| /* |
| * Copyright (C) 2011 Invensense, Inc. |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| //#define LOG_NDEBUG 0 |
| //see also the EXTRA_VERBOSE define, below |
| |
| #include <fcntl.h> |
| #include <errno.h> |
| #include <math.h> |
| #include <float.h> |
| #include <poll.h> |
| #include <unistd.h> |
| #include <dirent.h> |
| #include <stdlib.h> |
| #include <sys/select.h> |
| #include <dlfcn.h> |
| #include <pthread.h> |
| |
| #include <cutils/log.h> |
| #include <utils/KeyedVector.h> |
| |
| #include "MPLSensor.h" |
| |
| #include "math.h" |
| #include "ml.h" |
| #include "mlFIFO.h" |
| #include "mlsl.h" |
| #include "mlos.h" |
| #include "ml_mputest.h" |
| #include "ml_stored_data.h" |
| #include "mldl_cfg.h" |
| #include "mldl.h" |
| |
| #include "mpu.h" |
| #include "accel.h" |
| #include "compass.h" |
| #include "kernel/timerirq.h" |
| #include "kernel/mpuirq.h" |
| #include "kernel/slaveirq.h" |
| |
| extern "C" { |
| #include "mlsupervisor.h" |
| } |
| |
| #include "mlcontrol.h" |
| #include "sensor_params.h" |
| |
| #define EXTRA_VERBOSE (0) |
| //#define FUNC_LOG ALOGV("%s", __PRETTY_FUNCTION__) |
| #define FUNC_LOG |
| #define VFUNC_LOG ALOGV_IF(EXTRA_VERBOSE, "%s", __PRETTY_FUNCTION__) |
| /* this mask must turn on only the sensors that are present and managed by the MPL */ |
| #define ALL_MPL_SENSORS_NP (INV_THREE_AXIS_ACCEL | INV_THREE_AXIS_COMPASS | INV_THREE_AXIS_GYRO) |
| |
| #define CALL_MEMBER_FN(pobject,ptrToMember) ((pobject)->*(ptrToMember)) |
| |
| /******************************************/ |
| |
| /* Base values for the sensor list, these need to be in the order defined in MPLSensor.h */ |
| static struct sensor_t sSensorList[] = |
| { { "MPL Gyroscope", "Invensense", 1, |
| SENSORS_GYROSCOPE_HANDLE, |
| SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, { } }, |
| { "MPL Accelerometer", "Invensense", 1, |
| SENSORS_ACCELERATION_HANDLE, |
| SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, { } }, |
| { "MPL Magnetic Field", "Invensense", 1, |
| SENSORS_MAGNETIC_FIELD_HANDLE, |
| SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, { } }, |
| { "MPL Orientation", "Invensense", 1, |
| SENSORS_ORIENTATION_HANDLE, |
| SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, 0, 0, 0, 0, 0, 0, { } }, |
| { "MPL Rotation Vector", "Invensense", 1, |
| SENSORS_ROTATION_VECTOR_HANDLE, |
| SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, { } }, |
| { "MPL Linear Acceleration", "Invensense", 1, |
| SENSORS_LINEAR_ACCEL_HANDLE, |
| SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, { } }, |
| { "MPL Gravity", "Invensense", 1, |
| SENSORS_GRAVITY_HANDLE, |
| SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0, 0, 0, 0, { } }, |
| }; |
| |
| static unsigned long long irq_timestamp = 0; |
| /* *************************************************************************** |
| * MPL interface misc. |
| */ |
| //static pointer to the object that will handle callbacks |
| static MPLSensor* gMPLSensor = NULL; |
| |
| /* we need to pass some callbacks to the MPL. The mpl is a C library, so |
| * wrappers for the C++ callback implementations are required. |
| */ |
| extern "C" { |
| //callback wrappers go here |
| void mot_cb_wrapper(uint16_t val) |
| { |
| if (gMPLSensor) { |
| gMPLSensor->cbOnMotion(val); |
| } |
| } |
| |
| void procData_cb_wrapper() |
| { |
| if(gMPLSensor) { |
| gMPLSensor->cbProcData(); |
| } |
| } |
| |
| } //end of extern C |
| |
| void setCallbackObject(MPLSensor* gbpt) |
| { |
| gMPLSensor = gbpt; |
| } |
| |
| |
| /***************************************************************************** |
| * sensor class implementation |
| */ |
| |
| #define GY_ENABLED ((1<<ID_GY) & enabled_sensors) |
| #define A_ENABLED ((1<<ID_A) & enabled_sensors) |
| #define O_ENABLED ((1<<ID_O) & enabled_sensors) |
| #define M_ENABLED ((1<<ID_M) & enabled_sensors) |
| #define LA_ENABLED ((1<<ID_LA) & enabled_sensors) |
| #define GR_ENABLED ((1<<ID_GR) & enabled_sensors) |
| #define RV_ENABLED ((1<<ID_RV) & enabled_sensors) |
| |
| MPLSensor::MPLSensor() : |
| SensorBase(NULL, NULL), |
| mNewData(0), |
| mDmpStarted(false), |
| mMasterSensorMask(INV_ALL_SENSORS), |
| mLocalSensorMask(ALL_MPL_SENSORS_NP), mPollTime(-1), |
| mCurFifoRate(-1), mHaveGoodMpuCal(false), mHaveGoodCompassCal(false), |
| mUseTimerIrqAccel(false), mUsetimerIrqCompass(true), |
| mUseTimerirq(false), mSampleCount(0), |
| mEnabled(0), mPendingMask(0) |
| { |
| FUNC_LOG; |
| int mpu_int_fd; |
| char *port = NULL; |
| |
| ALOGV_IF(EXTRA_VERBOSE, "MPLSensor constructor: numSensors = %d", numSensors); |
| |
| pthread_mutex_init(&mMplMutex, NULL); |
| |
| mForceSleep = false; |
| |
| /* used for identifying whether 9axis is enabled or not */ |
| /* this variable will be changed in initMPL() when libmpl is loaded */ |
| /* sensor list will be changed based on this variable */ |
| mNineAxisEnabled = false; |
| |
| for (size_t i = 0; i < ARRAY_SIZE(mPollFds); i++) { |
| mPollFds[i].fd = -1; |
| mPollFds[i].events = 0; |
| } |
| |
| pthread_mutex_lock(&mMplMutex); |
| |
| mpu_int_fd = open("/dev/mpuirq", O_RDWR); |
| if (mpu_int_fd == -1) { |
| ALOGE("could not open the mpu irq device node"); |
| } else { |
| fcntl(mpu_int_fd, F_SETFL, O_NONBLOCK); |
| mIrqFds.add(MPUIRQ_FD, mpu_int_fd); |
| mPollFds[MPUIRQ_FD].fd = mpu_int_fd; |
| mPollFds[MPUIRQ_FD].events = POLLIN; |
| } |
| |
| accel_fd = open("/dev/accelirq", O_RDWR); |
| if (accel_fd == -1) { |
| ALOGE("could not open the accel irq device node"); |
| } else { |
| fcntl(accel_fd, F_SETFL, O_NONBLOCK); |
| mIrqFds.add(ACCELIRQ_FD, accel_fd); |
| mPollFds[ACCELIRQ_FD].fd = accel_fd; |
| mPollFds[ACCELIRQ_FD].events = POLLIN; |
| } |
| |
| timer_fd = open("/dev/timerirq", O_RDWR); |
| if (timer_fd == -1) { |
| ALOGE("could not open the timer irq device node"); |
| } else { |
| fcntl(timer_fd, F_SETFL, O_NONBLOCK); |
| mIrqFds.add(TIMERIRQ_FD, timer_fd); |
| mPollFds[TIMERIRQ_FD].fd = timer_fd; |
| mPollFds[TIMERIRQ_FD].events = POLLIN; |
| } |
| |
| data_fd = mpu_int_fd; |
| |
| if ((accel_fd == -1) && (timer_fd != -1)) { |
| //no accel irq and timer available |
| mUseTimerIrqAccel = true; |
| } |
| |
| memset(mPendingEvents, 0, sizeof(mPendingEvents)); |
| |
| mPendingEvents[RotationVector].version = sizeof(sensors_event_t); |
| mPendingEvents[RotationVector].sensor = ID_RV; |
| mPendingEvents[RotationVector].type = SENSOR_TYPE_ROTATION_VECTOR; |
| |
| mPendingEvents[LinearAccel].version = sizeof(sensors_event_t); |
| mPendingEvents[LinearAccel].sensor = ID_LA; |
| mPendingEvents[LinearAccel].type = SENSOR_TYPE_LINEAR_ACCELERATION; |
| |
| mPendingEvents[Gravity].version = sizeof(sensors_event_t); |
| mPendingEvents[Gravity].sensor = ID_GR; |
| mPendingEvents[Gravity].type = SENSOR_TYPE_GRAVITY; |
| |
| mPendingEvents[Gyro].version = sizeof(sensors_event_t); |
| mPendingEvents[Gyro].sensor = ID_GY; |
| mPendingEvents[Gyro].type = SENSOR_TYPE_GYROSCOPE; |
| |
| mPendingEvents[Accelerometer].version = sizeof(sensors_event_t); |
| mPendingEvents[Accelerometer].sensor = ID_A; |
| mPendingEvents[Accelerometer].type = SENSOR_TYPE_ACCELEROMETER; |
| |
| mPendingEvents[MagneticField].version = sizeof(sensors_event_t); |
| mPendingEvents[MagneticField].sensor = ID_M; |
| mPendingEvents[MagneticField].type = SENSOR_TYPE_MAGNETIC_FIELD; |
| mPendingEvents[MagneticField].magnetic.status = SENSOR_STATUS_ACCURACY_HIGH; |
| |
| mPendingEvents[Orientation].version = sizeof(sensors_event_t); |
| mPendingEvents[Orientation].sensor = ID_O; |
| mPendingEvents[Orientation].type = SENSOR_TYPE_ORIENTATION; |
| mPendingEvents[Orientation].orientation.status |
| = SENSOR_STATUS_ACCURACY_HIGH; |
| |
| mHandlers[RotationVector] = &MPLSensor::rvHandler; |
| mHandlers[LinearAccel] = &MPLSensor::laHandler; |
| mHandlers[Gravity] = &MPLSensor::gravHandler; |
| mHandlers[Gyro] = &MPLSensor::gyroHandler; |
| mHandlers[Accelerometer] = &MPLSensor::accelHandler; |
| mHandlers[MagneticField] = &MPLSensor::compassHandler; |
| mHandlers[Orientation] = &MPLSensor::orienHandler; |
| |
| for (int i = 0; i < numSensors; i++) |
| mDelays[i] = 30000000LLU; // 30 ms by default |
| |
| if (inv_serial_start(port) != INV_SUCCESS) { |
| ALOGE("Fatal Error : could not open MPL serial interface"); |
| } |
| |
| //initialize library parameters |
| initMPL(); |
| |
| //setup the FIFO contents |
| setupFIFO(); |
| |
| |
| pthread_mutex_unlock(&mMplMutex); |
| |
| } |
| |
| MPLSensor::~MPLSensor() |
| { |
| FUNC_LOG; |
| pthread_mutex_lock(&mMplMutex); |
| if (inv_dmp_stop() != INV_SUCCESS) { |
| ALOGW("Error: could not stop the DMP correctly.\n"); |
| } |
| |
| if (inv_dmp_close() != INV_SUCCESS) { |
| ALOGW("Error: could not close the DMP"); |
| } |
| |
| if (inv_serial_stop() != INV_SUCCESS) { |
| ALOGW("Error : could not close the serial port"); |
| } |
| pthread_mutex_unlock(&mMplMutex); |
| pthread_mutex_destroy(&mMplMutex); |
| } |
| |
| /* clear any data from our various filehandles */ |
| void MPLSensor::clearIrqData(bool* irq_set) |
| { |
| unsigned int i; |
| int nread; |
| struct mpuirq_data irqdata; |
| |
| poll(mPollFds, ARRAY_SIZE(mPollFds), 0); //check which ones need to be cleared |
| |
| for (i = 0; i < ARRAY_SIZE(mPollFds); i++) { |
| int cur_fd = mPollFds[i].fd; |
| if (mPollFds[i].revents & POLLIN) { |
| nread = read(cur_fd, &irqdata, sizeof(irqdata)); |
| if (nread > 0) { |
| irq_set[i] = true; |
| irq_timestamp = irqdata.irqtime; |
| } |
| } |
| mPollFds[i].revents = 0; |
| } |
| } |
| |
| /* set the power states of the various sensors based on the bits set in the |
| * enabled_sensors parameter. |
| * this function modifies globalish state variables. It must be called with the mMplMutex held. */ |
| void MPLSensor::setPowerStates(int enabled_sensors) |
| { |
| FUNC_LOG; |
| bool irq_set[5] = { false, false, false, false, false }; |
| |
| do { |
| |
| if (LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED) { |
| mLocalSensorMask = ALL_MPL_SENSORS_NP; |
| break; |
| } |
| |
| if (!A_ENABLED && !M_ENABLED && !GY_ENABLED) { |
| mLocalSensorMask = 0; |
| break; |
| } |
| |
| if (GY_ENABLED) { |
| mLocalSensorMask |= INV_THREE_AXIS_GYRO; |
| } else { |
| mLocalSensorMask &= ~INV_THREE_AXIS_GYRO; |
| } |
| |
| if (A_ENABLED) { |
| mLocalSensorMask |= (INV_THREE_AXIS_ACCEL); |
| } else { |
| mLocalSensorMask &= ~(INV_THREE_AXIS_ACCEL); |
| } |
| |
| if (M_ENABLED) { |
| mLocalSensorMask |= INV_THREE_AXIS_COMPASS; |
| } else { |
| mLocalSensorMask &= ~(INV_THREE_AXIS_COMPASS); |
| } |
| |
| } while (0); |
| |
| //record the new sensor state |
| inv_error_t rv; |
| |
| unsigned long sen_mask = mLocalSensorMask & mMasterSensorMask; |
| |
| bool changing_sensors = ((inv_get_dl_config()->requested_sensors |
| != sen_mask) && (sen_mask != 0)); |
| bool restart = (!mDmpStarted) && (sen_mask != 0); |
| |
| if (changing_sensors || restart) { |
| |
| ALOGV_IF(EXTRA_VERBOSE, "cs:%d rs:%d ", changing_sensors, restart); |
| |
| if (mDmpStarted) { |
| inv_dmp_stop(); |
| clearIrqData(irq_set); |
| mDmpStarted = false; |
| } |
| |
| if (sen_mask != inv_get_dl_config()->requested_sensors) { |
| rv = inv_set_mpu_sensors(sen_mask); |
| ALOGE_IF(rv != INV_SUCCESS, |
| "error: unable to set MPL sensor power states (sens=%ld retcode = %d)", |
| sen_mask, rv); |
| } |
| |
| if (((mUsetimerIrqCompass && (sen_mask == INV_THREE_AXIS_COMPASS)) |
| || (mUseTimerIrqAccel && (sen_mask & INV_THREE_AXIS_ACCEL))) |
| && ((sen_mask & INV_DMP_PROCESSOR) == 0)) { |
| ALOGV_IF(EXTRA_VERBOSE, "Allowing TimerIRQ"); |
| mUseTimerirq = true; |
| } else { |
| if (mUseTimerirq) { |
| ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0); |
| clearIrqData(irq_set); |
| } |
| ALOGV_IF(EXTRA_VERBOSE, "Not allowing TimerIRQ"); |
| mUseTimerirq = false; |
| } |
| |
| if (!mDmpStarted) { |
| if (mHaveGoodMpuCal || mHaveGoodCompassCal) { |
| rv = inv_store_calibration(); |
| ALOGE_IF(rv != INV_SUCCESS, |
| "error: unable to store MPL calibration file"); |
| mHaveGoodMpuCal = false; |
| mHaveGoodCompassCal = false; |
| } |
| rv = inv_dmp_start(); |
| ALOGE_IF(rv != INV_SUCCESS, "unable to start dmp"); |
| mDmpStarted = true; |
| } |
| } |
| |
| //check if we should stop the DMP |
| if (mDmpStarted && (sen_mask == 0)) { |
| rv = inv_dmp_stop(); |
| ALOGE_IF(rv != INV_SUCCESS, "error: unable to stop DMP (retcode = %d)", |
| rv); |
| if (mUseTimerirq) { |
| ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0); |
| } |
| clearIrqData(irq_set); |
| |
| mDmpStarted = false; |
| mPollTime = -1; |
| mCurFifoRate = -1; |
| } |
| |
| } |
| |
| /** |
| * container function for all the calls we make once to set up the MPL. |
| */ |
| void MPLSensor::initMPL() |
| { |
| FUNC_LOG; |
| inv_error_t result; |
| unsigned short bias_update_mask = 0xFFFF; |
| |
| if (inv_dmp_open() != INV_SUCCESS) { |
| ALOGE("Fatal Error : could not open DMP correctly.\n"); |
| } |
| |
| result = inv_set_mpu_sensors(ALL_MPL_SENSORS_NP); //default to all sensors, also makes 9axis enable work |
| ALOGE_IF(result != INV_SUCCESS, |
| "Fatal Error : could not set enabled sensors."); |
| |
| if (inv_load_calibration() != INV_SUCCESS) { |
| ALOGE("could not open MPL calibration file"); |
| } |
| |
| //check for the 9axis fusion library: if available load it and start 9x |
| void* h_dmp_lib=dlopen("libinvensense_mpl.so", RTLD_NOW); |
| if(h_dmp_lib) { |
| const char* error; |
| error = dlerror(); |
| inv_error_t (*fp_inv_enable_9x_fusion)() = |
| (inv_error_t(*)()) dlsym(h_dmp_lib, "inv_enable_9x_fusion"); |
| if((error = dlerror()) != NULL) { |
| ALOGE("%s %s", error, "inv_enable_9x_fusion"); |
| } else if ((*fp_inv_enable_9x_fusion)() != INV_SUCCESS) { |
| ALOGE( "Warning : 9 axis sensor fusion not available " |
| "- No compass detected.\n"); |
| } else { |
| /* 9axis is loaded and enabled */ |
| /* this variable is used for coming up with sensor list */ |
| mNineAxisEnabled = true; |
| } |
| } else { |
| const char* error = dlerror(); |
| ALOGE("libinvensense_mpl.so not found, 9x sensor fusion disabled (%s)",error); |
| } |
| |
| if (inv_set_bias_update(bias_update_mask) != INV_SUCCESS) { |
| ALOGE("Error : Bias update function could not be set.\n"); |
| } |
| |
| if (inv_set_motion_interrupt(1) != INV_SUCCESS) { |
| ALOGE("Error : could not set motion interrupt"); |
| } |
| |
| if (inv_set_fifo_interrupt(1) != INV_SUCCESS) { |
| ALOGE("Error : could not set fifo interrupt"); |
| } |
| |
| result = inv_set_fifo_rate(6); |
| if (result != INV_SUCCESS) { |
| ALOGE("Fatal error: inv_set_fifo_rate returned %d\n", result); |
| } |
| |
| setupCallbacks(); |
| |
| } |
| |
| /** setup the fifo contents. |
| */ |
| void MPLSensor::setupFIFO() |
| { |
| FUNC_LOG; |
| inv_error_t result; |
| |
| result = inv_send_accel(INV_ALL, INV_32_BIT); |
| if (result != INV_SUCCESS) { |
| ALOGE("Fatal error: inv_send_accel returned %d\n", result); |
| } |
| |
| result = inv_send_quaternion(INV_32_BIT); |
| if (result != INV_SUCCESS) { |
| ALOGE("Fatal error: inv_send_quaternion returned %d\n", result); |
| } |
| |
| result = inv_send_linear_accel(INV_ALL, INV_32_BIT); |
| if (result != INV_SUCCESS) { |
| ALOGE("Fatal error: inv_send_linear_accel returned %d\n", result); |
| } |
| |
| result = inv_send_linear_accel_in_world(INV_ALL, INV_32_BIT); |
| if (result != INV_SUCCESS) { |
| ALOGE("Fatal error: inv_send_linear_accel_in_world returned %d\n", |
| result); |
| } |
| |
| result = inv_send_gravity(INV_ALL, INV_32_BIT); |
| if (result != INV_SUCCESS) { |
| ALOGE("Fatal error: inv_send_gravity returned %d\n", result); |
| } |
| |
| result = inv_send_gyro(INV_ALL, INV_32_BIT); |
| if (result != INV_SUCCESS) { |
| ALOGE("Fatal error: inv_send_gyro returned %d\n", result); |
| } |
| |
| } |
| |
| /** |
| * set up the callbacks that we use in all cases (outside of gestures, etc) |
| */ |
| void MPLSensor::setupCallbacks() |
| { |
| FUNC_LOG; |
| if (inv_set_motion_callback(mot_cb_wrapper) != INV_SUCCESS) { |
| ALOGE("Error : Motion callback could not be set.\n"); |
| |
| } |
| |
| if (inv_set_fifo_processed_callback(procData_cb_wrapper) != INV_SUCCESS) { |
| ALOGE("Error : Processed data callback could not be set."); |
| |
| } |
| } |
| |
| /** |
| * handle the motion/no motion output from the MPL. |
| */ |
| void MPLSensor::cbOnMotion(uint16_t val) |
| { |
| FUNC_LOG; |
| //after the first no motion, the gyro should be calibrated well |
| if (val == 2) { |
| if ((inv_get_dl_config()->requested_sensors) & INV_THREE_AXIS_GYRO) { |
| //if gyros are on and we got a no motion, set a flag |
| // indicating that the cal file can be written. |
| mHaveGoodMpuCal = true; |
| } |
| } |
| |
| return; |
| } |
| |
| |
| void MPLSensor::cbProcData() |
| { |
| mNewData = 1; |
| mSampleCount++; |
| } |
| |
| //these handlers transform mpl data into one of the Android sensor types |
| // scaling and coordinate transforms should be done in the handlers |
| |
| void MPLSensor::gyroHandler(sensors_event_t* s, uint32_t* pending_mask, |
| int index) |
| { |
| VFUNC_LOG; |
| inv_error_t res; |
| res = inv_get_float_array(INV_GYROS, s->gyro.v); |
| s->gyro.v[0] = s->gyro.v[0] * M_PI / 180.0; |
| s->gyro.v[1] = s->gyro.v[1] * M_PI / 180.0; |
| s->gyro.v[2] = s->gyro.v[2] * M_PI / 180.0; |
| if (res == INV_SUCCESS) |
| *pending_mask |= (1 << index); |
| } |
| |
| void MPLSensor::accelHandler(sensors_event_t* s, uint32_t* pending_mask, |
| int index) |
| { |
| //VFUNC_LOG; |
| inv_error_t res; |
| res = inv_get_float_array(INV_ACCELS, s->acceleration.v); |
| //res = inv_get_accel_float(s->acceleration.v); |
| s->acceleration.v[0] = s->acceleration.v[0] * 9.81; |
| s->acceleration.v[1] = s->acceleration.v[1] * 9.81; |
| s->acceleration.v[2] = s->acceleration.v[2] * 9.81; |
| if (res == INV_SUCCESS) |
| *pending_mask |= (1 << index); |
| } |
| |
| int MPLSensor::estimateCompassAccuracy() |
| { |
| inv_error_t res; |
| int rv; |
| |
| res = inv_get_compass_accuracy(&rv); |
| if(rv >= SENSOR_STATUS_ACCURACY_MEDIUM) { |
| mHaveGoodCompassCal = true; |
| } |
| ALOGE_IF(res != INV_SUCCESS, "error returned from inv_get_compass_accuracy"); |
| |
| return rv; |
| } |
| |
| void MPLSensor::compassHandler(sensors_event_t* s, uint32_t* pending_mask, |
| int index) |
| { |
| VFUNC_LOG; |
| inv_error_t res; |
| |
| res = inv_get_float_array(INV_MAGNETOMETER, s->magnetic.v); |
| |
| if (res != INV_SUCCESS) { |
| ALOGW( |
| "compass_handler inv_get_float_array(INV_MAGNETOMETER) returned %d", |
| res); |
| } |
| |
| s->magnetic.status = estimateCompassAccuracy(); |
| |
| if (res == INV_SUCCESS) |
| *pending_mask |= (1 << index); |
| } |
| |
| void MPLSensor::rvHandler(sensors_event_t* s, uint32_t* pending_mask, |
| int index) |
| { |
| VFUNC_LOG; |
| float quat[4]; |
| float norm = 0; |
| inv_error_t r; |
| |
| r = inv_get_float_array(INV_QUATERNION, quat); |
| |
| if (r != INV_SUCCESS) { |
| *pending_mask &= ~(1 << index); |
| return; |
| } else { |
| *pending_mask |= (1 << index); |
| } |
| |
| norm = quat[1] * quat[1] + quat[2] * quat[2] + quat[3] * quat[3] |
| + FLT_EPSILON; |
| |
| if (norm > 1.0f) { |
| //renormalize |
| norm = sqrtf(norm); |
| float inv_norm = 1.0f / norm; |
| quat[1] = quat[1] * inv_norm; |
| quat[2] = quat[2] * inv_norm; |
| quat[3] = quat[3] * inv_norm; |
| } |
| |
| if (quat[0] < 0.0) { |
| quat[1] = -quat[1]; |
| quat[2] = -quat[2]; |
| quat[3] = -quat[3]; |
| } |
| |
| s->gyro.v[0] = quat[1]; |
| s->gyro.v[1] = quat[2]; |
| s->gyro.v[2] = quat[3]; |
| |
| } |
| |
| void MPLSensor::laHandler(sensors_event_t* s, uint32_t* pending_mask, |
| int index) |
| { |
| VFUNC_LOG; |
| inv_error_t res; |
| res = inv_get_float_array(INV_LINEAR_ACCELERATION, s->gyro.v); |
| s->gyro.v[0] *= 9.81; |
| s->gyro.v[1] *= 9.81; |
| s->gyro.v[2] *= 9.81; |
| if (res == INV_SUCCESS) |
| *pending_mask |= (1 << index); |
| } |
| |
| void MPLSensor::gravHandler(sensors_event_t* s, uint32_t* pending_mask, |
| int index) |
| { |
| VFUNC_LOG; |
| inv_error_t res; |
| res = inv_get_float_array(INV_GRAVITY, s->gyro.v); |
| s->gyro.v[0] *= 9.81; |
| s->gyro.v[1] *= 9.81; |
| s->gyro.v[2] *= 9.81; |
| if (res == INV_SUCCESS) |
| *pending_mask |= (1 << index); |
| } |
| |
| void MPLSensor::calcOrientationSensor(float *R, float *values) |
| { |
| float tmp; |
| |
| //Azimuth |
| if ((R[7] > 0.7071067f) || ((R[8] < 0) && (fabs(R[7]) > fabs(R[6])))) { |
| values[0] = (float) atan2f(-R[3], R[0]); |
| } else { |
| values[0] = (float) atan2f(R[1], R[4]); |
| } |
| values[0] *= 57.295779513082320876798154814105f; |
| if (values[0] < 0) { |
| values[0] += 360.0f; |
| } |
| //Pitch |
| tmp = R[7]; |
| if (tmp > 1.0f) |
| tmp = 1.0f; |
| if (tmp < -1.0f) |
| tmp = -1.0f; |
| values[1] = -asinf(tmp) * 57.295779513082320876798154814105f; |
| if (R[8] < 0) { |
| values[1] = 180.0f - values[1]; |
| } |
| if (values[1] > 180.0f) { |
| values[1] -= 360.0f; |
| } |
| //Roll |
| if ((R[7] > 0.7071067f)) { |
| values[2] = (float) atan2f(R[6], R[7]); |
| } else { |
| values[2] = (float) atan2f(R[6], R[8]); |
| } |
| |
| values[2] *= 57.295779513082320876798154814105f; |
| if (values[2] > 90.0f) { |
| values[2] = 180.0f - values[2]; |
| } |
| if (values[2] < -90.0f) { |
| values[2] = -180.0f - values[2]; |
| } |
| } |
| |
| void MPLSensor::orienHandler(sensors_event_t* s, uint32_t* pending_mask, |
| int index) //note that this is the handler for the android 'orientation' sensor, not the mpl orientation output |
| { |
| VFUNC_LOG; |
| inv_error_t res; |
| float rot_mat[9]; |
| |
| res = inv_get_float_array(INV_ROTATION_MATRIX, rot_mat); |
| |
| calcOrientationSensor(rot_mat, s->orientation.v); |
| |
| s->orientation.status = estimateCompassAccuracy(); |
| |
| if (res == INV_SUCCESS) |
| *pending_mask |= (1 << index); |
| else |
| ALOGW("orienHandler: data not valid (%d)", (int) res); |
| |
| } |
| |
| int MPLSensor::enable(int32_t handle, int en) |
| { |
| FUNC_LOG; |
| |
| int what = -1; |
| |
| switch (handle) { |
| case ID_A: |
| what = Accelerometer; |
| break; |
| case ID_M: |
| what = MagneticField; |
| break; |
| case ID_O: |
| what = Orientation; |
| break; |
| case ID_GY: |
| what = Gyro; |
| break; |
| case ID_GR: |
| what = Gravity; |
| break; |
| case ID_RV: |
| what = RotationVector; |
| break; |
| case ID_LA: |
| what = LinearAccel; |
| break; |
| default: //this takes care of all the gestures |
| what = handle; |
| break; |
| } |
| |
| if (uint32_t(what) >= numSensors) |
| return -EINVAL; |
| |
| int newState = en ? 1 : 0; |
| int err = 0; |
| |
| pthread_mutex_lock(&mMplMutex); |
| if ((uint32_t(newState) << what) != (mEnabled & (1 << what))) { |
| short flags = newState; |
| mEnabled &= ~(1 << what); |
| mEnabled |= (uint32_t(flags) << what); |
| ALOGV_IF(EXTRA_VERBOSE, "mEnabled = %x", mEnabled); |
| setPowerStates(mEnabled); |
| pthread_mutex_unlock(&mMplMutex); |
| if (!newState) |
| update_delay(); |
| return err; |
| } |
| pthread_mutex_unlock(&mMplMutex); |
| return err; |
| } |
| |
| int MPLSensor::setDelay(int32_t handle, int64_t ns) |
| { |
| FUNC_LOG; |
| ALOGV_IF(EXTRA_VERBOSE, |
| " setDelay handle: %d rate %d", handle, (int) (ns / 1000000LL)); |
| int what = -1; |
| switch (handle) { |
| case ID_A: |
| what = Accelerometer; |
| break; |
| case ID_M: |
| what = MagneticField; |
| break; |
| case ID_O: |
| what = Orientation; |
| break; |
| case ID_GY: |
| what = Gyro; |
| break; |
| case ID_GR: |
| what = Gravity; |
| break; |
| case ID_RV: |
| what = RotationVector; |
| break; |
| case ID_LA: |
| what = LinearAccel; |
| break; |
| default: |
| what = handle; |
| break; |
| } |
| |
| if (uint32_t(what) >= numSensors) |
| return -EINVAL; |
| |
| if (ns < 0) |
| return -EINVAL; |
| |
| pthread_mutex_lock(&mMplMutex); |
| mDelays[what] = ns; |
| pthread_mutex_unlock(&mMplMutex); |
| return update_delay(); |
| } |
| |
| int MPLSensor::update_delay() |
| { |
| FUNC_LOG; |
| int rv = 0; |
| bool irq_set[5]; |
| |
| pthread_mutex_lock(&mMplMutex); |
| |
| if (mEnabled) { |
| uint64_t wanted = -1LLU; |
| for (int i = 0; i < numSensors; i++) { |
| if (mEnabled & (1 << i)) { |
| uint64_t ns = mDelays[i]; |
| wanted = wanted < ns ? wanted : ns; |
| } |
| } |
| |
| //Limit all rates to 100Hz max. 100Hz = 10ms = 10000000ns |
| if (wanted < 10000000LLU) { |
| wanted = 10000000LLU; |
| } |
| |
| int rate = ((wanted) / 5000000LLU) - ((wanted % 5000000LLU == 0) ? 1 |
| : 0); //mpu fifo rate is in increments of 5ms |
| if (rate == 0) //KLP disallow fifo rate 0 |
| rate = 1; |
| |
| if (rate != mCurFifoRate) { |
| inv_error_t res; // = inv_dmp_stop(); |
| res = inv_set_fifo_rate(rate); |
| ALOGE_IF(res != INV_SUCCESS, "error setting FIFO rate"); |
| |
| mCurFifoRate = rate; |
| rv = (res == INV_SUCCESS); |
| } |
| |
| if (((inv_get_dl_config()->requested_sensors & INV_DMP_PROCESSOR) == 0)) { |
| if (mUseTimerirq) { |
| ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0); |
| clearIrqData(irq_set); |
| if (inv_get_dl_config()->requested_sensors |
| == INV_THREE_AXIS_COMPASS) { |
| ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_START, |
| (unsigned long) (wanted / 1000000LLU)); |
| ALOGV_IF(EXTRA_VERBOSE, "updated timerirq period to %d", |
| (int) (wanted / 1000000LLU)); |
| } else { |
| ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_START, |
| (unsigned long) inv_get_sample_step_size_ms()); |
| ALOGV_IF(EXTRA_VERBOSE, "updated timerirq period to %d", |
| (int) inv_get_sample_step_size_ms()); |
| } |
| } |
| } |
| |
| } |
| pthread_mutex_unlock(&mMplMutex); |
| return rv; |
| } |
| |
| /* return the current time in nanoseconds */ |
| int64_t MPLSensor::now_ns(void) |
| { |
| //FUNC_LOG; |
| struct timespec ts; |
| |
| clock_gettime(CLOCK_MONOTONIC, &ts); |
| return (int64_t) ts.tv_sec * 1000000000 + ts.tv_nsec; |
| } |
| |
| int MPLSensor::readEvents(sensors_event_t* data, int count) |
| { |
| //VFUNC_LOG; |
| bool irq_set[5] = { false, false, false, false, false }; |
| inv_error_t rv; |
| if (count < 1) |
| return -EINVAL; |
| int numEventReceived = 0; |
| |
| clearIrqData(irq_set); |
| |
| pthread_mutex_lock(&mMplMutex); |
| if (mDmpStarted) { |
| rv = inv_update_data(); |
| ALOGE_IF(rv != INV_SUCCESS, "inv_update_data error (code %d)", (int) rv); |
| } |
| |
| else { |
| //probably just one extra read after shutting down |
| ALOGV_IF(EXTRA_VERBOSE, |
| "MPLSensor::readEvents called, but there's nothing to do."); |
| } |
| |
| pthread_mutex_unlock(&mMplMutex); |
| |
| if (!mNewData) { |
| ALOGV_IF(EXTRA_VERBOSE, "no new data"); |
| return 0; |
| } |
| mNewData = 0; |
| |
| /* google timestamp */ |
| pthread_mutex_lock(&mMplMutex); |
| for (int i = 0; i < numSensors; i++) { |
| if (mEnabled & (1 << i)) { |
| CALL_MEMBER_FN(this,mHandlers[i])(mPendingEvents + i, |
| &mPendingMask, i); |
| mPendingEvents[i].timestamp = irq_timestamp; |
| } |
| } |
| |
| for (int j = 0; count && mPendingMask && j < numSensors; j++) { |
| if (mPendingMask & (1 << j)) { |
| mPendingMask &= ~(1 << j); |
| if (mEnabled & (1 << j)) { |
| *data++ = mPendingEvents[j]; |
| count--; |
| numEventReceived++; |
| } |
| } |
| |
| } |
| |
| pthread_mutex_unlock(&mMplMutex); |
| return numEventReceived; |
| } |
| |
| int MPLSensor::getFd() const |
| { |
| return data_fd; |
| } |
| |
| int MPLSensor::getAccelFd() const |
| { |
| return accel_fd; |
| } |
| |
| int MPLSensor::getTimerFd() const |
| { |
| return timer_fd; |
| } |
| |
| int MPLSensor::getPowerFd() const |
| { |
| int hdl = (uintptr_t) inv_get_serial_handle(); |
| return hdl; |
| } |
| |
| int MPLSensor::getPollTime() |
| { |
| return mPollTime; |
| } |
| |
| bool MPLSensor::hasPendingEvents() const |
| { |
| //if we are using the polling workaround, force the main loop to check for data every time |
| return (mPollTime != -1); |
| } |
| |
| void MPLSensor::handlePowerEvent() |
| { |
| VFUNC_LOG; |
| mpuirq_data irqd; |
| |
| int fd = (uintptr_t) inv_get_serial_handle(); |
| read(fd, &irqd, sizeof(irqd)); |
| |
| if (irqd.data == MPU_PM_EVENT_SUSPEND_PREPARE) { |
| //going to sleep |
| sleepEvent(); |
| } else if (irqd.data == MPU_PM_EVENT_POST_SUSPEND) { |
| //waking up |
| wakeEvent(); |
| } |
| |
| ioctl(fd, MPU_PM_EVENT_HANDLED, 0); |
| } |
| |
| void MPLSensor::sleepEvent() |
| { |
| VFUNC_LOG; |
| pthread_mutex_lock(&mMplMutex); |
| if (mEnabled != 0) { |
| mForceSleep = true; |
| mOldEnabledMask = mEnabled; |
| setPowerStates(0); |
| } |
| pthread_mutex_unlock(&mMplMutex); |
| } |
| |
| void MPLSensor::wakeEvent() |
| { |
| VFUNC_LOG; |
| pthread_mutex_lock(&mMplMutex); |
| if (mForceSleep) { |
| setPowerStates((mOldEnabledMask | mEnabled)); |
| } |
| mForceSleep = false; |
| pthread_mutex_unlock(&mMplMutex); |
| } |
| |
| /** fill in the sensor list based on which sensors are configured. |
| * return the number of configured sensors. |
| * parameter list must point to a memory region of at least 7*sizeof(sensor_t) |
| * parameter len gives the length of the buffer pointed to by list |
| */ |
| |
| int MPLSensor::populateSensorList(struct sensor_t *list, size_t len) |
| { |
| int numsensors; |
| |
| if(len < 7*sizeof(sensor_t)) { |
| ALOGE("sensor list too small, not populating."); |
| return 0; |
| } |
| |
| /* fill in the base values */ |
| memcpy(list, sSensorList, sizeof (struct sensor_t) * 7); |
| |
| /* first add gyro, accel and compass to the list */ |
| |
| /* fill in accel values */ |
| unsigned short accelId = inv_get_accel_id(); |
| if(accelId == 0) { |
| ALOGE("Can not get accel id"); |
| } |
| fillAccel(accelId, list); |
| |
| /* fill in compass values */ |
| unsigned short compassId = inv_get_compass_id(); |
| if(compassId == 0) { |
| ALOGE("Can not get compass id"); |
| } |
| fillCompass(compassId, list); |
| |
| /* fill in gyro values */ |
| fillGyro(MPU_NAME, list); |
| |
| if(mNineAxisEnabled) |
| { |
| numsensors = 7; |
| /* all sensors will be added to the list */ |
| /* fill in orientation values */ |
| fillOrientation(list); |
| |
| /* fill in rotation vector values */ |
| fillRV(list); |
| |
| /* fill in gravity values */ |
| fillGravity(list); |
| |
| /* fill in Linear accel values */ |
| fillLinearAccel(list); |
| } else { |
| /* no 9-axis sensors, zero fill that part of the list */ |
| numsensors = 3; |
| memset(list+3, 0, 4*sizeof(struct sensor_t)); |
| } |
| |
| return numsensors; |
| } |
| |
| void MPLSensor::fillAccel(unsigned char accel, struct sensor_t *list) |
| { |
| switch (accel) { |
| case ACCEL_ID_LIS331: |
| list[Accelerometer].maxRange = ACCEL_LIS331_RANGE; |
| list[Accelerometer].resolution = ACCEL_LIS331_RESOLUTION; |
| list[Accelerometer].power = ACCEL_LIS331_POWER; |
| break; |
| |
| case ACCEL_ID_LIS3DH: |
| list[Accelerometer].maxRange = ACCEL_LIS3DH_RANGE; |
| list[Accelerometer].resolution = ACCEL_LIS3DH_RESOLUTION; |
| list[Accelerometer].power = ACCEL_LIS3DH_POWER; |
| break; |
| |
| case ACCEL_ID_KXSD9: |
| list[Accelerometer].maxRange = ACCEL_KXSD9_RANGE; |
| list[Accelerometer].resolution = ACCEL_KXSD9_RESOLUTION; |
| list[Accelerometer].power = ACCEL_KXSD9_POWER; |
| break; |
| |
| case ACCEL_ID_KXTF9: |
| list[Accelerometer].maxRange = ACCEL_KXTF9_RANGE; |
| list[Accelerometer].resolution = ACCEL_KXTF9_RESOLUTION; |
| list[Accelerometer].power = ACCEL_KXTF9_POWER; |
| break; |
| |
| case ACCEL_ID_BMA150: |
| list[Accelerometer].maxRange = ACCEL_BMA150_RANGE; |
| list[Accelerometer].resolution = ACCEL_BMA150_RESOLUTION; |
| list[Accelerometer].power = ACCEL_BMA150_POWER; |
| break; |
| |
| case ACCEL_ID_BMA222: |
| list[Accelerometer].maxRange = ACCEL_BMA222_RANGE; |
| list[Accelerometer].resolution = ACCEL_BMA222_RESOLUTION; |
| list[Accelerometer].power = ACCEL_BMA222_POWER; |
| break; |
| |
| case ACCEL_ID_BMA250: |
| list[Accelerometer].maxRange = ACCEL_BMA250_RANGE; |
| list[Accelerometer].resolution = ACCEL_BMA250_RESOLUTION; |
| list[Accelerometer].power = ACCEL_BMA250_POWER; |
| break; |
| |
| case ACCEL_ID_ADXL34X: |
| list[Accelerometer].maxRange = ACCEL_ADXL34X_RANGE; |
| list[Accelerometer].resolution = ACCEL_ADXL34X_RESOLUTION; |
| list[Accelerometer].power = ACCEL_ADXL34X_POWER; |
| break; |
| |
| case ACCEL_ID_MMA8450: |
| list[Accelerometer].maxRange = ACCEL_MMA8450_RANGE; |
| list[Accelerometer].maxRange = ACCEL_MMA8450_RANGE; |
| list[Accelerometer].maxRange = ACCEL_MMA8450_RANGE; |
| break; |
| |
| case ACCEL_ID_MMA845X: |
| list[Accelerometer].maxRange = ACCEL_MMA845X_RANGE; |
| list[Accelerometer].resolution = ACCEL_MMA845X_RESOLUTION; |
| list[Accelerometer].power = ACCEL_MMA845X_POWER; |
| break; |
| |
| case ACCEL_ID_MPU6050: |
| list[Accelerometer].maxRange = ACCEL_MPU6050_RANGE; |
| list[Accelerometer].resolution = ACCEL_MPU6050_RESOLUTION; |
| list[Accelerometer].power = ACCEL_MPU6050_POWER; |
| break; |
| default: |
| ALOGE("unknown accel id -- accel params will be wrong."); |
| break; |
| } |
| } |
| |
| void MPLSensor::fillCompass(unsigned char compass, struct sensor_t *list) |
| { |
| switch (compass) { |
| case COMPASS_ID_AK8975: |
| list[MagneticField].maxRange = COMPASS_AKM8975_RANGE; |
| list[MagneticField].resolution = COMPASS_AKM8975_RESOLUTION; |
| list[MagneticField].power = COMPASS_AKM8975_POWER; |
| break; |
| case COMPASS_ID_AMI30X: |
| list[MagneticField].maxRange = COMPASS_AMI30X_RANGE; |
| list[MagneticField].resolution = COMPASS_AMI30X_RESOLUTION; |
| list[MagneticField].power = COMPASS_AMI30X_POWER; |
| break; |
| case COMPASS_ID_AMI306: |
| list[MagneticField].maxRange = COMPASS_AMI306_RANGE; |
| list[MagneticField].resolution = COMPASS_AMI306_RESOLUTION; |
| list[MagneticField].power = COMPASS_AMI306_POWER; |
| break; |
| case COMPASS_ID_YAS529: |
| list[MagneticField].maxRange = COMPASS_YAS529_RANGE; |
| list[MagneticField].resolution = COMPASS_AMI306_RESOLUTION; |
| list[MagneticField].power = COMPASS_AMI306_POWER; |
| break; |
| case COMPASS_ID_YAS530: |
| list[MagneticField].maxRange = COMPASS_YAS530_RANGE; |
| list[MagneticField].resolution = COMPASS_YAS530_RESOLUTION; |
| list[MagneticField].power = COMPASS_YAS530_POWER; |
| break; |
| case COMPASS_ID_HMC5883: |
| list[MagneticField].maxRange = COMPASS_HMC5883_RANGE; |
| list[MagneticField].resolution = COMPASS_HMC5883_RESOLUTION; |
| list[MagneticField].power = COMPASS_HMC5883_POWER; |
| break; |
| case COMPASS_ID_MMC314X: |
| list[MagneticField].maxRange = COMPASS_MMC314X_RANGE; |
| list[MagneticField].resolution = COMPASS_MMC314X_RESOLUTION; |
| list[MagneticField].power = COMPASS_MMC314X_POWER; |
| break; |
| case COMPASS_ID_HSCDTD002B: |
| list[MagneticField].maxRange = COMPASS_HSCDTD002B_RANGE; |
| list[MagneticField].resolution = COMPASS_HSCDTD002B_RESOLUTION; |
| list[MagneticField].power = COMPASS_HSCDTD002B_POWER; |
| break; |
| case COMPASS_ID_HSCDTD004A: |
| list[MagneticField].maxRange = COMPASS_HSCDTD004A_RANGE; |
| list[MagneticField].resolution = COMPASS_HSCDTD004A_RESOLUTION; |
| list[MagneticField].power = COMPASS_HSCDTD004A_POWER; |
| break; |
| default: |
| ALOGE("unknown compass id -- compass parameters will be wrong"); |
| } |
| } |
| |
| void MPLSensor::fillGyro(const char* gyro, struct sensor_t *list) |
| { |
| if ((gyro != NULL) && (strcmp(gyro, "mpu3050") == 0)) { |
| list[Gyro].maxRange = GYRO_MPU3050_RANGE; |
| list[Gyro].resolution = GYRO_MPU3050_RESOLUTION; |
| list[Gyro].power = GYRO_MPU3050_POWER; |
| } else { |
| list[Gyro].maxRange = GYRO_MPU6050_RANGE; |
| list[Gyro].resolution = GYRO_MPU6050_RESOLUTION; |
| list[Gyro].power = GYRO_MPU6050_POWER; |
| } |
| return; |
| } |
| |
| |
| /* fillRV depends on values of accel and compass in the list */ |
| void MPLSensor::fillRV(struct sensor_t *list) |
| { |
| /* compute power on the fly */ |
| list[RotationVector].power = list[Gyro].power + list[Accelerometer].power |
| + list[MagneticField].power; |
| list[RotationVector].resolution = .00001; |
| list[RotationVector].maxRange = 1.0; |
| return; |
| } |
| |
| void MPLSensor::fillOrientation(struct sensor_t *list) |
| { |
| list[Orientation].power = list[Gyro].power + list[Accelerometer].power |
| + list[MagneticField].power; |
| list[Orientation].resolution = .00001; |
| list[Orientation].maxRange = 360.0; |
| return; |
| } |
| |
| void MPLSensor::fillGravity( struct sensor_t *list) |
| { |
| list[Gravity].power = list[Gyro].power + list[Accelerometer].power |
| + list[MagneticField].power; |
| list[Gravity].resolution = .00001; |
| list[Gravity].maxRange = 9.81; |
| return; |
| } |
| |
| void MPLSensor::fillLinearAccel(struct sensor_t *list) |
| { |
| list[Gravity].power = list[Gyro].power + list[Accelerometer].power |
| + list[MagneticField].power; |
| list[Gravity].resolution = list[Accelerometer].resolution; |
| list[Gravity].maxRange = list[Accelerometer].maxRange; |
| return; |
| } |
