diff options
Diffstat (limited to 'libsensors')
| -rw-r--r-- | libsensors/MPLSensor.cpp | 26 |
1 files changed, 10 insertions, 16 deletions
diff --git a/libsensors/MPLSensor.cpp b/libsensors/MPLSensor.cpp index d58c4fd..ed6631c 100644 --- a/libsensors/MPLSensor.cpp +++ b/libsensors/MPLSensor.cpp @@ -39,7 +39,6 @@ #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" @@ -507,8 +506,6 @@ void MPLSensor::cbOnMotion(uint16_t val) mHaveGoodMpuCal = true; } } - - return; } @@ -525,7 +522,7 @@ void MPLSensor::gyroHandler(sensors_event_t* s, uint32_t* pending_mask, { VFUNC_LOG; inv_error_t res; - res = inv_get_float_array(INV_GYROS, s->gyro.v); + res = inv_get_gyro_float(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; @@ -538,8 +535,7 @@ void MPLSensor::accelHandler(sensors_event_t* s, uint32_t* pending_mask, { //VFUNC_LOG; inv_error_t res; - res = inv_get_float_array(INV_ACCELS, s->acceleration.v); - //res = inv_get_accel_float(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; @@ -567,12 +563,10 @@ void MPLSensor::compassHandler(sensors_event_t* s, uint32_t* pending_mask, VFUNC_LOG; inv_error_t res; - res = inv_get_float_array(INV_MAGNETOMETER, s->magnetic.v); + res = inv_get_magnetometer_float(s->magnetic.v); if (res != INV_SUCCESS) { - ALOGW( - "compass_handler inv_get_float_array(INV_MAGNETOMETER) returned %d", - res); + ALOGW("compass_handler inv_get_magnetometer_float returned %d", res); } s->magnetic.status = estimateCompassAccuracy(); @@ -587,11 +581,11 @@ void MPLSensor::rvHandler(sensors_event_t* s, uint32_t* pending_mask, VFUNC_LOG; float quat[4]; float norm = 0; - inv_error_t r; + inv_error_t res; - r = inv_get_float_array(INV_QUATERNION, quat); + res = inv_get_quaternion_float(quat); - if (r != INV_SUCCESS) { + if (res != INV_SUCCESS) { *pending_mask &= ~(1 << index); return; } else { @@ -630,7 +624,7 @@ void MPLSensor::laHandler(sensors_event_t* s, uint32_t* pending_mask, { VFUNC_LOG; inv_error_t res; - res = inv_get_float_array(INV_LINEAR_ACCELERATION, s->gyro.v); + res = inv_get_linear_accel_float(s->gyro.v); s->gyro.v[0] *= 9.81; s->gyro.v[1] *= 9.81; s->gyro.v[2] *= 9.81; @@ -643,7 +637,7 @@ void MPLSensor::gravHandler(sensors_event_t* s, uint32_t* pending_mask, { VFUNC_LOG; inv_error_t res; - res = inv_get_float_array(INV_GRAVITY, s->gyro.v); + res = inv_get_gravity_float(s->gyro.v); s->gyro.v[0] *= 9.81; s->gyro.v[1] *= 9.81; s->gyro.v[2] *= 9.81; @@ -701,7 +695,7 @@ void MPLSensor::orienHandler(sensors_event_t* s, uint32_t* pending_mask, inv_error_t res; float rot_mat[9]; - res = inv_get_float_array(INV_ROTATION_MATRIX, rot_mat); + res = inv_get_rot_mat_float(rot_mat); calcOrientationSensor(rot_mat, s->orientation.v); |