am c07cba5f: am eb77dbf0: Merge "Revert "manta: batching and timestamp issues""

* commit 'c07cba5fcbe41974f104704f8608708c836030de':
  Revert "manta: batching and timestamp issues"

1 files changed, 8 insertions, 119 deletions

diff --git a/60xx/libsensors_iio/software/core/mllite/data_builder.c b/60xx/libsensors_iio/software/core/mllite/data_builder.c
index 0aa418d..48993bc 100644
--- a/60xx/libsensors_iio/software/core/mllite/data_builder.c
+++ b/60xx/libsensors_iio/software/core/mllite/data_builder.c
@@ -62,7 +62,6 @@ struct inv_data_builder_t {
     struct process_t process[INV_MAX_DATA_CB];
     struct inv_db_save_t save;
     int compass_disturbance;
-    int mode;
 #ifdef INV_PLAYBACK_DBG
     int debug_mode;
     int last_mode;
@@ -240,117 +239,6 @@ void inv_set_accel_sample_rate(long sample_rate_us)
     }
 }
 
-/** Pick the smallest non-negative number. Priority to td1 on equal
-* If both are negative, return the largest.
-*/
-static int inv_pick_best_time_difference(long td1, long td2)
-{
-    if (td1 >= 0) {
-        if (td2 >= 0) {
-            if (td1 <= td2) {
-                // td1
-                return 0;
-            } else {
-                // td2
-                return 1;
-            }
-        } else {
-            // td1
-            return 0;
-        }
-    } else if (td2 >= 0) {
-        // td2
-        return 1;
-    } else {
-        // Both are negative
-        if (td1 >= td2) {
-            // td1
-            return 0;
-        } else {
-            // td2
-            return 1;
-        }
-    }
-}
-
-/** Returns timestame based upon a raw sensor, and returns if that sample has a new piece of data.
-*/
-static int inv_raw_sensor_timestamp(int sensor_number, inv_time_t *ts)
-{
-    int status = 0;
-    switch (sensor_number) {
-    case 0: // Quat
-        *ts = sensors.quat.timestamp;
-        if (inv_data_builder.mode & INV_QUAT_NEW)
-            if (sensors.quat.timestamp_prev != sensors.quat.timestamp)
-                status = 1;
-        return status;
-    case 1: // Gyro
-        *ts = sensors.gyro.timestamp;
-        if (inv_data_builder.mode & INV_GYRO_NEW)
-            if (sensors.gyro.timestamp_prev != sensors.gyro.timestamp)
-                status = 1;
-        return status;
-    case 2: // Accel
-        *ts = sensors.accel.timestamp;
-        if (inv_data_builder.mode & INV_ACCEL_NEW)
-            if (sensors.accel.timestamp_prev != sensors.accel.timestamp)
-                status = 1;
-        return status;
-   case 3: // Compass
-        *ts = sensors.compass.timestamp;
-        if (inv_data_builder.mode & INV_MAG_NEW)
-            if (sensors.compass.timestamp_prev != sensors.compass.timestamp)
-                status = 1;
-        return status;
-    default:
-        *ts = 0;
-        return 0;
-    }
-    return 0;
-}
-
-/** Gets best timestamp and if there is a new piece of data for a 9-axis sensor combination.
-* It does this by finding a raw sensor that has the closest sample rate that is at least as
-* often desired. It also returns if that raw sensor has a new piece of data.
-* Priority is Quaternion-6axis, Quaternion 3-axis, Gyro, Accel
-* @return Returns 1, if the raw sensor being attached has new data, 0 otherwise.
-*/
-int inv_get_6_axis_gyro_accel_timestamp(long sample_rate_us, inv_time_t *ts)
-{
-    long td[2];
-    int idx;
-
-    if ((sensors.quat.status & (INV_QUAT_6AXIS | INV_SENSOR_ON)) == (INV_QUAT_6AXIS | INV_SENSOR_ON)) {
-        // Sensor number is 0 (Quat)
-        return inv_raw_sensor_timestamp(0, ts);
-    } else if ((sensors.accel.status & INV_SENSOR_ON) == 0) {
-        return 0; // Accel must be on or 6-axis quat must be on
-    }
-
-    // At this point, we know accel is on. Check if 3-axis quat is on
-    td[0] = sample_rate_us - sensors.quat.sample_rate_us;
-    td[1] = sample_rate_us - sensors.accel.sample_rate_us;
-    if ((sensors.quat.status & (INV_QUAT_3AXIS | INV_SENSOR_ON)) == (INV_QUAT_3AXIS | INV_SENSOR_ON)) {
-        idx = inv_pick_best_time_difference(td[0], td[1]);
-        idx *= 2;
-        // 0 = quat, 3=accel
-        return inv_raw_sensor_timestamp(idx, ts);
-    }
-
-    // No Quaternion data from outside, Gyro must be on
-    if ((sensors.gyro.status & INV_SENSOR_ON) == 0) {
-        return 0; // Gyro must be on
-    }
-
-    td[0] = sample_rate_us - sensors.gyro.sample_rate_us;
-    idx = inv_pick_best_time_difference(td[0], td[1]);
-    idx *= 2; // 0=gyro 2=accel
-    idx++;
-    // 1 = gyro, 3=accel
-    return inv_raw_sensor_timestamp(idx, ts);
-}
-
 /** Set Compass Sample rate in micro seconds.
 * @param[in] sample_rate_us Set Gyro Sample rate in micro seconds.
 */
@@ -1007,6 +895,7 @@ inv_error_t inv_execute_on_data(void)
 {
     inv_error_t result, first_error;
     int kk;
+    int mode;
 
 #ifdef INV_PLAYBACK_DBG
     if (inv_data_builder.debug_mode == RD_RECORD) {
@@ -1015,22 +904,22 @@ inv_error_t inv_execute_on_data(void)
     }
 #endif
     // Determine what new data we have
-    inv_data_builder.mode = 0;
+    mode = 0;
     if (sensors.gyro.status & INV_NEW_DATA)
-        inv_data_builder.mode |= INV_GYRO_NEW;
+        mode |= INV_GYRO_NEW;
     if (sensors.accel.status & INV_NEW_DATA)
-        inv_data_builder.mode |= INV_ACCEL_NEW;
+        mode |= INV_ACCEL_NEW;
     if (sensors.compass.status & INV_NEW_DATA)
-        inv_data_builder.mode |= INV_MAG_NEW;
+        mode |= INV_MAG_NEW;
     if (sensors.temp.status & INV_NEW_DATA)
-        inv_data_builder.mode |= INV_TEMP_NEW;
+        mode |= INV_TEMP_NEW;
     if (sensors.quat.status & INV_QUAT_NEW)
-        inv_data_builder.mode |= INV_QUAT_NEW;
+        mode |= INV_QUAT_NEW;
 
     first_error = INV_SUCCESS;
 
     for (kk = 0; kk < inv_data_builder.num_cb; ++kk) {
-        if (inv_data_builder.mode & inv_data_builder.process[kk].data_required) {
+        if (mode & inv_data_builder.process[kk].data_required) {
             result = inv_data_builder.process[kk].func(&sensors);
             if (result && !first_error) {
                 first_error = result;