HACK: libsensors: Initial attempt at MotionApps 5.1 for MPU6050 + AKM8975

The code in this patch still needs work.
But checking it in will allow other parts of the sensor stack to have
something to work with.

1. Have sensor HAL for IIO driver, which uses MPU6050 + AKM8975 (on 2nd bus).
2. Include MPL binaries (libmllite.so/libmplmpu.so).
3. Include necessary header files.
4. remove light sensor dependency.
5. add missing include file.
6. modify the module name into "manta".
7. remove mlsdk directory.
8. Fix some known issues.
9. Sync up to June.12.
10. Tweak slightly so that it can be used with other sensors on manta and
  doesn't break other devices that need a non IIO libsensors.

Change-Id: I0913a6df56fb0e99e9bae9ecc40ab03884d68124
Signed-off-by: Mars Lee <mlee@invensense.com>

4 files changed, 248 insertions, 0 deletions

diff --git a/libsensors_iio/software/core/mpl/build/android/libmplmpu.so b/libsensors_iio/software/core/mpl/build/android/libmplmpu.so
new file mode 100644
index 0000000..116b618
--- /dev/null
+++ b/libsensors_iio/software/core/mpl/build/android/libmplmpu.so
diff --git a/libsensors_iio/software/core/mpl/build/android/shared.mk b/libsensors_iio/software/core/mpl/build/android/shared.mk
new file mode 100644
index 0000000..79cf9c1
--- /dev/null
+++ b/libsensors_iio/software/core/mpl/build/android/shared.mk
@@ -0,0 +1,92 @@
+MPL_LIB_NAME ?= mplmpu
+LIBRARY = $(LIB_PREFIX)$(MPL_LIB_NAME).$(SHARED_LIB_EXT)
+
+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 = ../../../../..
+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 += $(INV_INCLUDES)
+CFLAGS += $(INV_DEFINES)
+
+LLINK  = -lc 
+LLINK += -lm 
+LLINK += -lutils 
+LLINK += -lcutils 
+LLINK += -lgcc 
+LLINK += -ldl
+
+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
+
+####################################################################################################
+## sources
+
+INV_LIBS = $(MLLITE_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MLLITE_LIB_NAME).$(SHARED_LIB_EXT)
+
+#INV_SOURCES, 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 mpl clean cleanall
+
+all: mpl
+
+mpl: $(LIBRARY) $(MK_NAME)
+
+$(LIBRARY) : $(OBJFOLDER) $(INV_OBJS_DST) $(MK_NAME)
+	@$(call echo_in_colors, "\n<linking $(LIBRARY) with objects $(INV_OBJS_DST)\n")
+	$(LINK) $(LFLAGS) -o $(LIBRARY) $(INV_OBJS_DST) $(LLINK) $(INV_LIBS) $(LLINK)
+
+$(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) $(CFLAGS) -o $@ -c $<
+
+clean : 
+	rm -fR $(OBJFOLDER)
+
+cleanall : 
+	rm -fR $(LIBRARY) $(OBJFOLDER)
+
diff --git a/libsensors_iio/software/core/mpl/build/android/static.mk b/libsensors_iio/software/core/mpl/build/android/static.mk
new file mode 100644
index 0000000..6ad45de
--- /dev/null
+++ b/libsensors_iio/software/core/mpl/build/android/static.mk
@@ -0,0 +1,110 @@
+MLLITE_LIB_NAME = mllite
+LIBRARY = $(LIB_PREFIX)$(MLLITE_LIB_NAME).$(STATIC_LIB_EXT)
+
+MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
+
+OBJFOLDER = $(CURDIR)/obj
+
+CROSS = arm-none-linux-gnueabi-
+COMP= $(CROSS)gcc
+LINK= $(CROSS)ar cr
+
+MLLITE_DIR = $(MLSDK_ROOT)/mllite
+MPL_DIR = $(MLSDK_ROOT)/mldmp
+MLPLATFORM_DIR = $(MLSDK_ROOT)/platform
+
+include $(MLSDK_ROOT)/Android-common.mk
+
+CFLAGS += $(CMDLINE_CFLAGS)
+CFLAGS += -Wall -fpic
+CFLAGS += -mthumb-interwork -fno-exceptions -ffunction-sections -funwind-tables -fstack-protector -fno-short-enums -fmessage-length=0
+CFLAGS += -DNDEBUG
+CFLAGS += -D_REENTRANT -DLINUX -DANDROID
+CFLAGS += -I$(MLLITE_DIR) 
+CFLAGS += -I$(MLPLATFORM_DIR)/include
+CFLAGS += -I$(MLSDK_ROOT)/mlutils 
+CFLAGS += -I$(MLSDK_ROOT)/mlapps/common
+CFLAGS += $(MLSDK_INCLUDES)
+CFLAGS += $(MLSDK_DEFINES)
+
+VPATH += $(MLLITE_DIR) 
+VPATH += $(MLSDK_ROOT)/mlutils
+VPATH += $(MLLITE_DIR)/accel 
+VPATH += $(MLLITE_DIR)/compass 
+VPATH += $(MLLITE_DIR)/pressure 
+VPATH += $(MLLITE_DIR)/mlapps/common
+
+####################################################################################################
+## sources
+
+ML_LIBS  = $(MLPLATFORM_DIR)/linux/$(LIB_PREFIX)$(MLPLATFORM_LIB_NAME).$(STATIC_LIB_EXT)
+
+ML_SOURCES += $(MLLITE_DIR)/mldl_cfg_mpu.c
+ML_SOURCES += $(MLLITE_DIR)/mldl_cfg_init_linux.c
+ML_SOURCES += $(MLLITE_DIR)/accel.c
+ML_SOURCES += $(MLLITE_DIR)/compass.c
+ML_SOURCES += $(MLLITE_DIR)/compass_supervisor.c
+ML_SOURCES += $(MLLITE_DIR)/compass_supervisor_adv_callbacks.c
+ML_SOURCES += $(MLLITE_DIR)/key0_96.c
+ML_SOURCES += $(MLLITE_DIR)/pressure.c
+ML_SOURCES += $(MLLITE_DIR)/ml.c
+ML_SOURCES += $(MLLITE_DIR)/ml_invobj.c
+ML_SOURCES += $(MLLITE_DIR)/ml_init.c
+ML_SOURCES += $(MLLITE_DIR)/mlarray_lite.c
+ML_SOURCES += $(MLLITE_DIR)/mlarray_adv.c
+ML_SOURCES += $(MLLITE_DIR)/mlarray_legacy.c
+ML_SOURCES += $(MLLITE_DIR)/mlBiasNoMotion.c
+ML_SOURCES += $(MLLITE_DIR)/mlFIFO.c
+ML_SOURCES += $(MLLITE_DIR)/mlFIFOHW.c
+ML_SOURCES += $(MLLITE_DIR)/mlMathFunc.c
+ML_SOURCES += $(MLLITE_DIR)/mlcontrol.c
+ML_SOURCES += $(MLLITE_DIR)/mldl.c
+ML_SOURCES += $(MLLITE_DIR)/mldmp.c
+ML_SOURCES += $(MLLITE_DIR)/dmpDefault.c
+ML_SOURCES += $(MLLITE_DIR)/mlstates.c
+ML_SOURCES += $(MLLITE_DIR)/mlsupervisor.c
+ML_SOURCES += $(MLLITE_DIR)/ml_stored_data.c
+ML_SOURCES += $(MLLITE_DIR)/ustore_manager.c
+ML_SOURCES += $(MLLITE_DIR)/ustore_mlsl_io.c
+ML_SOURCES += $(MLLITE_DIR)/ustore_adv_fusion_delegate.c
+ML_SOURCES += $(MLLITE_DIR)/ustore_lite_fusion_delegate.c
+ML_SOURCES += $(MLLITE_DIR)/temp_comp_legacy.c
+ML_SOURCES += $(MLLITE_DIR)/mlSetGyroBias.c
+ML_SOURCES += $(MLSDK_ROOT)/mlutils/checksum.c
+ML_SOURCES += $(MLSDK_ROOT)/mlutils/mputest.c
+ML_SOURCES += $(MLLITE_DIR)/mldl_print_cfg.c
+ifeq ($(MPU_NAME),MPU3050)
+ML_SOURCES += $(MLSDK_ROOT)/mlutils/mpu3050test.c
+else
+ML_SOURCES += $(MLSDK_ROOT)/mlutils/mpu6050test.c
+endif
+
+ML_OBJS := $(addsuffix .o,$(ML_SOURCES))
+ML_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(ML_SOURCES))))
+
+####################################################################################################
+## rules
+
+.PHONY: all clean cleanall
+
+all: $(LIBRARY) $(MK_NAME)
+
+$(LIBRARY) : $(OBJFOLDER) $(ML_OBJS_DST) $(ML_LIBS) $(MK_NAME)
+	@$(call echo_in_colors, "\n<linking $(LIBRARY) with objects $(ML_OBJS_DST)\n")
+	$(LINK) $(LIBRARY) $(ML_OBJS_DST)
+	$(CROSS)ranlib $(LIBRARY)
+
+$(OBJFOLDER) : 
+	@$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
+	mkdir obj
+
+$(ML_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c  $(MK_NAME)
+	@$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
+	$(COMP) $(CFLAGS) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(MLSDK_INCLUDES) -o $@ -c $<
+
+clean : 
+	rm -fR $(OBJFOLDER)
+
+cleanall : 
+	rm -fR $(LIBRARY) $(OBJFOLDER)
+
diff --git a/libsensors_iio/software/core/mpl/build/filelist.mk b/libsensors_iio/software/core/mpl/build/filelist.mk
new file mode 100644
index 0000000..e18003a
--- /dev/null
+++ b/libsensors_iio/software/core/mpl/build/filelist.mk
@@ -0,0 +1,46 @@
+#### filelist.mk for mpl ####
+
+# headers only
+HEADERS := $(MPL_DIR)/mpu.h
+
+# headers for sources
+HEADERS := $(MPL_DIR)/fast_no_motion.h
+HEADERS += $(MPL_DIR)/fusion_9axis.h
+HEADERS += $(MPL_DIR)/motion_no_motion.h
+HEADERS += $(MPL_DIR)/no_gyro_fusion.h
+HEADERS += $(MPL_DIR)/quaternion_supervisor.h
+HEADERS += $(MPL_DIR)/gyro_tc.h
+HEADERS += $(MPL_DIR)/authenticate.h
+HEADERS += $(MPL_DIR)/accel_auto_cal.h
+HEADERS += $(MPL_DIR)/accel_auto_cal_protected.h
+HEADERS += $(MPL_DIR)/compass_vec_cal.h
+HEADERS += $(MPL_DIR)/compass_vec_cal_protected.h
+HEADERS += $(MPL_DIR)/mag_disturb.h
+HEADERS += $(MPL_DIR)/mag_disturb_protected.h
+HEADERS += $(MPL_DIR)/compass_bias_w_gyro.h
+HEADERS += $(MPL_DIR)/heading_from_gyro.h
+HEADERS += $(MPL_DIR)/compass_fit.h
+HEADERS += $(MPL_DIR)/quat_accuracy_monitor.h
+#HEADERS += $(MPL_DIR)/auto_calibration.h
+
+# sources
+SOURCES := $(MPL_DIR)/fast_no_motion.c
+SOURCES += $(MPL_DIR)/fusion_9axis.c
+SOURCES += $(MPL_DIR)/motion_no_motion.c
+SOURCES += $(MPL_DIR)/no_gyro_fusion.c
+SOURCES += $(MPL_DIR)/quaternion_supervisor.c
+SOURCES += $(MPL_DIR)/gyro_tc.c
+SOURCES += $(MPL_DIR)/authenticate.c
+SOURCES += $(MPL_DIR)/accel_auto_cal.c
+SOURCES += $(MPL_DIR)/compass_vec_cal.c
+SOURCES += $(MPL_DIR)/mag_disturb.c
+SOURCES += $(MPL_DIR)/compass_bias_w_gyro.c
+SOURCES += $(MPL_DIR)/heading_from_gyro.c
+SOURCES += $(MPL_DIR)/compass_fit.c
+SOURCES += $(MPL_DIR)/quat_accuracy_monitor.c
+#SOURCES += $(MPL_DIR)/auto_calibration.c
+
+INV_SOURCES += $(SOURCES)
+
+VPATH = $(MPL_DIR)
+