diff options
Diffstat (limited to 'invensense/libinvensense_hal')
| -rw-r--r-- | invensense/libinvensense_hal/Android.mk | 42 | ||||
| -rw-r--r-- | invensense/libinvensense_hal/MPLSensor.cpp | 1128 | ||||
| -rw-r--r-- | invensense/libinvensense_hal/MPLSensor.h | 133 | ||||
| -rw-r--r-- | invensense/libinvensense_hal/SensorBase.cpp | 122 | ||||
| -rw-r--r-- | invensense/libinvensense_hal/SensorBase.h | 59 | ||||
| -rw-r--r-- | invensense/libinvensense_hal/sensor_params.h | 46 | ||||
| -rw-r--r-- | invensense/libinvensense_hal/sensors.h | 53 |
7 files changed, 0 insertions, 1583 deletions
diff --git a/invensense/libinvensense_hal/Android.mk b/invensense/libinvensense_hal/Android.mk deleted file mode 100644 index 33e0e2f..0000000 --- a/invensense/libinvensense_hal/Android.mk +++ /dev/null @@ -1,42 +0,0 @@ -# Copyright (C) 2008 The Android Open Source Project -# -# 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. -# Modified 2011 by InvenSense, Inc - -LOCAL_PATH := $(call my-dir) - -# InvenSense fragment of the HAL -include $(CLEAR_VARS) - -LOCAL_MODULE := libinvensense_hal.$(TARGET_BOOTLOADER_BOARD_NAME) - -LOCAL_MODULE_TAGS := optional - -LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\" -Werror -Wall - -LOCAL_SRC_FILES := SensorBase.cpp MPLSensor.cpp - -LOCAL_C_INCLUDES := \ - $(LOCAL_PATH)/../mlsdk/platform/include \ - $(LOCAL_PATH)/../mlsdk/platform/include/linux \ - $(LOCAL_PATH)/../mlsdk/platform/linux \ - $(LOCAL_PATH)/../mlsdk/mllite \ - $(LOCAL_PATH)/../mlsdk/mldmp \ - $(LOCAL_PATH)/../mlsdk/external/aichi \ - $(LOCAL_PATH)/../mlsdk/external/akmd - -LOCAL_SHARED_LIBRARIES := liblog libcutils libutils libdl libmllite libmlplatform -LOCAL_CPPFLAGS := -DLINUX=1 -LOCAL_LDFLAGS := -rdynamic - -include $(BUILD_SHARED_LIBRARY) diff --git a/invensense/libinvensense_hal/MPLSensor.cpp b/invensense/libinvensense_hal/MPLSensor.cpp deleted file mode 100644 index ca08ad5..0000000 --- a/invensense/libinvensense_hal/MPLSensor.cpp +++ /dev/null @@ -1,1128 +0,0 @@ -/* - * Copyright (C) 2011 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. - */ - -//#define LOG_NDEBUG 0 -//see also the EXTRA_VERBOSE define, below - -#include <fcntl.h> -#include <errno.h> -#include <math.h> -#include <float.h> -#include <poll.h> -#include <unistd.h> -#include <dirent.h> -#include <stdlib.h> -#include <sys/select.h> -#include <dlfcn.h> -#include <pthread.h> - -#include <cutils/log.h> -#include <utils/KeyedVector.h> - -#include "MPLSensor.h" - -#include "math.h" -#include "ml.h" -#include "mlFIFO.h" -#include "mlsl.h" -#include "mlos.h" -#include "ml_mputest.h" -#include "ml_stored_data.h" -#include "mldl_cfg.h" -#include "mldl.h" - -#include "mpu.h" -#include "accel.h" -#include "compass.h" -#include "kernel/timerirq.h" -#include "kernel/mpuirq.h" -#include "kernel/slaveirq.h" - -extern "C" { -#include "mlsupervisor.h" -} - -#include "mlcontrol.h" -#include "sensor_params.h" - -#define EXTRA_VERBOSE (0) -//#define FUNC_LOG ALOGV("%s", __PRETTY_FUNCTION__) -#define FUNC_LOG -#define VFUNC_LOG ALOGV_IF(EXTRA_VERBOSE, "%s", __PRETTY_FUNCTION__) -/* this mask must turn on only the sensors that are present and managed by the MPL */ -#define ALL_MPL_SENSORS_NP (INV_THREE_AXIS_ACCEL | INV_THREE_AXIS_COMPASS | INV_THREE_AXIS_GYRO) - -#define CALL_MEMBER_FN(pobject,ptrToMember) ((pobject)->*(ptrToMember)) - -/******************************************/ - -/* Base values for the sensor list, these need to be in the order defined in MPLSensor.h */ -static struct sensor_t sSensorList[] = -{ - {"MPL Gyroscope", "Invensense", 1, SENSORS_GYROSCOPE_HANDLE, - SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, 0, 0, - SENSOR_STRING_TYPE_GYROSCOPE, "", 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, - {"MPL Accelerometer", "Invensense", 1, SENSORS_ACCELERATION_HANDLE, - SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, - SENSOR_STRING_TYPE_ACCELEROMETER, "", 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, - {"MPL Magnetic Field", "Invensense", 1, SENSORS_MAGNETIC_FIELD_HANDLE, - SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, - SENSOR_STRING_TYPE_MAGNETIC_FIELD, "", 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, - {"MPL Orientation", "Invensense", 1, SENSORS_ORIENTATION_HANDLE, - SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, 0, 0, - SENSOR_STRING_TYPE_ORIENTATION, "", 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, - {"MPL Rotation Vector", "Invensense", 1, SENSORS_ROTATION_VECTOR_HANDLE, - SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, - SENSOR_STRING_TYPE_ORIENTATION, "", 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, - {"MPL Linear Acceleration", "Invensense", 1, SENSORS_LINEAR_ACCEL_HANDLE, - SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, - SENSOR_STRING_TYPE_LINEAR_ACCELERATION, "", 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, - {"MPL Gravity", "Invensense", 1, SENSORS_GRAVITY_HANDLE, - SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, - SENSOR_STRING_TYPE_GRAVITY, "", 0, SENSOR_FLAG_CONTINUOUS_MODE, {}}, -}; - -static unsigned long long irq_timestamp = 0; -/* *************************************************************************** - * MPL interface misc. - */ -//static pointer to the object that will handle callbacks -static MPLSensor* gMPLSensor = NULL; - -/* we need to pass some callbacks to the MPL. The mpl is a C library, so - * wrappers for the C++ callback implementations are required. - */ -extern "C" { -//callback wrappers go here -void mot_cb_wrapper(uint16_t val) -{ - if (gMPLSensor) { - gMPLSensor->cbOnMotion(val); - } -} - -void procData_cb_wrapper() -{ - if (gMPLSensor) { - gMPLSensor->cbProcData(); - } -} - -} //end of extern C - -void setCallbackObject(MPLSensor* gbpt) -{ - gMPLSensor = gbpt; -} - - -/***************************************************************************** - * sensor class implementation - */ - -#define GY_ENABLED ((1<<ID_GY) & enabled_sensors) -#define A_ENABLED ((1<<ID_A) & enabled_sensors) -#define O_ENABLED ((1<<ID_O) & enabled_sensors) -#define M_ENABLED ((1<<ID_M) & enabled_sensors) -#define LA_ENABLED ((1<<ID_LA) & enabled_sensors) -#define GR_ENABLED ((1<<ID_GR) & enabled_sensors) -#define RV_ENABLED ((1<<ID_RV) & enabled_sensors) - -MPLSensor::MPLSensor() : - SensorBase(NULL, NULL), - mNewData(0), - mDmpStarted(false), - mMasterSensorMask(INV_ALL_SENSORS), - mLocalSensorMask(ALL_MPL_SENSORS_NP), - mCurFifoRate(-1), mHaveGoodMpuCal(false), mHaveGoodCompassCal(false), - mUseTimerIrqAccel(false), mUsetimerIrqCompass(true), - mUseTimerirq(false), - mEnabled(0), mPendingMask(0) -{ - FUNC_LOG; - int mpu_int_fd; - char *port = NULL; - - ALOGV_IF(EXTRA_VERBOSE, "MPLSensor constructor: numSensors = %d", numSensors); - - pthread_mutex_init(&mMplMutex, NULL); - - mForceSleep = false; - - /* used for identifying whether 9axis is enabled or not */ - /* this variable will be changed in initMPL() when libmpl is loaded */ - /* sensor list will be changed based on this variable */ - mNineAxisEnabled = false; - - for (size_t i = 0; i < ARRAY_SIZE(mPollFds); i++) { - mPollFds[i].fd = -1; - mPollFds[i].events = 0; - } - - pthread_mutex_lock(&mMplMutex); - - mpu_int_fd = open("/dev/mpuirq", O_RDWR); - if (mpu_int_fd == -1) { - ALOGE("could not open the mpu irq device node"); - } else { - fcntl(mpu_int_fd, F_SETFL, O_NONBLOCK); - mIrqFds.add(MPUIRQ_FD, mpu_int_fd); - mPollFds[MPUIRQ_FD].fd = mpu_int_fd; - mPollFds[MPUIRQ_FD].events = POLLIN; - } - - accel_fd = open("/dev/accelirq", O_RDWR); - if (accel_fd == -1) { - ALOGE("could not open the accel irq device node"); - } else { - fcntl(accel_fd, F_SETFL, O_NONBLOCK); - mIrqFds.add(ACCELIRQ_FD, accel_fd); - mPollFds[ACCELIRQ_FD].fd = accel_fd; - mPollFds[ACCELIRQ_FD].events = POLLIN; - } - - timer_fd = open("/dev/timerirq", O_RDWR); - if (timer_fd == -1) { - ALOGE("could not open the timer irq device node"); - } else { - fcntl(timer_fd, F_SETFL, O_NONBLOCK); - mIrqFds.add(TIMERIRQ_FD, timer_fd); - mPollFds[TIMERIRQ_FD].fd = timer_fd; - mPollFds[TIMERIRQ_FD].events = POLLIN; - } - - data_fd = mpu_int_fd; - - if ((accel_fd == -1) && (timer_fd != -1)) { - //no accel irq and timer available - mUseTimerIrqAccel = true; - } - - memset(mPendingEvents, 0, sizeof(mPendingEvents)); - - mPendingEvents[RotationVector].version = sizeof(sensors_event_t); - mPendingEvents[RotationVector].sensor = ID_RV; - mPendingEvents[RotationVector].type = SENSOR_TYPE_ROTATION_VECTOR; - - mPendingEvents[LinearAccel].version = sizeof(sensors_event_t); - mPendingEvents[LinearAccel].sensor = ID_LA; - mPendingEvents[LinearAccel].type = SENSOR_TYPE_LINEAR_ACCELERATION; - - mPendingEvents[Gravity].version = sizeof(sensors_event_t); - mPendingEvents[Gravity].sensor = ID_GR; - mPendingEvents[Gravity].type = SENSOR_TYPE_GRAVITY; - - mPendingEvents[Gyro].version = sizeof(sensors_event_t); - mPendingEvents[Gyro].sensor = ID_GY; - mPendingEvents[Gyro].type = SENSOR_TYPE_GYROSCOPE; - - mPendingEvents[Accelerometer].version = sizeof(sensors_event_t); - mPendingEvents[Accelerometer].sensor = ID_A; - mPendingEvents[Accelerometer].type = SENSOR_TYPE_ACCELEROMETER; - - mPendingEvents[MagneticField].version = sizeof(sensors_event_t); - mPendingEvents[MagneticField].sensor = ID_M; - mPendingEvents[MagneticField].type = SENSOR_TYPE_MAGNETIC_FIELD; - mPendingEvents[MagneticField].magnetic.status = SENSOR_STATUS_ACCURACY_HIGH; - - mPendingEvents[Orientation].version = sizeof(sensors_event_t); - mPendingEvents[Orientation].sensor = ID_O; - mPendingEvents[Orientation].type = SENSOR_TYPE_ORIENTATION; - mPendingEvents[Orientation].orientation.status - = SENSOR_STATUS_ACCURACY_HIGH; - - mHandlers[RotationVector] = &MPLSensor::rvHandler; - mHandlers[LinearAccel] = &MPLSensor::laHandler; - mHandlers[Gravity] = &MPLSensor::gravHandler; - mHandlers[Gyro] = &MPLSensor::gyroHandler; - mHandlers[Accelerometer] = &MPLSensor::accelHandler; - mHandlers[MagneticField] = &MPLSensor::compassHandler; - mHandlers[Orientation] = &MPLSensor::orienHandler; - - for (int i = 0; i < numSensors; i++) - mDelays[i] = 30000000LLU; // 30 ms by default - - if (inv_serial_start(port) != INV_SUCCESS) { - ALOGE("Fatal Error : could not open MPL serial interface"); - } - - //initialize library parameters - initMPL(); - - //setup the FIFO contents - setupFIFO(); - - - pthread_mutex_unlock(&mMplMutex); -} - -MPLSensor::~MPLSensor() -{ - FUNC_LOG; - pthread_mutex_lock(&mMplMutex); - if (inv_dmp_stop() != INV_SUCCESS) { - ALOGW("Error: could not stop the DMP correctly.\n"); - } - - if (inv_dmp_close() != INV_SUCCESS) { - ALOGW("Error: could not close the DMP"); - } - - if (inv_serial_stop() != INV_SUCCESS) { - ALOGW("Error : could not close the serial port"); - } - pthread_mutex_unlock(&mMplMutex); - pthread_mutex_destroy(&mMplMutex); -} - -/* clear any data from our various filehandles */ -void MPLSensor::clearIrqData(bool* irq_set) -{ - unsigned int i; - int nread; - struct mpuirq_data irqdata; - - poll(mPollFds, ARRAY_SIZE(mPollFds), 0); //check which ones need to be cleared - - for (i = 0; i < ARRAY_SIZE(mPollFds); i++) { - int cur_fd = mPollFds[i].fd; - if (mPollFds[i].revents & POLLIN) { - nread = read(cur_fd, &irqdata, sizeof(irqdata)); - if (nread > 0) { - irq_set[i] = true; - irq_timestamp = irqdata.irqtime; - } - } - mPollFds[i].revents = 0; - } -} - -/* set the power states of the various sensors based on the bits set in the - * enabled_sensors parameter. - * this function modifies globalish state variables. It must be called with the mMplMutex held. */ -void MPLSensor::setPowerStates(int enabled_sensors) -{ - FUNC_LOG; - 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; - } - - if (!A_ENABLED && !M_ENABLED && !GY_ENABLED) { - mLocalSensorMask = 0; - break; - } - - if (GY_ENABLED) { - mLocalSensorMask |= INV_THREE_AXIS_GYRO; - } else { - mLocalSensorMask &= ~INV_THREE_AXIS_GYRO; - } - - if (A_ENABLED) { - mLocalSensorMask |= (INV_THREE_AXIS_ACCEL); - } else { - mLocalSensorMask &= ~(INV_THREE_AXIS_ACCEL); - } - - if (M_ENABLED) { - mLocalSensorMask |= INV_THREE_AXIS_COMPASS; - } else { - mLocalSensorMask &= ~(INV_THREE_AXIS_COMPASS); - } - } while (0); - - //record the new sensor state - inv_error_t rv; - - unsigned long sen_mask = mLocalSensorMask & mMasterSensorMask; - - bool changing_sensors = ((inv_get_dl_config()->requested_sensors - != sen_mask) && (sen_mask != 0)); - bool restart = (!mDmpStarted) && (sen_mask != 0); - - if (changing_sensors || restart) { - - ALOGV_IF(EXTRA_VERBOSE, "cs:%d rs:%d ", changing_sensors, restart); - - if (mDmpStarted) { - inv_dmp_stop(); - clearIrqData(irq_set); - mDmpStarted = false; - } - - if (sen_mask != inv_get_dl_config()->requested_sensors) { - rv = inv_set_mpu_sensors(sen_mask); - ALOGE_IF(rv != INV_SUCCESS, - "error: unable to set MPL sensor power states (sens=%ld retcode = %d)", - sen_mask, rv); - } - - if (((mUsetimerIrqCompass && (sen_mask == INV_THREE_AXIS_COMPASS)) - || (mUseTimerIrqAccel && (sen_mask & INV_THREE_AXIS_ACCEL))) - && ((sen_mask & INV_DMP_PROCESSOR) == 0)) { - ALOGV_IF(EXTRA_VERBOSE, "Allowing TimerIRQ"); - mUseTimerirq = true; - } else { - if (mUseTimerirq) { - ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0); - clearIrqData(irq_set); - } - ALOGV_IF(EXTRA_VERBOSE, "Not allowing TimerIRQ"); - mUseTimerirq = false; - } - - if (!mDmpStarted) { - if (mHaveGoodMpuCal || mHaveGoodCompassCal) { - rv = inv_store_calibration(); - ALOGE_IF(rv != INV_SUCCESS, - "error: unable to store MPL calibration file"); - mHaveGoodMpuCal = false; - mHaveGoodCompassCal = false; - } - rv = inv_dmp_start(); - ALOGE_IF(rv != INV_SUCCESS, "unable to start dmp"); - mDmpStarted = true; - } - } - - //check if we should stop the DMP - if (mDmpStarted && (sen_mask == 0)) { - rv = inv_dmp_stop(); - ALOGE_IF(rv != INV_SUCCESS, "error: unable to stop DMP (retcode = %d)", - rv); - if (mUseTimerirq) { - ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0); - } - clearIrqData(irq_set); - - mDmpStarted = false; - mCurFifoRate = -1; - } -} - -/** - * container function for all the calls we make once to set up the MPL. - */ -void MPLSensor::initMPL() -{ - FUNC_LOG; - inv_error_t result; - unsigned short bias_update_mask = 0xFFFF; - - if (inv_dmp_open() != INV_SUCCESS) { - ALOGE("Fatal Error : could not open DMP correctly.\n"); - } - - result = inv_set_mpu_sensors(ALL_MPL_SENSORS_NP); //default to all sensors, also makes 9axis enable work - ALOGE_IF(result != INV_SUCCESS, - "Fatal Error : could not set enabled sensors."); - - if (inv_load_calibration() != INV_SUCCESS) { - ALOGE("could not open MPL calibration file"); - } - - //check for the 9axis fusion library: if available load it and start 9x - void* h_dmp_lib=dlopen("libinvensense_mpl.so", RTLD_NOW); - if(h_dmp_lib) { - const char* error; - error = dlerror(); - inv_error_t (*fp_inv_enable_9x_fusion)() = - (inv_error_t(*)()) dlsym(h_dmp_lib, "inv_enable_9x_fusion"); - if((error = dlerror()) != NULL) { - ALOGE("%s %s", error, "inv_enable_9x_fusion"); - } else if ((*fp_inv_enable_9x_fusion)() != INV_SUCCESS) { - ALOGE( "Warning : 9 axis sensor fusion not available " - "- No compass detected.\n"); - } else { - /* 9axis is loaded and enabled */ - /* this variable is used for coming up with sensor list */ - mNineAxisEnabled = true; - } - } else { - const char* error = dlerror(); - ALOGE("libinvensense_mpl.so not found, 9x sensor fusion disabled (%s)",error); - } - - if (inv_set_bias_update(bias_update_mask) != INV_SUCCESS) { - ALOGE("Error : Bias update function could not be set.\n"); - } - - if (inv_set_motion_interrupt(1) != INV_SUCCESS) { - ALOGE("Error : could not set motion interrupt"); - } - - if (inv_set_fifo_interrupt(1) != INV_SUCCESS) { - ALOGE("Error : could not set fifo interrupt"); - } - - result = inv_set_fifo_rate(6); - if (result != INV_SUCCESS) { - ALOGE("Fatal error: inv_set_fifo_rate returned %d\n", result); - } - - setupCallbacks(); -} - -/** setup the fifo contents. - */ -void MPLSensor::setupFIFO() -{ - FUNC_LOG; - inv_error_t result; - - result = inv_send_accel(INV_ALL, INV_32_BIT); - if (result != INV_SUCCESS) { - ALOGE("Fatal error: inv_send_accel returned %d\n", result); - } - - result = inv_send_quaternion(INV_32_BIT); - if (result != INV_SUCCESS) { - ALOGE("Fatal error: inv_send_quaternion returned %d\n", result); - } - - result = inv_send_linear_accel(INV_ALL, INV_32_BIT); - if (result != INV_SUCCESS) { - ALOGE("Fatal error: inv_send_linear_accel returned %d\n", result); - } - - result = inv_send_linear_accel_in_world(INV_ALL, INV_32_BIT); - if (result != INV_SUCCESS) { - ALOGE("Fatal error: inv_send_linear_accel_in_world returned %d\n", - result); - } - - result = inv_send_gravity(INV_ALL, INV_32_BIT); - if (result != INV_SUCCESS) { - ALOGE("Fatal error: inv_send_gravity returned %d\n", result); - } - - result = inv_send_gyro(INV_ALL, INV_32_BIT); - if (result != INV_SUCCESS) { - ALOGE("Fatal error: inv_send_gyro returned %d\n", result); - } -} - -/** - * set up the callbacks that we use in all cases (outside of gestures, etc) - */ -void MPLSensor::setupCallbacks() -{ - FUNC_LOG; - if (inv_set_motion_callback(mot_cb_wrapper) != INV_SUCCESS) { - ALOGE("Error : Motion callback could not be set.\n"); - - } - - if (inv_set_fifo_processed_callback(procData_cb_wrapper) != INV_SUCCESS) { - ALOGE("Error : Processed data callback could not be set."); - - } -} - -/** - * handle the motion/no motion output from the MPL. - */ -void MPLSensor::cbOnMotion(uint16_t val) -{ - FUNC_LOG; - //after the first no motion, the gyro should be calibrated well - if (val == 2) { - if ((inv_get_dl_config()->requested_sensors) & INV_THREE_AXIS_GYRO) { - //if gyros are on and we got a no motion, set a flag - // indicating that the cal file can be written. - mHaveGoodMpuCal = true; - } - } - - return; -} - - -void MPLSensor::cbProcData() -{ - mNewData = 1; -} - -//these handlers transform mpl data into one of the Android sensor types -// scaling and coordinate transforms should be done in the handlers - -void MPLSensor::gyroHandler(sensors_event_t* s, uint32_t* pending_mask, - int index) -{ - VFUNC_LOG; - inv_error_t res; - res = inv_get_float_array(INV_GYROS, s->gyro.v); - s->gyro.v[0] = s->gyro.v[0] * M_PI / 180.0; - s->gyro.v[1] = s->gyro.v[1] * M_PI / 180.0; - s->gyro.v[2] = s->gyro.v[2] * M_PI / 180.0; - if (res == INV_SUCCESS) - *pending_mask |= (1 << index); -} - -void MPLSensor::accelHandler(sensors_event_t* s, uint32_t* pending_mask, - int index) -{ - //VFUNC_LOG; - inv_error_t res; - res = inv_get_float_array(INV_ACCELS, s->acceleration.v); - //res = inv_get_accel_float(s->acceleration.v); - s->acceleration.v[0] = s->acceleration.v[0] * 9.81; - s->acceleration.v[1] = s->acceleration.v[1] * 9.81; - s->acceleration.v[2] = s->acceleration.v[2] * 9.81; - if (res == INV_SUCCESS) - *pending_mask |= (1 << index); -} - -int MPLSensor::estimateCompassAccuracy() -{ - inv_error_t res; - int rv; - - res = inv_get_compass_accuracy(&rv); - if(rv >= SENSOR_STATUS_ACCURACY_MEDIUM) { - mHaveGoodCompassCal = true; - } - ALOGE_IF(res != INV_SUCCESS, "error returned from inv_get_compass_accuracy"); - - return rv; -} - -void MPLSensor::compassHandler(sensors_event_t* s, uint32_t* pending_mask, - int index) -{ - VFUNC_LOG; - inv_error_t res; - - res = inv_get_float_array(INV_MAGNETOMETER, s->magnetic.v); - - if (res != INV_SUCCESS) { - ALOGW( - "compass_handler inv_get_float_array(INV_MAGNETOMETER) returned %d", - res); - } - - s->magnetic.status = estimateCompassAccuracy(); - - if (res == INV_SUCCESS) - *pending_mask |= (1 << index); -} - -void MPLSensor::rvHandler(sensors_event_t* s, uint32_t* pending_mask, - int index) -{ - VFUNC_LOG; - float quat[4]; - float norm = 0; - inv_error_t r; - - r = inv_get_float_array(INV_QUATERNION, quat); - - if (r != INV_SUCCESS) { - *pending_mask &= ~(1 << index); - return; - } else { - *pending_mask |= (1 << index); - } - - norm = quat[1] * quat[1] + quat[2] * quat[2] + quat[3] * quat[3] - + FLT_EPSILON; - - if (norm > 1.0f) { - //renormalize - norm = sqrtf(norm); - float inv_norm = 1.0f / norm; - quat[1] = quat[1] * inv_norm; - quat[2] = quat[2] * inv_norm; - quat[3] = quat[3] * inv_norm; - } - - if (quat[0] < 0.0) { - quat[1] = -quat[1]; - quat[2] = -quat[2]; - quat[3] = -quat[3]; - } - - 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, - int index) -{ - VFUNC_LOG; - inv_error_t res; - res = inv_get_float_array(INV_LINEAR_ACCELERATION, s->gyro.v); - s->gyro.v[0] *= 9.81; - s->gyro.v[1] *= 9.81; - s->gyro.v[2] *= 9.81; - if (res == INV_SUCCESS) - *pending_mask |= (1 << index); -} - -void MPLSensor::gravHandler(sensors_event_t* s, uint32_t* pending_mask, - int index) -{ - VFUNC_LOG; - inv_error_t res; - res = inv_get_float_array(INV_GRAVITY, s->gyro.v); - s->gyro.v[0] *= 9.81; - s->gyro.v[1] *= 9.81; - s->gyro.v[2] *= 9.81; - if (res == INV_SUCCESS) - *pending_mask |= (1 << index); -} - -void MPLSensor::calcOrientationSensor(float *R, float *values) -{ - float tmp; - - //Azimuth - if ((R[7] > 0.7071067f) || ((R[8] < 0) && (fabs(R[7]) > fabs(R[6])))) { - values[0] = (float) atan2f(-R[3], R[0]); - } else { - values[0] = (float) atan2f(R[1], R[4]); - } - values[0] *= 57.295779513082320876798154814105f; - if (values[0] < 0) { - values[0] += 360.0f; - } - //Pitch - tmp = R[7]; - if (tmp > 1.0f) - tmp = 1.0f; - if (tmp < -1.0f) - tmp = -1.0f; - values[1] = -asinf(tmp) * 57.295779513082320876798154814105f; - if (R[8] < 0) { - values[1] = 180.0f - values[1]; - } - if (values[1] > 180.0f) { - values[1] -= 360.0f; - } - //Roll - if ((R[7] > 0.7071067f)) { - values[2] = (float) atan2f(R[6], R[7]); - } else { - values[2] = (float) atan2f(R[6], R[8]); - } - - values[2] *= 57.295779513082320876798154814105f; - if (values[2] > 90.0f) { - values[2] = 180.0f - values[2]; - } - if (values[2] < -90.0f) { - values[2] = -180.0f - values[2]; - } -} - -void MPLSensor::orienHandler(sensors_event_t* s, uint32_t* pending_mask, - int index) //note that this is the handler for the android 'orientation' sensor, not the mpl orientation output -{ - VFUNC_LOG; - inv_error_t res; - float rot_mat[9]; - - res = inv_get_float_array(INV_ROTATION_MATRIX, rot_mat); - - calcOrientationSensor(rot_mat, s->orientation.v); - - s->orientation.status = estimateCompassAccuracy(); - - if (res == INV_SUCCESS) - *pending_mask |= (1 << index); - else - ALOGW("orienHandler: data not valid (%d)", (int) res); -} - -int MPLSensor::enable(int32_t handle, int en) -{ - FUNC_LOG; - - int what = -1; - - switch (handle) { - case ID_A: - what = Accelerometer; - break; - case ID_M: - what = MagneticField; - break; - case ID_O: - what = Orientation; - break; - case ID_GY: - what = Gyro; - break; - case ID_GR: - what = Gravity; - break; - case ID_RV: - what = RotationVector; - break; - case ID_LA: - what = LinearAccel; - break; - default: //this takes care of all the gestures - what = handle; - break; - } - - if (uint32_t(what) >= numSensors) - return -EINVAL; - - int newState = en ? 1 : 0; - int err = 0; - - pthread_mutex_lock(&mMplMutex); - if ((uint32_t(newState) << what) != (mEnabled & (1 << what))) { - short flags = newState; - mEnabled &= ~(1 << what); - mEnabled |= (uint32_t(flags) << what); - ALOGV_IF(EXTRA_VERBOSE, "mEnabled = %x", mEnabled); - setPowerStates(mEnabled); - pthread_mutex_unlock(&mMplMutex); - if (!newState) - update_delay(); - return err; - } - pthread_mutex_unlock(&mMplMutex); - return err; -} - -int MPLSensor::setDelay(int32_t handle, int64_t ns) -{ - FUNC_LOG; - ALOGV_IF(EXTRA_VERBOSE, - " setDelay handle: %d rate %d", handle, (int) (ns / 1000000LL)); - int what = -1; - switch (handle) { - case ID_A: - what = Accelerometer; - break; - case ID_M: - what = MagneticField; - break; - case ID_O: - what = Orientation; - break; - case ID_GY: - what = Gyro; - break; - case ID_GR: - what = Gravity; - break; - case ID_RV: - what = RotationVector; - break; - case ID_LA: - what = LinearAccel; - break; - default: - what = handle; - break; - } - - if (uint32_t(what) >= numSensors) - return -EINVAL; - - if (ns < 0) - return -EINVAL; - - pthread_mutex_lock(&mMplMutex); - mDelays[what] = ns; - pthread_mutex_unlock(&mMplMutex); - return update_delay(); -} - -int MPLSensor::update_delay() -{ - FUNC_LOG; - int rv = 0; - bool irq_set[5]; - - pthread_mutex_lock(&mMplMutex); - - if (mEnabled) { - uint64_t wanted = -1LLU; - for (int i = 0; i < numSensors; i++) { - if (mEnabled & (1 << i)) { - uint64_t ns = mDelays[i]; - wanted = wanted < ns ? wanted : ns; - } - } - - //Limit all rates to 100Hz max. 100Hz = 10ms = 10000000ns - if (wanted < 10000000LLU) { - wanted = 10000000LLU; - } - - int rate = ((wanted) / 5000000LLU) - ((wanted % 5000000LLU == 0) ? 1 - : 0); //mpu fifo rate is in increments of 5ms - if (rate == 0) //KLP disallow fifo rate 0 - rate = 1; - - if (rate != mCurFifoRate) { - inv_error_t res; // = inv_dmp_stop(); - res = inv_set_fifo_rate(rate); - ALOGE_IF(res != INV_SUCCESS, "error setting FIFO rate"); - - mCurFifoRate = rate; - rv = (res == INV_SUCCESS); - } - - if (((inv_get_dl_config()->requested_sensors & INV_DMP_PROCESSOR) == 0)) { - if (mUseTimerirq) { - ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0); - clearIrqData(irq_set); - if (inv_get_dl_config()->requested_sensors - == INV_THREE_AXIS_COMPASS) { - ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_START, - (unsigned long) (wanted / 1000000LLU)); - ALOGV_IF(EXTRA_VERBOSE, "updated timerirq period to %d", - (int) (wanted / 1000000LLU)); - } else { - ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_START, - (unsigned long) inv_get_sample_step_size_ms()); - ALOGV_IF(EXTRA_VERBOSE, "updated timerirq period to %d", - (int) inv_get_sample_step_size_ms()); - } - } - } - - } - pthread_mutex_unlock(&mMplMutex); - return rv; -} - -int MPLSensor::readEvents(sensors_event_t* data, int count) -{ - //VFUNC_LOG; - bool irq_set[5] = { false, false, false, false, false }; - inv_error_t rv; - if (count < 1) - return -EINVAL; - int numEventReceived = 0; - - clearIrqData(irq_set); - - pthread_mutex_lock(&mMplMutex); - if (mDmpStarted) { - rv = inv_update_data(); - ALOGE_IF(rv != INV_SUCCESS, "inv_update_data error (code %d)", (int) rv); - } - - else { - //probably just one extra read after shutting down - ALOGV_IF(EXTRA_VERBOSE, - "MPLSensor::readEvents called, but there's nothing to do."); - } - - pthread_mutex_unlock(&mMplMutex); - - if (!mNewData) { - ALOGV_IF(EXTRA_VERBOSE, "no new data"); - return 0; - } - mNewData = 0; - - /* google timestamp */ - pthread_mutex_lock(&mMplMutex); - for (int i = 0; i < numSensors; i++) { - if (mEnabled & (1 << i)) { - CALL_MEMBER_FN(this,mHandlers[i])(mPendingEvents + i, - &mPendingMask, i); - mPendingEvents[i].timestamp = irq_timestamp; - } - } - - for (int j = 0; count && mPendingMask && j < numSensors; j++) { - if (mPendingMask & (1 << j)) { - mPendingMask &= ~(1 << j); - if (mEnabled & (1 << j)) { - *data++ = mPendingEvents[j]; - count--; - numEventReceived++; - } - } - } - - pthread_mutex_unlock(&mMplMutex); - return numEventReceived; -} - -int MPLSensor::getFd() const -{ - return data_fd; -} - -int MPLSensor::getAccelFd() const -{ - return accel_fd; -} - -int MPLSensor::getTimerFd() const -{ - return timer_fd; -} - -int MPLSensor::getPowerFd() const -{ - return (uintptr_t) inv_get_serial_handle(); -} - -void MPLSensor::handlePowerEvent() -{ - VFUNC_LOG; - mpuirq_data irqd; - - int fd = (uintptr_t) inv_get_serial_handle(); - read(fd, &irqd, sizeof(irqd)); - - if (irqd.data == MPU_PM_EVENT_SUSPEND_PREPARE) { - //going to sleep - sleepEvent(); - } else if (irqd.data == MPU_PM_EVENT_POST_SUSPEND) { - //waking up - wakeEvent(); - } - - ioctl(fd, MPU_PM_EVENT_HANDLED, 0); -} - -void MPLSensor::sleepEvent() -{ - VFUNC_LOG; - pthread_mutex_lock(&mMplMutex); - if (mEnabled != 0) { - mForceSleep = true; - mOldEnabledMask = mEnabled; - setPowerStates(0); - } - pthread_mutex_unlock(&mMplMutex); -} - -void MPLSensor::wakeEvent() -{ - VFUNC_LOG; - pthread_mutex_lock(&mMplMutex); - if (mForceSleep) { - setPowerStates((mOldEnabledMask | mEnabled)); - } - mForceSleep = false; - pthread_mutex_unlock(&mMplMutex); -} - -/** fill in the sensor list based on which sensors are configured. - * return the number of configured sensors. - * parameter list must point to a memory region of at least 7*sizeof(sensor_t) - * parameter len gives the length of the buffer pointed to by list - */ - -int MPLSensor::populateSensorList(struct sensor_t *list, size_t len) -{ - int numsensors; - - if(len < 7*sizeof(sensor_t)) { - ALOGE("sensor list too small, not populating."); - return 0; - } - - /* fill in the base values */ - memcpy(list, sSensorList, sizeof (struct sensor_t) * 7); - - /* first add gyro, accel and compass to the list */ - - /* fill in accel values */ - list[Accelerometer].maxRange = ACCEL_BMA250_RANGE; - list[Accelerometer].resolution = ACCEL_BMA250_RESOLUTION; - list[Accelerometer].power = ACCEL_BMA250_POWER; - - /* fill in compass values */ - list[MagneticField].maxRange = COMPASS_YAS530_RANGE; - list[MagneticField].resolution = COMPASS_YAS530_RESOLUTION; - list[MagneticField].power = COMPASS_YAS530_POWER; - - /* fill in gyro values */ - list[Gyro].maxRange = GYRO_MPU3050_RANGE; - list[Gyro].resolution = GYRO_MPU3050_RESOLUTION; - list[Gyro].power = GYRO_MPU3050_POWER; - - if(mNineAxisEnabled) - { - numsensors = 7; - /* all sensors will be added to the list */ - /* fill in orientation values */ - fillOrientation(list); - - /* fill in rotation vector values */ - fillRV(list); - - /* fill in gravity values */ - fillGravity(list); - - /* fill in Linear accel values */ - fillLinearAccel(list); - } else { - /* no 9-axis sensors, zero fill that part of the list */ - numsensors = 3; - memset(list+3, 0, 4*sizeof(struct sensor_t)); - } - - return numsensors; -} - -/* fillRV depends on values of accel and compass in the list */ -void MPLSensor::fillRV(struct sensor_t *list) -{ - /* compute power on the fly */ - list[RotationVector].power = list[Gyro].power + list[Accelerometer].power - + list[MagneticField].power; - list[RotationVector].resolution = .00001; - list[RotationVector].maxRange = 1.0; - return; -} - -void MPLSensor::fillOrientation(struct sensor_t *list) -{ - list[Orientation].power = list[Gyro].power + list[Accelerometer].power - + list[MagneticField].power; - list[Orientation].resolution = .00001; - list[Orientation].maxRange = 360.0; - return; -} - -void MPLSensor::fillGravity( struct sensor_t *list) -{ - list[Gravity].power = list[Gyro].power + list[Accelerometer].power - + list[MagneticField].power; - list[Gravity].resolution = .00001; - list[Gravity].maxRange = 9.81; - return; -} - -void MPLSensor::fillLinearAccel(struct sensor_t *list) -{ - list[Gravity].power = list[Gyro].power + list[Accelerometer].power - + list[MagneticField].power; - list[Gravity].resolution = list[Accelerometer].resolution; - list[Gravity].maxRange = list[Accelerometer].maxRange; - return; -} diff --git a/invensense/libinvensense_hal/MPLSensor.h b/invensense/libinvensense_hal/MPLSensor.h deleted file mode 100644 index ea72c72..0000000 --- a/invensense/libinvensense_hal/MPLSensor.h +++ /dev/null @@ -1,133 +0,0 @@ -/* - * Copyright (C) 2011 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. - */ -/*************Removed the gesture related info for Google check in : Meenakshi Ramamoorthi: May 31st *********/ - -#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" - -/*****************************************************************************/ -/** 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 void (MPLSensor::*hfunc_t)(sensors_event_t*, uint32_t*, int); - -public: - MPLSensor(); - 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); - virtual int readEvents(sensors_event_t *data, int count); - virtual int getFd() const; - virtual int getAccelFd() const; - virtual int getTimerFd() const; - virtual int getPowerFd() const; - virtual void handlePowerEvent(); - virtual void sleepEvent(); - virtual void wakeEvent(); - int populateSensorList(struct sensor_t *list, size_t len); - void cbOnMotion(uint16_t); - void cbProcData(); - -protected: - - void clearIrqData(bool* irq_set); - void setPowerStates(int enabledsensor); - void initMPL(); - void setupFIFO(); - void setupCallbacks(); - void gyroHandler(sensors_event_t *data, uint32_t *pendmask, int index); - void accelHandler(sensors_event_t *data, uint32_t *pendmask, int index); - void compassHandler(sensors_event_t *data, uint32_t *pendmask, int index); - void rvHandler(sensors_event_t *data, uint32_t *pendmask, int index); - void laHandler(sensors_event_t *data, uint32_t *pendmask, int index); - void gravHandler(sensors_event_t *data, uint32_t *pendmask, int index); - void orienHandler(sensors_event_t *data, uint32_t *pendmask, int index); - void calcOrientationSensor(float *Rx, float *Val); - int estimateCompassAccuracy(); - - int mNewData; //flag indicating that the MPL calculated new output values - int mDmpStarted; - long mMasterSensorMask; - long mLocalSensorMask; - int mCurFifoRate; //current fifo rate - bool mHaveGoodMpuCal; //flag indicating that the cal file can be written - bool mHaveGoodCompassCal; - bool mUseTimerIrqAccel; - bool mUsetimerIrqCompass; - bool mUseTimerirq; - struct pollfd mPollFds[4]; - pthread_mutex_t mMplMutex; - - enum FILEHANDLES - { - MPUIRQ_FD, ACCELIRQ_FD, COMPASSIRQ_FD, TIMERIRQ_FD, - }; - -private: - - int update_delay(); - int accel_fd; - int timer_fd; - - uint32_t mEnabled; - uint32_t mPendingMask; - sensors_event_t mPendingEvents[numSensors]; - uint64_t mDelays[numSensors]; - hfunc_t mHandlers[numSensors]; - bool mForceSleep; - long int mOldEnabledMask; - android::KeyedVector<int, int> mIrqFds; - - /* added for dynamic get sensor list */ - bool mNineAxisEnabled; - 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 setCallbackObject(MPLSensor*); - -/*****************************************************************************/ - -#endif // ANDROID_MPL_SENSOR_H diff --git a/invensense/libinvensense_hal/SensorBase.cpp b/invensense/libinvensense_hal/SensorBase.cpp deleted file mode 100644 index 6d6ab25..0000000 --- a/invensense/libinvensense_hal/SensorBase.cpp +++ /dev/null @@ -1,122 +0,0 @@ -/* - * Copyright (C) 2008 The Android Open Source Project - * - * 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. - */ - -#include <fcntl.h> -#include <errno.h> -#include <math.h> -#include <poll.h> -#include <string.h> -#include <unistd.h> -#include <dirent.h> -#include <sys/select.h> - -#include <cutils/log.h> - -#include <linux/input.h> - -#include "SensorBase.h" - -/*****************************************************************************/ - -SensorBase::SensorBase( - const char* dev_name, - const char* data_name) - : dev_name(dev_name), data_name(data_name), - dev_fd(-1), data_fd(-1) -{ - if (data_name) { - data_fd = openInput(data_name); - } -} - -SensorBase::~SensorBase() { - if (data_fd >= 0) { - close(data_fd); - } - if (dev_fd >= 0) { - close(dev_fd); - } -} - -int SensorBase::open_device() { - if (dev_fd<0 && dev_name) { - dev_fd = open(dev_name, O_RDONLY); - ALOGE_IF(dev_fd<0, "Couldn't open %s (%s)", dev_name, strerror(errno)); - } - return 0; -} - -int SensorBase::close_device() { - if (dev_fd >= 0) { - close(dev_fd); - dev_fd = -1; - } - return 0; -} - -int SensorBase::getFd() const { - if (!data_name) { - return dev_fd; - } - return data_fd; -} - -int SensorBase::setDelay(int32_t handle __unused, int64_t ns __unused) { - return 0; -} - -bool SensorBase::hasPendingEvents() const { - return false; -} - -int SensorBase::openInput(const char* inputName) { - int fd = -1; - const char *dirname = "/dev/input"; - char devname[PATH_MAX]; - char *filename; - DIR *dir; - struct dirent *de; - dir = opendir(dirname); - if(dir == NULL) - return -1; - strcpy(devname, dirname); - filename = devname + strlen(devname); - *filename++ = '/'; - while((de = readdir(dir))) { - if(de->d_name[0] == '.' && - (de->d_name[1] == '\0' || - (de->d_name[1] == '.' && de->d_name[2] == '\0'))) - continue; - strcpy(filename, de->d_name); - fd = open(devname, O_RDONLY); - if (fd>=0) { - char name[80]; - if (ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name) < 1) { - name[0] = '\0'; - } - if (!strcmp(name, inputName)) { - strcpy(input_name, filename); - break; - } else { - close(fd); - fd = -1; - } - } - } - closedir(dir); - ALOGE_IF(fd<0, "couldn't find '%s' input device", inputName); - return fd; -} diff --git a/invensense/libinvensense_hal/SensorBase.h b/invensense/libinvensense_hal/SensorBase.h deleted file mode 100644 index eb50550..0000000 --- a/invensense/libinvensense_hal/SensorBase.h +++ /dev/null @@ -1,59 +0,0 @@ -/* - * Copyright (C) 2008 The Android Open Source Project - * - * 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_SENSOR_BASE_H -#define ANDROID_SENSOR_BASE_H - -#include <stdint.h> -#include <errno.h> -#include <sys/cdefs.h> -#include <sys/types.h> - - -/*****************************************************************************/ - -struct sensors_event_t; - -class SensorBase { -protected: - const char* dev_name; - const char* data_name; - char input_name[PATH_MAX]; - int dev_fd; - int data_fd; - - int openInput(const char* inputName); - - int open_device(); - int close_device(); - -public: - SensorBase( - const char* dev_name, - const char* data_name); - - virtual ~SensorBase(); - - virtual int readEvents(sensors_event_t* data, int count) = 0; - virtual bool hasPendingEvents() const; - virtual int getFd() const; - virtual int setDelay(int32_t handle, int64_t ns); - virtual int enable(int32_t handle, int enabled) = 0; -}; - -/*****************************************************************************/ - -#endif // ANDROID_SENSOR_BASE_H diff --git a/invensense/libinvensense_hal/sensor_params.h b/invensense/libinvensense_hal/sensor_params.h deleted file mode 100644 index 056e587..0000000 --- a/invensense/libinvensense_hal/sensor_params.h +++ /dev/null @@ -1,46 +0,0 @@ -/* - * Copyright (C) 2011 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 INV_SENSOR_PARAMS_H -#define INV_SENSOR_PARAMS_H - -/* Physical parameters of the sensors supported by Invensense MPL */ -#define SENSORS_ROTATION_VECTOR_HANDLE (ID_RV) -#define SENSORS_LINEAR_ACCEL_HANDLE (ID_LA) -#define SENSORS_GRAVITY_HANDLE (ID_GR) -#define SENSORS_GYROSCOPE_HANDLE (ID_GY) -#define SENSORS_ACCELERATION_HANDLE (ID_A) -#define SENSORS_MAGNETIC_FIELD_HANDLE (ID_M) -#define SENSORS_ORIENTATION_HANDLE (ID_O) -/******************************************/ -//COMPASS_ID_YAS530 -#define COMPASS_YAS530_RANGE (8001.0f) -#define COMPASS_YAS530_RESOLUTION (0.012f) -#define COMPASS_YAS530_POWER (4.0f) -/*******************************************/ -//ACCEL_ID_BMA250 -#define ACCEL_BMA250_RANGE (2.0f*GRAVITY_EARTH) -#define ACCEL_BMA250_RESOLUTION (0.00391f*GRAVITY_EARTH) -#define ACCEL_BMA250_POWER (0.139f) -/******************************************/ -//GYRO MPU3050 -#define RAD_P_DEG (3.14159f/180.0f) -#define GYRO_MPU3050_RANGE (2000.0f*RAD_P_DEG) -#define GYRO_MPU3050_RESOLUTION (32.8f*RAD_P_DEG) -#define GYRO_MPU3050_POWER (6.1f) - -#endif - diff --git a/invensense/libinvensense_hal/sensors.h b/invensense/libinvensense_hal/sensors.h deleted file mode 100644 index 730c14a..0000000 --- a/invensense/libinvensense_hal/sensors.h +++ /dev/null @@ -1,53 +0,0 @@ -/* - * Copyright (C) 2008 The Android Open Source Project - * - * 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_SENSORS_H -#define ANDROID_SENSORS_H - -#include <stdint.h> -#include <errno.h> -#include <sys/cdefs.h> -#include <sys/types.h> - -#include <linux/input.h> - -#include <hardware/hardware.h> -#include <hardware/sensors.h> - -__BEGIN_DECLS - -/*****************************************************************************/ - -#define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0])) - -#define ID_MPL_BASE (0) -#define ID_GY (ID_MPL_BASE) -#define ID_A (ID_GY + 1) -#define ID_M (ID_A + 1) -#define ID_O (ID_M + 1) -#define ID_RV (ID_O + 1) -#define ID_LA (ID_RV + 1) -#define ID_GR (ID_LA + 1) - -/*****************************************************************************/ - -/* - * The SENSORS Module - */ - -__END_DECLS - -#endif // ANDROID_SENSORS_H |