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-rw-r--r--libsensors_iio/MPLSensor.h633
1 files changed, 288 insertions, 345 deletions
diff --git a/libsensors_iio/MPLSensor.h b/libsensors_iio/MPLSensor.h
index 3f6bb5b..3ef1ba3 100644
--- a/libsensors_iio/MPLSensor.h
+++ b/libsensors_iio/MPLSensor.h
@@ -1,345 +1,288 @@
-/*
-* 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"
-
-#ifdef INVENSENSE_COMPASS_CAL
-
-#ifdef COMPASS_YAS53x
-#warning "unified HAL for YAS53x"
-#include "CompassSensor.IIO.primary.h"
-#elif COMPASS_AMI306
-#warning "unified HAL for AMI306"
-#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"
-#endif
-
-/*****************************************************************************/
-/* Sensors Enable/Disable Mask
- *****************************************************************************/
-#define MAX_CHIP_ID_LEN (20)
-
-#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
-#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
-#define INV_DMP_DISPL_ORIENTATION 0x08
-
-/* Uncomment to enable Low Power Quaternion */
-//#define ENABLE_LP_QUAT_FEAT
-
-/* Uncomment to enable DMP display orientation
- (within the HAL, see below for Java framework) */
-//#define ENABLE_DMP_DISPL_ORIENT_FEAT
-
-#ifdef ENABLE_DMP_DISPL_ORIENT_FEAT
-/* Uncomment following to expose the SENSOR_TYPE_SCREEN_ORIENTATION
- sensor type (DMP screen orientation) to the Java framework.
- NOTE:
- need Invensense customized
- 'hardware/libhardware/include/hardware/sensors.h' to compile correctly.
- NOTE:
- need Invensense java framework changes to:
- 'frameworks/base/core/java/android/view/WindowOrientationListener.java'
- 'frameworks/base/core/java/android/hardware/Sensor.java'
- 'frameworks/base/core/java/android/hardware/SensorEvent.java'
- for the 'Auto-rotate screen' to use this feature.
-*/
-#define ENABLE_DMP_SCREEN_AUTO_ROTATION
-#warning "ENABLE_DMP_DISPL_ORIENT_FEAT is defined, framework changes are necessary for HAL to work properly"
-#endif
-
-int isDmpScreenAutoRotationEnabled()
-{
-#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
- return 1;
-#else
- return 0;
-#endif
-}
-
-int (*m_pt2AccelCalLoadFunc)(long *bias) = NULL;
-
-/*****************************************************************************/
-/** 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:
-
- enum {
- Gyro = 0,
- RawGyro,
- Accelerometer,
- MagneticField,
- Orientation,
- RotationVector,
- LinearAccel,
- Gravity,
- NUMSENSORS
- };
-
- MPLSensor(CompassSensor *, int (*m_pt2AccelCalLoadFunc)(long*) = 0);
- virtual ~MPLSensor();
-
- 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);
-
- 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:
- 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);
- 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 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);
-#ifdef COMPASS_YAS53x
- int resetCompass(void);
-#endif
- 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.
- int mCompassAccuracy; // value indicating the quality of the compass 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;
-
- int dmp_orient_fd;
- int mDmpOrientationEnabled;
-
- uint32_t mEnabled;
- uint32_t mOldEnabledMask;
- sensors_event_t mPendingEvents[NUMSENSORS];
- int64_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 *dmp_event_int_on;
- char *dmp_output_rate;
- char *tap_on;
- char *key;
- char *self_test;
- char *temperature;
-
- 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;
-
- char *display_orientation_on;
- char *event_display_orientation;
- } 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();
- bool isMpu3050();
- int isLowPowerQuatEnabled();
- int isDmpDisplayOrientationOn();
-
-
-};
-
-extern "C" {
- void setCallbackObject(MPLSensor*);
- MPLSensor *getCallbackObject();
-}
-
-#endif // ANDROID_MPL_SENSOR_H
+/*
+* 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();
+
+ // Do not work with this object unless it is initialized
+ bool isValid() { return mMplSensorInitialized; };
+
+ //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:
+ // Lets us know if the constructor was actually able to finish its job.
+ // E.g. false if init sysfs failed.
+ bool mMplSensorInitialized;
+ 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
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