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-rw-r--r--libsensors/MPLSensor.cpp26
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);