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, 384 insertions, 0 deletions

diff --git a/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared b/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
new file mode 100644
index 0000000..33c9eef
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
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
new file mode 100644
index 0000000..3a055cc
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
@@ -0,0 +1,109 @@
+EXEC = inv_self_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
+COMMON_DIR = $(INV_ROOT)/software/simple_apps/common
+MPL_DIR    = $(INV_ROOT)/software/core/mpl
+HAL_DIR    = $(INV_ROOT)/software/core/HAL
+
+include $(INV_ROOT)/software/build/android/common.mk
+
+CFLAGS += $(CMDLINE_CFLAGS)
+CFLAGS += -Wall
+CFLAGS += -fpic
+CFLAGS += -nostdlib
+CFLAGS += -DNDEBUG
+CFLAGS += -D_REENTRANT
+CFLAGS += -DLINUX
+CFLAGS += -DANDROID
+CFLAGS += -mthumb-interwork
+CFLAGS += -fno-exceptions
+CFLAGS += -ffunction-sections
+CFLAGS += -funwind-tables
+CFLAGS += -fstack-protector
+CFLAGS += -fno-short-enums
+CFLAGS += -fmessage-length=0
+CFLAGS += -I$(MLLITE_DIR)
+CFLAGS += -I$(MPL_DIR)
+CFLAGS += -I$(COMMON_DIR)
+CFLAGS += -I$(HAL_DIR)/include
+CFLAGS += $(INV_INCLUDES)
+CFLAGS += $(INV_DEFINES)
+
+LLINK  = -lc
+LLINK += -lm
+LLINK += -lutils
+LLINK += -lcutils
+LLINK += -lgcc
+LLINK += -ldl
+LLINK += -lstdc++
+LLINK += -llog
+LLINK += -lz
+
+PRE_LFLAGS := -Wl,-T,$(ANDROID_ROOT)/build/core/armelf.x
+PRE_LFLAGS += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtend_android.o
+PRE_LFLAGS += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtbegin_dynamic.o
+
+LFLAGS += $(CMDLINE_LFLAGS)
+LFLAGS += -nostdlib
+LFLAGS += -fpic
+LFLAGS += -Wl,--gc-sections 
+LFLAGS += -Wl,--no-whole-archive 
+LFLAGS += -Wl,-dynamic-linker,/system/bin/linker
+LFLAGS += $(ANDROID_LINK)
+ifneq ($(PRODUCT),panda)
+LFLAGS += -rdynamic
+endif
+
+LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+
+####################################################################################################
+## sources
+
+INV_LIBS  = $(MPL_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MPL_LIB_NAME).$(SHARED_LIB_EXT)
+INV_LIBS += $(MLLITE_DIR)/build/$(TARGET)/$(LIB_PREFIX)$(MLLITE_LIB_NAME).$(SHARED_LIB_EXT)
+
+#INV_SOURCES and VPATH provided by Makefile.filelist
+include ../filelist.mk
+
+INV_OBJS := $(addsuffix .o,$(INV_SOURCES))
+INV_OBJS_DST = $(addprefix $(OBJFOLDER)/,$(addsuffix .o, $(notdir $(INV_SOURCES))))
+
+####################################################################################################
+## rules
+
+.PHONY: all clean cleanall install
+
+all: $(EXEC) $(MK_NAME)
+
+$(EXEC) : $(OBJFOLDER) $(INV_OBJS_DST) $(INV_LIBS) $(MK_NAME)
+	@$(call echo_in_colors, "\n<linking $(EXEC) with objects $(INV_OBJS_DST) $(PREBUILT_OBJS) and libraries $(INV_LIBS)\n")
+	$(LINK) $(PRE_LFLAGS) $(INV_OBJS_DST) -o $(EXEC) $(LFLAGS) $(LLINK) $(INV_LIBS) $(LLINK) $(LRPATH)
+
+$(OBJFOLDER) :
+	@$(call echo_in_colors, "\n<creating object's folder 'obj/'>\n")
+	mkdir obj
+
+$(INV_OBJS_DST) : $(OBJFOLDER)/%.c.o : %.c  $(MK_NAME)
+	@$(call echo_in_colors, "\n<compile $< to $(OBJFOLDER)/$(notdir $@)>\n")
+	$(COMP) $(ANDROID_INCLUDES) $(KERNEL_INCLUDES) $(INV_INCLUDES) $(CFLAGS) -o $@ -c $<
+
+clean : 
+	rm -fR $(OBJFOLDER)
+
+cleanall : 
+	rm -fR $(EXEC) $(OBJFOLDER)
+
+install : $(EXEC)
+	cp -f $(EXEC) $(INSTALL_DIR)
+
+
diff --git a/libsensors_iio/software/simple_apps/self_test/build/filelist.mk b/libsensors_iio/software/simple_apps/self_test/build/filelist.mk
new file mode 100644
index 0000000..492f47e
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/self_test/build/filelist.mk
@@ -0,0 +1,11 @@
+#### filelist.mk for console_test ####
+
+# headers
+HEADERS += $(HAL_DIR)/include/inv_sysfs_utils.h
+
+# sources
+SOURCES := $(APP_DIR)/inv_self_test.c
+
+INV_SOURCES += $(SOURCES)
+
+VPATH += $(APP_DIR) $(COMMON_DIR) $(HAL_DIR)/linux
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
new file mode 100644
index 0000000..4f9996c
--- /dev/null
+++ b/libsensors_iio/software/simple_apps/self_test/inv_self_test.c
@@ -0,0 +1,264 @@
+/**
+ *  Self Test application for Invensense's MPU6050/MPU9150.
+ */
+
+#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 "invensense.h"
+#include "ml_math_func.h"
+#include "storage_manager.h"
+#include "ml_stored_data.h"
+
+#ifndef ABS
+#define ABS(x)(((x) >= 0) ? (x) : -(x))
+#endif
+
+/** Change this key if the data being stored by this file changes */
+#define INV_DB_SAVE_KEY 53394
+
+#define FALSE   0
+#define TRUE    1
+
+#define GYRO_PASS_STATUS_BIT    0x01
+#define ACCEL_PASS_STATUS_BIT   0x02
+#define COMPASS_PASS_STATUS_BIT 0x04
+
+typedef union {
+    long l; 
+    int i;
+} bias_dtype;
+
+struct inv_sysfs_names_s {
+    char *enable;
+    char *power_state;
+    char *self_test;
+    char *temperature;
+    char *accl_bias;
+};
+
+const struct inv_sysfs_names_s mpu= {
+     /* MPU6050 & MPU9150 */
+    .enable         = "/sys/class/invensense/mpu/enable",
+    .power_state    = "/sys/class/invensense/mpu/power_state",
+    .self_test      = "/sys/class/invensense/mpu/self_test",
+    .temperature    = "/sys/class/invensense/mpu/temperature",
+    .accl_bias      = "/sys/class/invensense/mpu/accl_bias"
+};
+
+struct inv_db_save_t {
+    /** Compass Bias in Chip Frame in Hardware units scaled by 2^16 */
+    long compass_bias[3];
+    /** Gyro Bias in Chip Frame in Hardware units scaled by 2^16 */
+    long gyro_bias[3];
+    /** Temperature when *gyro_bias was stored. */
+    long gyro_temp;
+    /** Accel Bias in Chip Frame in Hardware units scaled by 2^16 */
+    long accel_bias[3];
+    /** Temperature when accel bias was stored. */
+    long accel_temp;
+    long gyro_temp_slope[3];
+};
+
+static struct inv_db_save_t save_data;
+
+/** This function receives the data that was stored in non-volatile memory between power off */
+static inv_error_t inv_db_load_func(const unsigned char *data)
+{
+    memcpy(&save_data, data, sizeof(save_data));
+    return INV_SUCCESS;
+}
+
+/** This function returns the data to be stored in non-volatile memory between power off */
+static inv_error_t inv_db_save_func(unsigned char *data)
+{
+    memcpy(data, &save_data, sizeof(save_data));
+    return INV_SUCCESS;
+}
+
+int inv_sysfs_write(char *filename, long data)
+{
+    FILE *fp;
+    int count;
+
+    if (!filename)
+        return -1;
+    fp = fopen(filename, "w");
+    if (!fp)
+        return -errno;
+    count = fprintf(fp, "%ld", data);
+    fclose(fp);
+    return count;
+}
+
+/**
+ *  Main Self test 
+ */
+int main(int argc, char **argv)
+{
+    FILE *fptr;
+    int self_test_status;
+    inv_error_t result;
+    bias_dtype gyro_bias[3];
+    bias_dtype accel_bias[3];
+    int axis = 0;
+    size_t packet_sz;
+    int axis_sign = 1;
+    unsigned char *buffer;
+    long timestamp;
+    int temperature=0;
+
+    // Initialize storage manager
+    inv_init_storage_manager();
+
+    // Clear out data.
+    memset(&save_data, 0, sizeof(save_data));
+    memset(gyro_bias,0, sizeof(gyro_bias));
+    memset(accel_bias,0, sizeof(accel_bias));
+
+    // Register packet to be saved.
+    result = inv_register_load_store(inv_db_load_func, inv_db_save_func,
+                                     sizeof(save_data),
+                                     INV_DB_SAVE_KEY);
+
+    // Power ON MPUxxxx chip
+    if (inv_sysfs_write(mpu.power_state, 1) <0) {
+        printf("ERR- Failed to set power state=1\n");
+    } else {
+        // Note: Driver turns on power automatically when self-test invoked
+    }
+
+    fptr = fopen(mpu.self_test, "r");
+    if (fptr != NULL) {
+        // Invoke self-test and read gyro bias
+        fscanf(fptr, "%d,%d,%d,%d",
+               &gyro_bias[0].i, &gyro_bias[1].i, &gyro_bias[2].i, &self_test_status);
+
+        printf("Self-Test:Self test result- Gyro passed= %x, Accel passed= %x, Compass passed= %x\n",
+                      (self_test_status & GYRO_PASS_STATUS_BIT), 
+                      (self_test_status & ACCEL_PASS_STATUS_BIT) >>1,
+                      (self_test_status & COMPASS_PASS_STATUS_BIT) >>2);
+        printf("Self-Test:Gyro bias data[0..2] read from Driver= [%d %d %d]\n",gyro_bias[0].i, gyro_bias[1].i, gyro_bias[2].i);
+        fclose(fptr);
+        
+        if (!(self_test_status & GYRO_PASS_STATUS_BIT)) {
+            // Reset gyro bias data if gyro self-test failed
+            memset(gyro_bias,0, sizeof(gyro_bias));
+            printf("Self-Test:Failed Gyro self-test\n");
+        }
+
+        if (self_test_status & ACCEL_PASS_STATUS_BIT) {
+            // Read Accel Bias
+            fptr= fopen(mpu.accl_bias, "r");
+            if (fptr != NULL) {
+                fscanf(fptr, "%d,%d,%d", &accel_bias[0].i, &accel_bias[1].i, &accel_bias[2].i);
+                printf("Self-Test:Accel bias data[0..2] read from Driver= [%d %d %d]\n", accel_bias[0].i, accel_bias[1].i, accel_bias[2].i);
+                fclose(fptr);
+            } else {
+                printf("Self-Test:ERR-Couldn't read accel bias\n");
+            }
+        } else {
+            memset(accel_bias,0, sizeof(accel_bias));
+            printf("Self-Test:Failed Accel self-test\n");
+        }
+
+        // Read temperature
+        if (self_test_status & (GYRO_PASS_STATUS_BIT|ACCEL_PASS_STATUS_BIT))
+        {
+            fptr= fopen(mpu.temperature, "r");
+            if (fptr != NULL) {
+                fscanf(fptr,"%d %ld", &temperature, &timestamp);
+                fclose(fptr);
+            } else {
+                printf("Self-Test:ERR-Couldn't read temperature\n");
+            }
+        }
+        
+    } else {
+        printf("Self-Test:ERR-Couldn't invoke self-test\n");
+    }
+
+    // When we read gyro bias, the bias is in raw units scaled by 1000.
+    // We store the bias in raw units scaled by 2^16
+    save_data.gyro_bias[0] = (long)(gyro_bias[0].l * 65536.f / 8000.f);
+    save_data.gyro_bias[1] = (long)(gyro_bias[1].l * 65536.f / 8000.f);
+    save_data.gyro_bias[2] = (long)(gyro_bias[2].l * 65536.f / 8000.f);
+
+    // Save temperature @ time stored.  Temperature is in degrees Celsius scaled by 2^16
+    save_data.gyro_temp = temperature * (1L << 16);
+    save_data.accel_temp = save_data.gyro_temp; 
+
+    // When we read accel bias, the bias is in raw units scaled by 1000.
+    // and it contains the gravity vector.
+    
+    // Find the orientation of the device, by looking for gravity
+    if (ABS(accel_bias[1].l) > ABS(accel_bias[0].l)) {
+        axis = 1;
+    }
+    if (ABS(accel_bias[2].l) > ABS(accel_bias[axis].l)) {
+        axis = 2;
+    }
+    if (accel_bias[axis].l < 0) {
+        axis_sign = -1;
+    }
+    
+    // Remove gravity, gravity in raw units should be 16384 for a 2g setting.
+    // We read data scaled by 1000, so 
+    accel_bias[axis].l -= axis_sign * 4096L * 1000L;
+
+    // Convert scaling from raw units scaled by 1000 to raw scaled by 2^16
+    save_data.accel_bias[0] = (long)(accel_bias[0].l * 65536.f / 1000.f * 4.f);
+    save_data.accel_bias[1] = (long)(accel_bias[1].l * 65536.f / 1000.f * 4.f);
+    save_data.accel_bias[2] = (long)(accel_bias[2].l * 65536.f / 1000.f * 4.f);
+
+#if 1
+    printf("Self-Test:Saved Accel bias[0..2]= [%ld %ld %ld]\n", save_data.accel_bias[0],
+                    save_data.accel_bias[1], save_data.accel_bias[2]);
+    printf("Self-Test:Saved Gyro bias[0..2]= [%ld %ld %ld]\n", save_data.gyro_bias[0],
+                    save_data.gyro_bias[1], save_data.gyro_bias[2]);
+    printf("Self-Test:Gyro temperature @ time stored %ld\n", save_data.gyro_temp);
+    printf("Self-Test:Accel temperature @ time stored %ld\n", save_data.accel_temp);
+#endif
+
+    // Get size of packet to store.
+    inv_get_mpl_state_size(&packet_sz);
+
+    // Create place to store data
+    buffer = (unsigned char *)malloc(packet_sz + 10);
+    if (buffer == NULL) {
+        printf("Self-Test:Can't allocate buffer\n");
+        return -1;
+    }
+
+    result = inv_save_mpl_states(buffer, packet_sz);
+    if (result) {
+        result= -1;
+    } else {
+        fptr= fopen(MLCAL_FILE, "wb+");
+        if (fptr != NULL) {
+            fwrite(buffer, 1, packet_sz, fptr);
+            fclose(fptr);
+        } else {
+            printf("Self-Test:ERR- Can't open calibration file to write - %s\n", 
+                   MLCAL_FILE);
+            result= -1;
+        }
+    }
+
+    free(buffer);
+    return result;
+}
+