commit 7f7785f89f4e04c27f0bb6cb11776778305f3c39
author Rosa Chow <rchow@invensense.com> Thu Oct 13 16:22:32 2011 -0700
committer Mathias Agopian <mathias@google.com> Fri Oct 14 17:44:22 2011 -0700
tree fb230529e3711abfd9afa960688b80f11af93c3e
parent 940175667037620fe3f15d82ad23025293bca22e

SensorHAL: Handle the error flag for overflow or underflow

Invensense libmllite needs to be notified when either overflow or underflow
happens in raw values.
When HAL requires to measure hardware offset, coil init will be triggered.

Change-Id: I9076b3928ae5a26230ddd308c3a238a4721c1f87

mlsdk/mllite/compass.c

diff --git a/mlsdk/mllite/compass.c b/mlsdk/mllite/compass.c
index 387c3f9..798cb9f 100644
--- a/mlsdk/mllite/compass.c
+++ b/mlsdk/mllite/compass.c
@@ -300,6 +300,9 @@
                 data[ii] =
                     ((long)((signed char)tmp[2 * ii + 1]) << 8) + tmp[2 * ii];
         }
+
+        inv_obj.compass_overunder = (int)tmp[6];
+
     } else {
 #if defined CONFIG_MPU_SENSORS_MPU6050A2 ||             \
     defined CONFIG_MPU_SENSORS_MPU6050B1

mlsdk/mllite/ml.h

diff --git a/mlsdk/mllite/ml.h b/mlsdk/mllite/ml.h
index 4d35fd7..838cd49 100644
--- a/mlsdk/mllite/ml.h
+++ b/mlsdk/mllite/ml.h
@@ -379,6 +379,7 @@
         long pressure;
         inv_error_t (*external_slave_callback)(struct inv_obj_t *);
         int  compass_accuracy;
+        int compass_overunder;
 
         unsigned short flags[8];
         unsigned short suspend;

mlsdk/mllite/mlsupervisor.c

diff --git a/mlsdk/mllite/mlsupervisor.c b/mlsdk/mllite/mlsupervisor.c
index 8a23ab6..017907f 100644
--- a/mlsdk/mllite/mlsupervisor.c
+++ b/mlsdk/mllite/mlsupervisor.c
@@ -56,9 +56,11 @@
 
 static unsigned long lastCompassTime = 0;
 static unsigned long polltime = 0;
+static unsigned long coiltime = 0;
 static int accCount = 0;
 static int compassCalStableCount = 0;
 static int compassCalCount = 0;
+static int coiltimerstart = 0;
 
 static yas_filter_if_s f;
 static yas_filter_handle_t handle;
@@ -422,6 +424,21 @@
                         inv_obj.compass_calibrated_data[i] =
                             (long) (tmp64 / inv_obj.compass_sens);
                     }
+                    //Additions:
+                    if (inv_obj.compass_overunder) {
+                        if (coiltimerstart == 0) {
+                            coiltimerstart = 1;
+                            coiltime = ctime;
+                        }
+                    }
+                    if (coiltimerstart == 1) {
+                        if (ctime - coiltime > 3000) {
+                            inv_obj.flags[INV_COMPASS_OFFSET_VALID] = 0;
+                            inv_set_compass_offset();
+                            inv_reset_compass_calibration();
+                            coiltimerstart = 0;
+                        }
+                    }
                 }
                 if (inv_obj.external_slave_callback) {
                     result = inv_obj.external_slave_callback(&inv_obj);