diff options
Diffstat (limited to 'invensense/libinvensense_hal/MPLSensor.cpp')
| -rw-r--r-- | invensense/libinvensense_hal/MPLSensor.cpp | 176 |
1 files changed, 11 insertions, 165 deletions
diff --git a/invensense/libinvensense_hal/MPLSensor.cpp b/invensense/libinvensense_hal/MPLSensor.cpp index e80ce52..9ad911f 100644 --- a/invensense/libinvensense_hal/MPLSensor.cpp +++ b/invensense/libinvensense_hal/MPLSensor.cpp @@ -115,7 +115,7 @@ void mot_cb_wrapper(uint16_t val) void procData_cb_wrapper() { - if(gMPLSensor) { + if (gMPLSensor) { gMPLSensor->cbProcData(); } } @@ -266,7 +266,6 @@ MPLSensor::MPLSensor() : pthread_mutex_unlock(&mMplMutex); - } MPLSensor::~MPLSensor() @@ -319,7 +318,6 @@ void MPLSensor::setPowerStates(int enabled_sensors) bool irq_set[5] = { false, false, false, false, false }; do { - if (LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED) { mLocalSensorMask = ALL_MPL_SENSORS_NP; break; @@ -347,7 +345,6 @@ void MPLSensor::setPowerStates(int enabled_sensors) } else { mLocalSensorMask &= ~(INV_THREE_AXIS_COMPASS); } - } while (0); //record the new sensor state @@ -418,7 +415,6 @@ void MPLSensor::setPowerStates(int enabled_sensors) mPollTime = -1; mCurFifoRate = -1; } - } /** @@ -482,7 +478,6 @@ void MPLSensor::initMPL() } setupCallbacks(); - } /** setup the fifo contents. @@ -522,7 +517,6 @@ void MPLSensor::setupFIFO() if (result != INV_SUCCESS) { ALOGE("Fatal error: inv_send_gyro returned %d\n", result); } - } /** @@ -669,7 +663,6 @@ void MPLSensor::rvHandler(sensors_event_t* s, uint32_t* pending_mask, s->gyro.v[0] = quat[1]; s->gyro.v[1] = quat[2]; s->gyro.v[2] = quat[3]; - } void MPLSensor::laHandler(sensors_event_t* s, uint32_t* pending_mask, @@ -758,7 +751,6 @@ void MPLSensor::orienHandler(sensors_event_t* s, uint32_t* pending_mask, *pending_mask |= (1 << index); else ALOGW("orienHandler: data not valid (%d)", (int) res); - } int MPLSensor::enable(int32_t handle, int en) @@ -981,7 +973,6 @@ int MPLSensor::readEvents(sensors_event_t* data, int count) numEventReceived++; } } - } pthread_mutex_unlock(&mMplMutex); @@ -1005,8 +996,7 @@ int MPLSensor::getTimerFd() const int MPLSensor::getPowerFd() const { - int hdl = (uintptr_t) inv_get_serial_handle(); - return hdl; + return (uintptr_t) inv_get_serial_handle(); } int MPLSensor::getPollTime() @@ -1083,21 +1073,19 @@ int MPLSensor::populateSensorList(struct sensor_t *list, size_t len) /* first add gyro, accel and compass to the list */ /* fill in accel values */ - unsigned short accelId = inv_get_accel_id(); - if(accelId == 0) { - ALOGE("Can not get accel id"); - } - fillAccel(accelId, list); + list[Accelerometer].maxRange = ACCEL_BMA250_RANGE; + list[Accelerometer].resolution = ACCEL_BMA250_RESOLUTION; + list[Accelerometer].power = ACCEL_BMA250_POWER; /* fill in compass values */ - unsigned short compassId = inv_get_compass_id(); - if(compassId == 0) { - ALOGE("Can not get compass id"); - } - fillCompass(compassId, list); + list[MagneticField].maxRange = COMPASS_YAS530_RANGE; + list[MagneticField].resolution = COMPASS_YAS530_RESOLUTION; + list[MagneticField].power = COMPASS_YAS530_POWER; /* fill in gyro values */ - fillGyro(MPU_NAME, list); + list[Gyro].maxRange = GYRO_MPU3050_RANGE; + list[Gyro].resolution = GYRO_MPU3050_RESOLUTION; + list[Gyro].power = GYRO_MPU3050_POWER; if(mNineAxisEnabled) { @@ -1123,148 +1111,6 @@ int MPLSensor::populateSensorList(struct sensor_t *list, size_t len) return numsensors; } -void MPLSensor::fillAccel(unsigned char accel, struct sensor_t *list) -{ - switch (accel) { - case ACCEL_ID_LIS331: - list[Accelerometer].maxRange = ACCEL_LIS331_RANGE; - list[Accelerometer].resolution = ACCEL_LIS331_RESOLUTION; - list[Accelerometer].power = ACCEL_LIS331_POWER; - break; - - case ACCEL_ID_LIS3DH: - list[Accelerometer].maxRange = ACCEL_LIS3DH_RANGE; - list[Accelerometer].resolution = ACCEL_LIS3DH_RESOLUTION; - list[Accelerometer].power = ACCEL_LIS3DH_POWER; - break; - - case ACCEL_ID_KXSD9: - list[Accelerometer].maxRange = ACCEL_KXSD9_RANGE; - list[Accelerometer].resolution = ACCEL_KXSD9_RESOLUTION; - list[Accelerometer].power = ACCEL_KXSD9_POWER; - break; - - case ACCEL_ID_KXTF9: - list[Accelerometer].maxRange = ACCEL_KXTF9_RANGE; - list[Accelerometer].resolution = ACCEL_KXTF9_RESOLUTION; - list[Accelerometer].power = ACCEL_KXTF9_POWER; - break; - - case ACCEL_ID_BMA150: - list[Accelerometer].maxRange = ACCEL_BMA150_RANGE; - list[Accelerometer].resolution = ACCEL_BMA150_RESOLUTION; - list[Accelerometer].power = ACCEL_BMA150_POWER; - break; - - case ACCEL_ID_BMA222: - list[Accelerometer].maxRange = ACCEL_BMA222_RANGE; - list[Accelerometer].resolution = ACCEL_BMA222_RESOLUTION; - list[Accelerometer].power = ACCEL_BMA222_POWER; - break; - - case ACCEL_ID_BMA250: - list[Accelerometer].maxRange = ACCEL_BMA250_RANGE; - list[Accelerometer].resolution = ACCEL_BMA250_RESOLUTION; - list[Accelerometer].power = ACCEL_BMA250_POWER; - break; - - case ACCEL_ID_ADXL34X: - list[Accelerometer].maxRange = ACCEL_ADXL34X_RANGE; - list[Accelerometer].resolution = ACCEL_ADXL34X_RESOLUTION; - list[Accelerometer].power = ACCEL_ADXL34X_POWER; - break; - - case ACCEL_ID_MMA8450: - list[Accelerometer].maxRange = ACCEL_MMA8450_RANGE; - list[Accelerometer].maxRange = ACCEL_MMA8450_RANGE; - list[Accelerometer].maxRange = ACCEL_MMA8450_RANGE; - break; - - case ACCEL_ID_MMA845X: - list[Accelerometer].maxRange = ACCEL_MMA845X_RANGE; - list[Accelerometer].resolution = ACCEL_MMA845X_RESOLUTION; - list[Accelerometer].power = ACCEL_MMA845X_POWER; - break; - - case ACCEL_ID_MPU6050: - list[Accelerometer].maxRange = ACCEL_MPU6050_RANGE; - list[Accelerometer].resolution = ACCEL_MPU6050_RESOLUTION; - list[Accelerometer].power = ACCEL_MPU6050_POWER; - break; - default: - ALOGE("unknown accel id -- accel params will be wrong."); - break; - } -} - -void MPLSensor::fillCompass(unsigned char compass, struct sensor_t *list) -{ - switch (compass) { - case COMPASS_ID_AK8975: - list[MagneticField].maxRange = COMPASS_AKM8975_RANGE; - list[MagneticField].resolution = COMPASS_AKM8975_RESOLUTION; - list[MagneticField].power = COMPASS_AKM8975_POWER; - break; - case COMPASS_ID_AMI30X: - list[MagneticField].maxRange = COMPASS_AMI30X_RANGE; - list[MagneticField].resolution = COMPASS_AMI30X_RESOLUTION; - list[MagneticField].power = COMPASS_AMI30X_POWER; - break; - case COMPASS_ID_AMI306: - list[MagneticField].maxRange = COMPASS_AMI306_RANGE; - list[MagneticField].resolution = COMPASS_AMI306_RESOLUTION; - list[MagneticField].power = COMPASS_AMI306_POWER; - break; - case COMPASS_ID_YAS529: - list[MagneticField].maxRange = COMPASS_YAS529_RANGE; - list[MagneticField].resolution = COMPASS_AMI306_RESOLUTION; - list[MagneticField].power = COMPASS_AMI306_POWER; - break; - case COMPASS_ID_YAS530: - list[MagneticField].maxRange = COMPASS_YAS530_RANGE; - list[MagneticField].resolution = COMPASS_YAS530_RESOLUTION; - list[MagneticField].power = COMPASS_YAS530_POWER; - break; - case COMPASS_ID_HMC5883: - list[MagneticField].maxRange = COMPASS_HMC5883_RANGE; - list[MagneticField].resolution = COMPASS_HMC5883_RESOLUTION; - list[MagneticField].power = COMPASS_HMC5883_POWER; - break; - case COMPASS_ID_MMC314X: - list[MagneticField].maxRange = COMPASS_MMC314X_RANGE; - list[MagneticField].resolution = COMPASS_MMC314X_RESOLUTION; - list[MagneticField].power = COMPASS_MMC314X_POWER; - break; - case COMPASS_ID_HSCDTD002B: - list[MagneticField].maxRange = COMPASS_HSCDTD002B_RANGE; - list[MagneticField].resolution = COMPASS_HSCDTD002B_RESOLUTION; - list[MagneticField].power = COMPASS_HSCDTD002B_POWER; - break; - case COMPASS_ID_HSCDTD004A: - list[MagneticField].maxRange = COMPASS_HSCDTD004A_RANGE; - list[MagneticField].resolution = COMPASS_HSCDTD004A_RESOLUTION; - list[MagneticField].power = COMPASS_HSCDTD004A_POWER; - break; - default: - ALOGE("unknown compass id -- compass parameters will be wrong"); - } -} - -void MPLSensor::fillGyro(const char* gyro, struct sensor_t *list) -{ - if ((gyro != NULL) && (strcmp(gyro, "mpu3050") == 0)) { - list[Gyro].maxRange = GYRO_MPU3050_RANGE; - list[Gyro].resolution = GYRO_MPU3050_RESOLUTION; - list[Gyro].power = GYRO_MPU3050_POWER; - } else { - list[Gyro].maxRange = GYRO_MPU6050_RANGE; - list[Gyro].resolution = GYRO_MPU6050_RESOLUTION; - list[Gyro].power = GYRO_MPU6050_POWER; - } - return; -} - - /* fillRV depends on values of accel and compass in the list */ void MPLSensor::fillRV(struct sensor_t *list) { |