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-rw-r--r--libsensors/MPLSensor.cpp166
1 files changed, 28 insertions, 138 deletions
diff --git a/libsensors/MPLSensor.cpp b/libsensors/MPLSensor.cpp
index bbdcf3a..d06a39a 100644
--- a/libsensors/MPLSensor.cpp
+++ b/libsensors/MPLSensor.cpp
@@ -56,7 +56,6 @@ extern "C" {
}
#include "mlcontrol.h"
-#include "sensor_params.h"
#define EXTRA_VERBOSE (0)
//#define FUNC_LOG ALOGV("%s", __PRETTY_FUNCTION__)
@@ -69,39 +68,6 @@ extern "C" {
/******************************************/
-/* 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, GYRO_MPU3050_RANGE, GYRO_MPU3050_RESOLUTION,
- GYRO_MPU3050_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_GYROSCOPE, "",
- 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
- {"MPL Accelerometer", "Invensense", 1, SENSORS_ACCELERATION_HANDLE,
- SENSOR_TYPE_ACCELEROMETER, ACCEL_BMA250_RANGE, ACCEL_BMA250_RESOLUTION,
- ACCEL_BMA250_POWER, 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, COMPASS_YAS530_RANGE, COMPASS_YAS530_RESOLUTION,
- COMPASS_YAS530_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_MAGNETIC_FIELD, "",
- 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
- {"MPL Orientation", "Invensense", 1, SENSORS_ORIENTATION_HANDLE,
- SENSOR_TYPE_ORIENTATION, NINEAXIS_ORIENTATION_RANGE, NINEAXIS_ORIENTATION_RESOLUTION,
- NINEAXIS_ORIENTATION_POWER, 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, NINEAXIS_ROTATION_VECTOR_RANGE, NINEAXIS_ROTATION_VECTOR_RESOLUTION,
- NINEAXIS_ROTATION_VECTOR_POWER, 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, NINEAXIS_LINEAR_ACCEL_RANGE, NINEAXIS_LINEAR_ACCEL_RESOLUTION,
- NINEAXIS_LINEAR_ACCEL_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_LINEAR_ACCELERATION, "",
- 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
- {"MPL Gravity", "Invensense", 1, SENSORS_GRAVITY_HANDLE,
- SENSOR_TYPE_GRAVITY, NINEAXIS_GRAVITY_RANGE, NINEAXIS_GRAVITY_RESOLUTION,
- NINEAXIS_GRAVITY_POWER, 10000, 0, 0, SENSOR_STRING_TYPE_GRAVITY, "",
- 0, SENSOR_FLAG_CONTINUOUS_MODE, {}},
-};
-
static unsigned long long irq_timestamp = 0;
/* ***************************************************************************
* MPL interface misc.
@@ -149,7 +115,7 @@ void setCallbackObject(MPLSensor* gbpt)
#define RV_ENABLED ((1<<ID_RV) & enabled_sensors)
MPLSensor::MPLSensor() :
- SensorBase(NULL, NULL),
+ SensorBase(NULL),
mNewData(0),
mDmpStarted(false),
mMasterSensorMask(INV_ALL_SENSORS),
@@ -157,7 +123,8 @@ MPLSensor::MPLSensor() :
mCurFifoRate(-1), mHaveGoodMpuCal(false), mHaveGoodCompassCal(false),
mUseTimerIrqAccel(false), mUsetimerIrqCompass(true),
mUseTimerirq(false),
- mEnabled(0), mPendingMask(0)
+ mEnabled(0), mPendingMask(0),
+ mForceSleep(false), mNineAxisEnabled(false)
{
FUNC_LOG;
int mpu_int_fd;
@@ -167,13 +134,6 @@ MPLSensor::MPLSensor() :
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;
@@ -214,7 +174,7 @@ MPLSensor::MPLSensor() :
data_fd = mpu_int_fd;
if ((accel_fd == -1) && (timer_fd != -1)) {
- //no accel irq and timer available
+ // no accel irq, but timer is available
mUseTimerIrqAccel = true;
}
@@ -248,8 +208,7 @@ MPLSensor::MPLSensor() :
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;
+ mPendingEvents[Orientation].orientation.status = SENSOR_STATUS_ACCURACY_HIGH;
mHandlers[RotationVector] = &MPLSensor::rvHandler;
mHandlers[LinearAccel] = &MPLSensor::laHandler;
@@ -272,7 +231,6 @@ MPLSensor::MPLSensor() :
//setup the FIFO contents
setupFIFO();
-
pthread_mutex_unlock(&mMplMutex);
}
@@ -325,17 +283,11 @@ 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 (LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED) {
+ mLocalSensorMask = ALL_MPL_SENSORS_NP;
+ } else if (!A_ENABLED && !M_ENABLED && !GY_ENABLED) {
+ mLocalSensorMask = 0;
+ } else {
if (GY_ENABLED) {
mLocalSensorMask |= INV_THREE_AXIS_GYRO;
} else {
@@ -353,7 +305,7 @@ void MPLSensor::setPowerStates(int enabled_sensors)
} else {
mLocalSensorMask &= ~(INV_THREE_AXIS_COMPASS);
}
- } while (0);
+ }
//record the new sensor state
inv_error_t rv;
@@ -446,13 +398,13 @@ void MPLSensor::initMPL()
}
//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) {
+ 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) {
+ 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 "
@@ -534,12 +486,10 @@ 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.");
-
}
}
@@ -552,7 +502,7 @@ void MPLSensor::cbOnMotion(uint16_t val)
//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
+ // if gyros are on and we got a no motion, set a flag
// indicating that the cal file can be written.
mHaveGoodMpuCal = true;
}
@@ -567,8 +517,8 @@ 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
+// 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)
@@ -603,7 +553,7 @@ int MPLSensor::estimateCompassAccuracy()
int rv;
res = inv_get_compass_accuracy(&rv);
- if(rv >= SENSOR_STATUS_ACCURACY_MEDIUM) {
+ if (rv >= SENSOR_STATUS_ACCURACY_MEDIUM) {
mHaveGoodCompassCal = true;
}
ALOGE_IF(res != INV_SUCCESS, "error returned from inv_get_compass_accuracy");
@@ -763,34 +713,7 @@ 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;
- }
+ int what = handleToDriver(handle);
if (uint32_t(what) >= numSensors)
return -EINVAL;
@@ -819,33 +742,8 @@ 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;
- }
+
+ int what = handleToDriver(handle);
if (uint32_t(what) >= numSensors)
return -EINVAL;
@@ -895,7 +793,7 @@ int MPLSensor::update_delay()
rv = (res == INV_SUCCESS);
}
- if (((inv_get_dl_config()->requested_sensors & INV_DMP_PROCESSOR) == 0)) {
+ if ((inv_get_dl_config()->requested_sensors & INV_DMP_PROCESSOR) == 0) {
if (mUseTimerirq) {
ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0);
clearIrqData(irq_set);
@@ -934,9 +832,7 @@ int MPLSensor::readEvents(sensors_event_t* data, int count)
if (mDmpStarted) {
rv = inv_update_data();
ALOGE_IF(rv != INV_SUCCESS, "inv_update_data error (code %d)", (int) rv);
- }
-
- else {
+ } else {
//probably just one extra read after shutting down
ALOGV_IF(EXTRA_VERBOSE,
"MPLSensor::readEvents called, but there's nothing to do.");
@@ -1032,8 +928,8 @@ void MPLSensor::wakeEvent()
pthread_mutex_lock(&mMplMutex);
if (mForceSleep) {
setPowerStates((mOldEnabledMask | mEnabled));
+ mForceSleep = false;
}
- mForceSleep = false;
pthread_mutex_unlock(&mMplMutex);
}
@@ -1042,25 +938,19 @@ void MPLSensor::wakeEvent()
* 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;
+ int numsensors = 7;
- if(len < 7*sizeof(sensor_t)) {
+ if (len < numsensors * 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);
-
- if (mNineAxisEnabled) {
- numsensors = 7;
- } else {
+ if (!mNineAxisEnabled) {
/* no 9-axis sensors, zero fill that part of the list */
numsensors = 3;
- memset(list+3, 0, 4*sizeof(struct sensor_t));
+ memset(list + numsensors, 0, (7 - numsensors) * sizeof(struct sensor_t));
}
return numsensors;
generated by cgit v1.1 at 2024-05-08 11:59:41 +0000