1 files changed, 67 insertions, 13 deletions

diff --git a/libsensors_iio/MPLSensor.h b/libsensors_iio/MPLSensor.h
index 3ef1ba3..879f37b 100644
--- a/libsensors_iio/MPLSensor.h
+++ b/libsensors_iio/MPLSensor.h
@@ -28,17 +28,18 @@
 #include "SensorBase.h"

 #include "InputEventReader.h"

 

-// TODO: change to wanted vendor

 #ifdef INVENSENSE_COMPASS_CAL

 

-#ifdef COMPASS_AMI306

+#ifdef COMPASS_YAS530

+#warning "unified HAL for YAS530"

+#include "CompassSensor.IIO.primary.h"

+#elif COMPASS_AMI306

 #warning "unified HAL for AMI306"

-#include "CompassSensor.IIO.AMI.h"

+#include "CompassSensor.IIO.primary.h"

 #else

 #warning "unified HAL for MPU9150"

 #include "CompassSensor.IIO.9150.h"

 #endif

-

 #else

 #warning "unified HAL for AKM"

 #include "CompassSensor.AKM.h"

@@ -60,7 +61,6 @@
                                       | 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)

@@ -70,6 +70,39 @@
 #define INV_COMPASS_CAL              0x01

 #define INV_COMPASS_FIT              0x02

 #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 */

+

+#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

+#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() {

+#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION

+    return 1;

+#else

+    return 0;

+#endif

+}

 

 /*****************************************************************************/

 /** MPLSensor implementation which fits into the HAL example for crespo provided

@@ -82,12 +115,9 @@ class MPLSensor: public SensorBase
     typedef int (MPLSensor::*hfunc_t)(sensors_event_t*);

 

 public:

-    MPLSensor(CompassSensor *);

-    virtual ~MPLSensor();

-

-    enum

-    {

+    enum {

         Gyro = 0,

+        RawGyro,

         Accelerometer,

         MagneticField,

         Orientation,

@@ -97,6 +127,9 @@ public:
         numSensors

     };

 

+    MPLSensor(CompassSensor *);

+    virtual ~MPLSensor();

+

     virtual int setDelay(int32_t handle, int64_t ns);

     virtual int enable(int32_t handle, int enabled);

     int32_t getEnableMask() { return mEnabled; }

@@ -124,6 +157,17 @@ public:
     int readAccelEvents(sensors_event_t* data, int count);

     int readCompassEvents(sensors_event_t* data, int count);

 

+    int turnOffAccelFifo();

+    int enableDmpOrientation(int);

+    int dmpOrientHandler(int);

+    int readDmpOrientEvents(sensors_event_t* data, int count);

+    int getDmpOrientFd();

+    int openDmpOrientFd();

+    int closeDmpOrientFd();

+

+    int getDmpRate(int64_t *);

+    int checkDMPOrientation();

+

 protected:

     // Lets us know if the constructor was actually able to finish its job.

     // E.g. false if init sysfs failed.

@@ -131,6 +175,7 @@ protected:
     CompassSensor *mCompassSensor;

 

     int gyroHandler(sensors_event_t *data);

+    int rawGyroHandler(sensors_event_t *data);

     int accelHandler(sensors_event_t *data);

     int compassHandler(sensors_event_t *data);

     int rvHandler(sensors_event_t *data);

@@ -156,7 +201,6 @@ protected:
     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);

@@ -166,6 +210,9 @@ protected:
     int inv_read_sensor_bias(int fd, long *data);

     void inv_get_sensors_orientation(void);

     int inv_init_sysfs_attributes(void);

+#ifdef COMPASS_YAS530

+    int resetCompass(void);

+#endif

     void setCompassDelay(int64_t ns);

     void enable_iio_sysfs(void);

     int enableTap(int);

@@ -192,11 +239,14 @@ protected:
     int accel_fd;

     int mpufifo_fd;

     int gyro_temperature_fd;

+    int dmp_orient_fd;

+

+    int mDmpOrientationEnabled;

 

     uint32_t mEnabled;

     uint32_t mOldEnabledMask;

     sensors_event_t mPendingEvents[numSensors];

-    uint64_t mDelays[numSensors];

+    int64_t mDelays[numSensors];

     hfunc_t mHandlers[numSensors];

     short mCachedGyroData[3];

     long mCachedAccelData[3];

@@ -231,11 +281,12 @@ protected:
        char *firmware_loaded;

        char *dmp_on;

        char *dmp_int_on;

+       char *dmp_event_int_on;

+       char *dmp_output_rate;

        char *tap_on;

        char *key;

        char *self_test;

        char *temperature;

-       char *dmp_output_rate;

 

        char *gyro_enable;

        char *gyro_fifo_rate;

@@ -263,6 +314,9 @@ protected:
        char *trigger_name;

        char *current_trigger;

        char *buffer_length;

+

+       char *display_orientation_on;

+       char *event_display_orientation;

     } mpu;

 

     char *sysfs_names_ptr;