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>

1 files changed, 110 insertions, 0 deletions

diff --git a/libsensors_iio/software/simple_apps/common/helper.c b/libsensors_iio/software/simple_apps/common/helper.c
new file mode 100644
index 0000000..4d634bd
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/common/helper.c
@@ -0,0 +1,110 @@
+/*
+ $License:
+    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+ $
+ */
+/*******************************************************************************
+ *
+ * $Id: helper.c 4367 2010-12-21 03:02:55Z prao $
+ *
+ *******************************************************************************/
+
+#include <stdio.h>
+#ifdef _WIN32
+#include <windows.h>
+#include <conio.h>
+#endif
+#ifdef LINUX
+#include <sys/select.h>
+#endif
+#include <time.h>
+#include <string.h>
+
+#include "ml.h"
+#include "slave.h"
+#include "mldl.h"
+#include "mltypes.h"
+#include "mlstates.h"
+#include "compass.h"
+
+#include "mlsl.h"
+#include "ml.h"
+
+#include "helper.h"
+#include "mlsetup.h"
+#include "fopenCMake.h"
+#include "int.h"
+#include "mlos.h"
+
+#include "log.h"
+#undef MPL_LOG_TAG
+#define MPL_LOG_TAG "MPL-helper"
+
+#ifdef AIO
+extern inv_error_t MLSLSetYamahaCompassDataMode(unsigned char mode);
+#endif
+
+// Keyboard hit function
+int ConsoleKbhit(void)
+{
+#ifdef _WIN32
+    return _kbhit();
+#else
+    struct timeval tv;
+    fd_set read_fd;
+
+    tv.tv_sec=0;
+    tv.tv_usec=0;
+    FD_ZERO(&read_fd);
+    FD_SET(0,&read_fd);
+
+    if(select(1, &read_fd, NULL, NULL, &tv) == -1)
+        return 0;
+
+    if(FD_ISSET(0,&read_fd))
+        return 1;
+
+    return 0;
+#endif
+}
+
+char ConsoleGetChar(void) {
+#ifdef _WIN32
+    return _getch();
+#else
+    return getchar();
+#endif
+}
+struct mpuirq_data** InterruptPoll(int *handles, int numHandles, long tv_sec, long tv_usec)
+{
+    struct mpuirq_data **data;
+    void *tmp;
+    int ii;
+    const int irq_data_size = sizeof(**data) * numHandles + 
+        sizeof(*data) * numHandles;
+
+    tmp = (void *)inv_malloc(irq_data_size);
+    memset(tmp, 0, irq_data_size);
+    data = (struct mpuirq_data **)tmp;
+    for (ii = 0; ii < numHandles; ii++) {
+        data[ii] = (struct mpuirq_data *)((unsigned long)tmp +
+            (sizeof(*data) * numHandles) + sizeof(**data) * ii);
+    }
+
+    if (IntProcess(handles, numHandles, data, tv_sec, tv_usec) > 0) {
+        for (ii = 0; ii < numHandles; ii++) {
+            if (data[ii]->interruptcount) {
+                inv_interrupt_handler(ii);
+            }
+        }
+    }
+    
+    /* Return data incase the application needs to look at the timestamp or
+       other part of the data */
+    return data;
+}
+
+void InterruptPollDone(struct mpuirq_data ** data)
+{
+    inv_free(data);
+}