MotionApps 5.1.2 release
* Fix race condition around enable/disable with GlobalHalMutex.
One instance could turn on "buffer/enable" causing another instance to
fail setting up sensors, which ends with
"HAL:ERR full data packet was not read"
The MPLSensor::mHALMutex is not sufficient in this case.
* Fix incorrect fprintf sysfs updates.
Using fprintf() delays writes, causing errors to go unnoticed,
and errors from fclose() which then flushes and sees the error
were being ignored.
* Switch to YAS53x vars.
* Add support for custom accel calibration loader function.
* Tweak calibration storage logic.
* Support for Low Power Quaternion (enabled by default)
* Support for DMP Screen Orientation (disabled by default)
* Clarify that readEvents() ignores arguments and return code.
* Tweak failed sysfs init handling.
* Simplifications/cleanups
. messages around write_sysfs_int() invocations.
. move common timestamp code out of Base into Support.
. sensor enabling code.
. remove some dead code.
* software/{build,core}...
. better support for IceCreamSandwich and JellyBean
. mllite, dmp register update
* software/simple_apps
. added gesture test
* Rebuild libmllite.so for RC9
* new libmplmpu.so for RC9 (and later)
Change-Id: Ie88a16c334fc7d0f0b3d2007e3005b5fd3e2b732
Signed-off-by: Mars Lee <mlee@invensense.com>
Signed-off-by: JP Abgrall <jpa@google.com>
diff --git a/libsensors_iio/Android.mk b/libsensors_iio/Android.mk
index c3b2003..af52ea6 100644
--- a/libsensors_iio/Android.mk
+++ b/libsensors_iio/Android.mk
@@ -23,8 +23,11 @@
LOCAL_MODULE := libinvensense_hal
LOCAL_MODULE_TAGS := optional
+LOCAL_MODULE_OWNER := invensense
LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\"
+# Comment out for ICS. Affects Android LOG macros.
+LOCAL_CFLAGS += -DANDROID_JELLYBEAN
ifeq ($(ENG_BUILD),1)
ifeq ($(COMPILE_INVENSENSE_COMPASS_CAL),1)
@@ -33,8 +36,8 @@
ifeq ($(COMPILE_THIRD_PARTY_ACCEL),1)
LOCAL_CFLAGS += -DTHIRD_PARTY_ACCEL
endif
-ifeq ($(COMPILE_COMPASS_YAS530),1)
-LOCAL_CFLAGS += -DCOMPASS_YAS530
+ifeq ($(COMPILE_COMPASS_YAS53x),1)
+LOCAL_CFLAGS += -DCOMPASS_YAS53x
endif
ifeq ($(COMPILE_COMPASS_AK8975),1)
LOCAL_CFLAGS += -DCOMPASS_AK8975
@@ -64,7 +67,7 @@
LOCAL_SHARED_LIBRARIES += libdl
LOCAL_SHARED_LIBRARIES += libmllite
-#Additions for SysPed
+# Additions for SysPed
LOCAL_SHARED_LIBRARIES += libmplmpu
LOCAL_C_INCLUDES += $(LOCAL_PATH)/software/core/mpl
LOCAL_CPPFLAGS += -DLINUX=1
@@ -76,6 +79,7 @@
LOCAL_MODULE := libmplmpu
LOCAL_SRC_FILES := libmplmpu.so
LOCAL_MODULE_TAGS := optional
+LOCAL_MODULE_OWNER := invensense
LOCAL_MODULE_SUFFIX := .so
LOCAL_MODULE_CLASS := SHARED_LIBRARIES
LOCAL_MODULE_PATH := $(TARGET_OUT)/lib
@@ -86,6 +90,7 @@
LOCAL_MODULE := libmllite
LOCAL_SRC_FILES := libmllite.so
LOCAL_MODULE_TAGS := optional
+LOCAL_MODULE_OWNER := invensense
LOCAL_MODULE_SUFFIX := .so
LOCAL_MODULE_CLASS := SHARED_LIBRARIES
LOCAL_MODULE_PATH := $(TARGET_OUT)/lib
diff --git a/libsensors_iio/CompassSensor.IIO.9150.cpp b/libsensors_iio/CompassSensor.IIO.9150.cpp
index 7d99af9..ce96564 100644
--- a/libsensors_iio/CompassSensor.IIO.9150.cpp
+++ b/libsensors_iio/CompassSensor.IIO.9150.cpp
@@ -35,8 +35,8 @@
#define COMPASS_MAX_SYSFS_ATTRB sizeof(compassSysFs) / sizeof(char*)
-#if defined COMPASS_YAS530
-# warning "Invensense compass cal with YAS530 IIO on primary bus"
+#if defined COMPASS_YAS53x
+# warning "Invensense compass cal with YAS53x IIO on secondary bus"
# define USE_MPL_COMPASS_HAL (1)
# define COMPASS_NAME "INV_YAS530"
#elif defined COMPASS_AK8975
@@ -143,22 +143,12 @@
mEnable = en;
int res;
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- en, compassSysFs.compass_enable, getTimestamp());
res = write_sysfs_int(compassSysFs.compass_enable, en);
LOGE_IF(res < 0, "HAL:enable compass failed");
if (en) {
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- en, compassSysFs.compass_x_fifo_enable, getTimestamp());
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());
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());
res = write_sysfs_int(compassSysFs.compass_z_fifo_enable, en);
}
@@ -313,10 +303,10 @@
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;
+ list->maxRange = COMPASS_YAS53x_RANGE;
+ list->resolution = COMPASS_YAS53x_RESOLUTION;
+ list->power = COMPASS_YAS53x_POWER;
+ list->minDelay = COMPASS_YAS53x_MINDELAY;
return;
}
if(!strcmp(compass, "INV_AMI306")) {
@@ -389,8 +379,8 @@
sprintf(compassSysFs.compass_orient, "%s%s", sysfs_path, "/compass_matrix");
#endif
-#if 0
- // test print sysfs paths
+#if SYSFS_VERBOSE
+ // test print sysfs paths
dptr = (char**)&compassSysFs;
for (i = 0; i < COMPASS_MAX_SYSFS_ATTRB; i++) {
LOGE("HAL:sysfs path: %s", *dptr++);
diff --git a/libsensors_iio/InputEventReader.h b/libsensors_iio/InputEventReader.h
index f0ccc63..5c752db 100644
--- a/libsensors_iio/InputEventReader.h
+++ b/libsensors_iio/InputEventReader.h
@@ -22,6 +22,8 @@
#include <sys/cdefs.h>
#include <sys/types.h>
+#include "SensorBase.h"
+
/*****************************************************************************/
struct input_event;
diff --git a/libsensors_iio/MPLSensor.cpp b/libsensors_iio/MPLSensor.cpp
index 90051cd..8cb376c 100644
--- a/libsensors_iio/MPLSensor.cpp
+++ b/libsensors_iio/MPLSensor.cpp
@@ -39,6 +39,7 @@
#include "MPLSensor.h"
#include "MPLSupport.h"
#include "sensor_params.h"
+#include "local_log_def.h"
#include "invensense.h"
#include "invensense_adv.h"
@@ -89,7 +90,7 @@
{"MPL Gyroscope", "Invensense", 1,
SENSORS_GYROSCOPE_HANDLE,
SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, {}},
- {"MPL Raw Gyro", "Invensense", 1,
+ {"MPL Raw Gyroscope", "Invensense", 1,
SENSORS_RAW_GYROSCOPE_HANDLE,
SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, {}},
{"MPL Accelerometer", "Invensense", 1,
@@ -143,14 +144,14 @@
static FILE *logfile = NULL;
#endif
+pthread_mutex_t GlobalHalMutex = PTHREAD_MUTEX_INITIALIZER;
+
/*******************************************************************************
* MPLSensor class implementation
******************************************************************************/
-// following extended initializer list would only be available with -std=c++11 or -std=gnu+11
-MPLSensor::MPLSensor(CompassSensor *compass)
+MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *))
: SensorBase(NULL, NULL),
- mMplSensorInitialized(false),
mNewData(0),
mMasterSensorMask(INV_ALL_SENSORS),
mLocalSensorMask(0),
@@ -158,6 +159,7 @@
mHaveGoodMpuCal(0),
mGyroAccuracy(0),
mAccelAccuracy(0),
+ mCompassAccuracy(0),
mSampleCount(0),
dmp_orient_fd(-1),
mDmpOrientationEnabled(0),
@@ -189,8 +191,8 @@
pthread_mutex_init(&mMplMutex, NULL);
pthread_mutex_init(&mHALMutex, NULL);
- bzero(mGyroOrientation, sizeof(mGyroOrientation));
- bzero(mAccelOrientation, sizeof(mAccelOrientation));
+ memset(mGyroOrientation, 0, sizeof(mGyroOrientation));
+ memset(mAccelOrientation, 0, sizeof(mAccelOrientation));
#ifdef INV_PLAYBACK_DBG
LOGV_IF(PROCESS_VERBOSE, "HAL:inv_turn_on_data_logging");
@@ -200,10 +202,7 @@
#endif
/* setup sysfs paths */
- if(inv_init_sysfs_attributes()) {
- ALOGE("MPLSensor failed to init sysfs attributes");
- return;
- }
+ inv_init_sysfs_attributes();
/* get chip name */
if (inv_get_chip_name(chip_ID) != INV_SUCCESS) {
@@ -236,7 +235,7 @@
}
/* read accel FSR to calcuate accel scale later */
- if (USE_THIRD_PARTY_ACCEL == 0) {
+ if (!USE_THIRD_PARTY_ACCEL) {
char buf[3];
int count = 0;
LOGV_IF(SYSFS_VERBOSE,
@@ -334,6 +333,28 @@
else
LOGE("HAL:Could not open or load MPL calibration file (%d)", rv);
+ /* Takes external Accel Calibration Load Method */
+ if( m_pt2AccelCalLoadFunc != NULL)
+ {
+ long accel_offset[3];
+ long tmp_offset[3];
+ int result = m_pt2AccelCalLoadFunc(accel_offset);
+ if(result)
+ LOGW("HAL:Vendor accelerometer calibration file load failed %d\n", result);
+ else
+ {
+ LOGW("HAL:Vendor accelerometer calibration file successfully loaded");
+ inv_get_accel_bias(tmp_offset, NULL);
+ LOGV_IF(PROCESS_VERBOSE, "HAL:Original accel offset, %ld, %ld, %ld\n",
+ tmp_offset[0], tmp_offset[1], tmp_offset[2]);
+ inv_set_accel_bias(accel_offset, mAccelAccuracy);
+ inv_get_accel_bias(tmp_offset, NULL);
+ LOGV_IF(PROCESS_VERBOSE, "HAL:Set accel offset, %ld, %ld, %ld\n",
+ tmp_offset[0], tmp_offset[1], tmp_offset[2]);
+ }
+ }
+ /* End of Accel Calibration Load Method */
+
inv_set_device_properties();
/* disable driver master enable the first sensor goes on */
@@ -348,36 +369,21 @@
onPower(0);
- enableDmpOrientation(isDmpDisplayOrientationOn());
- enableDmpOrientation(!isDmpScreenAutoRotationOn() && isDmpDisplayOrientationOn());
+ if (isDmpDisplayOrientationOn()) {
+ enableDmpOrientation(!isDmpScreenAutoRotationEnabled());
+ }
-#ifdef INV_PLAYBACK_DBG
- logfile = fopen("/data/playback.bin", "wb");
- if (logfile)
- inv_turn_on_data_logging(logfile);
-#endif
-
- mMplSensorInitialized = true;
}
-void MPLSensor::enable_iio_sysfs() {
+void MPLSensor::enable_iio_sysfs()
+{
VFUNC_LOG;
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)",
- mpu.in_timestamp_en, getTimestamp());
- // 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(fprintf(tempFp, "%d", 1) < 0) {
- LOGE("HAL:could not enable timestamp");
- }
- fclose(tempFp);
- }
+ /* ignore failures */
+ write_sysfs_int(mpu.in_timestamp_en, 1);
LOGV_IF(SYSFS_VERBOSE,
"HAL:sysfs:cat %s (%lld)",
@@ -398,30 +404,21 @@
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");
+ if (fprintf(tempFp, "%s", iio_trigger_name) < 0 || fclose(tempFp) < 0) {
+ LOGE("HAL:could not write current trigger %s err=%d", iio_trigger_name, errno);
}
- fclose(tempFp);
}
- 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");
- }
- fclose(tempFp);
- }
+ write_sysfs_int(mpu.buffer_length, IIO_BUFFER_LENGTH);
- inv_get_iio_device_node(iio_device_node);
+ if (inv_get_iio_device_node(iio_device_node) < 0) {
+ LOGE("HAL:could retrive the iio device node");
+ }
iio_fd = open(iio_device_node, O_RDONLY);
if (iio_fd < 0) {
LOGE("HAL:could not open iio device node");
} else {
- LOGV_IF(PROCESS_VERBOSE, "HAL:iio iio_fd opened : %d", iio_fd);
+ LOGV_IF(PROCESS_VERBOSE, "HAL:iio iio_fd (%s) opened: %d", iio_device_node, iio_fd);
}
}
@@ -553,9 +550,9 @@
/* accel setup */
orient = inv_orientation_matrix_to_scalar(mAccelOrientation);
- // BMA250
- //inv_set_accel_orientation_and_scale(orient, 1LL << 22);
- // MPU6050
+ /* use for third party accel input subsystem driver
+ inv_set_accel_orientation_and_scale(orient, 1LL << 22);
+ */
inv_set_accel_orientation_and_scale(orient, mAccelScale << 15);
/* compass setup */
@@ -573,7 +570,7 @@
int res, fd;
FILE *fptr;
- if (!strcmp(chip_ID, "mpu3050") || !strcmp(chip_ID, "MPU3050")) {
+ if (isMpu3050()) {
//DMP support only for MPU6xxx/9xxx currently
return;
}
@@ -584,25 +581,26 @@
fd = open(mpu.firmware_loaded, O_RDONLY);
if(fd < 0) {
LOGE("HAL:could not open dmp state");
- } else {
- if(inv_read_dmp_state(fd) == 0) {
- LOGV_IF(EXTRA_VERBOSE, "HAL:load dmp: %s", mpu.dmp_firmware);
- fptr = fopen(mpu.dmp_firmware, "w");
- if(!fptr) {
- LOGE("HAL:could not write to dmp");
- } else {
- int res = inv_load_dmp(fptr);
- if(res < 0) {
- LOGE("HAL:load DMP failed");
- } else {
- LOGV_IF(PROCESS_VERBOSE, "HAL:DMP loaded");
- }
- fclose(fptr);
- }
- } else {
- LOGV_IF(PROCESS_VERBOSE, "HAL:DMP is already loaded");
- }
+ return;
}
+ if(inv_read_dmp_state(fd)) {
+ LOGV_IF(PROCESS_VERBOSE, "HAL:DMP is already loaded");
+ return;
+ }
+
+ LOGV_IF(EXTRA_VERBOSE, "HAL:load dmp: %s", mpu.dmp_firmware);
+ fptr = fopen(mpu.dmp_firmware, "w");
+ if(!fptr) {
+ LOGE("HAL:could open %s for write. %s", mpu.dmp_firmware, strerror(errno));
+ return;
+ }
+ res = inv_load_dmp(fptr);
+ if(res < 0) {
+ LOGE("HAL:load DMP failed");
+ } else {
+ LOGV_IF(PROCESS_VERBOSE, "HAL:DMP loaded");
+ }
+ fclose(fptr);
// onDMP(1); //Can't enable here. See note onDMP()
}
@@ -693,8 +691,6 @@
/* 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());
if(write_sysfs_int(mpu.chip_enable, 0) < 0) {
LOGE("HAL:could not disable gyro master enable");
}
@@ -741,7 +737,7 @@
return 0;
}
-/* this applies to BMA250 only */
+/* this applies to BMA250 Input Subsystem Driver only */
int MPLSensor::setAccelInitialState()
{
VFUNC_LOG;
@@ -807,25 +803,22 @@
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
mpu.firmware_loaded, getTimestamp());
- if(read_sysfs_int(mpu.firmware_loaded, &status) < 0){
+ res = read_sysfs_int(mpu.firmware_loaded, &status);
+ if (res < 0){
LOGE("HAL:ERR can't get firmware_loaded status");
- } else if (status == 1) {
+ return res;
+ }
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs: %s status=%d", mpu.firmware_loaded, status);
+
+ if (status) {
//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");
- } else {
- res = 0; //Indicate write successful
- }
+ res = write_sysfs_int(mpu.dmp_on, en);
//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");
}
@@ -871,12 +864,7 @@
VFUNC_LOG;
// 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 = write_sysfs_int(mpu.quaternion_on, en);
if (!en) {
LOGV_IF(PROCESS_VERBOSE, "HAL:Disabling quat scan elems");
@@ -884,27 +872,10 @@
LOGV_IF(PROCESS_VERBOSE, "HAL:Enabling quat scan elems");
}
- 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");
- }
+ write_sysfs_int(mpu.in_quat_r_en, en);
+ write_sysfs_int(mpu.in_quat_x_en, en);
+ write_sysfs_int(mpu.in_quat_y_en, en);
+ write_sysfs_int(mpu.in_quat_z_en, en);
LOGV_IF(EXTRA_VERBOSE, "HAL:DMP quaternion data was turned off");
@@ -939,9 +910,6 @@
int MPLSensor::masterEnable(int en)
{
VFUNC_LOG;
-
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- en, mpu.chip_enable, getTimestamp());
return write_sysfs_int(mpu.chip_enable, en);
}
@@ -953,24 +921,14 @@
int res;
/* need to also turn on/off the master enable */
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- en, mpu.gyro_enable, getTimestamp());
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)",
- en, mpu.gyro_x_fifo_enable, getTimestamp());
write_sysfs_int(mpu.gyro_x_fifo_enable, en);
-
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- en, mpu.gyro_y_fifo_enable, getTimestamp());
write_sysfs_int(mpu.gyro_y_fifo_enable, en);
-
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- en, mpu.gyro_z_fifo_enable, getTimestamp());
res = write_sysfs_int(mpu.gyro_z_fifo_enable, en);
}
@@ -985,30 +943,17 @@
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());
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)",
- en, mpu.accel_x_fifo_enable, getTimestamp());
write_sysfs_int(mpu.accel_x_fifo_enable, en);
-
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- en, mpu.accel_y_fifo_enable, getTimestamp());
write_sysfs_int(mpu.accel_y_fifo_enable, en);
-
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- en, mpu.accel_z_fifo_enable, getTimestamp());
res = write_sysfs_int(mpu.accel_z_fifo_enable, en);
}
- if(USE_THIRD_PARTY_ACCEL == 1 && en) {
- setAccelInitialState(); // BMA250
- }
return res;
}
@@ -1017,7 +962,7 @@
VFUNC_LOG;
int res = mCompassSensor->enable(ID_M, en);
- if (en == 0) {
+ if (!en) {
LOGV_IF(EXTRA_VERBOSE, "HAL:MPL:inv_compass_was_turned_off");
inv_compass_was_turned_off();
}
@@ -1069,12 +1014,17 @@
} while (0);
}
+int MPLSensor::enableOneSensor(int en, const char *name, int (MPLSensor::*enabler)(int)) {
+ LOGV_IF(PROCESS_VERBOSE, "HAL:enableSensors - %s %s", en ? "enabled" : "disable", name);
+ return (this->*enabler)(en);
+}
+
int MPLSensor::enableSensors(unsigned long sensors, int en, uint32_t changed) {
VFUNC_LOG;
inv_error_t res = -1;
- int on = 1;
- int off = 0;
+ bool store_cal = false;
+ bool ext_compass_changed = false;
// Sequence to enable or disable a sensor
// 1. enable Power state
@@ -1082,67 +1032,49 @@
// 3. enable or disable a sensor
// 4. set master enable (=1)
- if (isLowPowerQuatEnabled() ||
- changed & ((1 << Gyro) | (1 << RawGyro) | (1 << Accelerometer) |
- (mCompassSensor->isIntegrated() << MagneticField))) {
+ pthread_mutex_lock(&GlobalHalMutex);
+
+ uint32_t all_changeables = (1 << Gyro) | (1 << RawGyro) | (1 << Accelerometer)
+ | (1 << MagneticField);
+ uint32_t all_integrated_changeables = all_changeables;
+
+ if (!mCompassSensor->isIntegrated()) {
+ ext_compass_changed = changed & (1 << MagneticField);
+ all_integrated_changeables = all_changeables & ~(1 << MagneticField);
+ }
+
+ if (isLowPowerQuatEnabled() || (changed & all_integrated_changeables)) {
/* ensure power state is on */
onPower(1);
/* reset master enable */
res = masterEnable(0);
if(res < 0) {
- return res;
+ goto unlock_res;
}
}
LOGV_IF(PROCESS_VERBOSE, "HAL:enableSensors - sensors: 0x%0x", (unsigned int)sensors);
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) {
- LOGV_IF(PROCESS_VERBOSE, "HAL:enableSensors - disable gyro");
- res = enableGyro(off);
- if(res < 0) {
- return res;
- }
+ res = enableOneSensor(sensors & INV_THREE_AXIS_GYRO, "gyro", &MPLSensor::enableGyro);
+ if(res < 0) {
+ goto unlock_res;
}
}
if (changed & (1 << Accelerometer)) {
- 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) {
- LOGV_IF(PROCESS_VERBOSE, "HAL:enableSensors - disable accel");
- res = enableAccel(off);
- if(res < 0) {
- return res;
- }
+ res = enableOneSensor(sensors & INV_THREE_AXIS_ACCEL, "accel", &MPLSensor::enableAccel);
+ if(res < 0) {
+ goto unlock_res;
}
}
if (changed & (1 << MagneticField)) {
/* Invensense compass calibration */
- if (sensors & INV_THREE_AXIS_COMPASS) {
- LOGV_IF(PROCESS_VERBOSE, "HAL:enableSensors - enable compass");
- res = enableCompass(on);
- if(res < 0) {
- return res;
- }
- } else if ((sensors & INV_THREE_AXIS_COMPASS) == 0) {
- LOGV_IF(PROCESS_VERBOSE, "HAL:enableSensors - disable compass");
- res = enableCompass(off);
- if(res < 0) {
- return res;
- }
+ res = enableOneSensor(sensors & INV_THREE_AXIS_COMPASS, "compass", &MPLSensor::enableCompass);
+ if(res < 0) {
+ goto unlock_res;
}
}
@@ -1150,14 +1082,13 @@
// Enable LP Quat
if ((mEnabled & ((1 << Orientation) | (1 << RotationVector) |
(1 << LinearAccel) | (1 << Gravity)))) {
- if (!(changed & ((1 << Gyro) | (1 << RawGyro) | (1 << Accelerometer) |
- (mCompassSensor->isIntegrated() << MagneticField)))) {
+ if (!(changed & all_integrated_changeables)) {
/* ensure power state is on */
onPower(1);
/* reset master enable */
res = masterEnable(0);
if(res < 0) {
- return res;
+ goto unlock_res;
}
}
if (!checkLPQuaternion()) {
@@ -1170,88 +1101,93 @@
}
}
- if (changed & ((1 << Gyro) | (1 << RawGyro) | (1 << Accelerometer) |
- (mCompassSensor->isIntegrated() << MagneticField))) {
+ if (changed & all_integrated_changeables) {
if (sensors &
(INV_THREE_AXIS_GYRO
| INV_THREE_AXIS_ACCEL
| (INV_THREE_AXIS_COMPASS * mCompassSensor->isIntegrated()))) {
- if (isLowPowerQuatEnabled() || isDmpDisplayOrientationOn()) {
+ if ( isLowPowerQuatEnabled() ||
+ (isDmpDisplayOrientationOn() && mDmpOrientationEnabled) ) {
// 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;
+ goto unlock_res;
}
}
- if (isDmpDisplayOrientationOn()) {
+ if (isDmpDisplayOrientationOn() && mDmpOrientationEnabled) {
// enable DMP
onDMP(1);
- res = enableAccel(on);
+ res = enableAccel(1);
if(res < 0) {
- return res;
+ goto unlock_res;
}
if ((sensors & INV_THREE_AXIS_ACCEL) == 0) {
res = turnOffAccelFifo();
}
if(res < 0) {
- return res;
+ goto unlock_res;
}
}
res = masterEnable(1);
if(res < 0) {
- return res;
+ goto unlock_res;
}
} else { // all sensors idle -> reduce power
- if (isDmpDisplayOrientationOn()) {
+ if (isDmpDisplayOrientationOn() && mDmpOrientationEnabled) {
// 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);
+ res = enableAccel(1);
if(res < 0) {
- return res;
+ goto unlock_res;
}
if ((sensors & INV_THREE_AXIS_ACCEL) == 0) {
res = turnOffAccelFifo();
}
if(res < 0) {
- return res;
+ goto unlock_res;
}
res = masterEnable(1);
if(res < 0) {
- return res;
+ goto unlock_res;
}
}
else {
res = onPower(0);
if(res < 0) {
- return res;
+ goto unlock_res;
}
}
-
- storeCalibration();
+ store_cal = true;
}
+ } else if (ext_compass_changed &&
+ !(sensors & (INV_THREE_AXIS_GYRO | INV_THREE_AXIS_ACCEL
+ | (INV_THREE_AXIS_COMPASS * (!mCompassSensor->isIntegrated()))))) {
+ store_cal = true;
}
+ if (store_cal || ((changed & all_changeables) != all_changeables)) {
+ storeCalibration();
+ }
+
+unlock_res:
+ pthread_mutex_unlock(&GlobalHalMutex);
return res;
}
/* Store calibration file */
void MPLSensor::storeCalibration()
{
- if(mHaveGoodMpuCal == true || mAccelAccuracy >= 2) {
+ if(mHaveGoodMpuCal || mAccelAccuracy >= 2 || mCompassAccuracy >= 3) {
int res = inv_store_calibration();
if (res) {
LOGE("HAL:Cannot store calibration on file");
@@ -1310,6 +1246,7 @@
s->magnetic.v, &s->magnetic.status, &s->timestamp);
LOGV_IF(HANDLER_DATA, "HAL:compass data: %+f %+f %+f -- %lld - %d",
s->magnetic.v[0], s->magnetic.v[1], s->magnetic.v[2], s->timestamp, update);
+ mCompassAccuracy = s->magnetic.status;
return update;
}
@@ -1371,7 +1308,12 @@
(mDmpOrientationEnabled? "en": "dis"),
(en? "en" : "dis"));
enableDmpOrientation(en && isDmpDisplayOrientationOn());
- mDmpOrientationEnabled = !!en;
+ /* TODO: stop manually testing/using 0 and 1 instead of
+ * false and true, but just use 0 and non-0.
+ * This allows passing 0 and non-0 ints around instead of
+ * having to convert to 1 and test against 1.
+ */
+ mDmpOrientationEnabled = en;
return 0;
case ID_A:
what = Accelerometer;
@@ -1498,44 +1440,44 @@
int what = -1;
switch (handle) {
- case ID_SO:
- return 0;
- case ID_A:
- what = Accelerometer;
- sname = "Accelerometer";
- break;
- case ID_M:
- what = MagneticField;
- sname = "MagneticField";
- break;
- case ID_O:
- what = Orientation;
- sname = "Orientation";
- break;
- case ID_GY:
- what = Gyro;
- sname = "Gyro";
- break;
- case ID_RG:
- what = RawGyro;
- sname = "RawGyro";
- break;
- case ID_GR:
- what = Gravity;
- sname = "Gravity";
- break;
- case ID_RV:
- what = RotationVector;
- sname = "RotationVector";
- break;
- case ID_LA:
- what = LinearAccel;
- sname = "LinearAccel";
- break;
- default: // this takes care of all the gestures
- what = handle;
- sname = "Others";
- break;
+ case ID_SO:
+ return update_delay();
+ case ID_A:
+ what = Accelerometer;
+ sname = "Accelerometer";
+ break;
+ case ID_M:
+ what = MagneticField;
+ sname = "MagneticField";
+ break;
+ case ID_O:
+ what = Orientation;
+ sname = "Orientation";
+ break;
+ case ID_GY:
+ what = Gyro;
+ sname = "Gyro";
+ break;
+ case ID_RG:
+ what = RawGyro;
+ sname = "RawGyro";
+ break;
+ case ID_GR:
+ what = Gravity;
+ sname = "Gravity";
+ break;
+ case ID_RV:
+ what = RotationVector;
+ sname = "RotationVector";
+ break;
+ case ID_LA:
+ what = LinearAccel;
+ sname = "LinearAccel";
+ break;
+ default: // this takes care of all the gestures
+ what = handle;
+ sname = "Others";
+ break;
}
#if 0
@@ -1627,6 +1569,7 @@
int res = 0;
int64_t got;
+ pthread_mutex_lock(&GlobalHalMutex);
if (mEnabled) {
int64_t wanted = 1000000000;
int64_t wanted_3rd_party_sensor = 1000000000;
@@ -1679,8 +1622,9 @@
int enabled_sensors = mEnabled;
int tempFd = -1;
- if(LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED) {
- if (isLowPowerQuatEnabled() || isDmpDisplayOrientationOn()) {
+ if (LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED) {
+ if (isLowPowerQuatEnabled() ||
+ (isDmpDisplayOrientationOn() && mDmpOrientationEnabled)) {
bool setDMPrate= 0;
// Set LP Quaternion sample rate if enabled
if (checkLPQuaternion()) {
@@ -1710,7 +1654,7 @@
}
//nsToHz (BMA250)
- if(USE_THIRD_PARTY_ACCEL == 1) {
+ if(USE_THIRD_PARTY_ACCEL) {
LOGV_IF(SYSFS_VERBOSE, "echo %lld > %s (%lld)",
wanted_3rd_party_sensor / 1000000L, mpu.accel_fifo_rate,
getTimestamp());
@@ -1726,19 +1670,6 @@
inv_set_compass_sample_rate(got / 1000);
}
- /*
- //nsTons - nothing to be done
- strcpy(&compass_sensor_sysfs_path[compass_sensor_sysfs_path_len],
- COMPASS_SENSOR_DELAY);
- tempFd = open(compass_sensor_sysfs_path, O_RDWR);
- LOGV_IF(PROCESS_VERBOSE, "setDelay - open path: %s", compass_sensor_sysfs_path);
- wanted = 20000000LLU;
- res = write_attribute_sensor(tempFd, wanted);
- if(res < 0) {
- LOGE("Compass update delay error");
- }
- */
-
} else {
if (GY_ENABLED) {
@@ -1746,7 +1677,7 @@
(mEnabled & (1 << Gyro)? mDelays[Gyro]: mDelays[RawGyro]):
(mEnabled & (1 << RawGyro)? mDelays[RawGyro]: mDelays[Gyro]));
- if (isDmpDisplayOrientationOn()) {
+ if (isDmpDisplayOrientationOn() && mDmpOrientationEnabled) {
getDmpRate(&wanted);
}
@@ -1768,7 +1699,7 @@
wanted = mDelays[Accelerometer];
}
- if (isDmpDisplayOrientationOn()) {
+ if (isDmpDisplayOrientationOn() && mDmpOrientationEnabled) {
getDmpRate(&wanted);
}
@@ -1776,10 +1707,14 @@
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)",
1000000000.f / wanted, mpu.accel_fifo_rate, getTimestamp());
tempFd = open(mpu.accel_fifo_rate, O_RDWR);
- //BMA250 in ms
- //res = write_attribute_sensor(tempFd, wanted / 1000000L);
- //MPU6050 in hz
- res = write_attribute_sensor(tempFd, 1000000000.f/wanted);
+ if(USE_THIRD_PARTY_ACCEL) {
+ //BMA250 in ms
+ res = write_attribute_sensor(tempFd, wanted / 1000000L);
+ }
+ else {
+ //MPUxxxx in hz
+ res = write_attribute_sensor(tempFd, 1000000000.f/wanted);
+ }
LOGE_IF(res < 0, "HAL:ACCEL update delay error");
}
@@ -1799,7 +1734,7 @@
wanted = mDelays[MagneticField];
}
- if (isDmpDisplayOrientationOn()) {
+ if (isDmpDisplayOrientationOn() && mDmpOrientationEnabled) {
getDmpRate(&wanted);
}
}
@@ -1817,21 +1752,15 @@
| INV_THREE_AXIS_ACCEL
| (INV_THREE_AXIS_COMPASS * mCompassSensor->isIntegrated()))) {
res = masterEnable(1);
- if(res < 0) {
- return res;
- }
} else { // all sensors idle -> reduce power
res = onPower(0);
- if(res < 0) {
- return res;
- }
}
}
-
+ pthread_mutex_unlock(&GlobalHalMutex);
return res;
}
-/* use for third party accel */
+/* For Third Party Accel Input Subsystem Drivers only */
/* TODO: FIX! data is not used and count not decremented, results is hardcoded to 0 */
int MPLSensor::readAccelEvents(sensors_event_t* data, int count)
{
@@ -1850,7 +1779,7 @@
input_event const* event;
int nb, done = 0;
- while (done == 0 && count && mAccelInputReader.readEvent(&event)) {
+ while (!done && count && mAccelInputReader.readEvent(&event)) {
int type = event->type;
if (type == EV_ABS) {
if (event->code == EVENT_TYPE_ACCEL_X) {
@@ -1937,7 +1866,7 @@
int MPLSensor::readEvents(sensors_event_t *data, int count) {
- int lp_quaternion_on, nbyte;
+ int lp_quaternion_on = 0, nbyte;
int i, nb, mask = 0, numEventReceived = 0,
sensors = ((mLocalSensorMask & INV_THREE_AXIS_GYRO)? 1 : 0) +
((mLocalSensorMask & INV_THREE_AXIS_ACCEL)? 1 : 0) +
@@ -1948,7 +1877,7 @@
if (isLowPowerQuatEnabled()) {
lp_quaternion_on = checkLPQuaternion();
- if (lp_quaternion_on == 1) {
+ if (lp_quaternion_on) {
nbyte += sizeof(mCachedQuaternionData); //currently 16 bytes for Q data
}
}
@@ -1990,7 +1919,7 @@
return -1;
}
- if (isLowPowerQuatEnabled() && lp_quaternion_on == 1) {
+ if (isLowPowerQuatEnabled() && lp_quaternion_on) {
for (i=0; i< 4; i++) {
mCachedQuaternionData[i]= *(long*)rdata;
@@ -2092,7 +2021,7 @@
}
}
- if (isLowPowerQuatEnabled() && lp_quaternion_on == 1) {
+ if (isLowPowerQuatEnabled() && lp_quaternion_on) {
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",
@@ -2122,8 +2051,8 @@
// pthread_mutex_lock(&mHALMutex);
done = mCompassSensor->readSample(mCachedCompassData, &mCompassTimestamp);
-#ifdef COMPASS_YAS530
- if (mCompassSensor->checkCoilsReset()==1) {
+#ifdef COMPASS_YAS53x
+ if (mCompassSensor->checkCoilsReset()) {
//Reset relevant compass settings
resetCompass();
}
@@ -2149,7 +2078,7 @@
return numEventReceived;
}
-#ifdef COMPASS_YAS530
+#ifdef COMPASS_YAS53x
int MPLSensor::resetCompass()
{
VFUNC_LOG;
@@ -2198,8 +2127,6 @@
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;
@@ -2213,57 +2140,63 @@
VFUNC_LOG;
/* TODO: FIX error handling. Handle or ignore it appropriately for hw. */
int res = 0;
+ int enabled_sensors = mEnabled;
+
+ if (isMpu3050())
+ return res;
+
+ pthread_mutex_lock(&GlobalHalMutex);
// on power if not already On
- onPower(1);
+ res = onPower(1);
// reset master enable
- masterEnable(0);
+ res = masterEnable(0);
- if (en == 1) {
+ if (en) {
//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
+ res = -1; // indicate an err
}
- //Open DMP Orient Fd
- openDmpOrientFd();
+ // open DMP Orient Fd
+ res = openDmpOrientFd();
- //Enable DMP
- onDMP(1);
+ // enable DMP
+ res = onDMP(1);
- //Default DMP output rate to FIFO
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- 5, mpu.dmp_output_rate, getTimestamp());
+ // default DMP output rate to FIFO
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());
+ // set DMP rate to 200Hz
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);
+ res = enableAccel(1);
// disable accel FIFO
- res = turnOffAccelFifo();
+ if (!A_ENABLED) {
+ res = turnOffAccelFifo();
+ }
- mFeatureActiveMask |=INV_DMP_DISPL_ORIENTATION;
+ mFeatureActiveMask |= INV_DMP_DISPL_ORIENTATION;
} else {
// disable DMP
- onDMP(0);
+ res = onDMP(0);
+
// disable accel engine
- enableAccel(0);
+ if (!A_ENABLED) {
+ res = enableAccel(0);
+ }
}
res = masterEnable(1);
+ pthread_mutex_unlock(&GlobalHalMutex);
return res;
}
@@ -2364,9 +2297,6 @@
{
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);
@@ -2749,34 +2679,39 @@
{
VFUNC_LOG;
- unsigned char i = 0;
- char sysfs_path[MAX_SYSFS_NAME_LEN], iio_trigger_path[MAX_SYSFS_NAME_LEN], tbuf[2];
+ unsigned char i;
+ char sysfs_path[MAX_SYSFS_NAME_LEN], iio_trigger_path[MAX_SYSFS_NAME_LEN];
char *sptr;
char **dptr;
int num;
+ sysfs_names_ptr =
+ (char*)calloc(1, sizeof(char[MAX_SYSFS_ATTRB][MAX_SYSFS_NAME_LEN]));
+ sptr = sysfs_names_ptr;
+ if (sptr == NULL) {
+ LOGE("HAL:couldn't alloc mem for sysfs paths");
+ return -1;
+ }
+
+ dptr = (char**)&mpu;
+ i = 0;
+ do {
+ *dptr++ = sptr;
+ sptr += sizeof(char[MAX_SYSFS_NAME_LEN]);
+ } while (++i < MAX_SYSFS_ATTRB);
+
// get proper (in absolute/relative) IIO path & build MPU's sysfs paths
// inv_get_sysfs_abs_path(sysfs_path);
if(INV_SUCCESS != inv_get_sysfs_path(sysfs_path)) {
ALOGE("MPLSensor failed get sysfs path");
return -1;
}
- 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");
+
+ if(INV_SUCCESS != inv_get_iio_trigger_path(iio_trigger_path)) {
+ ALOGE("MPLSensor failed get iio trigger path");
return -1;
}
- inv_get_iio_trigger_path(iio_trigger_path);
-
sprintf(mpu.key, "%s%s", sysfs_path, "/key");
sprintf(mpu.chip_enable, "%s%s", sysfs_path, "/buffer/enable");
sprintf(mpu.buffer_length, "%s%s", sysfs_path, "/buffer/length");
@@ -2804,22 +2739,15 @@
sprintf(mpu.gyro_y_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_anglvel_y_en");
sprintf(mpu.gyro_z_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_anglvel_z_en");
-#ifdef THIRD_PARTY_ACCEL //BMA250
- /* same as 'mpu.accel_enable' */
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, "/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");
+
+#ifndef THIRD_PARTY_ACCEL //MPUxxxx
+ sprintf(mpu.accel_fsr, "%s%s", sysfs_path, "/in_accel_scale");
// TODO: for bias settings
sprintf(mpu.accel_bias, "%s%s", sysfs_path, "/accl_bias");
-
- 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");
@@ -2844,3 +2772,31 @@
#endif
return 0;
}
+
+/* TODO: stop manually testing/using 0 and 1 instead of
+ * false and true, but just use 0 and non-0.
+ * This allows passing 0 and non-0 ints around instead of
+ * having to convert to 1 and test against 1.
+ */
+bool MPLSensor::isMpu3050()
+{
+ return !strcmp(chip_ID, "mpu3050") || !strcmp(chip_ID, "MPU3050");
+}
+
+int MPLSensor::isLowPowerQuatEnabled()
+{
+#ifdef ENABLE_LP_QUAT_FEAT
+ return !isMpu3050();
+#else
+ return 0;
+#endif
+}
+
+int MPLSensor::isDmpDisplayOrientationOn()
+{
+#ifdef ENABLE_DMP_DISPL_ORIENT_FEAT
+ return !isMpu3050();
+#else
+ return 0;
+#endif
+}
diff --git a/libsensors_iio/MPLSensor.h b/libsensors_iio/MPLSensor.h
index 879f37b..4162324 100644
--- a/libsensors_iio/MPLSensor.h
+++ b/libsensors_iio/MPLSensor.h
@@ -30,8 +30,8 @@
#ifdef INVENSENSE_COMPASS_CAL
-#ifdef COMPASS_YAS530
-#warning "unified HAL for YAS530"
+#ifdef COMPASS_YAS53x
+#warning "unified HAL for YAS53x"
#include "CompassSensor.IIO.primary.h"
#elif COMPASS_AMI306
#warning "unified HAL for AMI306"
@@ -49,7 +49,6 @@
/* Sensors Enable/Disable Mask
*****************************************************************************/
#define MAX_CHIP_ID_LEN (20)
-#define IIO_BUFFER_LENGTH (100 * 2)
#define INV_THREE_AXIS_GYRO (0x000F)
#define INV_THREE_AXIS_ACCEL (0x0070)
@@ -72,31 +71,32 @@
#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 */
+/* Uncomment to enable Low Power Quaternion */
+#define ENABLE_LP_QUAT_FEAT
+
+/* Uncomment to enable DMP display orientation
+ (within the HAL, see below for Java framework) */
+// #define ENABLE_DMP_DISPL_ORIENT_FEAT
#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
+/* Uncomment following to expose the SENSOR_TYPE_SCREEN_ORIENTATION
+ sensor type (DMP screen orientation) to the Java framework.
+ NOTE:
+ need Invensense customized
+ 'hardware/libhardware/include/hardware/sensors.h' to compile correctly.
+ NOTE:
+ need Invensense java framework changes to:
+ 'frameworks/base/core/java/android/view/WindowOrientationListener.java'
+ 'frameworks/base/core/java/android/hardware/Sensor.java'
+ 'frameworks/base/core/java/android/hardware/SensorEvent.java'
+ for the 'Auto-rotate screen' to use this feature.
+*/
+#define ENABLE_DMP_SCREEN_AUTO_ROTATION
+#warning "ENABLE_DMP_DISPL_ORIENT_FEAT is defined, framework changes are necessary for HAL to work properly"
#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() {
+int isDmpScreenAutoRotationEnabled()
+{
#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
return 1;
#else
@@ -104,17 +104,19 @@
#endif
}
+int (*m_pt2AccelCalLoadFunc)(long *bias) = NULL;
/*****************************************************************************/
/** MPLSensor implementation which fits into the HAL example for crespo provided
* by Google.
* WARNING: there may only be one instance of MPLSensor, ever.
*/
-
+
class MPLSensor: public SensorBase
{
typedef int (MPLSensor::*hfunc_t)(sensors_event_t*);
public:
+
enum {
Gyro = 0,
RawGyro,
@@ -127,7 +129,7 @@
numSensors
};
- MPLSensor(CompassSensor *);
+ MPLSensor(CompassSensor *, int (*m_pt2AccelCalLoadFunc)(long*) = 0);
virtual ~MPLSensor();
virtual int setDelay(int32_t handle, int64_t ns);
@@ -145,9 +147,6 @@
int populateSensorList(struct sensor_t *list, int len);
void cbProcData();
- // Do not work with this object unless it is initialized
- bool isValid() { return mMplSensorInitialized; };
-
//static pointer to the object that will handle callbacks
static MPLSensor* gMPLSensor;
@@ -169,9 +168,6 @@
int checkDMPOrientation();
protected:
- // Lets us know if the constructor was actually able to finish its job.
- // E.g. false if init sysfs failed.
- bool mMplSensorInitialized;
CompassSensor *mCompassSensor;
int gyroHandler(sensors_event_t *data);
@@ -195,6 +191,7 @@
int enableLPQuaternion(int);
int enableQuaternionData(int);
int onDMP(int);
+ int enableOneSensor(int en, const char *name, int (MPLSensor::*enabler)(int));
int enableGyro(int en);
int enableAccel(int en);
int enableCompass(int en);
@@ -210,7 +207,7 @@
int inv_read_sensor_bias(int fd, long *data);
void inv_get_sensors_orientation(void);
int inv_init_sysfs_attributes(void);
-#ifdef COMPASS_YAS530
+#ifdef COMPASS_YAS53x
int resetCompass(void);
#endif
void setCompassDelay(int64_t ns);
@@ -228,6 +225,7 @@
bool mHaveGoodMpuCal; // flag indicating that the cal file can be written
int mGyroAccuracy; // value indicating the quality of the gyro calibr.
int mAccelAccuracy; // value indicating the quality of the accel calibr.
+ int mCompassAccuracy; // value indicating the quality of the compass calibr.
struct pollfd mPollFds[5];
int mSampleCount;
pthread_mutex_t mMplMutex;
@@ -243,6 +241,7 @@
int mDmpOrientationEnabled;
+
uint32_t mEnabled;
uint32_t mOldEnabledMask;
sensors_event_t mPendingEvents[numSensors];
@@ -332,6 +331,11 @@
void fillLinearAccel(struct sensor_t *list);
void storeCalibration();
void loadDMP();
+ bool isMpu3050();
+ int isLowPowerQuatEnabled();
+ int isDmpDisplayOrientationOn();
+
+
};
extern "C" {
diff --git a/libsensors_iio/MPLSupport.cpp b/libsensors_iio/MPLSupport.cpp
index dcb12d2..9773562 100644
--- a/libsensors_iio/MPLSupport.cpp
+++ b/libsensors_iio/MPLSupport.cpp
@@ -14,12 +14,30 @@
* limitations under the License.
*/
+#define LOG_NDEBUG 0
+
#include <MPLSupport.h>
#include <string.h>
#include <stdio.h>
+#include <fcntl.h>
+
#include "log.h"
#include "SensorBase.h"
-#include <fcntl.h>
+
+#include "ml_sysfs_helper.h"
+#include "local_log_def.h"
+
+int64_t getTimestamp()
+{
+ struct timespec t;
+ t.tv_sec = t.tv_nsec = 0;
+ clock_gettime(CLOCK_MONOTONIC, &t);
+ return int64_t(t.tv_sec) * 1000000000LL + t.tv_nsec;
+}
+
+int64_t timevalToNano(timeval const& t) {
+ return t.tv_sec * 1000000000LL + t.tv_usec * 1000;
+}
int inv_read_data(char *fname, long *data)
{
@@ -138,16 +156,35 @@
int write_sysfs_int(char *filename, int var)
{
- int res=0;
+ int res = 0;
FILE *sysfsfp;
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ var, filename, getTimestamp());
sysfsfp = fopen(filename, "w");
- if (sysfsfp!=NULL) {
- fprintf(sysfsfp, "%d\n", var);
- fclose(sysfsfp);
- } else {
+ if (sysfsfp == NULL) {
res = -errno;
- LOGE("HAL:ERR open file %s to read with error %d", filename, res);
+ LOGE("HAL:ERR open file %s to write with error %d", filename, res);
+ return res;
+ }
+ int fpres, fcres = 0;
+ fpres = fprintf(sysfsfp, "%d\n", var);
+ /* fprintf() can succeed because it never actually writes to the
+ * underlying sysfs node.
+ */
+ if (fpres < 0) {
+ res = -errno;
+ fclose(sysfsfp);
+ } else {
+ fcres = fclose(sysfsfp);
+ /* Check for errors from: fflush(), write(), and close() */
+ if (fcres < 0) {
+ res = -errno;
+ }
+ }
+ if (fpres < 0 || fcres < 0) {
+ LOGE("HAL:ERR failed to write %d to %s (err=%d) print/close=%d/%d",
+ var, filename, res, fpres, fcres);
}
return res;
}
diff --git a/libsensors_iio/MPLSupport.h b/libsensors_iio/MPLSupport.h
index 73604ba..98e4497 100644
--- a/libsensors_iio/MPLSupport.h
+++ b/libsensors_iio/MPLSupport.h
@@ -18,12 +18,16 @@
#define ANDROID_MPL_SUPPORT_H
#include <stdint.h>
+#include <time.h>
- int inv_read_data(char *fname, long *data);
- int read_attribute_sensor(int fd, char* data, unsigned int size);
- int enable_sysfs_sensor(int fd, int en);
- int write_attribute_sensor(int fd, long data);
- int read_sysfs_int(char*, int*);
- int write_sysfs_int(char*, int);
+int64_t getTimestamp();
+int64_t timevalToNano(timeval const& t);
+
+int inv_read_data(char *fname, long *data);
+int read_attribute_sensor(int fd, char* data, unsigned int size);
+int enable_sysfs_sensor(int fd, int en);
+int write_attribute_sensor(int fd, long data);
+int read_sysfs_int(char*, int*);
+int write_sysfs_int(char*, int);
#endif // ANDROID_MPL_SUPPORT_H
diff --git a/libsensors_iio/SensorBase.cpp b/libsensors_iio/SensorBase.cpp
index fd0e2ca..21d0ed0 100644
--- a/libsensors_iio/SensorBase.cpp
+++ b/libsensors_iio/SensorBase.cpp
@@ -18,7 +18,6 @@
#include <errno.h>
#include <math.h>
#include <poll.h>
-#include <unistd.h>
#include <dirent.h>
#include <sys/select.h>
#include <cutils/log.h>
@@ -86,14 +85,6 @@
return false;
}
-int64_t SensorBase::getTimestamp()
-{
- struct timespec t;
- t.tv_sec = t.tv_nsec = 0;
- clock_gettime(CLOCK_MONOTONIC, &t);
- return int64_t(t.tv_sec) * 1000000000LL + t.tv_nsec;
-}
-
int SensorBase::openInput(const char *inputName)
{
int fd = -1;
diff --git a/libsensors_iio/SensorBase.h b/libsensors_iio/SensorBase.h
index d9abe92..fef47c7 100644
--- a/libsensors_iio/SensorBase.h
+++ b/libsensors_iio/SensorBase.h
@@ -25,6 +25,7 @@
#define CALL_MEMBER_FN(pobject, ptrToMember) ((pobject)->*(ptrToMember))
#define MAX_SYSFS_NAME_LEN (100)
+#define IIO_BUFFER_LENGTH (480)
/*****************************************************************************/
@@ -39,10 +40,6 @@
int data_fd;
int openInput(const char* inputName);
- static int64_t getTimestamp();
- static int64_t timevalToNano(timeval const& t) {
- return t.tv_sec * 1000000000LL + t.tv_usec * 1000;
- }
int open_device();
int close_device();
diff --git a/libsensors_iio/libmllite.so b/libsensors_iio/libmllite.so
old mode 100644
new mode 100755
index 98147a2..9bdd5bc
--- 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 fbd346f..205ab9a 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 4127dd7..9135992 100644
--- a/libsensors_iio/local_log_def.h
+++ b/libsensors_iio/local_log_def.h
@@ -1,9 +1,6 @@
#ifndef LOCAL_LOG_DEF_H
#define LOCAL_LOG_DEF_H
-/* 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 */
@@ -18,7 +15,7 @@
#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
+#if defined ANDROID_JELLYBEAN
#define LOGV ALOGV
#define LOGV_IF ALOGV_IF
#define LOGD ALOGD
@@ -37,8 +34,11 @@
#define LOG_ASSERT ALOG_ASSERT
#define LOG ALOG
#define IF_LOG IF_ALOG
+#else
+#warning "build for ICS or earlier version"
#endif
+
#define FUNC_LOG \
LOGV("%s", __PRETTY_FUNCTION__)
#define VFUNC_LOG \
@@ -46,4 +46,4 @@
#define VHANDLER_LOG \
LOGV_IF(HANDLER_ENTRY, "Entering handler '%s'", __PRETTY_FUNCTION__)
-#endif
+#endif /*ifndef LOCAL_LOG_DEF_H */
diff --git a/libsensors_iio/sensor_params.h b/libsensors_iio/sensor_params.h
index c51d87a..39e3e5c 100644
--- a/libsensors_iio/sensor_params.h
+++ b/libsensors_iio/sensor_params.h
@@ -62,11 +62,11 @@
#define COMPASS_YAS529_RANGE (19660.f)
#define COMPASS_YAS529_RESOLUTION (0.012f)
#define COMPASS_YAS529_POWER (4.f)
-//COMPASS_ID_YAS530
-#define COMPASS_YAS530_RANGE (8001.f)
-#define COMPASS_YAS530_RESOLUTION (0.012f)
-#define COMPASS_YAS530_POWER (4.f)
-#define COMPASS_YAS530_MINDELAY (10000)
+//COMPASS_ID_YAS53x
+#define COMPASS_YAS53x_RANGE (8001.f)
+#define COMPASS_YAS53x_RESOLUTION (0.012f)
+#define COMPASS_YAS53x_POWER (4.f)
+#define COMPASS_YAS53x_MINDELAY (10000)
//COMPASS_ID_HMC5883
#define COMPASS_HMC5883_RANGE (10673.f)
#define COMPASS_HMC5883_RESOLUTION (10.f)
diff --git a/libsensors_iio/sensors.h b/libsensors_iio/sensors.h
index 7264043..f698fc5 100644
--- a/libsensors_iio/sensors.h
+++ b/libsensors_iio/sensors.h
@@ -35,10 +35,8 @@
#define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0]))
#endif
-#define ID_MPL_BASE (0)
-
enum {
- ID_GY = ID_MPL_BASE,
+ ID_GY = 0,
ID_RG,
ID_A,
ID_M,
@@ -49,16 +47,6 @@
ID_SO
};
-/*
-#define ID_GY (ID_MPL_BASE)
-#define ID_A (ID_GY + 1)
-#define ID_M (ID_A + 1)
-#define ID_O (ID_M + 1)
-#define ID_RV (ID_O + 1)
-#define ID_LA (ID_RV + 1)
-#define ID_GR (ID_LA + 1)
-*/
-
/*****************************************************************************/
/*
diff --git a/libsensors_iio/sensors_mpl.cpp b/libsensors_iio/sensors_mpl.cpp
index 4445309..4aef514 100644
--- a/libsensors_iio/sensors_mpl.cpp
+++ b/libsensors_iio/sensors_mpl.cpp
@@ -32,20 +32,25 @@
#include "sensors.h"
#include "MPLSensor.h"
-#include "local_log_def.h"
/*****************************************************************************/
/* The SENSORS Module */
#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
-#define LOCAL_SENSORS (numSensors + 1)
+#define LOCAL_SENSORS (MPLSensor::numSensors + 1)
#else
-#define LOCAL_SENSORS numSensors
-
+#define LOCAL_SENSORS MPLSensor::numSensors
#endif
+/* Vendor-defined Accel Load Calibration File Method
+* @param[out] Accel bias, length 3. In HW units scaled by 2^16 in body frame
+* @return '0' for a successful load, '1' otherwise
+* example: int AccelLoadConfig(long* offset);
+* End of Vendor-defined Accel Load Cal Method
+*/
+
static struct sensor_t sSensorList[LOCAL_SENSORS];
-static int sensors = LOCAL_SENSORS;
+static int sensors = (sizeof(sSensorList) / sizeof(sensor_t));
static int open_sensors(const struct hw_module_t* module, const char* id,
struct hw_device_t** device);
@@ -101,9 +106,15 @@
sensors_poll_context_t::sensors_poll_context_t() {
VFUNC_LOG;
- CompassSensor *mCompassSensor = new CompassSensor();
+ mCompassSensor = new CompassSensor();
MPLSensor *mplSensor = new MPLSensor(mCompassSensor);
+ /* For Vendor-defined Accel Calibration File Load
+ * Use the Following Constructor and Pass Your Load Cal File Function
+ *
+ * MPLSensor *mplSensor = new MPLSensor(mCompassSensor, AccelLoadConfig);
+ */
+
// setup the callback object for handing mpl callbacks
setCallbackObject(mplSensor);
@@ -156,11 +167,13 @@
if (mPollFds[i].revents & (POLLIN | POLLPRI)) {
nb = 0;
if (i == mpl) {
- nb = mSensor->readEvents(data, count);
+ /* Ignore res */
+ mSensor->readEvents(NULL, 0);
mPollFds[i].revents = 0;
}
else if (i == compass) {
- nb = ((MPLSensor*) mSensor)->readCompassEvents(data, count);
+ /* Ignore res */
+ ((MPLSensor*) mSensor)->readCompassEvents(NULL, count);
mPollFds[i].revents = 0;
}
}
@@ -175,7 +188,7 @@
if (mPollFds[dmpOrient].revents & (POLLIN | POLLPRI)) {
nb = ((MPLSensor*) mSensor)->readDmpOrientEvents(data, count);
mPollFds[dmpOrient].revents= 0;
- if (isDmpScreenAutoRotationOn() && nb > 0) {
+ if (isDmpScreenAutoRotationEnabled() && nb > 0) {
count -= nb;
nbEvents += nb;
data += nb;
diff --git a/libsensors_iio/software/build/android/common.mk b/libsensors_iio/software/build/android/common.mk
index b84a99c..84e7e9b 100644
--- a/libsensors_iio/software/build/android/common.mk
+++ b/libsensors_iio/software/build/android/common.mk
@@ -4,6 +4,9 @@
####################################################################################################
## defines
+# Build for Jellybean
+BUILD_ANDROID_JELLYBEAN = 1
+
## libraries ##
LIB_PREFIX = lib
@@ -16,23 +19,39 @@
MLLITE_LIB_NAME ?= mllite
MPL_LIB_NAME ?= mplmpu
-HALWRAPPER_LIB_NAME ?= androidhal
## applications ##
SHARED_APP_SUFFIX = -shared
STATIC_APP_SUFFIX = -static
####################################################################################################
-## includes and linker
+## compile, includes, and linker
-ANDROID_LINK = -L$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+ifeq ($(BUILD_ANDROID_JELLYBEAN),1)
+ANDROID_COMPILE = -DANDROID_JELLYBEAN=1
+endif
+
+ANDROID_LINK = -nostdlib
+ANDROID_LINK += -fpic
+ANDROID_LINK += -Wl,--gc-sections
+ANDROID_LINK += -Wl,--no-whole-archive
ANDROID_LINK += -L$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib
+ANDROID_LINK += -L$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+
+ANDROID_LINK_EXECUTABLE = $(ANDROID_LINK)
+ANDROID_LINK_EXECUTABLE += -Wl,-dynamic-linker,/system/bin/linker
+ifneq ($(BUILD_ANDROID_JELLYBEAN),1)
+ANDROID_LINK_EXECUTABLE += -Wl,-T,$(ANDROID_ROOT)/build/core/armelf.x
+endif
+ANDROID_LINK_EXECUTABLE += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtbegin_dynamic.o
+ANDROID_LINK_EXECUTABLE += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtend_android.o
ANDROID_INCLUDES = -I$(ANDROID_ROOT)/system/core/include
ANDROID_INCLUDES += -I$(ANDROID_ROOT)/hardware/libhardware/include
ANDROID_INCLUDES += -I$(ANDROID_ROOT)/hardware/ril/include
ANDROID_INCLUDES += -I$(ANDROID_ROOT)/dalvik/libnativehelper/include
-ANDROID_INCLUDES += -I$(ANDROID_ROOT)/frameworks/base/include
+ANDROID_INCLUDES += -I$(ANDROID_ROOT)/frameworks/base/include # ICS
+ANDROID_INCLUDES += -I$(ANDROID_ROOT)/frameworks/native/include # Jellybean
ANDROID_INCLUDES += -I$(ANDROID_ROOT)/external/skia/include
ANDROID_INCLUDES += -I$(ANDROID_ROOT)/out/target/product/generic/obj/include
ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libc/arch-arm/include
diff --git a/libsensors_iio/software/build/android/shared.mk b/libsensors_iio/software/build/android/shared.mk
index f3a123f..47dedfe 100644
--- a/libsensors_iio/software/build/android/shared.mk
+++ b/libsensors_iio/software/build/android/shared.mk
@@ -24,6 +24,7 @@
endif
APP_FOLDERS = $(INV_ROOT)/simple_apps/mpu_iio/build/$(TARGET)
APP_FOLDERS += $(INV_ROOT)/simple_apps/self_test/build/$(TARGET)
+APP_FOLDERS += $(INV_ROOT)/simple_apps/gesture_test/build/$(TARGET)
INSTALL_DIR = $(CURDIR)
diff --git a/libsensors_iio/software/core/driver/include/log.h b/libsensors_iio/software/core/driver/include/log.h
index 0a747ce..c519691 100644
--- a/libsensors_iio/software/core/driver/include/log.h
+++ b/libsensors_iio/software/core/driver/include/log.h
@@ -37,8 +37,8 @@
#ifndef _LIBS_CUTILS_MPL_LOG_H
#define _LIBS_CUTILS_MPL_LOG_H
+#include <stdlib.h>
#include <stdarg.h>
-#include "local_log_def.h"
#ifdef ANDROID
#ifdef NDK_BUILD
@@ -56,6 +56,7 @@
extern "C" {
#endif
+
/* --------------------------------------------------------------------- */
/*
@@ -287,7 +288,7 @@
#ifndef MPL_LOG_PRI
#ifdef ANDROID
#define MPL_LOG_PRI(priority, tag, fmt, ...) \
- LOG(priority, tag, fmt, ##__VA_ARGS__)
+ ALOG(priority, tag, fmt, ##__VA_ARGS__)
#elif defined __KERNEL__
#define MPL_LOG_PRI(priority, tag, fmt, ...) \
pr_debug(MPL_##priority tag fmt, ##__VA_ARGS__)
diff --git a/libsensors_iio/software/core/mllite/build/android/libmllite.so b/libsensors_iio/software/core/mllite/build/android/libmllite.so
old mode 100644
new mode 100755
index 98147a2..9bdd5bc
--- a/libsensors_iio/software/core/mllite/build/android/libmllite.so
+++ b/libsensors_iio/software/core/mllite/build/android/libmllite.so
Binary files differ
diff --git a/libsensors_iio/software/core/mllite/build/android/shared.mk b/libsensors_iio/software/core/mllite/build/android/shared.mk
index 2ee2e20..1418450 100644
--- a/libsensors_iio/software/core/mllite/build/android/shared.mk
+++ b/libsensors_iio/software/core/mllite/build/android/shared.mk
@@ -15,6 +15,7 @@
include $(INV_ROOT)/software/build/android/common.mk
CFLAGS += $(CMDLINE_CFLAGS)
+CFLAGS += $(ANDROID_COMPILE)
CFLAGS += -Wall
CFLAGS += -fpic
CFLAGS += -nostdlib
@@ -44,12 +45,7 @@
LFLAGS += $(CMDLINE_LFLAGS)
LFLAGS += -shared
LFLAGS += -Wl,-soname,$(LIBRARY)
-LFLAGS += -nostdlib
-LFLAGS += -fpic
-LFLAGS += -Wl,-T,$(ANDROID_ROOT)/build/core/armelf.xsc
-LFLAGS += -Wl,--gc-sections
-LFLAGS += -Wl,--no-whole-archive
-LFLAGS += -Wl,-shared,-Bsymbolic
+LFLAGS += -Wl,-shared,-Bsymbolic
LFLAGS += $(ANDROID_LINK)
LFLAGS += -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
diff --git a/libsensors_iio/software/core/mllite/data_builder.c b/libsensors_iio/software/core/mllite/data_builder.c
index b139771..48993bc 100644
--- a/libsensors_iio/software/core/mllite/data_builder.c
+++ b/libsensors_iio/software/core/mllite/data_builder.c
@@ -18,6 +18,8 @@
#undef MPL_LOG_NDEBUG
#define MPL_LOG_NDEBUG 0 /* Use 0 to turn on MPL_LOGV output */
+#include <string.h>
+
#include "ml_math_func.h"
#include "data_builder.h"
#include "mlmath.h"
@@ -429,7 +431,7 @@
raw32[1] = (long)sensor->raw[1] << 15;
raw32[2] = (long)sensor->raw[2] << 15;
- 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 << 1, raw32, sensor->raw_scaled);
raw32[0] -= bias[0] >> 1;
raw32[1] -= bias[1] >> 1;
@@ -490,6 +492,16 @@
inv_set_message(INV_MSG_NEW_AB_EVENT, INV_MSG_NEW_AB_EVENT, 0);
}
+/** Sets the accel accuracy.
+* @param[in] accuracy Accuracy rating from 0 to 3, with 3 being most accurate.
+*/
+void inv_set_accel_accuracy(int accuracy)
+{
+ 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);
+}
+
/** Sets the accel bias with control over which axis.
* @param[in] bias Accel bias, length 3. In HW units scaled by 2^16 in body frame
* @param[in] accuracy Accuracy rating from 0 to 3, with 3 being most accurate.
@@ -512,6 +524,7 @@
}
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);
}
@@ -1010,7 +1023,7 @@
*/
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));
+ memcpy(data, sensors.gyro.raw_scaled, sizeof(sensors.gyro.raw_scaled));
if (timestamp != NULL) {
*timestamp = sensors.gyro.timestamp;
}
diff --git a/libsensors_iio/software/core/mllite/data_builder.h b/libsensors_iio/software/core/mllite/data_builder.h
index 4263922..9aa46e6 100644
--- a/libsensors_iio/software/core/mllite/data_builder.h
+++ b/libsensors_iio/software/core/mllite/data_builder.h
@@ -71,7 +71,7 @@
/** The raw data in raw data units in the mounting frame */
short raw[3];
/** Raw data in body frame */
- long raw_data[3];
+ long raw_scaled[3];
/** Calibrated data */
long calibrated[3];
long sensitivity;
@@ -188,6 +188,7 @@
void inv_set_compass_disturbance(int dist);
void inv_set_gyro_bias(const long *bias, int accuracy);
void inv_set_accel_bias(const long *bias, int accuracy);
+void inv_set_accel_accuracy(int accuracy);
void inv_set_accel_bias_mask(const long *bias, int accuracy, int mask);
void inv_get_gyro_bias(long *bias, long *temp);
diff --git a/libsensors_iio/software/core/mllite/hal_outputs.c b/libsensors_iio/software/core/mllite/hal_outputs.c
index 5e7b2cc..7cdca59 100644
--- a/libsensors_iio/software/core/mllite/hal_outputs.c
+++ b/libsensors_iio/software/core/mllite/hal_outputs.c
@@ -11,9 +11,12 @@
* Sets up common outputs for HAL
*
* @{
- * @file hal_outputs.c
+ * @file hal_outputs.c
* @brief HAL Outputs.
*/
+
+#include <string.h>
+
#include "hal_outputs.h"
#include "log.h"
#include "ml_math_func.h"
@@ -121,6 +124,10 @@
return status;
}
+/* 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
+
/** 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.
@@ -131,9 +138,6 @@
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;
@@ -158,9 +162,6 @@
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;
@@ -353,8 +354,19 @@
use_sensor = 3;
}
+ // Only output 9-axis if all 9 sensors are on.
+ if (sensor_cal->quat.status & INV_SENSOR_ON) {
+ // If quaternion sensor is on, gyros are not required as quaternion already has that part
+ if ((sensor_cal->accel.status & sensor_cal->compass.status & INV_SENSOR_ON) == 0) {
+ use_sensor = -1;
+ }
+ } else {
+ if ((sensor_cal->gyro.status & sensor_cal->accel.status & sensor_cal->compass.status & INV_SENSOR_ON) == 0) {
+ use_sensor = -1;
+ }
+ }
+
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;
@@ -371,6 +383,9 @@
hal_out.nine_axis_status = (sensor_cal->quat.status & INV_NEW_DATA) ? 1 : 0;
hal_out.nav_timestamp = sensor_cal->quat.timestamp;
break;
+ default:
+ hal_out.nine_axis_status = 0; // Don't output quaternion related info
+ break;
}
/* Converts fixed point to uT. Fixed point has 1 uT = 2^16.
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 91c766b..72940f7 100644
--- a/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c
+++ b/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c
@@ -19,11 +19,11 @@
*/
#include <stdio.h>
+#include "log.h"
#undef MPL_LOG_TAG
#define MPL_LOG_TAG "MPL-loaddmp"
#include "ml_load_dmp.h"
-#include "log.h"
#include "mlos.h"
#define LOADDMP_LOG MPL_LOGI
@@ -69,15 +69,15 @@
0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00,
/* bank # 2 */
0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01, 0x00, 0x44, 0x00, 0x05, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0,
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 0xc0, 0x00, 0x00, 0x01, 0x3f, 0xff, 0xff, 0xff, 0x40, 0x00, 0x00, 0x00, 0x30, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x47, 0x78, 0xa2,
0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e,
@@ -106,9 +106,9 @@
0xd8, 0xdc, 0xb4, 0xb8, 0xb0, 0xd8, 0xb9, 0xab, 0xf3, 0xf8, 0xfa, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e,
0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf,
0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0x97, 0x97,
- 0x97, 0xf1, 0xa9, 0x89, 0x26, 0x46, 0x66, 0xb0, 0xb4, 0xba, 0x80, 0xac, 0xde, 0xf2, 0xca, 0xf1,
- 0xb2, 0x8c, 0x02, 0xa9, 0xb6, 0x98, 0x00, 0x89, 0x0e, 0x16, 0x1e, 0xb8, 0xa9, 0xb4, 0x99, 0x2c,
- 0x54, 0x7c, 0xb0, 0x8a, 0xa8, 0x96, 0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0,
+ 0x97, 0xf1, 0xa9, 0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0x99,
+ 0x99, 0x99, 0x99, 0x99, 0x99, 0x99, 0x99, 0x99, 0x99, 0x99, 0x99, 0x99, 0x99, 0x99, 0x99, 0x99,
+ 0x99, 0x99, 0xb0, 0x8a, 0xa8, 0x96, 0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0,
0xb8, 0xa8, 0x97, 0x11, 0xb2, 0x83, 0x98, 0xba, 0xa3, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18,
0xb2, 0xb9, 0xb4, 0x98, 0x83, 0xf1, 0xa3, 0x29, 0x55, 0x7d, 0xba, 0xb5, 0xb1, 0xa3, 0x83, 0x93,
0xf0, 0x00, 0x28, 0x50, 0xf5, 0xb2, 0xb6, 0xaa, 0x83, 0x93, 0x28, 0x54, 0x7c, 0xb9, 0xf1, 0xa3,
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 24b3217..b4c4249 100644
--- a/libsensors_iio/software/core/mllite/linux/ml_stored_data.c
+++ b/libsensors_iio/software/core/mllite/linux/ml_stored_data.c
@@ -21,13 +21,12 @@
#include <stdio.h>
+#include "log.h"
#undef MPL_LOG_TAG
#define MPL_LOG_TAG "MPL-storeload"
-
#include "ml_stored_data.h"
#include "storage_manager.h"
-#include "log.h"
#include "mlos.h"
#define LOADCAL_DEBUG 0
@@ -346,7 +345,7 @@
free_mem_n_exit:
inv_free(calData);
- return INV_SUCCESS;
+ return result;
}
/**
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 a12a4ed..d0c4513 100644
--- a/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.c
+++ b/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.c
@@ -14,7 +14,13 @@
CMD_GET_DEVICE_NODE
};
static char sysfs_path[100];
-static char *chip_name[] = {"ITG3500", "MPU6050", "MPU9150", "MPU3050", "MPU6500"};
+static char *chip_name[] = {
+ "ITG3500",
+ "MPU6050",
+ "MPU9150",
+ "MPU3050",
+ "MPU6500"
+};
static int chip_ind;
static int initialized =0;
static int status = 0;
@@ -26,7 +32,7 @@
#define FORMAT_SCAN_ELEMENTS_DIR "%s/scan_elements"
#define FORMAT_TYPE_FILE "%s_type"
-#define CHIP_NUM sizeof(chip_name)/sizeof(char*)
+#define CHIP_NUM ARRAY_SIZE(chip_name)
static const char *iio_dir = "/sys/bus/iio/devices/";
@@ -94,7 +100,7 @@
*/
static int parsing_proc_input(int mode, char *name){
const char input[] = "/proc/bus/input/devices";
- char line[100], d;
+ char line[4096], d;
char tmp[100];
FILE *fp;
int i, j, result, find_flag;
diff --git a/libsensors_iio/software/core/mllite/linux/mlos.h b/libsensors_iio/software/core/mllite/linux/mlos.h
index 287025f..d4f8912 100644
--- a/libsensors_iio/software/core/mllite/linux/mlos.h
+++ b/libsensors_iio/software/core/mllite/linux/mlos.h
@@ -10,6 +10,7 @@
#ifndef __KERNEL__
#include <stdio.h>
#endif
+#include <pthread.h>
#include "mltypes.h"
@@ -18,7 +19,7 @@
#endif
#if defined(LINUX) || defined(__KERNEL__)
-typedef unsigned int HANDLE;
+typedef pthread_mutex_t* HANDLE;
#endif
/* ------------ */
diff --git a/libsensors_iio/software/core/mllite/linux/mlos_linux.c b/libsensors_iio/software/core/mllite/linux/mlos_linux.c
index 6c9a6ca..5424508 100644
--- a/libsensors_iio/software/core/mllite/linux/mlos_linux.c
+++ b/libsensors_iio/software/core/mllite/linux/mlos_linux.c
@@ -1,13 +1,14 @@
/*
$License:
- Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+ Copyright (C) 2012 InvenSense Corporation, All Rights Reserved.
$
*/
+
/*******************************************************************************
*
* $Id: mlos_linux.c 5629 2011-06-11 03:13:08Z mcaramello $
*
- *******************************************************************************/
+ ******************************************************************************/
/**
* @defgroup MLOS
@@ -16,7 +17,7 @@
* @{
* @file mlos.c
* @brief OS Interface.
-**/
+ */
/* ------------- */
/* - Includes. - */
@@ -26,11 +27,10 @@
#include <unistd.h>
#include <pthread.h>
#include <stdlib.h>
+#include <errno.h>
#include "stdint_invensense.h"
-
#include "mlos.h"
-#include <errno.h>
/* -------------- */
@@ -39,14 +39,14 @@
/**
* @brief Allocate space
- * @param numBytes number of bytes
+ * @param num_bytes number of bytes
* @return pointer to allocated space
-**/
-void *inv_malloc(unsigned int numBytes)
+ */
+void *inv_malloc(unsigned int num_bytes)
{
// Allocate space.
- void *allocPtr = malloc(numBytes);
- return allocPtr;
+ void *alloc_ptr = malloc(num_bytes);
+ return alloc_ptr;
}
@@ -54,14 +54,11 @@
* @brief Free allocated space
* @param ptr pointer to space to deallocate
* @return error code.
-**/
+ */
inv_error_t inv_free(void *ptr)
{
- // Deallocate space.
- if (ptr) {
- free(ptr);
- }
-
+ if (ptr)
+ free(ptr);
return INV_SUCCESS;
}
@@ -98,10 +95,10 @@
inv_error_t inv_lock_mutex(HANDLE mutex)
{
int res;
- pthread_mutex_t *pm = (pthread_mutex_t*)mutex;
+ pthread_mutex_t *pm = (pthread_mutex_t *)mutex;
res = pthread_mutex_lock(pm);
- if(res == -1)
+ if(res == -1)
return INV_ERROR_OS_LOCK_FAILED;
return INV_SUCCESS;
@@ -112,11 +109,11 @@
* @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;
+ pthread_mutex_t *pm = (pthread_mutex_t *)mutex;
res = pthread_mutex_unlock(pm);
if(res == -1)
@@ -133,7 +130,7 @@
*/
FILE *inv_fopen(char *filename)
{
- FILE *fp = fopen(filename,"r");
+ FILE *fp = fopen(filename, "r");
return fp;
}
@@ -156,22 +153,21 @@
inv_error_t inv_destroy_mutex(HANDLE handle)
{
int error;
- pthread_mutex_t *pm = (pthread_mutex_t*)handle;
+ pthread_mutex_t *pm = (pthread_mutex_t *)handle;
error = pthread_mutex_destroy(pm);
- if (error) {
+ if (error)
return errno;
- }
free((void*) handle);
-
+
return INV_SUCCESS;}
/**
* @brief Sleep function.
*/
-void inv_sleep(int mSecs)
+void inv_sleep(int m_secs)
{
- usleep(mSecs*1000);
+ usleep(m_secs * 1000);
}
@@ -184,13 +180,11 @@
{
struct timeval tv;
- if (gettimeofday(&tv, NULL) !=0)
+ 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/mllite/ml_math_func.c b/libsensors_iio/software/core/mllite/ml_math_func.c
index d1fd9c4..c30d693 100644
--- a/libsensors_iio/software/core/mllite/ml_math_func.c
+++ b/libsensors_iio/software/core/mllite/ml_math_func.c
@@ -670,7 +670,6 @@
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]);
diff --git a/libsensors_iio/software/core/mllite/mpl.c b/libsensors_iio/software/core/mllite/mpl.c
index a8c253d..9141cc6 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 5.1.1 RC6";
+const char ml_ver[] = "InvenSense MPL 5.1.2 beta RC9";
/**
* @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 1484f9b..df58f40 100644
--- a/libsensors_iio/software/core/mllite/results_holder.c
+++ b/libsensors_iio/software/core/mllite/results_holder.c
@@ -13,6 +13,9 @@
* @file results_holder.c
* @brief Results Holder for HAL.
*/
+
+#include <string.h>
+
#include "results_holder.h"
#include "ml_math_func.h"
#include "mlmath.h"
@@ -34,6 +37,7 @@
long mag_scale[3]; /**< scale factor to apply to magnetic field reading */
long compass_correction[4]; /**< quaternion going from gyro,accel quaternion to 9 axis */
int acc_state; /**< Describes accel state */
+ int got_accel_bias; /**< Flag describing if accel bias is known */
long compass_bias_error[3]; /**< Error Squared */
unsigned char motion_state;
unsigned int motion_state_counter; /**< Incremented for each no motion event in a row */
@@ -318,6 +322,24 @@
return result;
}
+/** Sets state of if we know the accel bias.
+ * @return return 1 if we know the accel bias, 0 if not.
+ * it is set with inv_set_accel_bias_found()
+ */
+int inv_got_accel_bias()
+{
+ return rh.got_accel_bias;
+}
+
+/** Sets whether we know the accel bias
+ * @param[in] state Set to 1 if we know the accel bias.
+ * Can be retrieved with inv_got_accel_bias()
+ */
+void inv_set_accel_bias_found(int state)
+{
+ rh.got_accel_bias = state;
+}
+
/** Sets state of if we know the compass bias.
* @return return 1 if we know the compass bias, 0 if not.
* it is set with inv_set_compass_bias_found()
diff --git a/libsensors_iio/software/core/mllite/results_holder.h b/libsensors_iio/software/core/mllite/results_holder.h
index a60d7f0..09da24e 100644
--- a/libsensors_iio/software/core/mllite/results_holder.h
+++ b/libsensors_iio/software/core/mllite/results_holder.h
@@ -70,6 +70,10 @@
void inv_set_heading_confidence_interval(float ci);
float inv_get_heading_confidence_interval(void);
+int inv_got_accel_bias();
+void inv_set_accel_bias_found(int state);
+
+
#ifdef __cplusplus
}
#endif
diff --git a/libsensors_iio/software/core/mllite/storage_manager.c b/libsensors_iio/software/core/mllite/storage_manager.c
index 721f858..3e4e619 100644
--- a/libsensors_iio/software/core/mllite/storage_manager.c
+++ b/libsensors_iio/software/core/mllite/storage_manager.c
@@ -14,6 +14,9 @@
* @file storage_manager.c
* @brief Load and Store Manager.
*/
+
+#include <string.h>
+
#include "storage_manager.h"
#include "log.h"
#include "ml_math_func.h"
diff --git a/libsensors_iio/software/core/mpl/build/android/shared.mk b/libsensors_iio/software/core/mpl/build/android/shared.mk
index 79cf9c1..2e15205 100644
--- a/libsensors_iio/software/core/mpl/build/android/shared.mk
+++ b/libsensors_iio/software/core/mpl/build/android/shared.mk
@@ -16,6 +16,7 @@
include $(INV_ROOT)/software/build/android/common.mk
CFLAGS += $(CMDLINE_CFLAGS)
+CFLAGS += $(ANDROID_COMPILE)
CFLAGS += -Wall
CFLAGS += -fpic
CFLAGS += -nostdlib
@@ -43,11 +44,6 @@
LFLAGS += $(CMDLINE_LFLAGS)
LFLAGS += -shared
LFLAGS += -Wl,-soname,$(LIBRARY)
-LFLAGS += -nostdlib
-LFLAGS += -fpic
-LFLAGS += -Wl,-T,$(ANDROID_ROOT)/build/core/armelf.xsc
-LFLAGS += -Wl,--gc-sections
-LFLAGS += -Wl,--no-whole-archive
LFLAGS += -Wl,-shared,-Bsymbolic
LFLAGS += $(ANDROID_LINK)
LFLAGS += -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
diff --git a/libsensors_iio/software/core/mpl/fast_no_motion.h b/libsensors_iio/software/core/mpl/fast_no_motion.h
index 2a33093..c553926 100644
--- a/libsensors_iio/software/core/mpl/fast_no_motion.h
+++ b/libsensors_iio/software/core/mpl/fast_no_motion.h
@@ -23,22 +23,24 @@
inv_error_t inv_enable_fast_nomot(void);
inv_error_t inv_disable_fast_nomot(void);
inv_error_t inv_start_fast_nomot(void);
- inv_error_t inv_stop_fast_nomot(void);
- inv_error_t inv_init_fast_nomot(void);
- void inv_set_default_number_of_samples(int N);
- inv_error_t inv_fast_nomot_is_enabled(unsigned char *is_enabled);
- inv_error_t inv_update_fast_nomot(long *gyro);
-
- void inv_get_fast_nomot_accel_param(long *cntr, float *param);
- void inv_get_fast_nomot_compass_param(long *cntr, float *param);
- void inv_set_fast_nomot_accel_threshold(float thresh);
- void inv_set_fast_nomot_compass_threshold(float thresh);
- void int_set_fast_nomot_gyro_threshold(float thresh);
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif // MLDMP_FAST_NO_MOTION_H__
-
+ inv_error_t inv_stop_fast_nomot(void);
+ inv_error_t inv_init_fast_nomot(void);
+ void inv_set_default_number_of_samples(int N);
+ inv_error_t inv_fast_nomot_is_enabled(unsigned char *is_enabled);
+ inv_error_t inv_update_fast_nomot(long *gyro);
+
+ void inv_get_fast_nomot_accel_param(long *cntr, long long *param);
+ void inv_get_fast_nomot_compass_param(long *cntr, long long *param);
+ void inv_set_fast_nomot_accel_threshold(long long thresh);
+ void inv_set_fast_nomot_compass_threshold(long long thresh);
+ void int_set_fast_nomot_gyro_threshold(long long thresh);
+
+ void inv_fnm_debug_print(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif // MLDMP_FAST_NO_MOTION_H__
+
diff --git a/libsensors_iio/software/core/mpl/quaternion_supervisor.h b/libsensors_iio/software/core/mpl/quaternion_supervisor.h
index 532e8af..4fa36b0 100644
--- a/libsensors_iio/software/core/mpl/quaternion_supervisor.h
+++ b/libsensors_iio/software/core/mpl/quaternion_supervisor.h
@@ -18,6 +18,7 @@
inv_error_t inv_disable_quaternion(void);
inv_error_t inv_init_quaternion(void);
inv_error_t inv_start_quaternion(void);
+void inv_set_quaternion(long *quat);
#ifdef __cplusplus
}
diff --git a/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared b/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
new file mode 100644
index 0000000..7635cd8
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
Binary files differ
diff --git a/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk b/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk
new file mode 100644
index 0000000..7655e4d
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk
@@ -0,0 +1,95 @@
+EXEC = inv_gesture_test$(SHARED_APP_SUFFIX)
+
+MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
+
+CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
+COMP ?= $(CROSS)gcc
+LINK ?= $(CROSS)gcc
+
+OBJFOLDER = $(CURDIR)/obj
+
+INV_ROOT = ../../../../..
+APP_DIR = $(CURDIR)/../..
+MLLITE_DIR = $(INV_ROOT)/software/core/mllite
+MPL_DIR = $(INV_ROOT)/software/core/mpl
+
+include $(INV_ROOT)/software/build/android/common.mk
+
+CFLAGS += $(CMDLINE_CFLAGS)
+CFLAGS += -Wall
+CFLAGS += -fpic
+CFLAGS += -nostdlib
+CFLAGS += -DNDEBUG
+CFLAGS += -D_REENTRANT
+CFLAGS += -DLINUX
+CFLAGS += -DANDROID
+CFLAGS += -mthumb-interwork
+CFLAGS += -fno-exceptions
+CFLAGS += -ffunction-sections
+CFLAGS += -funwind-tables
+CFLAGS += -fstack-protector
+CFLAGS += -fno-short-enums
+CFLAGS += -fmessage-length=0
+CFLAGS += -I$(MLLITE_DIR)
+CFLAGS += -I$(MPL_DIR)
+CFLAGS += -I$(COMMON_DIR)
+CFLAGS += -I$(HAL_DIR)/include
+CFLAGS += $(INV_INCLUDES)
+CFLAGS += $(INV_DEFINES)
+
+LLINK = -lc
+LLINK += -lm
+LLINK += -lutils
+LLINK += -lcutils
+LLINK += -lgcc
+LLINK += -ldl
+LLINK += -lstdc++
+LLINK += -llog
+LLINK += -lz
+
+LFLAGS += $(CMDLINE_LFLAGS)
+LFLAGS += $(ANDROID_LINK_EXECUTABLE)
+
+LRPATH = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+
+####################################################################################################
+## sources
+
+INV_LIBS = $(MPL_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MPL_LIB_NAME).$(SHARED_LIB_EXT)
+INV_LIBS += $(MLLITE_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MLLITE_LIB_NAME).$(SHARED_LIB_EXT)
+
+#INV_SOURCES and VPATH provided by Makefile.filelist
+include ../filelist.mk
+
+INV_OBJS := $(addsuffix .o,$(INV_SOURCES))
+INV_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(INV_SOURCES))))
+
+####################################################################################################
+## rules
+
+.PHONY: all clean cleanall install
+
+all: $(EXEC) $(MK_NAME)
+
+$(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
+ @$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
+ $(LINK) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
+
+$(OBJFOLDER) :
+ @$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
+ mkdir obj
+
+$(INV_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c $(MK_NAME)
+ @$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
+ $(COMP) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(INV_INCLUDES) $(CFLAGS) -o $@ -c $<
+
+clean :
+ rm -fR $(OBJFOLDER)
+
+cleanall :
+ rm -fR $(EXEC) $(OBJFOLDER)
+
+install : $(EXEC)
+ cp -f $(EXEC) $(INSTALL_DIR)
+
+
diff --git a/libsensors_iio/software/simple_apps/gesture_test/build/filelist.mk b/libsensors_iio/software/simple_apps/gesture_test/build/filelist.mk
new file mode 100644
index 0000000..75d93cf
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/gesture_test/build/filelist.mk
@@ -0,0 +1,11 @@
+#### filelist.mk for inv_gesture_test ####
+
+# headers
+#HEADERS +=
+
+# sources
+SOURCES := $(APP_DIR)/inv_gesture_test.c
+
+INV_SOURCES += $(SOURCES)
+
+VPATH += $(APP_DIR)
diff --git a/libsensors_iio/software/simple_apps/gesture_test/inv_gesture_test.c b/libsensors_iio/software/simple_apps/gesture_test/inv_gesture_test.c
new file mode 100644
index 0000000..d38d478
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/gesture_test/inv_gesture_test.c
@@ -0,0 +1,535 @@
+/**
+ * Gesture Test application for Invensense's MPU6/9xxx (w/ DMP).
+ */
+
+#include <unistd.h>
+#include <dirent.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <errno.h>
+#include <sys/stat.h>
+#include <stdlib.h>
+#include <features.h>
+#include <dirent.h>
+#include <string.h>
+#include <poll.h>
+#include <stddef.h>
+#include <linux/input.h>
+#include <time.h>
+#include <linux/time.h>
+#include <unistd.h>
+#include <termios.h>
+
+#include "invensense.h"
+#include "ml_math_func.h"
+#include "storage_manager.h"
+#include "ml_stored_data.h"
+#include "ml_sysfs_helper.h"
+
+#define DEBUG_PRINT /* Uncomment to print Gyro & Accel read from Driver */
+
+#define MAX_SYSFS_NAME_LEN (100)
+#define MAX_SYSFS_ATTRB (sizeof(struct sysfs_attrbs) / sizeof(char*))
+
+#define FLICK_UPPER_THRES 3147790
+#define FLICK_LOWER_THRES -3147790
+#define FLICK_COUNTER 50
+#define POLL_TIME 2000 // 2sec
+
+#define FALSE 0
+#define TRUE 1
+
+char *sysfs_names_ptr;
+
+struct sysfs_attrbs {
+ char *enable;
+ char *power_state;
+ char *dmp_on;
+ char *dmp_int_on;
+ char *self_test;
+ char *dmp_firmware;
+ char *firmware_loaded;
+ char *display_orientation_on;
+ char *orientation_on;
+ char *event_flick;
+ char *event_display_orientation;
+ char *event_orientation;
+ char *event_tap;
+ char *flick_axis;
+ char *flick_counter;
+ char *flick_int_on;
+ char *flick_lower;
+ char *flick_upper;
+ char *flick_message_on;
+ char *tap_min_count;
+ char *tap_on;
+ char *tap_threshold;
+ char *tap_time;
+} mpu;
+
+enum {
+ tap,
+ flick,
+ gOrient,
+ orient,
+ numDMPFeatures
+};
+
+struct pollfd pfd[numDMPFeatures];
+
+/*******************************************************************************
+ * DMP Feature Supported Functions
+ ******************************************************************************/
+
+int read_sysfs_int(char *filename, int *var)
+{
+ int res=0;
+ FILE *fp;
+
+ fp = fopen(filename, "r");
+ if (fp!=NULL) {
+ fscanf(fp, "%d\n", var);
+ fclose(fp);
+ } else {
+ MPL_LOGE("ERR open file to read");
+ res= -1;
+ }
+ return res;
+}
+
+int write_sysfs_int(char *filename, int data)
+{
+ int res=0;
+ FILE *fp;
+
+ fp = fopen(filename, "w");
+ if (fp!=NULL) {
+ fprintf(fp, "%d\n", data);
+ fclose(fp);
+ } else {
+ MPL_LOGE("ERR open file to write");
+ res= -1;
+ }
+ return res;
+}
+
+/**************************************************
+ This _kbhit() function is courtesy from Web
+***************************************************/
+int _kbhit() {
+ static const int STDIN = 0;
+ static bool initialized = false;
+
+ if (! initialized) {
+ // Use termios to turn off line buffering
+ struct termios term;
+ tcgetattr(STDIN, &term);
+ term.c_lflag &= ~ICANON;
+ tcsetattr(STDIN, TCSANOW, &term);
+ setbuf(stdin, NULL);
+ initialized = true;
+ }
+
+ int bytesWaiting;
+ ioctl(STDIN, FIONREAD, &bytesWaiting);
+ return bytesWaiting;
+}
+
+int inv_init_sysfs_attributes(void)
+{
+ unsigned char i = 0;
+ char sysfs_path[MAX_SYSFS_NAME_LEN];
+ char *sptr;
+ char **dptr;
+
+ sysfs_names_ptr =
+ (char*)malloc(sizeof(char[MAX_SYSFS_ATTRB][MAX_SYSFS_NAME_LEN]));
+ sptr = sysfs_names_ptr;
+ if (sptr != NULL) {
+ dptr = (char**)&mpu;
+ do {
+ *dptr++ = sptr;
+ sptr += sizeof(char[MAX_SYSFS_NAME_LEN]);
+ } while (++i < MAX_SYSFS_ATTRB);
+ } else {
+ MPL_LOGE("couldn't alloc mem for sysfs paths");
+ return -1;
+ }
+
+ // get proper (in absolute/relative) IIO path & build MPU's sysfs paths
+ inv_get_sysfs_path(sysfs_path);
+
+ sprintf(mpu.enable, "%s%s", sysfs_path, "/buffer/enable");
+ sprintf(mpu.power_state, "%s%s", sysfs_path, "/power_state");
+ sprintf(mpu.dmp_on,"%s%s", sysfs_path, "/dmp_on");
+ sprintf(mpu.dmp_int_on, "%s%s", sysfs_path, "/dmp_int_on");
+ sprintf(mpu.self_test, "%s%s", sysfs_path, "/self_test");
+ sprintf(mpu.dmp_firmware, "%s%s", sysfs_path, "/dmp_firmware");
+ sprintf(mpu.firmware_loaded, "%s%s", sysfs_path, "/firmware_loaded");
+ sprintf(mpu.display_orientation_on, "%s%s", sysfs_path, "/display_orientation_on");
+ sprintf(mpu.orientation_on, "%s%s", sysfs_path, "/orientation_on");
+ sprintf(mpu.event_flick, "%s%s", sysfs_path, "/event_flick");
+ sprintf(mpu.event_display_orientation, "%s%s", sysfs_path, "/event_display_orientation");
+ sprintf(mpu.event_orientation, "%s%s", sysfs_path, "/event_orientation");
+ sprintf(mpu.event_tap, "%s%s", sysfs_path, "/event_tap");
+ sprintf(mpu.flick_axis, "%s%s", sysfs_path, "/flick_axis");
+ sprintf(mpu.flick_counter, "%s%s", sysfs_path, "/flick_counter");
+ sprintf(mpu.flick_int_on, "%s%s", sysfs_path, "/flick_int_on");
+ sprintf(mpu.flick_lower, "%s%s", sysfs_path, "/flick_lower");
+ sprintf(mpu.flick_upper, "%s%s", sysfs_path, "/flick_upper");
+ sprintf(mpu.flick_message_on, "%s%s", sysfs_path, "/flick_message_on");
+ sprintf(mpu.tap_min_count, "%s%s", sysfs_path, "/tap_min_count");
+ sprintf(mpu.tap_on, "%s%s", sysfs_path, "/tap_on");
+ sprintf(mpu.tap_threshold, "%s%s", sysfs_path, "/tap_threshold");
+ sprintf(mpu.tap_time, "%s%s", sysfs_path, "/tap_time");
+
+#if 0
+ // test print sysfs paths
+ dptr = (char**)&mpu;
+ for (i = 0; i < MAX_SYSFS_ATTRB; i++) {
+ MPL_LOGE("sysfs path: %s", *dptr++);
+ }
+#endif
+ return 0;
+}
+
+int DmpFWloaded()
+{
+ int res;
+ read_sysfs_int(mpu.firmware_loaded, &res);
+ return res;
+}
+
+int enable_flick(int en)
+{
+ int res=0;
+ int flickUpper=0, flickLower=0, flickCounter=0;
+
+ if (write_sysfs_int(mpu.flick_int_on, en) < 0) {
+ printf("GT:ERR-can't write 'flick_int_on'");
+ res= -1;
+ }
+
+ if (en) {
+ flickUpper= FLICK_UPPER_THRES;
+ flickLower= FLICK_LOWER_THRES;
+ flickCounter= FLICK_COUNTER;
+ }
+
+ if (write_sysfs_int(mpu.flick_upper, flickUpper) < 0) {
+ printf("GT:ERR-can't write 'flick_upper'");
+ res= -1;
+ }
+
+ if (write_sysfs_int(mpu.flick_lower, flickLower) < 0) {
+ printf("GT:ERR-can't write 'flick_lower'");
+ res= -1;
+ }
+
+ if (write_sysfs_int(mpu.flick_counter, flickCounter) < 0) {
+ printf("GT:ERR-can't write 'flick_counter'");
+ res= -1;
+ }
+
+ if (write_sysfs_int(mpu.flick_message_on, 0) < 0) {
+ printf("GT:ERR-can't write 'flick_message_on'");
+ res= -1;
+ }
+
+ if (write_sysfs_int(mpu.flick_axis, 0) < 0) {
+ printf("GT:ERR_can't write 'flick_axis'");
+ res= -1;
+ }
+
+ return res;
+}
+
+int enable_tap(int en)
+{
+ if (write_sysfs_int(mpu.tap_on, en) < 0) {
+ printf("GT:ERR-can't write 'tap_on'");
+ return -1;
+ }
+
+ return 0;
+}
+
+int enable_displ_orient(int en)
+{
+ if (write_sysfs_int(mpu.display_orientation_on, en) < 0) {
+ printf("GT:ERR-can't write 'display_orientation_en'");
+ return -1;
+ }
+
+ return 0;
+}
+
+int enable_orient(int en)
+{
+ if (write_sysfs_int(mpu.orientation_on, en) < 0) {
+ printf("GT:ERR-can't write 'orientation_on'");
+ return -1;
+ }
+
+ return 0;
+}
+
+int flickHandler()
+{
+ FILE *fp;
+ int data;
+
+#ifdef DEBUG_PRINT
+ printf("GT:Flick Handler\n");
+#endif
+
+ fp = fopen(mpu.event_flick, "rt");
+ fscanf(fp, "%d\n", &data);
+ fclose (fp);
+
+ printf("Flick= %x\n", data);
+
+ return 0;
+}
+
+int tapHandler()
+{
+ FILE *fp;
+ int tap, tap_dir, tap_num;
+
+ fp = fopen(mpu.event_tap, "rt");
+ fscanf(fp, "%d\n", &tap);
+ fclose(fp);
+
+ tap_dir = tap/8;
+ tap_num = tap%8 + 1;
+
+#ifdef DEBUG_PRINT
+ printf("GT:Tap Handler **\n");
+ printf("Tap= %x\n", tap);
+ printf("Tap Dir= %x\n", tap_dir);
+ printf("Tap Num= %x\n", tap_num);
+#endif
+
+ switch (tap_dir) {
+ case 1:
+ printf("Tap Axis->X Pos\n");
+ break;
+ case 2:
+ printf("Tap Axis->X Neg\n");
+ break;
+ case 3:
+ printf("Tap Axis->Y Pos\n");
+ break;
+ case 4:
+ printf("Tap Axis->Y Neg\n");
+ break;
+ case 5:
+ printf("Tap Axis->Z Pos\n");
+ break;
+ case 6:
+ printf("Tap Axis->Z Neg\n");
+ break;
+ default:
+ printf("Tap Axis->Unknown\n");
+ break;
+ }
+
+ return 0;
+}
+
+int googleOrientHandler()
+{
+ FILE *fp;
+ int orient;
+
+#ifdef DEBUG_PRINT
+ printf("GT:Google Orient Handler\n");
+#endif
+
+ fp = fopen(mpu.event_display_orientation, "rt");
+ fscanf(fp, "%d\n", &orient);
+ fclose(fp);
+
+ printf("Google Orient-> %d\n", orient);
+
+ return 0;
+}
+
+int orientHandler()
+{
+ FILE *fp;
+ int orient;
+
+ fp = fopen(mpu.event_orientation, "rt");
+ fscanf(fp, "%d\n", &orient);
+ fclose(fp);
+
+#ifdef DEBUG_PRINT
+ printf("GT:Reg Orient Handler\n");
+#endif
+
+ if (orient & 0x01)
+ printf("Orient->X Up\n");
+
+ if (orient & 0x02)
+ printf("Orient->X Down\n");
+
+ if (orient & 0x04)
+ printf("Orient->Y Up\n");
+
+ if (orient & 0x08)
+ printf("Orient->Y Down\n");
+
+ if (orient & 0x10)
+ printf("Orient->Z Up\n");
+
+ if (orient & 0x20)
+ printf("Orient->Z Down\n");
+
+ if (orient & 0x40)
+ printf("Orient->Flip\n");
+
+ return 0;
+}
+
+int enableDMPFeatures(int en)
+{
+ int res= -1;
+
+ if (DmpFWloaded())
+ {
+ /* Currently there's no info regarding DMP's supported features/capabilities */
+ /* An error in enabling features below could be an indication of the feature */
+ /* not supported in current loaded DMP firmware */
+
+ enable_flick(en);
+ enable_tap(en);
+ enable_displ_orient(en);
+ enable_orient(en);
+ res= 0;
+ }
+
+ return res;
+}
+
+int initFds()
+{
+ int i;
+
+ for (i=0; i< numDMPFeatures; i++) {
+ switch(i) {
+ case tap:
+ pfd[i].fd = open(mpu.event_tap, O_RDONLY | O_NONBLOCK);
+ break;
+
+ case flick:
+ pfd[i].fd = open(mpu.event_flick, O_RDONLY | O_NONBLOCK);
+ break;
+
+ case gOrient:
+ pfd[i].fd = open(mpu.event_display_orientation, O_RDONLY | O_NONBLOCK);
+ break;
+
+ case orient:
+ pfd[i].fd = open(mpu.event_orientation, O_RDONLY | O_NONBLOCK);
+ break;
+
+ default:
+ pfd[i].fd = -1;
+ }
+
+ pfd[i].events = POLLPRI|POLLERR,
+ pfd[i].revents = 0;
+#ifdef DEBUG_PRINT
+ printf("GT:pfd[%d].fd= %d\n", i, pfd[i].fd);
+#endif
+ }
+
+ return 0;
+}
+
+int closeFds()
+{
+ int i;
+ for (i = 0; i < numDMPFeatures; i++) {
+ if (!pfd[i].fd)
+ close(pfd[i].fd);
+ }
+ return 0;
+}
+
+/*******************************************************************************
+ * M a i n S e l f T e s t
+ ******************************************************************************/
+
+int main(int argc, char **argv)
+{
+ char data[4];
+ int i, res= 0;
+
+ res = inv_init_sysfs_attributes();
+ if (res) {
+ printf("GT:ERR-Can't allocate mem");
+ return -1;
+ }
+
+ /* On Gesture/DMP supported features */
+ enableDMPFeatures(1);
+
+ /* init Fds to poll for Gesture data */
+ initFds();
+
+ /* prompt user to make gesture and how to stop program */
+ printf("\n**Please make Gesture to see data. Press any key to stop Prog**\n\n");
+
+ do {
+ for (i=0; i< numDMPFeatures; i++) {
+ read(pfd[i].fd, data, 4);
+ }
+
+ poll(pfd, numDMPFeatures, POLL_TIME);
+
+ for (i=0; i< numDMPFeatures; i++) {
+ if(pfd[i].revents != 0) {
+ switch(i) {
+ case tap:
+ tapHandler();
+ break;
+
+ case flick:
+ flickHandler();
+ break;
+
+ case gOrient:
+ googleOrientHandler();
+ break;
+
+ case orient:
+ orientHandler();
+ break;
+
+ default:
+ printf("GT:ERR-Not supported");
+ break;
+ }
+ pfd[i].revents= 0; //no need. reset anyway
+ }
+ }
+
+ } while (!_kbhit());
+
+ /* Off DMP features */
+ enableDMPFeatures(0);
+
+ /* release resources */
+ closeFds();
+ if (sysfs_names_ptr) {
+ free(sysfs_names_ptr);
+ }
+
+ printf("\nThank You!\n");
+
+ return res;
+}
+
diff --git a/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c b/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c
index e20d640..b3d323c 100644
--- a/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c
+++ b/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c
@@ -33,6 +33,8 @@
#include "ml_sysfs_helper.h"
#include "authenticate.h"
+#define FLICK_SUPPORTED (0)
+
/**
* size_from_channelarray() - calculate the storage size of a scan
* @channels: the channel info array
@@ -43,136 +45,139 @@
**/
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;
+ 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);
+ /* 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);
- }
+ } 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
+ * @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
+ * @num_channels: the number of active channels
**/
void process_scan(char *data,
- struct iio_channel_info *infoarray,
- int num_channels)
+ 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");
+ 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;
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+void enable_flick(char *p, int on){
+ int ret;
+ printf("flick:%s\n", p);
+ ret = write_sysfs_int_and_verify("flick_int_on", p, on);
+ if (ret < 0)
+ return;
+ ret = write_sysfs_int_and_verify("flick_upper", p, 3147790);
+ if (ret < 0)
+ return;
+ ret = write_sysfs_int_and_verify("flick_lower", p, -3147790);
+ if (ret < 0)
+ return;
- ret = write_sysfs_int_and_verify("flick_counter", p, 50);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("flick_message_on", p, 0);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("flick_axis", p, 0);
+ ret = write_sysfs_int_and_verify("flick_counter", p, 50);
+ if (ret < 0)
+ return;
+ ret = write_sysfs_int_and_verify("flick_message_on", p, 0);
+ if (ret < 0)
+ return;
+ ret = write_sysfs_int_and_verify("flick_axis", p, 0);
}
+#endif
+
void HandleOrient(int orient)
{
if (orient & 0x01)
- printf("INV_X_UP\n");
+ printf("INV_X_UP\n");
if (orient & 0x02)
- printf("INV_X_DOWN\n");
+ printf("INV_X_DOWN\n");
if (orient & 0x04)
- printf("INV_Y_UP\n");
+ printf("INV_Y_UP\n");
if (orient & 0x08)
- printf("INV_Y_DOWN\n");
+ printf("INV_Y_DOWN\n");
if (orient & 0x10)
- printf("INV_Z_UP\n");
+ printf("INV_Z_UP\n");
if (orient & 0x20)
- printf("INV_Z_DOWN\n");
+ printf("INV_Z_DOWN\n");
if (orient & 0x40)
- printf("INV_ORIENTATION_FLIP\n");
+ printf("INV_ORIENTATION_FLIP\n");
}
void HandleTap(int tap)
@@ -204,21 +209,44 @@
}
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;
+#define DMP_CODE_SIZE 3060
+void verify_img(char *dmp_path){
+ FILE *fp;
+ int i;
+ char dmp_img[DMP_CODE_SIZE];
+ if ((fp = fopen(dmp_path, "rb")) < 0 ) {
+ perror("dmp fail");
+ }
+ i = fread(dmp_img, 1, DMP_CODE_SIZE, fp);
+ printf("Result=%d\n", i);
+ fclose(fp);
+ fp = fopen("/dev/read_img.h", "wt");
+ fprintf(fp, "char rec[]={\n");
+ for(i=0; i<DMP_CODE_SIZE; i++) {
+ fprintf(fp, "0x%02x, ", dmp_img[i]);
+ if(((i+1)%16) == 0) {
+ fprintf(fp, "\n");
+ }
+ }
+ fprintf(fp, "};\n ");
+ fclose(fp);
+}
+
+void setup_dmp(char *dev_path, int p_event){
+ char sysfs_path[200];
+ char dmp_path[200];
+ int ret;
+ FILE *fd;
+ sprintf(sysfs_path, "%s", dev_path);
+ printf("sysfs: %s\n", sysfs_path);
+ ret = write_sysfs_int_and_verify("power_state", sysfs_path, 1);
+ if (ret < 0)
+ return;
ret = write_sysfs_int("in_accel_scale", dev_path, 0);
if (ret < 0)
return;
- ret = write_sysfs_int("in_anglvel_scale", dev_path, 3);
+ ret = write_sysfs_int("in_anglvel_scale", dev_path, 2);
if (ret < 0)
return;
ret = write_sysfs_int("sampling_frequency", sysfs_path, 200);
@@ -234,349 +262,424 @@
inv_load_dmp(fd);
fclose(fd);
printf("firmware_loaded=%d\n", read_sysfs_posint("firmware_loaded", sysfs_path));
+ ret = write_sysfs_int_and_verify("in_accel_x_offset", sysfs_path, 0xabcd0000);
+ ret = write_sysfs_int_and_verify("in_accel_y_offset", sysfs_path, 0xffff0000);
+ ret = write_sysfs_int_and_verify("in_accel_z_offset", sysfs_path, 0xcdef0000);
+
ret = write_sysfs_int_and_verify("dmp_on", sysfs_path, 1);
if (ret < 0)
return;
ret = write_sysfs_int_and_verify("dmp_int_on", sysfs_path, 1);
if (ret < 0)
return;
- ret = write_sysfs_int_and_verify("display_orientation_on", sysfs_path, 1);
+ /* selelct which event to enable and interrupt on/off here */
+ //enable_flick(sysfs_path, 1);
+ ret = write_sysfs_int_and_verify("tap_on", sysfs_path, 1);
if (ret < 0)
return;
- enable_flick(sysfs_path);
- ret = write_sysfs_int_and_verify("tap_on", sysfs_path, 1);
+ ret = write_sysfs_int_and_verify("display_orientation_on", sysfs_path, 1);
if (ret < 0)
return;
ret = write_sysfs_int_and_verify("orientation_on", sysfs_path, 1);
if (ret < 0)
return;
+ printf("rate\n");
+ ret = write_sysfs_int_and_verify("dmp_output_rate", sysfs_path, 25);
+ if (ret < 0)
+ return;
+ ret = write_sysfs_int_and_verify("dmp_event_int_on", sysfs_path, p_event);
+ if (ret < 0)
+ return;
+ //verify_img(dmp_path);
}
-void get_dmp_event(char *dev_dir_name) {
- char file_name[100];
- int i;
- 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);
+void get_dmp_event(char *dev_dir_name)
+{
+ char file_name[100];
+ int i;
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+ int fp_tap, fp_orient, fp_disp, fp_flick;
+ const int n_gest = 6;
+#else
+ int fp_tap, fp_orient, fp_disp, fp_motion;
+ //int fp_no_motion;
+ const int n_gest = 4;
+#endif
+ int data;
+ char d[6];
+ FILE *fp;
+ struct pollfd pfd[4];
+ printf("%s\n", dev_dir_name);
+ while(1) {
+ sprintf(file_name, "%s/event_tap", dev_dir_name);
+ fp_tap = open(file_name, O_RDONLY | O_NONBLOCK);
+ sprintf(file_name, "%s/event_orientation", dev_dir_name);
+ fp_orient = open(file_name, O_RDONLY | O_NONBLOCK);
+ sprintf(file_name, "%s/event_display_orientation", dev_dir_name);
+ fp_disp = open(file_name, O_RDONLY | O_NONBLOCK);
- pfd[0].fd = fp_flick;
- pfd[0].events = POLLPRI|POLLERR,
- pfd[0].revents = 0;
+ //sprintf(file_name, "%s/event_accel_motion", dev_dir_name);
+ sprintf(file_name, "%s/event_accel_wom", dev_dir_name);
+ fp_motion = open(file_name, O_RDONLY | O_NONBLOCK);
+ //sprintf(file_name, "%s/event_accel_no_motion", dev_dir_name);
+ //fp_no_motion = open(file_name, O_RDONLY | O_NONBLOCK);
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+ sprintf(file_name, "%s/event_flick", dev_dir_name);
+ fp_flick = open(file_name, O_RDONLY | O_NONBLOCK);
+#endif
- pfd[1].fd = fp_tap;
- pfd[1].events = POLLPRI|POLLERR,
- pfd[1].revents = 0;
+ pfd[0].fd = fp_tap;
+ pfd[0].events = POLLPRI|POLLERR,
+ pfd[0].revents = 0;
- pfd[2].fd = fp_orient;
- pfd[2].events = POLLPRI|POLLERR,
- pfd[2].revents = 0;
+ pfd[1].fd = fp_orient;
+ pfd[1].events = POLLPRI|POLLERR,
+ pfd[1].revents = 0;
- pfd[3].fd = fp_disp;
- pfd[3].events = POLLPRI|POLLERR,
- pfd[3].revents = 0;
+ pfd[2].fd = fp_disp;
+ pfd[2].events = POLLPRI|POLLERR,
+ pfd[2].revents = 0;
- read(fp_flick, d, 4);
- read(fp_tap, d, 4);
- read(fp_orient, d, 4);
- read(fp_disp, d, 4);
+ pfd[3].fd = fp_motion;
+ pfd[3].events = POLLPRI|POLLERR,
+ pfd[3].revents = 0;
- poll(pfd, 4, -1);
- close(fp_flick);
- close(fp_tap);
- close(fp_orient);
- close(fp_disp);
+ //pfd[4].fd = fp_no_motion;
+ //pfd[4].events = POLLPRI|POLLERR,
+ //pfd[4].revents = 0;
- 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;
- }
- }
- }
- }
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+ pfd[5].fd = fp_flick;
+ pfd[5].events = POLLPRI|POLLERR,
+ pfd[5].revents = 0;
+#endif
+
+ read(fp_tap, d, 4);
+ read(fp_orient, d, 4);
+ read(fp_disp, d, 4);
+ read(fp_motion, d, 4);
+ //read(fp_no_motion, d, 4);
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+ read(fp_flick, d, 4);
+#endif
+
+ poll(pfd, n_gest, -1);
+ close(fp_tap);
+ close(fp_orient);
+ close(fp_disp);
+ close(fp_motion);
+ //close(fp_no_motion);
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+ close(fp_flick);
+#endif
+ for (i = 0; i < ARRAY_SIZE(pfd); i++) {
+ if(pfd[i].revents != 0) {
+ switch (i){
+ case 0:
+ sprintf(file_name, "%s/event_tap", dev_dir_name);
+ fp = fopen(file_name, "rt");
+ fscanf(fp, "%d\n", &data);
+ printf("tap=%x\n", data);
+ HandleTap(data);
+ fclose(fp);
+ break;
+ case 1:
+ sprintf(file_name, "%s/event_orientation", dev_dir_name);
+ fp = fopen(file_name, "rt");
+ fscanf(fp, "%d\n", &data);
+ printf("orient=%x\n", data);
+ HandleOrient(data);
+ fclose(fp);
+ break;
+ case 2:
+ sprintf(file_name, "%s/event_display_orientation", dev_dir_name);
+ fp = fopen(file_name, "rt");
+ fscanf(fp, "%d\n", &data);
+ printf("display_orient=%x\n", data);
+ fclose(fp);
+ break;
+ case 3:
+ sprintf(file_name, "%s/event_accel_wom", dev_dir_name);
+ fp = fopen(file_name, "rt");
+ fscanf(fp, "%d\n", &data);
+ printf("motion=%x\n", data);
+ fclose(fp);
+ break;
+ case 4:
+ sprintf(file_name, "%s/event_accel_no_motion", dev_dir_name);
+ fp = fopen(file_name, "rt");
+ fscanf(fp, "%d\n", &data);
+ printf("No motion=%x\n", data);
+ fclose(fp);
+ break;
+
+#if FLICK_SUPPORTED /* hide flick, not offially supported */
+ case 5:
+ sprintf(file_name, "%s/event_flick", dev_dir_name);
+ fp = fopen(file_name, "rt");
+ fscanf(fp, "%d\n", &data);
+ printf("flick=%x\n", data);
+ fclose(fp);
+ break;
+#endif
+ }
+ }
+ }
+ }
}
int main(int argc, char **argv)
{
- unsigned long num_loops = 2;
- unsigned long timedelay = 100000;
- unsigned long buf_len = 128;
+ unsigned long num_loops = 2;
+ unsigned long timedelay = 100000;
+ unsigned long buf_len = 128;
- int ret, c, i, j, toread;
- int fp;
+ int ret, c, i, j, toread;
+ int fp;
- int num_channels;
- char *trigger_name = NULL;
- char *dev_dir_name, *buf_dir_name;
+ 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];
+ 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");
+ struct iio_channel_info *infoarray;
+ /* -r means no DMP is enabled (raw) -> should be used for mpu3050.
+ -p means no print of data */
+ /* when using -p, 1 means orientation, 2 means tap, 3 means flick */
+ while ((c = getopt(argc, argv, "l:w:c:pret:")) != -1) {
+ switch (c) {
+ case 't':
+ trigger_name = optarg;
+ datardytrigger = 0;
+ break;
+ case 'e':
+ noevents = 1;
+ break;
+ case 'p':
+ p_event = 1;
+ break;
+ case 'r':
+ nodmp = 1;
+ break;
+ case 'c':
+ num_loops = strtoul(optarg, &dummy, 10);
+ break;
+ case 'w':
+ timedelay = strtoul(optarg, &dummy, 10);
+ break;
+ case 'l':
+ buf_len = strtoul(optarg, &dummy, 10);
+ break;
+ case '?':
+ return -1;
+ }
+ }
+ inv_get_sysfs_path(sysfs);
+ printf("sss:::%s\n", sysfs);
+ if (inv_get_chip_name(chip_name) != INV_SUCCESS) {
+ printf("get chip name fail\n");
+ exit(0);
+ }
+ printf("chip_name=%s\n", chip_name);
+ if (INV_SUCCESS != inv_check_key())
+ printf("key check fail\n");
+ else
+ printf("key authenticated\n");
- for (i=0; i<strlen(chip_name); i++) {
- device_name[i] = tolower(chip_name[i]);
- }
- device_name[strlen(chip_name)] = '\0';
- printf("device name: %s\n", device_name);
+ 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);
+ /* Find the device requested */
+ dev_num = find_type_by_name(device_name, "iio:device");
+ if (dev_num < 0) {
+ printf("Failed to find the %s\n", device_name);
+ ret = -ENODEV;
+ goto error_ret;
+ }
+ printf("iio device number being used is %d\n", dev_num);
+ asprintf(&dev_dir_name, "%siio:device%d", iio_dir, dev_num);
+ if (trigger_name == NULL) {
+ /*
+ * Build the trigger name. If it is device associated it's
+ * name is <device_name>_dev[n] where n matches the device
+ * number found above
+ */
+ ret = asprintf(&trigger_name,
+ "%s-dev%d", device_name, dev_num);
+ if (ret < 0) {
+ ret = -ENOMEM;
+ goto error_ret;
+ }
+ }
+ ret = write_sysfs_int("buffer/enable", dev_dir_name, 0);
- 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("power_state", dev_dir_name, 1);
ret = write_sysfs_int_and_verify("gyro_enable", dev_dir_name, 1);
ret = write_sysfs_int_and_verify("accl_enable", dev_dir_name, 1);
ret = write_sysfs_int_and_verify("compass_enable", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("firmware_loaded", dev_dir_name, 0);
+/*
+ ret = write_sysfs_int_and_verify("zero_motion_on", dev_dir_name, 1);
+ ret = write_sysfs_int_and_verify("zero_motion_dur", dev_dir_name, 12);
+ ret = write_sysfs_int_and_verify("zero_motion_threshold", dev_dir_name, 13);
- /* 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;
- }
+ ret = write_sysfs_int_and_verify("motion_on", dev_dir_name, 1);
+ ret = write_sysfs_int_and_verify("motion_dur", dev_dir_name, 1);
+ ret = write_sysfs_int_and_verify("motion_threshold", dev_dir_name, 1);
+*/
+ ret = write_sysfs_int_and_verify("accel_wom_on", dev_dir_name, 1);
+ ret = write_sysfs_int_and_verify("accel_wom_threshold", dev_dir_name, 100);
+ /* Verify the trigger exists */
+ trig_num = find_type_by_name(trigger_name, "trigger");
+ if (trig_num < 0) {
+ printf("Failed to find the trigger %s\n", trigger_name);
+ ret = -ENODEV;
+ goto error_free_triggername;
+ }
+ printf("iio trigger number being used is %d\n", trig_num);
+ /*
+ * Parse the files in scan_elements to identify what channels are
+ * present
+ */
+ ret = 0;
+ ret = enable(dev_dir_name, &infoarray, &num_channels);
+ if (ret) {
+ printf("error enable\n");
+ goto error_free_triggername;
+ }
+ if (!nodmp)
+ setup_dmp(dev_dir_name, p_event);
- 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);
- /*
- * Construct the directory name for the associated buffer.
- * As we know that the lis3l02dq has only one buffer this may
- * be built rather than found.
- */
- ret = asprintf(&buf_dir_name, "%siio:device%d/buffer", iio_dir, dev_num);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_triggername;
- }
- printf("%s %s\n", dev_dir_name, trigger_name);
+ /* Set the device trigger to be the data rdy trigger found above */
+ ret = write_sysfs_string_and_verify("trigger/current_trigger",
+ dev_dir_name,
+ trigger_name);
+ if (ret < 0) {
+ printf("Failed to write current_trigger file\n");
+ goto error_free_buf_dir_name;
+ }
+ /* Setup ring buffer parameters */
+ /* length must be even number because iio_store_to_sw_ring is expecting
+ half pointer to be equal to the read pointer, which is impossible
+ when buflen is odd number. This is actually a bug in the code */
+ ret = write_sysfs_int("length", buf_dir_name, buf_len*2);
+ if (ret < 0)
+ goto exit_here;
+ ret = write_sysfs_int_and_verify("gyro_enable", dev_dir_name, 1);
+ ret = write_sysfs_int_and_verify("accl_enable", dev_dir_name, 1);
+ //ret = write_sysfs_int_and_verify("compass_enable", dev_dir_name, 0);
+ if (nodmp == 0) {
+ ret = write_sysfs_int_and_verify("quaternion_on", dev_dir_name, 1);
+ } else {
+ ret = disable_q_out(dev_dir_name, &infoarray, &num_channels);
+ ret = write_sysfs_int_and_verify("dmp_on", dev_dir_name, 0);
+ }
+ ret = build_channel_array(dev_dir_name, &infoarray, &num_channels);
+ if (ret) {
+ printf("Problem reading scan element information\n");
+ goto exit_here;
+ }
- /* 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;
+ }
- /* 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);
- 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);
+ } 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);
+ free(buffer_access);
error_free_data:
- free(data);
+ free(data);
exit_here:
- /* Stop the ring buffer */
- ret = write_sysfs_int("enable", buf_dir_name, 0);
+ /* Stop the ring buffer */
+ ret = write_sysfs_int("enable", buf_dir_name, 0);
error_free_buf_dir_name:
- free(buf_dir_name);
+ free(buf_dir_name);
error_free_triggername:
- if (datardytrigger)
- free(trigger_name);
+ if (datardytrigger)
+ free(trigger_name);
error_ret:
- return ret;
+ return ret;
}
diff --git a/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk b/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
index 3a055cc..ed5fbf6 100644
--- a/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
+++ b/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
@@ -18,6 +18,7 @@
include $(INV_ROOT)/software/build/android/common.mk
CFLAGS += $(CMDLINE_CFLAGS)
+CFLAGS += $(ANDROID_COMPILE)
CFLAGS += -Wall
CFLAGS += -fpic
CFLAGS += -nostdlib
@@ -49,20 +50,8 @@
LLINK += -llog
LLINK += -lz
-PRE_LFLAGS := -Wl,-T,$(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
+LFLAGS += $(ANDROID_LINK_EXECUTABLE)
LRPATH = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
@@ -87,7 +76,7 @@
$(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)
+ $(LINK) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
$(OBJFOLDER) :
@$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
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 f3eadc4..87ed703 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
@@ -115,7 +115,7 @@
fscanf(fp, "%d\n", var);
fclose(fp);
} else {
- LOGE("HAL:ERR open file to read");
+ MPL_LOGE("inv_self_test: ERR open file to read");
res= -1;
}
return res;
@@ -132,7 +132,7 @@
fprintf(fp, "%d\n", data);
fclose(fp);
} else {
- LOGE("HAL:ERR open file to write");
+ MPL_LOGE("inv_self_test: ERR open file to write");
res= -1;
}
return res;
@@ -155,7 +155,7 @@
sptr += sizeof(char[MAX_SYSFS_NAME_LEN]);
} while (++i < MAX_SYSFS_ATTRB);
} else {
- LOGE("HAL:couldn't alloc mem for sysfs paths");
+ MPL_LOGE("inv_self_test: couldn't alloc mem for sysfs paths");
return -1;
}
@@ -184,7 +184,7 @@
// test print sysfs paths
dptr = (char**)&mpu;
for (i = 0; i < MAX_SYSFS_ATTRB; i++) {
- LOGE("HAL:sysfs path: %s", *dptr++);
+ MPL_LOGE("inv_self_test: sysfs path: %s", *dptr++);
}
#endif
return 0;
@@ -407,6 +407,7 @@
result = -1;
}
}
+
free(buffer);
free_sysfs_storage:
