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/*
$License:
Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
$
*/
/*******************************************************************************
*
* $Id: helper.c 4367 2010-12-21 03:02:55Z prao $
*
*******************************************************************************/
#include <stdio.h>
#ifdef _WIN32
#include <windows.h>
#include <conio.h>
#endif
#ifdef LINUX
#include <sys/select.h>
#endif
#include <time.h>
#include <string.h>
#include "ml.h"
#include "slave.h"
#include "mldl.h"
#include "mltypes.h"
#include "mlstates.h"
#include "compass.h"
#include "mlsl.h"
#include "ml.h"
#include "helper.h"
#include "mlsetup.h"
#include "fopenCMake.h"
#include "int.h"
#include "mlos.h"
#include "log.h"
#undef MPL_LOG_TAG
#define MPL_LOG_TAG "MPL-helper"
#ifdef AIO
extern inv_error_t MLSLSetYamahaCompassDataMode(unsigned char mode);
#endif
// Keyboard hit function
int ConsoleKbhit(void)
{
#ifdef _WIN32
return _kbhit();
#else
struct timeval tv;
fd_set read_fd;
tv.tv_sec=0;
tv.tv_usec=0;
FD_ZERO(&read_fd);
FD_SET(0,&read_fd);
if(select(1, &read_fd, NULL, NULL, &tv) == -1)
return 0;
if(FD_ISSET(0,&read_fd))
return 1;
return 0;
#endif
}
char ConsoleGetChar(void) {
#ifdef _WIN32
return _getch();
#else
return getchar();
#endif
}
struct mpuirq_data** InterruptPoll(int *handles, int numHandles, long tv_sec, long tv_usec)
{
struct mpuirq_data **data;
void *tmp;
int ii;
const int irq_data_size = sizeof(**data) * numHandles +
sizeof(*data) * numHandles;
tmp = (void *)inv_malloc(irq_data_size);
memset(tmp, 0, irq_data_size);
data = (struct mpuirq_data **)tmp;
for (ii = 0; ii < numHandles; ii++) {
data[ii] = (struct mpuirq_data *)((unsigned long)tmp +
(sizeof(*data) * numHandles) + sizeof(**data) * ii);
}
if (IntProcess(handles, numHandles, data, tv_sec, tv_usec) > 0) {
for (ii = 0; ii < numHandles; ii++) {
if (data[ii]->interruptcount) {
inv_interrupt_handler(ii);
}
}
}
/* Return data incase the application needs to look at the timestamp or
other part of the data */
return data;
}
void InterruptPollDone(struct mpuirq_data ** data)
{
inv_free(data);
}
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