1 files changed, 143 insertions, 282 deletions
diff --git a/libsensors/MPLSensor.h b/libsensors/MPLSensor.h
index 4c38c57..2b1571d 100644
--- a/libsensors/MPLSensor.h
+++ b/libsensors/MPLSensor.h
@@ -1,282 +1,143 @@
-/*
-* Copyright (C) 2012 Invensense, Inc.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*      http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*/
-
-#ifndef ANDROID_MPL_SENSOR_H
-#define ANDROID_MPL_SENSOR_H
-
-#include <stdint.h>
-#include <errno.h>
-#include <sys/cdefs.h>
-#include <sys/types.h>
-#include <poll.h>
-#include <utils/Vector.h>
-#include <utils/KeyedVector.h>
-#include "sensors.h"
-#include "SensorBase.h"
-#include "InputEventReader.h"
-
-// TODO: change to wanted vendor
-#ifdef INVENSENSE_COMPASS_CAL
-
-#ifdef COMPASS_AMI306
-#warning "unified HAL for AMI306"
-#include "CompassSensor.IIO.AMI.h"
-#else
-#warning "unified HAL for MPU9150"
-#include "CompassSensor.IIO.9150.h"
-#endif
-
-#else
-#warning "unified HAL for AKM"
-#include "CompassSensor.AKM.h"
-#endif
-
-/*****************************************************************************/
-/* 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)
-#define INV_THREE_AXIS_COMPASS      (0x0380)
-#define INV_ALL_SENSORS             (0x7FFF)
-
-#ifdef INVENSENSE_COMPASS_CAL
-#define ALL_MPL_SENSORS_NP          (INV_THREE_AXIS_ACCEL \
-                                      | INV_THREE_AXIS_COMPASS \
-                                      | INV_THREE_AXIS_GYRO)
-#else
-// TODO: ID_M = 2 even for 3rd-party solution
-#define ALL_MPL_SENSORS_NP          (INV_THREE_AXIS_ACCEL \
-                                      | INV_THREE_AXIS_COMPASS \
-                                      | INV_THREE_AXIS_GYRO)
-#endif
-
-// bit mask of current active features (mFeatureActiveMask)
-#define INV_COMPASS_CAL              0x01
-#define INV_COMPASS_FIT              0x02
-#define INV_DMP_QUATERNION           0x04
-
-/*****************************************************************************/
-/** 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:
-    MPLSensor(CompassSensor *);
-    virtual ~MPLSensor();
-
-    enum
-    {
-        Gyro = 0,
-        Accelerometer,
-        MagneticField,
-        Orientation,
-        RotationVector,
-        LinearAccel,
-        Gravity,
-        numSensors
-    };
-
-    virtual int setDelay(int32_t handle, int64_t ns);
-    virtual int enable(int32_t handle, int enabled);
-    int32_t getEnableMask() { return mEnabled; }
-
-    virtual int readEvents(sensors_event_t *data, int count);
-    virtual int getFd() const;
-    virtual int getAccelFd() const;
-    virtual int getCompassFd() const;
-    virtual int getPollTime();
-    virtual bool hasPendingEvents() const;
-    virtual void sleepEvent();
-    virtual void wakeEvent();
-    int populateSensorList(struct sensor_t *list, int len);
-    void cbProcData();
-
-    //static pointer to the object that will handle callbacks
-    static MPLSensor* gMPLSensor;
-
-    //AKM HAL Integration
-    //void set_compass(long ready, long x, long y, long z, long accuracy);
-    int executeOnData(sensors_event_t* data, int count);
-    int readAccelEvents(sensors_event_t* data, int count);
-    int readCompassEvents(sensors_event_t* data, int count);
-
-protected:
-    CompassSensor *mCompassSensor;
-
-    int gyroHandler(sensors_event_t *data);
-    int accelHandler(sensors_event_t *data);
-    int compassHandler(sensors_event_t *data);
-    int rvHandler(sensors_event_t *data);
-    int laHandler(sensors_event_t *data);
-    int gravHandler(sensors_event_t *data);
-    int orienHandler(sensors_event_t *data);
-    void calcOrientationSensor(float *Rx, float *Val);
-    virtual int update_delay();
-
-    void inv_set_device_properties();
-    int inv_constructor_init();
-    int inv_constructor_default_enable();
-    int setGyroInitialState();
-    int setAccelInitialState();
-    int masterEnable(int en);
-    int onPower(int en);
-    int enableLPQuaternion(int);
-    int enableQuaternionData(int);
-    int onDMP(int);
-    int enableGyro(int en);
-    int enableAccel(int en);
-    int enableCompass(int en);
-    void computeLocalSensorMask(int enabled_sensors);
-    int enableSensors(unsigned long sensors, int en, uint32_t changed);
-    int inv_read_gyro_buffer(int fd, short *data, long long *timestamp);
-    int update_delay_sysfs_sensor(int fd, uint64_t ns);
-    int inv_float_to_q16(float *fdata, long *ldata);
-    int inv_long_to_q16(long *fdata, long *ldata);
-    int inv_float_to_round(float *fdata, long *ldata);
-    int inv_float_to_round2(float *fdata, short *sdata);
-    int inv_read_temperature(long long *data);
-    int inv_read_dmp_state(int fd);
-    int inv_read_sensor_bias(int fd, long *data);
-    void inv_get_sensors_orientation(void);
-    int inv_init_sysfs_attributes(void);
-    void setCompassDelay(int64_t ns);
-    void enable_iio_sysfs(void);
-    int enableTap(int);
-    int enableFlick(int);
-    int enablePedometer(int);
-    int checkLPQuaternion();
-
-    int mNewData;   // flag indicating that the MPL calculated new output values
-    int mDmpStarted;
-    long mMasterSensorMask;
-    long mLocalSensorMask;
-    int mPollTime;
-    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.
-    struct pollfd mPollFds[5];
-    int mSampleCount;
-    pthread_mutex_t mMplMutex;
-    pthread_mutex_t mHALMutex;
-
-    char mIIOBuffer[(16 + 8 * 3 + 8) * IIO_BUFFER_LENGTH];
-
-    int iio_fd;
-    int accel_fd;
-    int mpufifo_fd;
-    int gyro_temperature_fd;
-
-    uint32_t mEnabled;
-    uint32_t mOldEnabledMask;
-    sensors_event_t mPendingEvents[numSensors];
-    uint64_t mDelays[numSensors];
-    hfunc_t mHandlers[numSensors];
-    short mCachedGyroData[3];
-    long mCachedAccelData[3];
-    long mCachedCompassData[3];
-    long mCachedQuaternionData[4];
-    android::KeyedVector<int, int> mIrqFds;
-
-    InputEventCircularReader mAccelInputReader;
-    InputEventCircularReader mGyroInputReader;
-
-    bool mFirstRead;
-    short mTempScale;
-    short mTempOffset;
-    int64_t mTempCurrentTime;
-    int mAccelScale;
-
-    uint32_t mPendingMask;
-    unsigned long mSensorMask;
-
-    char chip_ID[MAX_CHIP_ID_LEN];
-
-    signed char mGyroOrientation[9];
-    signed char mAccelOrientation[9];
-
-    int64_t mSensorTimestamp;
-    int64_t mCompassTimestamp;
-
-    struct sysfs_attrbs {
-       char *chip_enable;
-       char *power_state;
-       char *dmp_firmware;
-       char *firmware_loaded;
-       char *dmp_on;
-       char *dmp_int_on;
-       char *tap_on;
-       char *key;
-       char *self_test;
-       char *temperature;
-       char *dmp_output_rate;
-
-       char *gyro_enable;
-       char *gyro_fifo_rate;
-       char *gyro_orient;
-       char *gyro_x_fifo_enable;
-       char *gyro_y_fifo_enable;
-       char *gyro_z_fifo_enable;
-
-       char *accel_enable;
-       char *accel_fifo_rate;
-       char *accel_fsr;
-       char *accel_bias;
-       char *accel_orient;
-       char *accel_x_fifo_enable;
-       char *accel_y_fifo_enable;
-       char *accel_z_fifo_enable;
-
-       char *quaternion_on;
-       char *in_quat_r_en;
-       char *in_quat_x_en;
-       char *in_quat_y_en;
-       char *in_quat_z_en;
-
-       char *in_timestamp_en;
-       char *trigger_name;
-       char *current_trigger;
-       char *buffer_length;
-    } mpu;
-
-    char *sysfs_names_ptr;
-    int mFeatureActiveMask;
-
-private:
-    /* added for dynamic get sensor list */
-    void fillAccel(const char* accel, struct sensor_t *list);
-    void fillGyro(const char* gyro, struct sensor_t *list);
-    void fillRV(struct sensor_t *list);
-    void fillOrientation(struct sensor_t *list);
-    void fillGravity(struct sensor_t *list);
-    void fillLinearAccel(struct sensor_t *list);
-    void storeCalibration();
-    void loadDMP();
-};
-
-extern "C" {
-    void setCallbackObject(MPLSensor*);
-    MPLSensor *getCallbackObject();
-}
-
-#endif  // ANDROID_MPL_SENSOR_H
+/*
+ * Copyright (C) 2011 Invensense, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/*************Removed the gesture related info for Google check in : Meenakshi Ramamoorthi: May 31st *********/
+
+#ifndef ANDROID_MPL_SENSOR_H
+#define ANDROID_MPL_SENSOR_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+#include <poll.h>
+#include <utils/Vector.h>
+#include <utils/KeyedVector.h>
+#include "sensors.h"
+#include "SensorBase.h"
+
+/*****************************************************************************/
+/** 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 void (MPLSensor::*hfunc_t)(sensors_event_t*, uint32_t*, int);
+
+public:
+    MPLSensor();
+    virtual ~MPLSensor();
+
+    enum
+    {
+        Gyro=0,
+        Accelerometer,
+        MagneticField,
+        Orientation,
+        RotationVector,
+        LinearAccel,
+        Gravity,
+        numSensors
+    };
+
+    virtual int setDelay(int32_t handle, int64_t ns);
+    virtual int enable(int32_t handle, int enabled);
+    virtual int readEvents(sensors_event_t *data, int count);
+    virtual int getFd() const;
+    virtual int getAccelFd() const;
+    virtual int getTimerFd() const;
+    virtual int getPowerFd() const;
+    virtual int getPollTime();
+    virtual bool hasPendingEvents() const;
+    virtual void handlePowerEvent();
+    virtual void sleepEvent();
+    virtual void wakeEvent();
+    int populateSensorList(struct sensor_t *list, int len);
+    void cbOnMotion(uint16_t);
+    void cbProcData();
+
+protected:
+
+    void clearIrqData(bool* irq_set);
+    void setPowerStates(int enabledsensor);
+    void initMPL();
+    void setupFIFO();
+    void setupCallbacks();
+    void gyroHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void accelHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void compassHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void rvHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void laHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void gravHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void orienHandler(sensors_event_t *data, uint32_t *pendmask, int index);
+    void calcOrientationSensor(float *Rx, float *Val);
+    int estimateCompassAccuracy();
+
+    int mMpuAccuracy; //global storage for the current accuracy status
+    int mNewData; //flag indicating that the MPL calculated new output values
+    int mDmpStarted;
+    long mMasterSensorMask;
+    long mLocalSensorMask;
+    int mPollTime;
+    int mCurFifoRate; //current fifo rate
+    bool mHaveGoodMpuCal; //flag indicating that the cal file can be written
+    bool mHaveGoodCompassCal;
+    bool mUseTimerIrqAccel;
+    bool mUsetimerIrqCompass;
+    bool mUseTimerirq;
+    struct pollfd mPollFds[4];
+    int mSampleCount;
+    pthread_mutex_t mMplMutex;
+    int64_t now_ns();
+    int64_t select_ns(unsigned long long time_set[]);    
+
+    enum FILEHANDLES
+    {
+        MPUIRQ_FD, ACCELIRQ_FD, COMPASSIRQ_FD, TIMERIRQ_FD,
+    };
+
+private:
+
+    int update_delay();
+    int accel_fd;
+    int timer_fd;
+
+    uint32_t mEnabled;
+    uint32_t mPendingMask;
+    sensors_event_t mPendingEvents[numSensors];
+    uint64_t mDelays[numSensors];
+    hfunc_t mHandlers[numSensors];
+    bool mForceSleep;
+    long int mOldEnabledMask;
+    android::KeyedVector<int, int> mIrqFds;
+
+    /* added for dynamic get sensor list              */
+    bool mNineAxisEnabled;
+    void fillAccel(unsigned char accel, struct sensor_t *list);
+    void fillCompass(unsigned char compass, struct sensor_t *list);
+    void fillGyro(const char* gyro, struct sensor_t *list);
+    void fillRV(struct sensor_t *list);
+    void fillOrientation(struct sensor_t *list);
+    void fillGravity(struct sensor_t *list);
+    void fillLinearAccel(struct sensor_t *list);
+};
+
+void setCallbackObject(MPLSensor*);
+
+/*****************************************************************************/
+
+#endif  // ANDROID_MPL_SENSOR_H