diff options
Diffstat (limited to 'libsensors_iio/MPLSensor.h')
| -rw-r--r-- | libsensors_iio/MPLSensor.h | 68 |
1 files changed, 36 insertions, 32 deletions
diff --git a/libsensors_iio/MPLSensor.h b/libsensors_iio/MPLSensor.h index 879f37b..4162324 100644 --- a/libsensors_iio/MPLSensor.h +++ b/libsensors_iio/MPLSensor.h @@ -30,8 +30,8 @@ #ifdef INVENSENSE_COMPASS_CAL
-#ifdef COMPASS_YAS530
-#warning "unified HAL for YAS530"
+#ifdef COMPASS_YAS53x
+#warning "unified HAL for YAS53x"
#include "CompassSensor.IIO.primary.h"
#elif COMPASS_AMI306
#warning "unified HAL for AMI306"
@@ -49,7 +49,6 @@ /* 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)
@@ -72,31 +71,32 @@ #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 */
+/* Uncomment to enable Low Power Quaternion */
+#define ENABLE_LP_QUAT_FEAT
-#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
-}
+/* Uncomment to enable DMP display orientation
+ (within the HAL, see below for Java framework) */
+// #define ENABLE_DMP_DISPL_ORIENT_FEAT
-int isDmpDisplayOrientationOn() {
#ifdef ENABLE_DMP_DISPL_ORIENT_FEAT
- return 1;
-#else
- return 0;
+/* 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 isDmpScreenAutoRotationOn() {
+int isDmpScreenAutoRotationEnabled()
+{
#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
return 1;
#else
@@ -104,17 +104,19 @@ int isDmpScreenAutoRotationOn() { #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,
@@ -127,7 +129,7 @@ public: numSensors
};
- MPLSensor(CompassSensor *);
+ MPLSensor(CompassSensor *, int (*m_pt2AccelCalLoadFunc)(long*) = 0);
virtual ~MPLSensor();
virtual int setDelay(int32_t handle, int64_t ns);
@@ -145,9 +147,6 @@ public: 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;
@@ -169,9 +168,6 @@ public: int checkDMPOrientation();
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);
@@ -195,6 +191,7 @@ protected: int enableLPQuaternion(int);
int enableQuaternionData(int);
int onDMP(int);
+ int enableOneSensor(int en, const char *name, int (MPLSensor::*enabler)(int));
int enableGyro(int en);
int enableAccel(int en);
int enableCompass(int en);
@@ -210,7 +207,7 @@ 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
+#ifdef COMPASS_YAS53x
int resetCompass(void);
#endif
void setCompassDelay(int64_t ns);
@@ -228,6 +225,7 @@ protected: 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;
@@ -243,6 +241,7 @@ protected: int mDmpOrientationEnabled;
+
uint32_t mEnabled;
uint32_t mOldEnabledMask;
sensors_event_t mPendingEvents[numSensors];
@@ -332,6 +331,11 @@ private: void fillLinearAccel(struct sensor_t *list);
void storeCalibration();
void loadDMP();
+ bool isMpu3050();
+ int isLowPowerQuatEnabled();
+ int isDmpDisplayOrientationOn();
+
+
};
extern "C" {
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