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Diffstat (limited to 'libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c')
-rw-r--r--libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c685
1 files changed, 0 insertions, 685 deletions
diff --git a/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c b/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c
deleted file mode 100644
index b3d323c..0000000
--- a/libsensors_iio/software/simple_apps/mpu_iio/mpu_iio.c
+++ /dev/null
@@ -1,685 +0,0 @@
-/* Industrialio buffer test code.
- *
- * Copyright (c) 2008 Jonathan Cameron
- *
- * This program is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 2 as published by
- * the Free Software Foundation.
- *
- * This program is primarily intended as an example application.
- * Reads the current buffer setup from sysfs and starts a short capture
- * from the specified device, pretty printing the result after appropriate
- * conversion.
- *
- * Command line parameters
- * generic_buffer -n <device_name> -t <trigger_name>
- * If trigger name is not specified the program assumes you want a dataready
- * trigger associated with the device and goes looking for it.
- *
- */
-
-#include <unistd.h>
-#include <dirent.h>
-#include <fcntl.h>
-#include <stdio.h>
-#include <errno.h>
-#include <sys/stat.h>
-#include <dirent.h>
-#include <linux/types.h>
-#include <string.h>
-#include <poll.h>
-#include "iio_utils.h"
-#include "ml_load_dmp.h"
-#include "ml_sysfs_helper.h"
-#include "authenticate.h"
-
-#define FLICK_SUPPORTED (0)
-
-/**
- * size_from_channelarray() - calculate the storage size of a scan
- * @channels: the channel info array
- * @num_channels: size of the channel info array
- *
- * Has the side effect of filling the channels[i].location values used
- * in processing the buffer output.
- **/
-int size_from_channelarray(struct iio_channel_info *channels, int num_channels)
-{
- int bytes = 0;
- int i = 0;
- while (i < num_channels) {
- if (bytes % channels[i].bytes == 0)
- channels[i].location = bytes;
- else
- channels[i].location = bytes - bytes%channels[i].bytes
- + channels[i].bytes;
- bytes = channels[i].location + channels[i].bytes;
- i++;
- }
- return bytes;
-}
-
-void print2byte(int input, struct iio_channel_info *info)
-{
- /* shift before conversion to avoid sign extension
- of left aligned data */
- input = input >> info->shift;
- if (info->is_signed) {
- int16_t val = input;
- val &= (1 << info->bits_used) - 1;
- val = (int16_t)(val << (16 - info->bits_used)) >>
- (16 - info->bits_used);
- /*printf("%d, %05f, scale=%05f", val,
- (float)(val + info->offset)*info->scale, info->scale);*/
- printf("%d, ", val);
-
- } else {
- uint16_t val = input;
- val &= (1 << info->bits_used) - 1;
- printf("%05f ", ((float)val + info->offset)*info->scale);
- }
-}
-/**
- * process_scan() - print out the values in SI units
- * @data: pointer to the start of the scan
- * @infoarray: information about the channels. Note
- * size_from_channelarray must have been called first to fill the
- * location offsets.
- * @num_channels: the number of active channels
- **/
-void process_scan(char *data,
- struct iio_channel_info *infoarray,
- int num_channels)
-{
- int k;
- //char *tmp;
- for (k = 0; k < num_channels; k++) {
- switch (infoarray[k].bytes) {
- /* only a few cases implemented so far */
- case 2:
- print2byte(*(uint16_t *)(data + infoarray[k].location),
- &infoarray[k]);
- //tmp = data + infoarray[k].location;
- break;
- case 4:
- if (infoarray[k].is_signed) {
- int32_t val = *(int32_t *)
- (data +
- infoarray[k].location);
- if ((val >> infoarray[k].bits_used) & 1)
- val = (val & infoarray[k].mask) |
- ~infoarray[k].mask;
- /* special case for timestamp */
- printf(" %d ", val);
- }
- break;
- case 8:
- if (infoarray[k].is_signed) {
- int64_t val = *(int64_t *)
- (data +
- infoarray[k].location);
- if ((val >> infoarray[k].bits_used) & 1)
- val = (val & infoarray[k].mask) |
- ~infoarray[k].mask;
- /* special case for timestamp */
- if (infoarray[k].scale == 1.0f &&
- infoarray[k].offset == 0.0f)
- printf(" %lld", val);
- else
- printf("%05f ", ((float)val +
- infoarray[k].offset)*
- infoarray[k].scale);
- }
- break;
- default:
- break;
- }
- }
- printf("\n");
-}
-
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
-void enable_flick(char *p, int on){
- int ret;
- printf("flick:%s\n", p);
- ret = write_sysfs_int_and_verify("flick_int_on", p, on);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("flick_upper", p, 3147790);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("flick_lower", p, -3147790);
- if (ret < 0)
- return;
-
- ret = write_sysfs_int_and_verify("flick_counter", p, 50);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("flick_message_on", p, 0);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("flick_axis", p, 0);
-}
-#endif
-
-void HandleOrient(int orient)
-{
- if (orient & 0x01)
- printf("INV_X_UP\n");
- if (orient & 0x02)
- printf("INV_X_DOWN\n");
- if (orient & 0x04)
- printf("INV_Y_UP\n");
- if (orient & 0x08)
- printf("INV_Y_DOWN\n");
- if (orient & 0x10)
- printf("INV_Z_UP\n");
- if (orient & 0x20)
- printf("INV_Z_DOWN\n");
- if (orient & 0x40)
- printf("INV_ORIENTATION_FLIP\n");
-}
-
-void HandleTap(int tap)
-{
- int tap_dir = tap/8;
- int tap_num = tap%8 + 1;
-
- switch (tap_dir) {
- case 1:
- printf("INV_TAP_AXIS_X_POS\n");
- break;
- case 2:
- printf("INV_TAP_AXIS_X_NEG\n");
- break;
- case 3:
- printf("INV_TAP_AXIS_Y_POS\n");
- break;
- case 4:
- printf("INV_TAP_AXIS_Y_NEG\n");
- break;
- case 5:
- printf("INV_TAP_AXIS_Z_POS\n");
- break;
- case 6:
- printf("INV_TAP_AXIS_Z_NEG\n");
- break;
- default:
- break;
- }
- printf("Tap number: %d\n", tap_num);
-}
-#define DMP_CODE_SIZE 3060
-void verify_img(char *dmp_path){
- FILE *fp;
- int i;
- char dmp_img[DMP_CODE_SIZE];
- if ((fp = fopen(dmp_path, "rb")) < 0 ) {
- perror("dmp fail");
- }
- i = fread(dmp_img, 1, DMP_CODE_SIZE, fp);
- printf("Result=%d\n", i);
- fclose(fp);
- fp = fopen("/dev/read_img.h", "wt");
- fprintf(fp, "char rec[]={\n");
- for(i=0; i<DMP_CODE_SIZE; i++) {
- fprintf(fp, "0x%02x, ", dmp_img[i]);
- if(((i+1)%16) == 0) {
- fprintf(fp, "\n");
- }
- }
- fprintf(fp, "};\n ");
- fclose(fp);
-}
-
-void setup_dmp(char *dev_path, int p_event){
- char sysfs_path[200];
- char dmp_path[200];
- int ret;
- FILE *fd;
- sprintf(sysfs_path, "%s", dev_path);
- printf("sysfs: %s\n", sysfs_path);
- ret = write_sysfs_int_and_verify("power_state", sysfs_path, 1);
- if (ret < 0)
- return;
-
- ret = write_sysfs_int("in_accel_scale", dev_path, 0);
- if (ret < 0)
- return;
- ret = write_sysfs_int("in_anglvel_scale", dev_path, 2);
- if (ret < 0)
- return;
- ret = write_sysfs_int("sampling_frequency", sysfs_path, 200);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("firmware_loaded", sysfs_path, 0);
- if (ret < 0)
- return;
- sprintf(dmp_path, "%s/dmp_firmware", dev_path);
- if ((fd = fopen(dmp_path, "wb")) < 0 ) {
- perror("dmp fail");
- }
- inv_load_dmp(fd);
- fclose(fd);
- printf("firmware_loaded=%d\n", read_sysfs_posint("firmware_loaded", sysfs_path));
- ret = write_sysfs_int_and_verify("in_accel_x_offset", sysfs_path, 0xabcd0000);
- ret = write_sysfs_int_and_verify("in_accel_y_offset", sysfs_path, 0xffff0000);
- ret = write_sysfs_int_and_verify("in_accel_z_offset", sysfs_path, 0xcdef0000);
-
- ret = write_sysfs_int_and_verify("dmp_on", sysfs_path, 1);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("dmp_int_on", sysfs_path, 1);
- if (ret < 0)
- return;
- /* selelct which event to enable and interrupt on/off here */
- //enable_flick(sysfs_path, 1);
- ret = write_sysfs_int_and_verify("tap_on", sysfs_path, 1);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("display_orientation_on", sysfs_path, 1);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("orientation_on", sysfs_path, 1);
- if (ret < 0)
- return;
- printf("rate\n");
- ret = write_sysfs_int_and_verify("dmp_output_rate", sysfs_path, 25);
- if (ret < 0)
- return;
- ret = write_sysfs_int_and_verify("dmp_event_int_on", sysfs_path, p_event);
- if (ret < 0)
- return;
- //verify_img(dmp_path);
-}
-
-void get_dmp_event(char *dev_dir_name)
-{
- char file_name[100];
- int i;
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
- int fp_tap, fp_orient, fp_disp, fp_flick;
- const int n_gest = 6;
-#else
- int fp_tap, fp_orient, fp_disp, fp_motion;
- //int fp_no_motion;
- const int n_gest = 4;
-#endif
- int data;
- char d[6];
- FILE *fp;
- struct pollfd pfd[4];
- printf("%s\n", dev_dir_name);
- while(1) {
- sprintf(file_name, "%s/event_tap", dev_dir_name);
- fp_tap = open(file_name, O_RDONLY | O_NONBLOCK);
- sprintf(file_name, "%s/event_orientation", dev_dir_name);
- fp_orient = open(file_name, O_RDONLY | O_NONBLOCK);
- sprintf(file_name, "%s/event_display_orientation", dev_dir_name);
- fp_disp = open(file_name, O_RDONLY | O_NONBLOCK);
-
- //sprintf(file_name, "%s/event_accel_motion", dev_dir_name);
- sprintf(file_name, "%s/event_accel_wom", dev_dir_name);
- fp_motion = open(file_name, O_RDONLY | O_NONBLOCK);
- //sprintf(file_name, "%s/event_accel_no_motion", dev_dir_name);
- //fp_no_motion = open(file_name, O_RDONLY | O_NONBLOCK);
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
- sprintf(file_name, "%s/event_flick", dev_dir_name);
- fp_flick = open(file_name, O_RDONLY | O_NONBLOCK);
-#endif
-
- pfd[0].fd = fp_tap;
- pfd[0].events = POLLPRI|POLLERR,
- pfd[0].revents = 0;
-
- pfd[1].fd = fp_orient;
- pfd[1].events = POLLPRI|POLLERR,
- pfd[1].revents = 0;
-
- pfd[2].fd = fp_disp;
- pfd[2].events = POLLPRI|POLLERR,
- pfd[2].revents = 0;
-
- pfd[3].fd = fp_motion;
- pfd[3].events = POLLPRI|POLLERR,
- pfd[3].revents = 0;
-
- //pfd[4].fd = fp_no_motion;
- //pfd[4].events = POLLPRI|POLLERR,
- //pfd[4].revents = 0;
-
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
- pfd[5].fd = fp_flick;
- pfd[5].events = POLLPRI|POLLERR,
- pfd[5].revents = 0;
-#endif
-
- read(fp_tap, d, 4);
- read(fp_orient, d, 4);
- read(fp_disp, d, 4);
- read(fp_motion, d, 4);
- //read(fp_no_motion, d, 4);
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
- read(fp_flick, d, 4);
-#endif
-
- poll(pfd, n_gest, -1);
- close(fp_tap);
- close(fp_orient);
- close(fp_disp);
- close(fp_motion);
- //close(fp_no_motion);
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
- close(fp_flick);
-#endif
- for (i = 0; i < ARRAY_SIZE(pfd); i++) {
- if(pfd[i].revents != 0) {
- switch (i){
- case 0:
- sprintf(file_name, "%s/event_tap", dev_dir_name);
- fp = fopen(file_name, "rt");
- fscanf(fp, "%d\n", &data);
- printf("tap=%x\n", data);
- HandleTap(data);
- fclose(fp);
- break;
- case 1:
- sprintf(file_name, "%s/event_orientation", dev_dir_name);
- fp = fopen(file_name, "rt");
- fscanf(fp, "%d\n", &data);
- printf("orient=%x\n", data);
- HandleOrient(data);
- fclose(fp);
- break;
- case 2:
- sprintf(file_name, "%s/event_display_orientation", dev_dir_name);
- fp = fopen(file_name, "rt");
- fscanf(fp, "%d\n", &data);
- printf("display_orient=%x\n", data);
- fclose(fp);
- break;
- case 3:
- sprintf(file_name, "%s/event_accel_wom", dev_dir_name);
- fp = fopen(file_name, "rt");
- fscanf(fp, "%d\n", &data);
- printf("motion=%x\n", data);
- fclose(fp);
- break;
- case 4:
- sprintf(file_name, "%s/event_accel_no_motion", dev_dir_name);
- fp = fopen(file_name, "rt");
- fscanf(fp, "%d\n", &data);
- printf("No motion=%x\n", data);
- fclose(fp);
- break;
-
-#if FLICK_SUPPORTED /* hide flick, not offially supported */
- case 5:
- sprintf(file_name, "%s/event_flick", dev_dir_name);
- fp = fopen(file_name, "rt");
- fscanf(fp, "%d\n", &data);
- printf("flick=%x\n", data);
- fclose(fp);
- break;
-#endif
- }
- }
- }
- }
-}
-
-
-int main(int argc, char **argv)
-{
- unsigned long num_loops = 2;
- unsigned long timedelay = 100000;
- unsigned long buf_len = 128;
-
- int ret, c, i, j, toread;
- int fp;
-
- int num_channels;
- char *trigger_name = NULL;
- char *dev_dir_name, *buf_dir_name;
-
- int datardytrigger = 1;
- char *data;
- int read_size;
- int dev_num, trig_num;
- char *buffer_access;
- int scan_size;
- int noevents = 0;
- int p_event = 0, nodmp = 0;
- char *dummy;
- char chip_name[10];
- char device_name[10];
- char sysfs[100];
-
- struct iio_channel_info *infoarray;
- /* -r means no DMP is enabled (raw) -> should be used for mpu3050.
- -p means no print of data */
- /* when using -p, 1 means orientation, 2 means tap, 3 means flick */
- while ((c = getopt(argc, argv, "l:w:c:pret:")) != -1) {
- switch (c) {
- case 't':
- trigger_name = optarg;
- datardytrigger = 0;
- break;
- case 'e':
- noevents = 1;
- break;
- case 'p':
- p_event = 1;
- break;
- case 'r':
- nodmp = 1;
- break;
- case 'c':
- num_loops = strtoul(optarg, &dummy, 10);
- break;
- case 'w':
- timedelay = strtoul(optarg, &dummy, 10);
- break;
- case 'l':
- buf_len = strtoul(optarg, &dummy, 10);
- break;
- case '?':
- return -1;
- }
- }
- inv_get_sysfs_path(sysfs);
- printf("sss:::%s\n", sysfs);
- if (inv_get_chip_name(chip_name) != INV_SUCCESS) {
- printf("get chip name fail\n");
- exit(0);
- }
- printf("chip_name=%s\n", chip_name);
- if (INV_SUCCESS != inv_check_key())
- printf("key check fail\n");
- else
- printf("key authenticated\n");
-
- for (i=0; i<strlen(chip_name); i++) {
- device_name[i] = tolower(chip_name[i]);
- }
- device_name[strlen(chip_name)] = '\0';
- printf("device name: %s\n", device_name);
-
- /* Find the device requested */
- dev_num = find_type_by_name(device_name, "iio:device");
- if (dev_num < 0) {
- printf("Failed to find the %s\n", device_name);
- ret = -ENODEV;
- goto error_ret;
- }
- printf("iio device number being used is %d\n", dev_num);
- asprintf(&dev_dir_name, "%siio:device%d", iio_dir, dev_num);
- if (trigger_name == NULL) {
- /*
- * Build the trigger name. If it is device associated it's
- * name is <device_name>_dev[n] where n matches the device
- * number found above
- */
- ret = asprintf(&trigger_name,
- "%s-dev%d", device_name, dev_num);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_ret;
- }
- }
- ret = write_sysfs_int("buffer/enable", dev_dir_name, 0);
-
- ret = write_sysfs_int_and_verify("power_state", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("gyro_enable", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("accl_enable", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("compass_enable", dev_dir_name, 1);
-/*
- ret = write_sysfs_int_and_verify("zero_motion_on", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("zero_motion_dur", dev_dir_name, 12);
- ret = write_sysfs_int_and_verify("zero_motion_threshold", dev_dir_name, 13);
-
- ret = write_sysfs_int_and_verify("motion_on", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("motion_dur", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("motion_threshold", dev_dir_name, 1);
-*/
- ret = write_sysfs_int_and_verify("accel_wom_on", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("accel_wom_threshold", dev_dir_name, 100);
- /* Verify the trigger exists */
- trig_num = find_type_by_name(trigger_name, "trigger");
- if (trig_num < 0) {
- printf("Failed to find the trigger %s\n", trigger_name);
- ret = -ENODEV;
- goto error_free_triggername;
- }
- printf("iio trigger number being used is %d\n", trig_num);
- /*
- * Parse the files in scan_elements to identify what channels are
- * present
- */
- ret = 0;
- ret = enable(dev_dir_name, &infoarray, &num_channels);
- if (ret) {
- printf("error enable\n");
- goto error_free_triggername;
- }
- if (!nodmp)
- setup_dmp(dev_dir_name, p_event);
-
- /*
- * Construct the directory name for the associated buffer.
- * As we know that the lis3l02dq has only one buffer this may
- * be built rather than found.
- */
- ret = asprintf(&buf_dir_name, "%siio:device%d/buffer", iio_dir, dev_num);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_triggername;
- }
- printf("%s %s\n", dev_dir_name, trigger_name);
-
- /* Set the device trigger to be the data rdy trigger found above */
- ret = write_sysfs_string_and_verify("trigger/current_trigger",
- dev_dir_name,
- trigger_name);
- if (ret < 0) {
- printf("Failed to write current_trigger file\n");
- goto error_free_buf_dir_name;
- }
- /* Setup ring buffer parameters */
- /* length must be even number because iio_store_to_sw_ring is expecting
- half pointer to be equal to the read pointer, which is impossible
- when buflen is odd number. This is actually a bug in the code */
- ret = write_sysfs_int("length", buf_dir_name, buf_len*2);
- if (ret < 0)
- goto exit_here;
- ret = write_sysfs_int_and_verify("gyro_enable", dev_dir_name, 1);
- ret = write_sysfs_int_and_verify("accl_enable", dev_dir_name, 1);
- //ret = write_sysfs_int_and_verify("compass_enable", dev_dir_name, 0);
- if (nodmp == 0) {
- ret = write_sysfs_int_and_verify("quaternion_on", dev_dir_name, 1);
- } else {
- ret = disable_q_out(dev_dir_name, &infoarray, &num_channels);
- ret = write_sysfs_int_and_verify("dmp_on", dev_dir_name, 0);
- }
- ret = build_channel_array(dev_dir_name, &infoarray, &num_channels);
- if (ret) {
- printf("Problem reading scan element information\n");
- goto exit_here;
- }
-
- /* Enable the buffer */
- ret = write_sysfs_int("enable", buf_dir_name, 1);
- if (ret < 0)
- goto exit_here;
- scan_size = size_from_channelarray(infoarray, num_channels);
- data = malloc(scan_size*buf_len);
- if (!data) {
- ret = -ENOMEM;
- goto exit_here;
- }
-
- ret = asprintf(&buffer_access,
- "/dev/iio:device%d",
- dev_num);
- if (ret < 0) {
- ret = -ENOMEM;
- goto error_free_data;
- }
- if (p_event) {
- get_dmp_event(dev_dir_name);
- goto error_free_buffer_access;
- }
- /* Attempt to open non blocking the access dev */
- fp = open(buffer_access, O_RDONLY | O_NONBLOCK);
- if (fp == -1) { /*If it isn't there make the node */
- printf("Failed to open %s\n", buffer_access);
- ret = -errno;
- goto error_free_buffer_access;
- }
- /* Wait for events 10 times */
- for (j = 0; j < num_loops; j++) {
- if (!noevents) {
- struct pollfd pfd = {
- .fd = fp,
- .events = POLLIN,
- };
- poll(&pfd, 1, -1);
- toread = 1;
- if ((j%128)==0)
- usleep(timedelay);
-
- } else {
- usleep(timedelay);
- toread = 1;
- }
- read_size = read(fp,
- data,
- toread*scan_size);
- if (read_size == -EAGAIN) {
- printf("nothing available\n");
- continue;
- }
- if (0 == p_event) {
- for (i = 0; i < read_size/scan_size; i++)
- process_scan(data + scan_size*i,
- infoarray,
- num_channels);
- }
- }
- close(fp);
-error_free_buffer_access:
- free(buffer_access);
-error_free_data:
- free(data);
-exit_here:
- /* Stop the ring buffer */
- ret = write_sysfs_int("enable", buf_dir_name, 0);
-
-error_free_buf_dir_name:
- free(buf_dir_name);
-error_free_triggername:
- if (datardytrigger)
- free(trigger_name);
-error_ret:
- return ret;
-}
generated by cgit v1.2.3 (git 2.25.1) at 2024-09-26 23:50:25 +0000