MotionApps 5.1.1 release, with MA 5.1.0 for further merge review.
1. Removed all #ifdef in HAL's member APIs.
2. Added necessary comments as reference.
3. Made changes for coding style, optimization and so on per prior comments.
4. Now raw/calibrated gyroscope sensors could co-exist
Default sensor would be calibrated gyroscope sensor
for getDefaultSensor() call in Android.
* Correctly handle onPower()/masterEnable().
* Use the support functions for reading/writing sysfs.
1 line instead of 9 all over the place.
* Fix return code for {read,write}_sysfs_int():
was > 0 in case of failure instead of < 0.
Bug: 7211625
Change-Id: Ib49dab8ca0f48f45a2838de72f4f8ac011d0e68f
diff --git a/libsensors_iio/CompassSensor.IIO.9150.cpp b/libsensors_iio/CompassSensor.IIO.9150.cpp
index d9f2e0c..7d99af9 100644
--- a/libsensors_iio/CompassSensor.IIO.9150.cpp
+++ b/libsensors_iio/CompassSensor.IIO.9150.cpp
@@ -36,7 +36,7 @@
#define COMPASS_MAX_SYSFS_ATTRB sizeof(compassSysFs) / sizeof(char*)
#if defined COMPASS_YAS530
-# warning "Invensense compass cal with YAS530 on primary bus"
+# warning "Invensense compass cal with YAS530 IIO on primary bus"
# define USE_MPL_COMPASS_HAL (1)
# define COMPASS_NAME "INV_YAS530"
#elif defined COMPASS_AK8975
@@ -44,7 +44,7 @@
# define USE_MPL_COMPASS_HAL (1)
# define COMPASS_NAME "INV_AK8975"
#elif defined INVENSENSE_COMPASS_CAL
-# warning "Invensense compass cal with compass on secondary bus"
+# warning "Invensense compass cal with compass IIO on secondary bus"
# define USE_MPL_COMPASS_HAL (1)
# define COMPASS_NAME "INV_COMPASS"
#else
@@ -59,9 +59,9 @@
CompassSensor::CompassSensor()
: SensorBase(NULL, NULL),
+ compass_fd(-1),
mCompassTimestamp(0),
- mCompassInputReader(8),
- compass_fd(-1)
+ mCompassInputReader(8)
{
VFUNC_LOG;
@@ -107,7 +107,9 @@
LOGE("HAL:Couldn't read compass mounting matrix");
}
- enable(ID_M, 0);
+ if (!isIntegrated()) {
+ enable(ID_M, 0);
+ }
}
CompassSensor::~CompassSensor()
@@ -139,58 +141,25 @@
VFUNC_LOG;
mEnable = en;
- int tempFd;
int res;
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, compassSysFs.compass_enable, getTimestamp());
- tempFd = open(compassSysFs.compass_enable, O_RDWR);
- res = errno;
- if(tempFd < 0) {
- LOGE("HAL:open of %s failed with '%s' (%d)",
- compassSysFs.compass_enable, strerror(res), res);
- return res;
- }
- res = enable_sysfs_sensor(tempFd, en);
+ res = write_sysfs_int(compassSysFs.compass_enable, en);
LOGE_IF(res < 0, "HAL:enable compass failed");
- close(tempFd);
if (en) {
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, compassSysFs.compass_x_fifo_enable, getTimestamp());
- tempFd = open(compassSysFs.compass_x_fifo_enable, O_RDWR);
- res = errno;
- if (tempFd > 0) {
- res = enable_sysfs_sensor(tempFd, en);
- close(tempFd);
- } else {
- LOGE("HAL:open of %s failed with '%s' (%d)",
- compassSysFs.compass_x_fifo_enable, strerror(res), res);
- }
+ res = write_sysfs_int(compassSysFs.compass_x_fifo_enable, en);
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, compassSysFs.compass_y_fifo_enable, getTimestamp());
- tempFd = open(compassSysFs.compass_y_fifo_enable, O_RDWR);
- res = errno;
- if (tempFd > 0) {
- res = enable_sysfs_sensor(tempFd, en);
- close(tempFd);
- } else {
- LOGE("HAL:open of %s failed with '%s' (%d)",
- compassSysFs.compass_y_fifo_enable, strerror(res), res);
- }
+ res = write_sysfs_int(compassSysFs.compass_y_fifo_enable, en);
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, compassSysFs.compass_z_fifo_enable, getTimestamp());
- tempFd = open(compassSysFs.compass_z_fifo_enable, O_RDWR);
- res = errno;
- if (tempFd > 0) {
- res = enable_sysfs_sensor(tempFd, en);
- close(tempFd);
- } else {
- LOGE("HAL:open of %s failed with '%s' (%d)",
- compassSysFs.compass_z_fifo_enable, strerror(res), res);
- }
+ res = write_sysfs_int(compassSysFs.compass_z_fifo_enable, en);
}
return res;
@@ -327,20 +296,29 @@
if (compass) {
if(!strcmp(compass, "INV_COMPASS")) {
list->maxRange = COMPASS_MPU9150_RANGE;
- list->resolution = COMPASS_MPU9150_RESOLUTION;
+ /* since target platform would use AK8963 instead of AK8975,
+ need to adopt AK8963's resolution here */
+ // list->resolution = COMPASS_MPU9150_RESOLUTION;
+ list->resolution = COMPASS_AKM8963_RESOLUTION;
list->power = COMPASS_MPU9150_POWER;
list->minDelay = COMPASS_MPU9150_MINDELAY;
return;
}
if(!strcmp(compass, "compass")
- || !strcmp(compass, "INV_AK8975")
- || !strcmp(compass, "INV_YAS530")) {
+ || !strcmp(compass, "INV_AK8975") ) {
list->maxRange = COMPASS_AKM8975_RANGE;
list->resolution = COMPASS_AKM8975_RESOLUTION;
list->power = COMPASS_AKM8975_POWER;
list->minDelay = COMPASS_AKM8975_MINDELAY;
return;
}
+ if(!strcmp(compass, "INV_YAS530")) {
+ list->maxRange = COMPASS_YAS530_RANGE;
+ list->resolution = COMPASS_YAS530_RESOLUTION;
+ list->power = COMPASS_YAS530_POWER;
+ list->minDelay = COMPASS_YAS530_MINDELAY;
+ return;
+ }
if(!strcmp(compass, "INV_AMI306")) {
list->maxRange = COMPASS_AMI306_RANGE;
list->resolution = COMPASS_AMI306_RESOLUTION;
@@ -390,16 +368,13 @@
inv_get_iio_trigger_path(iio_trigger_path);
-#if defined COMPASS_YAS530 || defined COMPASS_AK8975
+#if defined COMPASS_AK8975
inv_get_input_number(COMPASS_NAME, &num);
tbuf[0] = num + 0x30;
tbuf[1] = 0;
sprintf(sysfs_path, "%s%s", "sys/class/input/input", tbuf);
-#if defined COMPASS_YAS530
- strcat(sysfs_path, "/yas530");
-#else
strcat(sysfs_path, "/ak8975");
-#endif
+
sprintf(compassSysFs.compass_enable, "%s%s", sysfs_path, "/enable");
sprintf(compassSysFs.compass_rate, "%s%s", sysfs_path, "/rate");
sprintf(compassSysFs.compass_scale, "%s%s", sysfs_path, "/scale");
diff --git a/libsensors_iio/InputEventReader.h b/libsensors_iio/InputEventReader.h
index 11c4e73..f0ccc63 100644
--- a/libsensors_iio/InputEventReader.h
+++ b/libsensors_iio/InputEventReader.h
@@ -1,17 +1,17 @@
-/*
-* Copyright (C) 2012 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.
+/*
+* Copyright (C) 2012 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.
*/
#ifndef ANDROID_INPUT_EVENT_READER_H
diff --git a/libsensors_iio/MPLSensor.cpp b/libsensors_iio/MPLSensor.cpp
index e23ecc9..90051cd 100644
--- a/libsensors_iio/MPLSensor.cpp
+++ b/libsensors_iio/MPLSensor.cpp
@@ -34,6 +34,7 @@
#include <utils/String8.h>
#include <string.h>
#include <linux/input.h>
+#include <utils/Atomic.h>
#include "MPLSensor.h"
#include "MPLSupport.h"
@@ -46,7 +47,6 @@
#include "ml_sysfs_helper.h"
// #define TESTING
-// #define ENABLE_LP_QUAT_FEAT /* Uncomment to enable Low Power Quaternion */
#ifdef THIRD_PARTY_ACCEL
# warning "Third party accel"
@@ -80,11 +80,18 @@
#define HW_ACCEL_RATE_HZ (1000 / hertz_request)
#define HW_COMPASS_RATE_HZ (1000000000LL / hertz_request)
+#define RATE_200HZ 5000000LL
+#define RATE_15HZ 66667000LL
+#define RATE_5HZ 200000000LL
+
static struct sensor_t sSensorList[] =
{
{"MPL Gyroscope", "Invensense", 1,
SENSORS_GYROSCOPE_HANDLE,
SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, {}},
+ {"MPL Raw Gyro", "Invensense", 1,
+ SENSORS_RAW_GYROSCOPE_HANDLE,
+ SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, {}},
{"MPL Accelerometer", "Invensense", 1,
SENSORS_ACCELERATION_HANDLE,
SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, {}},
@@ -103,6 +110,12 @@
{"MPL Gravity", "Invensense", 1,
SENSORS_GRAVITY_HANDLE,
SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, {}},
+
+#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
+ {"MPL Screen Orientation", "Invensense ", 1,
+ SENSORS_SCREEN_ORIENTATION_HANDLE,
+ SENSOR_TYPE_SCREEN_ORIENTATION, 100.0f, 1.0f, 1.1f, 0, {}},
+#endif
};
MPLSensor *MPLSensor::gMPLSensor = NULL;
@@ -134,17 +147,20 @@
* MPLSensor class implementation
******************************************************************************/
+// following extended initializer list would only be available with -std=c++11 or -std=gnu+11
MPLSensor::MPLSensor(CompassSensor *compass)
: SensorBase(NULL, NULL),
mMplSensorInitialized(false),
mNewData(0),
mMasterSensorMask(INV_ALL_SENSORS),
- mLocalSensorMask(ALL_MPL_SENSORS_NP),
+ mLocalSensorMask(0),
mPollTime(-1),
mHaveGoodMpuCal(0),
mGyroAccuracy(0),
mAccelAccuracy(0),
mSampleCount(0),
+ dmp_orient_fd(-1),
+ mDmpOrientationEnabled(0),
mEnabled(0),
mOldEnabledMask(0),
mAccelInputReader(4),
@@ -155,8 +171,6 @@
mAccelScale(2),
mPendingMask(0),
mSensorMask(0),
- mGyroOrientation{0},
- mAccelOrientation{0},
mFeatureActiveMask(0) {
VFUNC_LOG;
@@ -175,6 +189,8 @@
pthread_mutex_init(&mMplMutex, NULL);
pthread_mutex_init(&mHALMutex, NULL);
+ bzero(mGyroOrientation, sizeof(mGyroOrientation));
+ bzero(mAccelOrientation, sizeof(mAccelOrientation));
#ifdef INV_PLAYBACK_DBG
LOGV_IF(PROCESS_VERBOSE, "HAL:inv_turn_on_data_logging");
@@ -204,11 +220,10 @@
/* reset driver master enable */
masterEnable(0);
- /* Load DMP image if capable, ie. MPU6xxx/9xxx */
- // TODO: disabled for GED tablet
-#ifdef ENABLE_LP_QUAT_FEAT
- loadDMP();
-#endif
+ if (isLowPowerQuatEnabled() || isDmpDisplayOrientationOn()) {
+ /* Load DMP image if capable, ie. MPU6xxx/9xxx */
+ loadDMP();
+ }
/* open temperature fd for temp comp */
LOGV_IF(EXTRA_VERBOSE, "HAL:gyro temperature path: %s", mpu.temperature);
@@ -269,6 +284,11 @@
mPendingEvents[Gyro].type = SENSOR_TYPE_GYROSCOPE;
mPendingEvents[Gyro].gyro.status = SENSOR_STATUS_ACCURACY_HIGH;
+ mPendingEvents[RawGyro].version = sizeof(sensors_event_t);
+ mPendingEvents[RawGyro].sensor = ID_RG;
+ mPendingEvents[RawGyro].type = SENSOR_TYPE_GYROSCOPE;
+ mPendingEvents[RawGyro].gyro.status = SENSOR_STATUS_ACCURACY_HIGH;
+
mPendingEvents[Accelerometer].version = sizeof(sensors_event_t);
mPendingEvents[Accelerometer].sensor = ID_A;
mPendingEvents[Accelerometer].type = SENSOR_TYPE_ACCELEROMETER;
@@ -292,6 +312,7 @@
mHandlers[LinearAccel] = &MPLSensor::laHandler;
mHandlers[Gravity] = &MPLSensor::gravHandler;
mHandlers[Gyro] = &MPLSensor::gyroHandler;
+ mHandlers[RawGyro] = &MPLSensor::rawGyroHandler;
mHandlers[Accelerometer] = &MPLSensor::accelHandler;
mHandlers[MagneticField] = &MPLSensor::compassHandler;
mHandlers[Orientation] = &MPLSensor::orienHandler;
@@ -306,7 +327,7 @@
/* setup MPL */
inv_constructor_init();
- /* load calibration file from /data/cal.bin */
+ /* load calibration file from /data/inv_cal_data.bin */
rv = inv_load_calibration();
if(rv == INV_SUCCESS)
LOGV_IF(PROCESS_VERBOSE, "HAL:Calibration file successfully loaded");
@@ -320,8 +341,16 @@
enableGyro(0);
enableAccel(0);
enableCompass(0);
+
+ if (isLowPowerQuatEnabled()) {
+ enableLPQuaternion(0);
+ }
+
onPower(0);
+ enableDmpOrientation(isDmpDisplayOrientationOn());
+ enableDmpOrientation(!isDmpScreenAutoRotationOn() && isDmpDisplayOrientationOn());
+
#ifdef INV_PLAYBACK_DBG
logfile = fopen("/data/playback.bin", "wb");
if (logfile)
@@ -331,56 +360,61 @@
mMplSensorInitialized = true;
}
-
void MPLSensor::enable_iio_sysfs() {
VFUNC_LOG;
- int tempFd = 0;
char iio_trigger_name[MAX_CHIP_ID_LEN], iio_device_node[MAX_CHIP_ID_LEN];
FILE *tempFp = NULL;
- LOGV_IF(SYSFS_VERBOSE,
- "HAL:sysfs:echo 1 > %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo 1 > %s (%lld)",
mpu.in_timestamp_en, getTimestamp());
- tempFd = open(mpu.in_timestamp_en, O_RDWR);
- if(tempFd < 0) {
+ // Using fopen() here to benefit from fprintf()
+ tempFp = fopen(mpu.in_timestamp_en, "w");
+ if (tempFp == NULL) {
LOGE("HAL:could not open timestamp enable");
- } else if(enable_sysfs_sensor(tempFd, 1) < 0) {
- LOGE("HAL:could not enable timestamp");
+ } else {
+ if(fprintf(tempFp, "%d", 1) < 0) {
+ LOGE("HAL:could not enable timestamp");
+ }
+ fclose(tempFp);
}
- LOGV_IF(SYSFS_VERBOSE,
- "HAL:sysfs:cat %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE,
+ "HAL:sysfs:cat %s (%lld)",
mpu.trigger_name, getTimestamp());
tempFp = fopen(mpu.trigger_name, "r");
if (tempFp == NULL) {
LOGE("HAL:could not open trigger name");
- } else if (fscanf(tempFp, "%s", iio_trigger_name) < 0) {
- LOGE("HAL:could not read trigger name");
+ } else {
+ if (fscanf(tempFp, "%s", iio_trigger_name) < 0) {
+ LOGE("HAL:could not read trigger name");
+ }
+ fclose(tempFp);
}
- fclose(tempFp);
- LOGV_IF(SYSFS_VERBOSE,
- "HAL:sysfs:echo %s > %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %s > %s (%lld)",
iio_trigger_name, mpu.current_trigger, getTimestamp());
tempFp = fopen(mpu.current_trigger, "w");
if (tempFp == NULL) {
LOGE("HAL:could not open current trigger");
- } else if (fprintf(tempFp, "%s", iio_trigger_name) < 0) {
- LOGE("HAL:could not write current trigger");
+ } else {
+ if (fprintf(tempFp, "%s", iio_trigger_name) < 0) {
+ LOGE("HAL:could not write current trigger");
+ }
+ fclose(tempFp);
}
- fclose(tempFp);
- LOGV_IF(SYSFS_VERBOSE,
- "HAL:sysfs:echo %d > %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
IIO_BUFFER_LENGTH, mpu.buffer_length, getTimestamp());
tempFp = fopen(mpu.buffer_length, "w");
if (tempFp == NULL) {
LOGE("HAL:could not open buffer length");
- } else if (fprintf(tempFp, "%d", IIO_BUFFER_LENGTH) < 0) {
- LOGE("HAL:could not write buffer length");
+ } else {
+ if (fprintf(tempFp, "%d", IIO_BUFFER_LENGTH) < 0) {
+ LOGE("HAL:could not write buffer length");
+ }
+ fclose(tempFp);
}
- fclose(tempFp);
inv_get_iio_device_node(iio_device_node);
iio_fd = open(iio_device_node, O_RDONLY);
@@ -428,7 +462,6 @@
return result;
}
- // TODO: double-check for GED tablet
// result = inv_enable_motion_no_motion();
result = inv_enable_fast_nomot();
if (result) {
@@ -452,8 +485,13 @@
if (result) {
LOG_RESULT_LOCATION(result);
return result;
+ } else {
+ mFeatureActiveMask |= INV_COMPASS_CAL;
}
+ // specify MPL's trust weight, used by compass algorithms
+ inv_vector_compass_cal_sensitivity(3);
+
result = inv_enable_compass_bias_w_gyro();
if (result) {
LOG_RESULT_LOCATION(result);
@@ -477,6 +515,9 @@
if (result) {
LOG_RESULT_LOCATION(result);
return result;
+ } else {
+ // 9x sensor fusion enables Compass fit
+ mFeatureActiveMask |= INV_COMPASS_FIT;
}
result = inv_enable_no_gyro_fusion();
@@ -485,7 +526,6 @@
return result;
}
- // TODO: double-check for GED tablet
result = inv_enable_quat_accuracy_monitor();
if (result) {
LOG_RESULT_LOCATION(result);
@@ -521,7 +561,7 @@
/* compass setup */
signed char orientMtx[9];
mCompassSensor->getOrientationMatrix(orientMtx);
- orient =
+ orient =
inv_orientation_matrix_to_scalar(orientMtx);
long sensitivity;
sensitivity = mCompassSensor->getSensitivity();
@@ -539,7 +579,7 @@
}
/* load DMP firmware */
- LOGV_IF(SYSFS_VERBOSE,
+ LOGV_IF(SYSFS_VERBOSE,
"HAL:sysfs:cat %s (%lld)", mpu.firmware_loaded, getTimestamp());
fd = open(mpu.firmware_loaded, O_RDONLY);
if(fd < 0) {
@@ -564,7 +604,7 @@
}
}
- // onDMP(1); //Can't enable here. See note onDMP()
+ // onDMP(1); //Can't enable here. See note onDMP()
}
void MPLSensor::inv_get_sensors_orientation()
@@ -572,13 +612,13 @@
FILE *fptr;
// get gyro orientation
- LOGV_IF(SYSFS_VERBOSE,
+ LOGV_IF(SYSFS_VERBOSE,
"HAL:sysfs:cat %s (%lld)", mpu.gyro_orient, getTimestamp());
fptr = fopen(mpu.gyro_orient, "r");
if (fptr != NULL) {
int om[9];
fscanf(fptr, "%d,%d,%d,%d,%d,%d,%d,%d,%d",
- &om[0], &om[1], &om[2], &om[3], &om[4], &om[5],
+ &om[0], &om[1], &om[2], &om[3], &om[4], &om[5],
&om[6], &om[7], &om[8]);
fclose(fptr);
@@ -601,13 +641,13 @@
}
// get accel orientation
- LOGV_IF(SYSFS_VERBOSE,
+ LOGV_IF(SYSFS_VERBOSE,
"HAL:sysfs:cat %s (%lld)", mpu.accel_orient, getTimestamp());
fptr = fopen(mpu.accel_orient, "r");
if (fptr != NULL) {
int om[9];
- fscanf(fptr, "%d,%d,%d,%d,%d,%d,%d,%d,%d",
- &om[0], &om[1], &om[2], &om[3], &om[4], &om[5],
+ fscanf(fptr, "%d,%d,%d,%d,%d,%d,%d,%d,%d",
+ &om[0], &om[1], &om[2], &om[3], &om[4], &om[5],
&om[6], &om[7], &om[8]);
fclose(fptr);
@@ -634,10 +674,11 @@
{
VFUNC_LOG;
+ mCompassSensor = NULL;
+
/* Close open fds */
if (iio_fd > 0)
close(iio_fd);
-
if( accel_fd > 0 )
close(accel_fd );
if (gyro_temperature_fd > 0)
@@ -645,18 +686,17 @@
if (sysfs_names_ptr)
free(sysfs_names_ptr);
+ if (isDmpDisplayOrientationOn()) {
+ closeDmpOrientFd();
+ }
+
/* Turn off Gyro master enable */
/* A workaround until driver handles it */
/* TODO: Turn off and close all sensors */
LOGV_IF(SYSFS_VERBOSE,
"HAL:sysfs:echo 0 > %s (%lld)", mpu.chip_enable, getTimestamp());
- int fd = open(mpu.chip_enable, O_RDWR);
- if(fd < 0) {
- LOGE("HAL:could not open gyro chip enable");
- } else {
- if(enable_sysfs_sensor(fd, 0) < 0) {
- LOGE("HAL:could not disable gyro master enable");
- }
+ if(write_sysfs_int(mpu.chip_enable, 0) < 0) {
+ LOGE("HAL:could not disable gyro master enable");
}
#ifdef INV_PLAYBACK_DBG
@@ -665,18 +705,13 @@
#endif
}
-#define GY_ENABLED ((1 << ID_GY) & enabled_sensors) // ID_GY = 0
-#define A_ENABLED ((1 << ID_A) & enabled_sensors) // ID_A = 1
-#ifdef INVENSENSE_COMPASS_CAL // ID_M = 2
+#define GY_ENABLED (((1 << ID_GY) | (1 << ID_RG)) & enabled_sensors)
+#define A_ENABLED ((1 << ID_A) & enabled_sensors)
#define M_ENABLED ((1 << ID_M) & enabled_sensors)
-#else
-// TODO: ID_M = 2 even for 3rd-party solution
-#define M_ENABLED ((1 << ID_M) & enabled_sensors)
-#endif
-#define O_ENABLED ((1 << ID_O) & enabled_sensors) // ID_O = 3
-#define LA_ENABLED ((1 << ID_LA) & enabled_sensors) // ID_RV = 4
-#define GR_ENABLED ((1 << ID_GR) & enabled_sensors) // ID_LA = 5
-#define RV_ENABLED ((1 << ID_RV) & enabled_sensors) // ID_GR = 6
+#define O_ENABLED ((1 << ID_O) & 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)
/* TODO: this step is optional, remove? */
int MPLSensor::setGyroInitialState()
@@ -685,7 +720,7 @@
int res = 0;
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
HW_GYRO_RATE_HZ, mpu.gyro_fifo_rate, getTimestamp());
int fd = open(mpu.gyro_fifo_rate, O_RDWR);
res = errno;
@@ -733,38 +768,26 @@
{
VFUNC_LOG;
- int res = 0;
- char buf[sizeof(int)+1];
+ int res;
+
int count, curr_power_state;
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, mpu.power_state, getTimestamp());
- int tempFd = open(mpu.power_state, O_RDWR);
- res = errno;
- if(tempFd < 0){
- LOGE("HAL:Open of %s failed with '%s' (%d)",
- mpu.power_state, strerror(res), res);
- } else {
- // check and set new power state
- count = read_attribute_sensor(tempFd, buf, sizeof(buf));
- if(count < 1) {
- LOGE("HAL:Error reading power state");
- // will set power_state anyway
- curr_power_state= -1;
- } else {
- sscanf(buf, "%d", &curr_power_state);
- }
-
- if (en!=curr_power_state) {
- if((res=enable_sysfs_sensor(tempFd, en)) < 0) {
+ res = read_sysfs_int(mpu.power_state, &curr_power_state);
+ if (res < 0) {
+ LOGE("HAL:Error reading power state");
+ // will set power_state anyway
+ curr_power_state = -1;
+ }
+ if (en != curr_power_state) {
+ if((res = write_sysfs_int(mpu.power_state, en)) < 0) {
LOGE("HAL:Couldn't write power state");
- }
- } else {
- LOGV_IF(EXTRA_VERBOSE,
- "HAL:Power state already enable/disable curr=%d new=%d",
- curr_power_state, en);
- close(tempFd);
}
+ } else {
+ LOGV_IF(EXTRA_VERBOSE,
+ "HAL:Power state already enable/disable curr=%d new=%d",
+ curr_power_state, en);
}
return res;
}
@@ -773,7 +796,7 @@
{
VFUNC_LOG;
- int res= -1;
+ int res = -1;
int status;
//Sequence to enable DMP
@@ -782,24 +805,32 @@
//3. Either Gyro or Accel must be enabled/configured before next step
//4. Enable DMP
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
+ mpu.firmware_loaded, getTimestamp());
if(read_sysfs_int(mpu.firmware_loaded, &status) < 0){
LOGE("HAL:ERR can't get firmware_loaded status");
} else if (status == 1) {
//Write only if curr DMP state <> request
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
+ mpu.dmp_on, getTimestamp());
if (read_sysfs_int(mpu.dmp_on, &status) < 0) {
LOGE("HAL:ERR can't read DMP state");
} else if (status != en) {
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ en, mpu.dmp_on, getTimestamp());
if (write_sysfs_int(mpu.dmp_on, en) < 0) {
- LOGE("HAL:ERR can't write dmp_on");
+ LOGE("HAL:ERR can't write dmp_on");
} else {
- res= 0; //Indicate write successful
+ res = 0; //Indicate write successful
}
//Enable DMP interrupt
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ en, mpu.dmp_int_on, getTimestamp());
if (write_sysfs_int(mpu.dmp_int_on, en) < 0) {
- LOGE("HAL:ERR can't en/dis DMP interrupt");
+ LOGE("HAL:ERR can't en/dis DMP interrupt");
}
} else {
- res= 0; //DMP already set as requested
+ res = 0; //DMP already set as requested
}
} else {
LOGE("HAL:ERR No DMP image");
@@ -824,7 +855,7 @@
mFeatureActiveMask &= ~INV_DMP_QUATERNION;
LOGV_IF(PROCESS_VERBOSE, "HAL:LP Quat disabled");
} else {
- if (enableQuaternionData(1) < 0 || onDMP(1) < 0) {
+ if (enableQuaternionData(1) < 0 || onDMP(1) < 0) {
LOGE("HAL:ERR can't enable LP Quaternion");
} else {
mFeatureActiveMask |= INV_DMP_QUATERNION;
@@ -836,36 +867,52 @@
int MPLSensor::enableQuaternionData(int en)
{
- int res= 0;
+ int res = 0;
VFUNC_LOG;
- //Enable DMP quaternion
+ // Enable DMP quaternion
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ en, mpu.quaternion_on, getTimestamp());
if (write_sysfs_int(mpu.quaternion_on, en) < 0) {
LOGE("HAL:ERR can't write DMP quaternion_on");
- res= -1; //Indicate an err
- }
+ res = -1; //Indicate an err
+ }
if (!en) {
- LOGV_IF(EXTRA_VERBOSE, "HAL:DMP quaternion data was turned off");
- inv_quaternion_sensor_was_turned_off();
+ LOGV_IF(PROCESS_VERBOSE, "HAL:Disabling quat scan elems");
} else {
+
LOGV_IF(PROCESS_VERBOSE, "HAL:Enabling quat scan elems");
- if (write_sysfs_int(mpu.in_quat_r_en, 1) < 0) {
- LOGE("HAL:ERR write in_quat_r_en");
- }
- if (write_sysfs_int(mpu.in_quat_x_en, 1) < 0) {
- LOGE("HAL:ERR write in_quat_x_en");
- }
- if (write_sysfs_int(mpu.in_quat_y_en, 1) < 0) {
- LOGE("HAL:ERR write in_quat_y_en");
- }
- if (write_sysfs_int(mpu.in_quat_z_en, 1) < 0) {
- LOGE("HAL:ERR write in_quat_z_en");
- }
+ }
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ en, mpu.in_quat_r_en, getTimestamp());
+ if (write_sysfs_int(mpu.in_quat_r_en, en) < 0) {
+ LOGE("HAL:ERR write in_quat_r_en");
+ }
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ en, mpu.in_quat_x_en, getTimestamp());
+ if (write_sysfs_int(mpu.in_quat_x_en, en) < 0) {
+ LOGE("HAL:ERR write in_quat_x_en");
+ }
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ en, mpu.in_quat_y_en, getTimestamp());
+ if (write_sysfs_int(mpu.in_quat_y_en, en) < 0) {
+ LOGE("HAL:ERR write in_quat_y_en");
+ }
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ en, mpu.in_quat_z_en, getTimestamp());
+
+ if (write_sysfs_int(mpu.in_quat_z_en, en) < 0) {
+ LOGE("HAL:ERR write in_quat_z_en");
+ }
+
+ LOGV_IF(EXTRA_VERBOSE, "HAL:DMP quaternion data was turned off");
+
+ if (!en) {
+ inv_quaternion_sensor_was_turned_off();
}
return res;
-
}
int MPLSensor::enableTap(int en)
@@ -893,75 +940,38 @@
{
VFUNC_LOG;
- int res = 0;
-
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, mpu.chip_enable, getTimestamp());
- int tempFd = open(mpu.chip_enable, O_RDWR);
- res = errno;
- if(tempFd < 0){
- LOGE("HAL:open of %s failed with '%s' (%d)",
- mpu.chip_enable, strerror(res), res);
- return res;
- }
- res = enable_sysfs_sensor(tempFd, en);
- return res;
+ return write_sysfs_int(mpu.chip_enable, en);
}
int MPLSensor::enableGyro(int en)
{
VFUNC_LOG;
- int res = 0;
+ /* TODO: FIX error handling. Handle or ignore it appropriately for hw. */
+ int res;
/* need to also turn on/off the master enable */
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, mpu.gyro_enable, getTimestamp());
- int tempFd = open(mpu.gyro_enable, O_RDWR);
- res = errno;
- if (tempFd > 0) {
- res = enable_sysfs_sensor(tempFd, en);
- } else {
- LOGE("HAL:open of %s failed with '%s' (%d)",
- mpu.gyro_enable, strerror(res), res);
- }
+ res = write_sysfs_int(mpu.gyro_enable, en);
if (!en) {
LOGV_IF(EXTRA_VERBOSE, "HAL:MPL:inv_gyro_was_turned_off");
inv_gyro_was_turned_off();
} else {
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, mpu.gyro_x_fifo_enable, getTimestamp());
- tempFd = open(mpu.gyro_x_fifo_enable, O_RDWR);
- res = errno;
- if (tempFd > 0) {
- res = enable_sysfs_sensor(tempFd, en);
- } else {
- LOGE("HAL:open of %s failed with '%s' (%d)",
- mpu.gyro_x_fifo_enable, strerror(res), res);
- }
+ write_sysfs_int(mpu.gyro_x_fifo_enable, en);
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, mpu.gyro_y_fifo_enable, getTimestamp());
- tempFd = open(mpu.gyro_y_fifo_enable, O_RDWR);
- res = errno;
- if (tempFd > 0) {
- res = enable_sysfs_sensor(tempFd, en);
- } else {
- LOGE("HAL:open of %s failed with '%s' (%d)",
- mpu.gyro_y_fifo_enable, strerror(res), res);
- }
+ write_sysfs_int(mpu.gyro_y_fifo_enable, en);
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, mpu.gyro_z_fifo_enable, getTimestamp());
- tempFd = open(mpu.gyro_z_fifo_enable, O_RDWR);
- res = errno;
- if (tempFd > 0) {
- res = enable_sysfs_sensor(tempFd, en);
- } else {
- LOGE("HAL:open of %s failed with '%s' (%d)",
- mpu.gyro_z_fifo_enable, strerror(res), res);
- }
+ res = write_sysfs_int(mpu.gyro_z_fifo_enable, en);
}
return res;
@@ -971,61 +981,31 @@
{
VFUNC_LOG;
+ /* TODO: FIX error handling. Handle or ignore it appropriately for hw. */
int res;
- /* need to also turn on/off the master enable */
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- en, mpu.accel_enable, getTimestamp());
- int tempFd = open(mpu.accel_enable, O_RDWR);
- res = errno;
- if (tempFd > 0) {
- res = enable_sysfs_sensor(tempFd, en);
- } else {
- LOGE("HAL:open of %s failed with '%s' (%d)",
- mpu.accel_enable, strerror(res), res);
- }
+ /* need to also turn on/off the master enable */
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ en, mpu.accel_enable, getTimestamp());
+ res = write_sysfs_int(mpu.accel_enable, en);
if (!en) {
LOGV_IF(EXTRA_VERBOSE, "HAL:MPL:inv_accel_was_turned_off");
inv_accel_was_turned_off();
} else {
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, mpu.accel_x_fifo_enable, getTimestamp());
- tempFd = open(mpu.accel_x_fifo_enable, O_RDWR);
- res = errno;
- if (tempFd > 0) {
- res = enable_sysfs_sensor(tempFd, en);
- } else {
- LOGE("HAL:open of %s failed with '%s' (%d)",
- mpu.accel_x_fifo_enable, strerror(res), res);
- }
+ write_sysfs_int(mpu.accel_x_fifo_enable, en);
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, mpu.accel_y_fifo_enable, getTimestamp());
- tempFd = open(mpu.accel_y_fifo_enable, O_RDWR);
- res = errno;
- if (tempFd > 0) {
- res = enable_sysfs_sensor(tempFd, en);
- } else {
- LOGE("HAL:open of %s failed with '%s' (%d)",
- mpu.accel_y_fifo_enable, strerror(res), res);
- }
+ write_sysfs_int(mpu.accel_y_fifo_enable, en);
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, mpu.accel_z_fifo_enable, getTimestamp());
- tempFd = open(mpu.accel_z_fifo_enable, O_RDWR);
- res = errno;
- if (tempFd > 0) {
- res = enable_sysfs_sensor(tempFd, en);
- } else {
- LOGE("HAL:open of %s failed with '%s' (%d)",
- mpu.accel_z_fifo_enable, strerror(res), res);
- }
+ res = write_sysfs_int(mpu.accel_z_fifo_enable, en);
}
- if (!en && USE_THIRD_PARTY_ACCEL == 0) {
- }
-
if(USE_THIRD_PARTY_ACCEL == 1 && en) {
setAccelInitialState(); // BMA250
}
@@ -1040,7 +1020,7 @@
if (en == 0) {
LOGV_IF(EXTRA_VERBOSE, "HAL:MPL:inv_compass_was_turned_off");
inv_compass_was_turned_off();
- }
+ }
return res;
}
@@ -1097,16 +1077,17 @@
int off = 0;
// Sequence to enable or disable a sensor
- // 1. enable Power state
+ // 1. enable Power state
// 2. reset master enable (=0)
// 3. enable or disable a sensor
// 4. set master enable (=1)
- if (changed & ((1 << Gyro) | (1 << Accelerometer) |
- (mCompassSensor->isIntegrated() << MagneticField))) {
+ if (isLowPowerQuatEnabled() ||
+ changed & ((1 << Gyro) | (1 << RawGyro) | (1 << Accelerometer) |
+ (mCompassSensor->isIntegrated() << MagneticField))) {
/* ensure power state is on */
onPower(1);
-
+
/* reset master enable */
res = masterEnable(0);
if(res < 0) {
@@ -1116,14 +1097,14 @@
LOGV_IF(PROCESS_VERBOSE, "HAL:enableSensors - sensors: 0x%0x", (unsigned int)sensors);
- if (changed & (1 << Gyro)) {
- if(sensors & INV_THREE_AXIS_GYRO) {
+ if (changed & ((1 << Gyro) | (1 << RawGyro))) {
+ if (sensors & INV_THREE_AXIS_GYRO) {
LOGV_IF(PROCESS_VERBOSE, "HAL:enableSensors - enable gyro");
res = enableGyro(on);
if(res < 0) {
return res;
}
- } else if((sensors & INV_THREE_AXIS_GYRO) == 0) {
+ } else if ((sensors & INV_THREE_AXIS_GYRO) == 0) {
LOGV_IF(PROCESS_VERBOSE, "HAL:enableSensors - disable gyro");
res = enableGyro(off);
if(res < 0) {
@@ -1133,13 +1114,13 @@
}
if (changed & (1 << Accelerometer)) {
- if(sensors & INV_THREE_AXIS_ACCEL) {
+ if (sensors & INV_THREE_AXIS_ACCEL) {
LOGV_IF(PROCESS_VERBOSE, "HAL:enableSensors - enable accel");
res = enableAccel(on);
if(res < 0) {
return res;
}
- } else if((sensors & INV_THREE_AXIS_ACCEL) == 0) {
+ } else if ((sensors & INV_THREE_AXIS_ACCEL) == 0) {
LOGV_IF(PROCESS_VERBOSE, "HAL:enableSensors - disable accel");
res = enableAccel(off);
if(res < 0) {
@@ -1165,47 +1146,101 @@
}
}
-// TODO: disabled for GED tablet
-#ifdef ENABLE_LP_QUAT_FEAT
- // Enable LP Quat
- if ((mEnabled & ((1 << Orientation) | (1 << RotationVector) |
- (1 << LinearAccel) | (1 << Gravity)))) {
- if (!checkLPQuaternion()) {
- enableLPQuaternion(1);
- } else {
- LOGV_IF(PROCESS_VERBOSE, "HAL:LP Quat already enabled");
+ if ( isLowPowerQuatEnabled() ) {
+ // Enable LP Quat
+ if ((mEnabled & ((1 << Orientation) | (1 << RotationVector) |
+ (1 << LinearAccel) | (1 << Gravity)))) {
+ if (!(changed & ((1 << Gyro) | (1 << RawGyro) | (1 << Accelerometer) |
+ (mCompassSensor->isIntegrated() << MagneticField)))) {
+ /* ensure power state is on */
+ onPower(1);
+ /* reset master enable */
+ res = masterEnable(0);
+ if(res < 0) {
+ return res;
+ }
+ }
+ if (!checkLPQuaternion()) {
+ enableLPQuaternion(1);
+ } else {
+ LOGV_IF(PROCESS_VERBOSE, "HAL:LP Quat already enabled");
+ }
+ } else if (checkLPQuaternion()) {
+ enableLPQuaternion(0);
}
- } else if (checkLPQuaternion()) {
- enableLPQuaternion(0);
}
-#endif
- /*
- if sensor & THREE_AXIS_GYRO
- enable = 1
- if sensor & THREE_AXIS_ACCEL
- enable = 1
- if compass_on_secondary
- if sensor & THREE_AXIS_COMPASS
- enable = 1
- else
- enable = 0
- */
- if (changed & ((1 << Gyro) | (1 << Accelerometer) |
+ if (changed & ((1 << Gyro) | (1 << RawGyro) | (1 << Accelerometer) |
(mCompassSensor->isIntegrated() << MagneticField))) {
- if (sensors &
- (INV_THREE_AXIS_GYRO
- | INV_THREE_AXIS_ACCEL
+ if (sensors &
+ (INV_THREE_AXIS_GYRO
+ | INV_THREE_AXIS_ACCEL
| (INV_THREE_AXIS_COMPASS * mCompassSensor->isIntegrated()))) {
+ if (isLowPowerQuatEnabled() || isDmpDisplayOrientationOn()) {
+ // disable DMP event interrupt only (w/ data interrupt)
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ 0, mpu.dmp_event_int_on, getTimestamp());
+ if (write_sysfs_int(mpu.dmp_event_int_on, 0) < 0) {
+ res = -1;
+ LOGE("HAL:ERR can't disable DMP event interrupt");
+ return res;
+ }
+ }
+
+ if (isDmpDisplayOrientationOn()) {
+ // enable DMP
+ onDMP(1);
+
+ res = enableAccel(on);
+ if(res < 0) {
+ return res;
+ }
+
+ if ((sensors & INV_THREE_AXIS_ACCEL) == 0) {
+ res = turnOffAccelFifo();
+ }
+ if(res < 0) {
+ return res;
+ }
+ }
+
res = masterEnable(1);
if(res < 0) {
return res;
}
} else { // all sensors idle -> reduce power
- res = onPower(0);
- if(res < 0) {
- return res;
+ if (isDmpDisplayOrientationOn()) {
+ // enable DMP
+ onDMP(1);
+ // enable DMP event interrupt only (no data interrupt)
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ 1, mpu.dmp_event_int_on, getTimestamp());
+ if (write_sysfs_int(mpu.dmp_event_int_on, 1) < 0) {
+ res = -1;
+ LOGE("HAL:ERR can't enable DMP event interrupt");
+ }
+ res = enableAccel(on);
+ if(res < 0) {
+ return res;
+ }
+ if ((sensors & INV_THREE_AXIS_ACCEL) == 0) {
+ res = turnOffAccelFifo();
+ }
+ if(res < 0) {
+ return res;
+ }
+ res = masterEnable(1);
+ if(res < 0) {
+ return res;
+ }
}
+ else {
+ res = onPower(0);
+ if(res < 0) {
+ return res;
+ }
+ }
+
storeCalibration();
}
}
@@ -1244,6 +1279,16 @@
return update;
}
+int MPLSensor::rawGyroHandler(sensors_event_t* s)
+{
+ VHANDLER_LOG;
+ int update;
+ update = inv_get_sensor_type_gyroscope_raw(s->gyro.v, &s->gyro.status, &s->timestamp);
+ LOGV_IF(HANDLER_DATA, "HAL:raw gyro data : %+f %+f %+f -- %lld - %d",
+ s->gyro.v[0], s->gyro.v[1], s->gyro.v[2], s->timestamp, update);
+ return update;
+}
+
int MPLSensor::accelHandler(sensors_event_t* s)
{
VHANDLER_LOG;
@@ -1251,7 +1296,7 @@
update = inv_get_sensor_type_accelerometer(
s->acceleration.v, &s->acceleration.status, &s->timestamp);
LOGV_IF(HANDLER_DATA, "HAL:accel data : %+f %+f %+f -- %lld - %d",
- s->acceleration.v[0], s->acceleration.v[1], s->acceleration.v[2],
+ s->acceleration.v[0], s->acceleration.v[1], s->acceleration.v[2],
s->timestamp, update);
mAccelAccuracy = s->acceleration.status;
return update;
@@ -1317,9 +1362,17 @@
VFUNC_LOG;
android::String8 sname;
- int what = -1;
+ int what = -1, err = 0;
switch (handle) {
+ case ID_SO:
+ sname = "Screen Orientation";
+ LOGV_IF(PROCESS_VERBOSE, "HAL:enable - sensor %s (handle %d) %s -> %s", sname.string(), handle,
+ (mDmpOrientationEnabled? "en": "dis"),
+ (en? "en" : "dis"));
+ enableDmpOrientation(en && isDmpDisplayOrientationOn());
+ mDmpOrientationEnabled = !!en;
+ return 0;
case ID_A:
what = Accelerometer;
sname = "Accelerometer";
@@ -1336,6 +1389,10 @@
what = Gyro;
sname = "Gyro";
break;
+ case ID_RG:
+ what = RawGyro;
+ sname = "RawGyro";
+ break;
case ID_GR:
what = Gravity;
sname = "Gravity";
@@ -1358,7 +1415,6 @@
return -EINVAL;
int newState = en ? 1 : 0;
- int err = 0;
unsigned long sen_mask;
LOGV_IF(PROCESS_VERBOSE, "HAL:enable - sensor %s (handle %d) %s -> %s", sname.string(), handle,
@@ -1367,7 +1423,6 @@
LOGV_IF(PROCESS_VERBOSE,
"HAL:%s sensor state change what=%d", sname.string(), what);
- // TODO: disabled for GED tablet
// pthread_mutex_lock(&mMplMutex);
// pthread_mutex_lock(&mHALMutex);
@@ -1389,6 +1444,7 @@
switch (what) {
case Gyro:
+ case RawGyro:
case Accelerometer:
case MagneticField:
if (!(mEnabled & ((1 << Orientation) | (1 << RotationVector) |
@@ -1422,7 +1478,7 @@
// pthread_mutex_unlock(&mHALMutex);
#ifdef INV_PLAYBACK_DBG
- /* apparently the logging needs to be go through this sequence
+ /* apparently the logging needs to be go through this sequence
to properly flush the log file */
inv_turn_off_data_logging();
fclose(logfile);
@@ -1442,6 +1498,8 @@
int what = -1;
switch (handle) {
+ case ID_SO:
+ return 0;
case ID_A:
what = Accelerometer;
sname = "Accelerometer";
@@ -1458,6 +1516,10 @@
what = Gyro;
sname = "Gyro";
break;
+ case ID_RG:
+ what = RawGyro;
+ sname = "RawGyro";
+ break;
case ID_GR:
what = Gravity;
sname = "Gravity";
@@ -1476,7 +1538,6 @@
break;
}
-// TODO: disabled for GED tablet
#if 0
// skip the 1st call for enalbing sensors called by ICS/JB sensor service
static int counter_delay = 0;
@@ -1500,7 +1561,6 @@
LOGV_IF(PROCESS_VERBOSE, "setDelay : %llu ns, (%.2f Hz)", ns, 1000000000.f / ns);
- // TODO: for GED tablet
// limit all rates to reasonable ones */
/*
if (ns < 10000000LL) {
@@ -1516,6 +1576,7 @@
switch (what) {
case Gyro:
+ case RawGyro:
case Accelerometer:
for (int i = Gyro; i <= Accelerometer + mCompassSensor->isIntegrated();
i++) {
@@ -1529,6 +1590,7 @@
case MagneticField:
if (mCompassSensor->isIntegrated() &&
(((mEnabled & (1 << Gyro)) && ns > mDelays[Gyro]) ||
+ ((mEnabled & (1 << RawGyro)) && ns > mDelays[RawGyro]) ||
((mEnabled & (1 << Accelerometer)) && ns > mDelays[Accelerometer]))) {
LOGV_IF(PROCESS_VERBOSE, "HAL:ignore delay set due to gyro/accel");
return 0;
@@ -1539,6 +1601,11 @@
case RotationVector:
case LinearAccel:
case Gravity:
+ if (isLowPowerQuatEnabled()) {
+ LOGV_IF(PROCESS_VERBOSE, "HAL:need to update delay due to LPQ");
+ break;
+ }
+
for (int i = 0; i < numSensors; i++) {
if (i != what && (mEnabled & (1 << i)) && ns > mDelays[i]) {
LOGV_IF(PROCESS_VERBOSE, "HAL:ignore delay set due to sensor %d", i);
@@ -1548,7 +1615,6 @@
break;
}
- // TODO: disabled for GED tablet
// pthread_mutex_lock(&mHALMutex);
int res = update_delay();
// pthread_mutex_unlock(&mHALMutex);
@@ -1562,33 +1628,31 @@
int64_t got;
if (mEnabled) {
- uint64_t wanted = -1LLU;
- uint64_t wanted_ec = -1LLU;
+ int64_t wanted = 1000000000;
+ int64_t wanted_3rd_party_sensor = 1000000000;
- // Sequence to change sensor's FIFO rate
- // 1. enable Power state
+ // Sequence to change sensor's FIFO rate
+ // 1. enable Power state
// 2. reset master enable
// 3. Update delay
// 4. set master enable
- // TODO: unnecessary for IIO
// ensure power on
- // onPower(1);
+ onPower(1);
- // TODO: unnecessary for IIO
// reset master enable
- // masterEnable(0);
+ masterEnable(0);
/* search the minimum delay requested across all enabled sensors */
for (int i = 0; i < numSensors; i++) {
if (mEnabled & (1 << i)) {
- uint64_t ns = mDelays[i];
+ int64_t ns = mDelays[i];
wanted = wanted < ns ? wanted : ns;
}
}
- // same delay for ext compass
- wanted_ec = wanted;
+ // same delay for 3rd party Accel or Compass
+ wanted_3rd_party_sensor = wanted;
/* mpl rate in us in future maybe different for
gyro vs compass vs accel */
@@ -1607,25 +1671,6 @@
inv_set_accel_sample_rate(mplAccelRate);
inv_set_compass_sample_rate(mplCompassRate);
-// TODO: disabled for GED tablet
-#ifdef ENABLE_LP_QUAT_FEAT
- // Set LP Quaternion sample rate if enabled
- if (checkLPQuaternion()) {
- // TODO: need to verify this part for LPQ
- if (wanted < 5000000LL) {
- enableLPQuaternion(0);
- } else {
- inv_set_quat_sample_rate(rateInus);
- // set DMP output rate to FIFO
- write_sysfs_int(mpu.dmp_output_rate, 1000000000.f / wanted);
-
- //DMP running rate must be @ 200Hz
- wanted= 5000000LL;
- LOGV("HAL:DMP rate= %.2f Hz Fifo Rate= %d us", 1000000000.f / wanted, rateInus);
- }
- }
-#endif
-
/* TODO: Test 200Hz */
// inv_set_gyro_sample_rate(5000);
LOGV_IF(PROCESS_VERBOSE, "HAL:MPL gyro sample rate: %d", mplGyroRate);
@@ -1635,11 +1680,28 @@
int enabled_sensors = mEnabled;
int tempFd = -1;
if(LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED) {
- uint64_t tempRate = wanted;
+ if (isLowPowerQuatEnabled() || isDmpDisplayOrientationOn()) {
+ bool setDMPrate= 0;
+ // Set LP Quaternion sample rate if enabled
+ if (checkLPQuaternion()) {
+ if (wanted < RATE_200HZ) {
+ enableLPQuaternion(0);
+ } else {
+ inv_set_quat_sample_rate(rateInus);
+ setDMPrate= 1;
+ }
+ }
+
+ if (checkDMPOrientation() || setDMPrate==1) {
+ getDmpRate(&wanted);
+ }
+ }
+
+ int64_t tempRate = wanted;
LOGV_IF(EXTRA_VERBOSE, "HAL:setDelay - Fusion");
//nsToHz
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)",
- 1000000000.f / tempRate, mpu.gyro_fifo_rate,
+ 1000000000.f / tempRate, mpu.gyro_fifo_rate,
getTimestamp());
tempFd = open(mpu.gyro_fifo_rate, O_RDWR);
res = write_attribute_sensor(tempFd, 1000000000.f / tempRate);
@@ -1650,15 +1712,16 @@
//nsToHz (BMA250)
if(USE_THIRD_PARTY_ACCEL == 1) {
LOGV_IF(SYSFS_VERBOSE, "echo %lld > %s (%lld)",
- wanted / 1000000L, mpu.accel_fifo_rate,
+ wanted_3rd_party_sensor / 1000000L, mpu.accel_fifo_rate,
getTimestamp());
tempFd = open(mpu.accel_fifo_rate, O_RDWR);
- res = write_attribute_sensor(tempFd, wanted / 1000000L);
+ res = write_attribute_sensor(tempFd, wanted_3rd_party_sensor / 1000000L);
LOGE_IF(res < 0, "HAL:ACCEL update delay error");
}
if (!mCompassSensor->isIntegrated()) {
- mCompassSensor->setDelay(ID_M, wanted_ec);
+ LOGV_IF(PROCESS_VERBOSE, "HAL:Ext compass rate %.2f Hz", 1000000000.f / wanted_3rd_party_sensor);
+ mCompassSensor->setDelay(ID_M, wanted_3rd_party_sensor);
got = mCompassSensor->getDelay(ID_M);
inv_set_compass_sample_rate(got / 1000);
}
@@ -1679,7 +1742,14 @@
} else {
if (GY_ENABLED) {
- wanted = mDelays[Gyro];
+ wanted = (mDelays[Gyro] <= mDelays[RawGyro]?
+ (mEnabled & (1 << Gyro)? mDelays[Gyro]: mDelays[RawGyro]):
+ (mEnabled & (1 << RawGyro)? mDelays[RawGyro]: mDelays[Gyro]));
+
+ if (isDmpDisplayOrientationOn()) {
+ getDmpRate(&wanted);
+ }
+
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)",
1000000000.f / wanted, mpu.gyro_fifo_rate, getTimestamp());
tempFd = open(mpu.gyro_fifo_rate, O_RDWR);
@@ -1690,9 +1760,18 @@
if (A_ENABLED) { /* else if because there is only 1 fifo rate for MPUxxxx */
if (GY_ENABLED && mDelays[Gyro] < mDelays[Accelerometer]) {
wanted = mDelays[Gyro];
+ }
+ else if (GY_ENABLED && mDelays[RawGyro] < mDelays[Accelerometer]) {
+ wanted = mDelays[RawGyro];
+
} else {
wanted = mDelays[Accelerometer];
}
+
+ if (isDmpDisplayOrientationOn()) {
+ getDmpRate(&wanted);
+ }
+
/* TODO: use function pointers to calculate delay value specific to vendor */
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)",
1000000000.f / wanted, mpu.accel_fifo_rate, getTimestamp());
@@ -1711,12 +1790,20 @@
} else {
if (GY_ENABLED && mDelays[Gyro] < mDelays[MagneticField]) {
wanted = mDelays[Gyro];
- } else if (GY_ENABLED && mDelays[Accelerometer] < mDelays[MagneticField]) {
+ }
+ else if (GY_ENABLED && mDelays[RawGyro] < mDelays[MagneticField]) {
+ wanted = mDelays[RawGyro];
+ } else if (A_ENABLED && mDelays[Accelerometer] < mDelays[MagneticField]) {
wanted = mDelays[Accelerometer];
} else {
wanted = mDelays[MagneticField];
}
+
+ if (isDmpDisplayOrientationOn()) {
+ getDmpRate(&wanted);
+ }
}
+
mCompassSensor->setDelay(ID_M, wanted);
got = mCompassSensor->getDelay(ID_M);
inv_set_compass_sample_rate(got / 1000);
@@ -1724,37 +1811,20 @@
}
- /*
- if sensor & THREE_AXIS_GYRO
- enable = 1
- if sensor & THREE_AXIS_ACCEL
- enable = 1
- if compass_on_secondary
- if sensor & THREE_AXIS_COMPASS
- enable = 1
- else
- enable = 0
- */
unsigned long sensors = mLocalSensorMask & mMasterSensorMask;
- if (sensors &
- (INV_THREE_AXIS_GYRO
- | INV_THREE_AXIS_ACCEL
+ if (sensors &
+ (INV_THREE_AXIS_GYRO
+ | INV_THREE_AXIS_ACCEL
| (INV_THREE_AXIS_COMPASS * mCompassSensor->isIntegrated()))) {
-// TODO: unnecessary for IIO
-#if 0
res = masterEnable(1);
if(res < 0) {
return res;
}
-#endif
} else { // all sensors idle -> reduce power
-// TODO: unnecessary for IIO
-#if 0
res = onPower(0);
if(res < 0) {
return res;
}
-#endif
}
}
@@ -1762,6 +1832,7 @@
}
/* use for third party accel */
+/* TODO: FIX! data is not used and count not decremented, results is hardcoded to 0 */
int MPLSensor::readAccelEvents(sensors_event_t* data, int count)
{
VHANDLER_LOG;
@@ -1804,17 +1875,17 @@
mAccelInputReader.next();
}
- LOGV_IF(ENG_VERBOSE, "HAL:readAccelEvents - events read=%d", numEventReceived);
-
return numEventReceived;
}
-/**
+/**
* Should be called after reading at least one of gyro
- * compass or accel data. You should only read 1 sample of
- * data and call this.
+ * compass or accel data. (Also okay for handling all of them).
* @returns 0, if successful, error number if not.
*/
+/* TODO: This should probably be called "int readEvents(...)"
+ * and readEvents() called "void cacheData(void)".
+ */
int MPLSensor::executeOnData(sensors_event_t* data, int count)
{
VFUNC_LOG;
@@ -1858,36 +1929,40 @@
return numEventReceived;
}
+// collect data for MPL (but NOT sensor service currently), from driver layer
+/* TODO: FIX! data and count are not used, results is hardcoded to 0 */
+/* TODO: This should probably be called "void cacheEvents(void)"
+ * And executeOnData() should be int readEvents(data,count)
+ */
int MPLSensor::readEvents(sensors_event_t *data, int count) {
int lp_quaternion_on, nbyte;
int i, nb, mask = 0, numEventReceived = 0,
- sensors = ((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 1: 0) +
- ((mLocalSensorMask & INV_THREE_AXIS_ACCEL)? 1: 0) +
- (((mLocalSensorMask & INV_THREE_AXIS_COMPASS) && mCompassSensor->isIntegrated())? 1: 0);
+ sensors = ((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 1 : 0) +
+ ((mLocalSensorMask & INV_THREE_AXIS_ACCEL)? 1 : 0) +
+ (((mLocalSensorMask & INV_THREE_AXIS_COMPASS) && mCompassSensor->isIntegrated())? 1 : 0);
char *rdata = mIIOBuffer;
nbyte= (8 * sensors + 8) * 1;
-// TODO: disabled for GED tablet
-#ifdef ENABLE_LP_QUAT_FEAT
- lp_quaternion_on = checkLPQuaternion();
- if (lp_quaternion_on == 1) {
- nbyte += sizeof(mCachedQuaternionData); //currently 16 bytes for Q data
+ if (isLowPowerQuatEnabled()) {
+ lp_quaternion_on = checkLPQuaternion();
+ if (lp_quaternion_on == 1) {
+ nbyte += sizeof(mCachedQuaternionData); //currently 16 bytes for Q data
+ }
}
-#endif
- // TODO: disabled for GED tablet
// pthread_mutex_lock(&mMplMutex);
// pthread_mutex_lock(&mHALMutex);
- size_t rsize = read(iio_fd, rdata, nbyte);
+ ssize_t rsize = read(iio_fd, rdata, nbyte);
if (sensors == 0) {
// read(iio_fd, rdata, nbyte);
- read(iio_fd, rdata, (16 + 8 * 3 + 8) * IIO_BUFFER_LENGTH);
+ rsize = read(iio_fd, rdata, sizeof(mIIOBuffer));
}
-/*
+
+#ifdef TESTING
LOGI("get one sample of IIO data with size: %d", rsize);
LOGI("sensors: %d", sensors);
@@ -1907,27 +1982,21 @@
((mLocalSensorMask & INV_THREE_AXIS_ACCEL)? 6: 0))),
*((short *) (rdata + 4) + ((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 6: 0) +
((mLocalSensorMask & INV_THREE_AXIS_ACCEL)? 6: 0)));
-*/
+#endif
- // TODO: need to verify this for LPQ
if (rsize < (nbyte - 8)) {
- LOGE("HAL:ERR Full data packet was not read");
- // return -1;
+ LOGE("HAL:ERR Full data packet was not read. rsize=%ld nbyte=%d sensors=%d errno=%d(%s)",
+ rsize, nbyte, sensors, errno, strerror(errno));
+ return -1;
}
-// TODO: disabled for GED tablet
-#ifdef ENABLE_LP_QUAT_FEAT
- if (lp_quaternion_on == 1) {
+ if (isLowPowerQuatEnabled() && lp_quaternion_on == 1) {
+
for (i=0; i< 4; i++) {
mCachedQuaternionData[i]= *(long*)rdata;
rdata += sizeof(long);
}
}
-/*
- LOGV("HAL:rdata= %x sensors= %d lp_q_on= %d nbyte= %d rsize= %d",
- rdata, sensors, lp_quaternion_on, nbyte, rsize); //tbd
-*/
-#endif
for (i = 0; i < 3; i++) {
if (mLocalSensorMask & INV_THREE_AXIS_GYRO) {
@@ -1942,11 +2011,11 @@
}
}
- mask |= (((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 1: 0) +
- ((mLocalSensorMask & INV_THREE_AXIS_ACCEL)? 2: 0));
+ mask |= (((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 1 << Gyro: 0) +
+ ((mLocalSensorMask & INV_THREE_AXIS_ACCEL)? 1 << Accelerometer: 0));
if ((mLocalSensorMask & INV_THREE_AXIS_COMPASS) && mCompassSensor->isIntegrated() &&
(mCachedCompassData[0] != 0 || mCachedCompassData[1] != 0 || mCachedCompassData[0] != 0)) {
- mask |= 4;
+ mask |= 1 << MagneticField;
}
mSensorTimestamp = *((long long *) (rdata + 8 * sensors));
@@ -1954,58 +2023,61 @@
mCompassTimestamp = mSensorTimestamp;
}
- // send down temperature every 0.5 seconds
- if(mSensorTimestamp - mTempCurrentTime >= 500000000LL) {
- mTempCurrentTime = mSensorTimestamp;
- long long temperature[2];
- if(inv_read_temperature(temperature) == 0) {
- LOGV_IF(INPUT_DATA,
- "HAL:inv_read_temperature = %lld, timestamp= %lld",
- temperature[0], temperature[1]);
- inv_build_temp(temperature[0], temperature[1]);
- }
+ if (mask & (1 << Gyro)) {
+ // send down temperature every 0.5 seconds
+ // with timestamp measured in "driver" layer
+ if(mSensorTimestamp - mTempCurrentTime >= 500000000LL) {
+ mTempCurrentTime = mSensorTimestamp;
+ long long temperature[2];
+ if(inv_read_temperature(temperature) == 0) {
+ LOGV_IF(INPUT_DATA,
+ "HAL:inv_read_temperature = %lld, timestamp= %lld",
+ temperature[0], temperature[1]);
+ inv_build_temp(temperature[0], temperature[1]);
+ }
#ifdef TESTING
- long bias[3], temp, temp_slope[3];
- inv_get_gyro_bias(bias, &temp);
- inv_get_gyro_ts(temp_slope);
-
- LOGI("T: %.3f "
- "GB: %+13f %+13f %+13f "
- "TS: %+13f %+13f %+13f "
- "\n",
- (float)temperature[0] / 65536.f,
- (float)bias[0] / 65536.f / 16.384f,
- (float)bias[1] / 65536.f / 16.384f,
- (float)bias[2] / 65536.f / 16.384f,
- temp_slope[0] / 65536.f,
- temp_slope[1] / 65536.f,
- temp_slope[2] / 65536.f);
-#endif
- }
+ long bias[3], temp, temp_slope[3];
+ inv_get_gyro_bias(bias, &temp);
+ inv_get_gyro_ts(temp_slope);
- if (mask & 1) {
+ LOGI("T: %.3f "
+ "GB: %+13f %+13f %+13f "
+ "TS: %+13f %+13f %+13f "
+ "\n",
+ (float)temperature[0] / 65536.f,
+ (float)bias[0] / 65536.f / 16.384f,
+ (float)bias[1] / 65536.f / 16.384f,
+ (float)bias[2] / 65536.f / 16.384f,
+ temp_slope[0] / 65536.f,
+ temp_slope[1] / 65536.f,
+ temp_slope[2] / 65536.f);
+#endif
+ }
+
mPendingMask |= 1 << Gyro;
+ mPendingMask |= 1 << RawGyro;
+
if (mLocalSensorMask & INV_THREE_AXIS_GYRO) {
inv_build_gyro(mCachedGyroData, mSensorTimestamp);
LOGV_IF(INPUT_DATA,
"HAL:inv_build_gyro: %+8d %+8d %+8d - %lld",
- mCachedGyroData[0], mCachedGyroData[1],
+ mCachedGyroData[0], mCachedGyroData[1],
mCachedGyroData[2], mSensorTimestamp);
}
}
- if (mask & 2) {
+ if (mask & (1 << Accelerometer)) {
mPendingMask |= 1 << Accelerometer;
if (mLocalSensorMask & INV_THREE_AXIS_ACCEL) {
inv_build_accel(mCachedAccelData, 0, mSensorTimestamp);
LOGV_IF(INPUT_DATA,
"HAL:inv_build_accel: %+8ld %+8ld %+8ld - %lld",
- mCachedAccelData[0], mCachedAccelData[1],
+ mCachedAccelData[0], mCachedAccelData[1],
mCachedAccelData[2], mSensorTimestamp);
}
}
- if ((mask & 4) && mCompassSensor->isIntegrated()) {
+ if ((mask & (1 << MagneticField)) && mCompassSensor->isIntegrated()) {
int status = 0;
if (mCompassSensor->providesCalibration()) {
status = mCompassSensor->getAccuracy();
@@ -2014,21 +2086,19 @@
if (mLocalSensorMask & INV_THREE_AXIS_COMPASS) {
inv_build_compass(mCachedCompassData, status,
mCompassTimestamp);
- LOGV_IF(INPUT_DATA, "HAL:inv_build_compass: %+8ld %+8ld %+8ld - %lld",
- mCachedCompassData[0], mCachedCompassData[1],
+ LOGV_IF(INPUT_DATA, "HAL:inv_build_compass: %+8ld %+8ld %+8ld - %lld",
+ mCachedCompassData[0], mCachedCompassData[1],
mCachedCompassData[2], mCompassTimestamp);
}
}
-// TODO: disabled for GED tablet
-#ifdef ENABLE_LP_QUAT_FEAT
- if (lp_quaternion_on == 1) {
+ if (isLowPowerQuatEnabled() && lp_quaternion_on == 1) {
+
inv_build_quat(mCachedQuaternionData, 32 /*default 32 for now (16/32bits)*/, mSensorTimestamp);
- LOGV_IF(INPUT_DATA, "HAL:inv_build_quat: %+8ld %+8ld %+8ld %+8ld - %lld - %d",
- mCachedQuaternionData[0], mCachedQuaternionData[1],
+ LOGV_IF(INPUT_DATA, "HAL:inv_build_quat: %+8ld %+8ld %+8ld %+8ld - %lld",
+ mCachedQuaternionData[0], mCachedQuaternionData[1],
mCachedQuaternionData[2], mCachedQuaternionData[3], mSensorTimestamp);
}
-#endif
// pthread_mutex_unlock(&mMplMutex);
// pthread_mutex_unlock(&mHALMutex);
@@ -2048,12 +2118,16 @@
int done = 0;
int nb;
- // TODO: disabled for GED tablet
- // TODO: for AMI306
// pthread_mutex_lock(&mMplMutex);
// pthread_mutex_lock(&mHALMutex);
done = mCompassSensor->readSample(mCachedCompassData, &mCompassTimestamp);
+#ifdef COMPASS_YAS530
+ if (mCompassSensor->checkCoilsReset()==1) {
+ //Reset relevant compass settings
+ resetCompass();
+ }
+#endif
if (done > 0) {
int status = 0;
if (mCompassSensor->providesCalibration()) {
@@ -2063,8 +2137,8 @@
if (mLocalSensorMask & INV_THREE_AXIS_COMPASS) {
inv_build_compass(mCachedCompassData, status,
mCompassTimestamp);
- LOGV_IF(INPUT_DATA, "HAL:inv_build_compass: %+8ld %+8ld %+8ld - %lld",
- mCachedCompassData[0], mCachedCompassData[1],
+ LOGV_IF(INPUT_DATA, "HAL:inv_build_compass: %+8ld %+8ld %+8ld - %lld",
+ mCachedCompassData[0], mCachedCompassData[1],
mCachedCompassData[2], mCompassTimestamp);
}
}
@@ -2075,6 +2149,27 @@
return numEventReceived;
}
+#ifdef COMPASS_YAS530
+int MPLSensor::resetCompass()
+{
+ VFUNC_LOG;
+
+ //Reset compass cal if enabled
+ if (mFeatureActiveMask & INV_COMPASS_CAL) {
+ LOGV_IF(EXTRA_VERBOSE, "HAL:Reset compass cal");
+ inv_init_vector_compass_cal();
+ }
+
+ //Reset compass fit if enabled
+ if (mFeatureActiveMask & INV_COMPASS_FIT) {
+ LOGV_IF(EXTRA_VERBOSE, "HAL:Reset compass fit");
+ inv_init_compass_fit();
+ }
+
+ return 0;
+}
+#endif
+
int MPLSensor::getFd() const
{
VFUNC_LOG;
@@ -2097,6 +2192,191 @@
return fd;
}
+int MPLSensor::turnOffAccelFifo() {
+ int i, res, tempFd;
+ char *accel_fifo_enable[3] = {mpu.accel_x_fifo_enable,
+ mpu.accel_y_fifo_enable, mpu.accel_z_fifo_enable};
+
+ for (i = 0; i < 3; i++) {
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ 0, accel_fifo_enable[i], getTimestamp());
+ res = write_sysfs_int(accel_fifo_enable[i], 0);
+ if (res < 0) {
+ return res;
+ }
+ }
+ return 0;
+}
+
+int MPLSensor::enableDmpOrientation(int en)
+{
+ VFUNC_LOG;
+ /* TODO: FIX error handling. Handle or ignore it appropriately for hw. */
+ int res = 0;
+
+ // on power if not already On
+ onPower(1);
+ // reset master enable
+ masterEnable(0);
+
+ if (en == 1) {
+ //Enable DMP orientation
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ en, mpu.display_orientation_on, getTimestamp());
+ if (write_sysfs_int(mpu.display_orientation_on, en) < 0) {
+ LOGE("HAL:ERR can't enable Android orientation");
+ res = -1; //Indicate an err
+ }
+
+ //Open DMP Orient Fd
+ openDmpOrientFd();
+
+ //Enable DMP
+ onDMP(1);
+
+ //Default DMP output rate to FIFO
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ 5, mpu.dmp_output_rate, getTimestamp());
+ if (write_sysfs_int(mpu.dmp_output_rate, 5) < 0) {
+ LOGE("HAL:ERR can't default DMP output rate");
+ }
+
+ //Set DMP rate to 200Hz
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ 200, mpu.accel_fifo_rate, getTimestamp());
+ if (write_sysfs_int(mpu.accel_fifo_rate, 200) < 0) {
+ res = -1;
+ LOGE("HAL:ERR can't set DMP rate to 200Hz");
+ }
+
+ // enable accel engine
+ enableAccel(1);
+
+ // disable accel FIFO
+ res = turnOffAccelFifo();
+
+ mFeatureActiveMask |=INV_DMP_DISPL_ORIENTATION;
+ } else {
+ // disable DMP
+ onDMP(0);
+ // disable accel engine
+ enableAccel(0);
+ }
+
+ res = masterEnable(1);
+ return res;
+}
+
+int MPLSensor::openDmpOrientFd()
+{
+ VFUNC_LOG;
+
+ if (!isDmpDisplayOrientationOn() || dmp_orient_fd >= 0) {
+ LOGV_IF(PROCESS_VERBOSE, "HAL:DMP display orientation disabled or file desc opened");
+ return -1;
+ }
+
+ dmp_orient_fd = open(mpu.event_display_orientation, O_RDONLY| O_NONBLOCK);
+ if (dmp_orient_fd < 0) {
+ LOGE("HAL:ERR couldn't open dmpOrient node");
+ return -1;
+ } else {
+ LOGV_IF(PROCESS_VERBOSE, "HAL:dmp_orient_fd opened : %d", dmp_orient_fd);
+ return 0;
+ }
+}
+
+int MPLSensor::closeDmpOrientFd()
+{
+ VFUNC_LOG;
+ if (dmp_orient_fd >= 0)
+ close(dmp_orient_fd);
+ return 0;
+}
+
+int MPLSensor::dmpOrientHandler(int orient)
+{
+ VFUNC_LOG;
+
+ LOGV_IF(PROCESS_VERBOSE, "HAL:orient %x", orient);
+ return 0;
+}
+
+int MPLSensor::readDmpOrientEvents(sensors_event_t* data, int count) {
+ VFUNC_LOG;
+
+ char dummy[4];
+ int screen_orientation = 0;
+ FILE *fp;
+
+ fp = fopen(mpu.event_display_orientation, "r");
+ if (fp == NULL) {
+ LOGE("HAL:cannot open event_display_orientation");
+ return 0;
+ }
+ fscanf(fp, "%d\n", &screen_orientation);
+ fclose(fp);
+
+ int numEventReceived = 0;
+
+ if (mDmpOrientationEnabled && count > 0) {
+ sensors_event_t temp;
+
+ bzero(&temp, sizeof(temp)); /* Let's hope that SENSOR_TYPE_NONE is 0 */
+ temp.version = sizeof(sensors_event_t);
+ temp.sensor = ID_SO;
+#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
+ temp.type = SENSOR_TYPE_SCREEN_ORIENTATION;
+ temp.screen_orientation = screen_orientation;
+#endif
+ struct timespec ts;
+ clock_gettime(CLOCK_MONOTONIC, &ts);
+ temp.timestamp = (int64_t) ts.tv_sec * 1000000000 + ts.tv_nsec;
+
+ *data++ = temp;
+ count--;
+ numEventReceived++;
+ }
+
+ // read dummy data per driver's request
+ dmpOrientHandler(screen_orientation);
+ read(dmp_orient_fd, dummy, 4);
+
+ return numEventReceived;
+}
+
+int MPLSensor::getDmpOrientFd()
+{
+ VFUNC_LOG;
+
+ LOGV_IF(EXTRA_VERBOSE, "MPLSensor::getDmpOrientFd returning %d", dmp_orient_fd);
+ return dmp_orient_fd;
+
+}
+
+int MPLSensor::checkDMPOrientation()
+{
+ VFUNC_LOG;
+ return ((mFeatureActiveMask & INV_DMP_DISPL_ORIENTATION) ? 1 : 0);
+}
+
+int MPLSensor::getDmpRate(int64_t *wanted)
+{
+ if (checkDMPOrientation() || checkLPQuaternion()) {
+ // set DMP output rate to FIFO
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ int(1000000000.f / *wanted), mpu.dmp_output_rate,
+ getTimestamp());
+ write_sysfs_int(mpu.dmp_output_rate, 1000000000.f / *wanted);
+ LOGV_IF(PROCESS_VERBOSE, "HAL:DMP FIFO rate %.2f Hz", 1000000000.f / *wanted);
+
+ //DMP running rate must be @ 200Hz
+ *wanted= RATE_200HZ;
+ LOGV_IF(PROCESS_VERBOSE, "HAL:DMP rate= %.2f Hz", 1000000000.f / *wanted);
+ }
+ return 0;
+}
+
int MPLSensor::getPollTime()
{
VHANDLER_LOG;
@@ -2194,7 +2474,7 @@
return -1;
}
- LOGV_IF(ENG_VERBOSE,
+ LOGV_IF(ENG_VERBOSE,
"HAL:temperature raw = %ld, timestamp = %lld, count = %d",
raw, timestamp, count);
data[0] = raw;
@@ -2252,41 +2532,39 @@
count = sscanf(buf, "%[^','],%[^','],%[^',']", x, y, z);
if(count) {
/* scale appropriately for MPL */
- LOGV_IF(ENG_VERBOSE,
- "HAL:pre-scaled bias: X:Y:Z (%ld, %ld, %ld)",
+ LOGV_IF(ENG_VERBOSE,
+ "HAL:pre-scaled bias: X:Y:Z (%ld, %ld, %ld)",
atol(x), atol(y), atol(z));
data[0] = (long)(atol(x) / 10000 * (1L << 16));
data[1] = (long)(atol(y) / 10000 * (1L << 16));
data[2] = (long)(atol(z) / 10000 * (1L << 16));
- LOGV_IF(ENG_VERBOSE,
- "HAL:scaled bias: X:Y:Z (%ld, %ld, %ld)",
+ LOGV_IF(ENG_VERBOSE,
+ "HAL:scaled bias: X:Y:Z (%ld, %ld, %ld)",
data[0], data[1], data[2]);
}
return 0;
}
-
/** 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, int len)
{
VFUNC_LOG;
int numsensors;
- if(len < (int)(7 * sizeof(sensor_t))) {
+ if(len < (int)((sizeof(sSensorList) / sizeof(sensor_t)) * sizeof(sensor_t))) {
LOGE("HAL:sensor list too small, not populating.");
- return 0;
+ return -(sizeof(sSensorList) / sizeof(sensor_t));
}
/* fill in the base values */
- memcpy(list, sSensorList, sizeof (struct sensor_t) * 7);
+ memcpy(list, sSensorList, sizeof (struct sensor_t) * (sizeof(sSensorList) / sizeof(sensor_t)));
/* first add gyro, accel and compass to the list */
@@ -2301,7 +2579,7 @@
mCompassSensor->fillList(&list[MagneticField]);
if(1) {
- numsensors = 7;
+ numsensors = (sizeof(sSensorList) / sizeof(sensor_t));
/* all sensors will be added to the list
fill in orientation values */
fillOrientation(list);
@@ -2335,10 +2613,13 @@
list[Accelerometer].maxRange = ACCEL_MPU6050_RANGE;
list[Accelerometer].resolution = ACCEL_MPU6050_RESOLUTION;
list[Accelerometer].power = ACCEL_MPU6050_POWER;
-
- // TODO: for GED tablet
- // list[Accelerometer].minDelay = ACCEL_MPU6050_MINDELAY;
- list[Accelerometer].minDelay = 5000;
+ list[Accelerometer].minDelay = ACCEL_MPU6050_MINDELAY;
+ return;
+ } else if (accel != NULL && strcmp(accel, "MPU6500") == 0) {
+ list[Accelerometer].maxRange = ACCEL_MPU6500_RANGE;
+ list[Accelerometer].resolution = ACCEL_MPU6500_RESOLUTION;
+ list[Accelerometer].power = ACCEL_MPU6500_POWER;
+ list[Accelerometer].minDelay = ACCEL_MPU6500_MINDELAY;
return;
} else if (accel != NULL && strcmp(accel, "MPU9150") == 0) {
@@ -2347,7 +2628,7 @@
list[Accelerometer].power = ACCEL_MPU9150_POWER;
list[Accelerometer].minDelay = ACCEL_MPU9150_MINDELAY;
return;
- } else if (accel != NULL && strcmp(accel, "MPU3050") == 0) {
+ } else if (accel != NULL && strcmp(accel, "MPU3050") == 0) {
list[Accelerometer].maxRange = ACCEL_BMA250_RANGE;
list[Accelerometer].resolution = ACCEL_BMA250_RESOLUTION;
list[Accelerometer].power = ACCEL_BMA250_POWER;
@@ -2378,10 +2659,12 @@
list[Gyro].maxRange = GYRO_MPU6050_RANGE;
list[Gyro].resolution = GYRO_MPU6050_RESOLUTION;
list[Gyro].power = GYRO_MPU6050_POWER;
-
- // TODO: for GED tablet
- // list[Gyro].minDelay = GYRO_MPU6050_MINDELAY;
- list[Gyro].minDelay = 5000;
+ list[Gyro].minDelay = GYRO_MPU6050_MINDELAY;
+ } else if( gyro != NULL && strcmp(gyro, "MPU6500") == 0) {
+ list[Gyro].maxRange = GYRO_MPU6500_RANGE;
+ list[Gyro].resolution = GYRO_MPU6500_RESOLUTION;
+ list[Gyro].power = GYRO_MPU6500_POWER;
+ list[Gyro].minDelay = GYRO_MPU6500_MINDELAY;
} else if( gyro != NULL && strcmp(gyro, "MPU9150") == 0) {
list[Gyro].maxRange = GYRO_MPU9150_RANGE;
list[Gyro].resolution = GYRO_MPU9150_RESOLUTION;
@@ -2395,6 +2678,12 @@
list[Gyro].power = GYRO_MPU3050_POWER;
list[Gyro].minDelay = GYRO_MPU3050_MINDELAY;
}
+
+ list[RawGyro].maxRange = list[Gyro].maxRange;
+ list[RawGyro].resolution = list[Gyro].resolution;
+ list[RawGyro].power = list[Gyro].power;
+ list[RawGyro].minDelay = list[Gyro].minDelay;
+
return;
}
@@ -2404,14 +2693,11 @@
VFUNC_LOG;
/* compute power on the fly */
- list[RotationVector].power = list[Gyro].power +
+ list[RotationVector].power = list[Gyro].power +
list[Accelerometer].power +
list[MagneticField].power;
list[RotationVector].resolution = .00001;
list[RotationVector].maxRange = 1.0;
-
- // TODO: for GED tablet
- // list[RotationVector].minDelay = 10000;
list[RotationVector].minDelay = 5000;
return;
@@ -2426,9 +2712,6 @@
list[MagneticField].power;
list[Orientation].resolution = .00001;
list[Orientation].maxRange = 360.0;
-
- // TODO: for GED tablet
- // list[Orientation].minDelay = 10000;
list[Orientation].minDelay = 5000;
return;
@@ -2443,9 +2726,6 @@
list[MagneticField].power;
list[Gravity].resolution = .00001;
list[Gravity].maxRange = 9.81;
-
- // TODO: for GED tablet
- // list[Gravity].minDelay = 10000;
list[Gravity].minDelay = 5000;
return;
@@ -2460,9 +2740,6 @@
list[MagneticField].power;
list[LinearAccel].resolution = list[Accelerometer].resolution;
list[LinearAccel].maxRange = list[Accelerometer].maxRange;
-
- // TODO: for GED tablet
- // list[LinearAccel].minDelay = 10000;
list[LinearAccel].minDelay = 5000;
return;
@@ -2484,7 +2761,7 @@
ALOGE("MPLSensor failed get sysfs path");
return -1;
}
- sysfs_names_ptr =
+ sysfs_names_ptr =
(char*)malloc(sizeof(char[MAX_SYSFS_ATTRB][MAX_SYSFS_NAME_LEN]));
sptr = sysfs_names_ptr;
if (sptr != NULL) {
@@ -2512,6 +2789,7 @@
sprintf(mpu.firmware_loaded,"%s%s", sysfs_path, "/firmware_loaded");
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_event_int_on,"%s%s", sysfs_path, "/dmp_event_int_on");
sprintf(mpu.dmp_output_rate,"%s%s", sysfs_path, "/dmp_output_rate");
sprintf(mpu.tap_on, "%s%s", sysfs_path, "/tap_on");
@@ -2528,18 +2806,15 @@
#ifdef THIRD_PARTY_ACCEL //BMA250
/* same as 'mpu.accel_enable' */
- sprintf(mpu.accel_enable, "%s%s", sysfs_path, "/enable");
- sprintf(mpu.accel_fifo_rate, "%s%s", sysfs_path, "/fifo_rate");
+ sprintf(mpu.accel_enable, "%s%s", sysfs_path, "/accl_enable");
+ sprintf(mpu.accel_fifo_rate, "%s%s", sysfs_path, "/sampling_frequency");
sprintf(mpu.accel_fsr, "%s%s", sysfs_path, "/NA");
sprintf(mpu.accel_bias, "%s%s", sysfs_path, "/NA");
- sprintf(mpu.accel_orient, "%s%s", sysfs_path, "/NA");
+ sprintf(mpu.accel_orient, "%s%s", sysfs_path, "/accl_matrix");
#else
sprintf(mpu.accel_enable, "%s%s", sysfs_path, "/accl_enable");
sprintf(mpu.accel_fifo_rate, "%s%s", sysfs_path, "/sampling_frequency");
sprintf(mpu.accel_fsr, "%s%s", sysfs_path, "/in_accel_scale");
- sprintf(mpu.accel_x_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_accel_x_en");
- sprintf(mpu.accel_y_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_accel_y_en");
- sprintf(mpu.accel_z_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_accel_z_en");
// TODO: for bias settings
sprintf(mpu.accel_bias, "%s%s", sysfs_path, "/accl_bias");
@@ -2547,13 +2822,20 @@
sprintf(mpu.accel_orient, "%s%s", sysfs_path, "/accl_matrix");
#endif
+ sprintf(mpu.accel_x_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_accel_x_en");
+ sprintf(mpu.accel_y_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_accel_y_en");
+ sprintf(mpu.accel_z_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_accel_z_en");
+
sprintf(mpu.quaternion_on, "%s%s", sysfs_path, "/quaternion_on");
sprintf(mpu.in_quat_r_en, "%s%s", sysfs_path, "/scan_elements/in_quaternion_r_en");
sprintf(mpu.in_quat_x_en, "%s%s", sysfs_path, "/scan_elements/in_quaternion_x_en");
sprintf(mpu.in_quat_y_en, "%s%s", sysfs_path, "/scan_elements/in_quaternion_y_en");
sprintf(mpu.in_quat_z_en, "%s%s", sysfs_path, "/scan_elements/in_quaternion_z_en");
-#if 0
+ sprintf(mpu.display_orientation_on, "%s%s", sysfs_path, "/display_orientation_on");
+ sprintf(mpu.event_display_orientation, "%s%s", sysfs_path, "/event_display_orientation");
+
+#if SYSFS_VERBOSE
// test print sysfs paths
dptr = (char**)&mpu;
for (i = 0; i < MAX_SYSFS_ATTRB; i++) {
diff --git a/libsensors_iio/MPLSensor.h b/libsensors_iio/MPLSensor.h
index 3ef1ba3..879f37b 100644
--- a/libsensors_iio/MPLSensor.h
+++ b/libsensors_iio/MPLSensor.h
@@ -28,17 +28,18 @@
#include "SensorBase.h"
#include "InputEventReader.h"
-// TODO: change to wanted vendor
#ifdef INVENSENSE_COMPASS_CAL
-#ifdef COMPASS_AMI306
+#ifdef COMPASS_YAS530
+#warning "unified HAL for YAS530"
+#include "CompassSensor.IIO.primary.h"
+#elif COMPASS_AMI306
#warning "unified HAL for AMI306"
-#include "CompassSensor.IIO.AMI.h"
+#include "CompassSensor.IIO.primary.h"
#else
#warning "unified HAL for MPU9150"
#include "CompassSensor.IIO.9150.h"
#endif
-
#else
#warning "unified HAL for AKM"
#include "CompassSensor.AKM.h"
@@ -60,7 +61,6 @@
| INV_THREE_AXIS_COMPASS \
| INV_THREE_AXIS_GYRO)
#else
-// TODO: ID_M = 2 even for 3rd-party solution
#define ALL_MPL_SENSORS_NP (INV_THREE_AXIS_ACCEL \
| INV_THREE_AXIS_COMPASS \
| INV_THREE_AXIS_GYRO)
@@ -70,6 +70,39 @@
#define INV_COMPASS_CAL 0x01
#define INV_COMPASS_FIT 0x02
#define INV_DMP_QUATERNION 0x04
+#define INV_DMP_DISPL_ORIENTATION 0x08
+
+// #define ENABLE_LP_QUAT_FEAT /* Uncomment to enable Low Power Quaternion */
+// #define ENABLE_DMP_DISPL_ORIENT_FEAT /* Uncomment to enable DMP display orientation */
+
+#ifdef ENABLE_DMP_DISPL_ORIENT_FEAT
+/* Uncomment followings to enable screen auto-rotation by DMP (need the latest Android source tree update) */
+// #define ENABLE_DMP_SCREEN_AUTO_ROTATION
+#endif
+
+int isLowPowerQuatEnabled() {
+#ifdef ENABLE_LP_QUAT_FEAT
+ return 1;
+#else
+ return 0;
+#endif
+}
+
+int isDmpDisplayOrientationOn() {
+#ifdef ENABLE_DMP_DISPL_ORIENT_FEAT
+ return 1;
+#else
+ return 0;
+#endif
+}
+
+int isDmpScreenAutoRotationOn() {
+#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
+ return 1;
+#else
+ return 0;
+#endif
+}
/*****************************************************************************/
/** MPLSensor implementation which fits into the HAL example for crespo provided
@@ -82,12 +115,9 @@
typedef int (MPLSensor::*hfunc_t)(sensors_event_t*);
public:
- MPLSensor(CompassSensor *);
- virtual ~MPLSensor();
-
- enum
- {
+ enum {
Gyro = 0,
+ RawGyro,
Accelerometer,
MagneticField,
Orientation,
@@ -97,6 +127,9 @@
numSensors
};
+ MPLSensor(CompassSensor *);
+ virtual ~MPLSensor();
+
virtual int setDelay(int32_t handle, int64_t ns);
virtual int enable(int32_t handle, int enabled);
int32_t getEnableMask() { return mEnabled; }
@@ -124,6 +157,17 @@
int readAccelEvents(sensors_event_t* data, int count);
int readCompassEvents(sensors_event_t* data, int count);
+ int turnOffAccelFifo();
+ int enableDmpOrientation(int);
+ int dmpOrientHandler(int);
+ int readDmpOrientEvents(sensors_event_t* data, int count);
+ int getDmpOrientFd();
+ int openDmpOrientFd();
+ int closeDmpOrientFd();
+
+ int getDmpRate(int64_t *);
+ int checkDMPOrientation();
+
protected:
// Lets us know if the constructor was actually able to finish its job.
// E.g. false if init sysfs failed.
@@ -131,6 +175,7 @@
CompassSensor *mCompassSensor;
int gyroHandler(sensors_event_t *data);
+ int rawGyroHandler(sensors_event_t *data);
int accelHandler(sensors_event_t *data);
int compassHandler(sensors_event_t *data);
int rvHandler(sensors_event_t *data);
@@ -156,7 +201,6 @@
void computeLocalSensorMask(int enabled_sensors);
int enableSensors(unsigned long sensors, int en, uint32_t changed);
int inv_read_gyro_buffer(int fd, short *data, long long *timestamp);
- int update_delay_sysfs_sensor(int fd, uint64_t ns);
int inv_float_to_q16(float *fdata, long *ldata);
int inv_long_to_q16(long *fdata, long *ldata);
int inv_float_to_round(float *fdata, long *ldata);
@@ -166,6 +210,9 @@
int inv_read_sensor_bias(int fd, long *data);
void inv_get_sensors_orientation(void);
int inv_init_sysfs_attributes(void);
+#ifdef COMPASS_YAS530
+ int resetCompass(void);
+#endif
void setCompassDelay(int64_t ns);
void enable_iio_sysfs(void);
int enableTap(int);
@@ -192,11 +239,14 @@
int accel_fd;
int mpufifo_fd;
int gyro_temperature_fd;
+ int dmp_orient_fd;
+
+ int mDmpOrientationEnabled;
uint32_t mEnabled;
uint32_t mOldEnabledMask;
sensors_event_t mPendingEvents[numSensors];
- uint64_t mDelays[numSensors];
+ int64_t mDelays[numSensors];
hfunc_t mHandlers[numSensors];
short mCachedGyroData[3];
long mCachedAccelData[3];
@@ -231,11 +281,12 @@
char *firmware_loaded;
char *dmp_on;
char *dmp_int_on;
+ char *dmp_event_int_on;
+ char *dmp_output_rate;
char *tap_on;
char *key;
char *self_test;
char *temperature;
- char *dmp_output_rate;
char *gyro_enable;
char *gyro_fifo_rate;
@@ -263,6 +314,9 @@
char *trigger_name;
char *current_trigger;
char *buffer_length;
+
+ char *display_orientation_on;
+ char *event_display_orientation;
} mpu;
char *sysfs_names_ptr;
diff --git a/libsensors_iio/MPLSupport.cpp b/libsensors_iio/MPLSupport.cpp
index a961d78..dcb12d2 100644
--- a/libsensors_iio/MPLSupport.cpp
+++ b/libsensors_iio/MPLSupport.cpp
@@ -1,3 +1,19 @@
+/*
+* Copyright (C) 2012 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.
+*/
+
#include <MPLSupport.h>
#include <string.h>
#include <stdio.h>
@@ -61,29 +77,19 @@
{
VFUNC_LOG;
- int nb = -1;
+ int nb;
int err = 0;
- if (fd >= 0) {
- char buf[2];
- if (en) {
- buf[0] = '1';
- nb = write(fd, buf, 1);
- } else {
- buf[0] = '0';
- nb = write(fd, buf, 1);
- }
- buf[1] = '\0';
+ char c = en ? '1' : '0';
+ nb = write(fd, &c, 1);
- if (nb <= 0) {
- err = errno;
- LOGE("HAL:enable_sysfs_sensor - write %c returned %d (%s / %d)",
- buf[0], nb, strerror(err), err);
- }
- close(fd);
- } else {
- LOGV_IF(EXTRA_VERBOSE, "HAL:enable_sysfs_sensor - fd<0");
+ if (nb <= 0) {
+ err = errno;
+ LOGE("HAL:enable_sysfs_sensor - write %c returned %d (%s / %d)",
+ c, nb, strerror(err), err);
}
+ close(fd);
+
return err;
}
@@ -117,12 +123,15 @@
FILE *sysfsfp;
sysfsfp = fopen(filename, "r");
- if (sysfsfp!=NULL) {
- fscanf(sysfsfp, "%d\n", var);
- fclose(sysfsfp);
+ if (sysfsfp != NULL) {
+ if (fscanf(sysfsfp, "%d\n", var) < 1) {
+ LOGE("HAL:ERR failed to read an int from %s.", filename);
+ res = -EINVAL;
+ }
+ fclose(sysfsfp);
} else {
- LOGE("HAL:ERR open file to read");
- res= -1;
+ res = -errno;
+ LOGE("HAL:ERR open file %s to read with error %d", filename, res);
}
return res;
}
@@ -135,10 +144,10 @@
sysfsfp = fopen(filename, "w");
if (sysfsfp!=NULL) {
fprintf(sysfsfp, "%d\n", var);
- fclose(sysfsfp);
+ fclose(sysfsfp);
} else {
- LOGE("HAL:ERR open file to write");
- res= -1;
+ res = -errno;
+ LOGE("HAL:ERR open file %s to read with error %d", filename, res);
}
return res;
}
diff --git a/libsensors_iio/libmllite.so b/libsensors_iio/libmllite.so
index ed13b13..98147a2 100644
--- a/libsensors_iio/libmllite.so
+++ b/libsensors_iio/libmllite.so
Binary files differ
diff --git a/libsensors_iio/libmplmpu.so b/libsensors_iio/libmplmpu.so
index e2ab461..fbd346f 100644
--- a/libsensors_iio/libmplmpu.so
+++ b/libsensors_iio/libmplmpu.so
Binary files differ
diff --git a/libsensors_iio/local_log_def.h b/libsensors_iio/local_log_def.h
index b08fdf1..4127dd7 100644
--- a/libsensors_iio/local_log_def.h
+++ b/libsensors_iio/local_log_def.h
@@ -1,7 +1,24 @@
#ifndef LOCAL_LOG_DEF_H
#define LOCAL_LOG_DEF_H
-// -- workaround for different LOG definition in JellyBean --
+/* comment this line if Android OS is ICS and prior */
+#define ANDROID_VERSION_JB (1)
+
+/* Log enablers, each of these independent */
+
+#define PROCESS_VERBOSE (0) /* process log messages */
+#define EXTRA_VERBOSE (0) /* verbose log messages */
+#define SYSFS_VERBOSE (0) /* log sysfs interactions as cat/echo for repro
+ purpose on a shell */
+#define FUNC_ENTRY (0) /* log entry in all one-time functions */
+
+/* Note that enabling this logs may affect performance */
+#define HANDLER_ENTRY (0) /* log entry in all handler functions */
+#define ENG_VERBOSE (0) /* log some a lot more info about the internals */
+#define INPUT_DATA (0) /* log the data input from the events */
+#define HANDLER_DATA (0) /* log the data fetched from the handlers */
+
+#ifdef ANDROID_VERSION_JB
#define LOGV ALOGV
#define LOGV_IF ALOGV_IF
#define LOGD ALOGD
@@ -20,21 +37,7 @@
#define LOG_ASSERT ALOG_ASSERT
#define LOG ALOG
#define IF_LOG IF_ALOG
-// -- Workaround End --
-
-/* Log enablers, each of these independent */
-
-#define PROCESS_VERBOSE (0) /* process log messages */
-#define EXTRA_VERBOSE (0) /* verbose log messages */
-#define SYSFS_VERBOSE (0) /* log sysfs interactions as cat/echo for repro
- purpose on a shell */
-#define FUNC_ENTRY (0) /* log entry in all one-time functions */
-
-/* Note that enabling this logs may affect performance */
-#define HANDLER_ENTRY (0) /* log entry in all handler functions */
-#define ENG_VERBOSE (0) /* log some a lot more info about the internals */
-#define INPUT_DATA (0) /* log the data input from the events */
-#define HANDLER_DATA (0) /* log the data fetched from the handlers */
+#endif
#define FUNC_LOG \
LOGV("%s", __PRETTY_FUNCTION__)
diff --git a/libsensors_iio/sensor_params.h b/libsensors_iio/sensor_params.h
index 88d5ba0..c51d87a 100644
--- a/libsensors_iio/sensor_params.h
+++ b/libsensors_iio/sensor_params.h
@@ -18,25 +18,37 @@
#define INV_SENSOR_PARAMS_H
/* Physical parameters of the sensors supported by Invensense MPL */
-#define SENSORS_ROTATION_VECTOR_HANDLE (ID_RV)
-#define SENSORS_LINEAR_ACCEL_HANDLE (ID_LA)
-#define SENSORS_GRAVITY_HANDLE (ID_GR)
-#define SENSORS_GYROSCOPE_HANDLE (ID_GY)
-#define SENSORS_ACCELERATION_HANDLE (ID_A)
-#define SENSORS_MAGNETIC_FIELD_HANDLE (ID_M)
-#define SENSORS_ORIENTATION_HANDLE (ID_O)
+#define SENSORS_ROTATION_VECTOR_HANDLE (ID_RV)
+#define SENSORS_LINEAR_ACCEL_HANDLE (ID_LA)
+#define SENSORS_GRAVITY_HANDLE (ID_GR)
+#define SENSORS_GYROSCOPE_HANDLE (ID_GY)
+#define SENSORS_RAW_GYROSCOPE_HANDLE (ID_RG)
+#define SENSORS_ACCELERATION_HANDLE (ID_A)
+#define SENSORS_MAGNETIC_FIELD_HANDLE (ID_M)
+#define SENSORS_ORIENTATION_HANDLE (ID_O)
+#define SENSORS_SCREEN_ORIENTATION_HANDLE (ID_SO)
/******************************************/
+//MPU9250 INV_COMPASS
+#define COMPASS_MPU9250_RANGE (9830.f)
+#define COMPASS_MPU9250_RESOLUTION (0.15f)
+#define COMPASS_MPU9250_POWER (10.f)
+#define COMPASS_MPU9250_MINDELAY (10000)
//MPU9150 INV_COMPASS
#define COMPASS_MPU9150_RANGE (9830.f)
#define COMPASS_MPU9150_RESOLUTION (0.285f)
#define COMPASS_MPU9150_POWER (10.f)
#define COMPASS_MPU9150_MINDELAY (10000)
-//COMPASS_ID_AKM
+//COMPASS_ID_AK8975
#define COMPASS_AKM8975_RANGE (9830.f)
#define COMPASS_AKM8975_RESOLUTION (0.285f)
#define COMPASS_AKM8975_POWER (10.f)
#define COMPASS_AKM8975_MINDELAY (10000)
+//COMPASS_ID_AK8963C
+#define COMPASS_AKM8963_RANGE (9830.f)
+#define COMPASS_AKM8963_RESOLUTION (0.15f)
+#define COMPASS_AKM8963_POWER (10.f)
+#define COMPASS_AKM8963_MINDELAY (10000)
//COMPASS_ID_AMI30X
#define COMPASS_AMI30X_RANGE (5461.f)
#define COMPASS_AMI30X_RESOLUTION (0.9f)
@@ -80,6 +92,16 @@
#define COMPASS_HSCDTD004A_RESOLUTION (1.f)
#define COMPASS_HSCDTD004A_POWER (1.f)
/*******************************************/
+//ACCEL_ID_MPU6500
+#define ACCEL_MPU6500_RANGE (2.f * GRAVITY_EARTH)
+#define ACCEL_MPU6500_RESOLUTION (0.004f * GRAVITY_EARTH)
+#define ACCEL_MPU6500_POWER (0.f)
+#define ACCEL_MPU6500_MINDELAY (1000)
+//ACCEL_ID_MPU9250
+#define ACCEL_MPU9250_RANGE (2.f * GRAVITY_EARTH)
+#define ACCEL_MPU9250_RESOLUTION (0.004f * GRAVITY_EARTH)
+#define ACCEL_MPU9250_POWER (0.f)
+#define ACCEL_MPU9250_MINDELAY (1000)
//ACCEL_ID_MPU9150
#define ACCEL_MPU9150_RANGE (2.f * GRAVITY_EARTH)
#define ACCEL_MPU9150_RESOLUTION (0.004f * GRAVITY_EARTH)
@@ -139,22 +161,32 @@
//GYRO MPU3050
#define RAD_P_DEG (3.14159f / 180.f)
#define GYRO_MPU3050_RANGE (2000.f * RAD_P_DEG)
-#define GYRO_MPU3050_RESOLUTION (32.8f * RAD_P_DEG)
+#define GYRO_MPU3050_RESOLUTION (2000.f / 32768.f * RAD_P_DEG)
#define GYRO_MPU3050_POWER (6.1f)
#define GYRO_MPU3050_MINDELAY (1000)
//GYRO MPU6050
#define GYRO_MPU6050_RANGE (2000.f * RAD_P_DEG)
-#define GYRO_MPU6050_RESOLUTION (16.4f * RAD_P_DEG)
+#define GYRO_MPU6050_RESOLUTION (2000.f / 32768.f * RAD_P_DEG)
#define GYRO_MPU6050_POWER (5.5f)
#define GYRO_MPU6050_MINDELAY (1000)
//GYRO MPU9150
#define GYRO_MPU9150_RANGE (2000.f * RAD_P_DEG)
-#define GYRO_MPU9150_RESOLUTION (16.4f * RAD_P_DEG)
+#define GYRO_MPU9150_RESOLUTION (2000.f / 32768.f * RAD_P_DEG)
#define GYRO_MPU9150_POWER (5.5f)
#define GYRO_MPU9150_MINDELAY (1000)
+//GYRO MPU9250
+#define GYRO_MPU9250_RANGE (2000.f * RAD_P_DEG)
+#define GYRO_MPU9250_RESOLUTION (2000.f / 32768.f * RAD_P_DEG)
+#define GYRO_MPU9250_POWER (5.5f)
+#define GYRO_MPU9250_MINDELAY (1000)
+//GYRO MPU6500
+#define GYRO_MPU6500_RANGE (2000.f * RAD_P_DEG)
+#define GYRO_MPU6500_RESOLUTION (2000.f / 32768.f * RAD_P_DEG)
+#define GYRO_MPU6500_POWER (5.5f)
+#define GYRO_MPU6500_MINDELAY (1000)
//GYRO ITG3500
#define GYRO_ITG3500_RANGE (2000.f * RAD_P_DEG)
-#define GYRO_ITG3500_RESOLUTION (16.4f * RAD_P_DEG)
+#define GYRO_ITG3500_RESOLUTION (2000.f / 32768.f * RAD_P_DEG)
#define GYRO_ITG3500_POWER (5.5f)
#define GYRO_ITG3500_MINDELAY (1000)
diff --git a/libsensors_iio/sensors.h b/libsensors_iio/sensors.h
index 0556c10..7264043 100644
--- a/libsensors_iio/sensors.h
+++ b/libsensors_iio/sensors.h
@@ -36,6 +36,20 @@
#endif
#define ID_MPL_BASE (0)
+
+enum {
+ ID_GY = ID_MPL_BASE,
+ ID_RG,
+ ID_A,
+ ID_M,
+ ID_O,
+ ID_RV,
+ ID_LA,
+ ID_GR,
+ ID_SO
+};
+
+/*
#define ID_GY (ID_MPL_BASE)
#define ID_A (ID_GY + 1)
#define ID_M (ID_A + 1)
@@ -43,15 +57,6 @@
#define ID_RV (ID_O + 1)
#define ID_LA (ID_RV + 1)
#define ID_GR (ID_LA + 1)
-
-/*#define ID_MPL_BASE (0)
-#define ID_RV (ID_MPL_BASE)
-#define ID_LA (ID_RV + 1)
-#define ID_GR (ID_LA + 1)
-#define ID_GY (ID_GR + 1)
-#define ID_A (ID_GY + 1)
-#define ID_M (ID_A + 1)
-#define ID_O (ID_M + 1)
*/
/*****************************************************************************/
diff --git a/libsensors_iio/sensors_mpl.cpp b/libsensors_iio/sensors_mpl.cpp
index 990c5f5..4445309 100644
--- a/libsensors_iio/sensors_mpl.cpp
+++ b/libsensors_iio/sensors_mpl.cpp
@@ -36,10 +36,16 @@
/*****************************************************************************/
/* The SENSORS Module */
-#define LOCAL_SENSORS (7)
-static struct sensor_t sSensorList[7];
-static int numSensors = LOCAL_SENSORS;
+#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
+#define LOCAL_SENSORS (numSensors + 1)
+#else
+#define LOCAL_SENSORS numSensors
+
+#endif
+
+static struct sensor_t sSensorList[LOCAL_SENSORS];
+static int sensors = LOCAL_SENSORS;
static int open_sensors(const struct hw_module_t* module, const char* id,
struct hw_device_t** device);
@@ -48,7 +54,7 @@
struct sensor_t const** list)
{
*list = sSensorList;
- return numSensors;
+ return sensors;
}
static struct hw_module_methods_t sensors_module_methods = {
@@ -81,13 +87,13 @@
enum {
mpl = 0,
compass,
+ dmpOrient,
numSensorDrivers, // wake pipe goes here
numFds,
};
struct pollfd mPollFds[numSensorDrivers];
SensorBase *mSensor;
- CompassSensor *mCompassSensor;
};
/******************************************************************************/
@@ -100,9 +106,9 @@
// setup the callback object for handing mpl callbacks
setCallbackObject(mplSensor);
-
+
// populate the sensor list
- numSensors =
+ sensors =
mplSensor->populateSensorList(sSensorList, sizeof(sSensorList));
mSensor = mplSensor;
@@ -113,12 +119,15 @@
mPollFds[compass].fd = mCompassSensor->getFd();
mPollFds[compass].events = POLLIN;
mPollFds[compass].revents = 0;
+
+ mPollFds[dmpOrient].fd = ((MPLSensor*) mSensor)->getDmpOrientFd();
+ mPollFds[dmpOrient].events = POLLPRI;
+ mPollFds[dmpOrient].revents = 0;
}
sensors_poll_context_t::~sensors_poll_context_t() {
FUNC_LOG;
delete mSensor;
- delete mCompassSensor;
}
int sensors_poll_context_t::activate(int handle, int enabled) {
@@ -144,22 +153,16 @@
if (nb > 0) {
for (int i = 0; count && i < numSensorDrivers; i++) {
- if (mPollFds[i].revents & POLLIN) {
+ if (mPollFds[i].revents & (POLLIN | POLLPRI)) {
nb = 0;
if (i == mpl) {
nb = mSensor->readEvents(data, count);
+ mPollFds[i].revents = 0;
}
else if (i == compass) {
nb = ((MPLSensor*) mSensor)->readCompassEvents(data, count);
- }
-/*
- if (nb > 0) {
- count -= nb;
- nbEvents += nb;
- data += nb;
mPollFds[i].revents = 0;
}
- */
}
}
nb = ((MPLSensor*) mSensor)->executeOnData(data, count);
@@ -167,8 +170,16 @@
count -= nb;
nbEvents += nb;
data += nb;
- mPollFds[mpl].revents = 0;
- mPollFds[compass].revents = 0;
+ }
+
+ if (mPollFds[dmpOrient].revents & (POLLIN | POLLPRI)) {
+ nb = ((MPLSensor*) mSensor)->readDmpOrientEvents(data, count);
+ mPollFds[dmpOrient].revents= 0;
+ if (isDmpScreenAutoRotationOn() && nb > 0) {
+ count -= nb;
+ nbEvents += nb;
+ data += nb;
+ }
}
}
diff --git a/libsensors_iio/software/build/android/shared.mk b/libsensors_iio/software/build/android/shared.mk
index bc8548c..f3a123f 100644
--- a/libsensors_iio/software/build/android/shared.mk
+++ b/libsensors_iio/software/build/android/shared.mk
@@ -22,8 +22,7 @@
ifeq ($(BUILD_MPL),1)
LIB_FOLDERS += $(INV_ROOT)/core/mpl/build/$(TARGET)
endif
-APP_FOLDERS = $(INV_ROOT)/simple_apps/console/linux/build/$(TARGET)
-APP_FOLDERS += $(INV_ROOT)/simple_apps/input_sub/build/$(TARGET)
+APP_FOLDERS = $(INV_ROOT)/simple_apps/mpu_iio/build/$(TARGET)
APP_FOLDERS += $(INV_ROOT)/simple_apps/self_test/build/$(TARGET)
INSTALL_DIR = $(CURDIR)
diff --git a/libsensors_iio/software/core/HAL/include/inv_sysfs_utils.h b/libsensors_iio/software/core/HAL/include/inv_sysfs_utils.h
deleted file mode 100644
index fce28ae..0000000
--- a/libsensors_iio/software/core/HAL/include/inv_sysfs_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**
- * @brief Provides helpful file IO wrappers for use with sysfs.
- * @details Based on Jonathan Cameron's @e iio_utils.h.
- */
-
-#ifndef _INV_SYSFS_UTILS_H_
-#define _INV_SYSFS_UTILS_H_
-
-/**
- * struct inv_sysfs_names_s - Files needed by user applications.
- * @buffer: Ring buffer attached to FIFO.
- * @enable: Turns on HW-to-ring buffer flow.
- * @raw_data: Raw data from registers.
- * @temperature: Temperature data from register.
- * @fifo_rate: FIFO rate/ODR.
- * @power_state: Power state (this is a five-star comment).
- * @fsr: Full-scale range.
- * @lpf: Digital low pass filter.
- * @scale: LSBs / dps (or LSBs / Gs).
- * @temp_scale: LSBs / degrees C.
- * @temp_offset: Offset in LSBs.
- */
-struct inv_sysfs_names_s {
-
- //Sysfs for ITG3500 & MPU6050
- const char *buffer;
- const char *enable;
- const char *raw_data; //Raw Gyro data
- const char *temperature;
- const char *fifo_rate;
- const char *power_state;
- const char *fsr;
- const char *lpf;
- const char *scale; //Gyro scale
- const char *temp_scale;
- const char *temp_offset;
- const char *self_test;
- //Starting Sysfs available for MPU6050 only
- const char *accel_en;
- const char *accel_fifo_en;
- const char *accel_fs;
- const char *clock_source;
- const char *early_suspend_en;
- const char *firmware_loaded;
- const char *gyro_en;
- const char *gyro_fifo_en;
- const char *key;
- const char *raw_accel;
- const char *reg_dump;
- const char *tap_on;
- const char *dmp_firmware;
-};
-
-/* File IO. Typically won't be called directly by user application, but they'll
- * be here for your enjoyment.
- */
-int inv_sysfs_write(char *filename, long data);
-int inv_sysfs_read(char *filename, long num_bytes, char *data);
-
-/* Helper APIs to extract specific data. */
-int inv_read_buffer(int fd, long *data, long long *timestamp);
-int inv_read_raw(const struct inv_sysfs_names_s *names, long *data,
- long long *timestamp);
-int inv_read_temperature_raw(const struct inv_sysfs_names_s *names, short *data,
- long long *timestamp);
-int inv_read_fifo_rate(const struct inv_sysfs_names_s *names, short *data);
-int inv_read_power_state(const struct inv_sysfs_names_s *names, char *data);
-int inv_read_scale(const struct inv_sysfs_names_s *names, float *data);
-int inv_read_temp_scale(const struct inv_sysfs_names_s *names, short *data);
-int inv_read_temp_offset(const struct inv_sysfs_names_s *names, short *data);
-int inv_write_fifo_rate(const struct inv_sysfs_names_s *names, short data);
-int inv_write_buffer_enable(const struct inv_sysfs_names_s *names, char data);
-int inv_write_power_state(const struct inv_sysfs_names_s *names, char data);
-
-/* Scaled data. */
-int inv_read_q16(const struct inv_sysfs_names_s *names, long *data,
- long long *timestamp);
-int inv_read_temp_q16(const struct inv_sysfs_names_s *names, long *data,
- long long *timestamp);
-
-#endif /* #ifndef _INV_SYSFS_UTILS_H_ */
-
-
diff --git a/libsensors_iio/software/core/HAL/include/mlos.h b/libsensors_iio/software/core/HAL/include/mlos.h
deleted file mode 100644
index ce06b07..0000000
--- a/libsensors_iio/software/core/HAL/include/mlos.h
+++ /dev/null
@@ -1,104 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-#ifndef _MLOS_H
-#define _MLOS_H
-
-#ifndef __KERNEL__
-#include <stdio.h>
-#endif
-
-#include "mltypes.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#if defined(LINUX) || defined(__KERNEL__)
-typedef unsigned int HANDLE;
-#endif
-
- /* ------------ */
- /* - Defines. - */
- /* ------------ */
-
- /* - MLOSCreateFile defines. - */
-
-#define MLOS_GENERIC_READ ((unsigned int)0x80000000)
-#define MLOS_GENERIC_WRITE ((unsigned int)0x40000000)
-#define MLOS_FILE_SHARE_READ ((unsigned int)0x00000001)
-#define MLOS_FILE_SHARE_WRITE ((unsigned int)0x00000002)
-#define MLOS_OPEN_EXISTING ((unsigned int)0x00000003)
-
- /* ---------- */
- /* - Enums. - */
- /* ---------- */
-
- /* --------------- */
- /* - Structures. - */
- /* --------------- */
-
- /* --------------------- */
- /* - Function p-types. - */
- /* --------------------- */
-
-#ifndef __KERNEL__
-#include <string.h>
- void *inv_malloc(unsigned int numBytes);
- inv_error_t inv_free(void *ptr);
- inv_error_t inv_create_mutex(HANDLE *mutex);
- inv_error_t inv_lock_mutex(HANDLE mutex);
- inv_error_t inv_unlock_mutex(HANDLE mutex);
- FILE *inv_fopen(char *filename);
- void inv_fclose(FILE *fp);
-
- // Binary Semaphore
- inv_error_t inv_create_binary_semaphore(HANDLE *semaphore);
- inv_error_t inv_destroy_binary_semaphore(HANDLE handle);
- inv_error_t inv_increment_binary_semaphore(HANDLE handle);
- inv_error_t inv_decrement_binary_semaphore(HANDLE handle, long timeout_ms);
-
- inv_error_t inv_destroy_mutex(HANDLE handle);
-
- void inv_sleep(int mSecs);
- inv_time_t inv_get_tick_count(void);
-
- /* Kernel implmentations */
-#define GFP_KERNEL (0x70)
- static inline void *kmalloc(size_t size,
- unsigned int gfp_flags)
- {
- (void)gfp_flags;
- return inv_malloc((unsigned int)size);
- }
- static inline void *kzalloc(size_t size, unsigned int gfp_flags)
- {
- void *tmp = inv_malloc((unsigned int)size);
- (void)gfp_flags;
- if (tmp)
- memset(tmp, 0, size);
- return tmp;
- }
- static inline void kfree(void *ptr)
- {
- inv_free(ptr);
- }
- static inline void msleep(long msecs)
- {
- inv_sleep(msecs);
- }
- static inline void udelay(unsigned long usecs)
- {
- inv_sleep((usecs + 999) / 1000);
- }
-#else
-#include <linux/delay.h>
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-#endif /* _MLOS_H */
diff --git a/libsensors_iio/software/core/HAL/linux/inv_sysfs_utils.c b/libsensors_iio/software/core/HAL/linux/inv_sysfs_utils.c
deleted file mode 100644
index c45badd..0000000
--- a/libsensors_iio/software/core/HAL/linux/inv_sysfs_utils.c
+++ /dev/null
@@ -1,317 +0,0 @@
-/**
- * @brief Provides helpful file IO wrappers for use with sysfs.
- * @details Based on Jonathan Cameron's @e iio_utils.h.
- */
-
-#include <string.h>
-#include <stdlib.h>
-#include <ctype.h>
-#include <stdio.h>
-#include <stdint.h>
-#include <dirent.h>
-#include <errno.h>
-#include <unistd.h>
-#include "inv_sysfs_utils.h"
-
-/* General TODO list:
- * Select more reasonable string lengths or use fseek and malloc.
- */
-
-/**
- * inv_sysfs_write() - Write an integer to a file.
- * @filename: Path to file.
- * @data: Value to write to file.
- * Returns number of bytes written or a negative error code.
- */
-int inv_sysfs_write(char *filename, long data)
-{
- FILE *fp;
- int count;
-
- if (!filename)
- return -1;
- fp = fopen(filename, "w");
- if (!fp)
- return -errno;
- count = fprintf(fp, "%ld", data);
- fclose(fp);
- return count;
-}
-
-/**
- * inv_sysfs_read() - Read a string from a file.
- * @filename: Path to file.
- * @num_bytes: Number of bytes to read.
- * @data: Data from file.
- * Returns number of bytes written or a negative error code.
- */
-int inv_sysfs_read(char *filename, long num_bytes, char *data)
-{
- FILE *fp;
- int count;
-
- if (!filename)
- return -1;
- fp = fopen(filename, "r");
- if (!fp)
- return -errno;
- count = fread(data, 1, num_bytes, fp);
- fclose(fp);
- return count;
-}
-
-/**
- * inv_read_buffer() - Read data from ring buffer.
- * @fd: File descriptor for buffer file.
- * @data: Data in hardware units.
- * @timestamp: Time when data was read from device. Use NULL if unsupported.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_buffer(int fd, long *data, long long *timestamp)
-{
- char str[35];
- int count;
-
- count = read(fd, str, sizeof(str));
- if (!count)
- return count;
- if (!timestamp)
- count = sscanf(str, "%ld%ld%ld", &data[0], &data[1], &data[2]);
- else
- count = sscanf(str, "%ld%ld%ld%lld", &data[0], &data[1],
- &data[2], timestamp);
-
- if (count < (timestamp?4:3))
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_raw() - Read raw data.
- * @names: Names of sysfs files.
- * @data: Data in hardware units.
- * @timestamp: Time when data was read from device. Use NULL if unsupported.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_raw(const struct inv_sysfs_names_s *names, long *data,
- long long *timestamp)
-{
- char str[40];
- int count;
-
- count = inv_sysfs_read((char*)names->raw_data, sizeof(str), str);
- if (count < 0)
- return count;
- if (!timestamp)
- count = sscanf(str, "%ld%ld%ld", &data[0], &data[1], &data[2]);
- else
- count = sscanf(str, "%ld%ld%ld%lld", &data[0], &data[1],
- &data[2], timestamp);
- if (count < (timestamp?4:3))
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_temperature_raw() - Read temperature.
- * @names: Names of sysfs files.
- * @data: Data in hardware units.
- * @timestamp: Time when data was read from device.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_temperature_raw(const struct inv_sysfs_names_s *names, short *data,
- long long *timestamp)
-{
- char str[25];
- int count;
-
- count = inv_sysfs_read((char*)names->temperature, sizeof(str), str);
- if (count < 0)
- return count;
- count = sscanf(str, "%hd%lld", &data[0], timestamp);
- if (count < 2)
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_fifo_rate() - Read fifo rate.
- * @names: Names of sysfs files.
- * @data: Fifo rate.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_fifo_rate(const struct inv_sysfs_names_s *names, short *data)
-{
- char str[8];
- int count;
-
- count = inv_sysfs_read((char*)names->fifo_rate, sizeof(str), str);
- if (count < 0)
- return count;
- count = sscanf(str, "%hd", data);
- if (count < 1)
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_power_state() - Read power state.
- * @names: Names of sysfs files.
- * @data: 1 if device is on.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_power_state(const struct inv_sysfs_names_s *names, char *data)
-{
- char str[2];
- int count;
-
- count = inv_sysfs_read((char*)names->power_state, sizeof(str), str);
- if (count < 0)
- return count;
- count = sscanf(str, "%hd", (short*)data);
- if (count < 1)
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_scale() - Read scale.
- * @names: Names of sysfs files.
- * @data: 1 if device is on.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_scale(const struct inv_sysfs_names_s *names, float *data)
-{
- char str[5];
- int count;
-
- count = inv_sysfs_read((char*)names->scale, sizeof(str), str);
- if (count < 0)
- return count;
- count = sscanf(str, "%f", data);
- if (count < 1)
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_temp_scale() - Read temperature scale.
- * @names: Names of sysfs files.
- * @data: 1 if device is on.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_temp_scale(const struct inv_sysfs_names_s *names, short *data)
-{
- char str[4];
- int count;
-
- count = inv_sysfs_read((char*)names->temp_scale, sizeof(str), str);
- if (count < 0)
- return count;
- count = sscanf(str, "%hd", data);
- if (count < 1)
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_temp_offset() - Read temperature offset.
- * @names: Names of sysfs files.
- * @data: 1 if device is on.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_temp_offset(const struct inv_sysfs_names_s *names, short *data)
-{
- char str[4];
- int count;
-
- count = inv_sysfs_read((char*)names->temp_offset, sizeof(str), str);
- if (count < 0)
- return count;
- count = sscanf(str, "%hd", data);
- if (count < 1)
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_q16() - Get data as q16 fixed point.
- * @names: Names of sysfs files.
- * @data: 1 if device is on.
- * @timestamp: Time when data was read from device.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_q16(const struct inv_sysfs_names_s *names, long *data,
- long long *timestamp)
-{
- int count;
- short raw[3];
- float scale;
- count = inv_read_raw(names, (long*)raw, timestamp);
- count += inv_read_scale(names, &scale);
- data[0] = (long)(raw[0] * (65536.f / scale));
- data[1] = (long)(raw[1] * (65536.f / scale));
- data[2] = (long)(raw[2] * (65536.f / scale));
- return count;
-}
-
-/**
- * inv_read_q16() - Get temperature data as q16 fixed point.
- * @names: Names of sysfs files.
- * @data: 1 if device is on.
- * @timestamp: Time when data was read from device.
- * Returns number of bytes read or a negative error code.
- */
-int inv_read_temp_q16(const struct inv_sysfs_names_s *names, long *data,
- long long *timestamp)
-{
- int count = 0;
- short raw;
- static short scale, offset;
- static unsigned char first_read = 1;
-
- if (first_read) {
- count += inv_read_temp_scale(names, &scale);
- count += inv_read_temp_offset(names, &offset);
- first_read = 0;
- }
- count += inv_read_temperature_raw(names, &raw, timestamp);
- data[0] = (long)((35 + ((float)(raw - offset) / scale)) * 65536.f);
-
- return count;
-}
-
-/**
- * inv_write_fifo_rate() - Write fifo rate.
- * @names: Names of sysfs files.
- * @data: Fifo rate.
- * Returns number of bytes written or a negative error code.
- */
-int inv_write_fifo_rate(const struct inv_sysfs_names_s *names, short data)
-{
- return inv_sysfs_write((char*)names->fifo_rate, (long)data);
-}
-
-/**
- * inv_write_buffer_enable() - Enable/disable buffer in /dev.
- * @names: Names of sysfs files.
- * @data: Fifo rate.
- * Returns number of bytes written or a negative error code.
- */
-int inv_write_buffer_enable(const struct inv_sysfs_names_s *names, char data)
-{
- return inv_sysfs_write((char*)names->enable, (long)data);
-}
-
-/**
- * inv_write_power_state() - Turn device on/off.
- * @names: Names of sysfs files.
- * @data: 1 to turn on.
- * Returns number of bytes written or a negative error code.
- */
-int inv_write_power_state(const struct inv_sysfs_names_s *names, char data)
-{
- return inv_sysfs_write((char*)names->power_state, (long)data);
-}
-
-
diff --git a/libsensors_iio/software/core/HAL/linux/mlos_linux.c b/libsensors_iio/software/core/HAL/linux/mlos_linux.c
deleted file mode 100644
index 75f062e..0000000
--- a/libsensors_iio/software/core/HAL/linux/mlos_linux.c
+++ /dev/null
@@ -1,194 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-/*******************************************************************************
- *
- * $Id: mlos_linux.c 5629 2011-06-11 03:13:08Z mcaramello $
- *
- *******************************************************************************/
-
-/**
- * @defgroup MLOS
- * @brief OS Interface.
- *
- * @{
- * @file mlos.c
- * @brief OS Interface.
-**/
-
-/* ------------- */
-/* - Includes. - */
-/* ------------- */
-
-#include <sys/time.h>
-#include <unistd.h>
-#include <pthread.h>
-#include <stdlib.h>
-
-#include "stdint_invensense.h"
-
-#include "mlos.h"
-#include <errno.h>
-
-
-/* -------------- */
-/* - Functions. - */
-/* -------------- */
-
-/**
- * @brief Allocate space
- * @param numBytes number of bytes
- * @return pointer to allocated space
-**/
-void *inv_malloc(unsigned int numBytes)
-{
- // Allocate space.
- void *allocPtr = malloc(numBytes);
- return allocPtr;
-}
-
-
-/**
- * @brief Free allocated space
- * @param ptr pointer to space to deallocate
- * @return error code.
-**/
-inv_error_t inv_free(void *ptr)
-{
- // Deallocate space.
- free(ptr);
-
- return INV_SUCCESS;
-}
-
-
-/**
- * @brief Mutex create function
- * @param mutex pointer to mutex handle
- * @return error code.
- */
-inv_error_t inv_create_mutex(HANDLE *mutex)
-{
- int res;
- pthread_mutex_t *pm = malloc(sizeof(pthread_mutex_t));
- if(pm == NULL)
- return INV_ERROR;
-
- res = pthread_mutex_init(pm, NULL);
- if(res == -1) {
- free(pm);
- return INV_ERROR_OS_CREATE_FAILED;
- }
-
- *mutex = (HANDLE)pm;
-
- return INV_SUCCESS;
-}
-
-
-/**
- * @brief Mutex lock function
- * @param mutex Mutex handle
- * @return error code.
- */
-inv_error_t inv_lock_mutex(HANDLE mutex)
-{
- int res;
- pthread_mutex_t *pm = (pthread_mutex_t*)mutex;
-
- res = pthread_mutex_lock(pm);
- if(res == -1)
- return INV_ERROR_OS_LOCK_FAILED;
-
- return INV_SUCCESS;
-}
-
-
-/**
- * @brief Mutex unlock function
- * @param mutex mutex handle
- * @return error code.
-**/
-inv_error_t inv_unlock_mutex(HANDLE mutex)
-{
- int res;
- pthread_mutex_t *pm = (pthread_mutex_t*)mutex;
-
- res = pthread_mutex_unlock(pm);
- if(res == -1)
- return INV_ERROR_OS_LOCK_FAILED;
-
- return INV_SUCCESS;
-}
-
-
-/**
- * @brief open file
- * @param filename name of the file to open.
- * @return error code.
- */
-FILE *inv_fopen(char *filename)
-{
- FILE *fp = fopen(filename,"r");
- return fp;
-}
-
-
-/**
- * @brief close the file.
- * @param fp handle to file to close.
- * @return error code.
- */
-void inv_fclose(FILE *fp)
-{
- fclose(fp);
-}
-
-/**
- * @brief Close Handle
- * @param handle handle to the resource.
- * @return Zero if success, an error code otherwise.
- */
-inv_error_t inv_destroy_mutex(HANDLE handle)
-{
- int error;
- pthread_mutex_t *pm = (pthread_mutex_t*)handle;
- error = pthread_mutex_destroy(pm);
- if (error) {
- return errno;
- }
- free((void*) handle);
-
- return INV_SUCCESS;}
-
-
-/**
- * @brief Sleep function.
- */
-void inv_sleep(int mSecs)
-{
- usleep(mSecs*1000);
-}
-
-
-/**
- * @brief get system's internal tick count.
- * Used for time reference.
- * @return current tick count.
- */
-unsigned long inv_get_tick_count()
-{
- struct timeval tv;
-
- if (gettimeofday(&tv, NULL) !=0)
- return 0;
-
- return (long)((tv.tv_sec * 1000000LL + tv.tv_usec) / 1000LL);
-}
-
- /**********************/
- /** @} */ /* defgroup */
-/**********************/
-
diff --git a/libsensors_iio/software/core/driver/include/linux/mpu.h b/libsensors_iio/software/core/driver/include/linux/mpu.h
index 9b29695..4391226 100644
--- a/libsensors_iio/software/core/driver/include/linux/mpu.h
+++ b/libsensors_iio/software/core/driver/include/linux/mpu.h
@@ -27,135 +27,8 @@
#ifdef __KERNEL__
#include <linux/types.h>
#include <linux/ioctl.h>
-#elif defined LINUX
-#include <sys/ioctl.h>
-#include <linux/types.h>
-#else
-#include "mltypes.h"
#endif
-struct mpu_read_write {
- /* Memory address or register address depending on ioctl */
- __u16 address;
- __u16 length;
- __u8 *data;
-};
-
-enum mpuirq_data_type {
- MPUIRQ_DATA_TYPE_MPU_DATA_READY_IRQ,
- MPUIRQ_DATA_TYPE_MPU_FIFO_READY_IRQ,
- MPUIRQ_DATA_TYPE_SLAVE_IRQ,
- MPUIRQ_DATA_TYPE_PM_EVENT,
- MPUIRQ_DATA_TYPE_NUM_TYPES,
-};
-
-/* User space PM event notification */
-#define MPU_PM_EVENT_SUSPEND_PREPARE (3)
-#define MPU_PM_EVENT_POST_SUSPEND (4)
-
-/**
- * struct mpuirq_data - structure to report what and when
- * @interruptcount : The number of times this IRQ has occured since open
- * @irqtime : monotonic time of the IRQ in ns
- * @data_type : The type of this IRQ enum mpuirq_data_type
- * @data : Data associated with this IRQ
- */
-struct mpuirq_data {
- __u32 interruptcount;
- __s64 irqtime_ns;
- __u32 data_type;
- __s32 data;
-};
-
-enum ext_slave_config_key {
- /* TODO: Remove these first six. */
- MPU_SLAVE_CONFIG_ODR_SUSPEND,
- MPU_SLAVE_CONFIG_ODR_RESUME,
- MPU_SLAVE_CONFIG_FSR_SUSPEND,
- MPU_SLAVE_CONFIG_FSR_RESUME,
- MPU_SLAVE_CONFIG_IRQ_SUSPEND,
- MPU_SLAVE_CONFIG_IRQ_RESUME,
- MPU_SLAVE_CONFIG_ODR,
- MPU_SLAVE_CONFIG_FSR,
- MPU_SLAVE_CONFIG_MOT_THS,
- MPU_SLAVE_CONFIG_NMOT_THS,
- MPU_SLAVE_CONFIG_MOT_DUR,
- MPU_SLAVE_CONFIG_NMOT_DUR,
- MPU_SLAVE_CONFIG_IRQ,
- MPU_SLAVE_WRITE_REGISTERS,
- MPU_SLAVE_READ_REGISTERS,
- MPU_SLAVE_CONFIG_INTERNAL_REFERENCE,
- /* AMI 306 specific config keys */
- MPU_SLAVE_PARAM,
- MPU_SLAVE_WINDOW,
- MPU_SLAVE_READWINPARAMS,
- MPU_SLAVE_SEARCHOFFSET,
- /* MPU3050 and MPU6050 Keys */
- MPU_SLAVE_INT_CONFIG,
- MPU_SLAVE_EXT_SYNC,
- MPU_SLAVE_FULL_SCALE,
- MPU_SLAVE_LPF,
- MPU_SLAVE_CLK_SRC,
- MPU_SLAVE_DIVIDER,
- MPU_SLAVE_DMP_ENABLE,
- MPU_SLAVE_FIFO_ENABLE,
- MPU_SLAVE_DMP_CFG1,
- MPU_SLAVE_DMP_CFG2,
- MPU_SLAVE_TC,
- MPU_SLAVE_GYRO,
- MPU_SLAVE_ADDR,
- MPU_SLAVE_PRODUCT_REVISION,
- MPU_SLAVE_SILICON_REVISION,
- MPU_SLAVE_PRODUCT_ID,
- MPU_SLAVE_GYRO_SENS_TRIM,
- MPU_SLAVE_ACCEL_SENS_TRIM,
- MPU_SLAVE_RAM,
- /* -------------------------- */
- MPU_SLAVE_CONFIG_NUM_CONFIG_KEYS
-};
-
-/* For the MPU_SLAVE_CONFIG_IRQ_SUSPEND and MPU_SLAVE_CONFIG_IRQ_RESUME */
-enum ext_slave_config_irq_type {
- MPU_SLAVE_IRQ_TYPE_NONE,
- MPU_SLAVE_IRQ_TYPE_MOTION,
- MPU_SLAVE_IRQ_TYPE_DATA_READY,
-};
-
-/* Structure for the following IOCTS's
- * MPU_CONFIG_GYRO
- * MPU_CONFIG_ACCEL
- * MPU_CONFIG_COMPASS
- * MPU_CONFIG_PRESSURE
- * MPU_GET_CONFIG_GYRO
- * MPU_GET_CONFIG_ACCEL
- * MPU_GET_CONFIG_COMPASS
- * MPU_GET_CONFIG_PRESSURE
- *
- * @key one of enum ext_slave_config_key
- * @len length of data pointed to by data
- * @apply zero if communication with the chip is not necessary, false otherwise
- * This flag can be used to select cached data or to refresh cashed data
- * cache data to be pushed later or push immediately. If true and the
- * slave is on the secondary bus the MPU will first enger bypass mode
- * before calling the slaves .config or .get_config funcion
- * @data pointer to the data to confgure or get
- */
-struct ext_slave_config {
- __u8 key;
- __u16 len;
- __u8 apply;
- void *data;
-};
-
-enum ext_slave_type {
- EXT_SLAVE_TYPE_GYROSCOPE,
- EXT_SLAVE_TYPE_ACCEL,
- EXT_SLAVE_TYPE_COMPASS,
- EXT_SLAVE_TYPE_PRESSURE,
- /*EXT_SLAVE_TYPE_TEMPERATURE */
-
- EXT_SLAVE_NUM_TYPES
-};
enum secondary_slave_type {
SECONDARY_SLAVE_TYPE_NONE,
SECONDARY_SLAVE_TYPE_ACCEL,
@@ -204,127 +77,6 @@
};
#define INV_PROD_KEY(ver, rev) (ver * 100 + rev)
-
-enum ext_slave_endian {
- EXT_SLAVE_BIG_ENDIAN,
- EXT_SLAVE_LITTLE_ENDIAN,
- EXT_SLAVE_FS8_BIG_ENDIAN,
- EXT_SLAVE_FS16_BIG_ENDIAN,
-};
-
-enum ext_slave_bus {
- EXT_SLAVE_BUS_INVALID = -1,
- EXT_SLAVE_BUS_PRIMARY = 0,
- EXT_SLAVE_BUS_SECONDARY = 1
-};
-
-
-/**
- * struct ext_slave_platform_data - Platform data for mpu3050 and mpu6050
- * slave devices
- *
- * @type: the type of slave device based on the enum ext_slave_type
- * definitions.
- * @irq: the irq number attached to the slave if any.
- * @adapt_num: the I2C adapter number.
- * @bus: the bus the slave is attached to: enum ext_slave_bus
- * @address: the I2C slave address of the slave device.
- * @orientation: the mounting matrix of the device relative to MPU.
- * @irq_data: private data for the slave irq handler
- * @private_data: additional data, user customizable. Not touched by the MPU
- * driver.
- *
- * 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 ext_slave_platform_data {
- __u8 type;
- __u32 irq;
- __u32 adapt_num;
- __u32 bus;
- __u8 address;
- __s8 orientation[9];
- void *irq_data;
- void *private_data;
-};
-
-struct fix_pnt_range {
- __s32 mantissa;
- __s32 fraction;
-};
-
-static inline long range_fixedpoint_to_long_mg(struct fix_pnt_range rng)
-{
- return (long)(rng.mantissa * 1000 + rng.fraction / 10);
-}
-
-struct ext_slave_read_trigger {
- __u8 reg;
- __u8 value;
-};
-
-/**
- * struct ext_slave_descr - Description of the slave device for programming.
- *
- * @suspend: function pointer to put the device in suspended state
- * @resume: function pointer to put the device in running state
- * @read: function that reads the device data
- * @init: function used to preallocate memory used by the driver
- * @exit: function used to free memory allocated for the driver
- * @config: function used to configure the device
- * @get_config:function used to get the device's configuration
- *
- * @name: text name of the device
- * @type: device type. enum ext_slave_type
- * @id: enum ext_slave_id
- * @read_reg: starting register address to retrieve data.
- * @read_len: length in bytes of the sensor data. Typically 6.
- * @endian: byte order of the data. enum ext_slave_endian
- * @range: full scale range of the slave ouput: struct fix_pnt_range
- * @trigger: If reading data first requires writing a register this is the
- * data to write.
- *
- * Defines the functions and information about the slave the mpu3050 and
- * mpu6050 needs to use the slave device.
- */
-struct ext_slave_descr {
- int (*init) (void *mlsl_handle,
- struct ext_slave_descr *slave,
- struct ext_slave_platform_data *pdata);
- int (*exit) (void *mlsl_handle,
- struct ext_slave_descr *slave,
- struct ext_slave_platform_data *pdata);
- int (*suspend) (void *mlsl_handle,
- struct ext_slave_descr *slave,
- struct ext_slave_platform_data *pdata);
- int (*resume) (void *mlsl_handle,
- struct ext_slave_descr *slave,
- struct ext_slave_platform_data *pdata);
- int (*read) (void *mlsl_handle,
- struct ext_slave_descr *slave,
- struct ext_slave_platform_data *pdata,
- __u8 *data);
- int (*config) (void *mlsl_handle,
- struct ext_slave_descr *slave,
- struct ext_slave_platform_data *pdata,
- struct ext_slave_config *config);
- int (*get_config) (void *mlsl_handle,
- struct ext_slave_descr *slave,
- struct ext_slave_platform_data *pdata,
- struct ext_slave_config *config);
-
- char *name;
- __u8 type;
- __u8 id;
- __u8 read_reg;
- __u8 read_len;
- __u8 endian;
- struct fix_pnt_range range;
- struct ext_slave_read_trigger *trigger;
-};
-
/**
* struct mpu_platform_data - Platform data for the mpu driver
* @int_config: Bits [7:3] of the int config register.
@@ -334,6 +86,7 @@
* @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
diff --git a/libsensors_iio/software/core/driver/include/log.h b/libsensors_iio/software/core/driver/include/log.h
index 74c49f3..0a747ce 100644
--- a/libsensors_iio/software/core/driver/include/log.h
+++ b/libsensors_iio/software/core/driver/include/log.h
@@ -352,9 +352,9 @@
#define INV_ERROR_CHECK(r_1329) \
- if (r_1329) { \
- LOG_RESULT_LOCATION(r_1329); \
- return r_1329; \
+ if (r_1329) { \
+ LOG_RESULT_LOCATION(r_1329); \
+ return r_1329; \
}
#ifdef __cplusplus
diff --git a/libsensors_iio/software/core/mllite/CMakeLists.txt b/libsensors_iio/software/core/mllite/CMakeLists.txt
deleted file mode 100644
index 8650553..0000000
--- a/libsensors_iio/software/core/mllite/CMakeLists.txt
+++ /dev/null
@@ -1,39 +0,0 @@
-## CMakeLists for mlsdk/mldmp
-
-project(mldmp C)
-
-if (NOT CMAKE_BUILD_ENGINEERING)
-
-# # just copy the library from mldmp/mpl/$PLATFORM to mldmp/
-# if (CMAKE_SYSTEM_NAME MATCHES Windows)
-# execute_process(
-# COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_SOURCE_DIR}/mpl/win32/mpl.lib ${CMAKE_CURRENT_BINARY_DIR}/mpl.lib
-# )
-# elseif (CMAKE_SYSTEM_NAME MATCHES Android)
-# execute_process(
-# COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_SOURCE_DIR}/mpl/android/libmpl.a ${CMAKE_CURRENT_BINARY_DIR}/libmpl.a
-# )
-# elseif (CMAKE_SYSTEM_NAME MATCHES Linux)
-# message("copying ${CMAKE_CURRENT_SOURCE_DIR}/mpl/linux/libmpl.a to ${CMAKE_CURRENT_BINARY_DIR}/libmpl.a")
-# execute_process(
-# COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_SOURCE_DIR}/mpl/linux/libmpl.a ${CMAKE_CURRENT_BINARY_DIR}/libmpl.a
-# )
-# elseif (CMAKE_SYSTEM_NAME MATCHES Catalina)
-# execute_process(
-# COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_SOURCE_DIR}/mpl/linux/mpl.lib ${CMAKE_CURRENT_BINARY_DIR}/libmpl.a
-# )
-# endif()
-# # better way that doesn't work for now
-# # add_custom_command(
-# # TARGET mpl
-# # PRE_BUILD
-# # COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${CMAKE_CURRENT_SOURCE_DIR}/${DDF} ${CMAKE_CURRENT_BINARY_DIR}
-# # COMMAND ${CMAKE_COMMAND} ARGS -E echo "copying ${DDF}"
-# # )
-
-else (NOT CMAKE_BUILD_ENGINEERING)
-
- set (CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR})
- include(Engineering)
-
-endif (NOT CMAKE_BUILD_ENGINEERING)
diff --git a/libsensors_iio/software/core/mllite/Engineering.cmake b/libsensors_iio/software/core/mllite/Engineering.cmake
deleted file mode 100644
index 42f2429..0000000
--- a/libsensors_iio/software/core/mllite/Engineering.cmake
+++ /dev/null
@@ -1,150 +0,0 @@
-## Engineering CMakeLists for software/core/mllite
-
-include_directories(
- .
- ${SOLUTION_SOURCE_DIR}/core/mpl
- ${SOLUTION_SOURCE_DIR}/core/HAL
- ${SOLUTION_SOURCE_DIR}/driver/include
-)
-
-add_definitions (
- -DINV_INCLUDE_LEGACY_HEADERS
-)
-
-if (CMAKE_SYSTEM_NAME MATCHES Android)
-
- include_directories(
- ${SOLUTION_SOURCE_DIR}/core/mllite/linux
- ${SOLUTION_SOURCE_DIR}/driver/include/linux
- )
- add_definitions(
- -DLINUX
- -D_REENTRANT
- )
- set (HEADERS
- ${HEADERS}
- linux/mlos.h
- linux/ml_stored_data.h
- linux/ml_load_dmp.h
- linux/ml_sysfs_helper.h
- )
- set (SOURCES
- ${SOURCES}
- linux/mlos_linux.c
- linux/ml_stored_data.c
- linux/ml_load_dmp.c
- linux/ml_sysfs_helper.c
- )
-
-elseif (CMAKE_SYSTEM_NAME MATCHES Linux)
-
- add_definitions(
- -DLINUX
- -D_REENTRANT
- )
- set (HEADERS
- ${HEADERS}
- )
- set (SOURCES
- ${SOURCES}
- )
-
-elseif (CMAKE_SYSTEM_NAME MATCHES Windows)
-
- add_definitions(
- -DAIO
- -DUART_COM
- -D_CRT_SECURE_NO_WARNINGS
- -D_CRT_SECURE_NO_DEPRECATE
- )
- set (HEADERS
- ${HEADERS}
- )
- set (SOURCES
- ${SOURCES}
- )
-
-endif ()
-
-set (HEADERS
- ${HEADERS}
- data_builder.h
- hal_outputs.h
- message_layer.h
- ml_math_func.h
- mpl.h
- results_holder.h
- start_manager.h
- storage_manager.h
-)
-set (SOURCES
- ${SOURCES}
- data_builder.c
- hal_outputs.c
- message_layer.c
- ml_math_func.c
- mpl.c
- results_holder.c
- start_manager.c
- storage_manager.c
-)
-
-# coveniently add this file to the resources for easy access within IDEs
-set (RESOURCES
- Engineering.cmake
-)
-
-if (CMAKE_TESTING_SUPPORT)
-
- message("Including Testing support")
- include_directories(
- ${SOLUTION_SOURCE_DIR}/mltools/debugsupport
- )
- add_definitions(
- -DSELF_VERIFICATION
- )
- set(
- HEADERS
- ${HEADERS}
- ${SOLUTION_SOURCE_DIR}/mltools/debugsupport/testsupport.h
- )
- set(
- SOURCES
- ${SOURCES}
- ${SOLUTION_SOURCE_DIR}/mltools/debugsupport/testsupport.c
- )
-
-endif ()
-
-############
-## TARGET ##
-############
-add_library(
- mllite STATIC
- ${SOURCES}
- ${HEADERS}
- ${RESOURCES}
-)
-set_target_properties(
- mllite
- PROPERTIES CLEAN_DIRECT_OUTPUT 1
-)
-
-if (CMAKE_SYSTEM_NAME MATCHES "(Android|Linux)")
-
- add_library(
- mllite_shared SHARED
- ${SOURCES}
- ${HEADERS}
- ${RESOURCES}
- )
- FIX_SHARED_LIBRARY_NAME("mllite_shared" "mllite")
-
- install (
- TARGETS mllite_shared
- DESTINATION lib
- )
-
-endif ()
-
-
diff --git a/libsensors_iio/software/core/mllite/build/android/libmllite.so b/libsensors_iio/software/core/mllite/build/android/libmllite.so
new file mode 100644
index 0000000..98147a2
--- /dev/null
+++ b/libsensors_iio/software/core/mllite/build/android/libmllite.so
Binary files differ
diff --git a/libsensors_iio/software/core/mllite/build/android/static.mk b/libsensors_iio/software/core/mllite/build/android/static.mk
deleted file mode 100644
index 6ad45de..0000000
--- a/libsensors_iio/software/core/mllite/build/android/static.mk
+++ /dev/null
@@ -1,110 +0,0 @@
-MLLITE_LIB_NAME = mllite
-LIBRARY = $(LIB_PREFIX)$(MLLITE_LIB_NAME).$(STATIC_LIB_EXT)
-
-MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
-
-OBJFOLDER = $(CURDIR)/obj
-
-CROSS = arm-none-linux-gnueabi-
-COMP= $(CROSS)gcc
-LINK= $(CROSS)ar cr
-
-MLLITE_DIR = $(MLSDK_ROOT)/mllite
-MPL_DIR = $(MLSDK_ROOT)/mldmp
-MLPLATFORM_DIR = $(MLSDK_ROOT)/platform
-
-include $(MLSDK_ROOT)/Android-common.mk
-
-CFLAGS += $(CMDLINE_CFLAGS)
-CFLAGS += -Wall -fpic
-CFLAGS += -mthumb-interwork -fno-exceptions -ffunction-sections -funwind-tables -fstack-protector -fno-short-enums -fmessage-length=0
-CFLAGS += -DNDEBUG
-CFLAGS += -D_REENTRANT -DLINUX -DANDROID
-CFLAGS += -I$(MLLITE_DIR)
-CFLAGS += -I$(MLPLATFORM_DIR)/include
-CFLAGS += -I$(MLSDK_ROOT)/mlutils
-CFLAGS += -I$(MLSDK_ROOT)/mlapps/common
-CFLAGS += $(MLSDK_INCLUDES)
-CFLAGS += $(MLSDK_DEFINES)
-
-VPATH += $(MLLITE_DIR)
-VPATH += $(MLSDK_ROOT)/mlutils
-VPATH += $(MLLITE_DIR)/accel
-VPATH += $(MLLITE_DIR)/compass
-VPATH += $(MLLITE_DIR)/pressure
-VPATH += $(MLLITE_DIR)/mlapps/common
-
-####################################################################################################
-## sources
-
-ML_LIBS = $(MLPLATFORM_DIR)/linux/$(LIB_PREFIX)$(MLPLATFORM_LIB_NAME).$(STATIC_LIB_EXT)
-
-ML_SOURCES += $(MLLITE_DIR)/mldl_cfg_mpu.c
-ML_SOURCES += $(MLLITE_DIR)/mldl_cfg_init_linux.c
-ML_SOURCES += $(MLLITE_DIR)/accel.c
-ML_SOURCES += $(MLLITE_DIR)/compass.c
-ML_SOURCES += $(MLLITE_DIR)/compass_supervisor.c
-ML_SOURCES += $(MLLITE_DIR)/compass_supervisor_adv_callbacks.c
-ML_SOURCES += $(MLLITE_DIR)/key0_96.c
-ML_SOURCES += $(MLLITE_DIR)/pressure.c
-ML_SOURCES += $(MLLITE_DIR)/ml.c
-ML_SOURCES += $(MLLITE_DIR)/ml_invobj.c
-ML_SOURCES += $(MLLITE_DIR)/ml_init.c
-ML_SOURCES += $(MLLITE_DIR)/mlarray_lite.c
-ML_SOURCES += $(MLLITE_DIR)/mlarray_adv.c
-ML_SOURCES += $(MLLITE_DIR)/mlarray_legacy.c
-ML_SOURCES += $(MLLITE_DIR)/mlBiasNoMotion.c
-ML_SOURCES += $(MLLITE_DIR)/mlFIFO.c
-ML_SOURCES += $(MLLITE_DIR)/mlFIFOHW.c
-ML_SOURCES += $(MLLITE_DIR)/mlMathFunc.c
-ML_SOURCES += $(MLLITE_DIR)/mlcontrol.c
-ML_SOURCES += $(MLLITE_DIR)/mldl.c
-ML_SOURCES += $(MLLITE_DIR)/mldmp.c
-ML_SOURCES += $(MLLITE_DIR)/dmpDefault.c
-ML_SOURCES += $(MLLITE_DIR)/mlstates.c
-ML_SOURCES += $(MLLITE_DIR)/mlsupervisor.c
-ML_SOURCES += $(MLLITE_DIR)/ml_stored_data.c
-ML_SOURCES += $(MLLITE_DIR)/ustore_manager.c
-ML_SOURCES += $(MLLITE_DIR)/ustore_mlsl_io.c
-ML_SOURCES += $(MLLITE_DIR)/ustore_adv_fusion_delegate.c
-ML_SOURCES += $(MLLITE_DIR)/ustore_lite_fusion_delegate.c
-ML_SOURCES += $(MLLITE_DIR)/temp_comp_legacy.c
-ML_SOURCES += $(MLLITE_DIR)/mlSetGyroBias.c
-ML_SOURCES += $(MLSDK_ROOT)/mlutils/checksum.c
-ML_SOURCES += $(MLSDK_ROOT)/mlutils/mputest.c
-ML_SOURCES += $(MLLITE_DIR)/mldl_print_cfg.c
-ifeq ($(MPU_NAME),MPU3050)
-ML_SOURCES += $(MLSDK_ROOT)/mlutils/mpu3050test.c
-else
-ML_SOURCES += $(MLSDK_ROOT)/mlutils/mpu6050test.c
-endif
-
-ML_OBJS := $(addsuffix .o,$(ML_SOURCES))
-ML_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(ML_SOURCES))))
-
-####################################################################################################
-## rules
-
-.PHONY: all clean cleanall
-
-all: $(LIBRARY) $(MK_NAME)
-
-$(LIBRARY) : $(OBJFOLDER) $(ML_OBJS_DST) $(ML_LIBS) $(MK_NAME)
- @$(call echo_in_colors, "\n<linking $(LIBRARY) with objects $(ML_OBJS_DST)\n")
- $(LINK) $(LIBRARY) $(ML_OBJS_DST)
- $(CROSS)ranlib $(LIBRARY)
-
-$(OBJFOLDER) :
- @$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
- mkdir obj
-
-$(ML_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c $(MK_NAME)
- @$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
- $(COMP) $(CFLAGS) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(MLSDK_INCLUDES) -o $@ -c $<
-
-clean :
- rm -fR $(OBJFOLDER)
-
-cleanall :
- rm -fR $(LIBRARY) $(OBJFOLDER)
-
diff --git a/libsensors_iio/software/core/mllite/data_builder.c b/libsensors_iio/software/core/mllite/data_builder.c
index f70be7c..b139771 100644
--- a/libsensors_iio/software/core/mllite/data_builder.c
+++ b/libsensors_iio/software/core/mllite/data_builder.c
@@ -23,6 +23,7 @@
#include "mlmath.h"
#include "storage_manager.h"
#include "message_layer.h"
+#include "results_holder.h"
#include "log.h"
#undef MPL_LOG_TAG
@@ -48,6 +49,10 @@
/** 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;
};
struct inv_data_builder_t {
@@ -69,7 +74,7 @@
static struct inv_sensor_cal_t sensors;
/** Change this key if the data being stored by this file changes */
-#define INV_DB_SAVE_KEY 53394
+#define INV_DB_SAVE_KEY 53395
#ifdef INV_PLAYBACK_DBG
@@ -98,6 +103,14 @@
static inv_error_t inv_db_load_func(const unsigned char *data)
{
memcpy(&inv_data_builder.save, data, sizeof(inv_data_builder.save));
+ // copy in the saved accuracy in the actual sensors accuracy
+ sensors.gyro.accuracy = inv_data_builder.save.gyro_accuracy;
+ sensors.accel.accuracy = inv_data_builder.save.accel_accuracy;
+ sensors.compass.accuracy = inv_data_builder.save.compass_accuracy;
+ // TODO
+ if (sensors.compass.accuracy == 3) {
+ inv_set_compass_bias_found(1);
+ }
return INV_SUCCESS;
}
@@ -162,119 +175,7 @@
sensor->sensitivity = sensitivity;
sensor->orientation = orientation;
}
-void inv_get_quaternion_transformation(int orientation, long *q)
-{
- long s = 759250125; // sqrt(.5)*2^30
- switch (orientation)
- {
- case 0x70:
- q[0] = 759250125;
- q[1] = 759250125;
- q[2] = 0;
- q[3] = 0;
- break;
- case 0x10a:
- q[0] = 759250125;
- q[1] = 0;
- q[2] = 759250125;
- q[3] = 0;
- break;
- case 0x85:
- q[0] = 759250125;
- q[1] = 0;
- q[2] = 0;
- q[3] = 759250125;
- break;
- case 0x181:
- q[0] = 0;
- q[1] = 759250125;
- q[2] = 759250125;
- q[3] = 0;
- break;
- case 0x2a:
- q[0] = 0;
- q[1] = 759250125;
- q[2] = 0;
- q[3] = 759250125;
- break;
- case 0x54:
- q[0] = 0;
- q[1] = 0;
- q[2] = 759250125;
- q[3] = 759250125;
- break;
- case 0x150:
- q[0] = 759250125;
- q[1] = -759250125;
- q[2] = 0;
- q[3] = 0;
- break;
- case 0xe:
- q[0] = 759250125;
- q[1] = 0;
- q[2] = -759250125;
- q[3] = 0;
- break;
- case 0xa1:
- q[0] = 759250125;
- q[1] = 0;
- q[2] = 0;
- q[3] = -759250125;
- break;
- case 0x1a5:
- q[0] = 0;
- q[1] = 759250125;
- q[2] = -759250125;
- q[3] = 0;
- break;
- case 0x12e:
- q[0] = 0;
- q[1] = 759250125;
- q[2] = 0;
- q[3] = -759250125;
- break;
- case 0x174:
- q[0] = 0;
- q[1] = 0;
- q[2] = 759250125;
- q[3] = -759250125;
- break;
-
-
- case 0x88:
- q[0] = 1073741824;
- q[1] = 0;
- q[2] = 0;
- q[3] = 0;
- break;
-
-
- case 0x1a8:
- q[0] = 0;
- q[1] = 1073741824;
- q[2] = 0;
- q[3] = 0;
- break;
-
- case 0x18c:
- q[0] = 0;
- q[1] = 0;
- q[2] = 1073741824;
- q[3] = 0;
- break;
-
- case 0xac:
- q[0] = 0;
- q[1] = 0;
- q[2] = 0;
- q[3] = 1073741824;
- break;
-
- default:
- break;
- }
-}
/** Sets the Orientation and Sensitivity of the gyro data.
* @param[in] orientation A scalar defining the transformation from chip mounting
* to the body frame. The function inv_orientation_matrix_to_scalar()
@@ -354,6 +255,22 @@
sensors.compass.bandwidth = (int)(1000000L / sample_rate_us);
}
}
+
+void inv_get_gyro_sample_rate_ms(long *sample_rate_ms)
+{
+ *sample_rate_ms = sensors.gyro.sample_rate_ms;
+}
+
+void inv_get_accel_sample_rate_ms(long *sample_rate_ms)
+{
+ *sample_rate_ms = sensors.accel.sample_rate_ms;
+}
+
+void inv_get_compass_sample_rate_ms(long *sample_rate_ms)
+{
+ *sample_rate_ms = sensors.compass.sample_rate_ms;
+}
+
/** Set Quat Sample rate in micro seconds.
* @param[in] sample_rate_us Set Quat Sample rate in us
*/
@@ -498,7 +415,7 @@
}
/** Takes raw data stored in the sensor, removes bias, and converts it to
-* calibrated data in the body frame.
+* calibrated data in the body frame. Also store raw data for body frame.
* @param[in,out] sensor structure to modify
* @param[in] bias bias in the mounting frame, in hardware units scaled by
* 2^16. Length 3.
@@ -508,15 +425,17 @@
long raw32[3];
// Convert raw to calibrated
- raw32[0] = (long)sensor->raw[0] << 16;
- raw32[1] = (long)sensor->raw[1] << 16;
- raw32[2] = (long)sensor->raw[2] << 16;
+ raw32[0] = (long)sensor->raw[0] << 15;
+ raw32[1] = (long)sensor->raw[1] << 15;
+ raw32[2] = (long)sensor->raw[2] << 15;
- raw32[0] -= bias[0];
- raw32[1] -= bias[1];
- raw32[2] -= bias[2];
+ inv_convert_to_body_with_scale(sensor->orientation, sensor->sensitivity << 1, raw32, sensor->raw_data);
- inv_convert_to_body_with_scale(sensor->orientation, sensor->sensitivity, raw32, sensor->calibrated);
+ raw32[0] -= bias[0] >> 1;
+ raw32[1] -= bias[1] >> 1;
+ raw32[2] -= bias[2] >> 1;
+
+ inv_convert_to_body_with_scale(sensor->orientation, sensor->sensitivity << 1, raw32, sensor->calibrated);
sensor->status |= INV_CALIBRATED;
}
@@ -539,6 +458,7 @@
inv_apply_calibration(&sensors.compass, inv_data_builder.save.compass_bias);
}
sensors.compass.accuracy = accuracy;
+ inv_data_builder.save.compass_accuracy = accuracy;
inv_set_message(INV_MSG_NEW_CB_EVENT, INV_MSG_NEW_CB_EVENT, 0);
}
@@ -566,6 +486,7 @@
}
}
sensors.accel.accuracy = accuracy;
+ inv_data_builder.save.accel_accuracy = accuracy;
inv_set_message(INV_MSG_NEW_AB_EVENT, INV_MSG_NEW_AB_EVENT, 0);
}
@@ -590,6 +511,7 @@
inv_apply_calibration(&sensors.accel, inv_data_builder.save.accel_bias);
}
sensors.accel.accuracy = accuracy;
+ inv_data_builder.save.accel_accuracy = accuracy;
}
@@ -607,6 +529,8 @@
}
}
sensors.gyro.accuracy = accuracy;
+ inv_data_builder.save.gyro_accuracy = accuracy;
+
/* TODO: What should we do if there's no temperature data? */
if (sensors.temp.calibrated[0])
inv_data_builder.save.gyro_temp = sensors.temp.calibrated[0];
@@ -687,6 +611,7 @@
sensors.accel.calibrated[2] = accel[2];
sensors.accel.status |= INV_CALIBRATED;
sensors.accel.accuracy = status & 3;
+ inv_data_builder.save.accel_accuracy = status & 3;
}
sensors.accel.status |= INV_NEW_DATA | INV_SENSOR_ON;
sensors.accel.timestamp_prev = sensors.accel.timestamp;
@@ -757,6 +682,7 @@
sensors.compass.calibrated[2] = compass[2];
sensors.compass.status |= INV_CALIBRATED;
sensors.compass.accuracy = status & 3;
+ inv_data_builder.save.compass_accuracy = status & 3;
}
sensors.compass.timestamp_prev = sensors.compass.timestamp;
sensors.compass.timestamp = timestamp;
@@ -1077,6 +1003,22 @@
}
}
+/** Gets a whole set of gyro raw data including data, accuracy and timestamp.
+ * @param[out] data Gyro Data where 1 dps = 2^16
+ * @param[out] accuracy Accuracy 0 being not accurate, and 3 being most accurate.
+ * @param[out] timestamp The timestamp of the data sample.
+*/
+void inv_get_gyro_set_raw(long *data, int8_t *accuracy, inv_time_t *timestamp)
+{
+ memcpy(data, sensors.gyro.raw_data, sizeof(sensors.gyro.raw_data));
+ if (timestamp != NULL) {
+ *timestamp = sensors.gyro.timestamp;
+ }
+ if (accuracy != NULL) {
+ *accuracy = sensors.gyro.accuracy;
+ }
+}
+
/** Get's latest gyro data.
* @param[out] gyro Gyro Data, Length 3. 1 dps = 2^16.
*/
diff --git a/libsensors_iio/software/core/mllite/data_builder.h b/libsensors_iio/software/core/mllite/data_builder.h
index b2d0881..4263922 100644
--- a/libsensors_iio/software/core/mllite/data_builder.h
+++ b/libsensors_iio/software/core/mllite/data_builder.h
@@ -56,6 +56,7 @@
#define INV_PRIORITY_INUSE_AUTO_CALIBRATION 850
#define INV_PRIORITY_HAL_OUTPUTS 900
#define INV_PRIORITY_GLYPH 950
+#define INV_PRIORITY_SHAKE 975
#define INV_PRIORITY_SM 1000
struct inv_single_sensor_t {
@@ -69,6 +70,8 @@
int orientation;
/** The raw data in raw data units in the mounting frame */
short raw[3];
+ /** Raw data in body frame */
+ long raw_data[3];
/** Calibrated data */
long calibrated[3];
long sensitivity;
@@ -160,6 +163,10 @@
void inv_set_accel_bandwidth(int bandwidth_hz);
void inv_set_compass_bandwidth(int bandwidth_hz);
+void inv_get_gyro_sample_rate_ms(long *sample_rate_ms);
+void inv_get_accel_sample_rate_ms(long *sample_rate_ms);
+void inv_get_compass_sample_rate_ms(long *sample_rate_ms);
+
inv_error_t inv_register_data_cb(inv_error_t (*func)
(struct inv_sensor_cal_t * data), int priority,
int sensor_type);
@@ -197,6 +204,7 @@
void inv_get_accel_set(long *data, int8_t *accuracy, inv_time_t * timestamp);
void inv_get_gyro_set(long *data, int8_t *accuracy, inv_time_t * timestamp);
+void inv_get_gyro_set_raw(long *data, int8_t *accuracy, inv_time_t * timestamp);
void inv_get_compass_set(long *data, int8_t *accuracy, inv_time_t * timestamp);
void inv_get_gyro(long *gyro);
diff --git a/libsensors_iio/software/core/mllite/dmpconfig.txt b/libsensors_iio/software/core/mllite/dmpconfig.txt
deleted file mode 100644
index 4643ed5..0000000
--- a/libsensors_iio/software/core/mllite/dmpconfig.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-major version = 1
-minor version = 0
-startAddr = 0
diff --git a/libsensors_iio/software/core/mllite/hal_outputs.c b/libsensors_iio/software/core/mllite/hal_outputs.c
index 1cd3b81..5e7b2cc 100644
--- a/libsensors_iio/software/core/mllite/hal_outputs.c
+++ b/libsensors_iio/software/core/mllite/hal_outputs.c
@@ -1,425 +1,475 @@
-/*
- $License:
- Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
- See included License.txt for License information.
- $
- */
-
-/**
- * @defgroup HAL_Outputs hal_outputs
- * @brief Motion Library - HAL Outputs
- * Sets up common outputs for HAL
- *
- * @{
- * @file hal_outputs.c
- * @brief HAL Outputs.
- */
-#include "hal_outputs.h"
-#include "log.h"
-#include "ml_math_func.h"
-#include "mlmath.h"
-#include "start_manager.h"
-#include "data_builder.h"
-#include "results_holder.h"
-
-struct hal_output_t {
- int accuracy_mag; /**< Compass accuracy */
- int accuracy_gyro; /**< Gyro Accuracy */
- int accuracy_accel; /**< Accel Accuracy */
- inv_time_t nav_timestamp;
- inv_time_t gam_timestamp;
- inv_time_t accel_timestamp;
- long nav_quat[4];
- int gyro_status;
- int accel_status;
- int compass_status;
- int nine_axis_status;
-};
-
-static struct hal_output_t hal_out;
-
-/** Acceleration (m/s^2) in body frame.
-* @param[out] values Acceleration in m/s^2 includes gravity. So while not in motion, it
-* should return a vector of magnitude near 9.81 m/s^2
-* @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().
-* @return Returns 1 if the data was updated or 0 if it was not updated.
-*/
-int inv_get_sensor_type_accelerometer(float *values, int8_t *accuracy,
- inv_time_t * timestamp)
-{
- int status;
- /* Converts fixed point to m/s^2. Fixed point has 1g = 2^16.
- * So this 9.80665 / 2^16 */
-#define ACCEL_CONVERSION 0.000149637603759766f
- long accel[3];
- inv_get_accel_set(accel, accuracy, timestamp);
- values[0] = accel[0] * ACCEL_CONVERSION;
- values[1] = accel[1] * ACCEL_CONVERSION;
- values[2] = accel[2] * ACCEL_CONVERSION;
- if (hal_out.accel_status & INV_NEW_DATA)
- status = 1;
- else
- status = 0;
- return status;
-}
-
-/** Linear Acceleration (m/s^2) in Body Frame.
-* @param[out] values Linear Acceleration in body frame, length 3, (m/s^2). May show
-* accel biases while at rest.
-* @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().
-* @return Returns 1 if the data was updated or 0 if it was not updated.
-*/
-int inv_get_sensor_type_linear_acceleration(float *values, int8_t *accuracy,
- inv_time_t * timestamp)
-{
- long gravity[3], accel[3];
-
- inv_get_accel_set(accel, accuracy, timestamp);
- inv_get_gravity(gravity);
- accel[0] -= gravity[0] >> 14;
- accel[1] -= gravity[1] >> 14;
- accel[2] -= gravity[2] >> 14;
- values[0] = accel[0] * ACCEL_CONVERSION;
- values[1] = accel[1] * ACCEL_CONVERSION;
- values[2] = accel[2] * ACCEL_CONVERSION;
-
- return hal_out.nine_axis_status;
-}
-
-/** Gravity vector (m/s^2) in Body Frame.
-* @param[out] values Gravity vector in body frame, length 3, (m/s^2)
-* @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().
-* @return Returns 1 if the data was updated or 0 if it was not updated.
-*/
-int inv_get_sensor_type_gravity(float *values, int8_t *accuracy,
- inv_time_t * timestamp)
-{
- long gravity[3];
- int status;
-
- *accuracy = hal_out.accuracy_mag;
- *timestamp = hal_out.nav_timestamp;
- inv_get_gravity(gravity);
- values[0] = (gravity[0] >> 14) * ACCEL_CONVERSION;
- values[1] = (gravity[1] >> 14) * ACCEL_CONVERSION;
- values[2] = (gravity[2] >> 14) * ACCEL_CONVERSION;
- if ((hal_out.accel_status & INV_NEW_DATA) || (hal_out.gyro_status & INV_NEW_DATA))
- status = 1;
- else
- status = 0;
- return status;
-}
-
-/** Gyroscope data (rad/s) in body frame.
-* @param[out] values Rotation Rate in rad/sec.
-* @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_gyro().
-* @return Returns 1 if the data was updated or 0 if it was not updated.
-*/
-int inv_get_sensor_type_gyroscope(float *values, int8_t *accuracy,
- inv_time_t * timestamp)
-{
- /* Converts fixed point to rad/sec. Fixed point has 1 dps = 2^16.
- * So this is: pi / 2^16 / 180 */
-#define GYRO_CONVERSION 2.66316109007924e-007f
- long gyro[3];
- int status;
-
- inv_get_gyro_set(gyro, accuracy, timestamp);
- values[0] = gyro[0] * GYRO_CONVERSION;
- values[1] = gyro[1] * GYRO_CONVERSION;
- values[2] = gyro[2] * GYRO_CONVERSION;
- if (hal_out.gyro_status & INV_NEW_DATA)
- status = 1;
- else
- status = 0;
- return status;
-}
-
-/**
-* 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)>. The 4th element is cos(@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 Length 4.
-* @param[out] accuracy Accuracy 0 to 3, 3 = most accurate
-* @param[out] timestamp Timestamp. In (ns) for Android.
-* @return Returns 1 if the data was updated or 0 if it was not updated.
-*/
-int inv_get_sensor_type_rotation_vector(float *values, int8_t *accuracy,
- inv_time_t * timestamp)
-{
- *accuracy = hal_out.accuracy_mag;
- *timestamp = hal_out.nav_timestamp;
-
- if (hal_out.nav_quat[0] >= 0) {
- values[0] = hal_out.nav_quat[1] * INV_TWO_POWER_NEG_30;
- values[1] = hal_out.nav_quat[2] * INV_TWO_POWER_NEG_30;
- values[2] = hal_out.nav_quat[3] * INV_TWO_POWER_NEG_30;
- values[3] = hal_out.nav_quat[0] * INV_TWO_POWER_NEG_30;
- } else {
- values[0] = -hal_out.nav_quat[1] * INV_TWO_POWER_NEG_30;
- values[1] = -hal_out.nav_quat[2] * INV_TWO_POWER_NEG_30;
- values[2] = -hal_out.nav_quat[3] * INV_TWO_POWER_NEG_30;
- values[3] = -hal_out.nav_quat[0] * INV_TWO_POWER_NEG_30;
- }
- values[4] = inv_get_heading_confidence_interval();
-
- return hal_out.nine_axis_status;
-}
-
-
-/** Compass data (uT) in body frame.
-* @param[out] values Compass data in (uT), length 3. May be calibrated by having
-* biases removed and sensitivity adjusted
-* @param[out] accuracy Accuracy 0 to 3, 3 = most accurate
-* @param[out] timestamp Timestamp. In (ns) for Android.
-* @return Returns 1 if the data was updated or 0 if it was not updated.
-*/
-int inv_get_sensor_type_magnetic_field(float *values, int8_t *accuracy,
- inv_time_t * timestamp)
-{
- int status;
- /* Converts fixed point to uT. Fixed point has 1 uT = 2^16.
- * So this is: 1 / 2^16*/
-#define COMPASS_CONVERSION 1.52587890625e-005f
- long compass[3];
- inv_get_compass_set(compass, accuracy, timestamp);
- values[0] = compass[0] * COMPASS_CONVERSION;
- values[1] = compass[1] * COMPASS_CONVERSION;
- values[2] = compass[2] * COMPASS_CONVERSION;
- if (hal_out.compass_status & INV_NEW_DATA)
- status = 1;
- else
- status = 0;
- return status;
-}
-
-
-/** This corresponds to Sensor.TYPE_ORIENTATION. All values are angles in degrees.
-* @param[out] values Length 3, Degrees.<br>
-* - values[0]: Azimuth, angle between the magnetic north direction
-* and the y-axis, around the z-axis (0 to 359). 0=North, 90=East, 180=South, 270=West<br>
-* - values[1]: Pitch, rotation around x-axis (-180 to 180), with positive values
-* when the z-axis moves toward the y-axis.<br>
-* - values[2]: Roll, rotation around y-axis (-90 to 90), with positive
-* values when the x-axis moves toward the z-axis.<br>
-*
-* @note This definition is different from yaw, pitch and roll used in aviation
-* where the X axis is along the long side of the plane (tail to nose).
-* Note: This sensor type exists for legacy reasons, please use getRotationMatrix()
-* in conjunction with remapCoordinateSystem() and getOrientation() to compute
-* these values instead.
-* Important note: For historical reasons the roll angle is positive in the
-* clockwise direction (mathematically speaking, it should be positive in
-* the counter-clockwise direction).
-* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
-* @param[out] timestamp The timestamp for this sensor.
-* @return Returns 1 if the data was updated or 0 if it was not updated.
-*/
-int inv_get_sensor_type_orientation(float *values, int8_t *accuracy,
- inv_time_t * timestamp)
-{
- long t1, t2, t3;
- long q00, q01, q02, q03, q11, q12, q13, q22, q23, q33;
-
- *accuracy = hal_out.accuracy_mag;
- *timestamp = hal_out.nav_timestamp;
-
- q00 = inv_q29_mult(hal_out.nav_quat[0], hal_out.nav_quat[0]);
- q01 = inv_q29_mult(hal_out.nav_quat[0], hal_out.nav_quat[1]);
- q02 = inv_q29_mult(hal_out.nav_quat[0], hal_out.nav_quat[2]);
- q03 = inv_q29_mult(hal_out.nav_quat[0], hal_out.nav_quat[3]);
- q11 = inv_q29_mult(hal_out.nav_quat[1], hal_out.nav_quat[1]);
- q12 = inv_q29_mult(hal_out.nav_quat[1], hal_out.nav_quat[2]);
- q13 = inv_q29_mult(hal_out.nav_quat[1], hal_out.nav_quat[3]);
- q22 = inv_q29_mult(hal_out.nav_quat[2], hal_out.nav_quat[2]);
- q23 = inv_q29_mult(hal_out.nav_quat[2], hal_out.nav_quat[3]);
- q33 = inv_q29_mult(hal_out.nav_quat[3], hal_out.nav_quat[3]);
-
- /* X component of the Ybody axis in World frame */
- t1 = q12 - q03;
-
- /* Y component of the Ybody axis in World frame */
- t2 = q22 + q00 - (1L << 30);
- values[0] = atan2f((float) t1, (float) t2) * 180.f / (float) M_PI;
- if (values[0] < 0)
- values[0] += 360;
-
- /* Z component of the Ybody axis in World frame */
- t3 = q23 + q01;
- values[1] =
- -atan2f((float) t3,
- sqrtf((float) t1 * t1 +
- (float) t2 * t2)) * 180.f / (float) M_PI;
- /* Z component of the Zbody axis in World frame */
- t2 = q33 + q00 - (1L << 30);
- if (t2 < 0) {
- if (values[1] >= 0)
- values[1] = 180.f - values[1];
- else
- values[1] = -180.f - values[1];
- }
-
- /* X component of the Xbody axis in World frame */
- t1 = q11 + q00 - (1L << 30);
- /* Y component of the Xbody axis in World frame */
- t2 = q12 + q03;
- /* Z component of the Xbody axis in World frame */
- t3 = q13 - q02;
- //values[2] = atan2f((float)t3,sqrtf((float)t1*t1+(float)t2*t2))*180.f/(float)M_PI;
-
- values[2] =
- -(atan2f((float)(q33 + q00 - (1L << 30)), (float)(q13 - q02)) *
- 180.f / (float) M_PI - 90);
- if (values[2] >= 90)
- values[2] = 180 - values[2];
-
- if (values[2] < -90)
- values[2] = -180 - values[2];
-
- return hal_out.nine_axis_status;
-}
-
-/** Main callback to generate HAL outputs. Typically not called by library users.
-* @param[in] sensor_cal Input variable to take sensor data whenever there is new
-* sensor data.
-* @return Returns INV_SUCCESS if successful or an error code if not.
-*/
-inv_error_t inv_generate_hal_outputs(struct inv_sensor_cal_t *sensor_cal)
-{
- int use_sensor = 0;
- long sr;
- (void) sensor_cal;
- inv_get_quaternion_set(hal_out.nav_quat, &hal_out.accuracy_mag,
- &hal_out.nav_timestamp);
- hal_out.gyro_status = sensor_cal->gyro.status;
- hal_out.accel_status = sensor_cal->accel.status;
- hal_out.compass_status = sensor_cal->compass.status;
-
- // Find the highest sample rate and tie generating 9-axis to that one.
- if (sensor_cal->gyro.status & INV_SENSOR_ON) {
- sr = sensor_cal->gyro.sample_rate_ms;
- use_sensor = 0;
- }
- if ((sensor_cal->accel.status & INV_SENSOR_ON) && (sr > sensor_cal->accel.sample_rate_ms)) {
- sr = sensor_cal->accel.sample_rate_ms;
- use_sensor = 1;
- }
- if ((sensor_cal->compass.status & INV_SENSOR_ON) && (sr > sensor_cal->compass.sample_rate_ms)) {
- sr = sensor_cal->compass.sample_rate_ms;
- use_sensor = 2;
- }
- if ((sensor_cal->quat.status & INV_SENSOR_ON) && (sr > sensor_cal->quat.sample_rate_ms)) {
- sr = sensor_cal->quat.sample_rate_ms;
- use_sensor = 3;
- }
-
- switch (use_sensor) {
- default:
- case 0:
- hal_out.nine_axis_status = (sensor_cal->gyro.status & INV_NEW_DATA) ? 1 : 0;
- hal_out.nav_timestamp = sensor_cal->gyro.timestamp;
- break;
- case 1:
- hal_out.nine_axis_status = (sensor_cal->accel.status & INV_NEW_DATA) ? 1 : 0;
- hal_out.nav_timestamp = sensor_cal->accel.timestamp;
- break;
- case 2:
- hal_out.nine_axis_status = (sensor_cal->compass.status & INV_NEW_DATA) ? 1 : 0;
- hal_out.nav_timestamp = sensor_cal->compass.timestamp;
- break;
- case 3:
- hal_out.nine_axis_status = (sensor_cal->quat.status & INV_NEW_DATA) ? 1 : 0;
- hal_out.nav_timestamp = sensor_cal->quat.timestamp;
- break;
- }
-
- return INV_SUCCESS;
-}
-
-/** Turns off generation of HAL outputs.
-* @return Returns INV_SUCCESS if successful or an error code if not.
- */
-inv_error_t inv_stop_hal_outputs(void)
-{
- inv_error_t result;
- result = inv_unregister_data_cb(inv_generate_hal_outputs);
- return result;
-}
-
-/** Turns on generation of HAL outputs. This should be called after inv_stop_hal_outputs()
-* to turn generation of HAL outputs back on. It is automatically called by inv_enable_hal_outputs().
-* @return Returns INV_SUCCESS if successful or an error code if not.
-*/
-inv_error_t inv_start_hal_outputs(void)
-{
- inv_error_t result;
- result =
- inv_register_data_cb(inv_generate_hal_outputs,
- INV_PRIORITY_HAL_OUTPUTS,
- INV_GYRO_NEW | INV_ACCEL_NEW | INV_MAG_NEW);
- return result;
-}
-
-/** 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.
-* @return Returns INV_SUCCESS if successful or an error code if not.
-*/
-inv_error_t inv_init_hal_outputs(void)
-{
- memset(&hal_out, 0, sizeof(hal_out));
- return INV_SUCCESS;
-}
-
-/** Turns on creation and storage of HAL type results.
-* @return Returns INV_SUCCESS if successful or an error code if not.
-*/
-inv_error_t inv_enable_hal_outputs(void)
-{
- inv_error_t result;
-
- // don't need to check the result for inv_init_hal_outputs
- // since it's always INV_SUCCESS
- inv_init_hal_outputs();
-
- result = inv_register_mpl_start_notification(inv_start_hal_outputs);
- return result;
-}
-
-/** Turns off creation and storage of HAL type results.
-*/
-inv_error_t inv_disable_hal_outputs(void)
-{
- inv_error_t result;
-
- inv_stop_hal_outputs(); // Ignore error if we have already stopped this
- result = inv_unregister_mpl_start_notification(inv_start_hal_outputs);
- return result;
-}
-
-/**
- * @}
- */
+/*
+ $License:
+ Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
+ See included License.txt for License information.
+ $
+ */
+
+/**
+ * @defgroup HAL_Outputs hal_outputs
+ * @brief Motion Library - HAL Outputs
+ * Sets up common outputs for HAL
+ *
+ * @{
+ * @file hal_outputs.c
+ * @brief HAL Outputs.
+ */
+#include "hal_outputs.h"
+#include "log.h"
+#include "ml_math_func.h"
+#include "mlmath.h"
+#include "start_manager.h"
+#include "data_builder.h"
+#include "results_holder.h"
+
+struct hal_output_t {
+ int accuracy_mag; /**< Compass accuracy */
+// int accuracy_gyro; /**< Gyro Accuracy */
+// int accuracy_accel; /**< Accel Accuracy */
+ int accuracy_quat; /**< quat Accuracy */
+
+ inv_time_t nav_timestamp;
+ inv_time_t gam_timestamp;
+// inv_time_t accel_timestamp;
+ inv_time_t mag_timestamp;
+ long nav_quat[4];
+ int gyro_status;
+ int accel_status;
+ int compass_status;
+ int nine_axis_status;
+ inv_biquad_filter_t lp_filter[3];
+ float compass_float[3];
+};
+
+static struct hal_output_t hal_out;
+
+/** Acceleration (m/s^2) in body frame.
+* @param[out] values Acceleration in m/s^2 includes gravity. So while not in motion, it
+* should return a vector of magnitude near 9.81 m/s^2
+* @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().
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_accelerometer(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ int status;
+ /* Converts fixed point to m/s^2. Fixed point has 1g = 2^16.
+ * So this 9.80665 / 2^16 */
+#define ACCEL_CONVERSION 0.000149637603759766f
+ long accel[3];
+ inv_get_accel_set(accel, accuracy, timestamp);
+ values[0] = accel[0] * ACCEL_CONVERSION;
+ values[1] = accel[1] * ACCEL_CONVERSION;
+ values[2] = accel[2] * ACCEL_CONVERSION;
+ if (hal_out.accel_status & INV_NEW_DATA)
+ status = 1;
+ else
+ status = 0;
+ return status;
+}
+
+/** Linear Acceleration (m/s^2) in Body Frame.
+* @param[out] values Linear Acceleration in body frame, length 3, (m/s^2). May show
+* accel biases while at rest.
+* @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().
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_linear_acceleration(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ long gravity[3], accel[3];
+
+ inv_get_accel_set(accel, accuracy, timestamp);
+ inv_get_gravity(gravity);
+ accel[0] -= gravity[0] >> 14;
+ accel[1] -= gravity[1] >> 14;
+ accel[2] -= gravity[2] >> 14;
+ values[0] = accel[0] * ACCEL_CONVERSION;
+ values[1] = accel[1] * ACCEL_CONVERSION;
+ values[2] = accel[2] * ACCEL_CONVERSION;
+
+ return hal_out.nine_axis_status;
+}
+
+/** Gravity vector (m/s^2) in Body Frame.
+* @param[out] values Gravity vector in body frame, length 3, (m/s^2)
+* @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().
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_gravity(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ long gravity[3];
+ int status;
+
+ *accuracy = (int8_t) hal_out.accuracy_quat;
+ *timestamp = hal_out.nav_timestamp;
+ inv_get_gravity(gravity);
+ values[0] = (gravity[0] >> 14) * ACCEL_CONVERSION;
+ values[1] = (gravity[1] >> 14) * ACCEL_CONVERSION;
+ values[2] = (gravity[2] >> 14) * ACCEL_CONVERSION;
+ if ((hal_out.accel_status & INV_NEW_DATA) || (hal_out.gyro_status & INV_NEW_DATA))
+ status = 1;
+ else
+ status = 0;
+ return status;
+}
+
+/** Gyroscope calibrated data (rad/s) in body frame.
+* @param[out] values Rotation Rate in rad/sec.
+* @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_gyro().
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_gyroscope(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ /* Converts fixed point to rad/sec. Fixed point has 1 dps = 2^16.
+ * So this is: pi / 2^16 / 180 */
+#define GYRO_CONVERSION 2.66316109007924e-007f
+ long gyro[3];
+ int status;
+
+ inv_get_gyro_set(gyro, accuracy, timestamp);
+ values[0] = gyro[0] * GYRO_CONVERSION;
+ values[1] = gyro[1] * GYRO_CONVERSION;
+ values[2] = gyro[2] * GYRO_CONVERSION;
+ if (hal_out.gyro_status & INV_NEW_DATA)
+ status = 1;
+ else
+ status = 0;
+ return status;
+}
+
+/** Gyroscope raw data (rad/s) in body frame.
+* @param[out] values Rotation Rate in rad/sec.
+* @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_gyro().
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_gyroscope_raw(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ /* Converts fixed point to rad/sec. Fixed point has 1 dps = 2^16.
+ * So this is: pi / 2^16 / 180 */
+#define GYRO_CONVERSION 2.66316109007924e-007f
+ long gyro[3];
+ int status;
+
+ inv_get_gyro_set_raw(gyro, accuracy, timestamp);
+ values[0] = gyro[0] * GYRO_CONVERSION;
+ values[1] = gyro[1] * GYRO_CONVERSION;
+ values[2] = gyro[2] * GYRO_CONVERSION;
+ if (hal_out.gyro_status & INV_NEW_DATA)
+ status = 1;
+ else
+ status = 0;
+ return status;
+}
+
+/**
+* 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)>. The 4th element is cos(@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 Length 4.
+* @param[out] accuracy Accuracy 0 to 3, 3 = most accurate
+* @param[out] timestamp Timestamp. In (ns) for Android.
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_rotation_vector(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ *accuracy = (int8_t) hal_out.accuracy_quat;
+ *timestamp = hal_out.nav_timestamp;
+
+ if (hal_out.nav_quat[0] >= 0) {
+ values[0] = hal_out.nav_quat[1] * INV_TWO_POWER_NEG_30;
+ values[1] = hal_out.nav_quat[2] * INV_TWO_POWER_NEG_30;
+ values[2] = hal_out.nav_quat[3] * INV_TWO_POWER_NEG_30;
+ values[3] = hal_out.nav_quat[0] * INV_TWO_POWER_NEG_30;
+ } else {
+ values[0] = -hal_out.nav_quat[1] * INV_TWO_POWER_NEG_30;
+ values[1] = -hal_out.nav_quat[2] * INV_TWO_POWER_NEG_30;
+ values[2] = -hal_out.nav_quat[3] * INV_TWO_POWER_NEG_30;
+ values[3] = -hal_out.nav_quat[0] * INV_TWO_POWER_NEG_30;
+ }
+ values[4] = inv_get_heading_confidence_interval();
+
+ return hal_out.nine_axis_status;
+}
+
+
+/** Compass data (uT) in body frame.
+* @param[out] values Compass data in (uT), length 3. May be calibrated by having
+* biases removed and sensitivity adjusted
+* @param[out] accuracy Accuracy 0 to 3, 3 = most accurate
+* @param[out] timestamp Timestamp. In (ns) for Android.
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_magnetic_field(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ int status;
+ /* Converts fixed point to uT. Fixed point has 1 uT = 2^16.
+ * So this is: 1 / 2^16*/
+//#define COMPASS_CONVERSION 1.52587890625e-005f
+ int i;
+
+ *timestamp = hal_out.mag_timestamp;
+ *accuracy = (int8_t) hal_out.accuracy_mag;
+
+ for (i=0; i<3; i++) {
+ values[i] = hal_out.compass_float[i];
+ }
+ if (hal_out.compass_status & INV_NEW_DATA)
+ status = 1;
+ else
+ status = 0;
+ return status;
+}
+
+static void inv_get_rotation(float r[3][3])
+{
+ long rot[9];
+ float conv = 1.f / (1L<<30);
+
+ inv_quaternion_to_rotation(hal_out.nav_quat, rot);
+ r[0][0] = rot[0]*conv;
+ r[0][1] = rot[1]*conv;
+ r[0][2] = rot[2]*conv;
+ r[1][0] = rot[3]*conv;
+ r[1][1] = rot[4]*conv;
+ r[1][2] = rot[5]*conv;
+ r[2][0] = rot[6]*conv;
+ r[2][1] = rot[7]*conv;
+ r[2][2] = rot[8]*conv;
+}
+
+static void google_orientation(float *g)
+{
+ float rad2deg = (float)(180.0 / M_PI);
+ float R[3][3];
+
+ inv_get_rotation(R);
+
+ g[0] = atan2f(-R[1][0], R[0][0]) * rad2deg;
+ g[1] = atan2f(-R[2][1], R[2][2]) * rad2deg;
+ g[2] = asinf ( R[2][0]) * rad2deg;
+ if (g[0] < 0)
+ g[0] += 360;
+}
+
+
+/** This corresponds to Sensor.TYPE_ORIENTATION. All values are angles in degrees.
+* @param[out] values Length 3, Degrees.<br>
+* - values[0]: Azimuth, angle between the magnetic north direction
+* and the y-axis, around the z-axis (0 to 359). 0=North, 90=East, 180=South, 270=West<br>
+* - values[1]: Pitch, rotation around x-axis (-180 to 180), with positive values
+* when the z-axis moves toward the y-axis.<br>
+* - values[2]: Roll, rotation around y-axis (-90 to 90), with positive
+* values when the x-axis moves toward the z-axis.<br>
+*
+* @note This definition is different from yaw, pitch and roll used in aviation
+* where the X axis is along the long side of the plane (tail to nose).
+* Note: This sensor type exists for legacy reasons, please use getRotationMatrix()
+* in conjunction with remapCoordinateSystem() and getOrientation() to compute
+* these values instead.
+* Important note: For historical reasons the roll angle is positive in the
+* clockwise direction (mathematically speaking, it should be positive in
+* the counter-clockwise direction).
+* @param[out] accuracy Accuracy of the measurment, 0 is least accurate, while 3 is most accurate.
+* @param[out] timestamp The timestamp for this sensor.
+* @return Returns 1 if the data was updated or 0 if it was not updated.
+*/
+int inv_get_sensor_type_orientation(float *values, int8_t *accuracy,
+ inv_time_t * timestamp)
+{
+ *accuracy = (int8_t) hal_out.accuracy_quat;
+ *timestamp = hal_out.nav_timestamp;
+
+ google_orientation(values);
+
+ return hal_out.nine_axis_status;
+}
+
+/** Main callback to generate HAL outputs. Typically not called by library users.
+* @param[in] sensor_cal Input variable to take sensor data whenever there is new
+* sensor data.
+* @return Returns INV_SUCCESS if successful or an error code if not.
+*/
+inv_error_t inv_generate_hal_outputs(struct inv_sensor_cal_t *sensor_cal)
+{
+ int use_sensor = 0;
+ long sr = 1000;
+ long compass[3];
+ int8_t accuracy;
+ int i;
+ (void) sensor_cal;
+
+ inv_get_quaternion_set(hal_out.nav_quat, &hal_out.accuracy_quat,
+ &hal_out.nav_timestamp);
+ hal_out.gyro_status = sensor_cal->gyro.status;
+ hal_out.accel_status = sensor_cal->accel.status;
+ hal_out.compass_status = sensor_cal->compass.status;
+
+ // Find the highest sample rate and tie generating 9-axis to that one.
+ if (sensor_cal->gyro.status & INV_SENSOR_ON) {
+ sr = sensor_cal->gyro.sample_rate_ms;
+ use_sensor = 0;
+ }
+ if ((sensor_cal->accel.status & INV_SENSOR_ON) && (sr > sensor_cal->accel.sample_rate_ms)) {
+ sr = sensor_cal->accel.sample_rate_ms;
+ use_sensor = 1;
+ }
+ if ((sensor_cal->compass.status & INV_SENSOR_ON) && (sr > sensor_cal->compass.sample_rate_ms)) {
+ sr = sensor_cal->compass.sample_rate_ms;
+ use_sensor = 2;
+ }
+ if ((sensor_cal->quat.status & INV_SENSOR_ON) && (sr > sensor_cal->quat.sample_rate_ms)) {
+ sr = sensor_cal->quat.sample_rate_ms;
+ use_sensor = 3;
+ }
+
+ switch (use_sensor) {
+ default:
+ case 0:
+ hal_out.nine_axis_status = (sensor_cal->gyro.status & INV_NEW_DATA) ? 1 : 0;
+ hal_out.nav_timestamp = sensor_cal->gyro.timestamp;
+ break;
+ case 1:
+ hal_out.nine_axis_status = (sensor_cal->accel.status & INV_NEW_DATA) ? 1 : 0;
+ hal_out.nav_timestamp = sensor_cal->accel.timestamp;
+ break;
+ case 2:
+ hal_out.nine_axis_status = (sensor_cal->compass.status & INV_NEW_DATA) ? 1 : 0;
+ hal_out.nav_timestamp = sensor_cal->compass.timestamp;
+ break;
+ case 3:
+ hal_out.nine_axis_status = (sensor_cal->quat.status & INV_NEW_DATA) ? 1 : 0;
+ hal_out.nav_timestamp = sensor_cal->quat.timestamp;
+ break;
+ }
+
+ /* Converts fixed point to uT. Fixed point has 1 uT = 2^16.
+ * So this is: 1 / 2^16*/
+ #define COMPASS_CONVERSION 1.52587890625e-005f
+
+ inv_get_compass_set(compass, &accuracy, &(hal_out.mag_timestamp) );
+ hal_out.accuracy_mag = (int ) accuracy;
+
+ for (i=0; i<3; i++) {
+ if ((sensor_cal->compass.status & (INV_NEW_DATA | INV_CONTIGUOUS)) ==
+ INV_NEW_DATA ) {
+ // set the state variables to match output with input
+ inv_calc_state_to_match_output(&hal_out.lp_filter[i], (float ) compass[i]);
+ }
+
+ if ((sensor_cal->compass.status & (INV_NEW_DATA | INV_RAW_DATA)) ==
+ (INV_NEW_DATA | INV_RAW_DATA) ) {
+
+ hal_out.compass_float[i] = inv_biquad_filter_process(&hal_out.lp_filter[i],
+ (float ) compass[i]) * COMPASS_CONVERSION;
+
+ } else if ((sensor_cal->compass.status & INV_NEW_DATA) == INV_NEW_DATA ) {
+ hal_out.compass_float[i] = (float ) compass[i] * COMPASS_CONVERSION;
+ }
+
+ }
+ return INV_SUCCESS;
+}
+
+/** Turns off generation of HAL outputs.
+* @return Returns INV_SUCCESS if successful or an error code if not.
+ */
+inv_error_t inv_stop_hal_outputs(void)
+{
+ inv_error_t result;
+ result = inv_unregister_data_cb(inv_generate_hal_outputs);
+ return result;
+}
+
+/** Turns on generation of HAL outputs. This should be called after inv_stop_hal_outputs()
+* to turn generation of HAL outputs back on. It is automatically called by inv_enable_hal_outputs().
+* @return Returns INV_SUCCESS if successful or an error code if not.
+*/
+inv_error_t inv_start_hal_outputs(void)
+{
+ inv_error_t result;
+ result =
+ inv_register_data_cb(inv_generate_hal_outputs,
+ INV_PRIORITY_HAL_OUTPUTS,
+ INV_GYRO_NEW | INV_ACCEL_NEW | INV_MAG_NEW);
+ return result;
+}
+/* file name: lowPassFilterCoeff_1_6.c */
+float compass_low_pass_filter_coeff[5] =
+{+2.000000000000f, +1.000000000000f, -1.279632424998f, +0.477592250073f, +0.049489956269f};
+
+/** 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.
+* @return Returns INV_SUCCESS if successful or an error code if not.
+*/
+inv_error_t inv_init_hal_outputs(void)
+{
+ int i;
+ memset(&hal_out, 0, sizeof(hal_out));
+ for (i=0; i<3; i++) {
+ inv_init_biquad_filter(&hal_out.lp_filter[i], compass_low_pass_filter_coeff);
+ }
+
+ return INV_SUCCESS;
+}
+
+/** Turns on creation and storage of HAL type results.
+* @return Returns INV_SUCCESS if successful or an error code if not.
+*/
+inv_error_t inv_enable_hal_outputs(void)
+{
+ inv_error_t result;
+
+ // don't need to check the result for inv_init_hal_outputs
+ // since it's always INV_SUCCESS
+ inv_init_hal_outputs();
+
+ result = inv_register_mpl_start_notification(inv_start_hal_outputs);
+ return result;
+}
+
+/** Turns off creation and storage of HAL type results.
+*/
+inv_error_t inv_disable_hal_outputs(void)
+{
+ inv_error_t result;
+
+ inv_stop_hal_outputs(); // Ignore error if we have already stopped this
+ result = inv_unregister_mpl_start_notification(inv_start_hal_outputs);
+ return result;
+}
+
+/**
+ * @}
+ */
diff --git a/libsensors_iio/software/core/mllite/hal_outputs.h b/libsensors_iio/software/core/mllite/hal_outputs.h
index ed4cb65..85e88f3 100644
--- a/libsensors_iio/software/core/mllite/hal_outputs.h
+++ b/libsensors_iio/software/core/mllite/hal_outputs.h
@@ -19,6 +19,8 @@
inv_time_t * timestamp);
int inv_get_sensor_type_gyroscope(float *values, int8_t *accuracy,
inv_time_t * timestamp);
+ int inv_get_sensor_type_gyroscope_raw(float *values, int8_t *accuracy,
+ inv_time_t * timestamp);
int inv_get_sensor_type_magnetic_field(float *values, int8_t *accuracy,
inv_time_t * timestamp);
int inv_get_sensor_type_rotation_vector(float *values, int8_t *accuracy,
diff --git a/libsensors_iio/software/core/mllite/linux/inv_sysfs_utils.c b/libsensors_iio/software/core/mllite/linux/inv_sysfs_utils.c
deleted file mode 100644
index 649b917..0000000
--- a/libsensors_iio/software/core/mllite/linux/inv_sysfs_utils.c
+++ /dev/null
@@ -1,318 +0,0 @@
-/**
- * @brief Provides helpful file IO wrappers for use with sysfs.
- * @details Based on Jonathan Cameron's @e iio_utils.h.
- */
-
-#include <string.h>
-#include <stdlib.h>
-#include <ctype.h>
-#include <stdio.h>
-#include <stdint.h>
-#include <dirent.h>
-#include <errno.h>
-#include <unistd.h>
-#include "inv_sysfs_utils.h"
-
-/* General TODO list:
- * Select more reasonable string lengths or use fseek and malloc.
- */
-
-/**
- * inv_sysfs_write() - Write an integer to a file.
- * @filename: Path to file.
- * @data: Value to write to file.
- * Returns number of bytes written or a negative error code.
- */
-int inv_sysfs_write(char *filename, long data)
-{
- FILE *fp;
- int count;
-
- if (!filename)
- return -1;
- fp = fopen(filename, "w");
- if (!fp)
- return -errno;
- count = fprintf(fp, "%ld", data);
- fclose(fp);
- return count;
-}
-
-/**
- * inv_sysfs_read() - Read a string from a file.
- * @filename: Path to file.
- * @num_bytes: Number of bytes to read.
- * @data: Data from file.
- * Returns number of bytes written or a negative error code.
- */
-int inv_sysfs_read(char *filename, long num_bytes, char *data)
-{
- FILE *fp;
- int count;
-
- if (!filename)
- return -1;
- fp = fopen(filename, "r");
- if (!fp)
- return -errno;
- count = fread(data, 1, num_bytes, fp);
- fclose(fp);
- return count;
-}
-
-/**
- * inv_read_buffer() - Read data from ring buffer.
- * @fd: File descriptor for buffer file.
- * @data: Data in hardware units.
- * @timestamp: Time when data was read from device. Use NULL if unsupported.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_buffer(int fd, long *data, long long *timestamp)
-{
- char str[35];
- int count;
-
- count = read(fd, str, sizeof(str));
- if (!count)
- return count;
- if (!timestamp)
- count = sscanf(str, "%ld%ld%ld", &data[0], &data[1], &data[2]);
- else
- count = sscanf(str, "%ld%ld%ld%lld", &data[0], &data[1],
- &data[2], timestamp);
-
- if (count < (timestamp?4:3))
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_raw() - Read raw data.
- * @names: Names of sysfs files.
- * @data: Data in hardware units.
- * @timestamp: Time when data was read from device. Use NULL if unsupported.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_raw(const struct inv_sysfs_names_s *names, long *data,
- long long *timestamp)
-{
- char str[40];
- int count;
-
- count = inv_sysfs_read((char*)names->raw_data, sizeof(str), str);
- if (count < 0)
- return count;
- if (!timestamp)
- count = sscanf(str, "%ld%ld%ld", &data[0], &data[1], &data[2]);
- else
- count = sscanf(str, "%ld%ld%ld%lld", &data[0], &data[1],
- &data[2], timestamp);
- if (count < (timestamp?4:3))
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_temperature_raw() - Read temperature.
- * @names: Names of sysfs files.
- * @data: Data in hardware units.
- * @timestamp: Time when data was read from device.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_temperature_raw(const struct inv_sysfs_names_s *names, short *data,
- long long *timestamp)
-{
- char str[25];
- int count;
-
- count = inv_sysfs_read((char*)names->temperature, sizeof(str), str);
- if (count < 0)
- return count;
- count = sscanf(str, "%hd%lld", &data[0], timestamp);
- if (count < 2)
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_fifo_rate() - Read fifo rate.
- * @names: Names of sysfs files.
- * @data: Fifo rate.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_fifo_rate(const struct inv_sysfs_names_s *names, short *data)
-{
- char str[8];
- int count;
-
- count = inv_sysfs_read((char*)names->fifo_rate, sizeof(str), str);
- if (count < 0)
- return count;
- count = sscanf(str, "%hd", data);
- if (count < 1)
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_power_state() - Read power state.
- * @names: Names of sysfs files.
- * @data: 1 if device is on.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_power_state(const struct inv_sysfs_names_s *names, char *data)
-{
- char str[2];
- int count;
-
- count = inv_sysfs_read((char*)names->power_state, sizeof(str), str);
- if (count < 0)
- return count;
- count = sscanf(str, "%hd", (short*)data);
- if (count < 1)
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_scale() - Read scale.
- * @names: Names of sysfs files.
- * @data: 1 if device is on.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_scale(const struct inv_sysfs_names_s *names, float *data)
-{
- char str[5];
- int count;
-
- count = inv_sysfs_read((char*)names->scale, sizeof(str), str);
- if (count < 0)
- return count;
- count = sscanf(str, "%f", data);
- if (count < 1)
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_temp_scale() - Read temperature scale.
- * @names: Names of sysfs files.
- * @data: 1 if device is on.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_temp_scale(const struct inv_sysfs_names_s *names, short *data)
-{
- char str[4];
- int count;
-
- count = inv_sysfs_read((char*)names->temp_scale, sizeof(str), str);
- if (count < 0)
- return count;
- count = sscanf(str, "%hd", data);
- if (count < 1)
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_temp_offset() - Read temperature offset.
- * @names: Names of sysfs files.
- * @data: 1 if device is on.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_temp_offset(const struct inv_sysfs_names_s *names, short *data)
-{
- char str[4];
- int count;
-
- count = inv_sysfs_read((char*)names->temp_offset, sizeof(str), str);
- if (count < 0)
- return count;
- count = sscanf(str, "%hd", data);
- if (count < 1)
- return -EAGAIN;
- return count;
-}
-
-/**
- * inv_read_q16() - Get data as q16 fixed point.
- * @names: Names of sysfs files.
- * @data: 1 if device is on.
- * @timestamp: Time when data was read from device.
- * Returns number of bytes written or a negative error code.
- */
-int inv_read_q16(const struct inv_sysfs_names_s *names, long *data,
- long long *timestamp)
-{
- int count;
- short raw[3];
- float scale;
- count = inv_read_raw(names, (long*)raw, timestamp);
- count += inv_read_scale(names, &scale);
- data[0] = (long)(raw[0] * (65536.f / scale));
- data[1] = (long)(raw[1] * (65536.f / scale));
- data[2] = (long)(raw[2] * (65536.f / scale));
- return count;
-}
-
-/**
- * inv_read_q16() - Get temperature data as q16 fixed point.
- * @names: Names of sysfs files.
- * @data: 1 if device is on.
- * @timestamp: Time when data was read from device.
- * Returns number of bytes read or a negative error code.
- */
-int inv_read_temp_q16(const struct inv_sysfs_names_s *names, long *data,
- long long *timestamp)
-{
- int count = 0;
- short raw;
- static short scale, offset;
- static unsigned char first_read = 1;
-
- if (first_read) {
- count += inv_read_temp_scale(names, &scale);
- count += inv_read_temp_offset(names, &offset);
- first_read = 0;
- }
- count += inv_read_temperature_raw(names, &raw, timestamp);
- data[0] = (long)((35 + ((float)(raw - offset) / scale)) * 65536.f);
-
- return count;
-}
-
-/**
- * inv_write_fifo_rate() - Write fifo rate.
- * @names: Names of sysfs files.
- * @data: Fifo rate.
- * Returns number of bytes written or a negative error code.
- */
-int inv_write_fifo_rate(const struct inv_sysfs_names_s *names, short data)
-{
- return inv_sysfs_write((char*)names->fifo_rate, (long)data);
-}
-
-/**
- * inv_write_buffer_enable() - Enable/disable buffer in /dev.
- * @names: Names of sysfs files.
- * @data: Fifo rate.
- * Returns number of bytes written or a negative error code.
- */
-int inv_write_buffer_enable(const struct inv_sysfs_names_s *names, char data)
-{
- return inv_sysfs_write((char*)names->enable, (long)data);
-}
-
-/**
- * inv_write_power_state() - Turn device on/off.
- * @names: Names of sysfs files.
- * @data: 1 to turn on.
- * Returns number of bytes written or a negative error code.
- */
-int inv_write_power_state(const struct inv_sysfs_names_s *names, char data)
-{
- return inv_sysfs_write((char*)names->power_state, (long)data);
-}
-
-
-
diff --git a/libsensors_iio/software/core/mllite/linux/inv_sysfs_utils.h b/libsensors_iio/software/core/mllite/linux/inv_sysfs_utils.h
deleted file mode 100644
index 45a35f9..0000000
--- a/libsensors_iio/software/core/mllite/linux/inv_sysfs_utils.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**
- * @brief Provides helpful file IO wrappers for use with sysfs.
- * @details Based on Jonathan Cameron's @e iio_utils.h.
- */
-
-#ifndef _INV_SYSFS_UTILS_H_
-#define _INV_SYSFS_UTILS_H_
-
-/**
- * struct inv_sysfs_names_s - Files needed by user applications.
- * @buffer: Ring buffer attached to FIFO.
- * @enable: Turns on HW-to-ring buffer flow.
- * @raw_data: Raw data from registers.
- * @temperature: Temperature data from register.
- * @fifo_rate: FIFO rate/ODR.
- * @power_state: Power state (this is a five-star comment).
- * @fsr: Full-scale range.
- * @lpf: Digital low pass filter.
- * @scale: LSBs / dps (or LSBs / Gs).
- * @temp_scale: LSBs / degrees C.
- * @temp_offset: Offset in LSBs.
- */
-struct inv_sysfs_names_s {
-
- //Sysfs for ITG3500 & MPU6050
- const char *buffer;
- const char *enable;
- const char *raw_data; //Raw Gyro data
- const char *temperature;
- const char *fifo_rate;
- const char *power_state;
- const char *fsr;
- const char *lpf;
- const char *scale; //Gyro scale
- const char *temp_scale;
- const char *temp_offset;
- const char *self_test;
- //Starting Sysfs available for MPU6050 only
- const char *accel_en;
- const char *accel_fifo_en;
- const char *accel_fs;
- const char *clock_source;
- const char *early_suspend_en;
- const char *firmware_loaded;
- const char *gyro_en;
- const char *gyro_fifo_en;
- const char *key;
- const char *raw_accel;
- const char *reg_dump;
- const char *tap_on;
- const char *dmp_firmware;
-};
-
-/* File IO. Typically won't be called directly by user application, but they'll
- * be here for your enjoyment.
- */
-int inv_sysfs_write(char *filename, long data);
-int inv_sysfs_read(char *filename, long num_bytes, char *data);
-
-/* Helper APIs to extract specific data. */
-int inv_read_buffer(int fd, long *data, long long *timestamp);
-int inv_read_raw(const struct inv_sysfs_names_s *names, long *data,
- long long *timestamp);
-int inv_read_temperature_raw(const struct inv_sysfs_names_s *names, short *data,
- long long *timestamp);
-int inv_read_fifo_rate(const struct inv_sysfs_names_s *names, short *data);
-int inv_read_power_state(const struct inv_sysfs_names_s *names, char *data);
-int inv_read_scale(const struct inv_sysfs_names_s *names, float *data);
-int inv_read_temp_scale(const struct inv_sysfs_names_s *names, short *data);
-int inv_read_temp_offset(const struct inv_sysfs_names_s *names, short *data);
-int inv_write_fifo_rate(const struct inv_sysfs_names_s *names, short data);
-int inv_write_buffer_enable(const struct inv_sysfs_names_s *names, char data);
-int inv_write_power_state(const struct inv_sysfs_names_s *names, char data);
-
-/* Scaled data. */
-int inv_read_q16(const struct inv_sysfs_names_s *names, long *data,
- long long *timestamp);
-int inv_read_temp_q16(const struct inv_sysfs_names_s *names, long *data,
- long long *timestamp);
-
-
-#endif /* #ifndef _INV_SYSFS_UTILS_H_ */
-
-
diff --git a/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c b/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c
index f0f078c..91c766b 100644
--- a/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c
+++ b/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c
@@ -30,10 +30,10 @@
#define LOADDMP_LOG MPL_LOGI
#define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0]))
-#define DMP_CODE_SIZE 3060
+#define DMP_CODE_SIZE 3065
static const unsigned char dmpMemory[DMP_CODE_SIZE] = {
- /* bank # 0 */
+ /* bank # 0 */
0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01,
0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e,
@@ -212,32 +212,32 @@
0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c,
0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8,
0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9,
- 0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x8b, 0x93, 0xf2, 0x02, 0x02, 0xd1, 0xab, 0xda,
- 0xde, 0xd8, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0,
- 0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3,
- 0xa3, 0xa3, 0xb4, 0x90, 0x80, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
- 0xf1, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9, 0xa3, 0xa3,
- 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xd8, 0xd8,
- 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28, 0xb4, 0x80,
- 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90, 0x2c, 0x87,
- 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29, 0x51, 0x79,
+ 0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2,
+ 0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09,
+ 0xb4, 0xd9, 0xab, 0xde, 0xb0, 0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b,
+ 0x8b, 0xb0, 0x87, 0xa3, 0xa3, 0xa3, 0xa3, 0xb4, 0x90, 0x80, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
+ 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xf1, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba,
+ 0xac, 0xdf, 0xb9, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3,
+ 0xa3, 0xa3, 0xa3, 0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80,
+ 0x9a, 0xaa, 0x28, 0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79,
+ 0x51, 0xf1, 0x90, 0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85,
/* bank # 11 */
- 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83, 0x90, 0x28,
- 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19, 0x80, 0xa2,
- 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39, 0x80, 0xd9,
- 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7, 0x2c, 0xd8,
- 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80, 0xda, 0x3c,
- 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9, 0x0c, 0xd8,
- 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26, 0xff, 0xd8,
- 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89, 0x99, 0xa8,
- 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x87, 0x31,
- 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0xa8, 0x82,
- 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22, 0xf1, 0xa6,
- 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2, 0xf2, 0x2a,
- 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00, 0xac, 0x8c,
- 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10, 0xac, 0xde,
- 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88, 0xa6, 0xd9,
- 0x00, 0xd8, 0xf1, 0xff
+ 0x94, 0x01, 0x29, 0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85,
+ 0x78, 0xa3, 0x83, 0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10,
+ 0xa8, 0x92, 0x19, 0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8,
+ 0x96, 0xa8, 0x39, 0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c,
+ 0xda, 0x87, 0xa7, 0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89,
+ 0x39, 0xa9, 0x80, 0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95,
+ 0x31, 0x98, 0xd9, 0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39,
+ 0xa9, 0xda, 0x26, 0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda,
+ 0x2e, 0xd8, 0x89, 0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda,
+ 0x2e, 0xd8, 0xa8, 0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1,
+ 0xd9, 0x2e, 0xd8, 0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0,
+ 0xa2, 0x80, 0x22, 0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde,
+ 0xff, 0xd8, 0xa2, 0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96,
+ 0xf1, 0xd9, 0x00, 0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c,
+ 0xac, 0xd0, 0x10, 0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35,
+ 0xf1, 0x96, 0x88, 0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff
};
#define DMP_VERSION (dmpMemory)
@@ -250,11 +250,10 @@
if (len <= 0) {
MPL_LOGE("Nothing to write");
return INV_ERROR_FILE_WRITE;
- }
- else {
+ } else {
MPL_LOGI("dmp firmware size to write = %d", len);
}
- if ( fd == NULL ) {
+ if (fd == NULL) {
return INV_ERROR_FILE_OPEN;
}
bytesWritten = fwrite(dmp, 1, len, fd);
@@ -262,8 +261,7 @@
MPL_LOGE("bytes written (%d) don't match requested length (%d)\n",
bytesWritten, len);
result = INV_ERROR_FILE_WRITE;
- }
- else {
+ } else {
MPL_LOGI("Bytes written = %d", bytesWritten);
}
return result;
diff --git a/libsensors_iio/software/core/mllite/linux/ml_stored_data.c b/libsensors_iio/software/core/mllite/linux/ml_stored_data.c
index c5cf2e6..24b3217 100644
--- a/libsensors_iio/software/core/mllite/linux/ml_stored_data.c
+++ b/libsensors_iio/software/core/mllite/linux/ml_stored_data.c
@@ -38,26 +38,40 @@
#define STORECAL_LOG MPL_LOGI
#define LOADCAL_LOG MPL_LOGI
-inv_error_t inv_read_cal(unsigned char *cal, size_t len)
+inv_error_t inv_read_cal(unsigned char **calData, size_t *bytesRead)
{
FILE *fp;
- int bytesRead;
inv_error_t result = INV_SUCCESS;
+ size_t fsize;
fp = fopen(MLCAL_FILE,"rb");
if (fp == NULL) {
MPL_LOGE("Cannot open file \"%s\" for read\n", MLCAL_FILE);
return INV_ERROR_FILE_OPEN;
}
- bytesRead = fread(cal, 1, len, fp);
- if (bytesRead != len) {
- MPL_LOGE("bytes read (%d) don't match requested length (%d)\n",
- bytesRead, len);
+
+ // obtain file size
+ fseek (fp, 0 , SEEK_END);
+ fsize = ftell (fp);
+ rewind (fp);
+
+ *calData = (unsigned char *)inv_malloc(fsize);
+ if (*calData==NULL) {
+ MPL_LOGE("Could not allocate buffer of %d bytes - "
+ "aborting\n", fsize);
+ fclose(fp);
+ return INV_ERROR_MEMORY_EXAUSTED;
+ }
+
+ *bytesRead = fread(*calData, 1, fsize, fp);
+ if (*bytesRead != fsize) {
+ MPL_LOGE("bytes read (%d) don't match file size (%d)\n",
+ *bytesRead, fsize);
result = INV_ERROR_FILE_READ;
goto read_cal_end;
}
else {
- MPL_LOGI("Bytes read = %d", bytesRead);
+ MPL_LOGI("Bytes read = %d", *bytesRead);
}
read_cal_end:
@@ -261,31 +275,18 @@
*/
inv_error_t inv_load_calibration(void)
{
- unsigned char *calData;
+ unsigned char *calData= NULL;
inv_error_t result = 0;
- size_t length;
+ size_t bytesRead = 0;
- inv_get_mpl_state_size(&length);
- if (length <= 0) {
- MPL_LOGE("Could not get file calibration length - "
- "error %d - aborting\n", result);
- return result;
- }
-
- calData = (unsigned char *)inv_malloc(length);
- if (!calData) {
- MPL_LOGE("Could not allocate buffer of %d bytes - "
- "aborting\n", length);
- return INV_ERROR_MEMORY_EXAUSTED;
- }
-
- result = inv_read_cal(calData, length);
+ result = inv_read_cal(&calData, &bytesRead);
if(result != INV_SUCCESS) {
MPL_LOGE("Could not load cal file - "
"aborting\n");
+ goto free_mem_n_exit;
}
- result = inv_load_mpl_states(calData, length);
+ result = inv_load_mpl_states(calData, bytesRead);
if (result != INV_SUCCESS) {
MPL_LOGE("Could not load the calibration data - "
"error %d - aborting\n", result);
@@ -294,7 +295,7 @@
free_mem_n_exit:
inv_free(calData);
- return INV_SUCCESS;
+ return result;
}
/**
diff --git a/libsensors_iio/software/core/mllite/linux/ml_stored_data.h b/libsensors_iio/software/core/mllite/linux/ml_stored_data.h
index 336f081..115b34c 100644
--- a/libsensors_iio/software/core/mllite/linux/ml_stored_data.h
+++ b/libsensors_iio/software/core/mllite/linux/ml_stored_data.h
@@ -36,7 +36,7 @@
/*
Internal APIs
*/
-inv_error_t inv_read_cal(unsigned char *cal, size_t len);
+inv_error_t inv_read_cal(unsigned char **, size_t *);
inv_error_t inv_write_cal(unsigned char *cal, size_t len);
inv_error_t inv_load_cal_V0(unsigned char *calData, size_t len);
inv_error_t inv_load_cal_V1(unsigned char *calData, size_t len);
diff --git a/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.c b/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.c
index 5636a02..a12a4ed 100644
--- a/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.c
+++ b/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.c
@@ -5,7 +5,6 @@
#include <ctype.h>
#define MPU_SYSFS_ABS_PATH "/sys/class/invensense/mpu"
-#define CHIP_NUM 4
enum PROC_SYSFS_CMD {
CMD_GET_SYSFS_PATH,
CMD_GET_DMP_PATH,
@@ -15,7 +14,7 @@
CMD_GET_DEVICE_NODE
};
static char sysfs_path[100];
-static char *chip_name[CHIP_NUM] = {"ITG3500", "MPU6050", "MPU9150", "MPU3050"};
+static char *chip_name[] = {"ITG3500", "MPU6050", "MPU9150", "MPU3050", "MPU6500"};
static int chip_ind;
static int initialized =0;
static int status = 0;
@@ -27,6 +26,8 @@
#define FORMAT_SCAN_ELEMENTS_DIR "%s/scan_elements"
#define FORMAT_TYPE_FILE "%s_type"
+#define CHIP_NUM sizeof(chip_name)/sizeof(char*)
+
static const char *iio_dir = "/sys/bus/iio/devices/";
/**
@@ -392,9 +393,9 @@
* name. It should be zeroed before calling this function.
* Or it could have unpredicable result.
*/
-inv_error_t inv_get_iio_trigger_path(const char *name)
+inv_error_t inv_get_iio_trigger_path(char *name)
{
- if (process_sysfs_request(CMD_GET_TRIGGER_PATH, name) < 0)
+ if (process_sysfs_request(CMD_GET_TRIGGER_PATH, (char *)name) < 0)
return INV_ERROR_NOT_OPENED;
else
return INV_SUCCESS;
@@ -407,9 +408,9 @@
* node. It should be zeroed before calling this function.
* Or it could have unpredicable result.
*/
-inv_error_t inv_get_iio_device_node(const char *name)
+inv_error_t inv_get_iio_device_node(char *name)
{
- if (process_sysfs_request(CMD_GET_DEVICE_NODE, name) < 0)
+ if (process_sysfs_request(CMD_GET_DEVICE_NODE, (char *)name) < 0)
return INV_ERROR_NOT_OPENED;
else
return INV_SUCCESS;
diff --git a/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.h b/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.h
index eb285c5..9470874 100644
--- a/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.h
+++ b/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.h
@@ -27,8 +27,8 @@
inv_error_t inv_get_sysfs_key(unsigned char *key);
inv_error_t inv_get_handler_number(const char *name, int *num);
inv_error_t inv_get_input_number(const char *name, int *num);
-inv_error_t inv_get_iio_trigger_path(const char *name);
-inv_error_t inv_get_iio_device_node(const char *name);
+inv_error_t inv_get_iio_trigger_path(char *name);
+inv_error_t inv_get_iio_device_node(char *name);
#ifdef __cplusplus
}
diff --git a/libsensors_iio/software/core/mllite/linux/mlos_linux.c b/libsensors_iio/software/core/mllite/linux/mlos_linux.c
index 75f062e..6c9a6ca 100644
--- a/libsensors_iio/software/core/mllite/linux/mlos_linux.c
+++ b/libsensors_iio/software/core/mllite/linux/mlos_linux.c
@@ -58,7 +58,9 @@
inv_error_t inv_free(void *ptr)
{
// Deallocate space.
- free(ptr);
+ if (ptr) {
+ free(ptr);
+ }
return INV_SUCCESS;
}
diff --git a/libsensors_iio/software/core/mllite/ml_math_func.c b/libsensors_iio/software/core/mllite/ml_math_func.c
index 86c4b41..d1fd9c4 100644
--- a/libsensors_iio/software/core/mllite/ml_math_func.c
+++ b/libsensors_iio/software/core/mllite/ml_math_func.c
@@ -648,13 +648,60 @@
}
/** find a norm for a vector
-* @param[in] a vector [3x1]
-* @param[out] output the norm of the input vector
+* @param[in] x a vector [3x1]
+* @return the normalize vector.
*/
double inv_vector_norm(const float *x)
{
return sqrt(x[0]*x[0]+x[1]*x[1]+x[2]*x[2]);
}
+
+void inv_init_biquad_filter(inv_biquad_filter_t *pFilter, float *pBiquadCoeff) {
+ int i;
+ // initial state to zero
+ pFilter->state[0] = 0;
+ pFilter->state[1] = 0;
+
+ // set up coefficients
+ for (i=0; i<5; i++) {
+ pFilter->c[i] = pBiquadCoeff[i];
+ }
+}
+
+void inv_calc_state_to_match_output(inv_biquad_filter_t *pFilter, float input)
+{
+ float divider;
+ pFilter->input = input;
+ pFilter->output = input;
+ pFilter->state[0] = input / (1 + pFilter->c[2] + pFilter->c[3]);
+ pFilter->state[1] = pFilter->state[0];
+}
+
+float inv_biquad_filter_process(inv_biquad_filter_t *pFilter, float input) {
+ float stateZero;
+
+ pFilter->input = input;
+ // calculate the new state;
+ stateZero = pFilter->input - pFilter->c[2]*pFilter->state[0]
+ - pFilter->c[3]*pFilter->state[1];
+
+ pFilter->output = stateZero + pFilter->c[0]*pFilter->state[0]
+ + pFilter->c[1]*pFilter->state[1];
+
+ // update the output and state
+ pFilter->output = pFilter->output * pFilter->c[4];
+ pFilter->state[1] = pFilter->state[0];
+ pFilter->state[0] = stateZero;
+ return pFilter->output;
+}
+
+void inv_get_cross_product_vec(float *cgcross, float compass[3], float grav[3]) {
+
+ cgcross[0] = (float)compass[1] * grav[2] - (float)compass[2] * grav[1];
+ cgcross[1] = (float)compass[2] * grav[0] - (float)compass[0] * grav[2];
+ cgcross[2] = (float)compass[0] * grav[1] - (float)compass[1] * grav[0];
+}
+
/**
* @}
*/
diff --git a/libsensors_iio/software/core/mllite/ml_math_func.h b/libsensors_iio/software/core/mllite/ml_math_func.h
index 916de0a..535d849 100644
--- a/libsensors_iio/software/core/mllite/ml_math_func.h
+++ b/libsensors_iio/software/core/mllite/ml_math_func.h
@@ -24,6 +24,13 @@
extern "C" {
#endif
+ typedef struct {
+ float state[4];
+ float c[5];
+ float input;
+ float output;
+ } inv_biquad_filter_t;
+
static inline float inv_q30_to_float(long q30)
{
return (float) q30 / ((float)(1L << 30));
@@ -102,6 +109,11 @@
double quaternion_to_rotation_angle(const long *quat);
double inv_vector_norm(const float *x);
+ void inv_init_biquad_filter(inv_biquad_filter_t *pFilter, float *pBiquadCoeff);
+ float inv_biquad_filter_process(inv_biquad_filter_t *pFilter, float input);
+ void inv_calc_state_to_match_output(inv_biquad_filter_t *pFilter, float input);
+ void inv_get_cross_product_vec(float *cgcross, float compass[3], float grav[3]);
+
#ifdef __cplusplus
}
#endif
diff --git a/libsensors_iio/software/core/mllite/mlmath.c b/libsensors_iio/software/core/mllite/mlmath.c
deleted file mode 100644
index 5eb4264..0000000
--- a/libsensors_iio/software/core/mllite/mlmath.c
+++ /dev/null
@@ -1,68 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- See included License.txt for License information.
- $
- */
-/*******************************************************************************
- *
- * $Id: mlmath.c 5629 2011-06-11 03:13:08Z mcaramello $
- *
- *******************************************************************************/
-
-#include <math.h>
-
-double ml_asin(double x)
-{
- return asin(x);
-}
-
-double ml_atan(double x)
-{
- return atan(x);
-}
-
-double ml_atan2(double x, double y)
-{
- return atan2(x, y);
-}
-
-double ml_log(double x)
-{
- return log(x);
-}
-
-double ml_sqrt(double x)
-{
- return sqrt(x);
-}
-
-double ml_ceil(double x)
-{
- return ceil(x);
-}
-
-double ml_floor(double x)
-{
- return floor(x);
-}
-
-double ml_cos(double x)
-{
- return cos(x);
-}
-
-double ml_sin(double x)
-{
- return sin(x);
-}
-
-double ml_acos(double x)
-{
- return acos(x);
-}
-
-double ml_pow(double x, double y)
-{
- return pow(x, y);
-}
diff --git a/libsensors_iio/software/core/mllite/mpl.c b/libsensors_iio/software/core/mllite/mpl.c
index 231cbfd..a8c253d 100644
--- a/libsensors_iio/software/core/mllite/mpl.c
+++ b/libsensors_iio/software/core/mllite/mpl.c
@@ -41,7 +41,7 @@
return INV_SUCCESS;
}
-const char ml_ver[] = "InvenSense MPL 5.0.1";
+const char ml_ver[] = "InvenSense MPL 5.1.1 RC6";
/**
* @brief used to get the MPL version.
diff --git a/libsensors_iio/software/core/mllite/results_holder.c b/libsensors_iio/software/core/mllite/results_holder.c
index 97ffdec..1484f9b 100644
--- a/libsensors_iio/software/core/mllite/results_holder.c
+++ b/libsensors_iio/software/core/mllite/results_holder.c
@@ -14,12 +14,12 @@
* @brief Results Holder for HAL.
*/
#include "results_holder.h"
-#include "log.h"
#include "ml_math_func.h"
#include "mlmath.h"
#include "start_manager.h"
#include "data_builder.h"
#include "message_layer.h"
+#include "log.h"
// These 2 status bits are used to control when the 9 axis quaternion is updated
#define INV_COMPASS_CORRECTION_SET 1
diff --git a/libsensors_iio/software/core/mllite/storage_manager.c b/libsensors_iio/software/core/mllite/storage_manager.c
index 4b92bfc..721f858 100644
--- a/libsensors_iio/software/core/mllite/storage_manager.c
+++ b/libsensors_iio/software/core/mllite/storage_manager.c
@@ -4,6 +4,7 @@
See included License.txt for License information.
$
*/
+
/**
* @defgroup Storage_Manager storage_manager
* @brief Motion Library - Stores Data for functions.
diff --git a/libsensors_iio/software/core/mpl/adv_func.h b/libsensors_iio/software/core/mpl/adv_func.h
deleted file mode 100644
index 3f8595f..0000000
--- a/libsensors_iio/software/core/mpl/adv_func.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- $License:
- Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
- See included License.txt for License information.
- $
- */
-
-/******************************************************************************
- *
- * $Id$
- *
- *****************************************************************************/
-
-#ifndef MLDMP_ADVFUNC_H__
-#define MLDMP_ADVFUNC_H__
-#include "mltypes.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
- float inv_compass_angle(const long *compass, const long *grav, const float *quat);
- inv_error_t inv_set_dmp_quaternion(long *q);
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif // MLDMP_ADVFUNC_H__
diff --git a/libsensors_iio/software/core/mpl/auto_calibration.h b/libsensors_iio/software/core/mpl/auto_calibration.h
deleted file mode 100644
index 3dd9827..0000000
--- a/libsensors_iio/software/core/mpl/auto_calibration.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/******************************************************************************
- *
- * $Id$
- *
- *****************************************************************************/
-
-#ifndef MLDMP_IN_USE_AUTO_CALIBRATION_H__
-#define MLDMP_IN_USE_AUTO_CALIBRATION_H__
-
-#include "mltypes.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-inv_error_t inv_enable_in_use_auto_calibration(void);
-inv_error_t inv_disable_in_use_auto_calibration(void);
-inv_error_t inv_in_use_auto_calibration_is_enabled(unsigned char *is_enabled);
-inv_error_t inv_init_in_use_auto_calibration(void);
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif // MLDMP_IN_USE_AUTO_CALIBRATION_H__
-
diff --git a/libsensors_iio/software/core/mpl/build/android/libmplmpu.so b/libsensors_iio/software/core/mpl/build/android/libmplmpu.so
index 116b618..fbd346f 100644
--- a/libsensors_iio/software/core/mpl/build/android/libmplmpu.so
+++ b/libsensors_iio/software/core/mpl/build/android/libmplmpu.so
Binary files differ
diff --git a/libsensors_iio/software/core/mpl/build/android/static.mk b/libsensors_iio/software/core/mpl/build/android/static.mk
deleted file mode 100644
index 6ad45de..0000000
--- a/libsensors_iio/software/core/mpl/build/android/static.mk
+++ /dev/null
@@ -1,110 +0,0 @@
-MLLITE_LIB_NAME = mllite
-LIBRARY = $(LIB_PREFIX)$(MLLITE_LIB_NAME).$(STATIC_LIB_EXT)
-
-MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
-
-OBJFOLDER = $(CURDIR)/obj
-
-CROSS = arm-none-linux-gnueabi-
-COMP= $(CROSS)gcc
-LINK= $(CROSS)ar cr
-
-MLLITE_DIR = $(MLSDK_ROOT)/mllite
-MPL_DIR = $(MLSDK_ROOT)/mldmp
-MLPLATFORM_DIR = $(MLSDK_ROOT)/platform
-
-include $(MLSDK_ROOT)/Android-common.mk
-
-CFLAGS += $(CMDLINE_CFLAGS)
-CFLAGS += -Wall -fpic
-CFLAGS += -mthumb-interwork -fno-exceptions -ffunction-sections -funwind-tables -fstack-protector -fno-short-enums -fmessage-length=0
-CFLAGS += -DNDEBUG
-CFLAGS += -D_REENTRANT -DLINUX -DANDROID
-CFLAGS += -I$(MLLITE_DIR)
-CFLAGS += -I$(MLPLATFORM_DIR)/include
-CFLAGS += -I$(MLSDK_ROOT)/mlutils
-CFLAGS += -I$(MLSDK_ROOT)/mlapps/common
-CFLAGS += $(MLSDK_INCLUDES)
-CFLAGS += $(MLSDK_DEFINES)
-
-VPATH += $(MLLITE_DIR)
-VPATH += $(MLSDK_ROOT)/mlutils
-VPATH += $(MLLITE_DIR)/accel
-VPATH += $(MLLITE_DIR)/compass
-VPATH += $(MLLITE_DIR)/pressure
-VPATH += $(MLLITE_DIR)/mlapps/common
-
-####################################################################################################
-## sources
-
-ML_LIBS = $(MLPLATFORM_DIR)/linux/$(LIB_PREFIX)$(MLPLATFORM_LIB_NAME).$(STATIC_LIB_EXT)
-
-ML_SOURCES += $(MLLITE_DIR)/mldl_cfg_mpu.c
-ML_SOURCES += $(MLLITE_DIR)/mldl_cfg_init_linux.c
-ML_SOURCES += $(MLLITE_DIR)/accel.c
-ML_SOURCES += $(MLLITE_DIR)/compass.c
-ML_SOURCES += $(MLLITE_DIR)/compass_supervisor.c
-ML_SOURCES += $(MLLITE_DIR)/compass_supervisor_adv_callbacks.c
-ML_SOURCES += $(MLLITE_DIR)/key0_96.c
-ML_SOURCES += $(MLLITE_DIR)/pressure.c
-ML_SOURCES += $(MLLITE_DIR)/ml.c
-ML_SOURCES += $(MLLITE_DIR)/ml_invobj.c
-ML_SOURCES += $(MLLITE_DIR)/ml_init.c
-ML_SOURCES += $(MLLITE_DIR)/mlarray_lite.c
-ML_SOURCES += $(MLLITE_DIR)/mlarray_adv.c
-ML_SOURCES += $(MLLITE_DIR)/mlarray_legacy.c
-ML_SOURCES += $(MLLITE_DIR)/mlBiasNoMotion.c
-ML_SOURCES += $(MLLITE_DIR)/mlFIFO.c
-ML_SOURCES += $(MLLITE_DIR)/mlFIFOHW.c
-ML_SOURCES += $(MLLITE_DIR)/mlMathFunc.c
-ML_SOURCES += $(MLLITE_DIR)/mlcontrol.c
-ML_SOURCES += $(MLLITE_DIR)/mldl.c
-ML_SOURCES += $(MLLITE_DIR)/mldmp.c
-ML_SOURCES += $(MLLITE_DIR)/dmpDefault.c
-ML_SOURCES += $(MLLITE_DIR)/mlstates.c
-ML_SOURCES += $(MLLITE_DIR)/mlsupervisor.c
-ML_SOURCES += $(MLLITE_DIR)/ml_stored_data.c
-ML_SOURCES += $(MLLITE_DIR)/ustore_manager.c
-ML_SOURCES += $(MLLITE_DIR)/ustore_mlsl_io.c
-ML_SOURCES += $(MLLITE_DIR)/ustore_adv_fusion_delegate.c
-ML_SOURCES += $(MLLITE_DIR)/ustore_lite_fusion_delegate.c
-ML_SOURCES += $(MLLITE_DIR)/temp_comp_legacy.c
-ML_SOURCES += $(MLLITE_DIR)/mlSetGyroBias.c
-ML_SOURCES += $(MLSDK_ROOT)/mlutils/checksum.c
-ML_SOURCES += $(MLSDK_ROOT)/mlutils/mputest.c
-ML_SOURCES += $(MLLITE_DIR)/mldl_print_cfg.c
-ifeq ($(MPU_NAME),MPU3050)
-ML_SOURCES += $(MLSDK_ROOT)/mlutils/mpu3050test.c
-else
-ML_SOURCES += $(MLSDK_ROOT)/mlutils/mpu6050test.c
-endif
-
-ML_OBJS := $(addsuffix .o,$(ML_SOURCES))
-ML_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(ML_SOURCES))))
-
-####################################################################################################
-## rules
-
-.PHONY: all clean cleanall
-
-all: $(LIBRARY) $(MK_NAME)
-
-$(LIBRARY) : $(OBJFOLDER) $(ML_OBJS_DST) $(ML_LIBS) $(MK_NAME)
- @$(call echo_in_colors, "\n<linking $(LIBRARY) with objects $(ML_OBJS_DST)\n")
- $(LINK) $(LIBRARY) $(ML_OBJS_DST)
- $(CROSS)ranlib $(LIBRARY)
-
-$(OBJFOLDER) :
- @$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
- mkdir obj
-
-$(ML_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c $(MK_NAME)
- @$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
- $(COMP) $(CFLAGS) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(MLSDK_INCLUDES) -o $@ -c $<
-
-clean :
- rm -fR $(OBJFOLDER)
-
-cleanall :
- rm -fR $(LIBRARY) $(OBJFOLDER)
-
diff --git a/libsensors_iio/software/core/mpl/fusion_9axis.h b/libsensors_iio/software/core/mpl/fusion_9axis.h
index 616694a..1ba1ebb 100644
--- a/libsensors_iio/software/core/mpl/fusion_9axis.h
+++ b/libsensors_iio/software/core/mpl/fusion_9axis.h
@@ -26,6 +26,8 @@
inv_error_t inv_disable_9x_sensor_fusion(void);
inv_error_t inv_start_9x_sensor_fusion(void);
inv_error_t inv_stop_9x_sensor_fusion(void);
+ inv_error_t inv_9x_fusion_set_mag_fb(double fb);
+ inv_error_t inv_9x_fusion_enable_jitter_reduction(int en);
#ifdef __cplusplus
}
diff --git a/libsensors_iio/software/core/mpl/interpolator.h b/libsensors_iio/software/core/mpl/interpolator.h
deleted file mode 100644
index 5eb571d..0000000
--- a/libsensors_iio/software/core/mpl/interpolator.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef INTERPOLATOR_H
-#define INTERPOLATOR_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//#include "mltypes.h"
-
- /* ------------ */
- /* - Defines. - */
- /* ------------ */
-
-#define MAX_INTERPOLATION (20)
-
-typedef struct {
- long x[2];
- long y[4];
-} tInterpolate2;
-typedef struct {
- long x[2];
- long y[6];
-} tInterpolate3;
-typedef struct {
- long x[5];
- long y[10];
- int idx1;
-} tInterpolate5;
-typedef struct {
- tInterpolate2 state1;
- tInterpolate2 state2;
-} tInterpolate4;
-typedef struct {
- tInterpolate3 state1;
- tInterpolate2 state2;
-} tInterpolate6;
-typedef struct {
- tInterpolate2 state1;
- tInterpolate4 state2;
-} tInterpolate8;
-typedef struct {
- tInterpolate3 state1;
- tInterpolate3 state2;
-} tInterpolate9;
-typedef struct {
- tInterpolate5 state1;
- tInterpolate2 state2;
-} tInterpolate10;
-typedef struct {
- tInterpolate4 state1;
- tInterpolate3 state2;
-} tInterpolate12;
-typedef struct {
- tInterpolate5 state1;
- tInterpolate3 state2;
-} tInterpolate15;
-typedef struct {
- tInterpolate2 state1;
- tInterpolate8 state2;
-} tInterpolate16;
-typedef struct {
- tInterpolate9 state1;
- tInterpolate2 state2;
-} tInterpolate18;
-typedef struct {
- tInterpolate10 state1;
- tInterpolate2 state2;
-} tInterpolate20;
-
-typedef union {
- tInterpolate2 u2;
- tInterpolate3 u3;
- tInterpolate4 u4;
- tInterpolate5 u5;
- tInterpolate6 u6;
- tInterpolate8 u8;
- tInterpolate9 u9;
- tInterpolate10 u10;
- tInterpolate12 u12;
- tInterpolate15 u15;
- tInterpolate16 u16;
- tInterpolate18 u18;
- tInterpolate20 u20;
-} tInterpolateState;
-
- /* --------------------- */
- /* - Function p-types. - */
- /* --------------------- */
-int inv_get_interp_amount( int x );
-int inv_interpolate( int amount, long input, long *output, tInterpolateState *state );
-long inv_fxmult( long x, long y );
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* INTERPOLATOR_H */
diff --git a/libsensors_iio/software/core/mpl/inv_log.h b/libsensors_iio/software/core/mpl/inv_log.h
deleted file mode 100644
index 972844b..0000000
--- a/libsensors_iio/software/core/mpl/inv_log.h
+++ /dev/null
@@ -1,7 +0,0 @@
-#include "mltypes.h"
-#ifndef INV_INV_LOG_H__
-#define INV_INV_LOG_H__
-
-#define INV_LOGE(s)
-
-#endif // INV_INV_LOG_H__
diff --git a/libsensors_iio/software/core/mpl/invensense_adv.h b/libsensors_iio/software/core/mpl/invensense_adv.h
index 9e59c18..12932c9 100644
--- a/libsensors_iio/software/core/mpl/invensense_adv.h
+++ b/libsensors_iio/software/core/mpl/invensense_adv.h
@@ -28,3 +28,4 @@
#include "quaternion_supervisor.h"
#include "mag_disturb.h"
#include "quat_accuracy_monitor.h"
+#include "shake.h"
diff --git a/libsensors_iio/software/core/mpl/mlsetinterrupts.h b/libsensors_iio/software/core/mpl/mlsetinterrupts.h
deleted file mode 100644
index a81dabb..0000000
--- a/libsensors_iio/software/core/mpl/mlsetinterrupts.h
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
- $License:
- Copyright (c) 2008 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-#ifndef MLSETINTERRUPT_H
-#define MLSETINTERRUPT_H
-
-#include "mltypes.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
- /* DEPRECATED - Scheduled for removal. Do not use */
- inv_error_t MLSetInterrupts(unsigned short interrupts);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* MLSETINTERRUPT_H */
diff --git a/libsensors_iio/software/core/mpl/mlsupervisor_9axis.h b/libsensors_iio/software/core/mpl/mlsupervisor_9axis.h
deleted file mode 100644
index 3779381..0000000
--- a/libsensors_iio/software/core/mpl/mlsupervisor_9axis.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/******************************************************************************
- *
- * $Id: mlsupervisor_9axis.h 6123 2011-09-30 18:21:11Z mcaramello $
- *
- *****************************************************************************/
-
-#ifndef MLDMP_MLSUPERVISOR_H__
-#define MLDMP_MLSUPERVISOR_H__
-
-#include "mltypes.h"
-
-//#include "temp_comp.h"
-
-struct inv_fusion_t {
- int compassCount;
- long quat[4];
-};
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-inv_error_t inv_enable_9x_fusion(void);
-inv_error_t inv_disable_9x_fusion(void);
-
-inv_error_t inv_enable_9x_fusion_legacy(void);
-inv_error_t inv_disable_9x_fusion_legacy(void);
-
-inv_error_t inv_enable_9x_fusion_new(void);
-inv_error_t inv_disable_9x_fusion_new(void);
-
-inv_error_t inv_enable_9x_fusion_basic(void);
-inv_error_t inv_disable_9x_fusion_basic(void);
-
-inv_error_t inv_enable_9x_fusion_external(void);
-inv_error_t inv_disable_9x_fusion_external(void);
-
-inv_error_t inv_enable_maintain_heading(void);
-inv_error_t inv_disable_maintain_heading(void);
-
-void inv_set_compass_state(long compassState, long accState,
- unsigned long deltaTime,
- int magDisturb, int gotBias,
- int *new_state,
- int *new_accuracy);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // MLDMP_MLSUPERVISOR_H__
diff --git a/libsensors_iio/software/core/mpl/orientation.h b/libsensors_iio/software/core/mpl/orientation.h
deleted file mode 100644
index ab4e45e..0000000
--- a/libsensors_iio/software/core/mpl/orientation.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef MLDMP_ORIENTATION_H__
-#define MLDMP_ORIENTATION_H__
-
-#include "mltypes.h"
-/*******************************************************************************/
-/* Orientations */
-/*******************************************************************************/
-
-#define INV_X_UP 0x01
-#define INV_X_DOWN 0x02
-#define INV_Y_UP 0x04
-#define INV_Y_DOWN 0x08
-#define INV_Z_UP 0x10
-#define INV_Z_DOWN 0x20
-#define INV_ORIENTATION_ALL 0x3F
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
- inv_error_t inv_enable_orientation(void);
- inv_error_t inv_disable_orientation(void);
- inv_error_t inv_set_orientation(int orientation);
- inv_error_t inv_set_orientation_cb(void (*callback)(unsigned short));
- inv_error_t inv_get_orientation(int *orientation);
- inv_error_t inv_get_orientation_state(int * state);
- inv_error_t inv_set_orientation_interrupt(unsigned char on);
- inv_error_t inv_set_orientation_thresh(float angle,
- float hysteresis,
- unsigned long time,
- unsigned int axis);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // MLDMP_ORIENTATION_H__
diff --git a/libsensors_iio/software/core/mpl/progressive_no_motion.h b/libsensors_iio/software/core/mpl/progressive_no_motion.h
deleted file mode 100644
index 99333e3..0000000
--- a/libsensors_iio/software/core/mpl/progressive_no_motion.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/******************************************************************************
- *
- * $Id:$
- *
- *****************************************************************************/
-
-#ifndef MLDMP_PROG_NO_MOTION_H__
-#define MLDMP_PROG_NO_MOTION_H__
-
-#include "mltypes.h"
-
-#define PROG_NO_MOTION 1
-#define PROG_MOTION 2
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* APIs */
-inv_error_t inv_enable_prog_no_motion(void);
-inv_error_t inv_disable_prog_no_motion(void);
-
-/* internal use */
-int inv_get_prog_no_motion_enabled(void);
-void inv_get_prog_no_motion_bias_changed(void);
-int inv_get_prog_no_motion_state(void);
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif // MLDMP_PROG_NO_MOTION_H__
diff --git a/libsensors_iio/software/core/mpl/quat_accuracy_monitor.h b/libsensors_iio/software/core/mpl/quat_accuracy_monitor.h
index 2cf7a50..3c6a2c1 100644
--- a/libsensors_iio/software/core/mpl/quat_accuracy_monitor.h
+++ b/libsensors_iio/software/core/mpl/quat_accuracy_monitor.h
@@ -62,6 +62,7 @@
double get_compassNgravity(void);
double get_init_compassNgravity(void);
+float inv_heading_accuracy_check(float orient[3], float *heading, int8_t *accuracy);
#ifdef __cplusplus
}
diff --git a/libsensors_iio/software/core/mpl/sensor_moments.h b/libsensors_iio/software/core/mpl/sensor_moments.h
deleted file mode 100644
index 73eb363..0000000
--- a/libsensors_iio/software/core/mpl/sensor_moments.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
- $License:
- Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
- See included License.txt for License information.
- $
- */
-
-/******************************************************************************
- *
- * $Id$
- *
- *****************************************************************************/
-
-#ifndef MLDMP_SENSOR_MOMENTS_H__
-#define MLDMP_SENSOR_MOMENTS_H__
-
-#include "mltypes.h"
-
-enum moment_ord {
- SECOND_ORD=0,
- THIRD_ORD,
- FOURTH_ORD,
- MAX_ORD
-};
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
- inv_error_t inv_enable_sm(void);
- inv_error_t inv_disable_sm(void);
- inv_error_t inv_sm_record_data(float sample, void *sensor);
- inv_error_t inv_sm_update_evt_act_state(int motion);
- void *inv_init_sm(enum moment_ord);
- float inv_sm_get_filtered_data(void *sensor);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // MLDMP_SENSOR_MOMENTS_H__
-
diff --git a/libsensors_iio/software/core/mpl/shake.h b/libsensors_iio/software/core/mpl/shake.h
new file mode 100644
index 0000000..67acb7b
--- /dev/null
+++ b/libsensors_iio/software/core/mpl/shake.h
@@ -0,0 +1,94 @@
+/*
+ $License:
+ Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
+ See included License.txt for License information.
+ $
+ */
+#ifndef INV_SHAKE_H__
+#define INV_SHAKE_H__
+
+#include "mltypes.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+ /* ------------ */
+ /* - Defines. - */
+ /* ------------ */
+
+ #define STATE_ZERO 0
+ #define STATE_INIT_1 1
+ #define STATE_INIT_2 2
+ #define STATE_DETECT 3
+
+ struct t_shake_config_params {
+ long shake_time_min_ms;
+ long shake_time_max_ms;
+ long shake_time_min;
+ long shake_time_max;
+ unsigned char shake_time_set;
+ long shake_time_saved;
+ float shake_deriv_thr;
+ int zero_cross_thr;
+ float accel_delta_min;
+ float accel_delta_max;
+ unsigned char interp_enable;
+ };
+
+ struct t_shake_state_params {
+ unsigned char state;
+ float accel_peak_high;
+ float accel_peak_low;
+ float accel_range;
+ int num_zero_cross;
+ short curr_shake_time;
+ int deriv_major_change;
+ int deriv_major_sign;
+ float accel_buffer[200];
+ float delta_buffer[200];
+ };
+
+ struct t_shake_data_params {
+ float accel_prev;
+ float accel_curr;
+ float delta_prev;
+ float delta_curr;
+ float delta_prev_buffer;
+ };
+
+ struct t_shake_results {
+ //unsigned char shake_int;
+ int shake_number;
+ };
+
+ struct t_shake_cb {
+ void (*shake_callback)(struct t_shake_results *shake_results);
+ };
+
+
+ /* --------------------- */
+ /* - Function p-types. - */
+ /* --------------------- */
+ inv_error_t inv_enable_shake(void);
+ inv_error_t inv_disable_shake(void);
+ inv_error_t inv_init_shake(void);
+ inv_error_t inv_start_shake(void);
+ int inv_set_shake_cb(void (*callback)(struct t_shake_results *shake_results));
+ void inv_config_shake_time_params(long sample_time_ms);
+ void inv_set_shake_accel_delta_min(float accel_g);
+ void inv_set_shake_accel_delta_max(float accel_g);
+ void inv_set_shake_zero_cross_thresh(int num_zero_cross);
+ void inv_set_shake_deriv_thresh(float shake_deriv_thresh);
+ void inv_set_shake_time_min_ms(long time_ms);
+ void inv_set_shake_time_max_ms(long time_ms);
+ void inv_enable_shake_data_interpolation(unsigned char en);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // INV_SHAKE__
\ No newline at end of file
diff --git a/libsensors_iio/software/core/mpl/state_storage.h b/libsensors_iio/software/core/mpl/state_storage.h
deleted file mode 100644
index c1eb47b..0000000
--- a/libsensors_iio/software/core/mpl/state_storage.h
+++ /dev/null
@@ -1,25 +0,0 @@
-/*
- $License:
- Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
- See included License.txt for License information.
- $
- */
-#ifndef INV_STATE_STORAGE_H__
-#define INV_STATE_STORAGE_H__
-
-#include "mltypes.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-inv_error_t inv_store_data(const void *data, size_t size, unsigned long module,
- unsigned long version);
-inv_error_t inv_load_data(void *data, size_t size, unsigned long module,
- unsigned long version);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // INV_STATE_STORAGE_H__
diff --git a/libsensors_iio/software/simple_apps/common/external_hardware.h b/libsensors_iio/software/simple_apps/common/external_hardware.h
deleted file mode 100644
index 55e3b20..0000000
--- a/libsensors_iio/software/simple_apps/common/external_hardware.h
+++ /dev/null
@@ -1,156 +0,0 @@
-/*
- Accelerometer
-*/
-#define get_accel_slave_descr NULL
-
-#ifdef CONFIG_MPU_SENSORS_ADXL34X /* ADI accelerometer */
-struct ext_slave_descr *adxl34x_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr adxl34x_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_BMA150 /* Bosch accelerometer */
-struct ext_slave_descr *bma150_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr bma150_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_BMA222 /* Bosch 222 accelerometer */
-struct ext_slave_descr *bma222_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr bma222_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_BMA250 /* Bosch accelerometer */
-struct ext_slave_descr *bma250_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr bma250_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_KXSD9 /* Kionix accelerometer */
-struct ext_slave_descr *kxsd9_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr kxsd9_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_KXTF9 /* Kionix accelerometer */
-struct ext_slave_descr *kxtf9_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr kxtf9_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_LIS331DLH /* ST accelerometer */
-struct ext_slave_descr *lis331_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr lis331_get_slave_descr
-#endif
-
-
-#ifdef CONFIG_MPU_SENSORS_LIS3DH /* ST accelerometer */
-struct ext_slave_descr *lis3dh_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr lis3dh_get_slave_descr
-#endif
-
-/* ST accelerometer in LSM303DLx combo */
-#if defined CONFIG_MPU_SENSORS_LSM303DLX_A
-struct ext_slave_descr *lsm303dlx_a_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr lsm303dlx_a_get_slave_descr
-#endif
-
-/* MPU6050 Accel */
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || \
- defined CONFIG_MPU_SENSORS_MPU6050B1
-struct ext_slave_descr *mpu6050_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr mpu6050_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_MMA8450 /* Freescale accelerometer */
-struct ext_slave_descr *mma8450_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr mma8450_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_MMA845X /* Freescale accelerometer */
-struct ext_slave_descr *mma845x_get_slave_descr(void);
-#undef get_accel_slave_descr
-#define get_accel_slave_descr mma845x_get_slave_descr
-#endif
-
-
-/*
- Compass
-*/
-#define get_compass_slave_descr NULL
-
-#ifdef CONFIG_MPU_SENSORS_AK8975 /* AKM compass */
-struct ext_slave_descr *ak8975_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr ak8975_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_AMI30X /* AICHI Steel AMI304/305 compass */
-struct ext_slave_descr *ami30x_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr ami30x_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_AMI306 /* AICHI Steel AMI306 compass */
-struct ext_slave_descr *ami306_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr ami306_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_HMC5883 /* Honeywell compass */
-struct ext_slave_descr *hmc5883_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr hmc5883_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_MMC314X /* MEMSIC compass */
-struct ext_slave_descr *mmc314x_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr mmc314x_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_LSM303DLX_M /* ST compass */
-struct ext_slave_descr *lsm303dlx_m_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr lsm303dlx_m_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_YAS529 /* Yamaha compass */
-struct ext_slave_descr *yas529_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr yas529_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_YAS530 /* Yamaha compass */
-struct ext_slave_descr *yas530_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr yas530_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_HSCDTD002B /* Alps HSCDTD002B compass */
-struct ext_slave_descr *hscdtd002b_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr hscdtd002b_get_slave_descr
-#endif
-
-#ifdef CONFIG_MPU_SENSORS_HSCDTD004A /* Alps HSCDTD004A compass */
-struct ext_slave_descr *hscdtd004a_get_slave_descr(void);
-#undef get_compass_slave_descr
-#define get_compass_slave_descr hscdtd004a_get_slave_descr
-#endif
-/*
- Pressure
-*/
-#define get_pressure_slave_descr NULL
-
-#ifdef CONFIG_MPU_SENSORS_BMA085 /* BMA pressure */
-struct ext_slave_descr *bma085_get_slave_descr(void);
-#undef get_pressure_slave_descr
-#define get_pressure_slave_descr bma085_get_slave_descr
-#endif
diff --git a/libsensors_iio/software/simple_apps/common/fopenCMake.c b/libsensors_iio/software/simple_apps/common/fopenCMake.c
deleted file mode 100644
index 2936109..0000000
--- a/libsensors_iio/software/simple_apps/common/fopenCMake.c
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-/******************************************************************************
- *
- * $Id: fopenCMake.c 5629 2011-06-11 03:13:08Z mcaramello $
- *
- *****************************************************************************/
-
-#include <string.h>
-
-#include "fopenCMake.h"
-#include "path_configure.h"
-
-/**
- * @brief Replacement for fopen that concatenates the location of the
- * source tree onto the filename path.
- * It looks in 3 locations:
- * - in the current directory,
- * - then it looks in "..",
- * - lastly in the define UNITTEST_SOURCE_DIR which
- * gets defined by CMake.
- * @param filename
- * Filename relative to base of source directory.
- * @param prop
- * Second argument to fopen.
- */
-FILE *fopenCMake(const char *filename, const char *prop)
-{
- char path[150];
- FILE *file;
-
- // Look first in current directory
- file = fopen(filename, prop);
- if (file == NULL) {
- // Now look in ".."
-#ifdef WIN32
- strcpy(path, "..\\");
-#else
- strcpy(path, "../");
-#endif
- strcat(path, filename);
- file = fopen(path, prop);
- if (file == NULL) {
- // Now look in definition by CMake
- strcpy(path, PATH_SOURCE_DIR);
- strcat(path, filename);
- file = fopen(path, prop);
- }
- }
- return file;
-}
-
-
diff --git a/libsensors_iio/software/simple_apps/common/fopenCMake.h b/libsensors_iio/software/simple_apps/common/fopenCMake.h
deleted file mode 100644
index c5eba39..0000000
--- a/libsensors_iio/software/simple_apps/common/fopenCMake.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-#ifndef FOPEN_CMAKE_H__
-#define FOPEN_CMAKE_H__
-
-#include <stdio.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-FILE *fopenCMake( const char *filename, const char *prop );
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // FOPEN_CMAKE_H__
diff --git a/libsensors_iio/software/simple_apps/common/gestureMenu.c b/libsensors_iio/software/simple_apps/common/gestureMenu.c
deleted file mode 100644
index 2a9487c..0000000
--- a/libsensors_iio/software/simple_apps/common/gestureMenu.c
+++ /dev/null
@@ -1,725 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/******************************************************************************
- * $Id: gestureMenu.c 5705 2011-06-28 19:32:29Z nroyer $
- *****************************************************************************/
-
-#define _USE_MATH_DEFINES
-#include <stdio.h>
-#include <stddef.h>
-#include <math.h>
-#include <string.h>
-
-#include "ml.h"
-#include "mlmath.h"
-#include "gesture.h"
-#include "orientation.h"
-#include "gestureMenu.h"
-#include "fifo.h"
-
-#undef MPL_LOG_TAG
-#define MPL_LOG_TAG "gest"
-#include "log.h"
-#include "mldl_cfg.h"
-
-static unsigned long sensors[] = {
- INV_NINE_AXIS,
- INV_THREE_AXIS_GYRO,
- INV_DMP_PROCESSOR | INV_THREE_AXIS_ACCEL,
- INV_THREE_AXIS_ACCEL,
- INV_DMP_PROCESSOR | INV_THREE_AXIS_COMPASS,
- INV_THREE_AXIS_COMPASS,
- INV_SIX_AXIS_GYRO_ACCEL,
- INV_DMP_PROCESSOR | INV_SIX_AXIS_ACCEL_COMPASS,
- INV_SIX_AXIS_ACCEL_COMPASS,
-};
-
-static char *sensors_string[] = {
- "INV_NINE_AXIS",
- "INV_THREE_AXIS_GYRO",
- "INV_DMP_PROCESSOR | INV_THREE_AXIS_ACCEL",
- "INV_THREE_AXIS_ACCEL",
- "INV_DMP_PROCESSOR | INV_THREE_AXIS_COMPASS",
- "INV_THREE_AXIS_COMPASS",
- "INV_SIX_AXIS_GYRO_ACCEL",
- "INV_DMP_PROCESSOR | INV_SIX_AXIS_ACCEL_COMPASS",
- "INV_SIX_AXIS_ACCEL_COMPASS",
-};
-
-/**
- * Prints the menu with the current thresholds
- *
- * @param params The parameters to print
- */
-void PrintGestureMenu(tGestureMenuParams const * const params)
-{
- MPL_LOGI("Press h at any time to re-display this menu\n");
- MPL_LOGI("TAP PARAMETERS:\n");
- MPL_LOGI(" Use LEFT and RIGHT arrows to adjust Tap Time \n\n");
- MPL_LOGI(" j : Increase X threshold : %5d\n",
- params->xTapThreshold);
- MPL_LOGI(" J (Shift-j): Decrease X threshold\n");
- MPL_LOGI(" k : Increase Y threshold : %5d\n",
- params->yTapThreshold);
- MPL_LOGI(" K (Shift-k): Decrease Y threshold\n");
- MPL_LOGI(" i : Increase Z threshold : %5d\n",
- params->zTapThreshold);
- MPL_LOGI(" I (Shift-i): Decrease Z threshold\n");
- MPL_LOGI(" l : Increase tap time : %5d\n",
- params->tapTime);
- MPL_LOGI(" L (Shift-l): Decrease tap time\n");
- MPL_LOGI(" o : Increase next tap time : %5d\n",
- params->nextTapTime);
- MPL_LOGI(" O (Shift-o): Increase next tap time\n");
- MPL_LOGI(" u : Increase max Taps : %5d\n",
- params->maxTaps);
- MPL_LOGI(" U (Shift-u): Increase max Taps\n");
-
- MPL_LOGI("SHAKE PARAMETERS:\n");
- MPL_LOGI(" x : Increase X threshold : %5d\n",
- params->xShakeThresh);
- MPL_LOGI(" X (Shift-x): Decrease X threshold\n");
- MPL_LOGI(" y : Increase Y threshold : %5d\n",
- params->yShakeThresh);
- MPL_LOGI(" Y (Shift-y): Decrease Y threshold\n");
- MPL_LOGI(" z : Increase Z threshold : %5d\n",
- params->zShakeThresh);
- MPL_LOGI(" Z (Shift-z): Decrease Z threshold\n");
- MPL_LOGI(" s : Toggle Shake Function : %5d\n",
- params->shakeFunction);
- MPL_LOGI(" t : Increase Shake Time : %5d\n",
- params->shakeTime);
- MPL_LOGI(" T (Shift-T): Decrease Shake Time\n");
- MPL_LOGI(" n : Increase Next Shake Time : %5d\n",
- params->nextShakeTime);
- MPL_LOGI(" N (Shift-n): Decrease Next Shake Time\n");
- MPL_LOGI(" m : Increase max Shakes : %5d\n",
- params->maxShakes);
- MPL_LOGI(" M (Shift-m): Decrease max Shakes\n");
- MPL_LOGI("SNAP PARAMETERS:\n");
- MPL_LOGI(" p : Increase Pitch threshold : %5d\n",
- params->xSnapThresh);
- MPL_LOGI(" P (Shift-p): Decrease Pitch threshold\n");
- MPL_LOGI(" r : Increase Roll threshold : %5d\n",
- params->ySnapThresh);
- MPL_LOGI(" R (Shift-r): Decrease Roll threshold\n");
- MPL_LOGI(" a : Increase yAw threshold : %5d\n",
- params->zSnapThresh);
- MPL_LOGI(" A (Shift-a): Decrease yAw threshold\n");
- MPL_LOGI("YAW ROTATION PARAMETERS:\n");
- MPL_LOGI(" e : Increase yaW Rotate time : %5d\n",
- params->yawRotateTime);
- MPL_LOGI(" E (Shift-r): Decrease yaW Rotate time\n");
- MPL_LOGI(" w : Increase yaW Rotate threshold : %5d\n",
- params->yawRotateThreshold);
- MPL_LOGI(" W (Shift-w): Decrease yaW Rotate threshold\n");
- MPL_LOGI("ORIENTATION PARAMETER:\n");
- MPL_LOGI(" d : Increase orientation angle threshold : %5f\n",
- params->orientationThreshold);
- MPL_LOGI(" D (Shift-d): Decrease orientation angle threshold\n");
- MPL_LOGI("FIFO RATE:\n");
- MPL_LOGI(" f : Increase fifo divider : %5d\n",
- inv_get_fifo_rate());
- MPL_LOGI(" F (Shift-f): Decrease fifo divider\n");
- MPL_LOGI("REQUESTED SENSORS:\n");
- MPL_LOGI(" S (Shift-s): Toggle in use sensors : %s\n",
- sensors_string[params->sensorsIndex]);
- MPL_LOGI(" F (Shift-f): Decrease fifo divider\n");
-
- /* V,v, B,b, Q,q, C,c, G,g, are available letters upper and lowercase */
- /* S is available */
-
- MPL_LOGI("\n\n");
-}
-
-/**
- * Handles a keyboard input and updates an appropriate threshold, prints then
- * menu or returns false if the character is not processed.
- *
- * @param params The parameters to modify if the thresholds are updated
- * @param ch The input character
- *
- * @return true if the character was processed, false otherwise
- */
-inv_error_t GestureMenuProcessChar(tGestureMenuParams * const params, char ch)
-{
- int result = INV_SUCCESS;
- /* Dynamic keyboard processing */
-
- switch (ch) {
- case 'j':
- params->xTapThreshold += 20;
- // Intentionally fall through
- case 'J': {
- params->xTapThreshold -= 10;
- if (params->xTapThreshold < 0) params->xTapThreshold = 0;
- result = inv_set_tap_threshold(INV_TAP_AXIS_X, params->xTapThreshold);
- if (INV_SUCCESS != result) {
- MPL_LOGE("MLSetTapThresh returned :%d\n", result);
- }
- MPL_LOGI("inv_set_tap_threshold(INV_TAP_AXIS_X, %d)\n",
- params->xTapThreshold);
- } break;
- case 'k':
- params->yTapThreshold += 20;
- // Intentionally fall through
- case 'K': {
- params->yTapThreshold -= 10;
- if (params->yTapThreshold < 0) params->yTapThreshold = 0;
- result = inv_set_tap_threshold(INV_TAP_AXIS_Y, params->yTapThreshold);
- if (INV_SUCCESS != result) {
- MPL_LOGE("MLSetTapThresh returned :%d\n", result);
- }
- MPL_LOGI("inv_set_tap_threshold(INV_TAP_AXIS_Y, %d)\n",
- params->yTapThreshold);
- } break;
- case 'i':
- params->zTapThreshold += 20;
- // Intentionally fall through
- case 'I': {
- params->zTapThreshold -= 10;
- if (params->zTapThreshold < 0) params->zTapThreshold = 0;
- result = inv_set_tap_threshold(INV_TAP_AXIS_Z, params->zTapThreshold);
- if (INV_SUCCESS != result) {
- MPL_LOGE("MLSetTapThresh returned :%d\n", result);
- }
- MPL_LOGI("inv_set_tap_threshold(INV_TAP_AXIS_Z, %d)\n",
- params->zTapThreshold);
- } break;
-
- case 'l':
- params->tapTime += 20;
- // Intentionally fall through
- case 'L': {
- params->tapTime -= 10;
- if (params->tapTime < 0) params->tapTime = 0;
- result = inv_set_next_tap_time(params->tapTime);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_next_tap_time returned :%d\n", result);
- }
- MPL_LOGI("inv_set_next_tap_time(%d)\n", params->tapTime);
- } break;
- case 'o':
- params->nextTapTime += 20;
- // Intentionally fall through
- case 'O': {
- params->nextTapTime -= 10;
- if (params->nextTapTime < 0) params->nextTapTime = 0;
- result = MLSetNextTapTime(params->nextTapTime);
- if (INV_SUCCESS != result) {
- MPL_LOGE("MLSetNextTapTime returned :%d\n", result);
- }
- MPL_LOGI("MLSetNextTapTime(%d)\n", params->nextTapTime);
- } break;
- case 'u':
- params->maxTaps += 2;
- // Intentionally fall through
- case 'U': {
- params->maxTaps -= 1;
- if (params->maxTaps < 0) params->maxTaps = 0;
- result = inv_set_max_taps(params->maxTaps);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_max_taps returned :%d\n", result);
- }
- MPL_LOGI("inv_set_max_taps(%d)\n", params->maxTaps);
- } break;
- case 's': {
- int shakeParam;
- params->shakeFunction = (params->shakeFunction + 1) % 2;
- switch (params->shakeFunction)
- {
- case 0:
- shakeParam = INV_NO_RETRACTION;
- MPL_LOGE("inv_set_shake_func(INV_NO_RETRACTION)\n");
- break;
- case 1:
- shakeParam = INV_RETRACTION;
- MPL_LOGI("inv_set_shake_func(INV_RETRACTION)\n");
- break;
- };
- result = inv_set_shake_func(shakeParam);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_shake_func returned :%d\n", result);
- }
- } break;
- case 'x':
- params->xShakeThresh += 200;
- // Intentionally fall through
- case 'X': {
- params->xShakeThresh -= 100;
- result = inv_set_shake_thresh(INV_PITCH_SHAKE, params->xShakeThresh);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_shake_thresh returned :%d\n", result);
- }
- MPL_LOGI("inv_set_shake_thresh(INV_PITCH_SHAKE, %d)\n", params->xShakeThresh);
- } break;
- case 'y':
- params->yShakeThresh += 200;
- // Intentionally fall through
- case 'Y': {
- params->yShakeThresh -= 100;
- result = inv_set_shake_thresh(INV_ROLL_SHAKE, params->yShakeThresh);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_shake_thresh returned :%d\n", result);
- }
- MPL_LOGI("inv_set_shake_thresh(INV_ROLL_SHAKE, %d)\n", params->yShakeThresh);
- } break;
- case 'z':
- params->zShakeThresh += 200;
- // Intentionally fall through
- case 'Z':{
- params->zShakeThresh -= 100;
- result = inv_set_shake_thresh(INV_YAW_SHAKE, params->zShakeThresh);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_shake_thresh returned :%d\n", result);
- }
- MPL_LOGI("inv_set_shake_thresh(INV_YAW_SHAKE, %d)\n",params->zShakeThresh);
- } break;
- case 'r':
- params->ySnapThresh += 20;
- // Intentionally fall through
- case 'R': {
- params->ySnapThresh -= 10;
- result = inv_set_hard_shake_thresh(INV_ROLL_SHAKE, params->ySnapThresh);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_hard_shake_thresh returned :%d\n", result);
- }
- MPL_LOGI("inv_set_hard_shake_thresh(INV_ROLL_SHAKE, %d)\n",params->ySnapThresh);
- } break;
- case 'p':
- params->xSnapThresh += 20;
- // Intentionally fall through
- case 'P': {
- params->xSnapThresh -= 10;
- result = inv_set_hard_shake_thresh(INV_PITCH_SHAKE, params->xSnapThresh);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_hard_shake_thresh returned :%d\n", result);
- }
- MPL_LOGI("inv_set_hard_shake_thresh(INV_PITCH_SHAKE, %d)\n",
- params->xSnapThresh);
- } break;
- case 'a':
- params->zSnapThresh += 20;
- case 'A': {
- params->zSnapThresh -= 10;
- result = inv_set_hard_shake_thresh(INV_YAW_SHAKE, params->zSnapThresh);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_hard_shake_thresh returned :%d\n", result);
- }
- MPL_LOGI("inv_set_hard_shake_thresh(INV_YAW_SHAKE, %d)\n",params->zSnapThresh);
- } break;
-
- case 't':
- params->shakeTime += 20;
- case 'T':{
- params->shakeTime -= 10;
- result = inv_set_shake_time(params->shakeTime);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_shake_time returned :%d\n", result);
- }
- MPL_LOGI("inv_set_shake_time(%d)\n", params->shakeTime);
- } break;
- case 'n':
- params->nextShakeTime += 20;
- case 'N':{
- params->nextShakeTime -= 10;
- result = inv_set_next_shake_time(params->nextShakeTime);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_next_shake_time returned :%d\n", result);
- }
- MPL_LOGI("inv_set_next_shake_time(%d)\n", params->nextShakeTime);
- } break;
- case 'm':
- params->maxShakes += 2;
- case 'M':{
- params->maxShakes -= 1;
- result = inv_set_max_shakes(INV_SHAKE_ALL, params->maxShakes);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_max_shakes returned :%d\n", result);
- }
- MPL_LOGI("inv_set_max_shakes(%d)\n", params->maxShakes);
- } break;
- case 'e':
- params->yawRotateTime += 20;
- case 'E':{
- params->yawRotateTime -= 10;
- result = inv_set_yaw_rotate_time(params->yawRotateTime);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_yaw_rotate_time returned :%d\n", result);
- }
- MPL_LOGI("inv_set_yaw_rotate_time(%d)\n", params->yawRotateTime);
- } break;
- case 'w':
- params->yawRotateThreshold += 2;
- case 'W':{
- params->yawRotateThreshold -= 1;
- result = inv_set_yaw_rotate_thresh(params->yawRotateThreshold);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_yaw_rotate_thresh returned :%d\n", result);
- }
- MPL_LOGI("inv_set_yaw_rotate_thresh(%d)\n", params->yawRotateThreshold);
- } break;
- case 'c':
- params->shakeRejectValue += 0.20f;
- case 'C':{
- params->shakeRejectValue -= 0.10f;
- result = inv_set_tap_shake_reject(params->shakeRejectValue);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_tap_shake_reject returned :%d\n", result);
- }
- MPL_LOGI("inv_set_tap_shake_reject(%f)\n", params->shakeRejectValue);
- } break;
- case 'd':
- params->orientationThreshold += 10;
- case 'D':{
- params->orientationThreshold -= 5;
- if (params->orientationThreshold > 90) {
- params->orientationThreshold = 90;
- }
-
- if (params->orientationThreshold < 0 ) {
- params->orientationThreshold = 0;
- }
-
- result = inv_set_orientation_thresh(params->orientationThreshold,
- 5, 80,
- INV_X_AXIS | INV_Y_AXIS | INV_Z_AXIS);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_orientation_thresh returned :%d\n", result);
- }
- MPL_LOGI("inv_set_orientation_thresh(%f, %d, %d,"
- " INV_X_AXIS | INV_Y_AXIS | INV_Z_AXIS)\n",
- params->orientationThreshold, 5, 80);
- } break;
- case 'f':
- result = inv_set_fifo_rate(inv_get_fifo_rate() + 1);
- MPL_LOGI("inv_set_fifo_rate(%d)\n",inv_get_fifo_rate());
- break;
- case 'F':
- {
- unsigned short newRate = inv_get_fifo_rate();
- if (newRate > 0)
- newRate--;
- result = inv_set_fifo_rate(newRate);
- MPL_LOGI("inv_set_fifo_rate(%d)\n",inv_get_fifo_rate());
- break;
- }
- case 'S':
- params->sensorsIndex++;
- if (params->sensorsIndex >= ARRAY_SIZE(sensors)) {
- params->sensorsIndex = 0;
- }
- result = inv_set_mpu_sensors(
- sensors[params->sensorsIndex] & params->available_sensors);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- MPL_LOGI("%d = inv_set_mpu_sensors(%s)\n", result,
- sensors_string[params->sensorsIndex]);
- break;
- case 'h':
- case 'H': {
- PrintGestureMenu(params);
- } break;
- default: {
- result = INV_ERROR;
- } break;
- };
- return result;
-}
-
-/**
- * Initializes the tGestureMenuParams to a set of defaults.
- *
- * @param params The parameters to initialize.
- */
-void GestureMenuSetDefaults(tGestureMenuParams * const params)
-{
- params->xTapThreshold = 100;
- params->yTapThreshold = 100;
- params->zTapThreshold = 100;
- params->tapTime = 100;
- params->nextTapTime = 600;
- params->maxTaps = 2;
- params->shakeRejectValue = 0.8f;
- params->xShakeThresh = 750;
- params->yShakeThresh = 750;
- params->zShakeThresh = 750;
- params->xSnapThresh = 160;
- params->ySnapThresh = 320;
- params->zSnapThresh = 160;
- params->shakeTime = 100;
- params->nextShakeTime = 1000;
- params->shakeFunction = 0;
- params->maxShakes = 3;
- params->yawRotateTime = 80;
- params->yawRotateThreshold = 70;
- params->orientationThreshold = 60;
- params->sensorsIndex = 0;
- params->available_sensors = INV_NINE_AXIS;
-}
-
-void GestureMenuSetAvailableSensors(tGestureMenuParams * const params,
- unsigned long available_sensors)
-{
- params->available_sensors = available_sensors;
-}
-/**
- * Call the appropriate MPL set threshold functions and checkes the error codes
- *
- * @param params The parametrs to use in setting the thresholds
- *
- * @return INV_SUCCESS or the first error code encountered.
- */
-inv_error_t GestureMenuSetMpl(tGestureMenuParams const * const params)
-{
- inv_error_t result = INV_SUCCESS;
-
- result = inv_set_tap_threshold(INV_TAP_AXIS_X, params->xTapThreshold);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_tap_threshold returned :%d\n", result);
- return result;
- }
- result = inv_set_tap_threshold(INV_TAP_AXIS_Y, params->yTapThreshold);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_tap_threshold returned :%d\n", result);
- return result;
- }
- result = inv_set_tap_threshold(INV_TAP_AXIS_Z, params->zTapThreshold);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_tap_threshold returned :%d\n", result);
- return result;
- }
- result = inv_set_next_tap_time(params->tapTime);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_next_tap_time returned :%d\n", result);
- return result;
- }
- result = MLSetNextTapTime(params->nextTapTime);
- if (INV_SUCCESS != result) {
- MPL_LOGE("MLSetNextTapTime returned :%d\n", result);
- return result;
- }
- result = inv_set_max_taps(params->maxTaps);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_max_taps returned :%d\n", result);
- return result;
- }
- result = inv_set_tap_shake_reject(params->shakeRejectValue);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_tap_shake_reject returned :%d\n", result);
- return result;
- }
-
- //Set up shake gesture
- result = inv_set_shake_func(params->shakeFunction);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_shake_func returned :%d\n", result);
- return result;
- }
- result = inv_set_shake_thresh(INV_ROLL_SHAKE, params->xShakeThresh);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_shake_thresh returned :%d\n", result);
- return result;
- }
- result = inv_set_shake_thresh(INV_PITCH_SHAKE, params->yShakeThresh);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_shake_thresh returned :%d\n", result);
- return result;
- }
- result = inv_set_shake_thresh(INV_YAW_SHAKE, params->zShakeThresh);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_shake_thresh returned :%d\n", result);
- return result;
- }
- result = inv_set_shake_time(params->shakeTime);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_shake_time returned :%d\n", result);
- return result;
- }
- result = inv_set_next_shake_time(params->nextShakeTime);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_next_shake_time returned :%d\n", result);
- return result;
- }
- result = inv_set_max_shakes(INV_SHAKE_ALL,params->maxShakes);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_max_shakes returned :%d\n", result);
- return result;
- }
-
- // Yaw rotate settings
- result = inv_set_yaw_rotate_time(params->yawRotateTime);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_yaw_rotate_time returned :%d\n", result);
- return result;
- }
- result = inv_set_yaw_rotate_thresh(params->yawRotateThreshold);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_yaw_rotate_thresh returned :%d\n", result);
- return result;
- }
-
- // Orientation settings
- result = inv_set_orientation_thresh(params->orientationThreshold, 5, 80,
- INV_X_AXIS | INV_Y_AXIS | INV_Z_AXIS);
- if (INV_SUCCESS != result) {
- MPL_LOGE("inv_set_orientation_thresh returned: %d\n", result);
- return result;
- }
-
- // Requested Sensors
- result = inv_set_mpu_sensors(
- sensors[params->sensorsIndex] & params->available_sensors);
- if (INV_SUCCESS != result) {
- MPL_LOGE("MLSetMPUSesnors returned: %d %lx\n", result,
- sensors[params->sensorsIndex] & params->available_sensors);
- return result;
- }
-
- return INV_SUCCESS;
-}
-
-void PrintGesture(tGesture* gesture)
-{
- float speed;
- char type[1024];
- switch (gesture->type)
- {
- case INV_TAP:
- {
- if (gesture->meta < 0) {
- snprintf(type,sizeof(type),"-");
- } else {
- snprintf(type,sizeof(type),"+");
- }
-
- switch (ABS(gesture->meta))
- {
- case 1:
- strcat(type,"X");
- break;
- case 2:
- strcat(type,"Y");
- break;
- case 3:
- strcat(type,"Z");
- break;
- default:
- strcat(type,"ERROR");
- break;
- };
- MPL_LOGI("TAP: %s %2d, X: %6d Y: %6d Z: %6d XY: %6.2f, YZ: %6.2f, XZ: %6.2f\n",
- type,
- gesture->num,
- gesture->strength,
- gesture->speed,
- gesture->reserved,
- (180 / M_PI) * atan2(
- (float)gesture->strength, (float)gesture->speed),
- (180 / M_PI) * atan2(
- (float)gesture->speed, (float)gesture->reserved),
- (180 / M_PI) * atan2(
- (float)gesture->strength, (float)gesture->reserved)
- );
- }
- break;
- case INV_ROLL_SHAKE:
- case INV_PITCH_SHAKE:
- case INV_YAW_SHAKE:
- {
- if (gesture->strength){
- snprintf(type, sizeof(type), "Snap : ");
- } else {
- snprintf(type, sizeof(type), "Shake: ");
- }
-
- if (gesture->meta==0) {
- strcat(type, "+");
- } else {
- strcat(type, "-");
- }
-
- if (gesture->type == INV_ROLL_SHAKE) {
- strcat(type, "Roll ");
- } else if (gesture->type == INV_PITCH_SHAKE) {
- strcat(type, "Pitch ");
- } else if (gesture->type == INV_YAW_SHAKE) {
- strcat(type, "Yaw ");
- }
-
- speed = (float)gesture->speed +
- (float)(gesture->reserved / (float)(1 << 16));
- MPL_LOGI("%s:%3d (speed: %8.2f)\n",type, gesture->num, speed);
- }
- break;
- case INV_YAW_IMAGE_ROTATE:
- {
- if (gesture->meta == 0) {
- snprintf(type, sizeof(type), "Positive ");
- } else {
- snprintf(type, sizeof(type), "Negative ");
- }
- MPL_LOGI("%s Yaw Image Rotation\n", type);
- }
- break;
- default:
- MPL_LOGE("Unknown Gesture received\n");
- break;
- }
-}
-
-/**
- * Prints the new or current orientation using MPL_LOGI and remembers the last
- * orientation to print orientation flips.
- *
- * @param orientation the new or current orientation. 0 to reset.
- */
-void PrintOrientation(unsigned short orientation)
-{
- // Determine if it was a flip
- static int sLastOrientation = 0;
- int flip = orientation | sLastOrientation;
-
- if ((INV_X_UP | INV_X_DOWN) == flip) {
- MPL_LOGI("Flip about the X Axis: \n");
- } else if ((INV_Y_UP | INV_Y_DOWN) == flip) {
- MPL_LOGI("Flip about the Y axis: \n");
- } else if ((INV_Z_UP | INV_Z_DOWN) == flip) {
- MPL_LOGI("Flip about the Z axis: \n");
- }
- sLastOrientation = orientation;
-
- switch (orientation) {
- case INV_X_UP:
- MPL_LOGI("X Axis is up\n");
- break;
- case INV_X_DOWN:
- MPL_LOGI("X Axis is down\n");
- break;
- case INV_Y_UP:
- MPL_LOGI("Y Axis is up\n");
- break;
- case INV_Y_DOWN:
- MPL_LOGI("Y Axis is down\n");
- break;
- case INV_Z_UP:
- MPL_LOGI("Z Axis is up\n");
- break;
- case INV_Z_DOWN:
- MPL_LOGI("Z Axis is down\n");
- break;
- case 0:
- break; /* Not an error. Resets sLastOrientation */
- default:
- MPL_LOGE("%s: Unreconized orientation %hx\n", __func__, orientation);
- break;
- }
-}
-
-
diff --git a/libsensors_iio/software/simple_apps/common/gestureMenu.h b/libsensors_iio/software/simple_apps/common/gestureMenu.h
deleted file mode 100644
index 8f804e1..0000000
--- a/libsensors_iio/software/simple_apps/common/gestureMenu.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-/***************************************************************************** *
- * $Id: gestureMenu.h 5705 2011-06-28 19:32:29Z nroyer $
- ******************************************************************************/
-/**
- * @defgroup
- * @brief
- *
- * @{
- * @file gestureMenu.h
- * @brief
- *
- *
- */
-
-#ifndef __GESTUREMENU_H__
-#define __GESTUREMENU_H__
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************/
- typedef struct sGestureMenuParams {
- /* Tap Params */
- int xTapThreshold;
- int yTapThreshold;
- int zTapThreshold;
- int tapTime;
- int nextTapTime;
- int maxTaps;
- float shakeRejectValue;
-
- /* Shake Params */
- int xShakeThresh;
- int yShakeThresh;
- int zShakeThresh;
- int xSnapThresh;
- int ySnapThresh;
- int zSnapThresh;
- int shakeTime;
- int nextShakeTime;
- int shakeFunction;
- int maxShakes;
-
- /* Yaw rotate params */
- int yawRotateTime;
- int yawRotateThreshold;
-
- /* Orientation */
- float orientationThreshold;
- int sensorsIndex;
- unsigned long available_sensors;
- } tGestureMenuParams;
-
- void PrintGestureMenu(tGestureMenuParams const * const params) ;
- inv_error_t GestureMenuProcessChar(tGestureMenuParams * const params,char ch);
- void PrintGesture(gesture_t* gesture);
- void PrintOrientation(unsigned short orientation);
- void GestureMenuSetDefaults(tGestureMenuParams * const params);
- void GestureMenuSetAvailableSensors(tGestureMenuParams * const params,
- unsigned long available_sensors);
- inv_error_t GestureMenuSetMpl(tGestureMenuParams const * const params);
-
-/******************************************************************************/
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __GESTUREMENU_H__
diff --git a/libsensors_iio/software/simple_apps/common/helper.c b/libsensors_iio/software/simple_apps/common/helper.c
deleted file mode 100644
index 4d634bd..0000000
--- a/libsensors_iio/software/simple_apps/common/helper.c
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-/*******************************************************************************
- *
- * $Id: helper.c 4367 2010-12-21 03:02:55Z prao $
- *
- *******************************************************************************/
-
-#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>
-
-#include "ml.h"
-#include "slave.h"
-#include "mldl.h"
-#include "mltypes.h"
-#include "mlstates.h"
-#include "compass.h"
-
-#include "mlsl.h"
-#include "ml.h"
-
-#include "helper.h"
-#include "mlsetup.h"
-#include "fopenCMake.h"
-#include "int.h"
-#include "mlos.h"
-
-#include "log.h"
-#undef MPL_LOG_TAG
-#define MPL_LOG_TAG "MPL-helper"
-
-#ifdef AIO
-extern inv_error_t MLSLSetYamahaCompassDataMode(unsigned char mode);
-#endif
-
-// Keyboard hit function
-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
-}
-struct mpuirq_data** InterruptPoll(int *handles, int numHandles, long tv_sec, long tv_usec)
-{
- struct mpuirq_data **data;
- void *tmp;
- int ii;
- const int irq_data_size = sizeof(**data) * numHandles +
- sizeof(*data) * numHandles;
-
- tmp = (void *)inv_malloc(irq_data_size);
- memset(tmp, 0, irq_data_size);
- data = (struct mpuirq_data **)tmp;
- for (ii = 0; ii < numHandles; ii++) {
- data[ii] = (struct mpuirq_data *)((unsigned long)tmp +
- (sizeof(*data) * numHandles) + sizeof(**data) * ii);
- }
-
- if (IntProcess(handles, numHandles, data, tv_sec, tv_usec) > 0) {
- for (ii = 0; ii < numHandles; ii++) {
- if (data[ii]->interruptcount) {
- inv_interrupt_handler(ii);
- }
- }
- }
-
- /* Return data incase the application needs to look at the timestamp or
- other part of the data */
- return data;
-}
-
-void InterruptPollDone(struct mpuirq_data ** data)
-{
- inv_free(data);
-}
diff --git a/libsensors_iio/software/simple_apps/common/helper.h b/libsensors_iio/software/simple_apps/common/helper.h
deleted file mode 100644
index b2da520..0000000
--- a/libsensors_iio/software/simple_apps/common/helper.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/*******************************************************************************
- *
- * $Id: helper-customer.h 5770 2011-07-14 01:34:10Z mcaramello $
- *
- *******************************************************************************/
-
-#ifndef HELPER_C_H
-#define HELPER_C_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "mltypes.h"
-#include "mlerrorcode.h"
-
-/*
- Defines
-*/
-
-#define CALL_N_CHECK(f) { \
- unsigned int r35uLt = f; \
- if(INV_SUCCESS != r35uLt) { \
- printf("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) { \
- printf("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) { \
- unsigned int r35uLt = f; \
- if(INV_SUCCESS != r35uLt) { \
- printf("Error in file %s, line %d : %s returned code %s (#%d)\n", \
- __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt); \
- return; \
- } \
-}
-
-#define CALL_CHECK_N_EXIT(f) { \
- unsigned int r35uLt = f; \
- if(INV_SUCCESS != r35uLt) { \
- printf("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) { \
- printf("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) { \
- printf("Error in file %s, line %d : %s returned code %s (#%d)\n", \
- __FILE__, __LINE__, #f, MLErrorCode(r35uLt), r35uLt); \
- goto label; \
- } \
-}
-
-#define DEFAULT_PLATFORM PLATFORM_ID_MSB_V2
-#define DEFAULT_ACCEL_ID ACCEL_ID_KXTF9
-#define DEFAULT_COMPASS_ID COMPASS_ID_AK8975
-
-#define DataLogger(x) NULL
-#define DataLoggerSelector(x) //
-#define DataLoggerCb(x) NULL
-#define findComm() (9)
-#define MenuHwChoice(p,a,c) (*p = DEFAULT_PLATFORM, *a = DEFAULT_ACCEL_ID, \
- *c = DEFAULT_COMPASS_ID, INV_ERROR)
-
- char ConsoleGetChar(void);
- int ConsoleKbhit(void);
- struct mpuirq_data **InterruptPoll(
- int *handles, int numHandles, long tv_sec, long tv_usec);
- void InterruptPollDone(struct mpuirq_data ** data);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // HELPER_C_H
diff --git a/libsensors_iio/software/simple_apps/common/mlerrorcode.c b/libsensors_iio/software/simple_apps/common/mlerrorcode.c
deleted file mode 100644
index 25b0df6..0000000
--- a/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/libsensors_iio/software/simple_apps/common/mlerrorcode.h b/libsensors_iio/software/simple_apps/common/mlerrorcode.h
deleted file mode 100644
index 9a35792..0000000
--- a/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/libsensors_iio/software/simple_apps/common/mlsetup.c b/libsensors_iio/software/simple_apps/common/mlsetup.c
deleted file mode 100644
index f11bce9..0000000
--- a/libsensors_iio/software/simple_apps/common/mlsetup.c
+++ /dev/null
@@ -1,1722 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-/******************************************************************************
- *
- * $Id: mlsetup.c 6113 2011-09-29 23:40:55Z jcalizo $
- *
- *****************************************************************************/
-#undef MPL_LOG_NDEBUG
-#ifdef UNITTESTING
-#define MPL_LOG_NDEBUG 1
-#else
-#define MPL_LOG_NDEBUG 0
-#endif
-
-/**
- * @defgroup MLSETUP
- * @brief The Motion Library external slaves setup override suite.
- *
- * Use these APIs to override the kernel/default settings in the
- * corresponding data structures for gyros, accel, and compass.
- *
- * @{
- * @file mlsetup.c
- * @brief The Motion Library external slaves setup override suite.
- */
-
-/* ------------------ */
-/* - Include Files. - */
-/* ------------------ */
-
-/*
- Defines
-*/
-/* these have to appear before inclusion of mpu.h */
-#define CONFIG_MPU_SENSORS_KXSD9 y // Kionix accel
-#define CONFIG_MPU_SENSORS_KXTF9 y // Kionix accel
-#define CONFIG_MPU_SENSORS_LIS331DLH y // ST accelerometer
-#define CONFIG_MPU_SENSORS_LSM303DLX_A y // ST accelerometer in LSM303DLx combo
-#define CONFIG_MPU_SENSORS_LIS3DH y // ST accelerometer
-#define CONFIG_MPU_SENSORS_BMA150 y // Bosch 150 accelerometer
-#define CONFIG_MPU_SENSORS_BMA222 y // Bosch 222 accelerometer
-#define CONFIG_MPU_SENSORS_BMA250 y // Bosch 250 accelerometer
-#define CONFIG_MPU_SENSORS_ADXL34X y // AD 345 or 346 accelerometer
-#define CONFIG_MPU_SENSORS_MMA8450 y // Freescale MMA8450 accelerometer
-#define CONFIG_MPU_SENSORS_MMA845X y // Freescale MMA845X accelerometer
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || defined CONFIG_MPU_SENSORS_MPU6050B1
-#define CONFIG_MPU_SENSORS_MPU6050_ACCEL y // Invensense MPU6050 built-in accelerometer
-#endif
-
-#define CONFIG_MPU_SENSORS_AK8975 y // AKM compass
-#define CONFIG_MPU_SENSORS_AMI30X y // AICHI AMI304/305 compass
-#define CONFIG_MPU_SENSORS_AMI306 y // AICHI AMI306 compass
-#define CONFIG_MPU_SENSORS_HMC5883 y // Honeywell compass
-#define CONFIG_MPU_SENSORS_LSM303DLX_M y // ST compass in LSM303DLx combo
-#define CONFIG_MPU_SENSORS_YAS529 y // Yamaha compass
-#define CONFIG_MPU_SENSORS_YAS530 y // Yamaha compass
-#define CONFIG_MPU_SENSORS_MMC314X y // MEMSIC compass
-#define CONFIG_MPU_SENSORS_HSCDTD002B y // ALPS compass
-#define CONFIG_MPU_SENSORS_HSCDTD004A y // ALPS HSCDTD004A compass
-
-#define CONFIG_MPU_SENSORS_BMA085 y // Bosch 085 pressure
-
-#include "external_hardware.h"
-
-#include <stdio.h>
-#include <string.h>
-
-#include "slave.h"
-#include "compass.h"
-#include "log.h"
-#undef MPL_LOG_TAG
-#define MPL_LOG_TAG "MPL-mlsetup"
-
-#include "linux/mpu.h"
-
-#include "mlsetup.h"
-
-#ifdef LINUX
-#include "errno.h"
-#endif
-
-/* Override these structures from mldl.c */
-extern struct ext_slave_descr g_slave_accel;
-extern struct ext_slave_descr g_slave_compass;
-//extern struct ext_slave_descr g_slave_pressure;
-/* Platform Data */
-//extern struct mpu_platform_data g_pdata;
-extern struct ext_slave_platform_data g_pdata_slave_accel;
-extern struct ext_slave_platform_data g_pdata_slave_compass;
-//extern struct ext_slave_platform_data g_pdata_slave_pressure;
-signed char g_gyro_orientation[9];
-
-/*
- Typedefs
-*/
-typedef void tSetupFuncAccel(void);
-typedef void tSetupFuncCompass(void);
-typedef void tSetupFuncPressure(void);
-
-#ifdef LINUX
-#include <sys/ioctl.h>
-#endif
-
-/*********************************************************************
- Dragon - PLATFORM_ID_DRAGON_PROTOTYPE
-*********************************************************************/
-/**
- * @internal
- * @brief performs a 180' rotation around Z axis to reflect
- * usage of the multi sensor board (MSB) with the
- * beagleboard
- * @note assumes well formed mounting matrix, with only
- * one 1 for each row.
- */
-static void Rotate180DegAroundZAxis(signed char matrix[])
-{
- int ii;
- for(ii=0; ii<6; ii++) {
- matrix[ii] = -matrix[ii];
- }
-}
-
-/**
- * @internal
- * Sets the orientation based on the position of the mounting. For different
- * devices the relative position to pin 1 will be different.
- *
- * Positions are:
- * - 0-3 are Z up
- * - 4-7 are Z down
- * - 8-11 are Z right
- * - 12-15 are Z left
- * - 16-19 are Z front
- * - 20-23 are Z back
- *
- * @param position The position of the orientation
- * @param orientation the location to store the new oreintation
- */
-static inv_error_t SetupOrientation(unsigned int position,
- signed char *orientation)
-{
- memset(orientation, 0, 9);
- switch (position){
- case 0:
- /*-------------------------*/
- orientation[0] = +1;
- orientation[4] = +1;
- orientation[8] = +1;
- break;
- case 1:
- /*-------------------------*/
- orientation[1] = +1;
- orientation[3] = -1;
- orientation[8] = +1;
- break;
- case 2:
- /*-------------------------*/
- orientation[0] = -1;
- orientation[4] = -1;
- orientation[8] = +1;
- break;
- case 3:
- /*-------------------------*/
- orientation[1] = -1;
- orientation[3] = +1;
- orientation[8] = +1;
- break;
- case 4:
- /*-------------------------*/
- orientation[0] = -1;
- orientation[4] = +1;
- orientation[8] = -1;
- break;
- case 5:
- /*-------------------------*/
- orientation[1] = -1;
- orientation[3] = -1;
- orientation[8] = -1;
- break;
- case 6:
- /*-------------------------*/
- orientation[0] = +1;
- orientation[4] = -1;
- orientation[8] = -1;
- break;
- case 7:
- /*-------------------------*/
- orientation[1] = +1;
- orientation[3] = +1;
- orientation[8] = -1;
- break;
- case 8:
- /*-------------------------*/
- orientation[2] = +1;
- orientation[3] = +1;
- orientation[7] = +1;
- break;
- case 9:
- /*-------------------------*/
- orientation[2] = +1;
- orientation[4] = +1;
- orientation[6] = -1;
- break;
- case 10:
- orientation[2] = +1;
- orientation[3] = -1;
- orientation[7] = -1;
- break;
- case 11:
- orientation[2] = +1;
- orientation[4] = -1;
- orientation[6] = +1;
- break;
- case 12:
- orientation[2] = -1;
- orientation[3] = -1;
- orientation[7] = +1;
- break;
- case 13:
- orientation[2] = -1;
- orientation[4] = -1;
- orientation[6] = -1;
- break;
- case 14:
- orientation[2] = -1;
- orientation[3] = +1;
- orientation[7] = -1;
- break;
- case 15:
- orientation[2] = -1;
- orientation[4] = +1;
- orientation[6] = +1;
- break;
- case 16:
- orientation[0] = -1;
- orientation[5] = +1;
- orientation[7] = +1;
- break;
- case 17:
- orientation[1] = -1;
- orientation[5] = +1;
- orientation[6] = -1;
- break;
- case 18:
- orientation[0] = +1;
- orientation[5] = -1;
- orientation[7] = -1;
- break;
- case 19:
- orientation[1] = -1;
- orientation[5] = +1;
- orientation[6] = +1;
- break;
- case 20:
- orientation[0] = +1;
- orientation[5] = -1;
- orientation[7] = +1;
- break;
- case 21:
- orientation[1] = -1;
- orientation[5] = -1;
- orientation[6] = +1;
- break;
- case 22:
- orientation[0] = -1;
- orientation[5] = -1;
- orientation[7] = -1;
- break;
- case 23:
- orientation[1] = +1;
- orientation[5] = -1;
- orientation[6] = -1;
- break;
- default:
- MPL_LOGE("Invalid position %d\n", position);
- LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
- return INV_ERROR_INVALID_PARAMETER;
- }
-
- return INV_SUCCESS;
-}
-
-static void PrintMountingOrientation(
- const char * header, signed char *orientation)
-{
- MPL_LOGV("%s:\n", header);
- MPL_LOGV("\t[[%3d, %3d, %3d]\n",
- orientation[0], orientation[1], orientation[2]);
- MPL_LOGV("\t [%3d, %3d, %3d]\n",
- orientation[3], orientation[4], orientation[5]);
- MPL_LOGV("\t [%3d, %3d, %3d]]\n",
- orientation[6], orientation[7], orientation[8]);
-}
-
-/*****************************
- * Accel Setup Functions *
- *****************************/
-
-static inv_error_t SetupAccelSTLIS331Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- case PLATFORM_ID_SPIDER_PROTOTYPE:
- position = 5;
- break;
- case PLATFORM_ID_ST_6AXIS:
- position = 0;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_accel.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_accel = *lis331_get_slave_descr();
-#endif
- g_pdata_slave_accel.address = ACCEL_SLAVEADDR_LIS331;
- return INV_SUCCESS;
-}
-
-static inv_error_t SetupAccelSTLIS3DHCalibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- case PLATFORM_ID_SPIDER_PROTOTYPE:
- position = 1;
- break;
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- position = 3;
- break;
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_accel.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_accel = *lis3dh_get_slave_descr();
-#endif
- g_pdata_slave_accel.address = ACCEL_SLAVEADDR_LIS3DH;
- return result;
-}
-
-static inv_error_t SetupAccelKionixKXSD9Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- position = 7;
- break;
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_accel.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_accel = *kxsd9_get_slave_descr();
-#endif
- g_pdata_slave_accel.address = ACCEL_SLAVEADDR_KXSD9;
- return result;
-}
-
-static inv_error_t SetupAccelKionixKXTF9Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB_EVB:
- position =0;
- break;
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- case PLATFORM_ID_SPIDER_PROTOTYPE:
- position = 7;
- break;
-#ifdef WIN32
- case PLATFORM_ID_DONGLE:
- position = 1;
- break;
-#endif
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- position = 1;
- break;
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_accel.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_accel = *kxtf9_get_slave_descr();
-#endif
- g_pdata_slave_accel.address = ACCEL_SLAVEADDR_KXTF9;
- return result;
-}
-
-static inv_error_t SetupAccelLSM303Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- position = 3;
- break;
- case PLATFORM_ID_MSB_V2:
- position = 1;
- break;
- case PLATFORM_ID_MSB_10AXIS:
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- };
-
- result = SetupOrientation(position, g_pdata_slave_accel.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_accel = *lsm303dlx_a_get_slave_descr();
-#endif
- g_pdata_slave_accel.address = ACCEL_SLAVEADDR_LSM303;
- return result;
-}
-
-static inv_error_t SetupAccelBMA150Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- position = 6;
- break;
-#ifdef WIN32
- case PLATFORM_ID_DONGLE:
- position = 3;
- break;
-#endif
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_accel.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_accel = *bma150_get_slave_descr();
-#endif
- g_pdata_slave_accel.address = ACCEL_SLAVEADDR_BMA150;
- return result;
-}
-
-static inv_error_t SetupAccelBMA222Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- position = 0;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_accel.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_accel = *bma222_get_slave_descr();
-#endif
- g_pdata_slave_accel.address = ACCEL_SLAVEADDR_BMA222;
- return result;
-}
-
-static inv_error_t SetupAccelBMA250Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- position = 0;
- break;
- case PLATFORM_ID_SPIDER_PROTOTYPE:
- position = 3;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
-
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_accel.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_accel = *bma250_get_slave_descr();
-#endif
- g_pdata_slave_accel.address = ACCEL_SLAVEADDR_BMA250;
- return result;
-}
-
-static inv_error_t SetupAccelADXL34XCalibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- position = 6;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_accel.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_accel = *adxl34x_get_slave_descr();
-#endif
- g_pdata_slave_accel.address = ACCEL_SLAVEADDR_ADXL34X;
- return result;
-}
-
-
-static inv_error_t SetupAccelMMA8450Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- position = 5;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_accel.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_accel = *mma8450_get_slave_descr();
-#endif
- g_pdata_slave_accel.address = ACCEL_SLAVEADDR_MMA8450;
- return result;
-}
-
-
-static inv_error_t SetupAccelMMA845XCalibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- position = 5;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_accel.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_accel = *mma845x_get_slave_descr();
-#endif
- g_pdata_slave_accel.address = ACCEL_SLAVEADDR_MMA845X;
- return result;
-}
-
-
-/**
- * @internal
- * Sets up the orientation matrix according to how the gyro was
- * mounted.
- *
- * @param platforId Platform identification for mounting information
- * @return INV_SUCCESS or non-zero error code
- */
-static inv_error_t SetupAccelMPU6050Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- case PLATFORM_ID_MANTIS_MSB:
- position = 6;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_DRAGON_USB_DONGLE:
- position = 1;
- break;
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- case PLATFORM_ID_MANTIS_EVB:
- position = 0;
- break;
- case PLATFORM_ID_MSB_V3:
- position = 2;
- break;
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- return INV_ERROR_INVALID_PARAMETER;
- };
-
- SetupOrientation(position, g_pdata_slave_accel.orientation);
- /* Interrupt */
-#ifndef LINUX
-#if defined CONFIG_MPU_SENSORS_MPU6050A2 || defined CONFIG_MPU_SENSORS_MPU6050B1
- // g_slave_accel = // fixme *mpu6050_get_slave_descr();
-#endif
-#endif
- g_pdata_slave_accel.address = 0x68;
- return result;
-}
-
-/*****************************
- Compass Setup Functions
-******************************/
-static inv_error_t SetupCompassAKM8975Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- case PLATFORM_ID_MANTIS_MSB:
- position = 2;
- break;
-#ifdef WIN32
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- position = 4;
- break;
-#endif
- case PLATFORM_ID_SPIDER_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- position = 7;
- break;
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V3:
- case PLATFORM_ID_MSB_V2_MANTIS:
- position = 6;
- break;
- case PLATFORM_ID_DRAGON_USB_DONGLE:
- case PLATFORM_ID_MSB_EVB:
- position = 5;
- break;
- case PLATFORM_ID_MANTIS_EVB:
- position = 4;
- break;
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_compass.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_compass = *ak8975_get_slave_descr();
-#endif
- g_pdata_slave_compass.address = COMPASS_SLAVEADDR_AKM;
- return result;
-}
-
-static inv_error_t SetupCompassMMCCalibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- position = 7;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_compass.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_compass = *mmc314x_get_slave_descr();
-#endif
- g_pdata_slave_compass.address = COMPASS_SLAVEADDR_MMC314X;
- return result;
-}
-
-static inv_error_t SetupCompassAMI304Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- position = 4;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_compass.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- g_pdata_slave_compass.address = COMPASS_SLAVEADDR_AMI304;
-#ifndef LINUX
- g_slave_compass = *ami30x_get_slave_descr();
-#endif
- return result;
-}
-
-static inv_error_t SetupCompassAMI306Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- case PLATFORM_ID_SPIDER_PROTOTYPE:
- position = 3;
- break;
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- position = 1;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_compass.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_compass = *ami306_get_slave_descr();
-#endif
- g_pdata_slave_compass.address = COMPASS_SLAVEADDR_AMI306;
- return result;
-}
-
-static inv_error_t SetupCompassHMC5883Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- position = 6;
- break;
-#ifdef WIN32
- case PLATFORM_ID_DONGLE:
- position = 2;
- break;
-#endif
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
-
- result = SetupOrientation(position, g_pdata_slave_compass.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_compass = *hmc5883_get_slave_descr();
-#endif
- g_pdata_slave_compass.address = COMPASS_SLAVEADDR_HMC5883;
- return result;
-}
-
-
-static inv_error_t SetupCompassLSM303DLHCalibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_10AXIS:
- position = 1;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
-
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- };
- result = SetupOrientation(position, g_pdata_slave_compass.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-#ifndef LINUX
- g_slave_compass = *lsm303dlx_m_get_slave_descr();
- g_slave_compass.id = COMPASS_ID_LSM303DLH;
-#endif
- g_pdata_slave_compass.address = COMPASS_SLAVEADDR_HMC5883;
- return result;
-}
-
-static inv_error_t SetupCompassLSM303DLMCalibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- position = 8;
- break;
- case PLATFORM_ID_MSB_V2:
- position = 12;
- break;
- case PLATFORM_ID_MSB_10AXIS:
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- };
- result = SetupOrientation(position, g_pdata_slave_compass.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_compass = *lsm303dlx_m_get_slave_descr();
- g_slave_compass.id = COMPASS_ID_LSM303DLM;
-#endif
- g_pdata_slave_compass.address = COMPASS_SLAVEADDR_HMC5883;
- return result;
-}
-
-static inv_error_t SetupCompassYAS530Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- position = 1;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
- result = SetupOrientation(position, g_pdata_slave_compass.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_compass = *yas530_get_slave_descr();
-#endif
- g_pdata_slave_compass.address = COMPASS_SLAVEADDR_YAS530;
- return result;
-}
-
-static inv_error_t SetupCompassYAS529Calibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- position = 6;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
- result = SetupOrientation(position, g_pdata_slave_compass.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_compass = *yas529_get_slave_descr();
-#endif
- g_pdata_slave_compass.address = COMPASS_SLAVEADDR_YAS529;
- return result;
-}
-
-
-static inv_error_t SetupCompassHSCDTD002BCalibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- position = 2;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
- result = SetupOrientation(position, g_pdata_slave_compass.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_compass = *hscdtd002b_get_slave_descr();
-#endif
- g_pdata_slave_compass.address = COMPASS_SLAVEADDR_HSCDTD00XX;
- return result;
-}
-
-static inv_error_t SetupCompassHSCDTD004ACalibration(unsigned short platformId)
-{
- inv_error_t result = INV_SUCCESS;
- unsigned int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- position = 1;
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_MANTIS_MSB:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- LOG_RESULT_LOCATION(INV_ERROR_FEATURE_NOT_IMPLEMENTED);
- return INV_ERROR_FEATURE_NOT_IMPLEMENTED;
- };
- result = SetupOrientation(position, g_pdata_slave_compass.orientation);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
-#ifndef LINUX
- g_slave_compass = *hscdtd004a_get_slave_descr();
-#endif
- g_pdata_slave_compass.address = COMPASS_SLAVEADDR_HSCDTD00XX;
- return result;
-}
-
-
-/*****************************
- Pressure Setup Functions
-******************************/
-#if 0
-static inv_error_t SetupPressureBMA085Calibration(unsigned short platformId)
-{
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- memset(g_pdata_slave_pressure.orientation, 0, sizeof(g_pdata_slave_pressure.orientation));
-
- g_pdata_slave_pressure.bus = EXT_SLAVE_BUS_PRIMARY;
-#ifndef LINUX
- g_slave_pressure = *bma085_get_slave_descr();
-#endif
- g_pdata_slave_pressure.address = PRESSURE_SLAVEADDR_BMA085;
- return INV_SUCCESS;
-}
-#endif
-/**
- * @internal
- * Sets up the orientation matrix according to how the part was
- * mounted.
- *
- * @param platforId Platform identification for mounting information
- * @return INV_SUCCESS or non-zero error code
- */
-static inv_error_t SetupAccelCalibration(unsigned short platformId,
- unsigned short accelId)
-{
- /*---- setup the accels ----*/
- switch(accelId) {
- case ACCEL_ID_LSM303DLX:
- SetupAccelLSM303Calibration(platformId);
- break;
- case ACCEL_ID_LIS331:
- SetupAccelSTLIS331Calibration(platformId);
- break;
- case ACCEL_ID_KXSD9:
- SetupAccelKionixKXSD9Calibration(platformId);
- break;
- case ACCEL_ID_KXTF9:
- SetupAccelKionixKXTF9Calibration(platformId);
- break;
- case ACCEL_ID_BMA150:
- SetupAccelBMA150Calibration(platformId);
- break;
- case ACCEL_ID_BMA222:
- SetupAccelBMA222Calibration(platformId);
- break;
- case ACCEL_ID_BMA250:
- SetupAccelBMA250Calibration(platformId);
- break;
- case ACCEL_ID_ADXL34X:
- SetupAccelADXL34XCalibration(platformId);
- break;
- case ACCEL_ID_MMA8450:
- SetupAccelMMA8450Calibration(platformId);
- break;
- case ACCEL_ID_MMA845X:
- SetupAccelMMA845XCalibration(platformId);
- break;
- case ACCEL_ID_LIS3DH:
- SetupAccelSTLIS3DHCalibration(platformId);
- break;
- case ACCEL_ID_MPU6050:
- SetupAccelMPU6050Calibration(platformId);
- break;
- case ID_INVALID:
- break;
- default:
- LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
- return INV_ERROR_INVALID_PARAMETER;
- }
-
- if (accelId != ID_INVALID && accelId != ACCEL_ID_MPU6050) {
- g_pdata_slave_accel.bus = EXT_SLAVE_BUS_SECONDARY;
- } else if (accelId != ACCEL_ID_MPU6050) {
- g_pdata_slave_accel.bus = EXT_SLAVE_BUS_PRIMARY;
- }
-
-#ifndef WIN32
- if (accelId != ID_INVALID)
- Rotate180DegAroundZAxis(g_pdata_slave_accel.orientation);
-#endif
-
- return INV_SUCCESS;
-}
-
-/**
- * @internal
- * Sets up the orientation matrix according to how the part was
- * mounted.
- *
- * @param platforId Platform identification for mounting information
- * @return INV_SUCCESS or non-zero error code
- */
-inv_error_t SetupCompassCalibration(unsigned short platformId,
- unsigned short compassId)
-{
- /*---- setup the compass ----*/
- switch(compassId) {
- case COMPASS_ID_AK8975:
- SetupCompassAKM8975Calibration(platformId);
- break;
- case COMPASS_ID_AMI30X:
- SetupCompassAMI304Calibration(platformId);
- break;
- case COMPASS_ID_AMI306:
- SetupCompassAMI306Calibration(platformId);
- break;
- case COMPASS_ID_LSM303DLH:
- SetupCompassLSM303DLHCalibration(platformId);
- break;
- case COMPASS_ID_LSM303DLM:
- SetupCompassLSM303DLMCalibration(platformId);
- break;
- case COMPASS_ID_HMC5883:
- SetupCompassHMC5883Calibration(platformId);
- break;
- case COMPASS_ID_YAS529:
- SetupCompassYAS529Calibration(platformId);
- break;
- case COMPASS_ID_YAS530:
- SetupCompassYAS530Calibration(platformId);
- break;
- case COMPASS_ID_MMC314X:
- SetupCompassMMCCalibration(platformId);
- break;
- case COMPASS_ID_HSCDTD002B:
- SetupCompassHSCDTD002BCalibration(platformId);
- break;
- case COMPASS_ID_HSCDTD004A:
- SetupCompassHSCDTD004ACalibration(platformId);
- break;
- case ID_INVALID:
- break;
- default:
- if (INV_ERROR_INVALID_PARAMETER) {
- LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
- return INV_ERROR_INVALID_PARAMETER;
- }
- break;
- }
-
- if (platformId == PLATFORM_ID_MSB_V2_MANTIS ||
- platformId == PLATFORM_ID_MANTIS_MSB ||
- platformId == PLATFORM_ID_MANTIS_USB_DONGLE ||
- platformId == PLATFORM_ID_MANTIS_PROTOTYPE ||
- platformId == PLATFORM_ID_DRAGON_PROTOTYPE) {
- switch (compassId) {
- case ID_INVALID:
- g_pdata_slave_compass.bus = EXT_SLAVE_BUS_INVALID;
- break;
- case COMPASS_ID_AK8975:
- case COMPASS_ID_AMI306:
- g_pdata_slave_compass.bus = EXT_SLAVE_BUS_SECONDARY;
- break;
- default:
- g_pdata_slave_compass.bus = EXT_SLAVE_BUS_PRIMARY;
- };
- } else {
- g_pdata_slave_compass.bus = EXT_SLAVE_BUS_PRIMARY;
- }
-
-#ifndef WIN32
- if (compassId != ID_INVALID)
- Rotate180DegAroundZAxis(g_pdata_slave_compass.orientation);
-#endif
-
- return INV_SUCCESS;
-}
-
-/**
- * @internal
- * Sets up the orientation matrix according to how the part was
- * mounted.
- *
- * @param platforId Platform identification for mounting information
- * @return INV_SUCCESS or non-zero error code
- */
-#if 0
-inv_error_t SetupPressureCalibration(unsigned short platformId,
- unsigned short pressureId)
-{
- inv_error_t result = INV_SUCCESS;
- /*---- setup the compass ----*/
- switch(pressureId) {
- case PRESSURE_ID_BMA085:
- result = SetupPressureBMA085Calibration(platformId);
- break;
- default:
- if (INV_ERROR_INVALID_PARAMETER) {
- LOG_RESULT_LOCATION(INV_ERROR_INVALID_PARAMETER);
- return INV_ERROR_INVALID_PARAMETER;
- }
- };
-
- return result;
-}
-#endif
-/**
- * @internal
- * Sets up the orientation matrix according to how the gyro was
- * mounted.
- *
- * @param platforId Platform identification for mounting information
- * @return INV_SUCCESS or non-zero error code
- */
-static inv_error_t SetupGyroCalibration(unsigned short platformId)
-{
- int position;
- MPL_LOGV("Calibrating '%s'\n", __func__);
-
- /* Orientation */
- switch (platformId) {
- case PLATFORM_ID_SPIDER_PROTOTYPE:
- position = 2;
- break;
- case PLATFORM_ID_MSB:
- case PLATFORM_ID_MSB_10AXIS:
- case PLATFORM_ID_MANTIS_MSB:
-#ifndef WIN32
- position = 4;
-#else
- position = 6;
-#endif
- break;
- case PLATFORM_ID_DONGLE:
- case PLATFORM_ID_MANTIS_USB_DONGLE:
- position = 1;
- break;
- case PLATFORM_ID_DRAGON_USB_DONGLE:
- position = 3;
- break;
- case PLATFORM_ID_MANTIS_PROTOTYPE:
- case PLATFORM_ID_DRAGON_PROTOTYPE:
- case PLATFORM_ID_ST_6AXIS:
- case PLATFORM_ID_MSB_V2:
- case PLATFORM_ID_MSB_V2_MANTIS:
-#ifndef WIN32
- position = 2;
-#else
- position = 0;
-#endif
- break;
- case PLATFORM_ID_MANTIS_EVB:
- case PLATFORM_ID_MSB_EVB:
- position = 0;
- break;
- case PLATFORM_ID_MSB_V3:
- position = 2;
- break;
- default:
- MPL_LOGE("Unsupported platform %d\n", platformId);
- return INV_ERROR_INVALID_PARAMETER;
- };
-
- SetupOrientation(position, g_gyro_orientation);
-
- return INV_SUCCESS;
-}
-
-/**
- * @brief Setup the Hw orientation and full scale.
- * @param platfromId
- * an user defined Id to distinguish the Hw platform in
- * use from others.
- * @param accelId
- * the accelerometer specific id, as specified in the MPL.
- * @param compassId
- * the compass specific id, as specified in the MPL.
- * @return INV_SUCCESS or a non-zero error code.
- */
-inv_error_t SetupPlatform(
- unsigned short platformId,
- unsigned short accelId,
- unsigned short compassId)
-{
- int result;
-
- memset(&g_slave_accel, 0, sizeof(g_slave_accel));
- memset(&g_slave_compass, 0, sizeof(g_slave_compass));
-// memset(&g_slave_pressure, 0, sizeof(g_slave_pressure));
-// memset(&g_pdata, 0, sizeof(g_pdata));
-
-#ifdef LINUX
- /* On Linux initialize the global platform data with the driver defaults */
- {
- void *mpu_handle;
- int ii;
-
- struct ext_slave_descr *slave[EXT_SLAVE_NUM_TYPES];
- struct ext_slave_platform_data *pdata_slave[EXT_SLAVE_NUM_TYPES];
- slave[EXT_SLAVE_TYPE_GYROSCOPE] = NULL;
- slave[EXT_SLAVE_TYPE_ACCEL] = &g_slave_accel;
- slave[EXT_SLAVE_TYPE_COMPASS] = &g_slave_compass;
- //slave[EXT_SLAVE_TYPE_PRESSURE] = &g_slave_pressure;
-
- pdata_slave[EXT_SLAVE_TYPE_GYROSCOPE] = NULL;
- pdata_slave[EXT_SLAVE_TYPE_ACCEL] = &g_pdata_slave_accel;
- pdata_slave[EXT_SLAVE_TYPE_COMPASS] = &g_pdata_slave_compass;
- //pdata_slave[EXT_SLAVE_TYPE_PRESSURE] = &g_pdata_slave_pressure;
-
- MPL_LOGI("Getting the MPU_GET_PLATFORM_DATA\n");
- result = inv_serial_open("/dev/mpu",&mpu_handle);
- if (result) {
- MPL_LOGE("MPU_GET_PLATFORM_DATA failed %d\n", result);
- }
- for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
- if (!slave[ii])
- continue;
- slave[ii]->type = ii;
- result = ioctl((int)mpu_handle, MPU_GET_EXT_SLAVE_DESCR,
- slave[ii]);
- if (result)
- result = errno;
- if(result == INV_ERROR_INVALID_MODULE) {
- slave[ii] = NULL;
- result = 0;
- } else if (result) {
- LOG_RESULT_LOCATION(result);
- LOG_RESULT_LOCATION(INV_ERROR_INVALID_MODULE);
- return result;
- }
- }
- //result = ioctl((int)mpu_handle, MPU_GET_MPU_PLATFORM_DATA, &g_pdata);
- if (result) {
- result = errno;
- LOG_RESULT_LOCATION(result);
- return result;
- }
- for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
- if (!pdata_slave[ii])
- continue;
- pdata_slave[ii]->type = ii;
- result = ioctl(
- (int)mpu_handle, MPU_GET_EXT_SLAVE_PLATFORM_DATA,
- pdata_slave[ii]);
- if (result)
- result = errno;
- if (result == INV_ERROR_INVALID_MODULE) {
- pdata_slave[ii] = NULL;
- result = 0;
- } else if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- }
- if (result) {
- MPL_LOGE("MPU_GET_PLATFORM_DATA failed %d\n", result);
- }
- inv_serial_close(mpu_handle);
- }
-#endif
-
- result = SetupGyroCalibration(platformId);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- PrintMountingOrientation("Gyroscope", g_gyro_orientation);
- result = SetupAccelCalibration(platformId, accelId);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- PrintMountingOrientation("Accelerometer", g_pdata_slave_accel.orientation);
- result = SetupCompassCalibration(platformId, compassId);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- PrintMountingOrientation("Compass", g_pdata_slave_compass.orientation);
-#if 0
- if (platformId == PLATFORM_ID_MSB_10AXIS) {
- result = SetupPressureCalibration(platformId, PRESSURE_ID_BMA085);
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- PrintMountingOrientation("Pressure", g_pdata_slave_pressure.orientation);
- }
-#endif
-#ifdef LINUX
- /* On Linux override the orientation, level shifter etc */
- {
- void *mpu_handle;
- int ii;
- struct ext_slave_descr *slave[EXT_SLAVE_NUM_TYPES];
- struct ext_slave_platform_data *pdata_slave[EXT_SLAVE_NUM_TYPES];
- slave[EXT_SLAVE_TYPE_GYROSCOPE] = NULL;
- slave[EXT_SLAVE_TYPE_ACCEL] = &g_slave_accel;
- slave[EXT_SLAVE_TYPE_COMPASS] = &g_slave_compass;
- //slave[EXT_SLAVE_TYPE_PRESSURE] = &g_slave_pressure;
-
- pdata_slave[EXT_SLAVE_TYPE_GYROSCOPE] = NULL;
- pdata_slave[EXT_SLAVE_TYPE_ACCEL] = &g_pdata_slave_accel;
- pdata_slave[EXT_SLAVE_TYPE_COMPASS] = &g_pdata_slave_compass;
- //pdata_slave[EXT_SLAVE_TYPE_PRESSURE] = &g_pdata_slave_pressure;
-
- MPL_LOGI("Setting the MPU_SET_PLATFORM_DATA\n");
- result = inv_serial_open("/dev/mpu",&mpu_handle);
- if (result) {
- MPL_LOGE("MPU_SET_PLATFORM_DATA failed %d\n", result);
- }
- for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
- if (!slave[ii])
- continue;
- slave[ii]->type = ii;
- result = ioctl((int)mpu_handle, MPU_SET_EXT_SLAVE_PLATFORM_DATA,
- slave[ii]);
- if (result)
- result = errno;
- if (result == INV_ERROR_INVALID_MODULE) {
- slave[ii] = NULL;
- result = 0;
- } else if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- }
- //result = ioctl((int)mpu_handle, MPU_SET_MPU_PLATFORM_DATA, &g_pdata);
- if (result) {
- result = errno;
- LOG_RESULT_LOCATION(result);
- return result;
- }
- for (ii = 0; ii < EXT_SLAVE_NUM_TYPES; ii++) {
- if (!pdata_slave[ii])
- continue;
- pdata_slave[ii]->type = ii;
- result = ioctl((int)mpu_handle, MPU_SET_EXT_SLAVE_PLATFORM_DATA,
- pdata_slave[ii]);
- if (result)
- result = errno;
- if (result == INV_ERROR_INVALID_MODULE) {
- pdata_slave[ii] = NULL;
- result = 0;
- } else if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- }
- if (result) {
- MPL_LOGE("MPU_SET_PLATFORM_DATA failed %d\n", result);
- }
- inv_serial_close(mpu_handle);
- }
-#endif
- return INV_SUCCESS;
-}
-
-/**
- * @}
- */
-
-
diff --git a/libsensors_iio/software/simple_apps/common/mlsetup.h b/libsensors_iio/software/simple_apps/common/mlsetup.h
deleted file mode 100644
index 06fa9f4..0000000
--- a/libsensors_iio/software/simple_apps/common/mlsetup.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-
-/*******************************************************************************
- *
- * $Id: mlsetup.h 6101 2011-09-29 00:30:33Z kkatingari $
- *
- *******************************************************************************/
-
-#ifndef MLSETUP_H
-#define MLSETUP_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "linux/mpu.h"
-#include "mltypes.h"
-
- enum mpu_platform_id {
- PLATFORM_ID_INVALID = ID_INVALID, // 0
- PLATFORM_ID_MSB, // (0x0001) MSB (Multi sensors board)
- PLATFORM_ID_ST_6AXIS, // (0x0002) 6 Axis with ST accelerometer
- PLATFORM_ID_DONGLE, // (0x0003) 9 Axis USB dongle with
- PLATFORM_ID_MANTIS_PROTOTYPE, // (0x0004) Mantis prototype board
- PLATFORM_ID_MANTIS_MSB, // (0x0005) MSB with Mantis
- PLATFORM_ID_MANTIS_USB_DONGLE,// (0x0006) Mantis and AKM on USB dongle.
- PLATFORM_ID_MSB_10AXIS, // (0x0007) MSB with pressure sensor
- PLATFORM_ID_DRAGON_PROTOTYPE, // (0x0008) Dragon prototype board
- PLATFORM_ID_MSB_V2, // (0x0009) Version 2 MSB
- PLATFORM_ID_MSB_V2_MANTIS, // (0x000A) Version 2 MSB with mantis
- PLATFORM_ID_MANTIS_EVB, // (0x000B) Mantis EVB (shipped to cust.)
- PLATFORM_ID_DRAGON_USB_DONGLE,// (0x000C) Dragon USB Dongle with Mantis Rev C
- PLATFORM_ID_MSB_EVB, // (0X000D) MSB with 3050.
- PLATFORM_ID_SPIDER_PROTOTYPE,
- PLATFORM_ID_MSB_V3,
-
- NUM_PLATFORM_IDS
- };
- // Main entry APIs
-inv_error_t SetupPlatform(unsigned short platformId,
- unsigned short accelSelection,
- unsigned short compassSelection);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* MLSETUP_H */
diff --git a/libsensors_iio/software/simple_apps/common/slave.h b/libsensors_iio/software/simple_apps/common/slave.h
deleted file mode 100644
index 7b40a8c..0000000
--- a/libsensors_iio/software/simple_apps/common/slave.h
+++ /dev/null
@@ -1,176 +0,0 @@
-/*
- $License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
- $
- */
-/*******************************************************************************
- *
- * $Id: slave.h 5732 2011-07-07 01:11:34Z vbhatt $
- *
- *******************************************************************************/
-
-#ifndef SLAVE_H
-#define SLAVE_H
-
-/**
- * @addtogroup SLAVEDL
- *
- * @{
- * @file slave.h
- * @brief Top level descriptions for Accelerometer support
- *
- */
-
-#include "mltypes.h"
-#include "linux/mpu.h"
-
- /* ------------ */
- /* - Defines. - */
- /* ------------ */
-
-/*--- default accel support - selection ---*/
-#define ACCEL_ST_LIS331 0
-#define ACCEL_KIONIX_KXTF9 1
-#define ACCEL_BOSCH 0
-#define ACCEL_ADI 0
-
-#define ACCEL_SLAVEADDR_INVALID 0x00
-
-#define ACCEL_SLAVEADDR_LIS331 0x18
-#define ACCEL_SLAVEADDR_LSM303 0x18
-#define ACCEL_SLAVEADDR_LIS3DH 0x18
-#define ACCEL_SLAVEADDR_KXSD9 0x18
-#define ACCEL_SLAVEADDR_KXTF9 0x0F
-#define ACCEL_SLAVEADDR_BMA150 0x38
-#define ACCEL_SLAVEADDR_BMA222 0x08
-#define ACCEL_SLAVEADDR_BMA250 0x18
-#define ACCEL_SLAVEADDR_ADXL34X 0x53
-#define ACCEL_SLAVEADDR_ADXL34X_ALT 0x1D /* alternative addr */
-#define ACCEL_SLAVEADDR_MMA8450 0x1C
-#define ACCEL_SLAVEADDR_MMA845X 0x1C
-
-#define ACCEL_SLAVEADDR_INVENSENSE 0x68
-/*
- Define default accelerometer to use if no selection is made
-*/
-#if ACCEL_ST_LIS331
-#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_LIS331
-#define DEFAULT_ACCEL_ID ACCEL_ID_LIS331
-#endif
-
-#if ACCEL_ST_LSM303
-#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_LSM303
-#define DEFAULT_ACCEL_ID ACCEL_ID_LSM303DLX
-#endif
-
-#if ACCEL_KIONIX_KXSD9
-#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_KXSD9
-#define DEFAULT_ACCEL_ID ACCEL_ID_KXSD9
-#endif
-
-#if ACCEL_KIONIX_KXTF9
-#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_KXTF9
-#define DEFAULT_ACCEL_ID ACCEL_ID_KXTF9
-#endif
-
-#if ACCEL_BOSCH
-#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_BMA150
-#define DEFAULT_ACCEL_ID ACCEL_ID_BMA150
-#endif
-
-#if ACCEL_BMA222
-#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_BMA222
-#define DEFAULT_ACCEL_ID ACCEL_ID_BMA222
-#endif
-
-#if ACCEL_BOSCH
-#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_BMA250
-#define DEFAULT_ACCEL_ID ACCEL_ID_BMA250
-#endif
-
-#if ACCEL_ADI
-#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_ADXL34X
-#define DEFAULT_ACCEL_ID ACCEL_ID_ADXL34X
-#endif
-
-#if ACCEL_MMA8450
-#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_MMA8450
-#define DEFAULT_ACCEL_ID ACCEL_ID_MMA8450
-#endif
-
-#if ACCEL_MMA845X
-#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_MMA845X
-#define DEFAULT_ACCEL_ID ACCEL_ID_MMA845X
-#endif
-
-/*--- if no default accelerometer was selected ---*/
-#ifndef DEFAULT_ACCEL_SLAVEADDR
-#define DEFAULT_ACCEL_SLAVEADDR ACCEL_SLAVEADDR_INVALID
-#endif
-
-#define USE_COMPASS_AICHI 0
-#define USE_COMPASS_AKM 0
-#define USE_COMPASS_YAS529 0
-#define USE_COMPASS_YAS530 0
-#define USE_COMPASS_HMC5883 0
-#define USE_COMPASS_MMC314X 0
-#define USE_COMPASS_HSCDTD002B 0
-#define USE_COMPASS_HSCDTD004A 0
-
-#define COMPASS_SLAVEADDR_INVALID 0x00
-#define COMPASS_SLAVEADDR_AKM_BASE 0x0C
-#define COMPASS_SLAVEADDR_AKM 0x0E
-#define COMPASS_SLAVEADDR_AMI304 0x0E
-#define COMPASS_SLAVEADDR_AMI305 0x0F /*Slave address for AMI 305/306*/
-#define COMPASS_SLAVEADDR_AMI306 0x0E /*Slave address for AMI 305/306*/
-#define COMPASS_SLAVEADDR_YAS529 0x2E
-#define COMPASS_SLAVEADDR_YAS530 0x2E
-#define COMPASS_SLAVEADDR_HMC5883 0x1E
-#define COMPASS_SLAVEADDR_MMC314X 0x30
-#define COMPASS_SLAVEADDR_HSCDTD00XX 0x0C
-
-/*
- Define default compass to use if no selection is made
-*/
- #if USE_COMPASS_AKM
- #define DEFAULT_COMPASS_TYPE COMPASS_ID_AK8975
- #endif
-
- #if USE_COMPASS_AICHI
- #define DEFAULT_COMPASS_TYPE COMPASS_ID_AMI30X
- #endif
-
- #if USE_COMPASS_YAS529
- #define DEFAULT_COMPASS_TYPE COMPASS_ID_YAS529
- #endif
-
- #if USE_COMPASS_YAS530
- #define DEFAULT_COMPASS_TYPE COMPASS_ID_YAS530
- #endif
-
- #if USE_COMPASS_HMC5883
- #define DEFAULT_COMPASS_TYPE COMPASS_ID_HMC5883
- #endif
-
-#if USE_COMPASS_MMC314X
-#define DEFAULT_COMPASS_TYPE COMPASS_ID_MMC314X
-#endif
-
-#if USE_COMPASS_HSCDTD002B
-#define DEFAULT_COMPASS_TYPE COMPASS_ID_HSCDTD002B
-#endif
-
-#if USE_COMPASS_HSCDTD004A
-#define DEFAULT_COMPASS_TYPE COMPASS_ID_HSCDTD004A
-#endif
-
-#ifndef DEFAULT_COMPASS_TYPE
-#define DEFAULT_COMPASS_TYPE ID_INVALID
-#endif
-
-
-#endif // SLAVE_H
-
-/**
- * @}
- */
diff --git a/libsensors_iio/software/simple_apps/console/linux/build/android/consoledmp-shared b/libsensors_iio/software/simple_apps/console/linux/build/android/consoledmp-shared
deleted file mode 100644
index 228abf7..0000000
--- a/libsensors_iio/software/simple_apps/console/linux/build/android/consoledmp-shared
+++ /dev/null
Binary files differ
diff --git a/libsensors_iio/software/simple_apps/console/linux/build/android/shared.mk b/libsensors_iio/software/simple_apps/console/linux/build/android/shared.mk
deleted file mode 100644
index b1d881c..0000000
--- a/libsensors_iio/software/simple_apps/console/linux/build/android/shared.mk
+++ /dev/null
@@ -1,109 +0,0 @@
-EXEC = consoledmp$(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/libsensors_iio/software/simple_apps/console/linux/build/filelist.mk b/libsensors_iio/software/simple_apps/console/linux/build/filelist.mk
deleted file mode 100644
index b01fdfb..0000000
--- a/libsensors_iio/software/simple_apps/console/linux/build/filelist.mk
+++ /dev/null
@@ -1,23 +0,0 @@
-#### filelist.mk for console_test ####
-
-# helper headers
-HEADERS := $(COMMON_DIR)/external_hardware.h
-HEADERS += $(COMMON_DIR)/fopenCMake.h
-HEADERS += $(COMMON_DIR)/helper.h
-HEADERS += $(COMMON_DIR)/mlerrorcode.h
-HEADERS += $(COMMON_DIR)/mlsetup.h
-HEADERS += $(COMMON_DIR)/slave.h
-
-HEADERS += $(HAL_DIR)/include/mlos.h
-HEADERS += $(HAL_DIR)/include/inv_sysfs_utils.h
-
-# sources
-SOURCES := $(APP_DIR)/console_test.c
-
-# helper sources
-SOURCES += $(HAL_DIR)/linux/inv_sysfs_utils.c
-SOURCES += $(HAL_DIR)/linux/mlos_linux.c
-
-INV_SOURCES += $(SOURCES)
-
-VPATH += $(APP_DIR) $(COMMON_DIR) $(HAL_DIR)/linux
diff --git a/libsensors_iio/software/simple_apps/console/linux/console_test.c b/libsensors_iio/software/simple_apps/console/linux/console_test.c
deleted file mode 100644
index e15b20d..0000000
--- a/libsensors_iio/software/simple_apps/console/linux/console_test.c
+++ /dev/null
@@ -1,742 +0,0 @@
-/*******************************************************************************
- * $Id: $
- ******************************************************************************/
-
-/*******************************************************************************
- *
- * Copyright (c) 2011 InvenSense Corporation, All Rights Reserved.
- *
- ******************************************************************************/
-//#include <linux/conio.h>
-//#include <fcntl.h>
-//#include <termios.h>
-//#include <unistd.h>
-
-//#if 0
-#include <stdio.h>
-#include <time.h>
-#include <sys/select.h>
-#include <unistd.h>
-#include <string.h>
-#include <sys/ioctl.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <stdlib.h>
-#include <linux/input.h>
-
-#include "log.h"
-#undef MPL_LOG_TAG
-#define MPL_LOG_TAG "console_test"
-
-#include "mlos.h"
-#include "invensense.h"
-#include "invensense_adv.h"
-#include "inv_sysfs_utils.h"
-#include "ml_stored_data.h"
-#include "ml_math_func.h"
-#include "ml_load_dmp.h"
-/*#else
-#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 "inv_sysfs_utils.h"
-#include "invensense.h"
-#include "invensense_adv.h"
-#include "ml_stored_data.h"
-#include "ml_math_func.h"
-#include "ml_load_dmp.h"
-#include "log.h"
-#endif*/
-
-/* TODO: add devices as needed. */
-#define ITG3500 (0)
-#define MPU6050 (1)
-#define BMA250 (2)
-#define NUM_DEVICES (ITG3500 + MPU6050 + BMA250)
-
-#define DEVICE MPU6050
-#define DMP_IMAGE dmp_firmware_200_latest
-#define SIX_AXES 6
-#define NINE_AXES 9
-
-#if 0
-struct input_event {
- struct timeval time;
- __u16 type;
- __u16 code;
- __s32 value;
-};
-#endif
-
-/* TODO: Add paths to other attributes.
- * TODO: Input device paths depend on the module installation order.
- */
-const struct inv_sysfs_names_s filenames[NUM_DEVICES] = {
- { /* ITG3500 */
- .buffer = "/dev/input/event0",
- .enable = "/sys/bus/i2c/devices/4-0068/inv_gyro/fifo_enable",
- .raw_data = "/sys/bus/i2c/devices/4-0068/inv_gyro/raw_gyro",
- .temperature = "/sys/bus/i2c/devices/4-0068/inv_gyro/temperature",
- .fifo_rate = "/sys/bus/i2c/devices/4-0068/inv_gyro/fifo_rate",
- .power_state = "/sys/bus/i2c/devices/4-0068/inv_gyro/power_state",
- .fsr = "/sys/bus/i2c/devices/4-0068/inv_gyro/FSR",
- .lpf = "/sys/bus/i2c/devices/4-0068/inv_gyro/lpf",
- .scale = "/sys/bus/i2c/devices/4-0068/inv_gyro/gyro_scale",
- .temp_scale = "/sys/bus/i2c/devices/4-0068/inv_gyro/temp_scale",
- .temp_offset = "/sys/bus/i2c/devices/4-0068/inv_gyro/temp_offset",
- .self_test = "/sys/bus/i2c/devices/4-0068/inv_gyro/self_test",
- .accel_en = NULL,
- .accel_fifo_en = NULL,
- .accel_fs = NULL,
- .clock_source = NULL,
- .early_suspend_en = NULL,
- .firmware_loaded = NULL,
- .gyro_en = NULL,
- .gyro_fifo_en = NULL,
- .key = NULL,
- .raw_accel = NULL,
- .reg_dump = NULL,
- .tap_on = NULL,
- .dmp_firmware = NULL
- },
-
- { /* MPU6050 */
- .buffer = "/dev/input/event0",
- .enable = "/sys/class/invensense/mpu/enable",
- .raw_data = "/sys/class/invensense/mpu/raw_gyro",
- .temperature = "/sys/class/invensense/mpu/temperature",
- .fifo_rate = "/sys/class/invensense/mpu/fifo_rate",
- .power_state = "/sys/class/invensense/mpu/power_state",
- .fsr = "/sys/class/invensense/mpu/FSR",
- .lpf = "/sys/class/invensense/mpu/lpf",
- .scale = "/sys/class/invensense/mpu/gyro_scale",
- .temp_scale = "/sys/class/invensense/mpu/temp_scale",
- .temp_offset = "/sys/class/invensense/mpu/temp_offset",
- .self_test = "/sys/class/invensense/mpu/self_test",
- .accel_en = "/sys/class/invensense/mpu/accl_enable",
- .accel_fifo_en = "/sys/class/invensense/mpu/accl_fifo_enable",
- .accel_fs = "/sys/class/invensense/mpu/accl_fs",
- .clock_source = "/sys/class/invensense/mpu/clock_source",
- .early_suspend_en = "/sys/class/invensense/mpu/early_suspend_enable",
- .firmware_loaded = "/sys/class/invensense/mpu/firmware_loaded",
- .gyro_en = "/sys/class/invensense/mpu/gyro_enable",
- .gyro_fifo_en = "/sys/class/invensense/mpu/gyro_fifo_enable",
- .key = "/sys/class/invensense/mpu/key",
- .raw_accel = "/sys/class/invensense/mpu/raw_accl",
- .reg_dump = "/sys/class/invensense/mpu/reg_dump",
- .tap_on = "/sys/class/invensense/mpu/tap_on",
- .dmp_firmware = "/sys/class/invensense/mpu/dmp_firmware"
- },
-
- { /* BMA250 */
- .buffer = "/dev/input/input/event1",
- .enable = "/sys/devices/virtual/input/input1/enable",
- .raw_data = "/sys/devices/virtual/input/input1/value",
- .temperature = NULL,
- .fifo_rate = NULL,
- .power_state = NULL,
- .fsr = NULL,
- .lpf = NULL,
- .scale = NULL,
- .temp_scale = NULL,
- .temp_offset = NULL,
- .self_test = NULL,
- .accel_en = NULL,
- .accel_fifo_en = NULL,
- .accel_fs = NULL,
- .clock_source = NULL,
- .early_suspend_en = NULL,
- .firmware_loaded = NULL,
- .gyro_en = NULL,
- .gyro_fifo_en = NULL,
- .key = NULL,
- .raw_accel = NULL,
- .reg_dump = NULL,
- .tap_on = NULL,
- .dmp_firmware = NULL
- }
-};
-
-static void (*s_func_cb) (void);
-
-int inv_read_data(char *names, char *data)
-{
- char str[8];
- int count;
- short s_data;
-
- count = inv_sysfs_read((char*)names, sizeof(str), str);
- if (count < 0)
- return count;
- count = sscanf(str, "%hd", &s_data);
- *data = s_data;
- if (count < 1)
- return -EAGAIN;
- return count;
-
-}
-
-void fifoCB(void)
-{
- if (1) {
- float gyro[3];
- float accel[3];
- float orient[3];
- float rv[3];
-
- int8_t accuracy;
- inv_time_t timestamp;
-
- printf("/*************************************************\n");
- inv_get_sensor_type_gyroscope(gyro, &accuracy, ×tamp);
- printf("Gyro %13.6f %13.4f %13.4f %5d %9lld\n",
- gyro[0],
- gyro[1],
- gyro[2],
- accuracy,
- timestamp);
-
- inv_get_sensor_type_accelerometer(accel, &accuracy, ×tamp);
- printf("Accel %13.6f %13.4f %13.4f %5d %9lld\n",
- accel[0],
- accel[1],
- accel[2],
- accuracy,
- timestamp);
-
- inv_get_sensor_type_rotation_vector(rv, &accuracy, ×tamp);
- printf("RV %7.3f %7.3f %7.3f %5d %9lld\n",
- rv[0],rv[1],rv[2],accuracy,timestamp);
-
- inv_get_sensor_type_orientation(orient, &accuracy, ×tamp);
- printf("Orientation %7.3f %7.3f %7.3f %5d %9lld\n",
- orient[0],orient[1],orient[2],accuracy,timestamp);
- printf("/*************************************************\n");
- }
-}
-
-unsigned short orient;
-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};
-float scale;
-float range;
-long sens;
-
-
-
-short mTempOffset = 0;
-short mTempScale = 0;
-bool mFirstRead = 1;
-
-/******************* FUNCTIONS *******************************/
-#if 0
-static unsigned short inv_row_2_scale(const signed char *row)
-{
- unsigned short b;
-
- if (row[0] > 0)
- b = 0;
- else if (row[0] < 0)
- b = 4;
- else if (row[1] > 0)
- b = 1;
- else if (row[1] < 0)
- b = 5;
- else if (row[2] > 0)
- b = 2;
- else if (row[2] < 0)
- b = 6;
- else
- b = 7; // error
- return b;
-}
-#endif
-
-inv_error_t inv_set_fifo_processed_callback(void (*func_cb)(void))
-{
- s_func_cb = func_cb;
- return INV_SUCCESS;
-}
-
-/**
- * @brief Keyboard hit function.
- */
-int kbhit(void)
-{
-#if 1
- 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;
-#else
- struct timeval tv;
- fd_set rdfs;
-
- tv.tv_sec = 0;
- tv.tv_usec = 0;
-
- FD_ZERO(&rdfs);
- FD_SET (STDIN_FILENO, &rdfs);
-
- select(STDIN_FILENO+1, &rdfs, NULL, NULL, &tv);
- return FD_ISSET(STDIN_FILENO, &rdfs);
-#endif
-}
-
-inv_error_t inv_constructor_default_enable()
-{
- inv_error_t result;
-
- result = inv_enable_quaternion();
- if (result) {
- if (result == INV_ERROR_NOT_AUTHORIZED) {
- LOGE("Enable Quaternion failed: not authorized");
- }
- LOG_RESULT_LOCATION(result);
- return result;
- }
- result = inv_enable_motion_no_motion();
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- result = inv_enable_gyro_tc();
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- result = inv_enable_hal_outputs();
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- result = inv_enable_9x_sensor_fusion();
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
- return result;
-}
-
-int read_attribute_sensor(int fd, char *data, unsigned int size)
-{
- int count = 0;
- if (fd >=0) {
- count = read(fd, data, size);
- if(count < 0) {
- MPL_LOGE("read fails with error code=%d", count);
- }
- close(fd);
- }
- return count;
-}
-
-int inv_read_temperature(long long *data)
-{
- int count = 0;
- int fd;
-
- if(mFirstRead) {
- char buf[4];
- fd = open(filenames[ITG3500].temp_scale, O_RDONLY);
- if(fd < 0) {
- MPL_LOGE("errors opening tempscale");
- return -1;
- }
-
- memset(buf, 0, sizeof(buf));
-
- count = read_attribute_sensor(fd, buf, sizeof(buf));
- if(count < 0) {
- MPL_LOGE("errors reading temp_scale");
- return -1;
- }
-
- count = sscanf(buf, "%hd", &mTempScale);
- if(count < 1)
- return -1;
- MPL_LOGI("temp scale = %d", mTempScale);
-
- fd = open(filenames[ITG3500].temp_offset, O_RDONLY);
- if(fd < 0) {
- MPL_LOGE("errors opening tempoffset");
- return -1;
- }
-
- memset(buf, 0, sizeof(buf));
-
- count = read_attribute_sensor(fd, buf, sizeof(buf));
- if(count < 0) {
- MPL_LOGE("errors reading temp_offset");
- return -1;
- }
-
- count = sscanf(buf, "%hd", &mTempOffset);
- if(count < 1)
- return -1;
- MPL_LOGI("temp offset = %d", mTempOffset);
-
- mFirstRead = false;
- }
-
- char raw_buf[25];
- short raw;
- long long timestamp;
- fd = open(filenames[ITG3500].temperature, O_RDONLY);
- if(fd < 0) {
- MPL_LOGE("errors opening temperature");
- return -1;
- }
-
- memset(raw_buf, 0, sizeof(raw_buf));
-
- count = read_attribute_sensor(fd, raw_buf, sizeof(raw_buf));
- if(count < 0) {
- MPL_LOGE("errors reading temperature");
- return -1;
- }
- count = sscanf(raw_buf, "%hd%lld", &raw, ×tamp);
- if(count < -1)
- return -1;
- MPL_LOGI("temperature raw = %d, timestamp = %lld", raw, timestamp);
- MPL_LOGI("temperature offset = %d", mTempOffset);
- MPL_LOGI("temperature scale = %d", mTempScale);
- int adjuster = 35 + ((raw-mTempOffset)/mTempScale);
- MPL_LOGI("pre-scaled temperature = %d", adjuster);
- MPL_LOGI("adjusted temperature = %d", adjuster*65536);
- //data[0] = adjuster * 65536;
- data[0] = (35 + ((raw - mTempOffset) / mTempScale)) * 65536.f;
- data[1] = timestamp;
- return 0;
-}
-
-int self_test(void)
-{
- int err = 0;
- char str[50];
- char x[9], y[9], z[9];
- char pass[2];
- int fd;
-
- fd = open((char*)filenames[DEVICE].self_test, O_RDONLY);
- if(fd < 0) {
- return fd;
- }
- memset(str, 0, sizeof(str));
- err = read_attribute_sensor(fd, str, sizeof(str));
- if(err < 0) {
- return err;
- }
- MPL_LOGI("self_test result: %s", str);
- printf("Self test result: %s ", str);
- err = sscanf(str, "%[^','],%[^','],%[^','],%[^',']", x, y, z, pass);
- if(err < 1) {
- return err;
- }
- MPL_LOGI("Bias : X:Y:Z (%ld, %ld, %ld)", atol(x), atol(y), atol(z));
- //printf("Bias : X:Y:Z (%ld, %ld, %ld)", atol(x), atol(y), atol(z));
- if (atoi(pass)) {
- MPL_LOGI("Result : PASS (1)");
- printf("----> PASS (1)\n");
- } else {
- MPL_LOGI("Result : FAIL (0)");
- printf("----> FAIL (0)\n");
- }
- return err;
-}
-
-/*******************************************************************************
- ******************************* MAIN ******************************************
- ******************************************************************************/
-
-/**
- * @brief Main function
- */
-int main(int argc, char *argv[])
-{
- int key = 0;
- int ready;
- long accel[3];
- short gyro[3];
- long long timestamp = 0;
- inv_error_t result;
-
- char data;
- unsigned char i;
- int fd, bytes_read;
- struct pollfd pfd;
- unsigned long long time_stamp;
- unsigned int time_H;
- struct input_event ev[100];
-#ifdef INV_PLAYBACK_DBG
- int logging = false;
- FILE *logfile = NULL;
-#endif
-
- result = inv_init_mpl();
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- }
-
- // Master Enabling. This also turns on power_state
- if (inv_sysfs_write((char *)filenames[DEVICE].enable, 1) < 0)
- printf("ERR- Failed to enable event generation\n");
- else {
- inv_read_data((char *)filenames[DEVICE].enable, &data);
- printf("Event enable= %d\n", data);
- }
-
- // Power ON - No need after master enable above but do it anyway
- if (inv_sysfs_write((char *)filenames[DEVICE].power_state, 1) < 0)
- printf("ERR- Failed to set power state=1\n");
- else {
- inv_read_data((char *)filenames[DEVICE].power_state, &data);
- printf("Power state: %d\n", data);
- }
-
- // Turn on tap
- if (inv_sysfs_write((char *)filenames[DEVICE].tap_on, 1) < 0) {
- printf("ERR- Failed to enable Tap On\n");
- }
- else {
- inv_read_data((char *)filenames[DEVICE].tap_on, &data);
- printf("Tap-on: %d\n", data);
- }
-
- // Program DMP code. No longer required to enable tap-on first
- if ((result =
- inv_sysfs_write((char *)filenames[DEVICE].firmware_loaded, 0)) < 0) {
- printf("ERR- Failed to initiate DMP re-programming %d\n",result);
- } else {
- if ((fd = open(filenames[DEVICE].dmp_firmware, O_WRONLY)) < 0 ) {
- printf("ERR- Failed file open to write DMP\n");
- close(fd);
- exit(0);
- } else {
- // Program 200Hz version
- //result = write(fd, DMP_IMAGE, sizeof(DMP_IMAGE));
- //printf("Downloaded %d byte(s) to DMP\n", result);
- result = inv_load_dmp(fd);
- //LOG_RESULT_LOCATION(result);
- close(fd);
- }
- }
-
- // Query DMP running. For now check by 'firmware_loaded' status
- if (inv_read_data((char *)filenames[DEVICE].firmware_loaded, &data) < 0) {
- printf("ERR- Failed to read 'firmware_loaded'\n");
- } else {
- printf("Firmware Loaded/ DMP running: %d\n", data);
- }
-
- inv_set_fifo_processed_callback(fifoCB);
- result = inv_constructor_default_enable();
- result = inv_start_mpl();
- if (result) {
- LOG_RESULT_LOCATION(result);
- return result;
- } else {
- printf ("MPL started\n");
- }
-
- /* 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);
- /* NOTE: sens expected to be 2 (FSR) * 1L<<15 for 16 bit hardware data.
- * The BMA250 only uses a 10 bit ADC, so we shift the data by 6 bits.
- * 2 * 1L<<15 * 1<<6 == 1LL<<22
- */
- inv_set_accel_orientation_and_scale(orient, 1LL<<22);
-
- // Enable Gyro
- if (inv_sysfs_write((char *)filenames[DEVICE].gyro_en, 1) <0)
- printf("ERR- Failed to enable Gyro\n");
- else {
- inv_read_data((char *)filenames[DEVICE].gyro_en, &data);
- printf("Gyro enable: %d\n", data);
- }
-
- // Enable Accel
- if (inv_sysfs_write((char *)filenames[DEVICE].accel_en, 1) <0)
- printf("ERR- Failed to enable Accel\n");
- else {
- inv_read_data((char *)filenames[DEVICE].accel_en, &data);
- printf("Accel enable: %d\n", data);
- }
-
- // polling for data
- fd = open(filenames[DEVICE].buffer, O_RDONLY);
- if(fd < 0) {
- MPL_LOGE("Cannot open device event buffer");
- }
-
- pfd.fd = fd;
- pfd.events = POLLIN;
-
- while (1) {
-
- result = kbhit();
- if (result) {
- key = getchar();
- } else {
- key = 0;
- }
- if (key == 'l') {
- MPL_LOGI(" 'l' - load calibration file");
- inv_load_calibration();
- }
- if (key == 't') {
- MPL_LOGI(" 't' - self test");
- self_test();
- }
- if (key == 'q') {
- MPL_LOGI(" 'q' - store calibration file");
- inv_store_calibration();
- break;
- }
-#ifdef INV_PLAYBACK_DBG
- if (key == 's') {
- if (!logging) {
- MPL_LOGI(" 's' - toggle logging on");
- logfile = fopen("/data/playback.bin", "wb");
- if (logfile) {
- inv_turn_on_data_logging(logfile);
- logging = true;
- } else {
- MPL_LOGI("Error : "
- "cannot open log file '/data/playback.bin'");
- }
- } else {
- MPL_LOGI(" 's' - toggle logging off");
- inv_turn_off_data_logging();
- fclose(logfile);
- logging = false;
- }
- break;
- }
-#endif
-
- ready = poll(&pfd, 1, 100);
- if (ready) {
- bytes_read = read_attribute_sensor(fd, (char *)ev,
- sizeof(struct input_event) * SIX_AXES);
- //bytes_read= read(fd, &ev, sizeof(struct input_event) * SIX_AXES);
- if (bytes_read > 0) {
- int executed;
-
- for (i = 0; i < bytes_read / sizeof(struct input_event); i++) {
- if (ev[i].type == EV_REL) {
- switch (ev[i].code) {
- case REL_X:
- printf("REL_X\n");
- gyro[0]= ev[i].value; //Gyro X
- printf("Gyro X:%5d ", gyro[0]);
- break;
- case REL_Y:
- printf("REL_Y\n");
- gyro[1]= ev[i].value; //Gyro Y
- printf("Gyro Y:%5d ", gyro[1]);
- break;
- case REL_Z:
- printf("REL_Z\n");
- gyro[2]= ev[i].value; //Gyro Z
- printf("Gyro Z:%5d ", gyro[2]);
- break;
- case REL_RX:
- printf("REL_RX\n");
- accel[0]= ev[i].value; //Accel X
- printf("Accl X:%5ld ", accel[0]);
- break;
- case REL_RY:
- printf("REL_RY\n");
- accel[1]= ev[i].value; //Accel Y
- printf("Accl Y:%5ld ", accel[1]);
- break;
- case REL_RZ:
- printf("REL_RZ\n");
- accel[2]= ev[i].value; //Accel Z
- printf("Accl Z:%5ld ", accel[2]);
- break;
- case REL_MISC:
- time_H= ev[i].value;
- break;
- case REL_WHEEL:
- time_stamp = ((unsigned long long)(time_H) << 32) +
- (unsigned int)ev[i].value;
- break;
- default:
- printf("ERR- Un-recognized event code: %5d ", ev[i].code);
- break;
- }
- } else {
-#if 0
- clock_gettime(CLOCK_MONOTONIC, &timer);
- curr_time= timer.tv_nsec + timer.tv_sec * 1000000000LL;
- printf("Curr time= %lld, Dev time stamp= %lld, Time diff= %d ms\n", curr_time, time_stamp, (curr_time-time_stamp)/1000000LL);
-#endif
- }
- }
-
- // build & process gyro + accel data
- result = inv_build_gyro(gyro, (inv_time_t)timestamp, &executed);
- if (result) {
- LOG_RESULT_LOCATION(result);
- } else if ((result = inv_build_accel(accel, 0,
- (inv_time_t)timestamp,
- &executed))) {
- LOG_RESULT_LOCATION(result);
- }
- if (executed) {
- printf("Exec on data Ok\n");
- s_func_cb();
- }
-
- } else {
- //printf ("ERR- No data!\n");
- }
-
- } else { MPL_LOGV("Device not ready"); }
- }
- close(fd);
-
-#ifdef INV_PLAYBACK_DBG
- if (logging) {
- inv_turn_off_data_logging();
- fclose(logfile);
- }
-#endif
-
- return 0;
-}
diff --git a/libsensors_iio/software/simple_apps/input_sub/build/android/input_gyro-shared b/libsensors_iio/software/simple_apps/input_sub/build/android/input_gyro-shared
deleted file mode 100644
index 5d52b21..0000000
--- a/libsensors_iio/software/simple_apps/input_sub/build/android/input_gyro-shared
+++ /dev/null
Binary files differ
diff --git a/libsensors_iio/software/simple_apps/input_sub/build/filelist.mk b/libsensors_iio/software/simple_apps/input_sub/build/filelist.mk
deleted file mode 100644
index 0936212..0000000
--- a/libsensors_iio/software/simple_apps/input_sub/build/filelist.mk
+++ /dev/null
@@ -1,13 +0,0 @@
-#### filelist.mk for input_gyro ####
-
-# helper headers
-HEADERS := $(MPL_DIR)/authenticate.h
-#HEADERS +=
-
-# sources
-SOURCES := $(APP_DIR)/test_input_gyro.c
-
-INV_SOURCES += $(SOURCES)
-
-#VPATH += $(APP_DIR) $(COMMON_DIR) $(HAL_DIR)/linux
-VPATH += $(APP_DIR)
diff --git a/libsensors_iio/software/simple_apps/input_sub/test_input_gyro.c b/libsensors_iio/software/simple_apps/input_sub/test_input_gyro.c
deleted file mode 100644
index 6fa9aab..0000000
--- a/libsensors_iio/software/simple_apps/input_sub/test_input_gyro.c
+++ /dev/null
@@ -1,485 +0,0 @@
-/*
- * input interface testing
- */
-#include <sys/time.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <time.h>
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include <linux/input.h>
-#include <linux/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include "linux/ml_sysfs_helper.h"
-#include "authenticate.h"
-#include "ml_load_dmp.h"
-
-#if 0
-struct input_event {
- struct timeval time;
- __u16 type;
- __u16 code;
- __s32 value;
-};
-#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);
-}
-
-static void read_compass(int event_number)
-{
- int ev_size, ret_byte, ii;
- int fd = -1;
- struct input_event ev[10];
- char name[64];
- char file_name[64];
- unsigned int RX;
- unsigned long long time0, time1, time2;
- struct timespec tsp;
- ev_size = sizeof(struct input_event);
- sprintf(file_name, "/dev/input/event%d", event_number);
- if ((fd = open(file_name, O_RDONLY)) < 0 ) {
- printf("fail to open compass\n");
- return;
- }
-
- /* NOTE: Use this to pass device name to HAL. */
- ioctl (fd, EVIOCGNAME (sizeof (name)), name);
- printf ("Reading From : (%s)\n", name);
- while (1) {
- clock_gettime(CLOCK_MONOTONIC, &tsp);
- /*read compass data here */
- if(fd > 0){
- ret_byte = read(fd, ev, ev_size);
- } else {
- ret_byte = -1;
- }
- time0 = tsp.tv_nsec/1000000 + tsp.tv_sec * 1000LL;
- if (ret_byte < 0)
- continue;
- for (ii = 0; ii < ret_byte/ev_size; ii++) {
- if(EV_REL != ev[ii].type) {
- time2 = ev[ii].time.tv_usec/1000 + ev[ii].time.tv_sec * 1000LL;
- printf("mono=%lldms, diff=%d\n", time2, (int)(time1-time0));
- continue;
- }
- switch (ev[ii].code) {
- case REL_X:
- printf("CX:%5d ", ev[ii].value);
- break;
- case REL_Y:
- printf("CY:%5d ", ev[ii].value);
- break;
- case REL_Z:
- printf("CZ:%5d ", ev[ii].value);
- break;
- case REL_MISC:
- RX = ev[ii].value;
- break;
- case REL_WHEEL:
- time1 = ((unsigned long long)(RX)<<32) + (unsigned int)ev[ii].value;
- time1 = time1/1000000;
- printf("time1: %lld ", time1);
- break;
- default:
- printf("GES?: %5d ", ev[ii].code);
- break;
- }
- }
- }
- close(fd);
-}
-
-static void read_gesture(int num)
-{
- int ev_size, ret_byte, ii;
- int fd = -1;
- struct input_event ev[10];
- char name[64];
- char file_name[64];
- unsigned long long time;
- struct timespec tsp;
- ev_size = sizeof(struct input_event);
- sprintf(file_name, "/dev/input/event%d", num);
- MPL_LOGI("%s\n", file_name);
- if ((fd = open(file_name, O_RDONLY)) < 0 ) {
- printf("fail to open gusture.\n");
- return;
- }
-
- /* NOTE: Use this to pass device name to HAL. */
- ioctl (fd, EVIOCGNAME (sizeof (name)), name);
- printf ("Reading From : (%s)\n", name);
- while(1){
- clock_gettime(CLOCK_MONOTONIC, &tsp);
- if(fd > 0){
- ret_byte = read(fd, ev, ev_size);
- } else {
- ret_byte = -1;
- }
- time = tsp.tv_nsec + tsp.tv_sec * 1000000000LL;
- //printf("retbyte=%d, ev3=%d\n", ret_byte, ev_size*3);
- if (ret_byte < 0)
- continue;
- for (ii = 0; ii < ret_byte/ev_size; ii++) {
- if(EV_REL != ev[ii].type) {
- time = ev[ii].time.tv_usec + ev[ii].time.tv_sec * 1000000LL;
- printf("mono=%lld\n", time);
- continue;
- }
- switch (ev[ii].code) {
- case REL_RX:
- printf("GESX:%5x\n", ev[ii].value);
- HandleTap(ev[ii].value);
- break;
- case REL_RY:
- printf("GESY:%5x\n", ev[ii].value);
- HandleOrient(ev[ii].value);
- break;
- case REL_RZ:
- printf("FLICK:%5x\n", ev[ii].value);
- break;
- default:
- printf("?: %5d ", ev[ii].code);
- break;
- }
- }
- }
-}
-
-static void read_gyro_accel(int num)
-{
- int ev_size, ret_byte, ii;
- int fd = -1;
- unsigned int RX;
- struct input_event ev[10];
- char name[64];
- char file_name[64];
- unsigned long long time0, time1, time2;
- struct timespec tsp;
- ev_size = sizeof(struct input_event);
- sprintf(file_name, "/dev/input/event%d", num);
- if ((fd = open(file_name, O_RDONLY)) < 0 ) {
- printf("fail to open gyro/accel\n");
- return;
- }
-
- /* NOTE: Use this to pass device name to HAL. */
- ioctl (fd, EVIOCGNAME (sizeof (name)), name);
- printf ("Reading From : (%s)\n", name);
- while (1){
- //usleep(20000);
- ret_byte = read(fd, ev, ev_size);
- if (ret_byte < 0)
- continue;
- //ret_byte = 0;
-
- for (ii = 0; ii < ret_byte/ev_size; ii++) {
- if(EV_REL != ev[ii].type) {
- time0 = ev[ii].time.tv_usec/1000 + ev[ii].time.tv_sec * 1000LL;
- printf("T: %lld diff=%d ", time0, (int)(time1 - time0));
- clock_gettime(CLOCK_MONOTONIC, &tsp);
- time2 = tsp.tv_nsec/1000000 + tsp.tv_sec * 1000LL;
- printf("mono=%lld, diff2=%d\n", time2, (int)(time1 - time2));
- continue;
- }
- switch (ev[ii].code) {
- case REL_X:
- printf("GX:%5d ", ev[ii].value);
- break;
- case REL_Y:
- printf("GY:%5d ", ev[ii].value);
- break;
- case REL_Z:
- printf("GZ:%5d ", ev[ii].value);
- break;
- case REL_RX:
- printf("AX:%5d ", ev[ii].value);
- break;
- case REL_RY:
- printf("AY:%5d ", ev[ii].value);
- break;
- case REL_RZ:
- printf("AZ:%5d ", ev[ii].value);
- break;
- case REL_MISC:
- RX = ev[ii].value;
- break;
- case REL_WHEEL:
- time1 = ((unsigned long long)(RX)<<32) + (unsigned int)ev[ii].value;
- time1 = time1/1000000;
- printf("time1: %lld ", time1);
- break;
- default:
- printf("?: %5d ", ev[ii].code);
- break;
- }
- }
- }
- close(fd);
-}
-int inv_sysfs_write(char *filename, long data)
-{
- FILE *fp;
- int count;
-
- if (!filename)
- return -1;
- fp = fopen(filename, "w");
- if (!fp)
- return -errno;
- count = fprintf(fp, "%ld", data);
- fclose(fp);
- return count;
-}
-int inv_sysfs_read(char *filename, long num_bytes, char *data)
-{
- FILE *fp;
- int count;
-
- if (!filename)
- return -1;
- fp = fopen(filename, "r");
- if (!fp)
- return -errno;
- count = fread(data, 1, num_bytes, fp);
- fclose(fp);
- return count;
-}
-
-void enable_flick(char *p)
-{
- char sysfs_file[200];
- printf("flick:%s\n", p);
- sprintf(sysfs_file, "%s/flick_int_on", p);
- inv_sysfs_write(sysfs_file, 1);
- sprintf(sysfs_file, "%s/flick_upper", p);
- inv_sysfs_write(sysfs_file, 3147790);
- sprintf(sysfs_file, "%s/flick_lower", p);
- inv_sysfs_write(sysfs_file, -3147790);
- sprintf(sysfs_file, "%s/flick_counter", p);
- inv_sysfs_write(sysfs_file, 50);
- sprintf(sysfs_file, "%s/flick_message_on", p);
- inv_sysfs_write(sysfs_file, 0);
- sprintf(sysfs_file, "%s/flick_axis", p);
- inv_sysfs_write(sysfs_file, 2);
-}
-
-void setup_dmp(char *sysfs_path)
-{
- char sysfs_file[200];
- char firmware_loaded[200], dmp_path[200];
- char dd[10];
-
- inv_get_dmpfile(dmp_path);
- sprintf(sysfs_file, "%s/fifo_rate", sysfs_path);
- inv_sysfs_write(sysfs_file, 200);
- sprintf(sysfs_file, "%s/FSR", sysfs_path);
- inv_sysfs_write(sysfs_file, 2000);
- sprintf(sysfs_file, "%s/accl_fs", sysfs_path);
- inv_sysfs_write(sysfs_file, 4);
- /*
- sprintf(firmware_loaded, "%s/%s", sysfs_path, "firmware_loaded");
- printf("%s\n", firmware_loaded);
- inv_sysfs_write(firmware_loaded, 0);
- inv_sysfs_read(firmware_loaded, 1, dd);
- printf("beforefirmware_loaded=%c\n", dd[0]);
-
- if ((fd = open(dmp_path, O_WRONLY)) < 0 ) {
- perror("dmp fail");
- }
- inv_load_dmp(fd);
- close(fd);
- */
- inv_sysfs_read(firmware_loaded, 1, dd);
- printf("firmware_loaded=%c\n", dd[0]);
-}
-void read_pedometer(char *sysfs_path){
- int steps;
- char sysfs_file[200];
- char dd[4];
- sprintf(sysfs_file, "%s/pedometer_steps", sysfs_path);
- inv_sysfs_read(sysfs_file, 4, dd);
- steps = dd[0] << 8 | dd[1];
- printf("fff=%d\n", steps);
-}
-/* The running sequence:
- "input_gyro 2 &".
- This will setup the dmp firmware and let it run on background.
- tap and flick will work at this time.
- To see accelerometer data and gyro data.
- type :
- "input_gyro ".
- This will print out gyro data and accelerometer data
- To see Compass data
- type:
- "input_gyro 1" */
-
-int main(int argc, char *argv[])
-{
- unsigned int RX, i, sel;
- unsigned char key[16];
- struct timeval tv;
- struct timespec tsp0, tsp1, tsp2, tsp3;
- int event_num;
- char sysfs_path[200];
- char chip_name[20];
- char sysfs_file[200];
- if (INV_SUCCESS != inv_check_key()) {
- printf("key check fail\n");
- exit(0);
- }else
- printf("key authenticated\n");
-
- for(i=0;i<16;i++){
- key[i] = 0xff;
- }
- RX = inv_get_sysfs_key(key);
- if(RX == INV_SUCCESS){
- for(i=0;i<16;i++){
- printf("%d, ", key[i]);
- }
- printf("\n");
- }else{
- printf("get key failed\n");
- }
- memset(sysfs_path, 0, 200);
- memset(sysfs_file, 0, 200);
- memset(chip_name, 0, 20);
- inv_get_sysfs_path(sysfs_path);
- inv_get_chip_name(chip_name);
- printf("sysfs path: %s\n", sysfs_path);
- printf("chip name: %s\n", chip_name);
- /*set up driver*/
- sprintf(sysfs_file, "%s/enable", sysfs_path);
- inv_sysfs_write(sysfs_file, 0);
- sprintf(sysfs_file, "%s/power_state", sysfs_path);
- inv_sysfs_write(sysfs_file, 1);
- if ((getuid ()) != 0)
- printf ("You are not root! This may not work...\n");
-
- if(argc ==2 )
- sel = argv[1][0] - 0x30;
- else
- sel = 0;
- switch(sel){
- case 0:
- printf("-------------------------------\n");
- printf("--- log gyro and accel data ---\n");
- printf("-------------------------------\n");
- sprintf(sysfs_file, "%s/enable", sysfs_path);
- inv_sysfs_write(sysfs_file, 1);
- if(inv_get_handler_number(chip_name, &event_num) < 0)
- printf("mpu not installed\n");
- else
- read_gyro_accel(event_num);
- break;
-
- case 1:
- printf("------------------------\n");
- printf("--- log compass data ---\n");
- printf("------------------------\n");
- sprintf(sysfs_file, "%s/compass_enable", sysfs_path);
- inv_sysfs_write(sysfs_file, 1);
- sprintf(sysfs_file, "%s/enable", sysfs_path);
- inv_sysfs_write(sysfs_file, 1);
- if(inv_get_handler_number("INV_COMPASS", &event_num) < 0)
- printf("compass is not enabled\n");
- else
- read_compass(event_num);
- break;
-
- case 2:
- printf("--------------------\n");
- printf("--- log gestures ---\n");
- printf("--------------------\n");
- setup_dmp(sysfs_path);
- enable_flick(sysfs_path);
- sprintf(sysfs_file, "%s/tap_on", sysfs_path);
- inv_sysfs_write(sysfs_file, 1);
- sprintf(sysfs_file, "%s/enable", sysfs_path);
- inv_sysfs_write(sysfs_file, 1);
- if(inv_get_handler_number("INV_DMP", &event_num) < 0)
- printf("DMP not enabled\n");
- else
- read_gesture(event_num);
- break;
-
- case 3:
- printf("-----------------\n");
- printf("--- pedometer ---\n");
- printf("-----------------\n");
- read_pedometer(sysfs_path);
- break;
-
- default:
- printf("error choice\n");
- break;
- }
-
- gettimeofday(&tv, NULL);
- clock_gettime(CLOCK_MONOTONIC, &tsp1);
- clock_gettime(CLOCK_REALTIME, &tsp0);
-
- clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &tsp2);
- clock_gettime(CLOCK_THREAD_CPUTIME_ID, &tsp3);
- //printf("id=%d, %d, %d, %d\n", CLOCK_MONOTONIC, CLOCK_REALTIME,
- // CLOCK_PROCESS_CPUTIME_ID, CLOCK_THREAD_CPUTIME_ID);
- //printf("sec0=%lu , nsec=%ld\n", tsp0.tv_sec, tsp0.tv_nsec);
- //printf("sec1=%lu , nsec=%ld\n", tsp1.tv_sec, tsp1.tv_nsec);
- //printf("sec=%lu , nsec=%ld\n", tsp2.tv_sec, tsp2.tv_nsec);
- //printf("sec=%lu , nsec=%ld\n", tsp3.tv_sec, tsp3.tv_nsec);
-
- //ioctl (fd, EVIOCGNAME (sizeof (name)), name);
- //printf ("Reading From : %s (%s)\n", argv[1], name);
-
-
- return 0;
-}
-
diff --git a/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared b/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
new file mode 100644
index 0000000..aab27bb
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
Binary files differ
diff --git a/libsensors_iio/software/simple_apps/input_sub/build/android/shared.mk b/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk
similarity index 98%
rename from libsensors_iio/software/simple_apps/input_sub/build/android/shared.mk
rename to libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk
index 7f6cc43..234c1d9 100644
--- a/libsensors_iio/software/simple_apps/input_sub/build/android/shared.mk
+++ b/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk
@@ -1,4 +1,4 @@
-EXEC = input_gyro$(SHARED_APP_SUFFIX)
+EXEC = inv_mpu_iio$(SHARED_APP_SUFFIX)
MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
diff --git a/libsensors_iio/software/simple_apps/mpu_iio/build/filelist.mk b/libsensors_iio/software/simple_apps/mpu_iio/build/filelist.mk
new file mode 100644
index 0000000..8a3977a
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/mpu_iio/build/filelist.mk
@@ -0,0 +1,12 @@
+#### 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/libsensors_iio/software/simple_apps/mpu_iio/iio_utils.h b/libsensors_iio/software/simple_apps/mpu_iio/iio_utils.h
new file mode 100644
index 0000000..773ff2c
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/mpu_iio/iio_utils.h
@@ -0,0 +1,643 @@
+/* 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/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c b/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c
new file mode 100644
index 0000000..e20d640
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c
@@ -0,0 +1,582 @@
+/* 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"
+
+/**
+ * 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");
+}
+
+void enable_flick(char *p){
+ int ret;
+ printf("flick:%s\n", p);
+ ret = write_sysfs_int_and_verify("flick_int_on", p, 1);
+ 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);
+}
+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);
+}
+void setup_dmp(char *dev_path){
+ 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, 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;
+ ret = write_sysfs_int_and_verify("display_orientation_on", sysfs_path, 1);
+ if (ret < 0)
+ return;
+ enable_flick(sysfs_path);
+ ret = write_sysfs_int_and_verify("tap_on", sysfs_path, 1);
+ if (ret < 0)
+ return;
+ ret = write_sysfs_int_and_verify("orientation_on", sysfs_path, 1);
+ if (ret < 0)
+ return;
+}
+
+void get_dmp_event(char *dev_dir_name) {
+ char file_name[100];
+ int i;
+ int fp_flick, fp_tap, fp_orient, fp_disp;
+ int data;
+ char d[4];
+ FILE *fp;
+ struct pollfd pfd[4];
+ printf("%s\n", dev_dir_name);
+ while(1) {
+ sprintf(file_name, "%s/event_flick", dev_dir_name);
+ fp_flick = open(file_name, O_RDONLY | O_NONBLOCK);
+ 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);
+
+ pfd[0].fd = fp_flick;
+ pfd[0].events = POLLPRI|POLLERR,
+ pfd[0].revents = 0;
+
+ pfd[1].fd = fp_tap;
+ pfd[1].events = POLLPRI|POLLERR,
+ pfd[1].revents = 0;
+
+ pfd[2].fd = fp_orient;
+ pfd[2].events = POLLPRI|POLLERR,
+ pfd[2].revents = 0;
+
+ pfd[3].fd = fp_disp;
+ pfd[3].events = POLLPRI|POLLERR,
+ pfd[3].revents = 0;
+
+ read(fp_flick, d, 4);
+ read(fp_tap, d, 4);
+ read(fp_orient, d, 4);
+ read(fp_disp, d, 4);
+
+ poll(pfd, 4, -1);
+ close(fp_flick);
+ close(fp_tap);
+ close(fp_orient);
+ close(fp_disp);
+
+ for (i=0; i< ARRAY_SIZE(pfd); i++) {
+ if(pfd[i].revents != 0) {
+ switch (i){
+ case 0:
+ 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;
+ case 1:
+ 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 2:
+ 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 3:
+ 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;
+ }
+ }
+ }
+ }
+}
+
+
+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;
+ /*set r means no DMP is enabled. should be used for mpu3050.
+ set p means no print of data*/
+ /* when p is set, 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_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("firmware_loaded", dev_dir_name, 0);
+
+ /* 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 ==0)
+ setup_dmp(dev_dir_name);
+
+ /*
+ * 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, 1);
+ 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 = 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/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared b/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
index 33c9eef..6dc08bd 100644
--- a/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
+++ b/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
Binary files differ
diff --git a/libsensors_iio/software/simple_apps/self_test/inv_self_test.c b/libsensors_iio/software/simple_apps/self_test/inv_self_test.c
index 4f9996c..f3eadc4 100644
--- a/libsensors_iio/software/simple_apps/self_test/inv_self_test.c
+++ b/libsensors_iio/software/simple_apps/self_test/inv_self_test.c
@@ -1,5 +1,5 @@
/**
- * Self Test application for Invensense's MPU6050/MPU9150.
+ * Self Test application for Invensense's MPU6050/MPU6500/MPU9150.
*/
#include <unistd.h>
@@ -22,13 +22,19 @@
#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 53394
+#define INV_DB_SAVE_KEY 53395
#define FALSE 0
#define TRUE 1
@@ -38,26 +44,29 @@
#define COMPASS_PASS_STATUS_BIT 0x04
typedef union {
- long l;
+ long l;
int i;
} bias_dtype;
-struct inv_sysfs_names_s {
+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 *accl_bias;
-};
-
-const struct inv_sysfs_names_s mpu= {
- /* MPU6050 & MPU9150 */
- .enable = "/sys/class/invensense/mpu/enable",
- .power_state = "/sys/class/invensense/mpu/power_state",
- .self_test = "/sys/class/invensense/mpu/self_test",
- .temperature = "/sys/class/invensense/mpu/temperature",
- .accl_bias = "/sys/class/invensense/mpu/accl_bias"
-};
+ 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 */
@@ -71,46 +80,123 @@
/** 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 */
+/** 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 */
+/** 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;
}
-int inv_sysfs_write(char *filename, long data)
+/** read a sysfs entry that represents an integer */
+int read_sysfs_int(char *filename, int *var)
{
+ int res=0;
FILE *fp;
- int count;
- if (!filename)
- return -1;
- fp = fopen(filename, "w");
- if (!fp)
- return -errno;
- count = fprintf(fp, "%ld", data);
- fclose(fp);
- return count;
+ fp = fopen(filename, "r");
+ if (fp != NULL) {
+ fscanf(fp, "%d\n", var);
+ fclose(fp);
+ } else {
+ LOGE("HAL:ERR open file to read");
+ res= -1;
+ }
+ return res;
}
-/**
- * Main Self test
- */
+/** 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 {
+ LOGE("HAL: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 {
+ LOGE("HAL: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++) {
+ LOGE("HAL: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;
+ int self_test_status = 0;
inv_error_t result;
bias_dtype gyro_bias[3];
bias_dtype accel_bias[3];
@@ -119,76 +205,133 @@
int axis_sign = 1;
unsigned char *buffer;
long timestamp;
- int temperature=0;
+ int temperature = 0;
+ bool compass_present = TRUE;
- // Initialize storage manager
+ 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));
+ 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);
+ 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 (inv_sysfs_write(mpu.power_state, 1) <0) {
- printf("ERR- Failed to set power state=1\n");
+ 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 != NULL) {
- // Invoke self-test and read gyro bias
- fscanf(fptr, "%d,%d,%d,%d",
- &gyro_bias[0].i, &gyro_bias[1].i, &gyro_bias[2].i, &self_test_status);
-
- 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);
- printf("Self-Test:Gyro bias data[0..2] read from Driver= [%d %d %d]\n",gyro_bias[0].i, gyro_bias[1].i, gyro_bias[2].i);
- fclose(fptr);
-
- if (!(self_test_status & GYRO_PASS_STATUS_BIT)) {
- // Reset gyro bias data if gyro self-test failed
- memset(gyro_bias,0, sizeof(gyro_bias));
- printf("Self-Test:Failed Gyro self-test\n");
- }
-
- if (self_test_status & ACCEL_PASS_STATUS_BIT) {
- // Read Accel Bias
- fptr= fopen(mpu.accl_bias, "r");
- if (fptr != NULL) {
- fscanf(fptr, "%d,%d,%d", &accel_bias[0].i, &accel_bias[1].i, &accel_bias[2].i);
- printf("Self-Test:Accel bias data[0..2] read from Driver= [%d %d %d]\n", accel_bias[0].i, accel_bias[1].i, accel_bias[2].i);
- fclose(fptr);
- } else {
- printf("Self-Test:ERR-Couldn't read accel bias\n");
- }
- } else {
- memset(accel_bias,0, sizeof(accel_bias));
- printf("Self-Test:Failed Accel self-test\n");
- }
-
- // Read temperature
- if (self_test_status & (GYRO_PASS_STATUS_BIT|ACCEL_PASS_STATUS_BIT))
- {
- 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");
- }
- }
-
- } else {
+ 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.
@@ -197,7 +340,8 @@
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 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;
@@ -225,12 +369,16 @@
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);
+ 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.
@@ -240,25 +388,29 @@
buffer = (unsigned char *)malloc(packet_sz + 10);
if (buffer == NULL) {
printf("Self-Test:Can't allocate buffer\n");
- return -1;
+ result = -1;
+ goto free_sysfs_storage;
}
+ // Store the data
result = inv_save_mpl_states(buffer, packet_sz);
if (result) {
- result= -1;
+ 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",
+ printf("Self-Test:ERR- Can't open calibration file to write - %s\n",
MLCAL_FILE);
- result= -1;
+ result = -1;
}
}
-
free(buffer);
+
+free_sysfs_storage:
+ free(sysfs_names_ptr);
return result;
}
