");
- break;
- default:
- break;
- }
- printf("Tap number: %d\n", tap_num);
-}
-#define DMP_CODE_SIZE 3060
-void verify_img(char *dmp_path){
- FILE *fp;
- int i;
- char dmp_img[DMP_CODE_SIZE];
- if ((fp = fopen(dmp_path, "rb")) < 0 ) {
- perror("dmp fail");
- }
- i = fread(dmp_img, 1, DMP_CODE_SIZE, fp);
- printf("Result=%d\n", i);
- fclose(fp);
- fp = fopen("/dev/read_img.h", "wt");
- fprintf(fp, "char rec[]={\n");
- for(i=0; i<DMP_CODE_SIZE; i++) {
- fprintf(fp, "0x%02x, ", dmp_img[i]);
- if(((i+1)%16) == 0) {
- fprintf(fp, "\n");
- }
- }
- fprintf(fp, "};\n ");
- fclose(fp);
-}
-
-void setup_dmp(char *dev_path, int p_event){
- char sysfs_path[200];
- char dmp_path[200];
- int ret;
- FILE *fd;
- sprintf(sysfs_path, "%s", dev_path);
- printf("sysfs: %s\n", sysfs_path);
- ret = write_sysfs_int_and_verify("power_state", sysfs_path, 1);
- if (ret < 0)
- return;
-
- ret = write_sysfs_int("in_accel_scale", dev_path, 0);
- if (ret < 0)
- return;
- ret = write_sysfs_int("in_anglvel_scale", dev_path, 2);
- if (ret < 0)
- return;
- ret = write_sysfs_int("sampling_frequency", sysfs_path, 200);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("firmware_loaded", sysfs_path, 0);
- if (ret < 0)
- return;
- sprintf(dmp_path, "%s/dmp_firmware", dev_path);
- if ((fd = fopen(dmp_path, "wb")) < 0 ) {
- perror("dmp fail");
- }
- inv_load_dmp(fd);
- fclose(fd);
- printf("firmware_loaded=%d\n", read_sysfs_posint("firmware_loaded", sysfs_path));
- ret = write_sysfs_int_and_verify("in_accel_x_offset", sysfs_path, 0xabcd0000);
- ret = write_sysfs_int_and_verify("in_accel_y_offset", sysfs_path, 0xffff0000);
- ret = write_sysfs_int_and_verify("in_accel_z_offset", sysfs_path, 0xcdef0000);
-
- ret = write_sysfs_int_and_verify("dmp_on", sysfs_path, 1);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("dmp_int_on", sysfs_path, 1);
- if (ret < 0)
- return;
- /* selelct which event to enable and interrupt on/off here */
- //enable_flick(sysfs_path, 1);
- ret = write_sysfs_int_and_verify("tap_on", sysfs_path, 1);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("display_orientation_on", sysfs_path, 1);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("orientation_on", sysfs_path, 1);
- if (ret < 0)
- return;
- printf("rate\n");
- ret = write_sysfs_int_and_verify("dmp_output_rate", sysfs_path, 25);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("dmp_event_int_on", sysfs_path, p_event);
- if (ret < 0)
- return;
- //verify_img(dmp_path);
-}
-
-void get_dmp_event(char *dev_dir_name)
-{
- char file_name[100];
- int i;
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
- int fp_tap, fp_orient, fp_disp, fp_flick;
- const int n_gest = 6;
-#else
- int fp_tap, fp_orient, fp_disp, fp_motion;
- //int fp_no_motion;
- const int n_gest = 4;
-#endif
- int data;
- char d[6];
- FILE *fp;
- struct pollfd pfd[4];
- printf("%s\n", dev_dir_name);
- while(1) {
- sprintf(file_name, "%s/event_tap", dev_dir_name);
- fp_tap = open(file_name, O_RDONLY | O_NONBLOCK);
- sprintf(file_name, "%s/event_orientation", dev_dir_name);
- fp_orient = open(file_name, O_RDONLY | O_NONBLOCK);
- sprintf(file_name, "%s/event_display_orientation", dev_dir_name);
- fp_disp = open(file_name, O_RDONLY | O_NONBLOCK);
-
- //sprintf(file_name, "%s/event_accel_motion", dev_dir_name);
- sprintf(file_name, "%s/event_accel_wom", dev_dir_name);
- fp_motion = open(file_name, O_RDONLY | O_NONBLOCK);
- //sprintf(file_name, "%s/event_accel_no_motion", dev_dir_name);
- //fp_no_motion = open(file_name, O_RDONLY | O_NONBLOCK);
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
- sprintf(file_name, "%s/event_flick", dev_dir_name);
- fp_flick = open(file_name, O_RDONLY | O_NONBLOCK);
-#endif
-
- pfd[0].fd = fp_tap;
- pfd[0].events = POLLPRI|POLLERR,
- pfd[0].revents = 0;
-
- pfd[1].fd = fp_orient;
- pfd[1].events = POLLPRI|POLLERR,
- pfd[1].revents = 0;
-
- pfd[2].fd = fp_disp;
- pfd[2].events = POLLPRI|POLLERR,
- pfd[2].revents = 0;
-
- pfd[3].fd = fp_motion;
- pfd[3].events = POLLPRI|POLLERR,
- pfd[3].revents = 0;
-
- //pfd[4].fd = fp_no_motion;
- //pfd[4].events = POLLPRI|POLLERR,
- //pfd[4].revents = 0;
-
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
- pfd[5].fd = fp_flick;
- pfd[5].events = POLLPRI|POLLERR,
- pfd[5].revents = 0;
-#endif
-
- read(fp_tap, d, 4);
- read(fp_orient, d, 4);
- read(fp_disp, d, 4);
- read(fp_motion, d, 4);
- //read(fp_no_motion, d, 4);
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
- read(fp_flick, d, 4);
-#endif
-
- poll(pfd, n_gest, -1);
- close(fp_tap);
- close(fp_orient);
- close(fp_disp);
- close(fp_motion);
- //close(fp_no_motion);
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
- close(fp_flick);
-#endif
- for (i = 0; i < ARRAY_SIZE(pfd); i++) {
- if(pfd[i].revents != 0) {
- switch (i){
- case 0:
- sprintf(file_name, "%s/event_tap", dev_dir_name);
- fp = fopen(file_name, "rt");
- fscanf(fp, "%d\n", &data);
- printf("tap=%x\n", data);
- HandleTap(data);
- fclose(fp);
- break;
- case 1:
- sprintf(file_name, "%s/event_orientation", dev_dir_name);
- fp = fopen(file_name, "rt");
- fscanf(fp, "%d\n", &data);
- printf("orient=%x\n", data);
- HandleOrient(data);
- fclose(fp);
- break;
- case 2:
- sprintf(file_name, "%s/event_display_orientation", dev_dir_name);
- fp = fopen(file_name, "rt");
- fscanf(fp, "%d\n", &data);
- printf("display_orient=%x\n", data);
- fclose(fp);
- break;
- case 3:
- sprintf(file_name, "%s/event_accel_wom", dev_dir_name);
- fp = fopen(file_name, "rt");
- fscanf(fp, "%d\n", &data);
- printf("motion=%x\n", data);
- fclose(fp);
- break;
- case 4:
- sprintf(file_name, "%s/event_accel_no_motion", dev_dir_name);
- fp = fopen(file_name, "rt");
- fscanf(fp, "%d\n", &data);
- printf("No motion=%x\n", data);
- fclose(fp);
- break;
-
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
- case 5:
- sprintf(file_name, "%s/event_flick", dev_dir_name);
- fp = fopen(file_name, "rt");
- fscanf(fp, "%d\n", &data);
- printf("flick=%x\n", data);
- fclose(fp);
- break;
-#endif
- }
- }
- }
- }
-}
-
-
-int main(int argc, char **argv)
-{
- unsigned long num_loops = 2;
- unsigned long timedelay = 100000;
- unsigned long buf_len = 128;
-
- int ret, c, i, j, toread;
- int fp;
-
- int num_channels;
- char *trigger_name = NULL;
- char *dev_dir_name, *buf_dir_name;
-
- int datardytrigger = 1;
- char *data;
- int read_size;
- int dev_num, trig_num;
- char *buffer_access;
- int scan_size;
- int noevents = 0;
- int p_event = 0, nodmp = 0;
- char *dummy;
- char chip_name[10];
- char device_name[10];
- char sysfs[100];
-
- struct iio_channel_info *infoarray;
- /* -r means no DMP is enabled (raw) -> should be used for mpu3050.
- -p means no print of data */
- /* when using -p, 1 means orientation, 2 means tap, 3 means flick */
- while ((c = getopt(argc, argv, "l:w:c:pret:")) != -1) {
- switch (c) {
- case 't':
- trigger_name = optarg;
- datardytrigger = 0;
- break;
- case 'e':
- noevents = 1;
- break;
- case 'p':
- p_event = 1;
- break;
- case 'r':
- nodmp = 1;
- break;
- case 'c':
- num_loops = strtoul(optarg, &dummy, 10);
- break;
- case 'w':
- timedelay = strtoul(optarg, &dummy, 10);
- break;
- case 'l':
- buf_len = strtoul(optarg, &dummy, 10);
- break;
- case '?':
- return -1;
- }
- }
- inv_get_sysfs_path(sysfs);
- printf("sss:::%s\n", sysfs);
- if (inv_get_chip_name(chip_name) != INV_SUCCESS) {
- printf("get chip name fail\n");
- exit(0);
- }
- printf("chip_name=%s\n", chip_name);
- if (INV_SUCCESS != inv_check_key())
- printf("key check fail\n");
- else
- printf("key authenticated\n");
-
- for (i=0; i<strlen(chip_name); i++) {
- device_name[i] = tolower(chip_name[i]);
- }
- device_name[strlen(chip_name)] = '\0';
- printf("device name: %s\n", device_name);
-
- /* Find the device requested */
- dev_num = find_type_by_name(device_name, "iio:device");
- if (dev_num < 0) {
- printf("Failed to find the %s\n", device_name);
- ret = -ENODEV;
- goto error_ret;
- }
- printf("iio device number being used is %d\n", dev_num);
- asprintf(&dev_dir_name, "%siio:device%d", iio_dir, dev_num);
- if (trigger_name == NULL) {
- /*
- * Build the trigger name. If it is device associated it's
- * name is <device_name>_dev[n] where n matches the device
- * number found above
- */
- ret = asprintf(&trigger_name,
- "%s-dev%d", device_name, dev_num);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- }
- ret = write_sysfs_int("buffer/enable", dev_dir_name, 0);
-
- ret = write_sysfs_int_and_verify("power_state", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("gyro_enable", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("accl_enable", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("compass_enable", dev_dir_name, 1);
-/*
- ret = write_sysfs_int_and_verify("zero_motion_on", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("zero_motion_dur", dev_dir_name, 12);
- ret = write_sysfs_int_and_verify("zero_motion_threshold", dev_dir_name, 13);
-
- ret = write_sysfs_int_and_verify("motion_on", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("motion_dur", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("motion_threshold", dev_dir_name, 1);
-*/
- ret = write_sysfs_int_and_verify("accel_wom_on", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("accel_wom_threshold", dev_dir_name, 100);
- /* Verify the trigger exists */
- trig_num = find_type_by_name(trigger_name, "trigger");
- if (trig_num < 0) {
- printf("Failed to find the trigger %s\n", trigger_name);
- ret = -ENODEV;
- goto error_free_triggername;
- }
- printf("iio trigger number being used is %d\n", trig_num);
- /*
- * Parse the files in scan_elements to identify what channels are
- * present
- */
- ret = 0;
- ret = enable(dev_dir_name, &infoarray, &num_channels);
- if (ret) {
- printf("error enable\n");
- goto error_free_triggername;
- }
- if (!nodmp)
- setup_dmp(dev_dir_name, p_event);
-
- /*
- * Construct the directory name for the associated buffer.
- * As we know that the lis3l02dq has only one buffer this may
- * be built rather than found.
- */
- ret = asprintf(&buf_dir_name, "%siio:device%d/buffer", iio_dir, dev_num);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_triggername;
- }
- printf("%s %s\n", dev_dir_name, trigger_name);
-
- /* Set the device trigger to be the data rdy trigger found above */
- ret = write_sysfs_string_and_verify("trigger/current_trigger",
- dev_dir_name,
- trigger_name);
- if (ret < 0) {
- printf("Failed to write current_trigger file\n");
- goto error_free_buf_dir_name;
- }
- /* Setup ring buffer parameters */
- /* length must be even number because iio_store_to_sw_ring is expecting
- half pointer to be equal to the read pointer, which is impossible
- when buflen is odd number. This is actually a bug in the code */
- ret = write_sysfs_int("length", buf_dir_name, buf_len*2);
- if (ret < 0)
- goto exit_here;
- ret = write_sysfs_int_and_verify("gyro_enable", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("accl_enable", dev_dir_name, 1);
- //ret = write_sysfs_int_and_verify("compass_enable", dev_dir_name, 0);
- if (nodmp == 0) {
- ret = write_sysfs_int_and_verify("quaternion_on", dev_dir_name, 1);
- } else {
- ret = disable_q_out(dev_dir_name, &infoarray, &num_channels);
- ret = write_sysfs_int_and_verify("dmp_on", dev_dir_name, 0);
- }
- ret = build_channel_array(dev_dir_name, &infoarray, &num_channels);
- if (ret) {
- printf("Problem reading scan element information\n");
- goto exit_here;
- }
-
- /* Enable the buffer */
- ret = write_sysfs_int("enable", buf_dir_name, 1);
- if (ret < 0)
- goto exit_here;
- scan_size = size_from_channelarray(infoarray, num_channels);
- data = malloc(scan_size*buf_len);
- if (!data) {
- ret = -ENOMEM;
- goto exit_here;
- }
-
- ret = asprintf(&buffer_access,
- "/dev/iio:device%d",
- dev_num);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_data;
- }
- if (p_event) {
- get_dmp_event(dev_dir_name);
- goto error_free_buffer_access;
- }
- /* Attempt to open non blocking the access dev */
- fp = open(buffer_access, O_RDONLY | O_NONBLOCK);
- if (fp == -1) { /*If it isn't there make the node */
- printf("Failed to open %s\n", buffer_access);
- ret = -errno;
- goto error_free_buffer_access;
- }
- /* Wait for events 10 times */
- for (j = 0; j < num_loops; j++) {
- if (!noevents) {
- struct pollfd pfd = {
- .fd = fp,
- .events = POLLIN,
- };
- poll(&pfd, 1, -1);
- toread = 1;
- if ((j%128)==0)
- usleep(timedelay);
-
- } else {
- usleep(timedelay);
- toread = 1;
- }
- read_size = read(fp,
- data,
- toread*scan_size);
- if (read_size == -EAGAIN) {
- printf("nothing available\n");
- continue;
- }
- if (0 == p_event) {
- for (i = 0; i < read_size/scan_size; i++)
- process_scan(data + scan_size*i,
- infoarray,
- num_channels);
- }
- }
- close(fp);
-error_free_buffer_access:
- free(buffer_access);
-error_free_data:
- free(data);
-exit_here:
- /* Stop the ring buffer */
- ret = write_sysfs_int("enable", buf_dir_name, 0);
-
-error_free_buf_dir_name:
- free(buf_dir_name);
-error_free_triggername:
- if (datardytrigger)
- free(trigger_name);
-error_ret:
- return ret;
-}
diff --git a/60xx/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared b/60xx/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
deleted file mode 100644
index 6dc08bd..0000000
--- a/60xx/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
+++ /dev/null
Binary files differ
diff --git a/60xx/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk b/60xx/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
deleted file mode 100644
index ed5fbf6..0000000
--- a/60xx/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
+++ /dev/null
@@ -1,98 +0,0 @@
-EXEC = inv_self_test$(SHARED_APP_SUFFIX)
-
-MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
-
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
-COMP ?= $(CROSS)gcc
-LINK ?= $(CROSS)gcc
-
-OBJFOLDER = $(CURDIR)/obj
-
-INV_ROOT = ../../../../..
-APP_DIR = $(CURDIR)/../..
-MLLITE_DIR = $(INV_ROOT)/software/core/mllite
-COMMON_DIR = $(INV_ROOT)/software/simple_apps/common
-MPL_DIR = $(INV_ROOT)/software/core/mpl
-HAL_DIR = $(INV_ROOT)/software/core/HAL
-
-include $(INV_ROOT)/software/build/android/common.mk
-
-CFLAGS += $(CMDLINE_CFLAGS)
-CFLAGS += $(ANDROID_COMPILE)
-CFLAGS += -Wall
-CFLAGS += -fpic
-CFLAGS += -nostdlib
-CFLAGS += -DNDEBUG
-CFLAGS += -D_REENTRANT
-CFLAGS += -DLINUX
-CFLAGS += -DANDROID
-CFLAGS += -mthumb-interwork
-CFLAGS += -fno-exceptions
-CFLAGS += -ffunction-sections
-CFLAGS += -funwind-tables
-CFLAGS += -fstack-protector
-CFLAGS += -fno-short-enums
-CFLAGS += -fmessage-length=0
-CFLAGS += -I$(MLLITE_DIR)
-CFLAGS += -I$(MPL_DIR)
-CFLAGS += -I$(COMMON_DIR)
-CFLAGS += -I$(HAL_DIR)/include
-CFLAGS += $(INV_INCLUDES)
-CFLAGS += $(INV_DEFINES)
-
-LLINK = -lc
-LLINK += -lm
-LLINK += -lutils
-LLINK += -lcutils
-LLINK += -lgcc
-LLINK += -ldl
-LLINK += -lstdc++
-LLINK += -llog
-LLINK += -lz
-
-LFLAGS += $(CMDLINE_LFLAGS)
-LFLAGS += $(ANDROID_LINK_EXECUTABLE)
-
-LRPATH = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
-
-####################################################################################################
-## sources
-
-INV_LIBS = $(MPL_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MPL_LIB_NAME).$(SHARED_LIB_EXT)
-INV_LIBS += $(MLLITE_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MLLITE_LIB_NAME).$(SHARED_LIB_EXT)
-
-#INV_SOURCES and VPATH provided by Makefile.filelist
-include ../filelist.mk
-
-INV_OBJS := $(addsuffix .o,$(INV_SOURCES))
-INV_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(INV_SOURCES))))
-
-####################################################################################################
-## rules
-
-.PHONY: all clean cleanall install
-
-all: $(EXEC) $(MK_NAME)
-
-$(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
- @$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
- $(LINK) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
-
-$(OBJFOLDER) :
- @$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
- mkdir obj
-
-$(INV_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c $(MK_NAME)
- @$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
- $(COMP) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(INV_INCLUDES) $(CFLAGS) -o $@ -c $<
-
-clean :
- rm -fR $(OBJFOLDER)
-
-cleanall :
- rm -fR $(EXEC) $(OBJFOLDER)
-
-install : $(EXEC)
- cp -f $(EXEC) $(INSTALL_DIR)
-
-
diff --git a/60xx/libsensors_iio/software/simple_apps/self_test/build/filelist.mk b/60xx/libsensors_iio/software/simple_apps/self_test/build/filelist.mk
deleted file mode 100644
index 492f47e..0000000
--- a/60xx/libsensors_iio/software/simple_apps/self_test/build/filelist.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#### filelist.mk for console_test ####
-
-# headers
-HEADERS += $(HAL_DIR)/include/inv_sysfs_utils.h
-
-# sources
-SOURCES := $(APP_DIR)/inv_self_test.c
-
-INV_SOURCES += $(SOURCES)
-
-VPATH += $(APP_DIR) $(COMMON_DIR) $(HAL_DIR)/linux
diff --git a/60xx/libsensors_iio/software/simple_apps/self_test/inv_self_test.c b/60xx/libsensors_iio/software/simple_apps/self_test/inv_self_test.c
deleted file mode 100644
index 87ed703..0000000
--- a/60xx/libsensors_iio/software/simple_apps/self_test/inv_self_test.c
+++ /dev/null
@@ -1,417 +0,0 @@
-/**
- * Self Test application for Invensense's MPU6050/MPU6500/MPU9150.
- */
-
-#include <unistd.h>
-#include <dirent.h>
-#include <fcntl.h>
-#include <stdio.h>
-#include <errno.h>
-#include <sys/stat.h>
-#include <stdlib.h>
-#include <features.h>
-#include <dirent.h>
-#include <string.h>
-#include <poll.h>
-#include <stddef.h>
-#include <linux/input.h>
-#include <time.h>
-#include <linux/time.h>
-
-#include "invensense.h"
-#include "ml_math_func.h"
-#include "storage_manager.h"
-#include "ml_stored_data.h"
-#include "ml_sysfs_helper.h"
-
-#ifndef ABS
-#define ABS(x)(((x) >= 0) ? (x) : -(x))
-#endif
-
-//#define DEBUG_PRINT /* Uncomment to print Gyro & Accel read from Driver */
-
-#define MAX_SYSFS_NAME_LEN (100)
-#define MAX_SYSFS_ATTRB (sizeof(struct sysfs_attrbs) / sizeof(char*))
-
-/** Change this key if the data being stored by this file changes */
-#define INV_DB_SAVE_KEY 53395
-
-#define FALSE 0
-#define TRUE 1
-
-#define GYRO_PASS_STATUS_BIT 0x01
-#define ACCEL_PASS_STATUS_BIT 0x02
-#define COMPASS_PASS_STATUS_BIT 0x04
-
-typedef union {
- long l;
- int i;
-} bias_dtype;
-
-char *sysfs_names_ptr;
-
-struct sysfs_attrbs {
- char *enable;
- char *power_state;
- char *dmp_on;
- char *dmp_int_on;
- char *self_test;
- char *temperature;
- char *gyro_enable;
- char *gyro_x_bias;
- char *gyro_y_bias;
- char *gyro_z_bias;
- char *accel_enable;
- char *accel_x_bias;
- char *accel_y_bias;
- char *accel_z_bias;
- char *compass_enable;
-} mpu;
-
-struct inv_db_save_t {
- /** Compass Bias in Chip Frame in Hardware units scaled by 2^16 */
- long compass_bias[3];
- /** Gyro Bias in Chip Frame in Hardware units scaled by 2^16 */
- long gyro_bias[3];
- /** Temperature when *gyro_bias was stored. */
- long gyro_temp;
- /** Accel Bias in Chip Frame in Hardware units scaled by 2^16 */
- long accel_bias[3];
- /** Temperature when accel bias was stored. */
- long accel_temp;
- long gyro_temp_slope[3];
- /** Sensor Accuracy */
- int gyro_accuracy;
- int accel_accuracy;
- int compass_accuracy;
-};
-
-static struct inv_db_save_t save_data;
-
-/** This function receives the data that was stored in non-volatile memory
- between power off */
-static inv_error_t inv_db_load_func(const unsigned char *data)
-{
- memcpy(&save_data, data, sizeof(save_data));
- return INV_SUCCESS;
-}
-
-/** This function returns the data to be stored in non-volatile memory between
- power off */
-static inv_error_t inv_db_save_func(unsigned char *data)
-{
- memcpy(data, &save_data, sizeof(save_data));
- return INV_SUCCESS;
-}
-
-/** read a sysfs entry that represents an integer */
-int read_sysfs_int(char *filename, int *var)
-{
- int res=0;
- FILE *fp;
-
- fp = fopen(filename, "r");
- if (fp != NULL) {
- fscanf(fp, "%d\n", var);
- fclose(fp);
- } else {
- MPL_LOGE("inv_self_test: ERR open file to read");
- res= -1;
- }
- return res;
-}
-
-/** write a sysfs entry that represents an integer */
-int write_sysfs_int(char *filename, int data)
-{
- int res=0;
- FILE *fp;
-
- fp = fopen(filename, "w");
- if (fp!=NULL) {
- fprintf(fp, "%d\n", data);
- fclose(fp);
- } else {
- MPL_LOGE("inv_self_test: ERR open file to write");
- res= -1;
- }
- return res;
-}
-
-int inv_init_sysfs_attributes(void)
-{
- unsigned char i = 0;
- char sysfs_path[MAX_SYSFS_NAME_LEN];
- char *sptr;
- char **dptr;
-
- sysfs_names_ptr =
- (char*)malloc(sizeof(char[MAX_SYSFS_ATTRB][MAX_SYSFS_NAME_LEN]));
- sptr = sysfs_names_ptr;
- if (sptr != NULL) {
- dptr = (char**)&mpu;
- do {
- *dptr++ = sptr;
- sptr += sizeof(char[MAX_SYSFS_NAME_LEN]);
- } while (++i < MAX_SYSFS_ATTRB);
- } else {
- MPL_LOGE("inv_self_test: couldn't alloc mem for sysfs paths");
- return -1;
- }
-
- // get proper (in absolute/relative) IIO path & build MPU's sysfs paths
- inv_get_sysfs_path(sysfs_path);
-
- sprintf(mpu.enable, "%s%s", sysfs_path, "/buffer/enable");
- sprintf(mpu.power_state, "%s%s", sysfs_path, "/power_state");
- sprintf(mpu.dmp_on,"%s%s", sysfs_path, "/dmp_on");
- sprintf(mpu.self_test, "%s%s", sysfs_path, "/self_test");
- sprintf(mpu.temperature, "%s%s", sysfs_path, "/temperature");
-
- sprintf(mpu.gyro_enable, "%s%s", sysfs_path, "/gyro_enable");
- sprintf(mpu.gyro_x_bias, "%s%s", sysfs_path, "/in_anglvel_x_calibbias");
- sprintf(mpu.gyro_y_bias, "%s%s", sysfs_path, "/in_anglvel_y_calibbias");
- sprintf(mpu.gyro_z_bias, "%s%s", sysfs_path, "/in_anglvel_z_calibbias");
-
- sprintf(mpu.accel_enable, "%s%s", sysfs_path, "/accl_enable");
- sprintf(mpu.accel_x_bias, "%s%s", sysfs_path, "/in_accel_x_calibbias");
- sprintf(mpu.accel_y_bias, "%s%s", sysfs_path, "/in_accel_y_calibbias");
- sprintf(mpu.accel_z_bias, "%s%s", sysfs_path, "/in_accel_z_calibbias");
-
- sprintf(mpu.compass_enable, "%s%s", sysfs_path, "/compass_enable");
-
-#if 0
- // test print sysfs paths
- dptr = (char**)&mpu;
- for (i = 0; i < MAX_SYSFS_ATTRB; i++) {
- MPL_LOGE("inv_self_test: sysfs path: %s", *dptr++);
- }
-#endif
- return 0;
-}
-
-/*******************************************************************************
- * M a i n S e l f T e s t
- ******************************************************************************/
-int main(int argc, char **argv)
-{
- FILE *fptr;
- int self_test_status = 0;
- inv_error_t result;
- bias_dtype gyro_bias[3];
- bias_dtype accel_bias[3];
- int axis = 0;
- size_t packet_sz;
- int axis_sign = 1;
- unsigned char *buffer;
- long timestamp;
- int temperature = 0;
- bool compass_present = TRUE;
-
- result = inv_init_sysfs_attributes();
- if (result)
- return -1;
-
- inv_init_storage_manager();
-
- // Clear out data.
- memset(&save_data, 0, sizeof(save_data));
- memset(gyro_bias, 0, sizeof(gyro_bias));
- memset(accel_bias, 0, sizeof(accel_bias));
-
- // Register packet to be saved.
- result = inv_register_load_store(
- inv_db_load_func, inv_db_save_func,
- sizeof(save_data), INV_DB_SAVE_KEY);
-
- // Power ON MPUxxxx chip
- if (write_sysfs_int(mpu.power_state, 1) < 0) {
- printf("Self-Test:ERR-Failed to set power state=1\n");
- } else {
- // Note: Driver turns on power automatically when self-test invoked
- }
-
- // Disable Master enable
- if (write_sysfs_int(mpu.enable, 0) < 0) {
- printf("Self-Test:ERR-Failed to disable master enable\n");
- }
-
- // Disable DMP
- if (write_sysfs_int(mpu.dmp_on, 0) < 0) {
- printf("Self-Test:ERR-Failed to disable DMP\n");
- }
-
- // Enable Accel
- if (write_sysfs_int(mpu.accel_enable, 1) < 0) {
- printf("Self-Test:ERR-Failed to enable accel\n");
- }
-
- // Enable Gyro
- if (write_sysfs_int(mpu.gyro_enable, 1) < 0) {
- printf("Self-Test:ERR-Failed to enable gyro\n");
- }
-
- // Enable Compass
- if (write_sysfs_int(mpu.compass_enable, 1) < 0) {
-#ifdef DEBUG_PRINT
- printf("Self-Test:ERR-Failed to enable compass\n");
-#endif
- compass_present= FALSE;
- }
-
- fptr = fopen(mpu.self_test, "r");
- if (!fptr) {
- printf("Self-Test:ERR-Couldn't invoke self-test\n");
- result = -1;
- goto free_sysfs_storage;
- }
-
- // Invoke self-test
- fscanf(fptr, "%d", &self_test_status);
- if (compass_present == TRUE) {
- printf("Self-Test:Self test result- "
- "Gyro passed= %x, Accel passed= %x, Compass passed= %x\n",
- (self_test_status & GYRO_PASS_STATUS_BIT),
- (self_test_status & ACCEL_PASS_STATUS_BIT) >> 1,
- (self_test_status & COMPASS_PASS_STATUS_BIT) >> 2);
- } else {
- printf("Self-Test:Self test result- "
- "Gyro passed= %x, Accel passed= %x\n",
- (self_test_status & GYRO_PASS_STATUS_BIT),
- (self_test_status & ACCEL_PASS_STATUS_BIT) >> 1);
- }
- fclose(fptr);
-
- if (self_test_status & GYRO_PASS_STATUS_BIT) {
- // Read Gyro Bias
- if (read_sysfs_int(mpu.gyro_x_bias, &gyro_bias[0].i) < 0 ||
- read_sysfs_int(mpu.gyro_y_bias, &gyro_bias[1].i) < 0 ||
- read_sysfs_int(mpu.gyro_z_bias, &gyro_bias[2].i) < 0) {
- memset(gyro_bias, 0, sizeof(gyro_bias));
- printf("Self-Test:Failed to read Gyro bias\n");
- } else {
- save_data.gyro_accuracy = 3;
-#ifdef DEBUG_PRINT
- printf("Self-Test:Gyro bias[0..2]= [%d %d %d]\n",
- gyro_bias[0].i, gyro_bias[1].i, gyro_bias[2].i);
-#endif
- }
- } else {
- printf("Self-Test:Failed Gyro self-test\n");
- }
-
- if (self_test_status & ACCEL_PASS_STATUS_BIT) {
- // Read Accel Bias
- if (read_sysfs_int(mpu.accel_x_bias, &accel_bias[0].i) < 0 ||
- read_sysfs_int(mpu.accel_y_bias, &accel_bias[1].i) < 0 ||
- read_sysfs_int(mpu.accel_z_bias, &accel_bias[2].i) < 0) {
- memset(accel_bias,0, sizeof(accel_bias));
- printf("Self-Test:Failed to read Accel bias\n");
- } else {
- save_data.accel_accuracy = 3;
-#ifdef DEBUG_PRINT
- printf("Self-Test:Accel bias[0..2]= [%d %d %d]\n",
- accel_bias[0].i, accel_bias[1].i, accel_bias[2].i);
-#endif
- }
- } else {
- printf("Self-Test:Failed Accel self-test\n");
- }
-
- if (!(self_test_status & (GYRO_PASS_STATUS_BIT | ACCEL_PASS_STATUS_BIT))) {
- printf("Self-Test:Failed Gyro and Accel self-test, "
- "nothing left to do\n");
- result = -1;
- goto free_sysfs_storage;
- }
-
- // Read temperature
- fptr= fopen(mpu.temperature, "r");
- if (fptr != NULL) {
- fscanf(fptr,"%d %ld", &temperature, ×tamp);
- fclose(fptr);
- } else {
- printf("Self-Test:ERR-Couldn't read temperature\n");
- }
-
- // When we read gyro bias, the bias is in raw units scaled by 1000.
- // We store the bias in raw units scaled by 2^16
- save_data.gyro_bias[0] = (long)(gyro_bias[0].l * 65536.f / 8000.f);
- save_data.gyro_bias[1] = (long)(gyro_bias[1].l * 65536.f / 8000.f);
- save_data.gyro_bias[2] = (long)(gyro_bias[2].l * 65536.f / 8000.f);
-
- // Save temperature @ time stored.
- // Temperature is in degrees Celsius scaled by 2^16
- save_data.gyro_temp = temperature * (1L << 16);
- save_data.accel_temp = save_data.gyro_temp;
-
- // When we read accel bias, the bias is in raw units scaled by 1000.
- // and it contains the gravity vector.
-
- // Find the orientation of the device, by looking for gravity
- if (ABS(accel_bias[1].l) > ABS(accel_bias[0].l)) {
- axis = 1;
- }
- if (ABS(accel_bias[2].l) > ABS(accel_bias[axis].l)) {
- axis = 2;
- }
- if (accel_bias[axis].l < 0) {
- axis_sign = -1;
- }
-
- // Remove gravity, gravity in raw units should be 16384 for a 2g setting.
- // We read data scaled by 1000, so
- accel_bias[axis].l -= axis_sign * 4096L * 1000L;
-
- // Convert scaling from raw units scaled by 1000 to raw scaled by 2^16
- save_data.accel_bias[0] = (long)(accel_bias[0].l * 65536.f / 1000.f * 4.f);
- save_data.accel_bias[1] = (long)(accel_bias[1].l * 65536.f / 1000.f * 4.f);
- save_data.accel_bias[2] = (long)(accel_bias[2].l * 65536.f / 1000.f * 4.f);
-
-#if 1
- printf("Self-Test:Saved Accel bias[0..2]= [%ld %ld %ld]\n",
- save_data.accel_bias[0], save_data.accel_bias[1],
- save_data.accel_bias[2]);
- printf("Self-Test:Saved Gyro bias[0..2]= [%ld %ld %ld]\n",
- save_data.gyro_bias[0], save_data.gyro_bias[1],
- save_data.gyro_bias[2]);
- printf("Self-Test:Gyro temperature @ time stored %ld\n",
- save_data.gyro_temp);
- printf("Self-Test:Accel temperature @ time stored %ld\n",
- save_data.accel_temp);
-#endif
-
- // Get size of packet to store.
- inv_get_mpl_state_size(&packet_sz);
-
- // Create place to store data
- buffer = (unsigned char *)malloc(packet_sz + 10);
- if (buffer == NULL) {
- printf("Self-Test:Can't allocate buffer\n");
- result = -1;
- goto free_sysfs_storage;
- }
-
- // Store the data
- result = inv_save_mpl_states(buffer, packet_sz);
- if (result) {
- result = -1;
- } else {
- fptr= fopen(MLCAL_FILE, "wb+");
- if (fptr != NULL) {
- fwrite(buffer, 1, packet_sz, fptr);
- fclose(fptr);
- } else {
- printf("Self-Test:ERR- Can't open calibration file to write - %s\n",
- MLCAL_FILE);
- result = -1;
- }
- }
-
- free(buffer);
-
-free_sysfs_storage:
- free(sysfs_names_ptr);
- return result;
-}
-
diff --git a/65xx/libsensors_iio/software/core/driver/include/linux/mpu.h b/65xx/libsensors_iio/software/core/driver/include/linux/mpu.h
deleted file mode 100755
index 8676043..0000000
--- a/65xx/libsensors_iio/software/core/driver/include/linux/mpu.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
-* Copyright (C) 2012 Invensense, Inc.
-*
-* This software is licensed under the terms of the GNU General Public
-* License version 2, as published by the Free Software Foundation, and
-* may be copied, distributed, and modified under those terms.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*/
-
-#ifndef __MPU_H_
-#define __MPU_H_
-
-#ifdef __KERNEL__
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#endif
-
-enum secondary_slave_type {
- SECONDARY_SLAVE_TYPE_NONE,
- SECONDARY_SLAVE_TYPE_ACCEL,
- SECONDARY_SLAVE_TYPE_COMPASS,
- SECONDARY_SLAVE_TYPE_PRESSURE,
-
- SECONDARY_SLAVE_TYPE_TYPES
-};
-
-enum ext_slave_id {
- ID_INVALID = 0,
- GYRO_ID_MPU3050,
- GYRO_ID_MPU6050A2,
- GYRO_ID_MPU6050B1,
- GYRO_ID_MPU6050B1_NO_ACCEL,
- GYRO_ID_ITG3500,
-
- ACCEL_ID_LIS331,
- ACCEL_ID_LSM303DLX,
- ACCEL_ID_LIS3DH,
- ACCEL_ID_KXSD9,
- ACCEL_ID_KXTF9,
- ACCEL_ID_BMA150,
- ACCEL_ID_BMA222,
- ACCEL_ID_BMA250,
- ACCEL_ID_ADXL34X,
- ACCEL_ID_MMA8450,
- ACCEL_ID_MMA845X,
- ACCEL_ID_MPU6050,
-
- COMPASS_ID_AK8963,
- COMPASS_ID_AK8975,
- COMPASS_ID_AK8972,
- COMPASS_ID_AMI30X,
- COMPASS_ID_AMI306,
- COMPASS_ID_YAS529,
- COMPASS_ID_YAS530,
- COMPASS_ID_HMC5883,
- COMPASS_ID_LSM303DLH,
- COMPASS_ID_LSM303DLM,
- COMPASS_ID_MMC314X,
- COMPASS_ID_HSCDTD002B,
- COMPASS_ID_HSCDTD004A,
- COMPASS_ID_MLX90399,
-
- PRESSURE_ID_BMP085,
- PRESSURE_ID_BMP280,
-};
-
-#define INV_PROD_KEY(ver, rev) (ver * 100 + rev)
-/**
- * struct mpu_platform_data - Platform data for the mpu driver
- * @int_config: Bits [7:3] of the int config register.
- * @level_shifter: 0: VLogic, 1: VDD
- * @orientation: Orientation matrix of the gyroscope
- * @sec_slave_type: secondary slave device type, can be compass, accel, etc
- * @sec_slave_id: id of the secondary slave device
- * @secondary_i2c_address: secondary device's i2c address
- * @secondary_orientation: secondary device's orientation matrix
- * @key: key for MPL library.
- *
- * Contains platform specific information on how to configure the MPU3050 to
- * work on this platform. The orientation matricies are 3x3 rotation matricies
- * that are applied to the data to rotate from the mounting orientation to the
- * platform orientation. The values must be one of 0, 1, or -1 and each row and
- * column should have exactly 1 non-zero value.
- */
-struct mpu_platform_data {
- __u8 int_config;
- __u8 level_shifter;
- __s8 orientation[9];
- enum secondary_slave_type sec_slave_type;
- enum ext_slave_id sec_slave_id;
- __u16 secondary_i2c_addr;
- __s8 secondary_orientation[9];
- __u8 key[16];
- enum secondary_slave_type aux_slave_type;
- enum ext_slave_id aux_slave_id;
- __u16 aux_i2c_addr;
-};
-
-#endif /* __MPU_H_ */
diff --git a/65xx/libsensors_iio/software/simple_apps/common/console_helper.c b/65xx/libsensors_iio/software/simple_apps/common/console_helper.c
deleted file mode 100755
index 2888627..0000000
--- a/65xx/libsensors_iio/software/simple_apps/common/console_helper.c
+++ /dev/null
@@ -1,54 +0,0 @@
-/*
- $License:
- Copyright (C) 2012 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/******************************************************************************
- *
- * $Id:$
- *
- *****************************************************************************/
-
-#include <stdio.h>
-#ifdef _WIN32
-#include <windows.h>
-#include <conio.h>
-#endif
-#ifdef LINUX
-#include <sys/select.h>
-#endif
-#include <time.h>
-#include <string.h>
-
-int ConsoleKbhit(void)
-{
-#ifdef _WIN32
- return _kbhit();
-#else
- struct timeval tv;
- fd_set read_fd;
-
- tv.tv_sec=0;
- tv.tv_usec=0;
- FD_ZERO(&read_fd);
- FD_SET(0, &read_fd);
-
- if(select(1, &read_fd, NULL, NULL, &tv) == -1)
- return 0;
-
- if(FD_ISSET(0, &read_fd))
- return 1;
-
- return 0;
-#endif
-}
-
-char ConsoleGetChar(void)
-{
-#ifdef _WIN32
- return _getch();
-#else
- return getchar();
-#endif
-}
diff --git a/65xx/libsensors_iio/software/simple_apps/common/console_helper.h b/65xx/libsensors_iio/software/simple_apps/common/console_helper.h
deleted file mode 100755
index 5251d1c..0000000
--- a/65xx/libsensors_iio/software/simple_apps/common/console_helper.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/******************************************************************************
- *
- * $Id:$
- *
- *****************************************************************************/
-
-#ifndef _CONSOLE_HELPER_H_
-#define _CONSOLE_HELPER_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//#include "mltypes.h"
-
-/*
- Prototypes
-*/
-
-char ConsoleGetChar(void);
-int ConsoleKbhit(void);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // _CONSOLE_HELPER_H_
diff --git a/65xx/libsensors_iio/software/simple_apps/common/mlerrorcode.c b/65xx/libsensors_iio/software/simple_apps/common/mlerrorcode.c
deleted file mode 100755
index 25b0df6..0000000
--- a/65xx/libsensors_iio/software/simple_apps/common/mlerrorcode.c
+++ /dev/null
@@ -1,96 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/******************************************************************************
- *
- * $Id: mlerrorcode.c 5629 2011-06-11 03:13:08Z mcaramello $
- *
- *****************************************************************************/
-
-#include <stdio.h>
-#include <string.h>
-
-#include "mltypes.h"
-#include "mlerrorcode.h"
-
-#define ERROR_CODE_CASE(CODE) \
- case CODE: \
- return #CODE \
-
-/**
- * @brief return a string containing the label assigned to the error code.
- *
- * @param errorcode
- * The errorcode value of which the label has to be returned.
- *
- * @return A string containing the error code label.
- */
-char* MLErrorCode(inv_error_t errorcode)
-{
- switch(errorcode) {
- ERROR_CODE_CASE(INV_SUCCESS);
- ERROR_CODE_CASE(INV_ERROR);
- ERROR_CODE_CASE(INV_ERROR_INVALID_PARAMETER);
- ERROR_CODE_CASE(INV_ERROR_FEATURE_NOT_ENABLED);
- ERROR_CODE_CASE(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- ERROR_CODE_CASE(INV_ERROR_DMP_NOT_STARTED);
- ERROR_CODE_CASE(INV_ERROR_DMP_STARTED);
- ERROR_CODE_CASE(INV_ERROR_NOT_OPENED);
- ERROR_CODE_CASE(INV_ERROR_OPENED);
- ERROR_CODE_CASE(INV_ERROR_INVALID_MODULE);
- ERROR_CODE_CASE(INV_ERROR_MEMORY_EXAUSTED);
- ERROR_CODE_CASE(INV_ERROR_DIVIDE_BY_ZERO);
- ERROR_CODE_CASE(INV_ERROR_ASSERTION_FAILURE);
- ERROR_CODE_CASE(INV_ERROR_FILE_OPEN);
- ERROR_CODE_CASE(INV_ERROR_FILE_READ);
- ERROR_CODE_CASE(INV_ERROR_FILE_WRITE);
-
- ERROR_CODE_CASE(INV_ERROR_SERIAL_CLOSED);
- ERROR_CODE_CASE(INV_ERROR_SERIAL_OPEN_ERROR);
- ERROR_CODE_CASE(INV_ERROR_SERIAL_READ);
- ERROR_CODE_CASE(INV_ERROR_SERIAL_WRITE);
- ERROR_CODE_CASE(INV_ERROR_SERIAL_DEVICE_NOT_RECOGNIZED);
-
- ERROR_CODE_CASE(INV_ERROR_SM_TRANSITION);
- ERROR_CODE_CASE(INV_ERROR_SM_IMPROPER_STATE);
-
- ERROR_CODE_CASE(INV_ERROR_FIFO_OVERFLOW);
- ERROR_CODE_CASE(INV_ERROR_FIFO_FOOTER);
- ERROR_CODE_CASE(INV_ERROR_FIFO_READ_COUNT);
- ERROR_CODE_CASE(INV_ERROR_FIFO_READ_DATA);
- ERROR_CODE_CASE(INV_ERROR_MEMORY_SET);
-
- ERROR_CODE_CASE(INV_ERROR_LOG_MEMORY_ERROR);
- ERROR_CODE_CASE(INV_ERROR_LOG_OUTPUT_ERROR);
-
- ERROR_CODE_CASE(INV_ERROR_OS_BAD_PTR);
- ERROR_CODE_CASE(INV_ERROR_OS_BAD_HANDLE);
- ERROR_CODE_CASE(INV_ERROR_OS_CREATE_FAILED);
- ERROR_CODE_CASE(INV_ERROR_OS_LOCK_FAILED);
-
- ERROR_CODE_CASE(INV_ERROR_COMPASS_DATA_OVERFLOW);
- ERROR_CODE_CASE(INV_ERROR_COMPASS_DATA_UNDERFLOW);
- ERROR_CODE_CASE(INV_ERROR_COMPASS_DATA_NOT_READY);
- ERROR_CODE_CASE(INV_ERROR_COMPASS_DATA_ERROR);
-
- ERROR_CODE_CASE(INV_ERROR_CALIBRATION_LOAD);
- ERROR_CODE_CASE(INV_ERROR_CALIBRATION_STORE);
- ERROR_CODE_CASE(INV_ERROR_CALIBRATION_LEN);
- ERROR_CODE_CASE(INV_ERROR_CALIBRATION_CHECKSUM);
-
- default:
- {
- #define UNKNOWN_ERROR_CODE 1234
- return ERROR_NAME(UNKNOWN_ERROR_CODE);
- break;
- }
-
- }
-}
-
-/**
- * @}
- */
diff --git a/65xx/libsensors_iio/software/simple_apps/common/mlerrorcode.h b/65xx/libsensors_iio/software/simple_apps/common/mlerrorcode.h
deleted file mode 100755
index 9a35792..0000000
--- a/65xx/libsensors_iio/software/simple_apps/common/mlerrorcode.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-/*******************************************************************************
- *
- * $Id: mltypes.h 3680 2010-09-04 03:13:32Z mcaramello $
- *
- *******************************************************************************/
-
-#ifndef _MLERRORCODE_H_
-#define _MLERRORCODE_H_
-
-#include "mltypes.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/*
- Defines
-*/
-#define CALL_N_CHECK(f) { \
- unsigned int r35uLt = f; \
- if(INV_SUCCESS != r35uLt) { \
- MPL_LOGE("Error in file %s, line %d : %s returned code %s (#%d)\n", \
- __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt); \
- } \
-}
-
-#define CALL_CHECK_N_RETURN_ERROR(f) { \
- unsigned int r35uLt = f; \
- if(INV_SUCCESS != r35uLt) { \
- MPL_LOGE("Error in file %s, line %d : %s returned code %s (#%d)\n", \
- __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt); \
- return r35uLt; \
- } \
-}
-
-// for functions returning void
-#define CALL_CHECK_N_RETURN(f) do { \
- unsigned int r35uLt = f; \
- if(INV_SUCCESS != r35uLt) { \
- MPL_LOGE("Error in file %s, line %d : %s returned code %s (#%d)\n", \
- __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt); \
- return; \
- } \
- } while(0)
-
-#define CALL_CHECK_N_EXIT(f) { \
- unsigned int r35uLt = f; \
- if(INV_SUCCESS != r35uLt) { \
- MPL_LOGE("Error in file %s, line %d : %s returned code %s (#%d)\n", \
- __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt); \
- exit (r35uLt); \
- } \
-}
-
-
-#define CALL_CHECK_N_CALLBACK(f, cb) { \
- unsigned int r35uLt = f; \
- if(INV_SUCCESS != r35uLt) { \
- MPL_LOGE("Error in file %s, line %d : %s returned code %s (#%d)\n", \
- __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt); \
- cb; \
- } \
-}
-
-#define CALL_CHECK_N_GOTO(f, label) { \
- unsigned int r35uLt = f; \
- if(INV_SUCCESS != r35uLt) { \
- MPL_LOGE("Error in file %s, line %d : %s returned code %s (#%d)\n", \
- __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt); \
- goto label; \
- } \
-}
-
-char* MLErrorCode(inv_error_t errorcode);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/65xx/libsensors_iio/software/simple_apps/common/testsupport.h b/65xx/libsensors_iio/software/simple_apps/common/testsupport.h
deleted file mode 100755
index 0cab781..0000000
--- a/65xx/libsensors_iio/software/simple_apps/common/testsupport.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/*******************************************************************************
- *
- * $Id: testsupport.h 5629 2011-06-11 03:13:08Z mcaramello $
- *
- ******************************************************************************/
-
-#ifndef _TESTSUPPORT_H_
-#define _TESTSUPPORT_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/*---------------------------
- Includes
----------------------------*/
-
-#include "mltypes.h"
-#include "mlerrorcode.h"
-
-#include "mlsl.h"
-#include "log.h"
-
-/*---------------------------
- Defines
----------------------------*/
-
-/*---------------------------
- p-Types
----------------------------*/
-#ifdef TESTING_SUPPORT
- void SetHandle (void *sl_handle);
- void CommandPrompt (void *sl_handle);
- void RegisterMap (void *sl_handle);
- void DataLogger (const unsigned long flag);
- void DataLoggerSelector (const unsigned long flag);
- void DataLoggerCb (void);
- unsigned short KeyboardHandler (unsigned char key);
- char* CompassStateName (char* out, int state);
-#else
-#define DataLoggerSelector(x) //
-#define DataLogger(x) //
-#define DataLoggerCb NULL
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // _TESTSUPPORT_H_
-
diff --git a/65xx/libsensors_iio/software/simple_apps/devnode_parser/build/android/inv_devnode_parser-shared b/65xx/libsensors_iio/software/simple_apps/devnode_parser/build/android/inv_devnode_parser-shared
deleted file mode 100755
index b4a6bdf..0000000
--- a/65xx/libsensors_iio/software/simple_apps/devnode_parser/build/android/inv_devnode_parser-shared
+++ /dev/null
Binary files differ
diff --git a/65xx/libsensors_iio/software/simple_apps/devnode_parser/build/android/shared.mk b/65xx/libsensors_iio/software/simple_apps/devnode_parser/build/android/shared.mk
deleted file mode 100755
index 38d1fb4..0000000
--- a/65xx/libsensors_iio/software/simple_apps/devnode_parser/build/android/shared.mk
+++ /dev/null
@@ -1,92 +0,0 @@
-EXEC = inv_devnode_parser$(SHARED_APP_SUFFIX)
-
-MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
-
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
-COMP ?= $(CROSS)gcc
-LINK ?= $(CROSS)gcc
-
-OBJFOLDER = $(CURDIR)/obj
-
-INV_ROOT = ../../../../..
-APP_DIR = $(CURDIR)/../..
-MLLITE_DIR = $(INV_ROOT)/software/core/mllite
-
-include $(INV_ROOT)/software/build/android/common.mk
-
-CFLAGS += $(CMDLINE_CFLAGS)
-CFLAGS += $(ANDROID_COMPILE)
-CFLAGS += -Wall
-CFLAGS += -fpic
-CFLAGS += -nostdlib
-CFLAGS += -DNDEBUG
-CFLAGS += -D_REENTRANT
-CFLAGS += -DLINUX
-CFLAGS += -DANDROID
-CFLAGS += -mthumb-interwork
-CFLAGS += -fno-exceptions
-CFLAGS += -ffunction-sections
-CFLAGS += -funwind-tables
-CFLAGS += -fstack-protector
-CFLAGS += -fno-short-enums
-CFLAGS += -fmessage-length=0
-CFLAGS += -I$(MLLITE_DIR)
-CFLAGS += -I$(MPL_DIR)
-CFLAGS += $(INV_INCLUDES)
-CFLAGS += $(INV_DEFINES)
-
-LLINK = -lc
-LLINK += -lm
-LLINK += -lutils
-LLINK += -lcutils
-LLINK += -lgcc
-LLINK += -ldl
-LLINK += -lstdc++
-LLINK += -llog
-LLINK += -lz
-
-LFLAGS += $(CMDLINE_LFLAGS)
-LFLAGS += $(ANDROID_LINK_EXECUTABLE)
-
-LRPATH = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
-
-####################################################################################################
-## sources
-
-INV_LIBS = $(MLLITE_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MLLITE_LIB_NAME).$(SHARED_LIB_EXT)
-
-#INV_SOURCES and VPATH provided by Makefile.filelist
-include ../filelist.mk
-
-INV_OBJS := $(addsuffix .o,$(INV_SOURCES))
-INV_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(INV_SOURCES))))
-
-####################################################################################################
-## rules
-
-.PHONY: all clean cleanall install
-
-all: $(EXEC) $(MK_NAME)
-
-$(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
- @$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
- $(LINK) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
-
-$(OBJFOLDER) :
- @$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
- mkdir obj
-
-$(INV_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c $(MK_NAME)
- @$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
- $(COMP) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(INV_INCLUDES) $(CFLAGS) -o $@ -c $<
-
-clean :
- rm -fR $(OBJFOLDER)
-
-cleanall :
- rm -fR $(EXEC) $(OBJFOLDER)
-
-install : $(EXEC)
- cp -f $(EXEC) $(INSTALL_DIR)
-
-
diff --git a/65xx/libsensors_iio/software/simple_apps/devnode_parser/build/filelist.mk b/65xx/libsensors_iio/software/simple_apps/devnode_parser/build/filelist.mk
deleted file mode 100755
index fdecbc8..0000000
--- a/65xx/libsensors_iio/software/simple_apps/devnode_parser/build/filelist.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#### filelist.mk for inv_devnode_parser ####
-
-# headers
-HEADERS += $(APP_DIR)/iio_utils.h
-
-# sources
-SOURCES := $(APP_DIR)/read_device_node.c
-
-INV_SOURCES += $(SOURCES)
-
-VPATH += $(APP_DIR) $(COMMON_DIR) $(HAL_DIR)/linux
diff --git a/65xx/libsensors_iio/software/simple_apps/devnode_parser/iio_utils.h b/65xx/libsensors_iio/software/simple_apps/devnode_parser/iio_utils.h
deleted file mode 100755
index c3d4955..0000000
--- a/65xx/libsensors_iio/software/simple_apps/devnode_parser/iio_utils.h
+++ /dev/null
@@ -1,650 +0,0 @@
-/* IIO - useful set of util functionality
- *
- * Copyright (c) 2008 Jonathan Cameron
- *
- * This program is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 2 as published by
- * the Free Software Foundation.
- */
-
-/* Made up value to limit allocation sizes */
-#include <string.h>
-#include <stdlib.h>
-#include <ctype.h>
-#include <stdio.h>
-#include <stdint.h>
-#include <dirent.h>
-
-#define IIO_MAX_NAME_LENGTH 30
-
-#define FORMAT_SCAN_ELEMENTS_DIR "%s/scan_elements"
-#define FORMAT_TYPE_FILE "%s_type"
-
-const char *iio_dir = "/sys/bus/iio/devices/";
-
-extern int verbose;
-
-/**
- * iioutils_break_up_name() - extract generic name from full channel name
- * @full_name: the full channel name
- * @generic_name: the output generic channel name
- **/
-static int iioutils_break_up_name(const char *full_name,
- char **generic_name)
-{
- char *current;
- char *w, *r;
- char *working;
- current = strdup(full_name);
- working = strtok(current, "_\0");
- w = working;
- r = working;
-
- while (*r != '\0') {
- if (!isdigit(*r)) {
- *w = *r;
- w++;
- }
- r++;
- }
- *w = '\0';
- *generic_name = strdup(working);
- free(current);
-
- return 0;
-}
-
-/**
- * struct iio_channel_info - information about a given channel
- * @name: channel name
- * @generic_name: general name for channel type
- * @scale: scale factor to be applied for conversion to si units
- * @offset: offset to be applied for conversion to si units
- * @index: the channel index in the buffer output
- * @bytes: number of bytes occupied in buffer output
- * @mask: a bit mask for the raw output
- * @is_signed: is the raw value stored signed
- * @enabled: is this channel enabled
- **/
-struct iio_channel_info {
- char *name;
- char *generic_name;
- float scale;
- float offset;
- unsigned index;
- unsigned bytes;
- unsigned bits_used;
- unsigned shift;
- uint64_t mask;
- unsigned be;
- unsigned is_signed;
- unsigned enabled;
- unsigned location;
-};
-
-/**
- * iioutils_get_type() - find and process _type attribute data
- * @is_signed: output whether channel is signed
- * @bytes: output how many bytes the channel storage occupies
- * @mask: output a bit mask for the raw data
- * @be: big endian
- * @device_dir: the iio device directory
- * @name: the channel name
- * @generic_name: the channel type name
- **/
-inline int iioutils_get_type(unsigned *is_signed,
- unsigned *bytes,
- unsigned *bits_used,
- unsigned *shift,
- uint64_t *mask,
- unsigned *be,
- const char *device_dir,
- const char *name,
- const char *generic_name)
-{
- FILE *sysfsfp;
- int ret;
- DIR *dp;
- char *scan_el_dir, *builtname, *builtname_generic, *filename = 0;
- char signchar, endianchar;
- unsigned padint;
- const struct dirent *ent;
-
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- ret = asprintf(&builtname, FORMAT_TYPE_FILE, name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_scan_el_dir;
- }
- ret = asprintf(&builtname_generic, FORMAT_TYPE_FILE, generic_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_builtname;
- }
-
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_builtname_generic;
- }
- while (ent = readdir(dp), ent != NULL)
- /*
- * Do we allow devices to override a generic name with
- * a specific one?
- */
- if ((strcmp(builtname, ent->d_name) == 0) ||
- (strcmp(builtname_generic, ent->d_name) == 0)) {
- ret = asprintf(&filename,
- "%s/%s", scan_el_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_closedir;
- }
- sysfsfp = fopen(filename, "r");
- if (sysfsfp == NULL) {
- printf("failed to open %s\n", filename);
- ret = -errno;
- goto error_free_filename;
- }
-
- ret = fscanf(sysfsfp,
- "%ce:%c%u/%u>>%u",
- &endianchar,
- &signchar,
- bits_used,
- &padint, shift);
- if (ret < 0) {
- printf("failed to pass scan type description\n");
- return ret;
- }
- *be = (endianchar == 'b');
- *bytes = padint / 8;
- if (*bits_used == 64)
- *mask = ~0;
- else
- *mask = (1 << *bits_used) - 1;
- if (signchar == 's')
- *is_signed = 1;
- else
- *is_signed = 0;
- fclose(sysfsfp);
- free(filename);
-
- filename = 0;
- }
-error_free_filename:
- if (filename)
- free(filename);
-error_closedir:
- closedir(dp);
-error_free_builtname_generic:
- free(builtname_generic);
-error_free_builtname:
- free(builtname);
-error_free_scan_el_dir:
- free(scan_el_dir);
-error_ret:
- return ret;
-}
-
-inline int iioutils_get_param_float(float *output,
- const char *param_name,
- const char *device_dir,
- const char *name,
- const char *generic_name)
-{
- FILE *sysfsfp;
- int ret;
- DIR *dp;
- char *builtname, *builtname_generic;
- char *filename = NULL;
- const struct dirent *ent;
-
- ret = asprintf(&builtname, "%s_%s", name, param_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- ret = asprintf(&builtname_generic,
- "%s_%s", generic_name, param_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_builtname;
- }
- dp = opendir(device_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_builtname_generic;
- }
- while (ent = readdir(dp), ent != NULL)
- if ((strcmp(builtname, ent->d_name) == 0) ||
- (strcmp(builtname_generic, ent->d_name) == 0)) {
- ret = asprintf(&filename,
- "%s/%s", device_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_closedir;
- }
- sysfsfp = fopen(filename, "r");
- if (!sysfsfp) {
- ret = -errno;
- goto error_free_filename;
- }
- fscanf(sysfsfp, "%f", output);
- break;
- }
-error_free_filename:
- if (filename)
- free(filename);
-error_closedir:
- closedir(dp);
-error_free_builtname_generic:
- free(builtname_generic);
-error_free_builtname:
- free(builtname);
-error_ret:
- return ret;
-}
-
-/**
- * bsort_channel_array_by_index() - reorder so that the array is in index order
- *
- **/
-
-inline void bsort_channel_array_by_index(struct iio_channel_info **ci_array,
- int cnt)
-{
- struct iio_channel_info temp;
- int x, y;
-
- for (x = 0; x < cnt; x++)
- for (y = 0; y < (cnt - 1); y++)
- if ((*ci_array)[y].index > (*ci_array)[y+1].index) {
- temp = (*ci_array)[y + 1];
- (*ci_array)[y + 1] = (*ci_array)[y];
- (*ci_array)[y] = temp;
- }
-}
-
-/**
- * build_channel_array() - function to figure out what channels are present
- * @device_dir: the IIO device directory in sysfs
- * @
- **/
-inline int build_channel_array(const char *device_dir,
- struct iio_channel_info **ci_array,
- int *counter)
-{
- DIR *dp;
- FILE *sysfsfp;
- int count, i;
- struct iio_channel_info *current;
- int ret;
- const struct dirent *ent;
- char *scan_el_dir;
- char *filename;
-
- *counter = 0;
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_name;
- }
- while (ent = readdir(dp), ent != NULL)
- if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
- "_en") == 0) {
- ret = asprintf(&filename,
- "%s/%s", scan_el_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_close_dir;
- }
- sysfsfp = fopen(filename, "r");
- if (sysfsfp == NULL) {
- ret = -errno;
- free(filename);
- goto error_close_dir;
- }
- fscanf(sysfsfp, "%u", &ret);
- //printf("%s, %d\n", filename, ret);
- if (ret == 1)
- (*counter)++;
- fclose(sysfsfp);
- free(filename);
- }
- *ci_array = malloc(sizeof(**ci_array) * (*counter));
- if (*ci_array == NULL) {
- ret = -ENOMEM;
- goto error_close_dir;
- }
- closedir(dp);
- dp = opendir(scan_el_dir);
- //seekdir(dp, 0);
- count = 0;
- while (ent = readdir(dp), ent != NULL) {
- if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
- "_en") == 0) {
- current = &(*ci_array)[count++];
- ret = asprintf(&filename,
- "%s/%s", scan_el_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- /* decrement count to avoid freeing name */
- count--;
- goto error_cleanup_array;
- }
- sysfsfp = fopen(filename, "r");
- if (sysfsfp == NULL) {
- free(filename);
- ret = -errno;
- goto error_cleanup_array;
- }
- fscanf(sysfsfp, "%u", ¤t->enabled);
- fclose(sysfsfp);
-
- if (!current->enabled) {
- free(filename);
- count--;
- continue;
- }
-
- current->scale = 1.0;
- current->offset = 0;
- current->name = strndup(ent->d_name,
- strlen(ent->d_name) -
- strlen("_en"));
- if (current->name == NULL) {
- free(filename);
- ret = -ENOMEM;
- goto error_cleanup_array;
- }
- /* Get the generic and specific name elements */
- ret = iioutils_break_up_name(current->name,
- ¤t->generic_name);
- if (ret) {
- free(filename);
- goto error_cleanup_array;
- }
- ret = asprintf(&filename,
- "%s/%s_index",
- scan_el_dir,
- current->name);
- if (ret < 0) {
- free(filename);
- ret = -ENOMEM;
- goto error_cleanup_array;
- }
- sysfsfp = fopen(filename, "r");
- fscanf(sysfsfp, "%u", ¤t->index);
- fclose(sysfsfp);
- free(filename);
- /* Find the scale */
- ret = iioutils_get_param_float(¤t->scale,
- "scale",
- device_dir,
- current->name,
- current->generic_name);
- if (ret < 0)
- goto error_cleanup_array;
- ret = iioutils_get_param_float(¤t->offset,
- "offset",
- device_dir,
- current->name,
- current->generic_name);
- if (ret < 0)
- goto error_cleanup_array;
- ret = iioutils_get_type(¤t->is_signed,
- ¤t->bytes,
- ¤t->bits_used,
- ¤t->shift,
- ¤t->mask,
- ¤t->be,
- device_dir,
- current->name,
- current->generic_name);
- }
- }
-
- closedir(dp);
- /* reorder so that the array is in index order */
- bsort_channel_array_by_index(ci_array, *counter);
-
- return 0;
-
-error_cleanup_array:
- for (i = count - 1; i >= 0; i--)
- free((*ci_array)[i].name);
- free(*ci_array);
-error_close_dir:
- closedir(dp);
-error_free_name:
- free(scan_el_dir);
-error_ret:
- return ret;
-}
-
-inline int _write_sysfs_int(char *filename, char *basedir, int val, int verify)
-{
- int ret = 0;
- FILE *sysfsfp;
- int test;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL)
- return -ENOMEM;
-
- sprintf(temp, "%s/%s", basedir, filename);
-
- if (verbose)
- printf("VERB: echo %d > %s\n", val, temp);
- sysfsfp = fopen(temp, "w");
- if (sysfsfp == NULL) {
- printf("failed to open %s\n", temp);
- ret = -errno;
- goto error_free;
- }
- fprintf(sysfsfp, "%d", val);
- fclose(sysfsfp);
-
- if (verify) {
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- printf("failed to open %s\n", temp);
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%d", &test);
- fclose(sysfsfp);
- if (verbose)
- printf("VERB: cat %s = %d\n", temp, test);
- if (test != val) {
- printf("Possible failure in int write %d to %s\n",
- val, temp);
- ret = -1;
- }
- }
-
-error_free:
- free(temp);
- return ret;
-}
-
-int write_sysfs_int(char *filename, char *basedir, int val)
-{
- return _write_sysfs_int(filename, basedir, val, 0);
-}
-
-int write_sysfs_int_and_verify(char *filename, char *basedir, int val)
-{
- return _write_sysfs_int(filename, basedir, val, 1);
-}
-
-int _write_sysfs_string(char *filename, char *basedir, char *val, int verify)
-{
- int ret = 0;
- FILE *sysfsfp;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL) {
- printf("Memory allocation failed\n");
- return -ENOMEM;
- }
- sprintf(temp, "%s/%s", basedir, filename);
-
- sysfsfp = fopen(temp, "w");
- if (sysfsfp == NULL) {
- printf("Could not open %s\n", temp);
- ret = -errno;
- goto error_free;
- }
- fprintf(sysfsfp, "%s", val);
- fclose(sysfsfp);
-
- if (verify) {
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- printf("could not open file to verify\n");
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%s", temp);
- fclose(sysfsfp);
-
- if (strcmp(temp, val) != 0) {
- printf("Possible failure in string write of %s "
- "Should be %s written to %s\%s\n",
- temp, val, basedir, filename);
- ret = -1;
- }
- }
-
-error_free:
- free(temp);
-
- return ret;
-}
-
-/**
- * write_sysfs_string_and_verify() - string write, readback and verify
- * @filename: name of file to write to
- * @basedir: the sysfs directory in which the file is to be found
- * @val: the string to write
- **/
-int write_sysfs_string_and_verify(char *filename, char *basedir, char *val)
-{
- return _write_sysfs_string(filename, basedir, val, 1);
-}
-
-int write_sysfs_string(char *filename, char *basedir, char *val)
-{
- return _write_sysfs_string(filename, basedir, val, 0);
-}
-
-int read_sysfs_posint(char *filename, char *basedir)
-{
- int ret;
- FILE *sysfsfp;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL) {
- printf("Memory allocation failed");
- return -ENOMEM;
- }
- sprintf(temp, "%s/%s", basedir, filename);
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%d\n", &ret);
- fclose(sysfsfp);
-error_free:
- free(temp);
- return ret;
-}
-
-int read_sysfs_float(char *filename, char *basedir, float *val)
-{
- float ret = 0;
- FILE *sysfsfp;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL) {
- printf("Memory allocation failed");
- return -ENOMEM;
- }
- sprintf(temp, "%s/%s", basedir, filename);
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%f\n", val);
- fclose(sysfsfp);
-
-error_free:
- free(temp);
- return ret;
-}
-
-int enable_se(const char *device_dir, struct iio_channel_info **ci_array,
- int *counter, char *sensor, int en)
-{
- DIR *dp;
- int ret;
- const struct dirent *ent;
- char *scan_el_dir;
- char pattern[50] = "in_";
-
- *counter = 0;
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_name;
- }
- strcat(pattern, sensor);
- while (ent = readdir(dp), ent != NULL) {
- if (strncmp(ent->d_name, pattern, strlen(pattern)) == 0 &&
- strncmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
- "_en", strlen("_en")) == 0) {
- write_sysfs_int_and_verify((char *)ent->d_name, scan_el_dir, en);
- }
- }
- return 0;
-
-error_ret:
-error_free_name:
- return -1;
-}
-
-int enable_accel_se(const char *device_dir,
- struct iio_channel_info **ci_array, int *counter,
- int en)
-{
- return enable_se(device_dir, ci_array, counter, "accel", en);
-}
-
-int enable_anglvel_se(const char *device_dir,
- struct iio_channel_info **ci_array, int *counter,
- int en)
-{
- return enable_se(device_dir, ci_array, counter, "anglvel", en);
-}
-
-int enable_quaternion_se(const char *device_dir,
- struct iio_channel_info **ci_array, int *counter,
- int en)
-{
- return enable_se(device_dir, ci_array, counter, "quaternion", en);
-}
-
diff --git a/65xx/libsensors_iio/software/simple_apps/devnode_parser/read_device_node.c b/65xx/libsensors_iio/software/simple_apps/devnode_parser/read_device_node.c
deleted file mode 100755
index 7b73d4a..0000000
--- a/65xx/libsensors_iio/software/simple_apps/devnode_parser/read_device_node.c
+++ /dev/null
@@ -1,284 +0,0 @@
-/*
- * Copyright (c) Invensense Inc. 2012
- *
- * This program is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 2 as published by
- * the Free Software Foundation.
- */
-
-#include <unistd.h>
-#include <dirent.h>
-#include <fcntl.h>
-#include <stdio.h>
-#include <errno.h>
-#include <sys/stat.h>
-#include <dirent.h>
-#include <linux/types.h>
-#include <string.h>
-#include <poll.h>
-#include <termios.h>
-
-#include "iio_utils.h"
-#include "ml_sysfs_helper.h"
-#include "mlos.h"
-
-#define POLL_TIME (2000) // 2sec
-
-// settings
-int verbose = false;
-
-// paths
-char *dev_dir_name;
-
-/**************************************************
- This _kbhit() function is courtesy of the web
-***************************************************/
-int _kbhit(void)
-{
- static const int STDIN = 0;
- static bool initialized = false;
-
- if (!initialized) {
- // Use termios to turn off line buffering
- struct termios term;
- tcgetattr(STDIN, &term);
- term.c_lflag &= ~ICANON;
- tcsetattr(STDIN, TCSANOW, &term);
- setbuf(stdin, NULL);
- initialized = true;
- }
-
- int bytesWaiting;
- ioctl(STDIN, FIONREAD, &bytesWaiting);
- return bytesWaiting;
-}
-
-void get_sensor_data(char *d, short *sensor)
-{
- int i;
- for (i = 0; i < 3; i++)
- sensor[i] = *(short *)(d + 2 + i * 2);
-}
-
-static int read_data(char *buffer_access)
-{
-#define PRESSURE_HDR 0x8000
-#define ACCEL_HDR 0x4000
-#define GYRO_HDR 0x2000
-#define COMPASS_HDR 0x1000
-#define LPQUAT_HDR 0x0800
-#define SIXQUAT_HDR 0x0400
-#define PEDQUAT_HDR 0x0200
-#define STEP_DETECTOR_HDR 0x0100
-
- static int left_over_size = 0;
- char data[1048], *dptr, tmp[24];
- short sensor[3];
- int q[3];
- int ret, i, ind, fp;
- int buf_size, read_size;
- unsigned short hdr;
- bool done_flag;
-
- fp = open(buffer_access, O_RDONLY | O_NONBLOCK);
- if (fp == -1) { /* if it isn't there make the node */
- printf("Failed to open %s\n", buffer_access);
- ret = -errno;
- goto error_read_data;
- }
- ind = 0;
-
- {
- struct pollfd pfd = {
- .fd = fp,
- .events = POLLIN,
- };
- poll(&pfd, 1, -1);
-
- if (left_over_size > 0)
- memcpy(data, tmp, left_over_size);
- dptr = data + left_over_size;
-
- read_size = read(fp, dptr, 1024);
- if (read_size <= 0) {
- printf("Wrong size=%d\n", read_size);
- ret = -EINVAL;
- goto error_read_data;
- }
-
- ind = read_size + left_over_size;
- dptr = data;
- buf_size = ind - (dptr - data);
- done_flag = false;
- while ((buf_size > 0) && (!done_flag)) {
- hdr = *((short *)(dptr));
- if (hdr & 1)
- printf("STEP\n");
-
- switch (hdr & (~1)) {
- case PRESSURE_HDR:
- if (buf_size >= 16) {
- get_sensor_data(dptr, sensor);
- dptr += 8;
- printf("PRESS, %d, %lld\n", (sensor[1] << 16) + (unsigned short)sensor[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case ACCEL_HDR:
- if (buf_size >= 16) {
- get_sensor_data(dptr, sensor);
- dptr += 8;
- printf("ACCEL, %d, %d, %d, %lld\n", sensor[0], sensor[1], sensor[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case GYRO_HDR:
- if (buf_size >= 16) {
- get_sensor_data(dptr, sensor);
- dptr += 8;
- printf("GYRO, %d, %d, %d, %lld\n", sensor[0], sensor[1], sensor[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case COMPASS_HDR:
- if (buf_size >= 16) {
- get_sensor_data(dptr, sensor);
- dptr += 8;
- printf("COMPASS, %d, %d, %d, %lld\n", sensor[0], sensor[1], sensor[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case PEDQUAT_HDR:
- if (buf_size >= 16) {
- get_sensor_data(dptr, sensor);
- dptr += 8;
- printf("LOW_RES_QUAT, %d, %d, %d, %lld\n", sensor[0], sensor[1], sensor[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case LPQUAT_HDR:
- if (buf_size >= 24) {
- q[0] = *(int *)(dptr + 4);
- dptr += 8;
- q[1] = *(int *)(dptr);
- q[2] = *(int *)(dptr + 4);
- dptr += 8;
- printf("LPQ_3AXES, %d, %d, %d, %lld\n", q[0], q[1], q[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case SIXQUAT_HDR:
- if (buf_size >= 24) {
- q[0] = *(int *)(dptr + 4);
- dptr += 8;
- q[1] = *(int *)(dptr);
- q[2] = *(int *)(dptr + 4);
- dptr += 8;
- printf("LPQ_6AXES, %d, %d, %d, %lld\n", q[0], q[1], q[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case STEP_DETECTOR_HDR:
- if (buf_size >= 16) {
- printf("STEP_DETECTOR, ");
- dptr += 8;
- printf("%lld\n", *(long long *)dptr);
- } else
- done_flag = true;
-
- break;
- default:
- printf("unknown, \n");
- for (i = 0; i < 8; i++)
- printf("%02x, ", dptr[i]);
- printf("\n");
- break;
- }
- if (!done_flag)
- dptr += 8;
- buf_size = ind - (dptr - data);
- }
- if (ind - (dptr - data) > 0)
- memcpy(tmp, dptr, ind - (dptr - data));
- left_over_size = ind - (dptr - data);
- }
- close(fp);
-
-error_read_data:
- return ret;
-}
-
-/*
- Main
-*/
-
-int main(int argc, char **argv)
-{
- unsigned long num_loops = -1;
- int ret, c, i;
-
- int dev_num;
- char *buffer_access;
- char chip_name[10];
- char *dummy;
- char device_name[10];
- char sysfs[100];
-
- // all output to stdout must be delivered immediately, no buffering
- setvbuf(stdout, NULL, _IONBF, 0);
-
- /* parse the command line parameters
- TODO description
- */
- while ((c = getopt(argc, argv, "c:vh")) != -1) {
- switch (c) {
- case 'c':
- num_loops = strtoul(optarg, &dummy, 10);
- break;
- case 'v':
- verbose = true;
- break;
- case 'h':
- //print_help();
- // TODO write print_help helper function
- break;
- case '?':
- return -1;
- }
- }
-
- // get info about the device and driver
- inv_get_sysfs_path(sysfs);
- if (inv_get_chip_name(chip_name) != INV_SUCCESS) {
- printf("get chip name fail\n");
- exit(0);
- }
- printf("INFO: chip_name=%s\n", chip_name);
-
- for (i = 0; i < strlen(chip_name); i++)
- device_name[i] = tolower(chip_name[i]);
- device_name[strlen(chip_name)] = '\0';
- printf("INFO: device name=%s\n", device_name);
-
- /* Find the device requested */
- dev_num = find_type_by_name(device_name, "iio:device");
- if (dev_num < 0) {
- printf("Failed to find the %s\n", device_name);
- ret = -ENODEV;
- goto error_ret;
- }
- printf("INFO: iio device number=%d\n", dev_num);
-
- /* attempt to open non blocking the access dev */
- ret = asprintf(&buffer_access, "/dev/iio:device%d", dev_num);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- while (num_loops == -1 || num_loops--)
- read_data(buffer_access);
- free(buffer_access);
-
-error_ret:
- return ret;
-}
diff --git a/65xx/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared b/65xx/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
deleted file mode 100755
index 0414ce3..0000000
--- a/65xx/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
+++ /dev/null
Binary files differ
diff --git a/65xx/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk b/65xx/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk
deleted file mode 100755
index 8591982..0000000
--- a/65xx/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk
+++ /dev/null
@@ -1,96 +0,0 @@
-EXEC = inv_gesture_test$(SHARED_APP_SUFFIX)
-
-MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
-
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
-COMP ?= $(CROSS)gcc
-LINK ?= $(CROSS)gcc
-
-OBJFOLDER = $(CURDIR)/obj
-
-INV_ROOT = ../../../../..
-APP_DIR = $(CURDIR)/../..
-MLLITE_DIR = $(INV_ROOT)/software/core/mllite
-MPL_DIR = $(INV_ROOT)/software/core/mpl
-
-include $(INV_ROOT)/software/build/android/common.mk
-
-CFLAGS += $(CMDLINE_CFLAGS)
-CFLAGS += $(ANDROID_COMPILE)
-CFLAGS += -Wall
-CFLAGS += -fpic
-CFLAGS += -nostdlib
-CFLAGS += -DNDEBUG
-CFLAGS += -D_REENTRANT
-CFLAGS += -DLINUX
-CFLAGS += -DANDROID
-CFLAGS += -mthumb-interwork
-CFLAGS += -fno-exceptions
-CFLAGS += -ffunction-sections
-CFLAGS += -funwind-tables
-CFLAGS += -fstack-protector
-CFLAGS += -fno-short-enums
-CFLAGS += -fmessage-length=0
-CFLAGS += -I$(MLLITE_DIR)
-CFLAGS += -I$(MPL_DIR)
-CFLAGS += -I$(COMMON_DIR)
-CFLAGS += -I$(HAL_DIR)/include
-CFLAGS += $(INV_INCLUDES)
-CFLAGS += $(INV_DEFINES)
-
-LLINK = -lc
-LLINK += -lm
-LLINK += -lutils
-LLINK += -lcutils
-LLINK += -lgcc
-LLINK += -ldl
-LLINK += -lstdc++
-LLINK += -llog
-LLINK += -lz
-
-LFLAGS += $(CMDLINE_LFLAGS)
-LFLAGS += $(ANDROID_LINK_EXECUTABLE)
-
-LRPATH = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
-
-####################################################################################################
-## sources
-
-INV_LIBS = $(MPL_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MPL_LIB_NAME).$(SHARED_LIB_EXT)
-INV_LIBS += $(MLLITE_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MLLITE_LIB_NAME).$(SHARED_LIB_EXT)
-
-#INV_SOURCES and VPATH provided by Makefile.filelist
-include ../filelist.mk
-
-INV_OBJS := $(addsuffix .o,$(INV_SOURCES))
-INV_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(INV_SOURCES))))
-
-####################################################################################################
-## rules
-
-.PHONY: all clean cleanall install
-
-all: $(EXEC) $(MK_NAME)
-
-$(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
- @$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
- $(LINK) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
-
-$(OBJFOLDER) :
- @$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
- mkdir obj
-
-$(INV_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c $(MK_NAME)
- @$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
- $(COMP) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(INV_INCLUDES) $(CFLAGS) -o $@ -c $<
-
-clean :
- rm -fR $(OBJFOLDER)
-
-cleanall :
- rm -fR $(EXEC) $(OBJFOLDER)
-
-install : $(EXEC)
- cp -f $(EXEC) $(INSTALL_DIR)
-
-
diff --git a/65xx/libsensors_iio/software/simple_apps/gesture_test/build/filelist.mk b/65xx/libsensors_iio/software/simple_apps/gesture_test/build/filelist.mk
deleted file mode 100755
index 75d93cf..0000000
--- a/65xx/libsensors_iio/software/simple_apps/gesture_test/build/filelist.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#### filelist.mk for inv_gesture_test ####
-
-# headers
-#HEADERS +=
-
-# sources
-SOURCES := $(APP_DIR)/inv_gesture_test.c
-
-INV_SOURCES += $(SOURCES)
-
-VPATH += $(APP_DIR)
diff --git a/65xx/libsensors_iio/software/simple_apps/gesture_test/inv_gesture_test.c b/65xx/libsensors_iio/software/simple_apps/gesture_test/inv_gesture_test.c
deleted file mode 100755
index ac0803f..0000000
--- a/65xx/libsensors_iio/software/simple_apps/gesture_test/inv_gesture_test.c
+++ /dev/null
@@ -1,720 +0,0 @@
-/**
- * Gesture Test application for Invensense's MPU6/9xxx (w/ DMP).
- */
-
-#include <unistd.h>
-#include <dirent.h>
-#include <fcntl.h>
-#include <stdio.h>
-#include <errno.h>
-#include <sys/stat.h>
-#include <stdlib.h>
-#include <features.h>
-#include <dirent.h>
-#include <string.h>
-#include <poll.h>
-#include <stddef.h>
-#include <linux/input.h>
-#include <time.h>
-#include <linux/time.h>
-#include <unistd.h>
-#include <termios.h>
-
-#include "invensense.h"
-#include "ml_math_func.h"
-#include "storage_manager.h"
-#include "ml_stored_data.h"
-#include "ml_sysfs_helper.h"
-#include "mlos.h"
-
-//#define DEBUG_PRINT /* Uncomment to print Gyro & Accel read from Driver */
-
-#define SUPPORT_SCREEN_ORIENTATION
-//#define SUPPORT_TAP
-//#define SUPPORT_ORIENTATION
-#define SUPPORT_PEDOMETER
-#define SUPPORT_SMD
-
-#define MAX_SYSFS_NAME_LEN (100)
-#define MAX_SYSFS_ATTRB (sizeof(struct sysfs_attrbs) / sizeof(char*))
-#define IIO_SYSFS_PATH "/sys/bus/iio/devices/iio:device0"
-#define IIO_HUB_NAME "inv_hub"
-
-#define POLL_TIME (2000) // 2sec
-
-struct sysfs_attrbs {
- char *name;
- char *enable;
- char *power_state;
- char *dmp_on;
- char *dmp_int_on;
- char *dmp_firmware;
- char *firmware_loaded;
-#ifdef SUPPORT_SCREEN_ORIENTATION
- char *event_display_orientation;
- char *display_orientation_on;
-#endif
-#ifdef SUPPORT_ORIENTATION
- char *event_orientation;
- char *orientation_on;
-#endif
-#ifdef SUPPORT_TAP
- char *event_tap;
- char *tap_min_count;
- char *tap_on;
- char *tap_threshold;
- char *tap_time;
-#endif
-#ifdef SUPPORT_PEDOMETER
- char *pedometer_on;
- char *pedometer_steps;
- char *pedometer_time;
-#endif
-#ifdef SUPPORT_SMD
- char *event_smd;
- char *smd_enable;
- char *smd_threshold;
- char *smd_delay_threshold;
- char *smd_delay_threshold2;
-#endif
-} mpu;
-
-enum {
-#ifdef SUPPORT_TAP
- FEAT_TAP,
-#endif
-#ifdef SUPPORT_SCREEN_ORIENTATION
- FEAT_SCREEN_ORIENTATION,
-#endif
-#ifdef SUPPORT_ORIENTATION
- FEAT_ORIENTATION,
-#endif
-#ifdef SUPPORT_PEDOMETER
- FEAT_PEDOMETER,
-#endif
-#ifdef SUPPORT_SMD
- FEAT_SMD,
-#endif
-
- NUM_DMP_FEATS
-};
-
-char *sysfs_names_ptr;
-#ifdef SUPPORT_PEDOMETER
-unsigned long last_pedometer_poll = 0L;
-unsigned long pedometer_poll_timeout = 500L; // .5 second
-#endif
-struct pollfd pfd[NUM_DMP_FEATS];
-bool android_hub = false; // flag to indicate true=Hub, false=non-hub
-
-/*******************************************************************************
- * DMP Feature Supported Functions
- ******************************************************************************/
-
-int read_sysfs_int(char *filename, int *var)
-{
- int res=0;
- FILE *fp;
-
- fp = fopen(filename, "r");
- if (fp!=NULL) {
- fscanf(fp, "%d\n", var);
- fclose(fp);
- } else {
- printf("ERR open file to read: %s\n", filename);
- res= -1;
- }
- return res;
-}
-
-int write_sysfs_int(char *filename, int data)
-{
- int res=0;
- FILE *fp;
-
-#ifdef DEBUG_PRINT
- printf("writing '%s' with '%d'\n", filename, data);
-#endif
-
- fp = fopen(filename, "w");
- if (fp != NULL) {
- fprintf(fp, "%d\n", data);
- fclose(fp);
- } else {
- printf("ERR open file to write: %s\n", filename);
- res = -1;
- }
- return res;
-}
-
-/**************************************************
- This _kbhit() function is courtesy of the web
-***************************************************/
-int _kbhit(void)
-{
- static const int STDIN = 0;
- static bool initialized = false;
-
- if (! initialized) {
- // Use termios to turn off line buffering
- struct termios term;
- tcgetattr(STDIN, &term);
- term.c_lflag &= ~ICANON;
- tcsetattr(STDIN, TCSANOW, &term);
- setbuf(stdin, NULL);
- initialized = true;
- }
-
- int bytesWaiting;
- ioctl(STDIN, FIONREAD, &bytesWaiting);
- return bytesWaiting;
-}
-
-int inv_init_sysfs_attributes(void)
-{
- unsigned char i = 0;
- char sysfs_path[MAX_SYSFS_NAME_LEN];
- char *sptr;
- char **dptr;
-
- sysfs_names_ptr =
- (char*)malloc(sizeof(char[MAX_SYSFS_ATTRB][MAX_SYSFS_NAME_LEN]));
- sptr = sysfs_names_ptr;
- if (sptr != NULL) {
- dptr = (char**)&mpu;
- do {
- *dptr++ = sptr;
- sptr += sizeof(char[MAX_SYSFS_NAME_LEN]);
- } while (++i < MAX_SYSFS_ATTRB);
- } else {
- printf("couldn't alloc mem for sysfs paths\n");
- return -1;
- }
-
- // get proper (in absolute/relative) IIO path & build MPU's sysfs paths
- inv_get_sysfs_path(sysfs_path);
-
- sprintf(mpu.name, "%s%s", sysfs_path, "/name");
- sprintf(mpu.enable, "%s%s", sysfs_path, "/buffer/enable");
- sprintf(mpu.power_state, "%s%s", sysfs_path, "/power_state");
- sprintf(mpu.dmp_on,"%s%s", sysfs_path, "/dmp_on");
- sprintf(mpu.dmp_int_on, "%s%s", sysfs_path, "/dmp_int_on");
- sprintf(mpu.dmp_firmware, "%s%s", sysfs_path, "/dmp_firmware");
- sprintf(mpu.firmware_loaded, "%s%s", sysfs_path, "/firmware_loaded");
-
-#ifdef SUPPORT_SCREEN_ORIENTATION
- sprintf(mpu.event_display_orientation, "%s%s",
- sysfs_path, "/event_display_orientation");
- sprintf(mpu.display_orientation_on, "%s%s",
- sysfs_path, "/display_orientation_on");
-#endif
-#ifdef SUPPORT_ORIENTATION
- sprintf(mpu.event_orientation, "%s%s", sysfs_path, "/event_orientation");
- sprintf(mpu.orientation_on, "%s%s", sysfs_path, "/orientation_on");
-#endif
-#ifdef SUPPORT_TAP
- sprintf(mpu.event_tap, "%s%s", sysfs_path, "/event_tap");
- sprintf(mpu.tap_min_count, "%s%s", sysfs_path, "/tap_min_count");
- sprintf(mpu.tap_on, "%s%s", sysfs_path, "/tap_on");
- sprintf(mpu.tap_threshold, "%s%s", sysfs_path, "/tap_threshold");
- sprintf(mpu.tap_time, "%s%s", sysfs_path, "/tap_time");
-#endif
-#ifdef SUPPORT_PEDOMETER
- sprintf(mpu.pedometer_on, "%s%s", sysfs_path, "/dmp_on");
- sprintf(mpu.pedometer_steps, "%s%s", sysfs_path, "/pedometer_steps");
- sprintf(mpu.pedometer_time, "%s%s", sysfs_path, "/pedometer_time");
-#endif
-#ifdef SUPPORT_SMD
- sprintf(mpu.event_smd, "%s%s", sysfs_path, "/event_smd");
- sprintf(mpu.smd_enable, "%s%s", sysfs_path, "/smd_enable");
- sprintf(mpu.smd_threshold, "%s%s", sysfs_path, "/smd_threshold");
- sprintf(mpu.smd_delay_threshold, "%s%s",
- sysfs_path, "/smd_delay_threshold");
- sprintf(mpu.smd_delay_threshold2, "%s%s",
- sysfs_path, "/smd_delay_threshold2");
-#endif
-
-#if 0
- // test print sysfs paths
- dptr = (char**)&mpu;
- for (i = 0; i < MAX_SYSFS_ATTRB; i++) {
- MPL_LOGE("sysfs path: %s", *dptr++);
- }
-#endif
- return 0;
-}
-
-int dmp_fw_loaded(void)
-{
- int fw_loaded;
- if (read_sysfs_int(mpu.firmware_loaded, &fw_loaded) < 0)
- fw_loaded= 0;
- return fw_loaded;
-}
-
-int is_android_hub(void)
-{
- char dev_name[8];
- FILE *fp;
-
- fp= fopen(mpu.name, "r");
- fgets(dev_name, 8, fp);
- fclose(fp);
-
- if (!strncmp(dev_name, IIO_HUB_NAME, sizeof(IIO_HUB_NAME))) {
- android_hub = true;
- }else {
- android_hub = false;
- }
-
- return 0;
-}
-
-/*
- Enablers for the gestures
-*/
-
-int master_enable(int en)
-{
- if (write_sysfs_int(mpu.enable, en) < 0) {
- printf("GT:ERR-can't write 'buffer/enable'");
- return -1;
- }
- return 0;
-}
-
-#ifdef SUPPORT_TAP
-int enable_tap(int en)
-{
- if (write_sysfs_int(mpu.tap_on, en) < 0) {
- printf("GT:ERR-can't write 'tap_on'\n");
- return -1;
- }
-
- return 0;
-}
-#endif
-
-/* Unnecessary: pedometer_on == dmp_on, which is always on
-#ifdef SUPPORT_PEDOMETER
-int enable_pedometer(int en)
-{
- if (write_sysfs_int(mpu.pedometer_on, en) < 0) {
- printf("GT:ERR-can't write 'pedometer_on'\n");
- return -1;
- }
-
- return 0;
-}
-#endif
-*/
-
-#ifdef SUPPORT_SCREEN_ORIENTATION
-int enable_display_orientation(int en)
-{
- if (write_sysfs_int(mpu.display_orientation_on, en) < 0) {
- printf("GT:ERR-can't write 'display_orientation_on'\n");
- return -1;
- }
-
- return 0;
-}
-#endif
-
-#ifdef SUPPORT_ORIENTATION
-int enable_orientation(int en)
-{
- if (write_sysfs_int(mpu.orientation_on, en) < 0) {
- printf("GT:ERR-can't write 'orientation_on'\n");
- return -1;
- }
-
- return 0;
-}
-#endif
-
-#ifdef SUPPORT_SMD
-int enable_smd(int en)
-{
- if (write_sysfs_int(mpu.smd_enable, en) < 0) {
- printf("GT:ERR-can't write 'smd_enable'\n");
- return -1;
- }
- return 0;
-}
-#endif
-
-/*
- Handlers for the gestures
-*/
-#ifdef SUPPORT_TAP
-int tap_handler(void)
-{
- FILE *fp;
- int tap, tap_dir, tap_num;
-
- fp = fopen(mpu.event_tap, "rt");
- fscanf(fp, "%d\n", &tap);
- fclose(fp);
-
- tap_dir = tap/8;
- tap_num = tap%8 + 1;
-
-#ifdef DEBUG_PRINT
- printf("GT:Tap Handler **\n");
- printf("Tap= %x\n", tap);
- printf("Tap Dir= %x\n", tap_dir);
- printf("Tap Num= %x\n", tap_num);
-#endif
-
- switch (tap_dir) {
- case 1:
- printf("Tap Axis->X Pos, ");
- break;
- case 2:
- printf("Tap Axis->X Neg, ");
- break;
- case 3:
- printf("Tap Axis->Y Pos, ");
- break;
- case 4:
- printf("Tap Axis->Y Neg, ");
- break;
- case 5:
- printf("Tap Axis->Z Pos, ");
- break;
- case 6:
- printf("Tap Axis->Z Neg, ");
- break;
- default:
- printf("Tap Axis->Unknown, ");
- break;
- }
- printf("#%d\n", tap_num);
-
- return 0;
-}
-#endif
-
-#ifdef SUPPORT_PEDOMETER
-int pedometer_handler(void)
-{
- FILE *fp;
- static int last_pedometer_steps = -1;
- static long last_pedometer_time = -1;
- int pedometer_steps;
- long pedometer_time;
-
-#ifdef DEBUG_PRINT
- printf("GT:Pedometer Handler\n");
-#endif
-
- fp = fopen(mpu.pedometer_steps, "rt");
- fscanf(fp, "%d\n", &pedometer_steps);
- fclose(fp);
-
- fp = fopen(mpu.pedometer_time, "rt");
- fscanf(fp, "%ld\n", &pedometer_time);
- fclose(fp);
-
- if (last_pedometer_steps == -1 && last_pedometer_time == -1) {
- printf("Pedometer Steps: %d Time: %ld ",
- pedometer_steps, pedometer_time);
- if (pedometer_steps > 10
- || pedometer_time > (pedometer_poll_timeout * 2))
- printf("(resumed)\n");
- else
- printf("\n");
- } else if (last_pedometer_steps != pedometer_steps
- || last_pedometer_time != pedometer_time) {
- printf("Pedometer Steps: %d Time: %ld\n",
- pedometer_steps, pedometer_time);
- }
-
- last_pedometer_steps = pedometer_steps;
- last_pedometer_time = pedometer_time;
-
- return 0;
-}
-#endif
-
-#ifdef SUPPORT_SCREEN_ORIENTATION
-int display_orientation_handler(void)
-{
- FILE *fp;
- int orient;
-
-#ifdef DEBUG_PRINT
- printf("GT:Screen Orient Handler\n");
-#endif
-
- fp = fopen(mpu.event_display_orientation, "rt");
- if (!fp) {
- printf("GT:Cannot open '%s'\n", mpu.event_display_orientation);
- return -1;
- }
- fscanf(fp, "%d\n", &orient);
- fclose(fp);
-
- printf("Screen Orient-> %d\n", orient);
-
- return 0;
-}
-#endif
-
-#ifdef SUPPORT_ORIENTATION
-int host_orientation_handler(void)
-{
- FILE *fp;
- int orient;
-
- fp = fopen(mpu.event_orientation, "rt");
- fscanf(fp, "%d\n", &orient);
- fclose(fp);
-
-#ifdef DEBUG_PRINT
- printf("GT:Reg Orient Handler\n");
-#endif
-
- if (orient & 0x01)
- printf("Orient->X Up\n");
- if (orient & 0x02)
- printf("Orient->X Down\n");
- if (orient & 0x04)
- printf("Orient->Y Up\n");
- if (orient & 0x08)
- printf("Orient->Y Down\n");
- if (orient & 0x10)
- printf("Orient->Z Up\n");
- if (orient & 0x20)
- printf("Orient->Z Down\n");
- if (orient & 0x40)
- printf("Orient->Flip\n");
-
- return 0;
-}
-#endif
-
-#ifdef SUPPORT_SMD
-int smd_handler(void)
-{
- FILE *fp;
- int smd;
-
- fp = fopen(mpu.event_smd, "rt");
- fscanf(fp, "%d\n", &smd);
- fclose(fp);
-
-#ifdef DEBUG_PRINT
- printf("GT:SMD Handler\n");
-#endif
- printf("SMD (%d)\n", smd);
-
- /* wait for the acceleration low pass filtered tail to die off -
- this is to prevent that the tail end of a 2nd event of above threhsold
- motion be considered as also the 1st event for the next SM detection */
- inv_sleep(1000);
-
- /* re-enable to continue the detection */
- master_enable(0);
- enable_smd(1);
- master_enable(1);
-
- return 0;
-}
-#endif
-
-int enable_dmp_features(int en)
-{
- int res= -1;
-
- if (android_hub || dmp_fw_loaded()) {
- /* Currently there's no info regarding DMP's supported features/capabilities
- An error in enabling features below could be an indication of the feature
- not supported in current loaded DMP firmware */
-
- master_enable(0);
-#ifdef SUPPORT_TAP
- enable_tap(en);
-#endif
-#ifdef SUPPORT_SCREEN_ORIENTATION
- enable_display_orientation(en);
-#endif
-#ifdef SUPPORT_ORIENTATION
- if (android_hub == false) {
- // Android Hub does not support 'regular' orientation feature
- enable_orientation(en);
- }
-#endif
-#ifdef SUPPORT_SMD
- enable_smd(en);
-#endif
- master_enable(1);
- res = 0;
-
- } else {
- printf("GT:ERR-No DMP firmware\n");
- res= -1;
- }
-
- return res;
-}
-
-int init_fds(void)
-{
- int i;
-
- for (i = 0; i < NUM_DMP_FEATS; i++) {
- switch(i) {
-#ifdef SUPPORT_TAP
- case FEAT_TAP:
- pfd[i].fd = open(mpu.event_tap, O_RDONLY | O_NONBLOCK);
- break;
-#endif
-#ifdef SUPPORT_SCREEN_ORIENTATION
- case FEAT_SCREEN_ORIENTATION:
- pfd[i].fd = open(mpu.event_display_orientation,
- O_RDONLY | O_NONBLOCK);
- break;
-#endif
-#ifdef SUPPORT_ORIENTATION
- case FEAT_ORIENTATION:
- pfd[i].fd = open(mpu.event_orientation, O_RDONLY | O_NONBLOCK);
- break;
-#endif
-#ifdef SUPPORT_SMD
- case FEAT_SMD:
- pfd[i].fd = open(mpu.event_smd, O_RDONLY | O_NONBLOCK);
- break;
-#endif
- default:
- pfd[i].fd = -1;
- }
-
- pfd[i].events = POLLPRI|POLLERR,
- pfd[i].revents = 0;
- }
-
- return 0;
-}
-
-void parse_events(struct pollfd pfd[], int num_fds)
-{
- int i;
-
- for (i = 0; i < num_fds; i++) {
- if(pfd[i].revents != 0) {
- switch(i) {
-#ifdef SUPPORT_TAP
- case FEAT_TAP:
- tap_handler();
- break;
-#endif
-#ifdef SUPPORT_SCREEN_ORIENTATION
- case FEAT_SCREEN_ORIENTATION:
- display_orientation_handler();
- break;
-#endif
-#ifdef SUPPORT_ORIENTATION
- case FEAT_ORIENTATION:
- host_orientation_handler();
- break;
-#endif
-#ifdef SUPPORT_SMD
- case FEAT_SMD:
- smd_handler();
- break;
-#endif
- default:
- printf("GT:ERR-unhandled/unrecognized gesture event");
- break;
- }
- pfd[i].revents = 0; // no need: reset anyway
- }
- }
-
-#ifdef SUPPORT_PEDOMETER
- {
- unsigned long now;
- // pedometer is not event based, therefore we poll using a timer every
- // pedometer_poll_timeout milliseconds
- if ((now = inv_get_tick_count()) - last_pedometer_poll
- > pedometer_poll_timeout) {
- pedometer_handler();
- last_pedometer_poll = now;
- }
- }
-#endif
-}
-
-int close_fds(void)
-{
- int i;
- for (i = 0; i < NUM_DMP_FEATS; i++) {
- if (!pfd[i].fd)
- close(pfd[i].fd);
- }
- return 0;
-}
-
-/*******************************************************************************
- * M a i n
- ******************************************************************************/
-
-int main(int argc, char **argv)
-{
- char data[4];
- int i, res= 0;
-
- printf("\n"
- "****************************************************************\n"
- "*** NOTE: ***\n"
- "*** the HAL must be compiled with Low power quaternion ***\n"
- "*** and/or DMP screen orientation support. ***\n"
- "*** 'At least' one of the 4 Android virtual sensors ***\n"
- "*** must be enabled. ***\n"
- "*** ***\n"
- "*** Please perform gestures to see the output. ***\n"
- "*** Press any key to stop the program. ***\n"
- "****************************************************************\n"
- "\n");
-
- res = inv_init_sysfs_attributes();
- if (res) {
- printf("GT:ERR-Can't allocate mem\n");
- return -1;
- }
-
- /* check if Android Hub */
- is_android_hub();
-
- /* init Fds to poll for gesture data */
- init_fds();
-
- /* on Gesture/DMP supported features */
- if (enable_dmp_features(1) < 0) {
- printf("GT:ERR-Can't enable Gestures\n");
- return -1;
- }
-
- do {
- for (i = 0; i < NUM_DMP_FEATS; i++)
- read(pfd[i].fd, data, 4);
- poll(pfd, NUM_DMP_FEATS, POLL_TIME);
- parse_events(pfd, NUM_DMP_FEATS);
- } while (!_kbhit());
-
- /* off Gesture/DMP supported features */
- if (enable_dmp_features(0) < 0) {
- printf("GT:ERR-Can't disable Gestures\n");
- return -1;
- }
-
- /* release resources */
- close_fds();
- if (sysfs_names_ptr)
- free(sysfs_names_ptr);
-
- return res;
-}
-
diff --git a/65xx/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared b/65xx/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
deleted file mode 100755
index f4ebc27..0000000
--- a/65xx/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
+++ /dev/null
Binary files differ
diff --git a/65xx/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk b/65xx/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk
deleted file mode 100755
index 2dda9e0..0000000
--- a/65xx/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk
+++ /dev/null
@@ -1,94 +0,0 @@
-EXEC = inv_mpu_iio$(SHARED_APP_SUFFIX)
-
-MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
-
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
-COMP ?= $(CROSS)gcc
-LINK ?= $(CROSS)gcc
-
-OBJFOLDER = $(CURDIR)/obj
-
-INV_ROOT = ../../../../..
-APP_DIR = $(CURDIR)/../..
-MLLITE_DIR = $(INV_ROOT)/software/core/mllite
-MPL_DIR = $(INV_ROOT)/software/core/mpl
-
-include $(INV_ROOT)/software/build/android/common.mk
-
-CFLAGS += $(CMDLINE_CFLAGS)
-CFLAGS += $(ANDROID_COMPILE)
-CFLAGS += -Wall
-CFLAGS += -fpic
-CFLAGS += -nostdlib
-CFLAGS += -DNDEBUG
-CFLAGS += -D_REENTRANT
-CFLAGS += -DLINUX
-CFLAGS += -DANDROID
-CFLAGS += -mthumb-interwork
-CFLAGS += -fno-exceptions
-CFLAGS += -ffunction-sections
-CFLAGS += -funwind-tables
-CFLAGS += -fstack-protector
-CFLAGS += -fno-short-enums
-CFLAGS += -fmessage-length=0
-CFLAGS += -I$(MLLITE_DIR)
-CFLAGS += -I$(MPL_DIR)
-CFLAGS += $(INV_INCLUDES)
-CFLAGS += $(INV_DEFINES)
-
-LLINK = -lc
-LLINK += -lm
-LLINK += -lutils
-LLINK += -lcutils
-LLINK += -lgcc
-LLINK += -ldl
-LLINK += -lstdc++
-LLINK += -llog
-LLINK += -lz
-
-LFLAGS += $(CMDLINE_LFLAGS)
-LFLAGS += $(ANDROID_LINK_EXECUTABLE)
-
-LRPATH = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
-
-####################################################################################################
-## sources
-
-INV_LIBS = $(MPL_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MPL_LIB_NAME).$(SHARED_LIB_EXT)
-INV_LIBS += $(MLLITE_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MLLITE_LIB_NAME).$(SHARED_LIB_EXT)
-
-#INV_SOURCES and VPATH provided by Makefile.filelist
-include ../filelist.mk
-
-INV_OBJS := $(addsuffix .o,$(INV_SOURCES))
-INV_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(INV_SOURCES))))
-
-####################################################################################################
-## rules
-
-.PHONY: all clean cleanall install
-
-all: $(EXEC) $(MK_NAME)
-
-$(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
- @$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
- $(LINK) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
-
-$(OBJFOLDER) :
- @$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
- mkdir obj
-
-$(INV_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c $(MK_NAME)
- @$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
- $(COMP) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(INV_INCLUDES) $(CFLAGS) -o $@ -c $<
-
-clean :
- rm -fR $(OBJFOLDER)
-
-cleanall :
- rm -fR $(EXEC) $(OBJFOLDER)
-
-install : $(EXEC)
- cp -f $(EXEC) $(INSTALL_DIR)
-
-
diff --git a/65xx/libsensors_iio/software/simple_apps/mpu_iio/build/filelist.mk b/65xx/libsensors_iio/software/simple_apps/mpu_iio/build/filelist.mk
deleted file mode 100755
index 8a3977a..0000000
--- a/65xx/libsensors_iio/software/simple_apps/mpu_iio/build/filelist.mk
+++ /dev/null
@@ -1,12 +0,0 @@
-#### filelist.mk for mpu_iio ####
-
-# headers
-#HEADERS += $(HAL_DIR)/include/inv_sysfs_utils.h
-HEADERS += $(APP_DIR)/iio_utils.h
-
-# sources
-SOURCES := $(APP_DIR)/mpu_iio.c
-
-INV_SOURCES += $(SOURCES)
-
-VPATH += $(APP_DIR) $(COMMON_DIR) $(HAL_DIR)/linux
diff --git a/65xx/libsensors_iio/software/simple_apps/mpu_iio/iio_utils.h b/65xx/libsensors_iio/software/simple_apps/mpu_iio/iio_utils.h
deleted file mode 100755
index c3d4955..0000000
--- a/65xx/libsensors_iio/software/simple_apps/mpu_iio/iio_utils.h
+++ /dev/null
@@ -1,650 +0,0 @@
-/* IIO - useful set of util functionality
- *
- * Copyright (c) 2008 Jonathan Cameron
- *
- * This program is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 2 as published by
- * the Free Software Foundation.
- */
-
-/* Made up value to limit allocation sizes */
-#include <string.h>
-#include <stdlib.h>
-#include <ctype.h>
-#include <stdio.h>
-#include <stdint.h>
-#include <dirent.h>
-
-#define IIO_MAX_NAME_LENGTH 30
-
-#define FORMAT_SCAN_ELEMENTS_DIR "%s/scan_elements"
-#define FORMAT_TYPE_FILE "%s_type"
-
-const char *iio_dir = "/sys/bus/iio/devices/";
-
-extern int verbose;
-
-/**
- * iioutils_break_up_name() - extract generic name from full channel name
- * @full_name: the full channel name
- * @generic_name: the output generic channel name
- **/
-static int iioutils_break_up_name(const char *full_name,
- char **generic_name)
-{
- char *current;
- char *w, *r;
- char *working;
- current = strdup(full_name);
- working = strtok(current, "_\0");
- w = working;
- r = working;
-
- while (*r != '\0') {
- if (!isdigit(*r)) {
- *w = *r;
- w++;
- }
- r++;
- }
- *w = '\0';
- *generic_name = strdup(working);
- free(current);
-
- return 0;
-}
-
-/**
- * struct iio_channel_info - information about a given channel
- * @name: channel name
- * @generic_name: general name for channel type
- * @scale: scale factor to be applied for conversion to si units
- * @offset: offset to be applied for conversion to si units
- * @index: the channel index in the buffer output
- * @bytes: number of bytes occupied in buffer output
- * @mask: a bit mask for the raw output
- * @is_signed: is the raw value stored signed
- * @enabled: is this channel enabled
- **/
-struct iio_channel_info {
- char *name;
- char *generic_name;
- float scale;
- float offset;
- unsigned index;
- unsigned bytes;
- unsigned bits_used;
- unsigned shift;
- uint64_t mask;
- unsigned be;
- unsigned is_signed;
- unsigned enabled;
- unsigned location;
-};
-
-/**
- * iioutils_get_type() - find and process _type attribute data
- * @is_signed: output whether channel is signed
- * @bytes: output how many bytes the channel storage occupies
- * @mask: output a bit mask for the raw data
- * @be: big endian
- * @device_dir: the iio device directory
- * @name: the channel name
- * @generic_name: the channel type name
- **/
-inline int iioutils_get_type(unsigned *is_signed,
- unsigned *bytes,
- unsigned *bits_used,
- unsigned *shift,
- uint64_t *mask,
- unsigned *be,
- const char *device_dir,
- const char *name,
- const char *generic_name)
-{
- FILE *sysfsfp;
- int ret;
- DIR *dp;
- char *scan_el_dir, *builtname, *builtname_generic, *filename = 0;
- char signchar, endianchar;
- unsigned padint;
- const struct dirent *ent;
-
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- ret = asprintf(&builtname, FORMAT_TYPE_FILE, name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_scan_el_dir;
- }
- ret = asprintf(&builtname_generic, FORMAT_TYPE_FILE, generic_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_builtname;
- }
-
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_builtname_generic;
- }
- while (ent = readdir(dp), ent != NULL)
- /*
- * Do we allow devices to override a generic name with
- * a specific one?
- */
- if ((strcmp(builtname, ent->d_name) == 0) ||
- (strcmp(builtname_generic, ent->d_name) == 0)) {
- ret = asprintf(&filename,
- "%s/%s", scan_el_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_closedir;
- }
- sysfsfp = fopen(filename, "r");
- if (sysfsfp == NULL) {
- printf("failed to open %s\n", filename);
- ret = -errno;
- goto error_free_filename;
- }
-
- ret = fscanf(sysfsfp,
- "%ce:%c%u/%u>>%u",
- &endianchar,
- &signchar,
- bits_used,
- &padint, shift);
- if (ret < 0) {
- printf("failed to pass scan type description\n");
- return ret;
- }
- *be = (endianchar == 'b');
- *bytes = padint / 8;
- if (*bits_used == 64)
- *mask = ~0;
- else
- *mask = (1 << *bits_used) - 1;
- if (signchar == 's')
- *is_signed = 1;
- else
- *is_signed = 0;
- fclose(sysfsfp);
- free(filename);
-
- filename = 0;
- }
-error_free_filename:
- if (filename)
- free(filename);
-error_closedir:
- closedir(dp);
-error_free_builtname_generic:
- free(builtname_generic);
-error_free_builtname:
- free(builtname);
-error_free_scan_el_dir:
- free(scan_el_dir);
-error_ret:
- return ret;
-}
-
-inline int iioutils_get_param_float(float *output,
- const char *param_name,
- const char *device_dir,
- const char *name,
- const char *generic_name)
-{
- FILE *sysfsfp;
- int ret;
- DIR *dp;
- char *builtname, *builtname_generic;
- char *filename = NULL;
- const struct dirent *ent;
-
- ret = asprintf(&builtname, "%s_%s", name, param_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- ret = asprintf(&builtname_generic,
- "%s_%s", generic_name, param_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_builtname;
- }
- dp = opendir(device_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_builtname_generic;
- }
- while (ent = readdir(dp), ent != NULL)
- if ((strcmp(builtname, ent->d_name) == 0) ||
- (strcmp(builtname_generic, ent->d_name) == 0)) {
- ret = asprintf(&filename,
- "%s/%s", device_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_closedir;
- }
- sysfsfp = fopen(filename, "r");
- if (!sysfsfp) {
- ret = -errno;
- goto error_free_filename;
- }
- fscanf(sysfsfp, "%f", output);
- break;
- }
-error_free_filename:
- if (filename)
- free(filename);
-error_closedir:
- closedir(dp);
-error_free_builtname_generic:
- free(builtname_generic);
-error_free_builtname:
- free(builtname);
-error_ret:
- return ret;
-}
-
-/**
- * bsort_channel_array_by_index() - reorder so that the array is in index order
- *
- **/
-
-inline void bsort_channel_array_by_index(struct iio_channel_info **ci_array,
- int cnt)
-{
- struct iio_channel_info temp;
- int x, y;
-
- for (x = 0; x < cnt; x++)
- for (y = 0; y < (cnt - 1); y++)
- if ((*ci_array)[y].index > (*ci_array)[y+1].index) {
- temp = (*ci_array)[y + 1];
- (*ci_array)[y + 1] = (*ci_array)[y];
- (*ci_array)[y] = temp;
- }
-}
-
-/**
- * build_channel_array() - function to figure out what channels are present
- * @device_dir: the IIO device directory in sysfs
- * @
- **/
-inline int build_channel_array(const char *device_dir,
- struct iio_channel_info **ci_array,
- int *counter)
-{
- DIR *dp;
- FILE *sysfsfp;
- int count, i;
- struct iio_channel_info *current;
- int ret;
- const struct dirent *ent;
- char *scan_el_dir;
- char *filename;
-
- *counter = 0;
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_name;
- }
- while (ent = readdir(dp), ent != NULL)
- if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
- "_en") == 0) {
- ret = asprintf(&filename,
- "%s/%s", scan_el_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_close_dir;
- }
- sysfsfp = fopen(filename, "r");
- if (sysfsfp == NULL) {
- ret = -errno;
- free(filename);
- goto error_close_dir;
- }
- fscanf(sysfsfp, "%u", &ret);
- //printf("%s, %d\n", filename, ret);
- if (ret == 1)
- (*counter)++;
- fclose(sysfsfp);
- free(filename);
- }
- *ci_array = malloc(sizeof(**ci_array) * (*counter));
- if (*ci_array == NULL) {
- ret = -ENOMEM;
- goto error_close_dir;
- }
- closedir(dp);
- dp = opendir(scan_el_dir);
- //seekdir(dp, 0);
- count = 0;
- while (ent = readdir(dp), ent != NULL) {
- if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
- "_en") == 0) {
- current = &(*ci_array)[count++];
- ret = asprintf(&filename,
- "%s/%s", scan_el_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- /* decrement count to avoid freeing name */
- count--;
- goto error_cleanup_array;
- }
- sysfsfp = fopen(filename, "r");
- if (sysfsfp == NULL) {
- free(filename);
- ret = -errno;
- goto error_cleanup_array;
- }
- fscanf(sysfsfp, "%u", ¤t->enabled);
- fclose(sysfsfp);
-
- if (!current->enabled) {
- free(filename);
- count--;
- continue;
- }
-
- current->scale = 1.0;
- current->offset = 0;
- current->name = strndup(ent->d_name,
- strlen(ent->d_name) -
- strlen("_en"));
- if (current->name == NULL) {
- free(filename);
- ret = -ENOMEM;
- goto error_cleanup_array;
- }
- /* Get the generic and specific name elements */
- ret = iioutils_break_up_name(current->name,
- ¤t->generic_name);
- if (ret) {
- free(filename);
- goto error_cleanup_array;
- }
- ret = asprintf(&filename,
- "%s/%s_index",
- scan_el_dir,
- current->name);
- if (ret < 0) {
- free(filename);
- ret = -ENOMEM;
- goto error_cleanup_array;
- }
- sysfsfp = fopen(filename, "r");
- fscanf(sysfsfp, "%u", ¤t->index);
- fclose(sysfsfp);
- free(filename);
- /* Find the scale */
- ret = iioutils_get_param_float(¤t->scale,
- "scale",
- device_dir,
- current->name,
- current->generic_name);
- if (ret < 0)
- goto error_cleanup_array;
- ret = iioutils_get_param_float(¤t->offset,
- "offset",
- device_dir,
- current->name,
- current->generic_name);
- if (ret < 0)
- goto error_cleanup_array;
- ret = iioutils_get_type(¤t->is_signed,
- ¤t->bytes,
- ¤t->bits_used,
- ¤t->shift,
- ¤t->mask,
- ¤t->be,
- device_dir,
- current->name,
- current->generic_name);
- }
- }
-
- closedir(dp);
- /* reorder so that the array is in index order */
- bsort_channel_array_by_index(ci_array, *counter);
-
- return 0;
-
-error_cleanup_array:
- for (i = count - 1; i >= 0; i--)
- free((*ci_array)[i].name);
- free(*ci_array);
-error_close_dir:
- closedir(dp);
-error_free_name:
- free(scan_el_dir);
-error_ret:
- return ret;
-}
-
-inline int _write_sysfs_int(char *filename, char *basedir, int val, int verify)
-{
- int ret = 0;
- FILE *sysfsfp;
- int test;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL)
- return -ENOMEM;
-
- sprintf(temp, "%s/%s", basedir, filename);
-
- if (verbose)
- printf("VERB: echo %d > %s\n", val, temp);
- sysfsfp = fopen(temp, "w");
- if (sysfsfp == NULL) {
- printf("failed to open %s\n", temp);
- ret = -errno;
- goto error_free;
- }
- fprintf(sysfsfp, "%d", val);
- fclose(sysfsfp);
-
- if (verify) {
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- printf("failed to open %s\n", temp);
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%d", &test);
- fclose(sysfsfp);
- if (verbose)
- printf("VERB: cat %s = %d\n", temp, test);
- if (test != val) {
- printf("Possible failure in int write %d to %s\n",
- val, temp);
- ret = -1;
- }
- }
-
-error_free:
- free(temp);
- return ret;
-}
-
-int write_sysfs_int(char *filename, char *basedir, int val)
-{
- return _write_sysfs_int(filename, basedir, val, 0);
-}
-
-int write_sysfs_int_and_verify(char *filename, char *basedir, int val)
-{
- return _write_sysfs_int(filename, basedir, val, 1);
-}
-
-int _write_sysfs_string(char *filename, char *basedir, char *val, int verify)
-{
- int ret = 0;
- FILE *sysfsfp;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL) {
- printf("Memory allocation failed\n");
- return -ENOMEM;
- }
- sprintf(temp, "%s/%s", basedir, filename);
-
- sysfsfp = fopen(temp, "w");
- if (sysfsfp == NULL) {
- printf("Could not open %s\n", temp);
- ret = -errno;
- goto error_free;
- }
- fprintf(sysfsfp, "%s", val);
- fclose(sysfsfp);
-
- if (verify) {
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- printf("could not open file to verify\n");
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%s", temp);
- fclose(sysfsfp);
-
- if (strcmp(temp, val) != 0) {
- printf("Possible failure in string write of %s "
- "Should be %s written to %s\%s\n",
- temp, val, basedir, filename);
- ret = -1;
- }
- }
-
-error_free:
- free(temp);
-
- return ret;
-}
-
-/**
- * write_sysfs_string_and_verify() - string write, readback and verify
- * @filename: name of file to write to
- * @basedir: the sysfs directory in which the file is to be found
- * @val: the string to write
- **/
-int write_sysfs_string_and_verify(char *filename, char *basedir, char *val)
-{
- return _write_sysfs_string(filename, basedir, val, 1);
-}
-
-int write_sysfs_string(char *filename, char *basedir, char *val)
-{
- return _write_sysfs_string(filename, basedir, val, 0);
-}
-
-int read_sysfs_posint(char *filename, char *basedir)
-{
- int ret;
- FILE *sysfsfp;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL) {
- printf("Memory allocation failed");
- return -ENOMEM;
- }
- sprintf(temp, "%s/%s", basedir, filename);
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%d\n", &ret);
- fclose(sysfsfp);
-error_free:
- free(temp);
- return ret;
-}
-
-int read_sysfs_float(char *filename, char *basedir, float *val)
-{
- float ret = 0;
- FILE *sysfsfp;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL) {
- printf("Memory allocation failed");
- return -ENOMEM;
- }
- sprintf(temp, "%s/%s", basedir, filename);
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%f\n", val);
- fclose(sysfsfp);
-
-error_free:
- free(temp);
- return ret;
-}
-
-int enable_se(const char *device_dir, struct iio_channel_info **ci_array,
- int *counter, char *sensor, int en)
-{
- DIR *dp;
- int ret;
- const struct dirent *ent;
- char *scan_el_dir;
- char pattern[50] = "in_";
-
- *counter = 0;
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_name;
- }
- strcat(pattern, sensor);
- while (ent = readdir(dp), ent != NULL) {
- if (strncmp(ent->d_name, pattern, strlen(pattern)) == 0 &&
- strncmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
- "_en", strlen("_en")) == 0) {
- write_sysfs_int_and_verify((char *)ent->d_name, scan_el_dir, en);
- }
- }
- return 0;
-
-error_ret:
-error_free_name:
- return -1;
-}
-
-int enable_accel_se(const char *device_dir,
- struct iio_channel_info **ci_array, int *counter,
- int en)
-{
- return enable_se(device_dir, ci_array, counter, "accel", en);
-}
-
-int enable_anglvel_se(const char *device_dir,
- struct iio_channel_info **ci_array, int *counter,
- int en)
-{
- return enable_se(device_dir, ci_array, counter, "anglvel", en);
-}
-
-int enable_quaternion_se(const char *device_dir,
- struct iio_channel_info **ci_array, int *counter,
- int en)
-{
- return enable_se(device_dir, ci_array, counter, "quaternion", en);
-}
-
diff --git a/65xx/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c b/65xx/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c
deleted file mode 100755
index 65e21ac..0000000
--- a/65xx/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c
+++ /dev/null
@@ -1,935 +0,0 @@
-/*
- * Copyright (c) Invensense Inc. 2012
- *
- * This program is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 2 as published by
- * the Free Software Foundation.
- */
-
-#include <unistd.h>
-#include <dirent.h>
-#include <fcntl.h>
-#include <stdio.h>
-#include <errno.h>
-#include <sys/stat.h>
-#include <dirent.h>
-#include <linux/types.h>
-#include <string.h>
-#include <poll.h>
-#include <termios.h>
-
-#include "iio_utils.h"
-#include "ml_load_dmp.h"
-#include "ml_sysfs_helper.h"
-#include "authenticate.h"
-#include "mlos.h"
-
-#define DMP_CODE_SIZE (3060)
-#define POLL_TIME (2000) // 2sec
-
-// settings
-static int accel_only = false;
-static int test_motion = false;
-static int test_flick = false;
-static int test_pedometer = false;
-static int test_orientation = false;
-int verbose = false;
-
-// paths
-char *dev_dir_name, *buf_dir_name;
-
-// all the DMP features supported
-enum {
- FEAT_TAP = 0,
- FEAT_ORIENTATION,
- FEAT_DISPLAY_ORIENTATION,
- FEAT_MOTION,
- FEAT_FLICK,
-
- FEAT_NUM,
-} features;
-
-typedef void (*handler_t) (int data);
-
-struct dmp_feat_t {
- int enabled;
- struct pollfd *pollfd;
- char *sysfs_name;
- handler_t phandler;
-};
-
-static struct dmp_feat_t dmp_feat[FEAT_NUM] = {{0}};
-static struct pollfd pollfds[FEAT_NUM];
-static int pollfds_used = 0;
-
-/**************************************************
- This _kbhit() function is courtesy of the web
-***************************************************/
-int _kbhit(void)
-{
- static const int STDIN = 0;
- static bool initialized = false;
-
- if (!initialized) {
- // Use termios to turn off line buffering
- struct termios term;
- tcgetattr(STDIN, &term);
- term.c_lflag &= ~ICANON;
- tcsetattr(STDIN, TCSANOW, &term);
- setbuf(stdin, NULL);
- initialized = true;
- }
-
- int bytesWaiting;
- ioctl(STDIN, FIONREAD, &bytesWaiting);
- return bytesWaiting;
-}
-
-/**
- * size_from_channelarray() - calculate the storage size of a scan
- * @channels: the channel info array
- * @num_channels: size of the channel info array
- *
- * Has the side effect of filling the channels[i].location values used
- * in processing the buffer output.
- */
-int size_from_channelarray(struct iio_channel_info *channels, int num_channels)
-{
- int bytes = 0;
- int i = 0;
- while (i < num_channels) {
- if (bytes % channels[i].bytes == 0)
- channels[i].location = bytes;
- else
- channels[i].location = bytes - bytes%channels[i].bytes
- + channels[i].bytes;
- bytes = channels[i].location + channels[i].bytes;
- i++;
- }
- return bytes;
-}
-
-void print2byte(int input, struct iio_channel_info *info)
-{
- /* shift before conversion to avoid sign extension
- of left aligned data */
- input = input >> info->shift;
- if (info->is_signed) {
- int16_t val = input;
- val &= (1 << info->bits_used) - 1;
- val = (int16_t)(val << (16 - info->bits_used)) >>
- (16 - info->bits_used);
- /*printf("%d, %05f, scale=%05f", val,
- (float)(val + info->offset)*info->scale, info->scale);*/
- printf("%d, ", val);
-
- } else {
- uint16_t val = input;
- val &= (1 << info->bits_used) - 1;
- printf("%05f ", ((float)val + info->offset)*info->scale);
- }
-}
-
-/**
- * process_scan() - print out the values in SI units
- * @data: pointer to the start of the scan
- * @infoarray: information about the channels. Note
- * size_from_channelarray must have been called first to fill the
- * location offsets.
- * @num_channels: the number of active channels
- */
-void process_scan(char *data, struct iio_channel_info *infoarray,
- int num_channels)
-{
- int k;
- //char *tmp;
- for (k = 0; k < num_channels; k++) {
- switch (infoarray[k].bytes) {
- /* only a few cases implemented so far */
- case 2:
- print2byte(*(uint16_t *)(data + infoarray[k].location),
- &infoarray[k]);
- //tmp = data + infoarray[k].location;
- break;
- case 4:
- if (infoarray[k].is_signed) {
- int32_t val = *(int32_t *)(data + infoarray[k].location);
- if ((val >> infoarray[k].bits_used) & 1)
- val = (val & infoarray[k].mask) | ~infoarray[k].mask;
- /* special case for timestamp */
- printf(" %d ", val);
- }
- break;
- case 8:
- if (infoarray[k].is_signed) {
- int64_t val = *(int64_t *)(data + infoarray[k].location);
- if ((val >> infoarray[k].bits_used) & 1)
- val = (val & infoarray[k].mask) | ~infoarray[k].mask;
- /* special case for timestamp */
- if (infoarray[k].scale == 1.0f &&
- infoarray[k].offset == 0.0f)
- printf(" %lld", val);
- else
- printf("%05f ", ((float)val + infoarray[k].offset)
- * infoarray[k].scale);
- }
- break;
- default:
- break;
- }
- }
- printf("\n");
-}
-
-/*
- Enablers for the gestures
-*/
-
-int enable_flick(char *p, int on)
-{
- int ret;
- printf("flick:%s\n", p);
- ret = write_sysfs_int_and_verify("flick_int_on", p, on);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("flick_upper", p, 3147790);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("flick_lower", p, -3147790);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("flick_counter", p, 50);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("flick_message_on", p, 0);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("flick_axis", p, 0);
- if (ret < 0)
- return ret;
-
- return 0;
-}
-
-void verify_img(char *dmp_path)
-{
- FILE *fp;
- int i;
- char dmp_img[DMP_CODE_SIZE];
-
- if ((fp = fopen(dmp_path, "rb")) < 0) {
- perror("dmp fail");
- }
- i = fread(dmp_img, 1, DMP_CODE_SIZE, fp);
- printf("Result=%d\n", i);
- fclose(fp);
- fp = fopen("/dev/read_img.h", "wt");
- fprintf(fp, "char rec[]={\n");
- for(i = 0; i < DMP_CODE_SIZE; i++) {
- fprintf(fp, "0x%02x, ", dmp_img[i]);
- if(((i + 1) % 16) == 0) {
- fprintf(fp, "\n");
- }
- }
- fprintf(fp, "};\n ");
- fclose(fp);
-}
-
-int setup_dmp(char *dev_path, int p_event)
-{
- char dmp_path[100];
- int ret;
- FILE *fd;
-
- printf("INFO: sysfs path=%s\n", dev_path);
-
- ret = write_sysfs_int_and_verify("power_state", dev_path, 1);
- if (ret < 0)
- return ret;
-
- ret = write_sysfs_int("in_accel_scale", dev_path, 0);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int("in_anglvel_scale", dev_path, 3);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int("sampling_frequency", dev_path, 200);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("firmware_loaded", dev_path, 0);
- if (ret < 0)
- return ret;
-
- sprintf(dmp_path, "%s/dmp_firmware", dev_path);
- if ((fd = fopen(dmp_path, "wb")) < 0 ) {
- perror("dmp fail");
- }
- inv_load_dmp(fd);
- fclose(fd);
-
- printf("INFO: firmware_loaded=%d\n",
- read_sysfs_posint("firmware_loaded", dev_path));
-
- // set accel offsets
- //ret = write_sysfs_int_and_verify("in_accel_x_offset",
- // dev_path, 0xabcd0000);
- //if (ret < 0)
- // return ret;
- //ret = write_sysfs_int_and_verify("in_accel_y_offset",
- // dev_path, 0xffff0000);
- //if (ret < 0)
- // return ret;
- //ret = write_sysfs_int_and_verify("in_accel_z_offset",
- // dev_path, 0xcdef0000);
- //if (ret < 0)
- // return ret;
-
- ret = write_sysfs_int_and_verify("dmp_on", dev_path, 1);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("dmp_int_on", dev_path, 1);
- if (ret < 0)
- return ret;
-
- /* select which event to enable and interrupt on/off here */
- if (test_flick) {
- ret = enable_flick(dev_path, 1);
- if (ret < 0)
- return ret;
- }
-
- /*
- ret = write_sysfs_int_and_verify("tap_on", dev_path, 1);
- if (ret < 0)
- return ret;
- */
-
- ret = write_sysfs_int_and_verify("display_orientation_on",
- dev_path, 1);
- if (ret < 0)
- return ret;
- if (test_orientation) {
- ret = write_sysfs_int_and_verify("orientation_on", dev_path, 1);
- if (ret < 0)
- return ret;
- }
- ret = write_sysfs_int_and_verify("dmp_output_rate", dev_path, 25);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("dmp_event_int_on", dev_path, p_event);
- if (ret < 0)
- return ret;
-
- //verify_img(dmp_path);
- return 0;
-}
-
-/*
- Handlers for the gestures
-*/
-
-void handle_flick(int flick)
-{
- printf("flick=%x\n", flick);
-}
-
-void handle_display_orientation(int orient)
-{
- printf("display_orientation=%x\n", orient);
-}
-
-void handle_motion(int motion)
-{
- printf("motion=%x\n", motion);
-}
-
-void handle_orientation(int orient)
-{
- printf("orientation=");
- if (orient & 0x01)
- printf("+X, ");
- if (orient & 0x02)
- printf("-X, ");
- if (orient & 0x04)
- printf("+Y, ");
- if (orient & 0x08)
- printf("-Y, ");
- if (orient & 0x10)
- printf("+Z, ");
- if (orient & 0x20)
- printf("-Z, ");
- if (orient & 0x40)
- printf("flip");
- printf("\n");
-}
-
-void handle_tap(int tap)
-{
- int tap_dir = tap / 8;
- int tap_num = tap % 8 + 1;
-
- printf("tap=");
- switch (tap_dir) {
- case 1:
- printf("+X, ");
- break;
- case 2:
- printf("-X, ");
- break;
- case 3:
- printf("+Y, ");
- break;
- case 4:
- printf("-Y, ");
- break;
- case 5:
- printf("+Z, ");
- break;
- case 6:
- printf("-Z, ");
- break;
- default:
- break;
- }
- printf("#%d\n", tap_num);
-}
-
-int handle_pedometer(int *got_event)
-{
- static int last_pedometer_steps = -1;
- static long last_pedometer_time = -1;
- static unsigned long last_pedometer_poll = 0L;
- static unsigned long pedometer_poll_timeout = 500L; // .5 second
-
- unsigned long now;
- int pedometer_steps;
- long pedometer_time;
-
-#ifdef DEBUG_PRINT
- printf("GT:Pedometer Handler\n");
-#endif
-
- if ((now = inv_get_tick_count()) - last_pedometer_poll
- < pedometer_poll_timeout) {
- return 0;
- }
- last_pedometer_poll = now;
-
- pedometer_steps = read_sysfs_posint("pedometer_steps", dev_dir_name);
- pedometer_time = read_sysfs_posint("pedometer_time", dev_dir_name);
-
- if (last_pedometer_steps == -1 && last_pedometer_time == -1) {
- if (!*got_event)
- printf("\n");
- printf("p> pedometer=%d, %ld ",
- pedometer_steps, pedometer_time);
- if (pedometer_steps > 10
- || pedometer_time > (pedometer_poll_timeout * 2))
- printf("(resumed)\n");
- else
- printf("\n");
- *got_event = true;
- } else if (last_pedometer_steps != pedometer_steps
- || last_pedometer_time != pedometer_time) {
- if (!*got_event)
- printf("\n");
- printf("p> pedometer=%d, %ld\n",
- pedometer_steps, pedometer_time);
- *got_event = true;
- }
-
- last_pedometer_steps = pedometer_steps;
- last_pedometer_time = pedometer_time;
-
- return 0;
-}
-
-/*
- Main processing functions
-*/
-
-void dump_dmp_event_struct(void)
-{
-#define VARVAL(f, v) printf("\t%s : " f "\n", #v, v);
- int i;
-
- printf("dmp_feat structure content:\n");
- for (i = 0; i < FEAT_NUM; i++) {
- printf("%d - ", i);
- VARVAL("%d", dmp_feat[i].enabled);
- VARVAL("%s", dmp_feat[i].sysfs_name);
- VARVAL("%p", dmp_feat[i].phandler);
- VARVAL("%p", dmp_feat[i].pollfd);
- if (dmp_feat[i].pollfd) {
- VARVAL("%d", dmp_feat[i].pollfd->events);
- VARVAL("%d", dmp_feat[i].pollfd->revents);
- VARVAL("%d", dmp_feat[i].pollfd->fd);
- }
- }
- printf("dmp_feat structure content:\n");
- for (i = 0; i < FEAT_NUM; i++) {
- printf("%d - ", i);
- VARVAL("%d", pollfds[i].fd);
- VARVAL("%d", pollfds[i].events);
- VARVAL("%d", pollfds[i].revents);
- }
- printf("end.\n");
-}
-
-void init_dmp_event_fds(void)
-{
- int i, j = 0;
- char file_name[100];
-
- for (i = 0; i < FEAT_NUM; i++) {
- if (!dmp_feat[i].enabled)
- continue;
- sprintf(file_name, "%s/%s", dev_dir_name, dmp_feat[i].sysfs_name);
- pollfds[j].fd = open(file_name, O_RDONLY | O_NONBLOCK);
- if (pollfds[j].fd < 0) {
- printf("Err: cannot open requested event file '%s'\n", file_name);
- } else {
- printf("INFO: opened event node '%s'\n", file_name);
- }
- pollfds[j].events = POLLPRI | POLLERR;
- pollfds[j].revents = 0;
-
- dmp_feat[i].pollfd = &pollfds[j];
- j++;
- }
-}
-
-void close_dmp_event_fds(void)
-{
- int i;
- for (i = 0; i < pollfds_used; i++)
- close(pollfds[i].fd);
-}
-
-void poll_dmp_event_fds(void)
-{
- int i;
- char d[4];
- static int got_event = 1;
-
- // read the pollable fds
- for (i = 0; i < pollfds_used; i++)
- read(pollfds[i].fd, d, 4);
-
- // poll
- if (got_event)
- printf("e> ");
- got_event = false;
- poll(pollfds, pollfds_used, POLL_TIME);
-
- for (i = 0; i < FEAT_NUM; i++) {
- if (!dmp_feat[i].enabled)
- continue;
-
- if (dmp_feat[i].pollfd->revents != 0) {
- char file_name[200];
- int data;
-
- sprintf(file_name, "%s/%s",
- dev_dir_name, dmp_feat[i].sysfs_name);
- FILE *fp = fopen(file_name, "rt");
- if (!fp) {
- printf("Err:cannot open requested event file '%s'\n",
- dmp_feat[i].sysfs_name);
- continue;
- }
- fscanf(fp, "%d\n", &data);
- fclose(fp);
- dmp_feat[i].pollfd->revents = 0;
-
- dmp_feat[i].phandler(data);
- got_event = true;
- }
- }
-
- if (test_pedometer) {
- /* pedometer is not event based, therefore we poll using a timer every
- pedometer_poll_timeout milliseconds */
- handle_pedometer(&got_event);
- }
-}
-
-/*
- Main
-*/
-
-int main(int argc, char **argv)
-{
- unsigned long num_loops = 2;
- unsigned long timedelay = 100000;
- unsigned long buf_len = 128;
-
- int ret, c, i, j, toread;
- int fp;
-
- int num_channels;
- char *trigger_name = NULL;
-
- int datardytrigger = 1;
- char *data;
- int read_size;
- int dev_num, trig_num;
- char *buffer_access;
- int scan_size;
- int noevents = 0;
- int p_event = 0, nodmp = 0;
- char *dummy;
- char chip_name[10];
- char device_name[10];
- char sysfs[100];
-
- struct iio_channel_info *infoarray;
-
- // all output to stdout must be delivered immediately, no buffering
- setvbuf(stdout, NULL, _IONBF, 0);
-
- // get info about the device and driver
- inv_get_sysfs_path(sysfs);
- if (inv_get_chip_name(chip_name) != INV_SUCCESS) {
- printf("get chip name fail\n");
- exit(0);
- }
- printf("INFO: chip_name=%s\n", chip_name);
-
- for (i = 0; i < strlen(chip_name); i++)
- device_name[i] = tolower(chip_name[i]);
- device_name[strlen(chip_name)] = '\0';
- printf("INFO: device name=%s\n", device_name);
-
- /* parse the command line parameters
- -r means no DMP is enabled (raw) -> should be used for mpu3050.
- -p means no print of data
- when using -p, 1 means orientation, 2 means tap, 3 means flick */
- while ((c = getopt(argc, argv, "l:w:c:premavt:")) != -1) {
- switch (c) {
- case 't':
- trigger_name = optarg;
- datardytrigger = 0;
- break;
- case 'e':
- noevents = 1;
- break;
- case 'p':
- p_event = 1;
- break;
- case 'r':
- nodmp = 1;
- break;
- case 'c':
- num_loops = strtoul(optarg, &dummy, 10);
- break;
- case 'w':
- timedelay = strtoul(optarg, &dummy, 10);
- break;
- case 'l':
- buf_len = strtoul(optarg, &dummy, 10);
- break;
- case 'm':
- test_motion = true;
- break;
- case 'a':
- accel_only = true;
- break;
- case 'v':
- verbose = true;
- break;
- case '?':
- return -1;
- }
- }
-
- pollfds_used = 0;
-
- // comment out/remove/if(0) the block corresponding to the feature
- // that you want to disable
-
- if (0) {
- struct dmp_feat_t f = {
- true,
- NULL,
- "event_tap",
- handle_tap
- };
- dmp_feat[pollfds_used] = f;
- pollfds_used++;
- }
- if (test_orientation) {
- struct dmp_feat_t f = {
- true,
- NULL,
- "event_orientation",
- handle_orientation
- };
- dmp_feat[pollfds_used] = f;
- pollfds_used++;
- }
- if (1) {
- struct dmp_feat_t f = {
- true,
- NULL,
- "event_display_orientation",
- handle_display_orientation
- };
- dmp_feat[pollfds_used] = f;
- pollfds_used++;
- }
- if (test_motion) {
- struct dmp_feat_t f = {
- true,
- NULL,
- "event_accel_motion",
- handle_motion
- };
- dmp_feat[pollfds_used] = f;
- pollfds_used++;
- }
- if (test_flick) {
- struct dmp_feat_t f = {
- true,
- NULL,
- "event_flick",
- handle_flick
- };
- dmp_feat[pollfds_used] = f;
- pollfds_used++;
- }
-
- // debug
- printf("INFO\n");
- printf("INFO: Configured features:\n");
- for (i = 0; i < pollfds_used; i++)
- printf("INFO: %d -> %s\n", i, dmp_feat[i].sysfs_name);
- printf("INFO\n");
-
- /* Find the device requested */
- dev_num = find_type_by_name(device_name, "iio:device");
- if (dev_num < 0) {
- printf("Failed to find the %s\n", device_name);
- ret = -ENODEV;
- goto error_ret;
- }
- printf("INFO: iio device number=%d\n", dev_num);
- asprintf(&dev_dir_name, "%siio:device%d", iio_dir, dev_num);
- if (trigger_name == NULL) {
- /*
- * Build the trigger name. If it is device associated it's
- * name is <device_name>_dev[n] where n matches the device
- * number found above
- */
- ret = asprintf(&trigger_name, "%s-dev%d", device_name, dev_num);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- }
- ret = write_sysfs_int_and_verify("buffer/enable", dev_dir_name, 0);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("power_state", dev_dir_name, 1);
-
- //
- // motion interrupt in low power accel mode
- //
- if (test_motion) {
- ret = write_sysfs_int_and_verify("motion_lpa_on", dev_dir_name, 1);
- if (ret < 0)
- return ret;
- // magnitude threshold - range [0, 1020] in 32 mg increments
- ret = write_sysfs_int_and_verify("motion_lpa_threshold", dev_dir_name,
- 3 * 32);
- if (ret < 0)
- return ret;
- // duration in ms up to 2^16
- ret = write_sysfs_int_and_verify("motion_lpa_duration", dev_dir_name,
- 200 * 1);
- if (ret < 0)
- return ret;
- // motion_lpa_freq: 0 for 1.25, 1 for 5, 2 for 20, 3 for 40 Hz update rate
- // of the low power accel mode.
- // The higher the rate, the better responsiveness of the motion interrupt.
- ret = write_sysfs_int("motion_lpa_freq", dev_dir_name, 2);
- if (ret < 0)
- return ret;
- } else {
- ret = write_sysfs_int_and_verify("motion_lpa_on", dev_dir_name, 0);
- if (ret < 0)
- return ret;
- }
-
- /* Verify the trigger exists */
- trig_num = find_type_by_name(trigger_name, "trigger");
- if (trig_num < 0) {
- printf("Failed to find the trigger %s\n", trigger_name);
- ret = -ENODEV;
- goto error_free_triggername;
- }
- printf("INFO: iio trigger number=%d\n", trig_num);
-
- if (!nodmp)
- setup_dmp(dev_dir_name, p_event);
-
- /*
- * Construct the directory name for the associated buffer.
- * As we know that the lis3l02dq has only one buffer this may
- * be built rather than found.
- */
- ret = asprintf(&buf_dir_name, "%siio:device%d/buffer", iio_dir, dev_num);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_triggername;
- }
-
- /* Set the device trigger to be the data rdy trigger found above */
- ret = write_sysfs_string_and_verify("trigger/current_trigger",
- dev_dir_name,
- trigger_name);
- if (ret < 0) {
- printf("Failed to write current_trigger file\n");
- goto error_free_buf_dir_name;
- }
-
- /* Setup ring buffer parameters
- length must be even number because iio_store_to_sw_ring is expecting
- half pointer to be equal to the read pointer, which is impossible
- when buflen is odd number. This is actually a bug in the code */
- ret = write_sysfs_int("length", buf_dir_name, buf_len * 2);
- if (ret < 0)
- goto exit_here;
-
- // gyro
- if (accel_only) {
- ret = enable_anglvel_se(dev_dir_name, &infoarray, &num_channels, 0);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("gyro_enable", dev_dir_name, 0);
- if (ret < 0)
- return ret;
- } else {
- ret = enable_anglvel_se(dev_dir_name, &infoarray, &num_channels, 1);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("gyro_enable", dev_dir_name, 1);
- if (ret < 0)
- return ret;
- }
-
- // accel
- ret = enable_accel_se(dev_dir_name, &infoarray, &num_channels, 1);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("accel_enable", dev_dir_name, 1);
- if (ret < 0)
- return ret;
-
- // quaternion
- if (!nodmp) {
- ret = enable_quaternion_se(dev_dir_name, &infoarray, &num_channels, 1);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("three_axes_q_on", dev_dir_name, 1);
- if (ret < 0)
- return ret;
- } else {
- ret = enable_quaternion_se(dev_dir_name, &infoarray, &num_channels, 0);
- if (ret < 0)
- return ret;
- ret = write_sysfs_int_and_verify("dmp_on", dev_dir_name, 0);
- if (ret < 0)
- return ret;
- }
-
- //sprintf(dmp_path, "%s/dmp_firmware", dev_dir_name);
- //verify_img(dmp_path);
-
- ret = build_channel_array(dev_dir_name, &infoarray, &num_channels);
- if (ret) {
- printf("Problem reading scan element information\n");
- goto exit_here;
- }
-
- /* enable the buffer */
- ret = write_sysfs_int_and_verify("enable", buf_dir_name, 1);
- if (ret < 0)
- goto exit_here;
- scan_size = size_from_channelarray(infoarray, num_channels);
- data = malloc(scan_size * buf_len);
- if (!data) {
- ret = -ENOMEM;
- goto exit_here;
- }
-
- if (p_event) {
-
- /* polling events from the DMP */
- init_dmp_event_fds();
- while(!_kbhit())
- poll_dmp_event_fds();
- close_dmp_event_fds();
-
- } else {
-
- /* attempt to open non blocking the access dev */
- ret = asprintf(&buffer_access, "/dev/iio:device%d", dev_num);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_data;
- }
- fp = open(buffer_access, O_RDONLY | O_NONBLOCK);
- if (fp == -1) { /*If it isn't there make the node */
- printf("Failed to open %s\n", buffer_access);
- ret = -errno;
- goto error_free_buffer_access;
- }
- /* wait for events num_loops times */
- for (j = 0; j < num_loops; j++) {
- if (!noevents) {
- struct pollfd pfd = {
- .fd = fp,
- .events = POLLIN,
- };
- poll(&pfd, 1, -1);
- toread = 1;
- if (j % 128 == 0)
- usleep(timedelay);
-
- } else {
- usleep(timedelay);
- toread = 1;
- }
- read_size = read(fp, data, toread * scan_size);
- if (read_size == -EAGAIN) {
- printf("nothing available\n");
- continue;
- }
- if (!p_event) {
- for (i = 0; i < read_size / scan_size; i++)
- process_scan(data + scan_size * i, infoarray, num_channels);
- }
- }
- close(fp);
- }
-
-error_free_buffer_access:
- free(buffer_access);
-error_free_data:
- free(data);
-exit_here:
- /* stop the ring buffer */
- ret = write_sysfs_int_and_verify("enable", buf_dir_name, 0);
- /* disable the dmp */
- if (p_event)
- ret = write_sysfs_int_and_verify("dmp_on", dev_dir_name, 0);
-
-error_free_buf_dir_name:
- free(buf_dir_name);
-error_free_triggername:
- if (datardytrigger)
- free(trigger_name);
-error_ret:
- return ret;
-}
diff --git a/65xx/libsensors_iio/software/simple_apps/playback/linux/and_constructor.c b/65xx/libsensors_iio/software/simple_apps/playback/linux/and_constructor.c
deleted file mode 100755
index c4f09a6..0000000
--- a/65xx/libsensors_iio/software/simple_apps/playback/linux/and_constructor.c
+++ /dev/null
@@ -1,379 +0,0 @@
-/*
- $License:
- Copyright (C) 2012 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/*******************************************************************************
- *
- * $Id:$
- *
- ******************************************************************************/
-
-/*
- Includes, Defines, and Macros
-*/
-
-#undef MPL_LOG_NDEBUG
-#define MPL_LOG_NDEBUG 0 /* turn to 0 to enable verbose logging */
-
-#include "log.h"
-#undef MPL_LOG_TAG
-#define MPL_LOG_TAG "MPL-playback"
-
-#include "and_constructor.h"
-#include "mlos.h"
-#include "invensense.h"
-#include "invensense_adv.h"
-
-/*
- Typedef
-*/
-struct inv_construct_t {
- int product; /**< Gyro Product Number */
- int debug_mode;
- int last_mode;
- FILE *file;
- int dmp_version;
- int left_in_buffer;
-#define FIFO_READ_SIZE 100
- unsigned char fifo_data[FIFO_READ_SIZE];
- int gyro_enable;
- int accel_enable;
- int compass_enable;
- int quat_enable;
-};
-
-/*
- Globals
-*/
-static struct inv_construct_t inv_construct = {0};
-static void (*s_func_cb)(void);
-static char playback_filename[101] = "/data/playback.bin";
-struct fifo_dmp_config fifo_dmp_cfg = {0};
-
-/*
- Functions
-*/
-void inv_set_playback_filename(char *filename, int length)
-{
- if (length > 100) {
- MPL_LOGE("Error : file name and path too long, 100 characters limit\n");
- return;
- }
- strncpy(playback_filename, filename, length);
-}
-
-inv_error_t inv_constructor_setup(void)
-{
- unsigned short orient;
- extern signed char g_gyro_orientation[9];
- extern signed char g_accel_orientation[9];
- extern signed char g_compass_orientation[9];
- float scale = 2.f;
- long sens;
-
- // gyro setup
- orient = inv_orientation_matrix_to_scalar(g_gyro_orientation);
- inv_set_gyro_orientation_and_scale(orient, 2000L << 15);
-
- // accel setup
- orient = inv_orientation_matrix_to_scalar(g_accel_orientation);
- scale = 2.f;
- sens = (long)(scale * (1L << 15));
- inv_set_accel_orientation_and_scale(orient, sens);
-
- // compass setup
- orient = inv_orientation_matrix_to_scalar(g_compass_orientation);
- // scale is the max value of the compass in micro Tesla.
- scale = 5000.f;
- sens = (long)(scale * (1L << 15));
- inv_set_compass_orientation_and_scale(orient, sens);
-
- return INV_SUCCESS;
-}
-
-inv_error_t inv_set_fifo_processed_callback(void (*func_cb)(void))
-{
- s_func_cb = func_cb;
- return INV_SUCCESS;
-}
-
-void int32_to_long(int32_t in[], long out[], int length)
-{
- int ii;
- for (ii = 0; ii < length; ii++)
- out[ii] = (long)in[ii];
-}
-
-inv_error_t inv_playback(void)
-{
- inv_rd_dbg_states type;
- inv_time_t ts;
- int32_t buffer[4];
- short gyro[3];
- size_t r = 1;
- int32_t orientation;
- int32_t sensitivity, sample_rate_us = 0;
-
- // Check to make sure we were request to playback
- if (inv_construct.debug_mode != RD_PLAYBACK) {
- MPL_LOGE("%s|%s|%d error: debug_mode != RD_PLAYBACK\n",
- __FILE__, __func__, __LINE__);
- return INV_ERROR;
- }
-
- if (inv_construct.file == NULL) {
- inv_construct.file = fopen(playback_filename, "rb");
- if (!inv_construct.file) {
- MPL_LOGE("Error : cannot find or open playback file '%s'\n",
- playback_filename);
- return INV_ERROR_FILE_OPEN;
- }
- }
-
- while (1) {
- r = fread(&type, sizeof(type), 1, inv_construct.file);
- if (r == 0) {
- MPL_LOGV("read 0 bytes, PLAYBACK file closed\n");
- inv_construct.debug_mode = RD_NO_DEBUG;
- fclose(inv_construct.file);
- break;
- }
- //MPL_LOGV("TYPE : %d, %d\n", type);
- switch (type) {
- case PLAYBACK_DBG_TYPE_GYRO:
- r = fread(gyro, sizeof(gyro[0]), 3, inv_construct.file);
- r = fread(&ts, sizeof(ts), 1, inv_construct.file);
- inv_build_gyro(gyro, ts);
- MPL_LOGV("PLAYBACK_DBG_TYPE_GYRO, %+d, %+d, %+d, %+lld\n",
- gyro[0], gyro[1], gyro[2], ts);
- break;
- case PLAYBACK_DBG_TYPE_ACCEL:
- {
- long accel[3];
- r = fread(buffer, sizeof(buffer[0]), 3, inv_construct.file);
- r = fread(&ts, sizeof(ts), 1, inv_construct.file);
- int32_to_long(buffer, accel, 3);
- inv_build_accel(accel, 0, ts);
- MPL_LOGV("PLAYBACK_DBG_TYPE_ACCEL, %+d, %+d, %+d, %lld\n",
- buffer[0], buffer[1], buffer[2], ts);
- break;
- }
- case PLAYBACK_DBG_TYPE_COMPASS:
- {
- long compass[3];
- r = fread(buffer, sizeof(buffer[0]), 3, inv_construct.file);
- r = fread(&ts, sizeof(ts), 1, inv_construct.file);
- int32_to_long(buffer, compass, 3);
- inv_build_compass(compass, 0, ts);
- MPL_LOGV("PLAYBACK_DBG_TYPE_COMPASS, %+d, %+d, %+d, %lld\n",
- buffer[0], buffer[1], buffer[2], ts);
- break;
- }
- case PLAYBACK_DBG_TYPE_TEMPERATURE:
- r = fread(buffer, sizeof(buffer[0]), 1, inv_construct.file);
- r = fread(&ts, sizeof(ts), 1, inv_construct.file);
- inv_build_temp(buffer[0], ts);
- MPL_LOGV("PLAYBACK_DBG_TYPE_TEMPERATURE, %+d, %lld\n",
- buffer[0], ts);
- break;
- case PLAYBACK_DBG_TYPE_QUAT:
- {
- long quat[4];
- r = fread(buffer, sizeof(buffer[0]), 4, inv_construct.file);
- r = fread(&ts, sizeof(ts), 1, inv_construct.file);
- int32_to_long(buffer, quat, 4);
- inv_build_quat(quat, INV_BIAS_APPLIED, ts);
- MPL_LOGV("PLAYBACK_DBG_TYPE_QUAT, %+d, %+d, %+d, %+d, %lld\n",
- buffer[0], buffer[1], buffer[2], buffer[3], ts);
- break;
- }
- case PLAYBACK_DBG_TYPE_EXECUTE:
- MPL_LOGV("PLAYBACK_DBG_TYPE_EXECUTE\n");
- inv_execute_on_data();
- if (s_func_cb)
- s_func_cb();
- //done = 1;
- break;
-
- case PLAYBACK_DBG_TYPE_G_ORIENT:
- MPL_LOGV("PLAYBACK_DBG_TYPE_G_ORIENT\n");
- r = fread(&orientation, sizeof(orientation), 1, inv_construct.file);
- r = fread(&sensitivity, sizeof(sensitivity), 1, inv_construct.file);
- inv_set_gyro_orientation_and_scale(orientation, sensitivity);
- break;
- case PLAYBACK_DBG_TYPE_A_ORIENT:
- MPL_LOGV("PLAYBACK_DBG_TYPE_A_ORIENT\n");
- r = fread(&orientation, sizeof(orientation), 1, inv_construct.file);
- r = fread(&sensitivity, sizeof(sensitivity), 1, inv_construct.file);
- inv_set_accel_orientation_and_scale(orientation, sensitivity);
- break;
- case PLAYBACK_DBG_TYPE_C_ORIENT:
- MPL_LOGV("PLAYBACK_DBG_TYPE_C_ORIENT\n");
- r = fread(&orientation, sizeof(orientation), 1, inv_construct.file);
- r = fread(&sensitivity, sizeof(sensitivity), 1, inv_construct.file);
- inv_set_compass_orientation_and_scale(orientation, sensitivity);
- break;
-
- case PLAYBACK_DBG_TYPE_G_SAMPLE_RATE:
- r = fread(&sample_rate_us, sizeof(sample_rate_us),
- 1, inv_construct.file);
- inv_set_gyro_sample_rate(sample_rate_us);
- MPL_LOGV("PLAYBACK_DBG_TYPE_G_SAMPLE_RATE => %d\n",
- sample_rate_us);
- break;
- case PLAYBACK_DBG_TYPE_A_SAMPLE_RATE:
- r = fread(&sample_rate_us, sizeof(sample_rate_us),
- 1, inv_construct.file);
- inv_set_accel_sample_rate(sample_rate_us);
- MPL_LOGV("PLAYBACK_DBG_TYPE_A_SAMPLE_RATE => %d\n",
- sample_rate_us);
- break;
- case PLAYBACK_DBG_TYPE_C_SAMPLE_RATE:
- r = fread(&sample_rate_us, sizeof(sample_rate_us),
- 1, inv_construct.file);
- inv_set_compass_sample_rate(sample_rate_us);
- MPL_LOGV("PLAYBACK_DBG_TYPE_C_SAMPLE_RATE => %d\n",
- sample_rate_us);
- break;
-
- case PLAYBACK_DBG_TYPE_GYRO_OFF:
- MPL_LOGV("PLAYBACK_DBG_TYPE_GYRO_OFF\n");
- inv_gyro_was_turned_off();
- break;
- case PLAYBACK_DBG_TYPE_ACCEL_OFF:
- MPL_LOGV("PLAYBACK_DBG_TYPE_ACCEL_OFF\n");
- inv_accel_was_turned_off();
- break;
- case PLAYBACK_DBG_TYPE_COMPASS_OFF:
- MPL_LOGV("PLAYBACK_DBG_TYPE_COMPASS_OFF\n");
- inv_compass_was_turned_off();
- break;
- case PLAYBACK_DBG_TYPE_QUAT_OFF:
- MPL_LOGV("PLAYBACK_DBG_TYPE_QUAT_OFF\n");
- inv_quaternion_sensor_was_turned_off();
- break;
-
- case PLAYBACK_DBG_TYPE_Q_SAMPLE_RATE:
- MPL_LOGV("PLAYBACK_DBG_TYPE_Q_SAMPLE_RATE\n");
- r = fread(&sample_rate_us, sizeof(sample_rate_us),
- 1, inv_construct.file);
- inv_set_quat_sample_rate(sample_rate_us);
- break;
- default:
- //MPL_LOGV("PLAYBACK file closed\n");
- fclose(inv_construct.file);
- MPL_LOGE("%s|%s|%d error: unrecognized log type '%d', "
- "PLAYBACK file closed\n",
- __FILE__, __func__, __LINE__, type);
- return INV_ERROR;
- }
- }
- msleep(1);
-
- inv_construct.debug_mode = RD_NO_DEBUG;
- fclose(inv_construct.file);
-
- return INV_SUCCESS;
-}
-
-/** Turns on/off playback and record modes
-* @param mode Turn on recording mode with RD_RECORD and turn off recording mode with
-* RD_NO_DBG. Turn on playback mode with RD_PLAYBACK.
-*/
-void inv_set_debug_mode(rd_dbg_mode mode)
-{
-#ifdef INV_PLAYBACK_DBG
- inv_construct.debug_mode = mode;
-#endif
-}
-
-inv_error_t inv_constructor_start(void)
-{
- inv_error_t result;
- unsigned char divider;
- //int gest_enabled = inv_get_gesture_enable();
-
- // start the software
- result = inv_start_mpl();
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- /*
- if (inv_construct.dmp_version == WIN8_DMP_VERSION) {
- int fifo_divider;
- divider = 4; // 4 means 200Hz DMP
- fifo_divider = 3;
- // Set Gyro Sample Rate in MPL in micro seconds
- inv_set_gyro_sample_rate(1000L*(divider+1)*(fifo_divider+1));
-
- // Set Gyro Sample Rate in MPL in micro seconds
- inv_set_quat_sample_rate(1000L*(divider+1)*(fifo_divider+1));
-
- // Set Compass Sample Rate in MPL in micro seconds
- inv_set_compass_sample_rate(1000L*(divider+1)*(fifo_divider+1));
-
- // Set Accel Sample Rate in MPL in micro seconds
- inv_set_accel_sample_rate(1000L*(divider+1)*(fifo_divider+1));
- } else if (gest_enabled) {
- int fifo_divider;
- unsigned char mpl_divider;
-
- inv_send_interrupt_word();
- inv_send_sensor_data(INV_ALL & INV_GYRO_ACC_MASK);
- inv_send_quaternion();
-
- divider = fifo_dmp_cfg.sample_divider;
- mpl_divider = fifo_dmp_cfg.mpl_divider;
-
- // Set Gyro Sample Rate in MPL in micro seconds
- inv_set_gyro_sample_rate(1000L*(mpl_divider+1));
-
- // Set Gyro Sample Rate in MPL in micro seconds
- inv_set_quat_sample_rate(1000L*(mpl_divider+1));
-
- // Set Compass Sample Rate in MPL in micro seconds
- inv_set_compass_sample_rate(1000L*(mpl_divider+1));
-
- // Set Accel Sample Rate in MPL in micro seconds
- inv_set_accel_sample_rate(1000L*(mpl_divider+1));
- } else
- */
- {
- divider = 9;
- // set gyro sample sate in MPL in micro seconds
- inv_set_gyro_sample_rate(1000L*(divider+1));
- // set compass sample rate in MPL in micro seconds
- inv_set_compass_sample_rate(1000L*(divider+1));
- // set accel sample rate in MPL in micro seconds
- inv_set_accel_sample_rate(1000L*(divider+1));
- }
-
- // setup the scale factors and orientations and other parameters
- result = inv_constructor_setup();
-
- return result;
-}
-
-inv_error_t inv_constructor_default_enable()
-{
- INV_ERROR_CHECK(inv_enable_quaternion());
- INV_ERROR_CHECK(inv_enable_fast_nomot());
- INV_ERROR_CHECK(inv_enable_heading_from_gyro());
- INV_ERROR_CHECK(inv_enable_compass_bias_w_gyro());
- INV_ERROR_CHECK(inv_enable_hal_outputs());
- INV_ERROR_CHECK(inv_enable_vector_compass_cal());
- INV_ERROR_CHECK(inv_enable_9x_sensor_fusion());
- INV_ERROR_CHECK(inv_enable_gyro_tc());
- INV_ERROR_CHECK(inv_enable_no_gyro_fusion());
- INV_ERROR_CHECK(inv_enable_in_use_auto_calibration());
- INV_ERROR_CHECK(inv_enable_magnetic_disturbance());
- return INV_SUCCESS;
-}
-
-/**
- * @}
- */
diff --git a/65xx/libsensors_iio/software/simple_apps/playback/linux/and_constructor.h b/65xx/libsensors_iio/software/simple_apps/playback/linux/and_constructor.h
deleted file mode 100755
index 5905037..0000000
--- a/65xx/libsensors_iio/software/simple_apps/playback/linux/and_constructor.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- $License:
- Copyright (C) 2012 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/*******************************************************************************
- *
- * $Id:$
- *
- ******************************************************************************/
-
-#ifndef INV_CONSTRUCTOR_H__
-#define INV_CONSTRUCTOR_H__
-
-#include "mltypes.h"
-#include "data_builder.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define PRECISION 10000.f
-#define RANGE_FLOAT_TO_FIXEDPOINT(range, x) { \
- range.mantissa = (long)x; \
- range.fraction = (long)((float)(x-(long)x)*PRECISION); \
-}
-#define RANGE_FIXEDPOINT_TO_FLOAT(range, x) { \
- x = (float)(range.mantissa); \
- x += ((float)range.fraction/PRECISION); \
-}
-
-struct fifo_dmp_config {
- unsigned char sample_divider;
- unsigned char fifo_divider;
- unsigned char mpl_divider;
-};
-
-inv_error_t inv_construct_and_push_data();
-inv_error_t inv_set_fifo_processed_callback(void (*func_cb)(void));
-inv_error_t inv_constructor_setup();
-inv_error_t inv_constructor_start();
-inv_error_t inv_constructor_init();
-inv_error_t inv_constructor_default_enable();
-void inv_set_debug_mode(rd_dbg_mode mode);
-inv_error_t inv_playback();
-void inv_set_playback_filename(char *filename, int length);
-inv_error_t wait_for_and_process_interrupt();
-
-inv_error_t inv_set_interrupt_word(unsigned long word);
-inv_error_t inv_get_interrupt_word(unsigned long *data);
-inv_error_t inv_set_gesture_enable(int word);
-int inv_get_gesture_enable(void);
-inv_error_t inv_set_fifo_rate(unsigned long fifo_rate);
-inv_error_t inv_get_dmp_sample_divider(unsigned char *data);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // INVENSENSE_INV_CONSTRUCTOR_H__
-
diff --git a/65xx/libsensors_iio/software/simple_apps/playback/linux/build/android/inv_playback-shared b/65xx/libsensors_iio/software/simple_apps/playback/linux/build/android/inv_playback-shared
deleted file mode 100755
index c252a50..0000000
--- a/65xx/libsensors_iio/software/simple_apps/playback/linux/build/android/inv_playback-shared
+++ /dev/null
Binary files differ
diff --git a/65xx/libsensors_iio/software/simple_apps/playback/linux/build/android/shared.mk b/65xx/libsensors_iio/software/simple_apps/playback/linux/build/android/shared.mk
deleted file mode 100755
index dc33ee3..0000000
--- a/65xx/libsensors_iio/software/simple_apps/playback/linux/build/android/shared.mk
+++ /dev/null
@@ -1,96 +0,0 @@
-EXEC = inv_playback$(SHARED_APP_SUFFIX)
-
-MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
-
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
-COMP ?= $(CROSS)gcc
-LINK ?= $(CROSS)gcc
-
-OBJFOLDER = $(CURDIR)/obj
-
-INV_ROOT = ../../../../../..
-APP_DIR = $(CURDIR)/../..
-COMMON_DIR = $(INV_ROOT)/software/simple_apps/common
-MLLITE_DIR = $(INV_ROOT)/software/core/mllite
-MPL_DIR = $(INV_ROOT)/software/core/mpl
-
-include $(INV_ROOT)/software/build/android/common.mk
-
-CFLAGS += $(CMDLINE_CFLAGS)
-CFLAGS += $(ANDROID_COMPILE)
-CFLAGS += -Wall
-CFLAGS += -fpic
-CFLAGS += -nostdlib
-CFLAGS += -DNDEBUG
-CFLAGS += -D_REENTRANT
-CFLAGS += -DLINUX
-CFLAGS += -DANDROID
-CFLAGS += -mthumb-interwork
-CFLAGS += -fno-exceptions
-CFLAGS += -ffunction-sections
-CFLAGS += -funwind-tables
-CFLAGS += -fstack-protector
-CFLAGS += -fno-short-enums
-CFLAGS += -fmessage-length=0
-CFLAGS += -I$(MLLITE_DIR)
-CFLAGS += -I$(MPL_DIR)
-CFLAGS += -I$(COMMON_DIR)
-CFLAGS += $(INV_INCLUDES)
-CFLAGS += $(INV_DEFINES)
-
-LLINK = -lc
-LLINK += -lm
-LLINK += -lutils
-LLINK += -lcutils
-LLINK += -lgcc
-LLINK += -ldl
-LLINK += -lstdc++
-LLINK += -llog
-LLINK += -lz
-
-LFLAGS += $(CMDLINE_LFLAGS)
-LFLAGS += $(ANDROID_LINK_EXECUTABLE)
-
-LRPATH = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
-
-####################################################################################################
-## sources
-
-INV_LIBS = $(MPL_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MPL_LIB_NAME).$(SHARED_LIB_EXT)
-INV_LIBS += $(MLLITE_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MLLITE_LIB_NAME).$(SHARED_LIB_EXT)
-
-#INV_SOURCES and VPATH provided by Makefile.filelist
-include ../filelist.mk
-
-INV_OBJS := $(addsuffix .o,$(INV_SOURCES))
-INV_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(INV_SOURCES))))
-
-####################################################################################################
-## rules
-
-.PHONY: all clean cleanall install
-
-all: $(EXEC) $(MK_NAME)
-
-$(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
- @$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
- $(LINK) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
-
-$(OBJFOLDER) :
- @$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
- mkdir obj
-
-$(INV_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c $(MK_NAME)
- @$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
- $(COMP) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(INV_INCLUDES) $(CFLAGS) -o $@ -c $<
-
-clean :
- rm -fR $(OBJFOLDER)
-
-cleanall :
- rm -fR $(EXEC) $(OBJFOLDER)
-
-install : $(EXEC)
- cp -f $(EXEC) $(INSTALL_DIR)
-
-
diff --git a/65xx/libsensors_iio/software/simple_apps/playback/linux/build/filelist.mk b/65xx/libsensors_iio/software/simple_apps/playback/linux/build/filelist.mk
deleted file mode 100755
index 1d04fea..0000000
--- a/65xx/libsensors_iio/software/simple_apps/playback/linux/build/filelist.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#### filelist.mk for mpu_iio ####
-
-# headers
-HEADERS += $(APP_DIR)/iio_utils.h
-HEADERS += $(APP_DIR)/and_constructor.h
-HEADERS += $(APP_DIR)/datalogger_outputs.h
-HEADERS += $(COMMON_DIR)/console_helper.h
-HEADERS += $(COMMON_DIR)/mlerrorcode.h
-HEADERS += $(COMMON_DIR)/testsupport.h
-
-# sources
-SOURCES := $(APP_DIR)/main.c
-SOURCES += $(APP_DIR)/and_constructor.c
-SOURCES += $(APP_DIR)/datalogger_outputs.c
-SOURCES += $(COMMON_DIR)/console_helper.c
-SOURCES += $(COMMON_DIR)/mlerrorcode.c
-
-INV_SOURCES += $(SOURCES)
-
-VPATH += $(APP_DIR) $(COMMON_DIR)
diff --git a/65xx/libsensors_iio/software/simple_apps/playback/linux/datalogger_outputs.c b/65xx/libsensors_iio/software/simple_apps/playback/linux/datalogger_outputs.c
deleted file mode 100755
index 7c81cbb..0000000
--- a/65xx/libsensors_iio/software/simple_apps/playback/linux/datalogger_outputs.c
+++ /dev/null
@@ -1,384 +0,0 @@
-/**
- * @defgroup HAL_Outputs
- * @brief Motion Library - HAL Outputs
- * Sets up common outputs for HAL
- *
- * @{
- * @file datalogger_outputs.c
- * @brief Windows 8 HAL outputs.
- */
-
-#include <string.h>
-
-#include "datalogger_outputs.h"
-#include "ml_math_func.h"
-#include "mlmath.h"
-#include "start_manager.h"
-#include "data_builder.h"
-#include "results_holder.h"
-
-/*
- Defines
-*/
-#define ACCEL_CONVERSION (0.000149637603759766f)
-
-/*
- Types
-*/
-struct datalogger_output_s {
- int quat_accuracy;
- inv_time_t quat_timestamp;
- long quat[4];
- struct inv_sensor_cal_t sc;
-};
-
-/*
- Globals and Statics
-*/
-static struct datalogger_output_s dl_out;
-
-/*
- Functions
-*/
-
-/**
- * Raw (uncompensated) angular velocity (LSB) in chip frame.
- * @param[out] values raw angular velocity in LSB.
- * @param[out] timestamp Time when sensor was sampled.
- */
-void inv_get_sensor_type_gyro_raw_short(short *values, inv_time_t *timestamp)
-{
- struct inv_single_sensor_t *pg = &dl_out.sc.gyro;
-
- if (values)
- memcpy(values, &pg->raw, sizeof(short) * 3);
- if (timestamp)
- *timestamp = pg->timestamp;
-}
-
-/**
- * Raw (uncompensated) angular velocity (degrees per second) in body frame.
- * @param[out] values raw angular velocity in dps.
- * @param[out] timestamp Time when sensor was sampled.
- */
-void inv_get_sensor_type_gyro_raw_body_float(float *values,
- inv_time_t *timestamp)
-{
- struct inv_single_sensor_t *pg = &dl_out.sc.gyro;
- long raw[3];
- long raw_body[3];
-
- raw[0] = (long) pg->raw[0] * (1L << 16);
- raw[1] = (long) pg->raw[1] * (1L << 16);
- raw[2] = (long) pg->raw[2] * (1L << 16);
- inv_convert_to_body_with_scale(pg->orientation, pg->sensitivity,
- raw, raw_body);
- if (values) {
- values[0] = inv_q16_to_float(raw_body[0]);
- values[1] = inv_q16_to_float(raw_body[1]);
- values[2] = inv_q16_to_float(raw_body[2]);
- }
- if (timestamp)
- *timestamp = pg->timestamp;
-}
-
-/**
- * Angular velocity (degrees per second) in body frame.
- * @param[out] values Angular velocity in dps.
- * @param[out] accuracy 0 (uncalibrated) to 3 (most accurate).
- * @param[out] timestamp Time when sensor was sampled.
- */
-void inv_get_sensor_type_gyro_float(float *values, int8_t *accuracy,
- inv_time_t *timestamp)
-{
- long gyro[3];
- inv_get_gyro_set(gyro, accuracy, timestamp);
-
- values[0] = (float)gyro[0] / 65536.f;
- values[1] = (float)gyro[1] / 65536.f;
- values[2] = (float)gyro[2] / 65536.f;
-}
-
-/**
- * Raw (uncompensated) acceleration (LSB) in chip frame.
- * @param[out] values raw acceleration in LSB.
- * @param[out] timestamp Time when sensor was sampled.
- */
-void inv_get_sensor_type_accel_raw_short(short *values, inv_time_t *timestamp)
-{
- struct inv_single_sensor_t *pa = &dl_out.sc.accel;
-
- if (values)
- memcpy(values, &pa->raw, sizeof(short) * 3);
- if (timestamp)
- *timestamp = pa->timestamp;
-}
-
-/**
- * Acceleration (g's) in body frame.
- * Microsoft defines gravity as positive acceleration pointing towards the
- * Earth.
- * @param[out] values Acceleration in g's.
- * @param[out] accuracy 0 (uncalibrated) to 3 (most accurate).
- * @param[out] timestamp Time when sensor was sampled.
- */
-void inv_get_sensor_type_accel_float(float *values, int8_t *accuracy,
- inv_time_t *timestamp)
-{
- long accel[3];
- inv_get_accel_set(accel, accuracy, timestamp);
-
- values[0] = (float) -accel[0] / 65536.f;
- values[1] = (float) -accel[1] / 65536.f;
- values[2] = (float) -accel[2] / 65536.f;
-}
-
-/**
- * Raw (uncompensated) compass magnetic field (LSB) in chip frame.
- * @param[out] values raw magnetic field in LSB.
- * @param[out] timestamp Time when sensor was sampled.
- */
-void inv_get_sensor_type_compass_raw_short(short *values, inv_time_t *timestamp)
-{
- struct inv_single_sensor_t *pc = &dl_out.sc.compass;
-
- if (values)
- memcpy(values, &pc->raw, sizeof(short) * 3);
- if (timestamp)
- *timestamp = pc->timestamp;
-}
-
-/**
- * Magnetic heading/field strength in body frame.
- * TODO: No difference between mag_north and true_north yet.
- * @param[out] mag_north Heading relative to magnetic north in degrees.
- * @param[out] true_north Heading relative to true north in degrees.
- * @param[out] values Field strength in milligauss.
- * @param[out] accuracy 0 (uncalibrated) to 3 (most accurate).
- * @param[out] timestamp Time when sensor was sampled.
- */
-void inv_get_sensor_type_compass_float(float *mag_north, float *true_north,
- float *values, int8_t *accuracy, inv_time_t *timestamp)
-{
- long compass[3];
- long q00, q12, q22, q03, t1, t2;
-
- /* 1 uT = 10 milligauss. */
-#define COMPASS_CONVERSION (10 / 65536.f)
- inv_get_compass_set(compass, accuracy, timestamp);
- if (values) {
- values[0] = (float)compass[0]*COMPASS_CONVERSION;
- values[1] = (float)compass[1]*COMPASS_CONVERSION;
- values[2] = (float)compass[2]*COMPASS_CONVERSION;
- }
-
- /* TODO: Stolen from euler angle computation. Calculate this only once per
- * callback.
- */
- q00 = inv_q29_mult(dl_out.quat[0], dl_out.quat[0]);
- q12 = inv_q29_mult(dl_out.quat[1], dl_out.quat[2]);
- q22 = inv_q29_mult(dl_out.quat[2], dl_out.quat[2]);
- q03 = inv_q29_mult(dl_out.quat[0], dl_out.quat[3]);
- t1 = q12 - q03;
- t2 = q22 + q00 - (1L << 30);
- if (mag_north) {
- *mag_north = atan2f((float) t1, (float) t2) * 180.f / (float) M_PI;
- if (*mag_north < 0)
- *mag_north += 360;
- }
- if (true_north) {
- if (!mag_north) {
- *true_north = atan2f((float) t1, (float) t2) * 180.f / (float) M_PI;
- if (*true_north < 0)
- *true_north += 360;
- } else {
- *true_north = *mag_north;
- }
- }
-}
-
-#if 0
-// put it back when we handle raw temperature
-/**
- * Raw temperature (LSB).
- * @param[out] value raw temperature in LSB (1 element).
- * @param[out] timestamp Time when sensor was sampled.
- */
-void inv_get_sensor_type_temp_raw_short(short *value, inv_time_t *timestamp)
-{
- struct inv_single_sensor_t *pt = &dl_out.sc.temp;
- if (value) {
- /* no raw temperature, temperature is only handled calibrated
- *value = pt->raw[0];
- */
- *value = pt->calibrated[0];
- }
- if (timestamp)
- *timestamp = pt->timestamp;
-}
-#endif
-
-/**
- * Temperature (degree C).
- * @param[out] values Temperature in degrees C.
- * @param[out] timestamp Time when sensor was sampled.
- */
-void inv_get_sensor_type_temperature_float(float *value, inv_time_t *timestamp)
-{
- struct inv_single_sensor_t *pt = &dl_out.sc.temp;
- long ltemp;
- if (timestamp)
- *timestamp = pt->timestamp;
- if (value) {
- /* no raw temperature, temperature is only handled calibrated
- ltemp = pt->raw[0];
- */
- ltemp = pt->calibrated[0];
- *value = (float) ltemp / (1L << 16);
- }
-}
-
-/**
- * Quaternion in body frame.
- * @e inv_get_sensor_type_quaternion_float outputs the data in the following
- * order: X, Y, Z, W.
- * TODO: Windows expects a discontinuity at 180 degree rotations. Will our
- * convention be ok?
- * @param[out] values Quaternion normalized to one.
- * @param[out] accuracy 0 (uncalibrated) to 3 (most accurate).
- * @param[out] timestamp Time when sensor was sampled.
- */
-void inv_get_sensor_type_quat_float(float *values, int *accuracy,
- inv_time_t *timestamp)
-{
- values[0] = dl_out.quat[0] / 1073741824.f;
- values[1] = dl_out.quat[1] / 1073741824.f;
- values[2] = dl_out.quat[2] / 1073741824.f;
- values[3] = dl_out.quat[3] / 1073741824.f;
- accuracy[0] = dl_out.quat_accuracy;
- timestamp[0] = dl_out.quat_timestamp;
-}
-
-/** Gravity vector (gee) in body frame.
-* @param[out] values Gravity vector in body frame, length 3, (gee)
-* @param[out] accuracy Accuracy of the measurment, 0 is least accurate,
- while 3 is most accurate.
-* @param[out] timestamp The timestamp for this sensor. Derived from the
- timestamp sent to inv_build_accel().
-*/
-void inv_get_sensor_type_gravity_float(float *values, int *accuracy,
- inv_time_t * timestamp)
-{
- struct inv_single_sensor_t *pa = &dl_out.sc.accel;
-
- if (values) {
- long lgravity[3];
- (void)inv_get_gravity(lgravity);
- values[0] = (float) lgravity[0] / (1L << 16);
- values[1] = (float) lgravity[1] / (1L << 16);
- values[2] = (float) lgravity[2] / (1L << 16);
- }
- if (accuracy)
- *accuracy = pa->accuracy;
- if (timestamp)
- *timestamp = pa->timestamp;
-}
-
-/**
-* This corresponds to Sensor.TYPE_ROTATION_VECTOR.
-* The rotation vector represents the orientation of the device as a combination
-* of an angle and an axis, in which the device has rotated through an angle @f$\theta@f$
-* around an axis {x, y, z}. <br>
-* The three elements of the rotation vector are
-* {x*sin(@f$\theta@f$/2), y*sin(@f$\theta@f$/2), z*sin(@f$\theta@f$/2)}, such that the magnitude of the rotation
-* vector is equal to sin(@f$\theta@f$/2), and the direction of the rotation vector is
-* equal to the direction of the axis of rotation.
-*
-* The three elements of the rotation vector are equal to the last three components of a unit quaternion
-* {x*sin(@f$\theta@f$/2), y*sin(@f$\theta@f$/2), z*sin(@f$\theta@f$/2)>.
-*
-* Elements of the rotation vector are unitless. The x,y and z axis are defined in the same way as the acceleration sensor.
-* The reference coordinate system is defined as a direct orthonormal basis, where:
-
- -X is defined as the vector product Y.Z (It is tangential to the ground at the device's current location and roughly points East).
- -Y is tangential to the ground at the device's current location and points towards the magnetic North Pole.
- -Z points towards the sky and is perpendicular to the ground.
-* @param[out] values
-* @param[out] accuracy Accuracy 0 to 3, 3 = most accurate
-* @param[out] timestamp Timestamp. In (ns) for Android.
-*/
-void inv_get_sensor_type_rotation_vector_float(float *values, int *accuracy,
- inv_time_t * timestamp)
-{
- if (accuracy)
- *accuracy = dl_out.quat_accuracy;
- if (timestamp)
- *timestamp = dl_out.quat_timestamp;
- if (values) {
- if (dl_out.quat[0] >= 0) {
- values[0] = dl_out.quat[1] * INV_TWO_POWER_NEG_30;
- values[1] = dl_out.quat[2] * INV_TWO_POWER_NEG_30;
- values[2] = dl_out.quat[3] * INV_TWO_POWER_NEG_30;
- } else {
- values[0] = -dl_out.quat[1] * INV_TWO_POWER_NEG_30;
- values[1] = -dl_out.quat[2] * INV_TWO_POWER_NEG_30;
- values[2] = -dl_out.quat[3] * INV_TWO_POWER_NEG_30;
- }
- }
-}
-
-/** Main callback to generate HAL outputs. Typically not called by library users. */
-inv_error_t inv_generate_datalogger_outputs(struct inv_sensor_cal_t *sensor_cal)
-{
- memcpy(&dl_out.sc, sensor_cal, sizeof(struct inv_sensor_cal_t));
- inv_get_quaternion_set(dl_out.quat, &dl_out.quat_accuracy,
- &dl_out.quat_timestamp);
- return INV_SUCCESS;
-}
-
-/** Turns off generation of HAL outputs. */
-inv_error_t inv_stop_datalogger_outputs(void)
-{
- return inv_unregister_data_cb(inv_generate_datalogger_outputs);
-}
-
-/** Turns on generation of HAL outputs. This should be called after inv_stop_dl_outputs()
-* to turn generation of HAL outputs back on. It is automatically called by inv_enable_dl_outputs().*/
-inv_error_t inv_start_datalogger_outputs(void)
-{
- return inv_register_data_cb(inv_generate_datalogger_outputs,
- INV_PRIORITY_HAL_OUTPUTS, INV_GYRO_NEW | INV_ACCEL_NEW | INV_MAG_NEW);
-}
-
-/** Initializes hal outputs class. This is called automatically by the
-* enable function. It may be called any time the feature is enabled, but
-* is typically not needed to be called by outside callers.
-*/
-inv_error_t inv_init_datalogger_outputs(void)
-{
- memset(&dl_out, 0, sizeof(dl_out));
- return INV_SUCCESS;
-}
-
-/** Turns on creation and storage of HAL type results.
-*/
-inv_error_t inv_enable_datalogger_outputs(void)
-{
- inv_error_t result;
- result = inv_init_datalogger_outputs();
- if (result)
- return result;
- return inv_register_mpl_start_notification(inv_start_datalogger_outputs);
-}
-
-/** Turns off creation and storage of HAL type results.
-*/
-inv_error_t inv_disable_datalogger_outputs(void)
-{
- inv_stop_datalogger_outputs();
- return inv_unregister_mpl_start_notification(inv_start_datalogger_outputs);
-}
-
-/**
- * @}
- */
diff --git a/65xx/libsensors_iio/software/simple_apps/playback/linux/datalogger_outputs.h b/65xx/libsensors_iio/software/simple_apps/playback/linux/datalogger_outputs.h
deleted file mode 100755
index 0e50faf..0000000
--- a/65xx/libsensors_iio/software/simple_apps/playback/linux/datalogger_outputs.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/**
- * @defgroup HAL_Outputs
- * @brief Motion Library - HAL Outputs
- * Sets up common outputs for HAL
- *
- * @{
- * @file datalogger_outputs.h
- * @brief Windows 8 HAL outputs.
- */
-
-#ifndef _DATALOGGER_OUTPUTS_H_
-#define _DATALOGGER_OUTPUTS_H_
-
-#include "mltypes.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* calibrated data */
-void inv_get_sensor_type_temperature_float(float *value,
- inv_time_t *timestamp);
-void inv_get_sensor_type_gyro_float(float *values, int8_t *accuracy,
- inv_time_t *timestamp);
-void inv_get_sensor_type_accel_float(float *values, int8_t *accuracy,
- inv_time_t *timestamp);
-void inv_get_sensor_type_compass_float(float *mag_north, float *true_north,
- float *values, int8_t *accuracy, inv_time_t *timestamp);
-void inv_get_sensor_type_quat_float(float *values, int *accuracy,
- inv_time_t *timestamp);
-void inv_get_sensor_type_gravity_float(float *values, int *accuracy,
- inv_time_t * timestamp);
-void inv_get_sensor_type_rotation_vector_float(float *values, int *accuracy,
- inv_time_t * timestamp);
-
-/* uncalibrated data */
-void inv_get_sensor_type_gyro_raw_short(short *values,
- inv_time_t *timestamp);
-void inv_get_sensor_type_gyro_raw_body_float(float *values,
- inv_time_t *timestamp);
-void inv_get_sensor_type_accel_raw_short(short *values,
- inv_time_t *timestamp);
-void inv_get_sensor_type_compass_raw_short(short *values,
- inv_time_t *timestamp);
-
-/* enabler/disabler APIs */
-inv_error_t inv_enable_datalogger_outputs(void);
-inv_error_t inv_disable_datalogger_outputs(void);
-inv_error_t inv_init_datalogger_outputs(void);
-inv_error_t inv_start_datalogger_outputs(void);
-inv_error_t inv_stop_datalogger_outputs(void);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* #ifndef _DATALOGGER_OUTPUTS_H_ */
-
-/**
- * @}
- */
diff --git a/65xx/libsensors_iio/software/simple_apps/playback/linux/main.c b/65xx/libsensors_iio/software/simple_apps/playback/linux/main.c
deleted file mode 100755
index 74272b0..0000000
--- a/65xx/libsensors_iio/software/simple_apps/playback/linux/main.c
+++ /dev/null
@@ -1,897 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2012 InvenSense Corporation, All Rights Reserved.
- ******************************************************************************/
-
-/*******************************************************************************
- *
- * $Id: main.c 6146 2011-10-04 18:33:51Z jcalizo $
- *
- ******************************************************************************/
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <time.h>
-
-#include "invensense.h"
-#include "invensense_adv.h"
-#include "and_constructor.h"
-#include "ml_math_func.h"
-#include "datalogger_outputs.h"
-
-#include "console_helper.h"
-
-#include "mlos.h"
-#include "mlsl.h"
-
-#include "testsupport.h"
-
-#include "log.h"
-#undef MPL_LOG_TAG
-#define MPL_LOG_TAG "MPL-playback"
-
-/*
- Defines & Macros
-*/
-#define UNPACK_3ELM_ARRAY(a) (a)[0], (a)[1], (a)[2]
-#define UNPACK_4ELM_ARRAY(a) UNPACK_3ELM_ARRAY(a), (a)[3]
-#define COMPONENT_NAME_MAX_LEN (30)
-#define DEF_NAME(x) (#x)
-
-#define PRINT_ON_CONSOLE(...) \
- if (print_on_screen) \
- printf(__VA_ARGS__)
-#define PRINT_ON_FILE(...) \
- if(stream_file) \
- fprintf(stream_file, __VA_ARGS__)
-
-#define PRINT(...) \
- PRINT_ON_CONSOLE(__VA_ARGS__); \
- PRINT_ON_FILE(__VA_ARGS__)
-#define PRINT_FLOAT(width, prec, data) \
- PRINT_ON_CONSOLE("%+*.*f", \
- width, prec, data); \
- PRINT_ON_FILE("%+f", data)
-#define PRINT_INT(width, data) \
- PRINT_ON_CONSOLE("%+*d", width, data); \
- PRINT_ON_FILE("%+d", data);
-#define PRINT_LONG(width, data) \
- PRINT_ON_CONSOLE("%+*ld", width, data); \
- PRINT_ON_FILE("%+ld", data);
-
-#define PRINT_3ELM_ARRAY_FLOAT(w, p, data) \
- PRINT_FLOAT(w, p, data[0]); \
- PRINT(", "); \
- PRINT_FLOAT(w, p, data[1]); \
- PRINT(", "); \
- PRINT_FLOAT(w, p, data[2]); \
- PRINT(", ");
-#define PRINT_4ELM_ARRAY_FLOAT(w, p, data) \
- PRINT_3ELM_ARRAY_FLOAT(w, p, data); \
- PRINT_FLOAT(w, p, data[3]); \
- PRINT(", ");
-
-#define PRINT_3ELM_ARRAY_LONG(w, data) \
- PRINT_LONG(w, data[0]); \
- PRINT(", "); \
- PRINT_LONG(w, data[1]); \
- PRINT(", "); \
- PRINT_LONG(w, data[2]); \
- PRINT(", ");
-#define PRINT_4ELM_ARRAY_LONG(w, data) \
- PRINT_3ELM_ARRAY_LONG(w, data); \
- PRINT_LONG(w, data[3]); \
- PRINT(", ");
-
-#define PRINT_3ELM_ARRAY_INT(w, data) \
- PRINT_INT(w, data[0]); \
- PRINT(", "); \
- PRINT_INT(w, data[1]); \
- PRINT(", "); \
- PRINT_INT(w, data[2]); \
- PRINT(", ");
-#define PRINT_4ELM_ARRAY_INT(w, data) \
- PRINT_3ELM_ARRAY_LONG(w, data); \
- PRINT_INT(w, data[3]); \
- PRINT(", ");
-
-
-#define CASE_NAME(CODE) \
- case CODE: \
- return #CODE
-
-#define CALL_CHECK_N_PRINT(f) { \
- MPL_LOGI("\n"); \
- MPL_LOGI("################################################\n"); \
- MPL_LOGI("# %s\n", #f); \
- MPL_LOGI("################################################\n"); \
- MPL_LOGI("\n"); \
- CALL_N_CHECK(f); \
-}
-
-/*
- Types
-*/
-/* A badly named enum type to track state of user input for tracker menu. */
-typedef enum {
- STATE_SELECT_A_TRACKER,
- STATE_SET_TRACKER_STATE, /* I'm running out of ideas here. */
- STATE_COUNT
-} user_state_t;
-
-/* bias trackers. */
-typedef enum {
- BIAS_FROM_NO_MOTION,
- FAST_NO_MOTION,
- BIAS_FROM_GRAVITY,
- BIAS_FROM_TEMPERATURE,
- BIAS_FROM_LPF,
- DEAD_ZONE,
- NUM_TRACKERS
-} bias_t;
-
-enum comp_ids {
- TIME = 0,
- CALIBRATED_GYROSCOPE,
- CALIBRATED_ACCELEROMETER,
- CALIBRATED_COMPASS,
- RAW_GYROSCOPE,
- RAW_GYROSCOPE_BODY,
- RAW_ACCELEROMETER,
- RAW_COMPASS,
- QUATERNION_9_AXIS,
- QUATERNION_6_AXIS,
- GRAVITY,
- HEADING,
- COMPASS_BIAS_ERROR,
- COMPASS_STATE,
- TEMPERATURE,
- TEMP_COMP_SLOPE,
- LINEAR_ACCELERATION,
- ROTATION_VECTOR,
- MOTION_STATE,
-
- NUM_OF_IDS
-};
-
-struct component_list {
- char name[COMPONENT_NAME_MAX_LEN];
- int order;
-};
-
-/*
- Globals
-*/
-static int print_on_screen = true;
-static int one_time_print = true;
-static FILE *stream_file = NULL;
-static unsigned long sample_count = 0;
-static int enabled_9x = true;
-
-signed char g_gyro_orientation[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
-signed char g_accel_orientation[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
-signed char g_compass_orientation[9] = {-1, 0, 0, 0, 1, 0, 0, 0, -1};
-
-#ifdef WIN32
-static double pc_freq;
-static __int64 counter_start;
-#else
-static inv_time_t counter_start;
-#endif
-
-struct component_list components[NUM_OF_IDS];
-
-/*
- Prototypes
-*/
-void print_tracker_states(bias_t tracker);
-
-/*
- Callbacks
-*/
-/*--- motion / no motion callback function ---*/
-void check_motion_event(void)
-{
- long msg = inv_get_message_level_0(1);
- if (msg) {
- if (msg & INV_MSG_MOTION_EVENT) {
- MPL_LOGI("################################################\n");
- MPL_LOGI("## Motion\n");
- MPL_LOGI("################################################\n");
- }
- if (msg & INV_MSG_NO_MOTION_EVENT) {
- MPL_LOGI("################################################\n");
- MPL_LOGI("## No Motion\n");
- MPL_LOGI("################################################\n");
- }
- }
-}
-
-/* number to string coversion */
-char *compass_state_name(char* out, int state)
-{
- switch(state) {
- CASE_NAME(SF_NORMAL);
- CASE_NAME(SF_DISTURBANCE);
- CASE_NAME(SF_FAST_SETTLE);
- CASE_NAME(SF_SLOW_SETTLE);
- CASE_NAME(SF_STARTUP_SETTLE);
- CASE_NAME(SF_UNCALIBRATED);
- }
-
- #define UNKNOWN_ERROR_CODE 1234
- return ERROR_NAME(UNKNOWN_ERROR_CODE);
-}
-
-/* component ID to name convertion */
-char *component_name(char *out, int comp_id)
-{
- switch (comp_id) {
- CASE_NAME(TIME);
- CASE_NAME(CALIBRATED_GYROSCOPE);
- CASE_NAME(CALIBRATED_ACCELEROMETER);
- CASE_NAME(CALIBRATED_COMPASS);
- CASE_NAME(RAW_GYROSCOPE);
- CASE_NAME(RAW_GYROSCOPE_BODY);
- CASE_NAME(RAW_ACCELEROMETER);
- CASE_NAME(RAW_COMPASS);
- CASE_NAME(QUATERNION_9_AXIS);
- CASE_NAME(QUATERNION_6_AXIS);
- CASE_NAME(GRAVITY);
- CASE_NAME(HEADING);
- CASE_NAME(COMPASS_BIAS_ERROR);
- CASE_NAME(COMPASS_STATE);
- CASE_NAME(TEMPERATURE);
- CASE_NAME(TEMP_COMP_SLOPE);
- CASE_NAME(LINEAR_ACCELERATION);
- CASE_NAME(ROTATION_VECTOR);
- CASE_NAME(MOTION_STATE);
- }
-
- return "UNKNOWN";
-}
-
-
-#ifdef WIN32
-
-/*
- Karthik Implementation.
- http://stackoverflow.com/questions/1739259/how-to-use-queryperformancecounter
-*/
-double get_counter(__int64 *counter_start, double *pc_freq)
-{
- LARGE_INTEGER li;
- double x;
- QueryPerformanceCounter(&li);
- x = (double) (li.QuadPart - (*counter_start));
- x = x / (*pc_freq);
- return(x);
-}
-
-void start_counter(double *pc_freq, __int64 *counter_start)
-{
- LARGE_INTEGER li;
- double x;
- if(!QueryPerformanceFrequency(&li))
- printf("QueryPerformanceFrequency failed!\n");
- x = (double)(li.QuadPart);
- *pc_freq = x / 1000.0;
- QueryPerformanceCounter(&li);
- *counter_start = li.QuadPart;
-}
-
-#else
-
-unsigned long get_counter(void)
-{
- return (inv_get_tick_count() - counter_start);
-}
-
-void start_counter(void)
-{
- counter_start = inv_get_tick_count();
-}
-
-#endif
-
-/* processed data callback */
-void fifo_callback(void)
-{
- int print_on_screen_saved = print_on_screen;
- int i;
-
- /* one_time_print causes the data labels to be printed on screen */
- if (one_time_print) {
- print_on_screen = true;
- }
- for (i = 0; i < NUM_OF_IDS; i++) {
- if (components[TIME].order == i) {
- if (one_time_print) {
- PRINT("TIME,");
- } else {
-#ifdef WIN32
- double time_ms;
- static int first_value = 0;
- if(first_value == 0){
- first_value = 1;
- start_counter(&pc_freq, &counter_start);
- time_ms = 0;
- } else {
- time_ms = get_counter(&counter_start, &pc_freq);
- }
- PRINT("%6.0f, ", time_ms);
-#else
- unsigned long time_ms;
- static int first_value = 0;
- if(first_value == 0){
- first_value = 1;
- start_counter();
- time_ms = 0;
- } else {
- time_ms = get_counter();
- }
- PRINT("%6ld, ", time_ms);
-#endif
- }
- } else if (components[CALIBRATED_GYROSCOPE].order == i) {
- if (one_time_print) {
- PRINT("CALIBRATED_GYROSCOPE_X,"
- "CALIBRATED_GYROSCOPE_Y,"
- "CALIBRATED_GYROSCOPE_Z,");
- /*
- PRINT("CALIBRATED_GYROSCOPE_X_AVERAGE,"
- "CALIBRATED_GYROSCOPE_Y_AVERAGE,"
- "CALIBRATED_GYROSCOPE_Z_AVERAGE,");
- */
- } else {
- /*
- #define window 20
- static int cnt = 0;
- static int valid = 0;
- static float gyro_keep[window][3];
- int kk, jj;
- float avg[3];
- */
- float gyro[3];
- inv_get_gyro_float(gyro);
- PRINT_3ELM_ARRAY_FLOAT(10, 5, gyro);
- PRINT(" ");
- /*
- memcpy(gyro_keep[cnt], gyro, sizeof(float) * 3);
- cnt= (cnt + 1) % window;
- if (cnt == window - 1)
- valid = 1;
- if (valid) {
- memset(avg, 0, sizeof(float) * 3);
- jj = (cnt + 1) % window;
- for (kk = 0; kk < window; kk++) {
- avg[0] += gyro_keep[jj][0] / window;
- avg[1] += gyro_keep[jj][1] / window;
- avg[2] += gyro_keep[jj][2] / window;
- jj = (jj + 1) % window;
- }
- PRINT("%+f, %+f, %+f, ",
- UNPACK_3ELM_ARRAY(avg));
- PRINT_3ELM_ARRAY_FLOAT(10, 5, avg);
- PRINT(" ");
- }
- */
- }
- } else if (components[CALIBRATED_ACCELEROMETER].order == i) {
- if (one_time_print) {
- PRINT("CALIBRATED_ACCELEROMETER_X,"
- "CALIBRATED_ACCELEROMETER_Y,"
- "CALIBRATED_ACCELEROMETER_Z,");
- } else {
- float accel[3];
- inv_get_accel_float(accel);
- PRINT_3ELM_ARRAY_FLOAT(10, 5, accel);
- PRINT(" ");
- }
- } else if (components[CALIBRATED_COMPASS].order == i) {
- if (one_time_print) {
- PRINT("CALIBRATED_COMPASS_X,"
- "CALIBRATED_COMPASS_Y,"
- "CALIBRATED_COMPASS_Z,");
- } else {
- long lcompass[3];
- float compass[3];
- inv_get_compass_set(lcompass, 0, 0);
- compass[0] = inv_q16_to_float(lcompass[0]);
- compass[1] = inv_q16_to_float(lcompass[1]);
- compass[2] = inv_q16_to_float(lcompass[2]);
- PRINT_3ELM_ARRAY_FLOAT(10, 5, compass);
- PRINT(" ");
- }
- } else if (components[RAW_GYROSCOPE].order == i) {
- if (one_time_print) {
- PRINT("RAW_GYROSCOPE_X,"
- "RAW_GYROSCOPE_Y,"
- "RAW_GYROSCOPE_Z,");
- } else {
- short raw[3];
- inv_get_sensor_type_gyro_raw_short(raw, NULL);
- PRINT_3ELM_ARRAY_INT(6, raw);
- PRINT(" ");
- }
- } else if (components[RAW_GYROSCOPE_BODY].order == i) {
- if (one_time_print) {
- PRINT("RAW_GYROSCOPE_BODY_X,"
- "RAW_GYROSCOPE_BODY_Y,"
- "RAW_GYROSCOPE_BODY_Z,");
- } else {
- float raw_body[3];
- inv_get_sensor_type_gyro_raw_body_float(raw_body, NULL);
- PRINT_3ELM_ARRAY_FLOAT(10, 5, raw_body);
- PRINT(" ");
- }
- } else if (components[RAW_ACCELEROMETER].order == i) {
- if (one_time_print) {
- PRINT("RAW_ACCELEROMETER_X,"
- "RAW_ACCELEROMETER_Y,"
- "RAW_ACCELEROMETER_Z,");
- } else {
- short raw[3];
- inv_get_sensor_type_accel_raw_short(raw, NULL);
- PRINT_3ELM_ARRAY_INT(6, raw);
- PRINT(" ");
- }
- } else if (components[RAW_COMPASS].order == i) {
- if (one_time_print) {
- PRINT("RAW_COMPASS_X,"
- "RAW_COMPASS_Y,"
- "RAW_COMPASS_Z,");
- } else {
- short raw[3];
- inv_get_sensor_type_compass_raw_short(raw, NULL);
- PRINT_3ELM_ARRAY_INT(6, raw);
- PRINT(" ");
- }
- } else if (components[QUATERNION_9_AXIS].order == i) {
- if (one_time_print) {
- PRINT("QUATERNION_9_AXIS_X,"
- "QUATERNION_9_AXIS_Y,"
- "QUATERNION_9_AXIS_Z,"
- "QUATERNION_9_AXIS_w,");
- } else {
- float quat[4];
- inv_get_quaternion_float(quat);
- PRINT_4ELM_ARRAY_FLOAT(10, 5, quat);
- PRINT(" ");
- }
- } else if (components[QUATERNION_6_AXIS].order == i) {
- if (one_time_print) {
- PRINT("QUATERNION_6_AXIS_X,"
- "QUATERNION_6_AXIS_Y,"
- "QUATERNION_6_AXIS_Z,"
- "QUATERNION_6_AXIS_w,");
- } else {
- float quat[4];
- long temp[4];
- int j;
- inv_get_6axis_quaternion(temp);
- for (j = 0; j < 4; j++)
- quat[j] = (float)temp[j] / (1 << 30);
- PRINT_4ELM_ARRAY_FLOAT(10, 5, quat);
- PRINT(" ");
- }
- } else if (components[HEADING].order == i) {
- if (one_time_print) {
- PRINT("HEADING,");
- } else {
- float heading[1];
- inv_get_sensor_type_compass_float(heading, NULL, NULL,
- NULL, NULL);
- PRINT_FLOAT(10, 5, heading[0]);
- PRINT(", ");
- }
- } else if (components[GRAVITY].order == i) {
- if (one_time_print) {
- PRINT("GRAVITY_X,"
- "GRAVITY_Y,"
- "GRAVITY_Z,");
- } else {
- float gravity[3];
- inv_get_sensor_type_gravity_float(gravity, NULL, NULL);
- PRINT_3ELM_ARRAY_FLOAT(10, 5, gravity);
- PRINT(" ");
- }
- } else if (components[COMPASS_STATE].order == i) {
- if (one_time_print) {
- PRINT("COMPASS_STATE,"
- "GOT_COARSE_HEADING,");
- } else {
- PRINT_INT(1, inv_get_compass_state());
- PRINT(", ");
- PRINT_INT(1, inv_got_compass_bias());
- PRINT(", ");
- }
- } else if (components[COMPASS_BIAS_ERROR].order == i) {
- if (one_time_print) {
- PRINT("COMPASS_BIAS_ERROR_X,"
- "COMPASS_BIAS_ERROR_Y,"
- "COMPASS_BIAS_ERROR_Z,");
- } else {
- long mbe[3];
- inv_get_compass_bias_error(mbe);
- PRINT_3ELM_ARRAY_LONG(6, mbe);
- }
- } else if (components[TEMPERATURE].order == i) {
- if (one_time_print) {
- PRINT("TEMPERATURE,");
- } else {
- float temp;
- inv_get_sensor_type_temperature_float(&temp, NULL);
- PRINT_FLOAT(8, 4, temp);
- PRINT(", ");
- }
- } else if (components[TEMP_COMP_SLOPE].order == i) {
- if (one_time_print) {
- PRINT("TEMP_COMP_SLOPE_X,"
- "TEMP_COMP_SLOPE_Y,"
- "TEMP_COMP_SLOPE_Z,");
- } else {
- long temp_slope[3];
- float temp_slope_f[3];
- (void)inv_get_gyro_ts(temp_slope);
- temp_slope_f[0] = inv_q16_to_float(temp_slope[0]);
- temp_slope_f[1] = inv_q16_to_float(temp_slope[1]);
- temp_slope_f[2] = inv_q16_to_float(temp_slope[2]);
- PRINT_3ELM_ARRAY_FLOAT(10, 5, temp_slope_f);
- PRINT(" ");
- }
- } else if (components[LINEAR_ACCELERATION].order == i) {
- if (one_time_print) {
- PRINT("LINEAR_ACCELERATION_X,"
- "LINEAR_ACCELERATION_Y,"
- "LINEAR_ACCELERATION_Z,");
- } else {
- float lin_acc[3];
- inv_get_linear_accel_float(lin_acc);
- PRINT_3ELM_ARRAY_FLOAT(10, 5, lin_acc);
- PRINT(" ");
- }
- } else if (components[ROTATION_VECTOR].order == i) {
- if (one_time_print) {
- PRINT("ROTATION_VECTOR_X,"
- "ROTATION_VECTOR_Y,"
- "ROTATION_VECTOR_Z,");
- } else {
- float rot_vec[3];
- inv_get_sensor_type_rotation_vector_float(rot_vec, NULL, NULL);
- PRINT_3ELM_ARRAY_FLOAT(10, 5, rot_vec);
- PRINT(" ");
- }
- } else if (components[MOTION_STATE].order == i) {
- if (one_time_print) {
- PRINT("MOTION_STATE,");
- } else {
- unsigned int counter;
- PRINT_INT(1, inv_get_motion_state(&counter));
- PRINT(", ");
- }
- } else {
- ;
- }
- }
- PRINT("\n");
-
- if (one_time_print) {
- one_time_print = false;
- print_on_screen = print_on_screen_saved;
- }
- sample_count++;
-}
-
-void print_help(char *exename)
-{
- printf(
- "\n"
- "Usage:\n"
- "\t%s [options]\n"
- "\n"
- "Options:\n"
- " [-h|--help] = shows this help\n"
- " [-o|--output PREFIX] = to dump data on csv file whose file\n"
- " prefix is specified by the parameter,\n"
- " e.g. '<PREFIX>-<timestamp>.csv'\n"
- " [-i|--input NAME] = to read the provided playback.bin file\n"
- " [-c|--comp C] = enable the following components in the\n"
- " given order:\n"
- " t = TIME\n"
- " T = TEMPERATURE,\n"
- " s = TEMP_COMP_SLOPE,\n"
- " G = CALIBRATED_GYROSCOPE,\n"
- " A = CALIBRATED_ACCELEROMETER,\n"
- " C = CALIBRATED_COMPASS,\n"
- " g = RAW_GYROSCOPE,\n"
- " b = RAW_GYROSCOPE_BODY,\n"
- " a = RAW_ACCELEROMETER,\n"
- " c = RAW_COMPASS,\n"
- " Q = QUATERNION_9_AXIS,\n"
- " 6 = QUATERNION_6_AXIS,\n"
- " V = GRAVITY,\n"
- " L = LINEAR_ACCELERATION,\n"
- " R = ROTATION_VECTOR,\n"
- " H = HEADING,\n"
- " E = COMPASS_BIAS_ERROR,\n"
- " S = COMPASS_STATE,\n"
- " M = MOTION_STATE.\n"
- "\n"
- "Note on compass state values:\n"
- " SF_NORMAL = 0\n"
- " SF_DISTURBANCE = 1\n"
- " SF_FAST_SETTLE = 2\n"
- " SF_SLOW_SETTLE = 3\n"
- " SF_STARTUP_SETTLE = 4\n"
- " SF_UNCALIBRATED = 5\n"
- "\n",
- exename);
-}
-
-char *output_filename_datetimestamp(char *out)
-{
- time_t t;
- struct tm *now;
- t = time(NULL);
- now = localtime(&t);
-
- sprintf(out,
- "%02d%02d%02d_%02d%02d%02d.csv",
- now->tm_year - 100, now->tm_mon + 1, now->tm_mday,
- now->tm_hour, now->tm_min, now->tm_sec);
- return out;
-}
-
-int components_parser(char pname[], char requested[], int length)
-{
- int j;
-
- /* forcibly disable all */
- for (j = 0; j < NUM_OF_IDS; j++)
- components[j].order = -1;
-
- /* parse each character one a time */
- for (j = 0; j < length; j++) {
- switch (requested[j]) {
- case 'T':
- components[TEMPERATURE].order = j;
- break;
- case 'G':
- components[CALIBRATED_GYROSCOPE].order = j;
- break;
- case 'A':
- components[CALIBRATED_ACCELEROMETER].order = j;
- break;
- case 'g':
- components[RAW_GYROSCOPE].order = j;
- break;
- case 'b':
- components[RAW_GYROSCOPE_BODY].order = j;
- break;
- case 'a':
- components[RAW_ACCELEROMETER].order = j;
- break;
- case 'Q':
- components[QUATERNION_9_AXIS].order = j;
- break;
- case '6':
- components[QUATERNION_6_AXIS].order = j;
- break;
- case 'V':
- components[GRAVITY].order = j;
- break;
- case 'L':
- components[LINEAR_ACCELERATION].order = j;
- break;
- case 'R':
- components[ROTATION_VECTOR].order = j;
- break;
-
- /* these components don't need to be enabled */
- case 't':
- components[TIME].order = j;
- break;
- case 'C':
- components[CALIBRATED_COMPASS].order = j;
- break;
- case 'c':
- components[RAW_COMPASS].order = j;
- break;
- case 'H':
- components[HEADING].order = j;
- break;
- case 'E':
- components[COMPASS_BIAS_ERROR].order = j;
- break;
- case 'S':
- components[COMPASS_STATE].order = j;
- break;
- case 'M':
- components[MOTION_STATE].order = j;
- break;
-
- default:
- MPL_LOGI("Error : unrecognized component '%c'\n",
- requested[j]);
- print_help(pname);
- return 1;
- break;
- }
- }
- return 0;
-}
-
-int main(int argc, char *argv[])
-{
-#ifndef INV_PLAYBACK_DBG
- MPL_LOGI("Error : this application was not compiled with the "
- "INV_PLAYBACK_DBG define and cannot work.\n");
- MPL_LOGI(" Recompile the libmllite libraries with #define "
- "INV_PLAYBACK_DBG uncommented\n");
- MPL_LOGI(" in 'software/core/mllite/data_builder.h'.\n");
- return INV_ERROR;
-#endif
-
- inv_time_t start_time;
- double total_time;
- char req_component_list[50] = "tQGACH";
- char input_filename[101] = "/data/playback.bin";
- int i = 0;
- char *ver_str;
- /* flags */
- int use_nm_detection = true;
-
- /* make sure there is no buffering of the print messages */
- setvbuf(stdout, NULL, _IONBF, 0);
-
- /* forcibly disable all and populate the names */
- for (i = 0; i < NUM_OF_IDS; i++) {
- char str_tmp[COMPONENT_NAME_MAX_LEN];
- strcpy(components[i].name, component_name(str_tmp, i));
- components[i].order = -1;
- }
-
- CALL_N_CHECK( inv_get_version(&ver_str) );
- MPL_LOGI("\n");
- MPL_LOGI("%s\n", ver_str);
- MPL_LOGI("\n");
-
- for (i = 1; i < argc; i++) {
- if(strcmp(argv[i], "-h") == 0
- || strcmp(argv[i], "--help") == 0) {
- print_help(argv[0]);
- return INV_SUCCESS;
-
- } else if(strcmp(argv[i], "-o") == 0
- || strcmp(argv[i], "--output") == 0) {
- char output_filename[200];
- char end[50] = "";
- i++;
-
- snprintf(output_filename, sizeof(output_filename), "%s-%s",
- argv[i], output_filename_datetimestamp(end));
- stream_file = fopen(output_filename, "w+");
- if (!stream_file) {
- printf("Unable to open file '%s'\n", output_filename);
- return INV_ERROR;
- }
- MPL_LOGI("-- Output on file '%s'\n", output_filename);
-
- } else if(strcmp(argv[i], "-i") == 0
- || strcmp(argv[i], "--input") == 0) {
- i++;
- strncpy(input_filename, argv[i], sizeof(input_filename));
- MPL_LOGI("-- Playing back file '%s'\n", input_filename);
-
- } else if(strcmp(argv[i], "-n") == 0
- || strcmp(argv[i], "--nm") == 0) {
- i++;
- if (!strcmp(argv[i], "none")) {
- use_nm_detection = 0;
- } else if (!strcmp(argv[i], "regular")) {
- use_nm_detection = 1;
- } else if (!strcmp(argv[i], "fast")) {
- use_nm_detection = 2;
- } else {
- MPL_LOGI("Error : unrecognized no-motion type '%s'\n",
- argv[i]);
- return INV_ERROR_INVALID_PARAMETER;
- }
- MPL_LOGI("-- No motion algorithm : '%s', %d\n",
- argv[i], use_nm_detection);
-
- } else if(strcmp(argv[i], "-9") == 0
- || strcmp(argv[i], "--nine") == 0) {
- MPL_LOGI("-- using 9 axis sensor fusion by default\n");
- enabled_9x = true;
-
- } else if(strcmp(argv[i], "-c") == 0
- || strcmp(argv[i], "--comp") == 0) {
- i++;
- strcpy(req_component_list, argv[i]);
-
- } else {
- MPL_LOGI("Unrecognized command-line parameter '%s'\n", argv[i]);
- return INV_ERROR_INVALID_PARAMETER;
- }
- }
-
- CALL_CHECK_N_RETURN_ERROR(
- components_parser(
- argv[0],
- req_component_list, strlen(req_component_list)));
-
- /* set up callbacks */
- CALL_N_CHECK(inv_set_fifo_processed_callback(fifo_callback));
-
- /* algorithm init */
- CALL_N_CHECK(inv_enable_quaternion());
- if (use_nm_detection == 1) {
- CALL_N_CHECK(inv_enable_motion_no_motion());
- } else if (use_nm_detection == 2) {
- CALL_N_CHECK(inv_enable_fast_nomot());
- }
- CALL_N_CHECK(inv_enable_gyro_tc());
- CALL_N_CHECK(inv_enable_in_use_auto_calibration());
- CALL_N_CHECK(inv_enable_no_gyro_fusion());
- CALL_N_CHECK(inv_enable_results_holder());
- if (enabled_9x) {
- CALL_N_CHECK(inv_enable_heading_from_gyro());
- CALL_N_CHECK(inv_enable_compass_bias_w_gyro());
- CALL_N_CHECK(inv_enable_vector_compass_cal());
- CALL_N_CHECK(inv_enable_9x_sensor_fusion());
- }
-
- CALL_CHECK_N_RETURN_ERROR(inv_enable_datalogger_outputs());
- CALL_CHECK_N_RETURN_ERROR(inv_constructor_start());
-
- /* load persistent data */
- {
- FILE *fc = fopen("invcal.bin", "rb");
- if (fc != NULL) {
- size_t sz, rd;
- inv_error_t result = 0;
- // Read amount of memory we need to hold data
- rd = fread(&sz, sizeof(size_t), 1, fc);
- if (rd == sizeof(size_t)) {
- unsigned char *cal_data = (unsigned char *)malloc(sizeof(sz));
- unsigned char *cal_ptr;
- cal_ptr = cal_data;
- *(size_t *)cal_ptr = sz;
- cal_ptr += sizeof(sz);
- /* read rest of the file */
- fread(cal_ptr, sz - sizeof(size_t), 1, fc);
- //result = inv_load_mpl_states(cal_data, sz);
- if (result) {
- MPL_LOGE("Cal Load error\n");
- }
- MPL_LOGI("inv_load_mpl_states()\n");
- free(cal_data);
- } else {
- MPL_LOGE("Cal Load error with size read\n");
- }
- fclose(fc);
- }
- }
-
- sample_count = 0;
- start_time = inv_get_tick_count();
-
- /* playback data that was recorded */
- inv_set_playback_filename(input_filename, strlen(input_filename) + 1);
- inv_set_debug_mode(RD_PLAYBACK);
- CALL_N_CHECK(inv_playback());
-
- total_time = (1.0 * inv_get_tick_count() - start_time) / 1000;
- if (total_time > 0) {
- MPL_LOGI("\nPlayed back %ld samples in %.2f s (%.1f Hz)\n",
- sample_count, total_time , 1.0 * sample_count / total_time);
- }
-
- if (stream_file)
- fclose(stream_file);
-
- return INV_SUCCESS;
-}
-
-
diff --git a/65xx/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared b/65xx/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
deleted file mode 100755
index 4d785f8..0000000
--- a/65xx/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
+++ /dev/null
Binary files differ
diff --git a/65xx/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk b/65xx/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
deleted file mode 100755
index ed5fbf6..0000000
--- a/65xx/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
+++ /dev/null
@@ -1,98 +0,0 @@
-EXEC = inv_self_test$(SHARED_APP_SUFFIX)
-
-MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
-
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
-COMP ?= $(CROSS)gcc
-LINK ?= $(CROSS)gcc
-
-OBJFOLDER = $(CURDIR)/obj
-
-INV_ROOT = ../../../../..
-APP_DIR = $(CURDIR)/../..
-MLLITE_DIR = $(INV_ROOT)/software/core/mllite
-COMMON_DIR = $(INV_ROOT)/software/simple_apps/common
-MPL_DIR = $(INV_ROOT)/software/core/mpl
-HAL_DIR = $(INV_ROOT)/software/core/HAL
-
-include $(INV_ROOT)/software/build/android/common.mk
-
-CFLAGS += $(CMDLINE_CFLAGS)
-CFLAGS += $(ANDROID_COMPILE)
-CFLAGS += -Wall
-CFLAGS += -fpic
-CFLAGS += -nostdlib
-CFLAGS += -DNDEBUG
-CFLAGS += -D_REENTRANT
-CFLAGS += -DLINUX
-CFLAGS += -DANDROID
-CFLAGS += -mthumb-interwork
-CFLAGS += -fno-exceptions
-CFLAGS += -ffunction-sections
-CFLAGS += -funwind-tables
-CFLAGS += -fstack-protector
-CFLAGS += -fno-short-enums
-CFLAGS += -fmessage-length=0
-CFLAGS += -I$(MLLITE_DIR)
-CFLAGS += -I$(MPL_DIR)
-CFLAGS += -I$(COMMON_DIR)
-CFLAGS += -I$(HAL_DIR)/include
-CFLAGS += $(INV_INCLUDES)
-CFLAGS += $(INV_DEFINES)
-
-LLINK = -lc
-LLINK += -lm
-LLINK += -lutils
-LLINK += -lcutils
-LLINK += -lgcc
-LLINK += -ldl
-LLINK += -lstdc++
-LLINK += -llog
-LLINK += -lz
-
-LFLAGS += $(CMDLINE_LFLAGS)
-LFLAGS += $(ANDROID_LINK_EXECUTABLE)
-
-LRPATH = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
-
-####################################################################################################
-## sources
-
-INV_LIBS = $(MPL_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MPL_LIB_NAME).$(SHARED_LIB_EXT)
-INV_LIBS += $(MLLITE_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MLLITE_LIB_NAME).$(SHARED_LIB_EXT)
-
-#INV_SOURCES and VPATH provided by Makefile.filelist
-include ../filelist.mk
-
-INV_OBJS := $(addsuffix .o,$(INV_SOURCES))
-INV_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(INV_SOURCES))))
-
-####################################################################################################
-## rules
-
-.PHONY: all clean cleanall install
-
-all: $(EXEC) $(MK_NAME)
-
-$(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
- @$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
- $(LINK) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
-
-$(OBJFOLDER) :
- @$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
- mkdir obj
-
-$(INV_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c $(MK_NAME)
- @$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
- $(COMP) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(INV_INCLUDES) $(CFLAGS) -o $@ -c $<
-
-clean :
- rm -fR $(OBJFOLDER)
-
-cleanall :
- rm -fR $(EXEC) $(OBJFOLDER)
-
-install : $(EXEC)
- cp -f $(EXEC) $(INSTALL_DIR)
-
-
diff --git a/65xx/libsensors_iio/software/simple_apps/self_test/build/filelist.mk b/65xx/libsensors_iio/software/simple_apps/self_test/build/filelist.mk
deleted file mode 100755
index 492f47e..0000000
--- a/65xx/libsensors_iio/software/simple_apps/self_test/build/filelist.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#### filelist.mk for console_test ####
-
-# headers
-HEADERS += $(HAL_DIR)/include/inv_sysfs_utils.h
-
-# sources
-SOURCES := $(APP_DIR)/inv_self_test.c
-
-INV_SOURCES += $(SOURCES)
-
-VPATH += $(APP_DIR) $(COMMON_DIR) $(HAL_DIR)/linux
diff --git a/65xx/libsensors_iio/software/simple_apps/self_test/inv_self_test.c b/65xx/libsensors_iio/software/simple_apps/self_test/inv_self_test.c
deleted file mode 100755
index 47abe53..0000000
--- a/65xx/libsensors_iio/software/simple_apps/self_test/inv_self_test.c
+++ /dev/null
@@ -1,574 +0,0 @@
-/**
- * Self Test application for Invensense's MPU6xxx/MPU9xxx.
- */
-
-#include <unistd.h>
-#include <dirent.h>
-#include <fcntl.h>
-#include <stdio.h>
-#include <errno.h>
-#include <sys/stat.h>
-#include <stdlib.h>
-#include <features.h>
-#include <dirent.h>
-#include <string.h>
-#include <poll.h>
-#include <stddef.h>
-#include <linux/input.h>
-#include <time.h>
-#include <linux/time.h>
-
-#include "invensense.h"
-#include "ml_math_func.h"
-#include "storage_manager.h"
-#include "ml_stored_data.h"
-#include "ml_sysfs_helper.h"
-#include "data_builder.h"
-
-#ifndef ABS
-#define ABS(x)(((x) >= 0) ? (x) : -(x))
-#endif
-
-#define DEBUG_PRINT /* Uncomment to print Gyro & Accel read from Driver */
-
-#define MAX_SYSFS_NAME_LEN (100)
-#define MAX_SYSFS_ATTRB (sizeof(struct sysfs_attrbs) / sizeof(char*))
-#define IIO_SYSFS_PATH "/sys/bus/iio/devices/iio:device0"
-#define IIO_HUB_NAME "inv_hub"
-
-#define GYRO_PASS_STATUS_BIT 0x01
-#define ACCEL_PASS_STATUS_BIT 0x02
-#define COMPASS_PASS_STATUS_BIT 0x04
-
-typedef union {
- long l;
- int i;
-} bias_dtype;
-
-char *sysfs_names_ptr;
-struct sysfs_attrbs {
- char *name;
- char *enable;
- int enable_value;
- char *power_state;
- int power_state_value;
- char *dmp_on;
- int dmp_on_value;
- char *self_test;
- char *temperature;
- char *gyro_enable;
- int gyro_enable_value;
- char *gyro_x_bias;
- char *gyro_y_bias;
- char *gyro_z_bias;
- char *gyro_scale;
- char *accel_enable;
- int accel_enable_value;
- char *accel_x_bias;
- char *accel_y_bias;
- char *accel_z_bias;
- char *accel_scale;
- char *compass_enable;
- int compass_enable_value;
-} mpu;
-
-static struct inv_db_save_t save_data;
-
-/** This function receives the data that was stored in non-volatile memory
- between power off */
-static inv_error_t inv_db_load_func(const unsigned char *data)
-{
- memcpy(&save_data, data, sizeof(save_data));
- return INV_SUCCESS;
-}
-
-/** This function returns the data to be stored in non-volatile memory between
- power off */
-static inv_error_t inv_db_save_func(unsigned char *data)
-{
- memcpy(data, &save_data, sizeof(save_data));
- return INV_SUCCESS;
-}
-
-/** read a sysfs entry that represents an integer */
-int read_sysfs_int(char *filename, int *var)
-{
- int res=0;
- FILE *fp;
-
- fp = fopen(filename, "r");
- if (fp != NULL) {
- fscanf(fp, "%d\n", var);
- fclose(fp);
- } else {
- MPL_LOGE("inv_self_test: ERR open file to read");
- res= -1;
- }
- return res;
-}
-
-/** write a sysfs entry that represents an integer */
-int write_sysfs_int(char *filename, int data)
-{
- int res = 0;
- FILE *fp;
-
- fp = fopen(filename, "w");
- if (fp != NULL) {
- fprintf(fp, "%d\n", data);
- fclose(fp);
- } else {
- MPL_LOGE("inv_self_test: ERR open file to write");
- res= -1;
- }
- return res;
-}
-
-int android_hub(void)
-{
- char dev_name[8];
- FILE *fp;
-
- fp = fopen(mpu.name, "r");
- fgets(dev_name, 8, fp);
- fclose (fp);
-
- if (!strncmp(dev_name, IIO_HUB_NAME, sizeof(IIO_HUB_NAME)))
- return true;
- else
- return false;
-}
-
-int save_n_write_sysfs_int(char *filename, int data, int *old_value)
-{
- int res;
- res = read_sysfs_int(filename, old_value);
- if (res < 0) {
- return res;
- }
- printf("saved %s = %d\n", filename, *old_value);
- res = write_sysfs_int(filename, data);
- if (res < 0) {
- return res;
- }
- return 0;
-}
-
-int inv_init_sysfs_attributes(void)
-{
- unsigned char i = 0;
- char sysfs_path[MAX_SYSFS_NAME_LEN];
- char *sptr;
- char **dptr;
-
- sysfs_names_ptr =
- (char*)malloc(sizeof(char[MAX_SYSFS_ATTRB][MAX_SYSFS_NAME_LEN]));
- sptr = sysfs_names_ptr;
- if (sptr != NULL) {
- dptr = (char**)&mpu;
- do {
- *dptr++ = sptr;
- sptr += sizeof(char[MAX_SYSFS_NAME_LEN]);
- } while (++i < MAX_SYSFS_ATTRB);
- } else {
- MPL_LOGE("inv_self_test: couldn't alloc mem for sysfs paths");
- return -1;
- }
-
- // Setup IIO sysfs path & build MPU's sysfs paths
- sprintf(sysfs_path, "%s", IIO_SYSFS_PATH);
-
- sprintf(mpu.name, "%s%s", sysfs_path, "/name");
- sprintf(mpu.enable, "%s%s", sysfs_path, "/buffer/enable");
- sprintf(mpu.power_state, "%s%s", sysfs_path, "/power_state");
- sprintf(mpu.dmp_on,"%s%s", sysfs_path, "/dmp_on");
- sprintf(mpu.self_test, "%s%s", sysfs_path, "/self_test");
- sprintf(mpu.temperature, "%s%s", sysfs_path, "/temperature");
-
- sprintf(mpu.gyro_enable, "%s%s", sysfs_path, "/gyro_enable");
- sprintf(mpu.gyro_x_bias, "%s%s", sysfs_path, "/in_anglvel_x_calibbias");
- sprintf(mpu.gyro_y_bias, "%s%s", sysfs_path, "/in_anglvel_y_calibbias");
- sprintf(mpu.gyro_z_bias, "%s%s", sysfs_path, "/in_anglvel_z_calibbias");
- sprintf(mpu.gyro_scale, "%s%s", sysfs_path, "/in_anglvel_self_test_scale");
-
- sprintf(mpu.accel_enable, "%s%s", sysfs_path, "/accel_enable");
- sprintf(mpu.accel_x_bias, "%s%s", sysfs_path, "/in_accel_x_calibbias");
- sprintf(mpu.accel_y_bias, "%s%s", sysfs_path, "/in_accel_y_calibbias");
- sprintf(mpu.accel_z_bias, "%s%s", sysfs_path, "/in_accel_z_calibbias");
- sprintf(mpu.accel_scale, "%s%s", sysfs_path, "/in_accel_self_test_scale");
-
- sprintf(mpu.compass_enable, "%s%s", sysfs_path, "/compass_enable");
-
-#if 0
- // test print sysfs paths
- dptr = (char**)&mpu;
- for (i = 0; i < MAX_SYSFS_ATTRB; i++) {
- printf("inv_self_test: sysfs path: %s\n", *dptr++);
- }
-#endif
- return 0;
-}
-
-void print_cal_file_content(struct inv_db_save_t *data)
-{
- printf("------------------------------\n");
- printf("-- Calibration file content --\n");
- printf(" compass_bias[3] = %+ld %+ld %+ld\n",
- data->compass_bias[0], data->compass_bias[1], data->compass_bias[2]);
- printf(" factory_gyro_bias[3] = %+ld %+ld %+ld\n",
- data->factory_gyro_bias[0], data->factory_gyro_bias[1],
- data->factory_gyro_bias[2]);
- printf(" gyro_temp = %+ld\n", data->gyro_temp);
- printf(" gyro_bias_tc_set = %+d\n", data->gyro_bias_tc_set);
- printf(" accel_bias[3] = %+ld %+ld %+ld\n",
- data->accel_bias[0], data->accel_bias[1], data->accel_bias[2]);
- printf(" accel_temp = %+ld\n", data->accel_temp);
- printf(" gyro_accuracy = %d\n", data->gyro_accuracy);
- printf(" accel_accuracy = %d\n", data->accel_accuracy);
- printf(" compass_accuracy = %d\n", data->compass_accuracy);
- printf("------------------------------\n");
-}
-
-/*******************************************************************************
- * M a i n
- ******************************************************************************/
-int main(int argc, char **argv)
-{
- FILE *fptr;
- int self_test_status = 0;
- inv_error_t result;
- bias_dtype gyro_bias[3];
- bias_dtype gyro_scale;
- bias_dtype accel_bias[3];
- bias_dtype accel_scale;
- int scale_ratio;
- size_t packet_sz;
- int axis_sign = 1;
- unsigned char *buffer;
- long timestamp;
- long long temperature = 0;
- bool compass_present = true;
- int c;
-
- result= inv_init_sysfs_attributes();
- if (result)
- return -1;
-
- // Self-test for Non-Hub
- inv_init_storage_manager();
-
- // Register packet to be saved.
- result = inv_register_load_store(
- inv_db_load_func, inv_db_save_func,
- sizeof(save_data), INV_DB_SAVE_KEY);
-
- // Self-test for Android Hub
- if (android_hub() == true) {
- fptr = fopen(mpu.self_test, "r");
- if (fptr) {
- fscanf(fptr, "%d", &self_test_status);
- printf("\nSelf-Test:Hub:Self test result - "
- "Gyro passed= %x, Accel passed= %x, Compass passed= %x\n",
- (self_test_status & GYRO_PASS_STATUS_BIT),
- (self_test_status & ACCEL_PASS_STATUS_BIT) >> 1,
- (self_test_status & COMPASS_PASS_STATUS_BIT) >> 2);
- fclose(fptr);
- result = 0;
- } else {
- printf("Hub-Self-Test:ERR-Couldn't invoke self-test\n");
- result = -1;
- }
-
- free(sysfs_names_ptr);
- return result;
- }
-
- /* testing hook: if the command-line parameter is '-l' as in 'load',
- the system will read out the MLCAL_FILE */
- while ((c = getopt(argc, argv, "l")) != -1) {
- switch (c) {
- case 'l':
- inv_get_mpl_state_size(&packet_sz);
-
- buffer = (unsigned char *)malloc(packet_sz + 10);
- if (buffer == NULL) {
- printf("Self-Test:Can't allocate buffer\n");
- return -1;
- }
-
- fptr= fopen(MLCAL_FILE, "rb");
- if (!fptr) {
- printf("Self-Test:ERR- Can't open cal file to read - %s\n",
- MLCAL_FILE);
- result = -1;
- }
- fread(buffer, 1, packet_sz, fptr);
- fclose(fptr);
-
- result = inv_load_mpl_states(buffer, packet_sz);
- if (result) {
- printf("Self-Test:ERR - "
- "Cannot load MPL states from cal file - error %d\n",
- result);
- free(buffer);
- return -1;
- }
- free(buffer);
-
- print_cal_file_content(&save_data);
- return 0;
- break;
- case '?':
- return -1;
- }
- }
-
- // Clear out data.
- memset(&save_data, 0, sizeof(save_data));
- memset(gyro_bias,0, sizeof(gyro_bias));
- memset(accel_bias,0, sizeof(accel_bias));
-
- // enable the device
- if (save_n_write_sysfs_int(mpu.power_state, 1,
- &mpu.power_state_value) < 0) {
- printf("Self-Test:ERR-Failed to set power_state=1\n");
- }
- if (save_n_write_sysfs_int(mpu.enable, 0, &mpu.enable_value) < 0) {
- printf("Self-Test:ERR-Failed to disable master enable\n");
- }
- if (save_n_write_sysfs_int(mpu.dmp_on, 0, &mpu.dmp_on_value) < 0) {
- printf("Self-Test:ERR-Failed to disable DMP\n");
- }
- if (save_n_write_sysfs_int(mpu.accel_enable, 1,
- &mpu.accel_enable_value) < 0) {
- printf("Self-Test:ERR-Failed to enable accel\n");
- }
- if (save_n_write_sysfs_int(mpu.gyro_enable, 1,
- &mpu.gyro_enable_value) < 0) {
- printf("Self-Test:ERR-Failed to enable gyro\n");
- }
- if (save_n_write_sysfs_int(mpu.compass_enable, 1,
- &mpu.compass_enable_value) < 0) {
-#ifdef DEBUG_PRINT
- printf("Self-Test:ERR-Failed to enable compass\n");
-#endif
- compass_present = false;
- }
-
- fptr = fopen(mpu.self_test, "r");
- if (!fptr) {
- printf("Self-Test:ERR-Couldn't invoke self-test\n");
- result = -1;
- goto free_sysfs_storage;
- }
-
- // Invoke self-test
- fscanf(fptr, "%d", &self_test_status);
- if (compass_present == true) {
- printf("Self-Test:Self test result- "
- "Gyro passed = %x, Accel passed = %x, Compass passed = %x\n",
- (self_test_status & GYRO_PASS_STATUS_BIT),
- (self_test_status & ACCEL_PASS_STATUS_BIT) >> 1,
- (self_test_status & COMPASS_PASS_STATUS_BIT) >> 2);
- } else {
- printf("Self-Test:Self test result- "
- "Gyro passed = %x, Accel passed = %x\n",
- (self_test_status & GYRO_PASS_STATUS_BIT),
- (self_test_status & ACCEL_PASS_STATUS_BIT) >> 1);
- }
- fclose(fptr);
-
- if (self_test_status & GYRO_PASS_STATUS_BIT) {
- // Read Gyro Bias
- if (read_sysfs_int(mpu.gyro_x_bias, &gyro_bias[0].i) < 0 ||
- read_sysfs_int(mpu.gyro_y_bias, &gyro_bias[1].i) < 0 ||
- read_sysfs_int(mpu.gyro_z_bias, &gyro_bias[2].i) < 0 ||
- read_sysfs_int(mpu.gyro_scale, &gyro_scale.i) < 0) {
- memset(gyro_bias, 0, sizeof(gyro_bias));
- gyro_scale.i = 0;
- printf("Self-Test:Failed to read Gyro bias\n");
- } else {
- save_data.gyro_accuracy = 3;
-#ifdef DEBUG_PRINT
- printf("Self-Test:Gyro bias[0..2] = [%d %d %d]\n",
- gyro_bias[0].i, gyro_bias[1].i, gyro_bias[2].i);
-#endif
- }
- } else {
- printf("Self-Test:Failed Gyro self-test\n");
- }
-
- if (self_test_status & ACCEL_PASS_STATUS_BIT) {
- // Read Accel Bias
- if (read_sysfs_int(mpu.accel_x_bias, &accel_bias[0].i) < 0 ||
- read_sysfs_int(mpu.accel_y_bias, &accel_bias[1].i) < 0 ||
- read_sysfs_int(mpu.accel_z_bias, &accel_bias[2].i) < 0 ||
- read_sysfs_int(mpu.accel_scale, &accel_scale.i) < 0) {
- memset(accel_bias, 0, sizeof(accel_bias));
- accel_scale.i = 0;
- printf("Self-Test:Failed to read Accel bias\n");
- } else {
- save_data.accel_accuracy = 3;
-#ifdef DEBUG_PRINT
- printf("Self-Test:Accel bias[0..2] = [%d %d %d]\n",
- accel_bias[0].i, accel_bias[1].i, accel_bias[2].i);
-#endif
- }
- } else {
- printf("Self-Test:Failed Accel self-test\n");
- }
-
- if (!(self_test_status & (GYRO_PASS_STATUS_BIT | ACCEL_PASS_STATUS_BIT))) {
- printf("Self-Test:Failed Gyro and Accel self-test, "
- "nothing left to do\n");
- result = -1;
- goto restore_settings;
- }
-
- // Read temperature
- fptr = fopen(mpu.temperature, "r");
- if (fptr != NULL) {
- fscanf(fptr,"%lld %ld", &temperature, ×tamp);
- fclose(fptr);
- } else {
- printf("Self-Test:ERR-Couldn't read temperature\n");
- }
-
- /*
- When we read gyro bias from sysfs, the bias is in the raw units scaled by
- 1000 at the full scale used during self-test
- (in_anglvel_self_test_scale).
- We store the biases in raw units (+/- 2000 dps full scale assumed)
- scaled by 2^16 therefore the gyro_bias[] have to be divided by the
- ratio of 2000 / gyro_scale to comply.
- */
- scale_ratio = 2000 / gyro_scale.i;
- save_data.factory_gyro_bias[0] =
- (long)(gyro_bias[0].l / 1000.f * 65536.f / scale_ratio);
- save_data.factory_gyro_bias[1] =
- (long)(gyro_bias[1].l / 1000.f * 65536.f / scale_ratio);
- save_data.factory_gyro_bias[2] =
- (long)(gyro_bias[2].l / 1000.f * 65536.f / scale_ratio);
-
- // Save temperature @ time stored.
- // Temperature is in degrees Celsius scaled by 2^16
- save_data.gyro_temp = temperature * (1L << 16);
- save_data.gyro_bias_tc_set = true;
- save_data.accel_temp = save_data.gyro_temp;
-
- // When we read accel bias, the bias is in raw units scaled by 1000.
- // and it contains the gravity vector.
- // Find the orientation of the device, by looking for gravity
- int axis = 0;
- if (ABS(accel_bias[1].l) > ABS(accel_bias[0].l)) {
- axis = 1;
- }
- if (ABS(accel_bias[2].l) > ABS(accel_bias[axis].l)) {
- axis = 2;
- }
- if (accel_bias[axis].l < 0) {
- axis_sign = -1;
- }
-
- // Convert scaling from raw units scaled by 1000 to raw scaled by 2^16
- /*
- When we read accel bias from sysfs, the bias is in the raw units scaled
- by 1000 at the full scale used during self-test
- (in_accel_self_test_scale).
- We store the biases in raw units (+/- 2 gee full scale assumed)
- scaled by 2^16 therefore the accel_bias[] have to be multipled by the
- ratio of accel_scale / 2 to comply.
- */
- scale_ratio = accel_scale.i / 2;
- save_data.accel_bias[0] =
- (long)(accel_bias[0].l / 1000.f * 65536.f * scale_ratio);
- save_data.accel_bias[1] =
- (long)(accel_bias[1].l / 1000.f * 65536.f * scale_ratio);
- save_data.accel_bias[2] =
- (long)(accel_bias[2].l / 1000.f * 65536.f * scale_ratio);
-
-#ifdef DEBUG_PRINT
- printf("Self-Test:Saved Accel bias[0..2] = [%ld %ld %ld]\n",
- save_data.accel_bias[0], save_data.accel_bias[1],
- save_data.accel_bias[2]);
-#endif
-
- /*
- Remove gravity, gravity in raw units should be 16384 = 2^14 for a +/-
- 2 gee setting. The data has been saved in Hw units scaled to 2^16,
- so gravity needs to scale up accordingly.
- */
- long gravity = axis_sign * 16384L * 65536L;
-#ifdef DEBUG_PRINT
- printf("Self-Test:Gravity = %ld\n", gravity);
-#endif
- save_data.accel_bias[axis] -= gravity;
-
- printf("Self-Test:Saved Accel bias (gravity removed) [0..2] = "
- "[%ld %ld %ld]\n",
- save_data.accel_bias[0], save_data.accel_bias[1],
- save_data.accel_bias[2]);
- printf("Self-Test:Saved Gyro bias[0..2] = [%ld %ld %ld]\n",
- save_data.factory_gyro_bias[0], save_data.factory_gyro_bias[1],
- save_data.factory_gyro_bias[2]);
- printf("Self-Test:Gyro temperature @ time stored %ld\n",
- save_data.gyro_temp);
- printf("Self-Test:Accel temperature @ time stored %ld\n",
- save_data.accel_temp);
-
- // Get size of packet to store.
- inv_get_mpl_state_size(&packet_sz);
-
- // Create place to store data
- buffer = (unsigned char *)malloc(packet_sz + 10);
- if (buffer == NULL) {
- printf("Self-Test:Can't allocate buffer\n");
- result = -1;
- goto free_sysfs_storage;
- }
-
- // Store the data
- result = inv_save_mpl_states(buffer, packet_sz);
- if (result) {
- result = -1;
- } else {
- fptr = fopen(MLCAL_FILE, "wb+");
- if (fptr != NULL) {
- fwrite(buffer, 1, packet_sz, fptr);
- fclose(fptr);
- } else {
- printf("Self-Test:ERR- Can't open calibration file to write - %s\n",
- MLCAL_FILE);
- result= -1;
- }
- }
-
- free(buffer);
-
-restore_settings:
- if (write_sysfs_int(mpu.dmp_on, mpu.dmp_on_value) < 0) {
- printf("Self-Test:ERR-Failed to restore dmp_on\n");
- }
- if (write_sysfs_int(mpu.accel_enable, mpu.accel_enable_value) < 0) {
- printf("Self-Test:ERR-Failed to restore accel_enable\n");
- }
- if (write_sysfs_int(mpu.gyro_enable, mpu.gyro_enable_value) < 0) {
- printf("Self-Test:ERR-Failed to restore gyro_enable\n");
- }
- if (compass_present) {
- if (write_sysfs_int(mpu.compass_enable, mpu.compass_enable_value) < 0) {
- printf("Self-Test:ERR-Failed to restore compass_enable\n");
- }
- }
- if (write_sysfs_int(mpu.enable, mpu.enable_value) < 0) {
- printf("Self-Test:ERR-Failed to restore buffer/enable\n");
- }
- if (write_sysfs_int(mpu.power_state, mpu.power_state_value) < 0) {
- printf("Self-Test:ERR-Failed to restore power_state\n");
- }
-
-free_sysfs_storage:
- free(sysfs_names_ptr);
- return result;
-}
-
diff --git a/65xx/libsensors_iio/software/simple_apps/stress_iio/README b/65xx/libsensors_iio/software/simple_apps/stress_iio/README
deleted file mode 100755
index eea7588..0000000
--- a/65xx/libsensors_iio/software/simple_apps/stress_iio/README
+++ /dev/null
@@ -1,27 +0,0 @@
-Usage of inv_stress_iio:
-
-> inv_stress_iio:
- this will run enable and disable sequence sequentially.
- In the enable sequence, this will enable all the engines, output, and all dmp
- events.
- In the disable sequence, this will disable all but accel engine; all outputs
- are disabled, only events are allowed.
-
-> inv_stress_iio -e 10 -d 1:
- this set the enable sequence to 10 seconds and disable sequence for 1 seconds.
-
-> inv_stress_iio -c:
- this includes the compass in the enable sequence when you have 9150 or other
- secondary bus compass. It won't work for compasses on the primary bus.
-
-> inv_stress_iio -r:
- this set the enable and disable sequences to last a random time. It is good
- for stress test.
-
-> inv_stress_iio -m:
- this enables motion interrupt during the disable sequence.
- When this is enabled, the driver enters low power accel mode and disables all
- other sensor output (including quaternion, gyro, accel, and compass.) in the
- disabled sequence:
-
-
diff --git a/65xx/libsensors_iio/software/simple_apps/stress_iio/build/android/shared.mk b/65xx/libsensors_iio/software/simple_apps/stress_iio/build/android/shared.mk
deleted file mode 100755
index fe844a5..0000000
--- a/65xx/libsensors_iio/software/simple_apps/stress_iio/build/android/shared.mk
+++ /dev/null
@@ -1,94 +0,0 @@
-EXEC = inv_stress_iio$(SHARED_APP_SUFFIX)
-
-MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
-
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
-COMP ?= $(CROSS)gcc
-LINK ?= $(CROSS)gcc
-
-OBJFOLDER = $(CURDIR)/obj
-
-INV_ROOT = ../../../../..
-APP_DIR = $(CURDIR)/../..
-MLLITE_DIR = $(INV_ROOT)/software/core/mllite
-MPL_DIR = $(INV_ROOT)/software/core/mpl
-
-include $(INV_ROOT)/software/build/android/common.mk
-
-CFLAGS += $(CMDLINE_CFLAGS)
-CFLAGS += $(ANDROID_COMPILE)
-CFLAGS += -Wall
-CFLAGS += -fpic
-CFLAGS += -nostdlib
-CFLAGS += -DNDEBUG
-CFLAGS += -D_REENTRANT
-CFLAGS += -DLINUX
-CFLAGS += -DANDROID
-CFLAGS += -mthumb-interwork
-CFLAGS += -fno-exceptions
-CFLAGS += -ffunction-sections
-CFLAGS += -funwind-tables
-CFLAGS += -fstack-protector
-CFLAGS += -fno-short-enums
-CFLAGS += -fmessage-length=0
-CFLAGS += -I$(MLLITE_DIR)
-CFLAGS += -I$(MPL_DIR)
-CFLAGS += $(INV_INCLUDES)
-CFLAGS += $(INV_DEFINES)
-
-LLINK = -lc
-LLINK += -lm
-LLINK += -lutils
-LLINK += -lcutils
-LLINK += -lgcc
-LLINK += -ldl
-LLINK += -lstdc++
-LLINK += -llog
-LLINK += -lz
-
-LFLAGS += $(CMDLINE_LFLAGS)
-LFLAGS += $(ANDROID_LINK_EXECUTABLE)
-
-LRPATH = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
-
-####################################################################################################
-## sources
-
-INV_LIBS = $(MPL_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MPL_LIB_NAME).$(SHARED_LIB_EXT)
-INV_LIBS += $(MLLITE_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MLLITE_LIB_NAME).$(SHARED_LIB_EXT)
-
-#INV_SOURCES and VPATH provided by Makefile.filelist
-include ../filelist.mk
-
-INV_OBJS := $(addsuffix .o,$(INV_SOURCES))
-INV_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(INV_SOURCES))))
-
-####################################################################################################
-## rules
-
-.PHONY: all clean cleanall install
-
-all: $(EXEC) $(MK_NAME)
-
-$(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
- @$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
- $(LINK) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
-
-$(OBJFOLDER) :
- @$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
- mkdir obj
-
-$(INV_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c $(MK_NAME)
- @$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
- $(COMP) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(INV_INCLUDES) $(CFLAGS) -o $@ -c $<
-
-clean :
- rm -fR $(OBJFOLDER)
-
-cleanall :
- rm -fR $(EXEC) $(OBJFOLDER)
-
-install : $(EXEC)
- cp -f $(EXEC) $(INSTALL_DIR)
-
-
diff --git a/65xx/libsensors_iio/software/simple_apps/stress_iio/build/filelist.mk b/65xx/libsensors_iio/software/simple_apps/stress_iio/build/filelist.mk
deleted file mode 100755
index f201fbb..0000000
--- a/65xx/libsensors_iio/software/simple_apps/stress_iio/build/filelist.mk
+++ /dev/null
@@ -1,12 +0,0 @@
-#### filelist.mk for stress_iio ####
-
-# headers
-#HEADERS += $(HAL_DIR)/include/inv_sysfs_utils.h
-HEADERS += $(APP_DIR)/iio_utils.h
-
-# sources
-SOURCES := $(APP_DIR)/stress_iio.c
-
-INV_SOURCES += $(SOURCES)
-
-VPATH += $(APP_DIR) $(COMMON_DIR) $(HAL_DIR)/linux
diff --git a/65xx/libsensors_iio/software/simple_apps/stress_iio/iio_utils.h b/65xx/libsensors_iio/software/simple_apps/stress_iio/iio_utils.h
deleted file mode 100755
index 0d46b9f..0000000
--- a/65xx/libsensors_iio/software/simple_apps/stress_iio/iio_utils.h
+++ /dev/null
@@ -1,651 +0,0 @@
-/* IIO - useful set of util functionality
- *
- * Copyright (c) 2008 Jonathan Cameron
- *
- * This program is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 2 as published by
- * the Free Software Foundation.
- */
-
-/* Made up value to limit allocation sizes */
-#include <string.h>
-#include <stdlib.h>
-#include <ctype.h>
-#include <stdio.h>
-#include <stdint.h>
-#include <dirent.h>
-
-#define IIO_MAX_NAME_LENGTH 30
-
-#define FORMAT_SCAN_ELEMENTS_DIR "%s/scan_elements"
-#define FORMAT_TYPE_FILE "%s_type"
-
-const char *iio_dir = "/sys/bus/iio/devices/";
-
-/**
- * iioutils_break_up_name() - extract generic name from full channel name
- * @full_name: the full channel name
- * @generic_name: the output generic channel name
- **/
-static int iioutils_break_up_name(const char *full_name,
- char **generic_name)
-{
- char *current;
- char *w, *r;
- char *working;
- current = strdup(full_name);
- working = strtok(current, "_\0");
- w = working;
- r = working;
-
- while (*r != '\0') {
- if (!isdigit(*r)) {
- *w = *r;
- w++;
- }
- r++;
- }
- *w = '\0';
- *generic_name = strdup(working);
- free(current);
-
- return 0;
-}
-
-/**
- * struct iio_channel_info - information about a given channel
- * @name: channel name
- * @generic_name: general name for channel type
- * @scale: scale factor to be applied for conversion to si units
- * @offset: offset to be applied for conversion to si units
- * @index: the channel index in the buffer output
- * @bytes: number of bytes occupied in buffer output
- * @mask: a bit mask for the raw output
- * @is_signed: is the raw value stored signed
- * @enabled: is this channel enabled
- **/
-struct iio_channel_info {
- char *name;
- char *generic_name;
- float scale;
- float offset;
- unsigned index;
- unsigned bytes;
- unsigned bits_used;
- unsigned shift;
- uint64_t mask;
- unsigned be;
- unsigned is_signed;
- unsigned enabled;
- unsigned location;
-};
-
-/**
- * iioutils_get_type() - find and process _type attribute data
- * @is_signed: output whether channel is signed
- * @bytes: output how many bytes the channel storage occupies
- * @mask: output a bit mask for the raw data
- * @be: big endian
- * @device_dir: the iio device directory
- * @name: the channel name
- * @generic_name: the channel type name
- **/
-inline int iioutils_get_type(unsigned *is_signed,
- unsigned *bytes,
- unsigned *bits_used,
- unsigned *shift,
- uint64_t *mask,
- unsigned *be,
- const char *device_dir,
- const char *name,
- const char *generic_name)
-{
- FILE *sysfsfp;
- int ret;
- DIR *dp;
- char *scan_el_dir, *builtname, *builtname_generic, *filename = 0;
- char signchar, endianchar;
- unsigned padint;
- const struct dirent *ent;
-
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- ret = asprintf(&builtname, FORMAT_TYPE_FILE, name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_scan_el_dir;
- }
- ret = asprintf(&builtname_generic, FORMAT_TYPE_FILE, generic_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_builtname;
- }
-
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_builtname_generic;
- }
- while (ent = readdir(dp), ent != NULL)
- /*
- * Do we allow devices to override a generic name with
- * a specific one?
- */
- if ((strcmp(builtname, ent->d_name) == 0) ||
- (strcmp(builtname_generic, ent->d_name) == 0)) {
- ret = asprintf(&filename,
- "%s/%s", scan_el_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_closedir;
- }
- sysfsfp = fopen(filename, "r");
- if (sysfsfp == NULL) {
- printf("failed to open %s\n", filename);
- ret = -errno;
- goto error_free_filename;
- }
-
- ret = fscanf(sysfsfp,
- "%ce:%c%u/%u>>%u",
- &endianchar,
- &signchar,
- bits_used,
- &padint, shift);
- if (ret < 0) {
- printf("failed to pass scan type description\n");
- return ret;
- }
- *be = (endianchar == 'b');
- *bytes = padint / 8;
- if (*bits_used == 64)
- *mask = ~0;
- else
- *mask = (1 << *bits_used) - 1;
- if (signchar == 's')
- *is_signed = 1;
- else
- *is_signed = 0;
- fclose(sysfsfp);
- free(filename);
-
- filename = 0;
- }
-error_free_filename:
- if (filename)
- free(filename);
-error_closedir:
- closedir(dp);
-error_free_builtname_generic:
- free(builtname_generic);
-error_free_builtname:
- free(builtname);
-error_free_scan_el_dir:
- free(scan_el_dir);
-error_ret:
- return ret;
-}
-
-inline int iioutils_get_param_float(float *output,
- const char *param_name,
- const char *device_dir,
- const char *name,
- const char *generic_name)
-{
- FILE *sysfsfp;
- int ret;
- DIR *dp;
- char *builtname, *builtname_generic;
- char *filename = NULL;
- const struct dirent *ent;
-
- ret = asprintf(&builtname, "%s_%s", name, param_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- ret = asprintf(&builtname_generic,
- "%s_%s", generic_name, param_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_builtname;
- }
- dp = opendir(device_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_builtname_generic;
- }
- while (ent = readdir(dp), ent != NULL)
- if ((strcmp(builtname, ent->d_name) == 0) ||
- (strcmp(builtname_generic, ent->d_name) == 0)) {
- ret = asprintf(&filename,
- "%s/%s", device_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_closedir;
- }
- sysfsfp = fopen(filename, "r");
- if (!sysfsfp) {
- ret = -errno;
- goto error_free_filename;
- }
- fscanf(sysfsfp, "%f", output);
- break;
- }
-error_free_filename:
- if (filename)
- free(filename);
-error_closedir:
- closedir(dp);
-error_free_builtname_generic:
- free(builtname_generic);
-error_free_builtname:
- free(builtname);
-error_ret:
- return ret;
-}
-
-/**
- * bsort_channel_array_by_index() - reorder so that the array is in index order
- *
- **/
-
-inline void bsort_channel_array_by_index(struct iio_channel_info **ci_array,
- int cnt)
-{
-
- struct iio_channel_info temp;
- int x, y;
-
- for (x = 0; x < cnt; x++)
- for (y = 0; y < (cnt - 1); y++)
- if ((*ci_array)[y].index > (*ci_array)[y+1].index) {
- temp = (*ci_array)[y + 1];
- (*ci_array)[y + 1] = (*ci_array)[y];
- (*ci_array)[y] = temp;
- }
-}
-
-/**
- * build_channel_array() - function to figure out what channels are present
- * @device_dir: the IIO device directory in sysfs
- * @
- **/
-inline int build_channel_array(const char *device_dir,
- struct iio_channel_info **ci_array,
- int *counter)
-{
- DIR *dp;
- FILE *sysfsfp;
- int count, i;
- struct iio_channel_info *current;
- int ret;
- const struct dirent *ent;
- char *scan_el_dir;
- char *filename;
-
- *counter = 0;
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_name;
- }
- while (ent = readdir(dp), ent != NULL)
- if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
- "_en") == 0) {
- ret = asprintf(&filename,
- "%s/%s", scan_el_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_close_dir;
- }
- sysfsfp = fopen(filename, "r");
- if (sysfsfp == NULL) {
- ret = -errno;
- free(filename);
- goto error_close_dir;
- }
- fscanf(sysfsfp, "%u", &ret);
- printf("%s, %d\n", filename, ret);
- if (ret == 1)
- (*counter)++;
- fclose(sysfsfp);
- free(filename);
- }
- *ci_array = malloc(sizeof(**ci_array) * (*counter));
- if (*ci_array == NULL) {
- ret = -ENOMEM;
- goto error_close_dir;
- }
- closedir(dp);
- dp = opendir(scan_el_dir);
- //seekdir(dp, 0);
- count = 0;
- while (ent = readdir(dp), ent != NULL) {
- if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
- "_en") == 0) {
- current = &(*ci_array)[count++];
- ret = asprintf(&filename,
- "%s/%s", scan_el_dir, ent->d_name);
- if (ret < 0) {
- ret = -ENOMEM;
- /* decrement count to avoid freeing name */
- count--;
- goto error_cleanup_array;
- }
- sysfsfp = fopen(filename, "r");
- if (sysfsfp == NULL) {
- free(filename);
- ret = -errno;
- goto error_cleanup_array;
- }
- fscanf(sysfsfp, "%u", ¤t->enabled);
- fclose(sysfsfp);
-
- if (!current->enabled) {
- free(filename);
- count--;
- continue;
- }
-
- current->scale = 1.0;
- current->offset = 0;
- current->name = strndup(ent->d_name,
- strlen(ent->d_name) -
- strlen("_en"));
- if (current->name == NULL) {
- free(filename);
- ret = -ENOMEM;
- goto error_cleanup_array;
- }
- /* Get the generic and specific name elements */
- ret = iioutils_break_up_name(current->name,
- ¤t->generic_name);
- if (ret) {
- free(filename);
- goto error_cleanup_array;
- }
- ret = asprintf(&filename,
- "%s/%s_index",
- scan_el_dir,
- current->name);
- if (ret < 0) {
- free(filename);
- ret = -ENOMEM;
- goto error_cleanup_array;
- }
- sysfsfp = fopen(filename, "r");
- fscanf(sysfsfp, "%u", ¤t->index);
- fclose(sysfsfp);
- free(filename);
- /* Find the scale */
- ret = iioutils_get_param_float(¤t->scale,
- "scale",
- device_dir,
- current->name,
- current->generic_name);
- if (ret < 0)
- goto error_cleanup_array;
- ret = iioutils_get_param_float(¤t->offset,
- "offset",
- device_dir,
- current->name,
- current->generic_name);
- if (ret < 0)
- goto error_cleanup_array;
- ret = iioutils_get_type(¤t->is_signed,
- ¤t->bytes,
- ¤t->bits_used,
- ¤t->shift,
- ¤t->mask,
- ¤t->be,
- device_dir,
- current->name,
- current->generic_name);
- }
- }
-
- closedir(dp);
- /* reorder so that the array is in index order */
- bsort_channel_array_by_index(ci_array, *counter);
-
- return 0;
-
-error_cleanup_array:
- for (i = count - 1; i >= 0; i--)
- free((*ci_array)[i].name);
- free(*ci_array);
-error_close_dir:
- closedir(dp);
-error_free_name:
- free(scan_el_dir);
-error_ret:
- return ret;
-}
-
-inline int _write_sysfs_int(char *filename, char *basedir, int val, int verify)
-{
- int ret;
- FILE *sysfsfp;
- int test;
- //char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- char temp[200];
- ret = 0;
- if (temp == NULL)
- return -ENOMEM;
- sprintf(temp, "%s/%s", basedir, filename);
- sysfsfp = fopen(temp, "w");
- if (sysfsfp == NULL) {
- printf("failed to open write %s\n", temp);
- ret = -errno;
- printf("ERROR1=%d\n", ret);
- while(1);
- goto error_free;
- }
- fprintf(sysfsfp, "%d", val);
- fclose(sysfsfp);
- if (verify) {
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- printf("failed to open read %s\n", temp);
- ret = -errno;
- printf("ERROR2=%d\n", ret);
- while(1);
- goto error_free;
- }
- fscanf(sysfsfp, "%d", &test);
- if (test != val) {
- printf("Possible failure in int write %d to %s%s\n",
- val,
- basedir,
- filename);
- ret = -1;
- }
- }
-error_free:
- fclose(sysfsfp);
- //free(temp);
- return ret;
-}
-
-int write_sysfs_int(char *filename, char *basedir, int val)
-{
- return _write_sysfs_int(filename, basedir, val, 0);
-}
-
-int write_sysfs_int_and_verify(char *filename, char *basedir, int val)
-{
- printf("echo %d > %s/%s\n", val, basedir, filename);
- return _write_sysfs_int(filename, basedir, val, 1);
-}
-
-int _write_sysfs_string(char *filename, char *basedir, char *val, int verify)
-{
- int ret = 0;
- FILE *sysfsfp;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL) {
- printf("Memory allocation failed\n");
- return -ENOMEM;
- }
- sprintf(temp, "%s/%s", basedir, filename);
- sysfsfp = fopen(temp, "w");
- if (sysfsfp == NULL) {
- printf("Could not open %s\n", temp);
- ret = -errno;
- goto error_free;
- }
- fprintf(sysfsfp, "%s", val);
- fclose(sysfsfp);
- if (verify) {
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- printf("could not open file to verify\n");
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%s", temp);
- if (strcmp(temp, val) != 0) {
- printf("Possible failure in string write of %s "
- "Should be %s "
- "written to %s\%s\n",
- temp,
- val,
- basedir,
- filename);
- ret = -1;
- }
- }
-error_free:
- free(temp);
-
- return ret;
-}
-
-/**
- * write_sysfs_string_and_verify() - string write, readback and verify
- * @filename: name of file to write to
- * @basedir: the sysfs directory in which the file is to be found
- * @val: the string to write
- **/
-int write_sysfs_string_and_verify(char *filename, char *basedir, char *val)
-{
- return _write_sysfs_string(filename, basedir, val, 1);
-}
-
-int write_sysfs_string(char *filename, char *basedir, char *val)
-{
- return _write_sysfs_string(filename, basedir, val, 0);
-}
-
-int read_sysfs_posint(char *filename, char *basedir)
-{
- int ret;
- FILE *sysfsfp;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL) {
- printf("Memory allocation failed");
- return -ENOMEM;
- }
- sprintf(temp, "%s/%s", basedir, filename);
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%d\n", &ret);
- fclose(sysfsfp);
-error_free:
- free(temp);
- return ret;
-}
-
-int read_sysfs_float(char *filename, char *basedir, float *val)
-{
- float ret = 0;
- FILE *sysfsfp;
- char *temp = malloc(strlen(basedir) + strlen(filename) + 2);
- if (temp == NULL) {
- printf("Memory allocation failed");
- return -ENOMEM;
- }
- sprintf(temp, "%s/%s", basedir, filename);
- sysfsfp = fopen(temp, "r");
- if (sysfsfp == NULL) {
- ret = -errno;
- goto error_free;
- }
- fscanf(sysfsfp, "%f\n", val);
- fclose(sysfsfp);
-error_free:
- free(temp);
- return ret;
-}
-int enable(const char *device_dir,
- struct iio_channel_info **ci_array,
- int *counter)
-{
- DIR *dp;
- int ret;
- const struct dirent *ent;
- char *scan_el_dir;
-
- *counter = 0;
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_name;
- }
- while (ent = readdir(dp), ent != NULL)
- if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"),
- "_en") == 0) {
- write_sysfs_int_and_verify((char *)ent->d_name, scan_el_dir, 1);
- }
- return 0;
-error_ret:
-error_free_name:
- return -1;
-}
-int disable_q_out(const char *device_dir,
- struct iio_channel_info **ci_array,
- int *counter) {
- DIR *dp;
- int ret;
- const struct dirent *ent;
- char *scan_el_dir;
-
- *counter = 0;
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- dp = opendir(scan_el_dir);
- if (dp == NULL) {
- ret = -errno;
- goto error_free_name;
- }
- while (ent = readdir(dp), ent != NULL)
- if (strncmp(ent->d_name, "in_quaternion", strlen("in_quaternion")) == 0) {
- write_sysfs_int_and_verify((char *)ent->d_name, scan_el_dir, 0);
- }
- return 0;
-error_ret:
-error_free_name:
- return -1;
-
-}
-
diff --git a/65xx/libsensors_iio/software/simple_apps/stress_iio/stress_iio.c b/65xx/libsensors_iio/software/simple_apps/stress_iio/stress_iio.c
deleted file mode 100755
index 82badc2..0000000
--- a/65xx/libsensors_iio/software/simple_apps/stress_iio/stress_iio.c
+++ /dev/null
@@ -1,963 +0,0 @@
-/* Industrialio buffer test code.
- *
- * Copyright (c) 2012 Invensense Inc.
- *
- * This program is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 2 as published by
- * the Free Software Foundation.
- *
- * Command line parameters
- * stress_iio -d time1 -e time2
- */
-
-#include <unistd.h>
-#include <dirent.h>
-#include <fcntl.h>
-#include <stdio.h>
-#include <errno.h>
-#include <sys/stat.h>
-#include <dirent.h>
-#include <linux/types.h>
-#include <string.h>
-#include <poll.h>
-#include <pthread.h>
-#include "iio_utils.h"
-#include "ml_load_dmp.h"
-#include "ml_sysfs_helper.h"
-#include "authenticate.h"
-
-pthread_mutex_t data_switch_lock = PTHREAD_MUTEX_INITIALIZER;
-
-static int has_compass = 0;
-static int has_pressure = 0;
-static int enable_random_delay = 0;
-static int enable_delay = 10;
-static int disable_delay = 10;
-static int enable_motion_on = 0;
-static int final_output_rate;
-static int first_flag;
-static char dmp_path[200];
-
-static int dev_num;
-static char *dev_dir_name;
-static char *buf_dir_name;
-static char *scan_el_dir;
-static int gyro_data_is_enabled, accel_data_is_enabled, compass_data_is_enabled, quaternion_data_is_enabled;
-static int accel_engine_is_on;
-
-struct dmp_struct {
- char fname[100];
- void (*action)(struct dmp_struct *, int);
-};
-
-static void HandleTap(struct dmp_struct *dmp, int tap);
-static void sipmle_print(struct dmp_struct *dmp, int d){
- printf("%s:%d\n", dmp->fname, d);
-}
-
-static void handle_smd() {
- printf("write wake lock for SMD\n");
- write_sysfs_string_and_verify("wake_lock", "/sys/power/", "hack");
-}
-
-static void pedo_print()
-{
- printf("steps=%d, time=%d\n",
- read_sysfs_posint("pedometer_steps", dev_dir_name),
- read_sysfs_posint("pedometer_time", dev_dir_name));
-}
-
-struct dmp_struct event_file[] = {
-#if 0
- {
- .fname = "event_tap",
- .action = HandleTap,
- },
-#endif
- {
- .fname = "event_display_orientation",
- .action = sipmle_print,
- },
- {
- .fname = "event_smd",
- .action = handle_smd,
- },
- {
- .fname = "event_accel_motion",
- .action = sipmle_print,
- },
- {
- .fname = "event_pedometer",
- .action = pedo_print,
- },
-};
-
-static void HandleTap(struct dmp_struct *dmp, int tap)
-{
- int tap_dir = tap/8;
- int tap_num = tap%8 + 1;
-
- switch (tap_dir) {
- case 1:
- printf("INV_TAP_AXIS_X_POS\n");
- break;
- case 2:
- printf("INV_TAP_AXIS_X_NEG\n");
- break;
- case 3:
- printf("INV_TAP_AXIS_Y_POS\n");
- break;
- case 4:
- printf("INV_TAP_AXIS_Y_NEG\n");
- break;
- case 5:
- printf("INV_TAP_AXIS_Z_POS\n");
- break;
- case 6:
- printf("INV_TAP_AXIS_Z_NEG\n");
- break;
- default:
- break;
- }
- printf("Tap number: %d\n", tap_num);
-}
-#define DMP_CODE_SIZE 2799
-static char dmp_img[DMP_CODE_SIZE];
-static void verify_img(){
- FILE *fp;
- int i;
- char dmp_path[] = "/sys/bus/iio/devices/iio:device0/dmp_firmware";
-
- printf("saving image\n");
- if ((fp = fopen(dmp_path, "rb")) < 0 ) {
- perror("dmp fail");
- }
-
- i = fread(dmp_img, 1, DMP_CODE_SIZE, fp);
- printf("Result=%d\n", i);
- fclose(fp);
- fp = fopen("/dev/read_img.h", "wt");
- fprintf(fp, "unsigned char rec[]={\n");
- for(i=0; i<DMP_CODE_SIZE; i++) {
- fprintf(fp, "0x%02x, ", dmp_img[i]);
- //printf( "0x%02x, ", dmp_img[i]);
- if(((i+1)%16) == 0) {
- fprintf(fp, "\n");
- //printf("\n");
- }
- }
- fprintf(fp, "};\n ");
- fclose(fp);
- printf("saving image Done\n");
-}
-
-static void inv_set_rate()
-{
- int ret;
-
- printf("set rate \n");
- ret = write_sysfs_int_and_verify("accel_rate", dev_dir_name, 15);
- ret = write_sysfs_int_and_verify("gyro_rate", dev_dir_name, 10);
- ret = write_sysfs_int_and_verify("compass_rate", dev_dir_name, 5);
- ret = write_sysfs_int_and_verify("pressure_rate", dev_dir_name, 5);
- ret = write_sysfs_int_and_verify("ped_q_rate", dev_dir_name, 5);
- ret = write_sysfs_int_and_verify("six_axes_q_rate", dev_dir_name, 5);
- ret = write_sysfs_int_and_verify("three_axes_q_rate", dev_dir_name, 5);
-}
-
-
-static int setup_offset_and_bias()
-{
- int ret;
-
- ret = write_sysfs_int_and_verify("in_accel_x_offset", dev_dir_name, 0);
- if (ret < 0)
- printf("write accel x offset failed.\n");
- ret = write_sysfs_int_and_verify("in_accel_y_offset", dev_dir_name, 0);
- if (ret < 0)
- printf("write accel y offset failed.\n");
- ret = write_sysfs_int_and_verify("in_accel_z_offset", dev_dir_name, 0);
- if (ret < 0)
- printf("write accel z offset failed.\n");
-
- ret = write_sysfs_int_and_verify("in_anglvel_x_offset", dev_dir_name, 0);
- if (ret < 0)
- printf("write accel x offset failed.\n");
- ret = write_sysfs_int_and_verify("in_anglvel_y_offset", dev_dir_name, 0);
- if (ret < 0)
- printf("write accel y offset failed.\n");
- ret = write_sysfs_int_and_verify("in_anglvel_z_offset", dev_dir_name, 0);
- if (ret < 0)
- printf("write accel z offset failed.\n");
-
- ret = write_sysfs_int_and_verify("in_accel_x_dmp_bias", dev_dir_name, 0);
- if (ret < 0)
- printf("write accel x offset failed.\n");
- ret = write_sysfs_int_and_verify("in_accel_y_dmp_bias", dev_dir_name, 0);
- if (ret < 0)
- printf("write accel y offset failed.\n");
- ret = write_sysfs_int_and_verify("in_accel_z_dmp_bias", dev_dir_name, 0);
- if (ret < 0)
- printf("write accel z offset failed.\n");
-
- ret = write_sysfs_int_and_verify("in_anglvel_x_dmp_bias", dev_dir_name, 0);
- if (ret < 0)
- printf("write gyro x offset failed.\n");
- ret = write_sysfs_int_and_verify("in_anglvel_y_dmp_bias", dev_dir_name, 0);
- if (ret < 0)
- printf("write gyro y offset failed.\n");
- ret = write_sysfs_int_and_verify("in_anglvel_z_dmp_bias", dev_dir_name, 0);
- if (ret < 0)
- printf("write gyro z offset failed.\n");
-
- return 0;
-}
-
-static void setup_dmp(char *dev_path){
- char sysfs_path[200];
- int ret;
- FILE *fd;
- sprintf(sysfs_path, "%s", dev_path);
- printf("sysfs: %s\n", sysfs_path);
- ret = write_sysfs_int_and_verify("power_state", sysfs_path, 1);
- if (ret < 0)
- return;
-
- ret = write_sysfs_int("in_accel_scale", dev_path, 0);
- if (ret < 0)
- return;
- ret = write_sysfs_int("in_anglvel_scale", dev_path, 3);
- if (ret < 0)
- return;
- ret = write_sysfs_int("sampling_frequency", sysfs_path, 200);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("firmware_loaded", sysfs_path, 0);
- if (ret < 0)
- return;
- sprintf(dmp_path, "%s/dmp_firmware", dev_path);
- if ((fd = fopen(dmp_path, "wb")) < 0 ) {
- perror("dmp fail");
- }
- inv_load_dmp(fd);
- fclose(fd);
- printf("firmware_loaded=%d\n", read_sysfs_posint("firmware_loaded", sysfs_path));
- ret = write_sysfs_int_and_verify("dmp_on", sysfs_path, 1);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("dmp_int_on", sysfs_path, 1);
- if (ret < 0)
- return;
- /* selelct which event to enable and interrupt on/off here */
- //enable_glu(sysfs_path, 0);
- //ret = write_sysfs_int_and_verify("tap_on", sysfs_path, 0);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("display_orientation_on", sysfs_path, 1);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("pedometer_int_on", sysfs_path, 0);
- ret = write_sysfs_int_and_verify("pedometer_on", sysfs_path, 1);
-
- ret = write_sysfs_int_and_verify("dmp_event_int_on", sysfs_path, 1);
- if (ret < 0)
- return;
-
- ret = setup_offset_and_bias();
-
- return;
-}
-
-#if 0
-static char reg_dump_arr[2000];
-static int inv_do_reg_dump(void)
-{
- char reg_dump_name[100];
- int fd, i;
-
- sprintf(reg_dump_name, "%s/reg_dump", dev_dir_name);
- printf("%s\n", reg_dump_name);
- fd = open(reg_dump_name, O_RDONLY);
- pread(fd, reg_dump_arr, 2000, 0);
- close(fd);
- for ( i = 0; i < 2000; i++) {
- printf("%c", reg_dump_arr[i]);
- //if((i+1)%16 == 0)
- //printf("\n");
- }
- return 0;
-}
-#endif
-
-static void *get_dmp_event(void *param) {
- char file_name[100];
- int i;
- int data;
- char d[4];
- FILE *fp;
- struct pollfd pfd[ARRAY_SIZE(event_file)];
-
- printf("get DMP event: %s\n", dev_dir_name);
- while(1) {
- for (i = 0; i < ARRAY_SIZE(event_file); i++) {
- sprintf(file_name, "%s/%s", dev_dir_name, event_file[i].fname);
- pfd[i].fd = open(file_name, O_RDONLY | O_NONBLOCK);
- pfd[i].events = POLLPRI|POLLERR;
- pfd[i].revents = 0;
- read(pfd[i].fd, d, 4);
- }
-
- poll(pfd, ARRAY_SIZE(event_file), -1);
- for (i = 0; i < ARRAY_SIZE(event_file); i++) {
- close(pfd[i].fd);
- }
-
- for (i=0; i< ARRAY_SIZE(pfd); i++) {
- if(pfd[i].revents != 0) {
- sprintf(file_name, "%s/%s", dev_dir_name, event_file[i].fname);
- fp = fopen(file_name, "rt");
- fscanf(fp, "%d\n", &data);
- event_file[i].action(&event_file[i], data);
- }
- }
- }
-
- return 0;
-}
-
-static int enable_gyro(int on){
- int ret;
- ret = write_sysfs_int_and_verify("gyro_enable", dev_dir_name, on);
- if (ret < 0)
- printf("write gyro_enable failed\n");
-
- return ret;
-}
-
-static int enable_gyro_output(int on){
- int ret;
- gyro_data_is_enabled = on;
- ret = write_sysfs_int_and_verify("gyro_fifo_enable", dev_dir_name, on);
- if (ret < 0)
- printf("write gyro_fifo_enable failed\n");
-
- return ret;
-}
-
-static int enable_compass(int on){
- int ret;
-
- compass_data_is_enabled = on;
- ret = write_sysfs_int_and_verify("compass_enable", dev_dir_name, on);
- if (ret < 0)
- printf("write gyro_enable failed\n");
-
- return ret;
-}
-
-static int enable_pressure(int on){
- int ret;
-
- ret = write_sysfs_int_and_verify("pressure_enable", dev_dir_name, on);
- if (ret < 0)
- printf("write pressure_enable failed\n");
-
- return ret;
-}
-
-static int enable_quaternion(int on) {
- int ret;
- ret = write_sysfs_int_and_verify("ped_q_on", dev_dir_name, on);
- if (ret < 0)
- printf("write quaternion_on failed\n");
- ret = write_sysfs_int_and_verify("six_axes_q_on", dev_dir_name, on);
- if (ret < 0)
- printf("write quaternion_on failed\n");
- ret = write_sysfs_int_and_verify("three_axes_q_on", dev_dir_name, on);
- if (ret < 0)
- printf("write quaternion_on failed\n");
-
- return ret;
-}
-static int enable_step_detector(int on) {
- int ret;
-
- ret = write_sysfs_int_and_verify("step_detector_on", dev_dir_name, on);
- if (ret < 0)
- printf("write step detector on failed\n");
-}
-static int enable_step_indicator(int on) {
- int ret;
-
- ret = write_sysfs_int_and_verify("step_indicator_on", dev_dir_name, on);
- if (ret < 0)
- printf("write step indicator on failed\n");
-}
-
-static int enable_accel(int on){
- int ret;
- accel_data_is_enabled = on;
- accel_engine_is_on = on;
- ret = write_sysfs_int_and_verify("accel_enable", dev_dir_name, on);
- if (ret < 0)
- printf("write accel_enable failed\n");
- ret = write_sysfs_int_and_verify("accel_fifo_enable", dev_dir_name, on);
- if (ret < 0)
- printf("write accel_fifo_enable failed\n");
-
- return ret;
-}
-static int enable_accel_output(int on) {
- int ret;
- accel_data_is_enabled = on;
-
- ret = write_sysfs_int_and_verify("accel_fifo_enable", dev_dir_name, on);
- if (ret < 0)
- printf("write accel_fifo_enable failed\n");
-
- return ret;
-}
-
-static int enable_enable(int on){
- int ret;
-
- if (0 == on) {
- pthread_mutex_lock(&data_switch_lock);
- }
- if (on == 0) {
- ret = write_sysfs_int_and_verify("power_state", dev_dir_name, 1);
-
- if (ret < 0)
- printf("write power_state fail\n");
- ret = write_sysfs_int_and_verify("power_state", dev_dir_name, 1);
- if (ret < 0)
- printf("write power_state fail\n");
- }
- ret = write_sysfs_int_and_verify("enable", buf_dir_name, on);
- if (ret < 0)
- printf("write enable failed\n");
-
- if (on) {
- pthread_mutex_unlock(&data_switch_lock);
- }
-
- return 0;
-}
-static int write_dmp_event(int on) {
- int ret;
- ret = write_sysfs_int_and_verify("dmp_event_int_on", dev_dir_name, on);
- if (ret < 0)
- printf("write dmp_event_int_on failed\n");
- return 0;
-}
-
-static void random_delay(){
- int i;
- float bb;
-
- i = rand();
- bb = i * 200.0;
- i = 1 + (unsigned int)(bb/(RAND_MAX + 1.0));
- if (i%2) {
- printf("sleep %d ms\n", i);
- usleep(i*1000);
- } else {
- printf("sleep %d s\n", i);
- sleep(i);
- }
-
-}
-static void dmp_event_control(on){
- int ret;
-
- ret = 0;
-
- //ret = write_sysfs_int_and_verify("tap_on", dev_dir_name, on);
- ret = write_sysfs_int_and_verify("display_orientation_on", dev_dir_name, 1);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("smd_enable", dev_dir_name, 1);
- if (ret < 0)
- return;
- inv_set_rate();
-
- //ret = write_sysfs_int_and_verify("batchmode_wake_fifo_full_on", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("batchmode_timeout", dev_dir_name, 5000);
- //ret = write_sysfs_int_and_verify("batchmode_timeout", dev_dir_name, 0);
- //ret = write_sysfs_int_and_verify("smd_delay_threshold", dev_dir_name, 10);
- if (ret < 0)
- return;
- //ret = write_sysfs_int_and_verify("smd_threshold", dev_dir_name, 5000);
- if (ret < 0)
- return;
- //write_sysfs_int_and_verify("motion_lpa_duration", dev_dir_name, 1000);
- //write_sysfs_int_and_verify("motion_lpa_threshold", dev_dir_name, 200);
- write_sysfs_int_and_verify("dmp_on", dev_dir_name, 1);
- //write_sysfs_int_and_verify("motion_lpa_freq", dev_dir_name, 3);
-
-}
-void enable_motion(int on) {
-
- //ret = write_sysfs_int_and_verify("motion_lpa_on", dev_dir_name, on);
- if (on) {
- gyro_data_is_enabled = 0;
- compass_data_is_enabled = 0;
- quaternion_data_is_enabled = 0;
- }
-}
-bool g, a;
-static int counter = 0;
-static unsigned char data_rate[] = {5, 10, 15, 50, 100, 200};
-static int run_enable_sequence()
-{
- bool g, a, out;
-
- counter++;
- g = rand()%2;
- a = rand()%2;
- if (!g && !a)
- a = true;
-
- //g = true;
- //a = true;
- /*disable the master enable */
- enable_enable(0);
- if(g) {
- enable_gyro(1);
- if (rand()%2) {
- out = rand()%2;
- enable_quaternion(out);
- enable_gyro_output(!out);
- } else {
- enable_quaternion(1);
- enable_gyro_output(1);
- }
- // enable_quaternion(0);
- // enable_gyro_output(0);
-
- } else {
- enable_gyro(0);
- enable_quaternion(0);
- }
- if(a) {
- enable_accel(1);
- enable_accel_output(1);
- // enable_accel_output(0);
- } else {
- enable_accel(1);
- enable_accel_output(0);
- }
- if (has_compass) {
- if(rand()%2)
- enable_compass(1);
- else
- enable_compass(0);
- enable_compass(counter%2);
- //enable_compass(0);
- }
- if (has_pressure) {
- if(rand()%2)
- enable_pressure(1);
- else
- enable_pressure(0);
- enable_pressure(counter%3);
- //enable_pressure(0);
- }
- enable_step_detector(1);
- enable_step_indicator(1);
- //enable_step_detector(0);
- //enable_step_indicator(0);
-
- write_dmp_event(0);
-
- //enable_motion(0);
- if (accel_engine_is_on)
- dmp_event_control(1);
- else
- dmp_event_control(0);
- first_flag = 1;
- /*enable the master enable */
- enable_enable(1);
- //write_sysfs_string_and_verify("wake_unlock", "/sys/power/", "hack");
- if (enable_random_delay)
- random_delay();
- else {
- printf("sleep %ds\n", enable_delay);
- sleep(enable_delay);
- }
-
- return 0;
-}
-
-static int run_disable_sequence() {
- enable_enable(0);
-
- enable_gyro(0);
- enable_accel(1);
- enable_quaternion(0);
- enable_accel_output(0);
- write_dmp_event(1);
- //enable_motion(enable_motion_on);
- if (accel_engine_is_on)
- dmp_event_control(1);
- else
- dmp_event_control(0);
-
- enable_enable(1);
- if (enable_random_delay)
- random_delay();
- else {
- printf("sleep %ds\n", disable_delay);
- sleep(disable_delay);
- }
-
- return 0;
-}
-static void *control_switch(void *param)
-{
- while(1) {
- run_enable_sequence();
- printf("sleeping\n");
- usleep(500000);
- run_disable_sequence();
- }
- return 0;
-}
-
-void get_sensor_data(char *d, short *sensor)
-{
- int i;
-
- for (i = 0; i < 3; i++)
- sensor[i] = *(short *)(d + 2 + i * 2);
-}
-
-static void *read_data(void *param)
-{
- char *buffer_access;
- char data[1048], *dptr, tmp[24];
- short sensor[3];
- int q[3], i, ind, left_over_size, buf_size;
- int ret, fp,read_size;
- unsigned short hdr;
- bool done_flag;
-
-#define PRESSURE_HDR 0x8000
-#define ACCEL_HDR 0x4000
-#define GYRO_HDR 0x2000
-#define COMPASS_HDR 0x1000
-#define LPQUAT_HDR 0x0800
-#define SIXQUAT_HDR 0x0400
-#define PEDQUAT_HDR 0x0200
-#define STEP_DETECTOR_HDR 0x0100
-
- printf("read_data Thread: %s\n", dev_dir_name);
- ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, dev_dir_name);
- if (ret < 0)
- goto error_alloc_scan_el_dir;
- ret = asprintf(&buffer_access, "/dev/iio:device%d", dev_num);
- if (ret < 0)
- goto error_alloc_buffer_access;
-
- fp = open(buffer_access, O_RDONLY | O_NONBLOCK);
- if (fp == -1) { /*If it isn't there make the node */
- printf("Failed to open %s\n", buffer_access);
- ret = -errno;
- goto error_open_buffer_access;
- }
- ind = 0;
-
- while(1) {
- struct pollfd pfd = {
- .fd = fp,
- .events = POLLIN,
- };
- poll(&pfd, 1, -1);
-
- if (left_over_size > 0)
- memcpy(data, tmp, left_over_size);
- dptr = data + left_over_size;
-
- read_size = read(fp, dptr, 1024);
- printf("readsize=%d, left_over_size=%d\n", read_size, left_over_size);
- if (read_size <= 0) {
- printf("Wrong size=%d\n", read_size);
- pthread_mutex_unlock(&data_switch_lock);
- continue;
- }
- ind = read_size + left_over_size;
- dptr = data;
- printf("ind=%d\n", ind);
- buf_size = ind - (dptr - data);
- done_flag = false;
- while ((buf_size > 0) && (!done_flag)) {
- hdr = *((short *)(dptr));
- if (hdr & 1)
- printf("STEP$$$$$$$$$$$$$$$=%x\n", hdr);
-
- switch (hdr & (~1)) {
- case PRESSURE_HDR:
- if (buf_size >= 16) {
- get_sensor_data(dptr, sensor);
- dptr += 8;
- printf("PRESSURE:%d, %lld\n", (sensor[1] << 16) + (unsigned short)sensor[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case ACCEL_HDR:
- if (buf_size >= 16) {
- get_sensor_data(dptr, sensor);
- dptr += 8;
- printf("A:%d, %d, %d, %lld\n", sensor[0], sensor[1], sensor[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case GYRO_HDR:
- if (buf_size >= 16) {
- get_sensor_data(dptr, sensor);
- dptr += 8;
- printf("G:%d, %d, %d, %lld\n", sensor[0], sensor[1], sensor[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case COMPASS_HDR:
- if (buf_size >= 16) {
- get_sensor_data(dptr, sensor);
- dptr += 8;
- printf("M:%d, %d, %d, %lld\n", sensor[0], sensor[1], sensor[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case PEDQUAT_HDR:
- if (buf_size >= 16) {
- get_sensor_data(dptr, sensor);
- dptr += 8;
- printf("PED:%d, %d, %d, %lld\n", sensor[0], sensor[1], sensor[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case LPQUAT_HDR:
- if (buf_size >= 24) {
- q[0] = *(int *)(dptr + 4);
- dptr += 8;
- q[1] = *(int *)(dptr);
- q[2] = *(int *)(dptr + 4);
- dptr += 8;
- printf("LPQ:%d, %d, %d, %lld\n", q[0], q[1], q[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case SIXQUAT_HDR:
- if (buf_size >= 24) {
- q[0] = *(int *)(dptr + 4);
- dptr += 8;
- q[1] = *(int *)(dptr);
- q[2] = *(int *)(dptr + 4);
- dptr += 8;
- printf("SIXQ:%d, %d, %d, %lld\n", q[0], q[1], q[2], *(long long *)dptr);
- } else
- done_flag = true;
- break;
- case STEP_DETECTOR_HDR:
- if (buf_size >= 16) {
- printf("STEP DETECTOR ");
- dptr += 8;
- printf(" %lld\n", *(long long *)dptr);
- } else
- done_flag = true;
-
- break;
- default:
- printf("unknown\n");
- for (i = 0; i < 8; i++)
- printf("%x ", dptr[i]);
- printf("\n");
- break;
- }
- if (!done_flag)
- dptr += 8;
- buf_size = ind - (dptr - data);
- }
- if (ind - (dptr - data) > 0)
- memcpy(tmp, dptr, ind - (dptr - data));
- left_over_size = ind - (dptr - data);
- }
- close(fp);
-
-error_open_buffer_access:
- free(buffer_access);
-error_alloc_buffer_access:
- free(scan_el_dir);
-error_alloc_scan_el_dir:
-
- return 0;
-}
-
-static void inv_create_thread() {
- pthread_t thread_dmp_event, thread_read_data, thread_control;
-
- pthread_create(&thread_dmp_event, NULL, &get_dmp_event, (void *)dev_dir_name);
- pthread_create(&thread_read_data, NULL, &read_data, (void *)dev_dir_name);
- pthread_create(&thread_control, NULL, &control_switch, (void *)dev_dir_name);
-
- pthread_join(thread_dmp_event, NULL);
- pthread_join(thread_read_data, NULL);
- pthread_join(thread_control, NULL);
-}
-
-static int enable_enable_main(int on){
- int ret;
-
- printf("enable_enable: %s=%d\n", dev_dir_name, on);
- if (on == 0) {
- ret = write_sysfs_int_and_verify("power_state", dev_dir_name, 1);
-
- if (ret < 0)
- printf("write power_state fail\n");
- ret = write_sysfs_int_and_verify("power_state", dev_dir_name, 1);
- if (ret < 0)
- printf("write power_state fail\n");
- }
- ret = write_sysfs_int_and_verify("enable", buf_dir_name, on);
- if (ret < 0)
- printf("write enable failed\n");
-
- return 0;
-}
-
-int main(int argc, char **argv)
-{
- unsigned long buf_len = 128;
-
- int ret, c, i;
-
- char *trigger_name = NULL;
-
- int datardytrigger = 1;
- int trig_num;
- char *dummy;
- char chip_name[10];
- char device_name[10];
- char sysfs[100];
-
- gyro_data_is_enabled = 0;
- accel_data_is_enabled = 0;
- compass_data_is_enabled = 0;
- quaternion_data_is_enabled = 0;
-
- while ((c = getopt(argc, argv, "lcd:e:rmp")) != -1) {
- switch (c) {
- case 'c':
- has_compass = 1;
- break;
- case 'p':
- has_pressure = 1;
- break;
- case 'd':
- disable_delay = strtoul(optarg, &dummy, 10);
- break;
- case 'e':
- enable_delay = strtoul(optarg, &dummy, 10);
- break;
- case 'r':
- enable_random_delay = 1;
- break;
- case 'm':
- enable_motion_on = 1;
- break;
- case '?':
- return -1;
- }
- }
-
- inv_get_sysfs_path(sysfs);
- printf("sss:::%s\n", sysfs);
- if (inv_get_chip_name(chip_name) != INV_SUCCESS) {
- printf("get chip name fail\n");
- exit(0);
- }
- printf("chip_name=%s\n", chip_name);
- if (INV_SUCCESS != inv_check_key())
- printf("key check fail\n");
- else
- printf("key authenticated\n");
-
- for (i=0; i<strlen(chip_name); i++) {
- device_name[i] = tolower(chip_name[i]);
- }
- device_name[strlen(chip_name)] = '\0';
- printf("device name: %s\n", device_name);
-
- /* Find the device requested */
- dev_num = find_type_by_name(device_name, "iio:device");
- if (dev_num < 0) {
- printf("Failed to find the %s\n", device_name);
- ret = -ENODEV;
- goto error_ret;
- }
- printf("iio device number being used is %d\n", dev_num);
- asprintf(&dev_dir_name, "%siio:device%d", iio_dir, dev_num);
- printf("allco=%x\n", (int)dev_dir_name);
- if (trigger_name == NULL) {
- /*
- * Build the trigger name. If it is device associated it's
- * name is <device_name>_dev[n] where n matches the device
- * number found above
- */
- ret = asprintf(&trigger_name,
- "%s-dev%d", device_name, dev_num);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- }
- /* Verify the trigger exists */
- trig_num = find_type_by_name(trigger_name, "trigger");
- if (trig_num < 0) {
- printf("Failed to find the trigger %s\n", trigger_name);
- ret = -ENODEV;
- goto error_free_triggername;
- }
- printf("iio trigger number being used is %d\n", trig_num);
- ret = asprintf(&buf_dir_name, "%siio:device%d/buffer", iio_dir, dev_num);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_triggername;
- }
- enable_enable_main(0);
- ret = write_sysfs_int_and_verify("power_state", dev_dir_name, 1);
- /*
- * Parse the files in scan_elements to identify what channels are
- * present
- */
- ret = 0;
- setup_dmp(dev_dir_name);
-
- printf("%s %s\n", dev_dir_name, trigger_name);
-
- /* Set the device trigger to be the data rdy trigger found above */
- ret = write_sysfs_string_and_verify("trigger/current_trigger",
- dev_dir_name,
- trigger_name);
- if (ret < 0) {
- printf("Failed to write current_trigger file\n");
- goto error_free_buf_dir_name;
- }
- /* Setup ring buffer parameters */
- /* length must be even number because iio_store_to_sw_ring is expecting
- half pointer to be equal to the read pointer, which is impossible
- when buflen is odd number. This is actually a bug in the code */
- ret = write_sysfs_int("length", buf_dir_name, buf_len*2);
- if (ret < 0)
- goto exit_here;
-
- inv_create_thread();
-exit_here:
-error_free_buf_dir_name:
- free(buf_dir_name);
-error_free_triggername:
- if (datardytrigger)
- free(trigger_name);
-error_ret:
- return ret;
-}
