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authorNick Vaccaro <nvaccaro@google.com>2014-03-27 12:31:34 -0700
committerNick Vaccaro <nvaccaro@google.com>2014-03-27 12:31:34 -0700
commita73d574dda77810ae10046c68e7a9aa38ad77603 (patch)
tree8d7fde753f1b893b97361091e816a3f2f9d28e78 /6515/libsensors_iio
parenta3027840d30592cf143be31df19a2bf68cf92672 (diff)
downloadinvensense-a73d574dda77810ae10046c68e7a9aa38ad77603.tar.gz
Invensense: 6515: Import of Motion Apps 5.2.0 HAL RC20 Release
Import latest Invensense HAL for use by devices using the 6515. Change-Id: I1b585df6882ea007ffafba44261283784d667c2a
Diffstat (limited to '6515/libsensors_iio')
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/Android.mk7
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/CompassSensor.AKM.cpp2
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/CompassSensor.AKM.h2
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/CompassSensor.IIO.9150.cpp12
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/CompassSensor.IIO.9150.h2
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/CompassSensor.IIO.primary.cpp21
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/CompassSensor.IIO.primary.h2
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/InputEventReader.cpp0
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/InputEventReader.h2
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/License.txt0
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/MPLSensor.cpp810
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/MPLSensor.h11
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/MPLSupport.cpp2
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/MPLSupport.h2
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/PressureSensor.IIO.secondary.cpp2
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/PressureSensor.IIO.secondary.h2
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/SensorBase.cpp2
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/SensorBase.h2
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/sensor_params.h7
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/sensors.h18
-rwxr-xr-x[-rw-r--r--]6515/libsensors_iio/sensors_mpl.cpp31
21 files changed, 493 insertions, 446 deletions
diff --git a/6515/libsensors_iio/Android.mk b/6515/libsensors_iio/Android.mk
index 6d9e1ce..f530a10 100644..100755
--- a/6515/libsensors_iio/Android.mk
+++ b/6515/libsensors_iio/Android.mk
@@ -1,4 +1,4 @@
-# Copyright (C) 2008 The Android Open Source Project
+# Copyright (C) 2014 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.
@@ -25,6 +25,7 @@ LOCAL_MODULE_TAGS := optional
LOCAL_MODULE_OWNER := invensense
LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\"
+
LOCAL_CFLAGS += -DANDROID_KITKAT
ifneq (,$(filter $(TARGET_BUILD_VARIANT),eng userdebug))
@@ -89,12 +90,15 @@ include $(CLEAR_VARS)
ifeq ($(filter eng, userdebug, $(TARGET_BUILD_VARIANT)),)
ifneq ($(filter manta full_grouper tilapia, $(TARGET_PRODUCT)),)
LOCAL_MODULE := sensors.full_grouper
+LOCAL_MODULE_OWNER := invensense
else
ifneq ($(filter aosp_hammerhead, $(TARGET_PRODUCT)),)
LOCAL_MODULE := sensors.hammerhead
+LOCAL_MODULE_OWNER := invensense
endif
ifneq ($(filter dory guppy, $(TARGET_DEVICE)),)
LOCAL_MODULE := sensors.invensense
+LOCAL_MODULE_OWNER := invensense
endif
endif
else # eng & userdebug builds
@@ -112,6 +116,7 @@ LOCAL_C_INCLUDES += $(LOCAL_PATH)/software/core/driver/include/linux
LOCAL_PRELINK_MODULE := false
LOCAL_MODULE_TAGS := optional
LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\"
+
LOCAL_CFLAGS += -DANDROID_KITKAT
ifneq (,$(filter $(TARGET_BUILD_VARIANT),eng userdebug))
diff --git a/6515/libsensors_iio/CompassSensor.AKM.cpp b/6515/libsensors_iio/CompassSensor.AKM.cpp
index 45699fe..19e8802 100644..100755
--- a/6515/libsensors_iio/CompassSensor.AKM.cpp
+++ b/6515/libsensors_iio/CompassSensor.AKM.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (C) 2012 The Android Open Source Project
+ * Copyright (C) 2014 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.
diff --git a/6515/libsensors_iio/CompassSensor.AKM.h b/6515/libsensors_iio/CompassSensor.AKM.h
index 3d215a4..55e4a60 100644..100755
--- a/6515/libsensors_iio/CompassSensor.AKM.h
+++ b/6515/libsensors_iio/CompassSensor.AKM.h
@@ -1,5 +1,5 @@
/*
- * Copyright (C) 2012 The Android Open Source Project
+ * Copyright (C) 2014 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.
diff --git a/6515/libsensors_iio/CompassSensor.IIO.9150.cpp b/6515/libsensors_iio/CompassSensor.IIO.9150.cpp
index cc9d38c..d896212 100644..100755
--- a/6515/libsensors_iio/CompassSensor.IIO.9150.cpp
+++ b/6515/libsensors_iio/CompassSensor.IIO.9150.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (C) 2012 The Android Open Source Project
+ * Copyright (C) 2014 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.
@@ -322,6 +322,16 @@ void CompassSensor::fillList(struct sensor_t *list)
return;
}
if(!strcmp(compass, "compass")
+ || !strcmp(compass, "INV_AK09911")
+ || !strcmp(compass, "AK09911")
+ || !strcmp(compass, "ak09911")) {
+ list->maxRange = COMPASS_AKM9911_RANGE;
+ list->resolution = COMPASS_AKM9911_RESOLUTION;
+ list->power = COMPASS_AKM9911_POWER;
+ list->minDelay = COMPASS_AKM9911_MINDELAY;
+ return;
+ }
+ if(!strcmp(compass, "compass")
|| !strncmp(compass, "mlx90399",3)
|| !strncmp(compass, "MLX90399",3)) {
list->maxRange = COMPASS_MPU9350_RANGE;
diff --git a/6515/libsensors_iio/CompassSensor.IIO.9150.h b/6515/libsensors_iio/CompassSensor.IIO.9150.h
index f981cd7..37917d0 100644..100755
--- a/6515/libsensors_iio/CompassSensor.IIO.9150.h
+++ b/6515/libsensors_iio/CompassSensor.IIO.9150.h
@@ -1,5 +1,5 @@
/*
- * Copyright (C) 2012 The Android Open Source Project
+ * Copyright (C) 2014 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.
diff --git a/6515/libsensors_iio/CompassSensor.IIO.primary.cpp b/6515/libsensors_iio/CompassSensor.IIO.primary.cpp
index 5d8d120..db9a042 100644..100755
--- a/6515/libsensors_iio/CompassSensor.IIO.primary.cpp
+++ b/6515/libsensors_iio/CompassSensor.IIO.primary.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (C) 2012 The Android Open Source Project
+ * Copyright (C) 2014 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.
@@ -414,8 +414,8 @@ void CompassSensor::fillList(struct sensor_t *list)
}
if(!strcmp(compass, "compass")
|| !strcmp(compass, "INV_AK8975")
- || !strcmp(compass, "AK8975")
- || !strcmp(compass, "ak8975")) {
+ || !strcmp(compass, "AKM8975")
+ || !strcmp(compass, "akm8975")) {
list->maxRange = COMPASS_AKM8975_RANGE;
list->resolution = COMPASS_AKM8975_RESOLUTION;
list->power = COMPASS_AKM8975_POWER;
@@ -425,8 +425,8 @@ void CompassSensor::fillList(struct sensor_t *list)
}
if(!strcmp(compass, "compass")
|| !strcmp(compass, "INV_AK8963")
- || !strcmp(compass, "AK8963")
- || !strcmp(compass, "ak8963")) {
+ || !strcmp(compass, "AKM8963")
+ || !strcmp(compass, "akm8963")) {
list->maxRange = COMPASS_AKM8963_RANGE;
list->resolution = COMPASS_AKM8963_RESOLUTION;
list->power = COMPASS_AKM8963_POWER;
@@ -434,6 +434,17 @@ void CompassSensor::fillList(struct sensor_t *list)
mMinDelay = list->minDelay;
return;
}
+ if(!strcmp(compass, "compass")
+ || !strcmp(compass, "INV_AK09911")
+ || !strcmp(compass, "AK09911")
+ || !strcmp(compass, "ak09911")) {
+ list->maxRange = COMPASS_AKM9911_RANGE;
+ list->resolution = COMPASS_AKM9911_RESOLUTION;
+ list->power = COMPASS_AKM9911_POWER;
+ list->minDelay = COMPASS_AKM9911_MINDELAY;
+ mMinDelay = list->minDelay;
+ return;
+ }
if(!strcmp(compass, "ami306")) {
list->maxRange = COMPASS_AMI306_RANGE;
list->resolution = COMPASS_AMI306_RESOLUTION;
diff --git a/6515/libsensors_iio/CompassSensor.IIO.primary.h b/6515/libsensors_iio/CompassSensor.IIO.primary.h
index de64799..f951903 100644..100755
--- a/6515/libsensors_iio/CompassSensor.IIO.primary.h
+++ b/6515/libsensors_iio/CompassSensor.IIO.primary.h
@@ -1,5 +1,5 @@
/*
- * Copyright (C) 2012 The Android Open Source Project
+ * Copyright (C) 2014 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.
diff --git a/6515/libsensors_iio/InputEventReader.cpp b/6515/libsensors_iio/InputEventReader.cpp
index 968e32e..968e32e 100644..100755
--- a/6515/libsensors_iio/InputEventReader.cpp
+++ b/6515/libsensors_iio/InputEventReader.cpp
diff --git a/6515/libsensors_iio/InputEventReader.h b/6515/libsensors_iio/InputEventReader.h
index 4e33af3..4ade1eb 100644..100755
--- a/6515/libsensors_iio/InputEventReader.h
+++ b/6515/libsensors_iio/InputEventReader.h
@@ -1,5 +1,5 @@
/*
-* Copyright (C) 2012 Invensense, Inc.
+* Copyright (C) 2014 Invensense, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
diff --git a/6515/libsensors_iio/License.txt b/6515/libsensors_iio/License.txt
index 930f931..930f931 100644..100755
--- a/6515/libsensors_iio/License.txt
+++ b/6515/libsensors_iio/License.txt
diff --git a/6515/libsensors_iio/MPLSensor.cpp b/6515/libsensors_iio/MPLSensor.cpp
index 9721734..620ea5f 100644..100755
--- a/6515/libsensors_iio/MPLSensor.cpp
+++ b/6515/libsensors_iio/MPLSensor.cpp
@@ -1,5 +1,5 @@
/*
-* Copyright (C) 2012 Invensense, Inc.
+* Copyright (C) 2014 Invensense, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
@@ -32,6 +32,7 @@
#include <pthread.h>
#include <cutils/log.h>
#include <utils/KeyedVector.h>
+#include <utils/Vector.h>
#include <utils/String8.h>
#include <string.h>
#include <linux/input.h>
@@ -97,7 +98,6 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
mDmpStepCountEnabled(0),
mEnabled(0),
mBatchEnabled(0),
- mFlushSensorEnabled(-1),
mOldBatchEnabledMask(0),
mAccelInputReader(4),
mGyroInputReader(32),
@@ -151,6 +151,7 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
memset(mGyroOrientation, 0, sizeof(mGyroOrientation));
memset(mAccelOrientation, 0, sizeof(mAccelOrientation));
memset(mInitial6QuatValue, 0, sizeof(mInitial6QuatValue));
+ mFlushSensorEnabledVector.setCapacity(NumSensors);
/* setup sysfs paths */
inv_init_sysfs_attributes();
@@ -163,10 +164,10 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
}
enable_iio_sysfs();
-
- /* instantiate pressure sensor on secondary bus */
+
+ /* instantiate pressure sensor on secondary bus */
mPressureSensor = new PressureSensor((const char*)mSysfsPath);
-
+
/* reset driver master enable */
masterEnable(0);
@@ -204,9 +205,9 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
}
close(fd);
}
-
+
/* read gyro self test scale used to calculate factory cal bias later */
- char gyroScale[5];
+ char gyroScale[5];
LOGV_IF(SYSFS_VERBOSE,
"HAL:sysfs:cat %s (%lld)", mpu.in_gyro_self_test_scale, getTimestamp());
fd = open(mpu.in_gyro_self_test_scale, O_RDONLY);
@@ -230,7 +231,7 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
memset(mFactoryGyroBias, 0, sizeof(mFactoryGyroBias));
LOGV_IF(EXTRA_VERBOSE, "HAL:factory gyro x offset path: %s", mpu.in_gyro_x_offset);
LOGV_IF(EXTRA_VERBOSE, "HAL:factory gyro y offset path: %s", mpu.in_gyro_y_offset);
- LOGV_IF(EXTRA_VERBOSE, "HAL:factory gyro z offset path: %s", mpu.in_gyro_z_offset);
+ LOGV_IF(EXTRA_VERBOSE, "HAL:factory gyro z offset path: %s", mpu.in_gyro_z_offset);
gyro_x_offset_fd = open(mpu.in_gyro_x_offset, O_RDWR);
gyro_y_offset_fd = open(mpu.in_gyro_y_offset, O_RDWR);
gyro_z_offset_fd = open(mpu.in_gyro_z_offset, O_RDWR);
@@ -285,7 +286,7 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
}
/* read accel self test scale used to calculate factory cal bias later */
- char accelScale[5];
+ char accelScale[5];
LOGV_IF(SYSFS_VERBOSE,
"HAL:sysfs:cat %s (%lld)", mpu.in_accel_self_test_scale, getTimestamp());
fd = open(mpu.in_accel_self_test_scale, O_RDONLY);
@@ -303,13 +304,13 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
}
close(fd);
}
-
+
/* open Factory Accel Bias fd */
/* mFactoryAccelBias contains bias values that will be used for device offset */
memset(mFactoryAccelBias, 0, sizeof(mFactoryAccelBias));
LOGV_IF(EXTRA_VERBOSE, "HAL:factory accel x offset path: %s", mpu.in_accel_x_offset);
LOGV_IF(EXTRA_VERBOSE, "HAL:factory accel y offset path: %s", mpu.in_accel_y_offset);
- LOGV_IF(EXTRA_VERBOSE, "HAL:factory accel z offset path: %s", mpu.in_accel_z_offset);
+ LOGV_IF(EXTRA_VERBOSE, "HAL:factory accel z offset path: %s", mpu.in_accel_z_offset);
accel_x_offset_fd = open(mpu.in_accel_x_offset, O_RDWR);
accel_y_offset_fd = open(mpu.in_accel_y_offset, O_RDWR);
accel_z_offset_fd = open(mpu.in_accel_z_offset, O_RDWR);
@@ -320,7 +321,7 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
LOGV_IF(EXTRA_VERBOSE,
"HAL:accel_offset opened");
}
-
+
/* open Accel Bias fd */
/* mAccelBias contains bias that will be used for dmp */
memset(mAccelBias, 0, sizeof(mAccelBias));
@@ -343,7 +344,7 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
if (dmp_sign_motion_fd < 0) {
LOGE("HAL:ERR couldn't open dmp_sign_motion node");
} else {
- LOGV_IF(ENG_VERBOSE,
+ LOGV_IF(ENG_VERBOSE,
"HAL:dmp_sign_motion_fd opened : %d", dmp_sign_motion_fd);
}
#if 1
@@ -353,11 +354,18 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
motionThreshold, mpu.smd_threshold, getTimestamp());
res = write_sysfs_int(mpu.smd_threshold, motionThreshold);
#endif
+#if 0
+ int StepCounterThreshold = 5;
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ StepCounterThreshold, mpu.pedometer_step_thresh, getTimestamp());
+ res = write_sysfs_int(mpu.pedometer_step_thresh, StepCounterThreshold);
+#endif
+
dmp_pedometer_fd = open(mpu.event_pedometer, O_RDONLY | O_NONBLOCK);
if (dmp_pedometer_fd < 0) {
LOGE("HAL:ERR couldn't open dmp_pedometer node");
} else {
- LOGV_IF(ENG_VERBOSE,
+ LOGV_IF(ENG_VERBOSE,
"HAL:dmp_pedometer_fd opened : %d", dmp_pedometer_fd);
}
@@ -433,7 +441,7 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
mPendingEvents[RawMagneticField].type = SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED;
mPendingEvents[RawMagneticField].magnetic.status =
SENSOR_STATUS_ACCURACY_HIGH;
-
+
mPendingEvents[Pressure].version = sizeof(sensors_event_t);
mPendingEvents[Pressure].sensor = ID_PS;
mPendingEvents[Pressure].type = SENSOR_TYPE_PRESSURE;
@@ -497,10 +505,10 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
/* initialize Gyro Bias */
memset(mGyroBias, 0, sizeof(mGyroBias));
- memset(mGyroChipBias, 0, sizeof(mGyroChipBias));
+ memset(mGyroChipBias, 0, sizeof(mGyroChipBias));
/* load calibration file from /data/inv_cal_data.bin */
- rv = inv_load_calibration();
+ rv = inv_load_calibration();
if(rv == INV_SUCCESS) {
LOGV_IF(PROCESS_VERBOSE, "HAL:Calibration file successfully loaded");
/* Get initial values */
@@ -607,7 +615,7 @@ void MPLSensor::enable_iio_sysfs(void)
LOGE("HAL:could not write chip enable");
}
}
-
+
inv_get_iio_device_node(iio_device_node);
iio_fd = open(iio_device_node, O_RDONLY);
if (iio_fd < 0) {
@@ -1041,7 +1049,7 @@ int MPLSensor::onDmp(int en)
int MPLSensor::setDmpFeature(int en)
{
int res = 0;
-
+
// set sensor engine and fifo
if ((mFeatureActiveMask & DMP_FEATURE_MASK) || en) {
if ((mFeatureActiveMask & INV_DMP_6AXIS_QUATERNION) ||
@@ -1098,7 +1106,7 @@ int MPLSensor::computeAndSetDmpState()
{
int res = 0;
bool dmpState = 0;
-
+
if (mFeatureActiveMask) {
dmpState = 1;
LOGV_IF(PROCESS_VERBOSE, "HAL:computeAndSetDmpState() mFeatureActiveMask = 1");
@@ -1109,7 +1117,7 @@ int MPLSensor::computeAndSetDmpState()
LOGV_IF(PROCESS_VERBOSE, "HAL:computeAndSetDmpState() Sensor Fusion = 1");
}
} /*else {
- unsigned long sensor = mLocalSensorMask & mMasterSensorMask;
+ unsigned long sensor = mLocalSensorMask & mMasterSensorMask;
if (sensor & (INV_THREE_AXIS_ACCEL & INV_THREE_AXIS_GYRO)) {
dmpState = 1;
LOGV_IF(PROCESS_VERBOSE, "HAL:computeAndSetDmpState() accel and gyro = 1");
@@ -1130,7 +1138,7 @@ int MPLSensor::computeAndSetDmpState()
LOGE("HAL:ERR can't set rate to 200Hz");
return res;
}
- }
+ }
LOGV_IF(PROCESS_VERBOSE, "HAL:DMP is set %s", (dmpState ? "on" : "off"));
return dmpState;
}
@@ -1139,10 +1147,10 @@ int MPLSensor::computeAndSetDmpState()
int MPLSensor::enablePedIndicator(int en)
{
VFUNC_LOG;
-
+
int res = 0;
if (en) {
- if (!(mFeatureActiveMask & INV_DMP_PED_QUATERNION)) {
+ if (!(mFeatureActiveMask & INV_DMP_PED_QUATERNION)) {
//Disable DMP Pedometer Interrupt
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
0, mpu.pedometer_int_on, getTimestamp());
@@ -1151,9 +1159,31 @@ int MPLSensor::enablePedIndicator(int en)
res = -1; // indicate an err
return res;
}
+
+ LOGV_IF(ENG_VERBOSE, "HAL:Enabling ped standalone");
+ // enable accel engine
+ res = enableAccel(1);
+ if (res < 0)
+ return res;
+ LOGV_IF(EXTRA_VERBOSE, "mLocalSensorMask=0x%lx", mLocalSensorMask);
+ // disable accel FIFO
+ if (!((mLocalSensorMask & mMasterSensorMask) & INV_THREE_AXIS_ACCEL)) {
+ res = turnOffAccelFifo();
+ if (res < 0)
+ return res;
+ }
}
+ } else {
+ //Disable Accel if no sensor needs it
+ if (!(mFeatureActiveMask & DMP_FEATURE_MASK)
+ && (!(mLocalSensorMask & mMasterSensorMask
+ & INV_THREE_AXIS_ACCEL))) {
+ res = enableAccel(0);
+ if (res < 0)
+ return res;
+ }
}
-
+
LOGV_IF(ENG_VERBOSE, "HAL:Toggling step indicator to %d", en);
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, mpu.step_indicator_on, getTimestamp());
@@ -1164,6 +1194,21 @@ int MPLSensor::enablePedIndicator(int en)
return res;
}
+int MPLSensor::checkPedStandaloneBatched(void)
+{
+ VFUNC_LOG;
+ int res = 0;
+
+ if ((mFeatureActiveMask & INV_DMP_PEDOMETER) &&
+ (mBatchEnabled & (1 << StepDetector))) {
+ res = 1;
+ } else
+ res = 0;
+
+ LOGV_IF(ENG_VERBOSE, "HAL:checkPedStandaloneBatched=%d", res);
+ return res;
+}
+
int MPLSensor::checkPedStandaloneEnabled(void)
{
VFUNC_LOG;
@@ -1275,7 +1320,7 @@ int MPLSensor:: enablePedStandaloneData(int en)
if (!((mLocalSensorMask & mMasterSensorMask) & INV_THREE_AXIS_ACCEL)) {
res = turnOffAccelFifo();
if (res < 0)
- return res;
+ return res;
}
}
@@ -1389,9 +1434,9 @@ int MPLSensor::enablePedQuaternionData(int en)
mLocalSensorMask |= INV_THREE_AXIS_ACCEL;
} else if ((mEnabled & ( 1 << Gyro)) ||
(mEnabled & (1 << RawGyro))) {
- mLocalSensorMask |= INV_THREE_AXIS_GYRO;
+ mLocalSensorMask |= INV_THREE_AXIS_GYRO;
}
- //LOGV_IF(ENG_VERBOSE, "after mLocalSensorMask=0x%lx", mLocalSensorMask);
+ //LOGV_IF(ENG_VERBOSE, "after mLocalSensorMask=0x%lx", mLocalSensorMask);
} else {
LOGV_IF(PROCESS_VERBOSE, "HAL:Enabling ped quat");
// enable accel engine
@@ -1426,6 +1471,21 @@ int MPLSensor::enablePedQuaternionData(int en)
return res;
}
+int MPLSensor::setPedQuaternionRate(int64_t wanted)
+{
+ VFUNC_LOG;
+ int res = 0;
+
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ int(1000000000.f / wanted), mpu.ped_q_rate,
+ getTimestamp());
+ res = write_sysfs_int(mpu.ped_q_rate, 1000000000.f / wanted);
+ LOGV_IF(PROCESS_VERBOSE,
+ "HAL:DMP ped quaternion rate %.2f Hz", 1000000000.f / wanted);
+
+ return res;
+}
+
int MPLSensor::check6AxisQuatEnabled(void)
{
VFUNC_LOG;
@@ -1501,7 +1561,7 @@ int MPLSensor::enable6AxisQuaternionData(int en)
// reset global mask for buildMpuEvent()
if (mEnabled & (1 << GameRotationVector)) {
if (!(mFeatureActiveMask & INV_DMP_PED_QUATERNION)) {
- mLocalSensorMask |= INV_THREE_AXIS_GYRO;
+ mLocalSensorMask |= INV_THREE_AXIS_GYRO;
mLocalSensorMask |= INV_THREE_AXIS_ACCEL;
res = write_sysfs_int(mpu.gyro_fifo_enable, 1);
res += write_sysfs_int(mpu.accel_fifo_enable, 1);
@@ -1512,7 +1572,7 @@ int MPLSensor::enable6AxisQuaternionData(int en)
mLocalSensorMask |= INV_THREE_AXIS_ACCEL;
} else if ((mEnabled & ( 1 << Gyro)) ||
(mEnabled & (1 << RawGyro))) {
- mLocalSensorMask |= INV_THREE_AXIS_GYRO;
+ mLocalSensorMask |= INV_THREE_AXIS_GYRO;
}
LOGV_IF(ENG_VERBOSE, "after mLocalSensorMask=0x%lx", mLocalSensorMask);
} else {
@@ -1536,7 +1596,7 @@ int MPLSensor::enable6AxisQuaternionData(int en)
return res;
mLocalSensorMask &= ~INV_THREE_AXIS_ACCEL;
}
-
+
if ((!(mLocalSensorMask & mMasterSensorMask & INV_THREE_AXIS_GYRO)) ||
(!(mBatchEnabled & (1 << Gyro)) ||
(!(mEnabled & (1 << Gyro))))) {
@@ -1555,6 +1615,21 @@ int MPLSensor::enable6AxisQuaternionData(int en)
return res;
}
+int MPLSensor::set6AxisQuaternionRate(int64_t wanted)
+{
+ VFUNC_LOG;
+ int res = 0;
+
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ int(1000000000.f / wanted), mpu.six_axis_q_rate,
+ getTimestamp());
+ res = write_sysfs_int(mpu.six_axis_q_rate, 1000000000.f / wanted);
+ LOGV_IF(PROCESS_VERBOSE,
+ "HAL:DMP six axis rate %.2f Hz", 1000000000.f / wanted);
+
+ return res;
+}
+
/* this is for batch mode only */
int MPLSensor::checkLPQRateSupported(void)
{
@@ -1618,6 +1693,21 @@ int MPLSensor::enableQuaternionData(int en)
return res;
}
+int MPLSensor::setQuaternionRate(int64_t wanted)
+{
+ VFUNC_LOG;
+ int res = 0;
+
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ int(1000000000.f / wanted), mpu.three_axis_q_rate,
+ getTimestamp());
+ res = write_sysfs_int(mpu.three_axis_q_rate, 1000000000.f / wanted);
+ LOGV_IF(PROCESS_VERBOSE,
+ "HAL:DMP three axis rate %.2f Hz", 1000000000.f / wanted);
+
+ return res;
+}
+
int MPLSensor::enableDmpPedometer(int en, int interruptMode)
{
VFUNC_LOG;
@@ -1643,17 +1733,19 @@ int MPLSensor::enableDmpPedometer(int en, int interruptMode)
return res;
}
- if (interruptMode || (mFeatureActiveMask & INV_DMP_PEDOMETER)) {
- //Enable DMP Pedometer Interrupt
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- en, mpu.pedometer_int_on, getTimestamp());
- if (write_sysfs_int(mpu.pedometer_int_on, en) < 0) {
- LOGE("HAL:ERR can't enable Android Pedometer Interrupt");
- res = -1; // indicate an err
- return res;
+ if (interruptMode) {
+ if(!checkPedStandaloneBatched()) {
+ //Enable DMP Pedometer Interrupt
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
+ en, mpu.pedometer_int_on, getTimestamp());
+ if (write_sysfs_int(mpu.pedometer_int_on, en) < 0) {
+ LOGE("HAL:ERR can't enable Android Pedometer Interrupt");
+ res = -1; // indicate an err
+ return res;
+ }
}
}
-
+
if (interruptMode) {
mFeatureActiveMask |= INV_DMP_PEDOMETER;
}
@@ -1680,8 +1772,8 @@ int MPLSensor::enableDmpPedometer(int en, int interruptMode)
LOGE("HAL:ERR can't enable Android Pedometer");
res = -1;
return res;
- }
- }
+ }
+ }
/* if feature is not step detector */
if (!(mFeatureActiveMask & INV_DMP_PEDOMETER)) {
@@ -1692,7 +1784,7 @@ int MPLSensor::enableDmpPedometer(int en, int interruptMode)
res = -1;
return res;
}
- }
+ }
}
if ((res = setDmpFeature(en)) < 0)
@@ -1700,8 +1792,8 @@ int MPLSensor::enableDmpPedometer(int en, int interruptMode)
if ((res = computeAndSetDmpState()) < 0)
return res;
-
- if (resetDataRates() < 0)
+
+ if (!mBatchEnabled && (resetDataRates() < 0))
return res;
if(en || enabled_sensors || mFeatureActiveMask) {
@@ -1746,14 +1838,14 @@ int MPLSensor::enableGyro(int en)
int MPLSensor::enableLowPowerAccel(int en)
{
VFUNC_LOG;
-
+
int res;
-
+
/* need to also turn on/off the master enable */
res = write_sysfs_int(mpu.motion_lpa_on, en);
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- en, mpu.motion_lpa_on, getTimestamp());
- return res;
+ en, mpu.motion_lpa_on, getTimestamp());
+ return res;
}
int MPLSensor::enableAccel(int en)
@@ -1803,9 +1895,9 @@ int MPLSensor::enablePressure(int en)
int res = 0;
- if (mPressureSensor)
+ if (mPressureSensor)
res = mPressureSensor->enable(ID_PS, en);
-
+
return res;
}
@@ -1825,7 +1917,7 @@ int MPLSensor::enableBatch(int64_t timeout)
}
if (timeout == 0) {
- LOGV_IF(EXTRA_VERBOSE, "HAL:MPL:batchmode timeout is zero");
+ LOGV_IF(EXTRA_VERBOSE, "HAL:MPL:batchmode timeout is zero");
}
return res;
@@ -1844,7 +1936,7 @@ void MPLSensor::computeLocalSensorMask(int enabled_sensors)
LOGV_IF(ENG_VERBOSE, "PS DISABLED");
mLocalSensorMask &= ~INV_ONE_AXIS_PRESSURE;
}
-
+
if (LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED
|| (GRV_ENABLED && GMRV_ENABLED)) {
LOGV_IF(ENG_VERBOSE, "FUSION ENABLED");
@@ -1933,7 +2025,7 @@ void MPLSensor::computeLocalSensorMask(int enabled_sensors)
} else {
LOGV_IF(ENG_VERBOSE, "M DISABLED");
mLocalSensorMask &= ~INV_THREE_AXIS_COMPASS;
- }
+ }
} while (0);
}
@@ -2008,7 +2100,7 @@ int MPLSensor::enableSensors(unsigned long sensors, int en, uint32_t changed)
cal_stored = 1;
}
}
-
+
if (changed & (1 << Pressure)) {
LOGV_IF(ENG_VERBOSE, "HAL:enableSensors - pressure %s",
(sensors & INV_ONE_AXIS_PRESSURE? "enable": "disable"));
@@ -2060,7 +2152,7 @@ int MPLSensor::enableSensors(unsigned long sensors, int en, uint32_t changed)
/* skip setBatch if there is no need to */
if(((int)mOldBatchEnabledMask != batchMode) || batchMode) {
setBatch(batchMode,0);
- }
+ }
mOldBatchEnabledMask = batchMode;
/* check for invn hardware sensors change */
@@ -2076,7 +2168,7 @@ int MPLSensor::enableSensors(unsigned long sensors, int en, uint32_t changed)
| (INV_THREE_AXIS_COMPASS * mCompassSensor->isIntegrated())
| (INV_ONE_AXIS_PRESSURE * mPressureSensor->isIntegrated())))) {
LOGV_IF(ENG_VERBOSE, "SMD or Hardware sensors enabled");
- LOGV_IF(ENG_VERBOSE,
+ LOGV_IF(ENG_VERBOSE,
"mFeatureActiveMask=0x%llx", mFeatureActiveMask);
LOGV_IF(ENG_VERBOSE, "HAL DEBUG: LPQ, SMD, SO enabled");
// disable DMP event interrupt only (w/ data interrupt)
@@ -2171,7 +2263,7 @@ int MPLSensor::computeBatchSensorMask(int enableSensors, int tempBatchSensor)
// handle initialization case
if (enableSensors == 0 && tempBatchSensor == 0)
return 0;
-
+
// check for possible continuous data mode
for(int i = 0; i <= Pressure; i++) {
// if any one of the hardware sensor is in continuous data mode
@@ -2182,14 +2274,14 @@ int MPLSensor::computeBatchSensorMask(int enableSensors, int tempBatchSensor)
return 0;
}
if ((enableSensors & (1 << i)) && (tempBatchSensor & (1 << i))) {
- LOGV_IF(ENG_VERBOSE,
- "HAL:computeBatchSensorMask: hardware sensor is batch:%d",
+ LOGV_IF(ENG_VERBOSE,
+ "HAL:computeBatchSensorMask: hardware sensor is batch:%d",
i);
// if hardware sensor is batched, check if virtual sensor is also batched
if ((enableSensors & (1 << GameRotationVector))
&& !(tempBatchSensor & (1 << GameRotationVector))) {
- LOGV_IF(ENG_VERBOSE,
- "HAL:computeBatchSensorMask: but virtual sensor is not:%d",
+ LOGV_IF(ENG_VERBOSE,
+ "HAL:computeBatchSensorMask: but virtual sensor is not:%d",
i);
return 0;
}
@@ -2209,10 +2301,10 @@ int MPLSensor::computeBatchSensorMask(int enableSensors, int tempBatchSensor)
LOGV("HAL:computeBatchSensorMask: step detector on continuous mode.");
return 0;
}
-
+
mFeatureActiveMask |= INV_DMP_BATCH_MODE;
LOGV_IF(EXTRA_VERBOSE,
- "HAL:computeBatchSensorMask: batchMode=%d, mBatchEnabled=%0x",
+ "HAL:computeBatchSensorMask: batchMode=%d, mBatchEnabled=%0x",
batchMode, tempBatchSensor);
return (batchMode && tempBatchSensor);
}
@@ -2236,45 +2328,23 @@ int MPLSensor::setBatch(int en, int toggleEnable)
}
}
- if (en) {
- /* take the minimum batchmode timeout */
- int64_t timeout = 100000000000LL;
- int64_t ns;
- for (int i = 0; i < NumSensors; i++) {
- LOGV_IF(0, "mFeatureActiveMask=0x%016llx, mEnabled=0x%01x, mBatchEnabled=0x%x",
- mFeatureActiveMask, mEnabled, mBatchEnabled);
- if (((mEnabled & (1 << i)) && (mBatchEnabled & (1 << i))) ||
- (((featureMask & INV_DMP_PED_STANDALONE) && (mBatchEnabled & (1 << StepDetector))))) {
- LOGV_IF(ENG_VERBOSE, "sensor=%d, timeout=%lld", i, mBatchTimeouts[i]);
- ns = mBatchTimeouts[i];
- timeout = (ns < timeout) ? ns : timeout;
- }
- }
- /* Convert ns to millisecond */
- timeoutInMs = timeout / 1000000;
- } else {
- timeoutInMs = 0;
- }
-
- LOGV_IF(ENG_VERBOSE, "HAL: batch timeout set to %dms", timeoutInMs);
-
/* step detector is enabled and */
/* batch mode is standalone */
if (en && (mFeatureActiveMask & INV_DMP_PEDOMETER) &&
(featureMask & INV_DMP_PED_STANDALONE)) {
- LOGV_IF(ENG_VERBOSE, "ID_P only = 0x%x", mBatchEnabled);
+ LOGV_IF(ENG_VERBOSE, "setBatch: ID_P only = 0x%x", mBatchEnabled);
enablePedStandalone(1);
} else {
enablePedStandalone(0);
}
-
+
/* step detector and GRV are enabled and */
/* batch mode is ped q */
if (en && (mFeatureActiveMask & INV_DMP_PEDOMETER) &&
(mEnabled & (1 << GameRotationVector)) &&
(featureMask & INV_DMP_PED_QUATERNION)) {
- LOGV_IF(ENG_VERBOSE, "ID_P and GRV or ALL = 0x%x", mBatchEnabled);
- LOGV_IF(ENG_VERBOSE, "ID_P is enabled for batching, "
+ LOGV_IF(ENG_VERBOSE, "setBatch: ID_P and GRV or ALL = 0x%x", mBatchEnabled);
+ LOGV_IF(ENG_VERBOSE, "setBatch: ID_P is enabled for batching, "
"PED quat will be automatically enabled");
enableLPQuaternion(0);
enablePedQuaternion(1);
@@ -2292,17 +2362,17 @@ int MPLSensor::setBatch(int en, int toggleEnable)
} else {
enablePedIndicator(0);
}
-
+
/* GRV is enabled and */
/* batch mode is 6axis q */
if (en && (mEnabled & (1 << GameRotationVector)) &&
(featureMask & INV_DMP_6AXIS_QUATERNION)) {
- LOGV_IF(ENG_VERBOSE, "GRV = 0x%x", mBatchEnabled);
+ LOGV_IF(ENG_VERBOSE, "setBatch: GRV = 0x%x", mBatchEnabled);
enableLPQuaternion(0);
enable6AxisQuaternion(1);
setInitial6QuatValue();
} else if (!(featureMask & INV_DMP_PED_QUATERNION)){
- LOGV_IF(ENG_VERBOSE, "Toggle back to normal 6 axis");
+ LOGV_IF(ENG_VERBOSE, "setBatch: Toggle back to normal 6 axis");
if (mEnabled & (1 << GameRotationVector)) {
enableLPQuaternion(checkLPQRateSupported());
}
@@ -2310,13 +2380,8 @@ int MPLSensor::setBatch(int en, int toggleEnable)
} else {
enable6AxisQuaternion(0);
}
-
- /* write required timeout to sysfs */
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- timeoutInMs, mpu.batchmode_timeout, getTimestamp());
- if (write_sysfs_int(mpu.batchmode_timeout, timeoutInMs) < 0) {
- LOGE("HAL:ERR can't write batchmode_timeout");
- }
+
+ writeBatchTimeout(en);
if (en) {
// enable DMP
@@ -2329,7 +2394,7 @@ int MPLSensor::setBatch(int en, int toggleEnable)
if (setBatchDataRates() < 0) {
LOGE("HAL:ERR can't set batch data rates");
}
-
+
// default fifo rate to 200Hz
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
200, mpu.gyro_fifo_rate, getTimestamp());
@@ -2368,6 +2433,48 @@ int MPLSensor::setBatch(int en, int toggleEnable)
return res;
}
+int MPLSensor::writeBatchTimeout(int en)
+{
+ VFUNC_LOG;
+
+ int64_t timeoutInMs = 0;
+ if (en) {
+ /* take the minimum batchmode timeout */
+ int64_t timeout = 100000000000LL;
+ int64_t ns = 0;
+ for (int i = 0; i < NumSensors; i++) {
+ LOGV_IF(1, "mFeatureActiveMask=0x%016llx, mEnabled=0x%01x, mBatchEnabled=0x%x",
+ mFeatureActiveMask, mEnabled, mBatchEnabled);
+ if (((mEnabled & (1 << i)) && (mBatchEnabled & (1 << i))) ||
+ (checkPedStandaloneBatched() && (i == StepDetector))) {
+ LOGV_IF(ENG_VERBOSE, "sensor=%d, timeout=%lld", i, mBatchTimeouts[i]);
+ ns = mBatchTimeouts[i];
+ timeout = (ns < timeout) ? ns : timeout;
+ }
+ }
+ /* Convert ns to millisecond */
+ timeoutInMs = timeout / 1000000;
+ } else {
+ timeoutInMs = 0;
+ }
+
+ LOGV_IF(PROCESS_VERBOSE,
+ "HAL: batch timeout set to %lld ms", timeoutInMs);
+
+ if(mBatchTimeoutInMs != timeoutInMs) {
+ /* write required timeout to sysfs */
+ LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %lld > %s (%lld)",
+ timeoutInMs, mpu.batchmode_timeout, getTimestamp());
+ if (write_sysfs_int(mpu.batchmode_timeout, timeoutInMs) < 0) {
+ LOGE("HAL:ERR can't write batchmode_timeout");
+ }
+ }
+ /* remember last timeout value */
+ mBatchTimeoutInMs = timeoutInMs;
+
+ return 0;
+}
+
/* Store calibration file */
void MPLSensor::storeCalibration(void)
{
@@ -2478,9 +2585,10 @@ int MPLSensor::rvHandler(sensors_event_t* s)
int update;
update = inv_get_sensor_type_rotation_vector(s->data, &status,
&s->timestamp);
+ s->orientation.status = status;
update |= isCompassDisabled();
- LOGV_IF(HANDLER_DATA, "HAL:rv data: %+f %+f %+f %+f %+f- %+lld - %d",
- s->data[0], s->data[1], s->data[2], s->data[3], s->data[4], s->timestamp,
+ LOGV_IF(HANDLER_DATA, "HAL:rv data: %+f %+f %+f %+f %+f %d- %+lld - %d",
+ s->data[0], s->data[1], s->data[2], s->data[3], s->data[4], s->orientation.status, s->timestamp,
update);
return update;
@@ -2496,10 +2604,11 @@ int MPLSensor::grvHandler(sensors_event_t* s)
int8_t status;
int update;
update = inv_get_sensor_type_rotation_vector_6_axis(s->data, &status,
- &s->timestamp);
-
- LOGV_IF(HANDLER_DATA, "HAL:grv data: %+f %+f %+f %+f %+f - %+lld - %d",
- s->data[0], s->data[1], s->data[2], s->data[3], s->data[4], s->timestamp,
+ &s->timestamp);
+ s->orientation.status = status;
+
+ LOGV_IF(HANDLER_DATA, "HAL:grv data: %+f %+f %+f %+f %+f %d- %+lld - %d",
+ s->data[0], s->data[1], s->data[2], s->data[3], s->data[4], s->orientation.status, s->timestamp,
update);
return update;
}
@@ -2568,9 +2677,9 @@ int MPLSensor::gmHandler(sensors_event_t* s)
int update = 0;
update = inv_get_sensor_type_geomagnetic_rotation_vector(s->data, &status,
&s->timestamp);
-
- LOGV_IF(HANDLER_DATA, "HAL:gm data: %+f %+f %+f %+f %+f- %+lld - %d",
- s->data[0], s->data[1], s->data[2], s->data[3], s->data[4], s->timestamp, update);
+ s->orientation.status = status;
+ LOGV_IF(HANDLER_DATA, "HAL:gm data: %+f %+f %+f %+f %+f %d- %+lld - %d",
+ s->data[0], s->data[1], s->data[2], s->data[3], s->data[4], s->orientation.status, s->timestamp, update);
return update < 1 ? 0 :1;
}
@@ -2604,7 +2713,7 @@ int MPLSensor::sdHandler(sensors_event_t* s)
s->data[0] = 1;
s->data[1] = 0.f;
s->data[2] = 0.f;
-
+
/* get current timestamp */
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts) ;
@@ -2619,7 +2728,7 @@ int MPLSensor::scHandler(sensors_event_t* s)
{
VHANDLER_LOG;
int update = 1;
-
+
/* Set step count */
#if defined ANDROID_KITKAT
s->u64.step_counter = mLastStepCount;
@@ -2644,27 +2753,27 @@ int MPLSensor::metaHandler(sensors_event_t* s, int flags)
s->sensor = 0;
s->reserved0 = 0;
s->timestamp = 0LL;
-
+
switch(flags) {
case META_DATA_FLUSH_COMPLETE:
update = mFlushBatchSet;
s->type = SENSOR_TYPE_META_DATA;
s->meta_data.what = flags;
- s->meta_data.sensor = mFlushSensorEnabled;
+ s->meta_data.sensor = mFlushSensorEnabledVector[0];
+ mFlushSensorEnabledVector.removeAt(0);
mFlushBatchSet = 0;
- mFlushSensorEnabled = -1;
LOGV_IF(HANDLER_DATA,
"HAL:flush complete data: type=%d what=%d, "
"sensor=%d - %lld - %d",
s->type, s->meta_data.what, s->meta_data.sensor,
s->timestamp, update);
break;
-
+
default:
LOGW("HAL: Meta flags not supported");
break;
}
-#endif
+#endif
return update;
}
@@ -2780,7 +2889,7 @@ int MPLSensor::enable(int32_t handle, int en)
what = handle;
sname = "Others";
break;
- }
+ }
int newState = en ? 1 : 0;
unsigned long sen_mask;
@@ -3034,13 +3143,13 @@ int MPLSensor::setDelay(int32_t handle, int64_t ns)
/* set limits of delivery rate of events */
mStepCountPollTime = ns;
LOGV_IF(ENG_VERBOSE, "step count rate =%lld ns", ns);
- break;
+ break;
case StepDetector:
case SignificantMotion:
#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
case ID_SO:
#endif
- LOGV_IF(ENG_VERBOSE, "Step Detect, SMD, SO rate=%lld ns", ns);
+ LOGV_IF(ENG_VERBOSE, "Step Detect, SMD, SO rate=%lld ns", ns);
break;
case Gyro:
case RawGyro:
@@ -3138,7 +3247,7 @@ int MPLSensor::update_delay(void)
int64_t accelRate;
int64_t compassRate;
int64_t pressureRate;
-
+
int rateInus;
int mplGyroRate;
int mplAccelRate;
@@ -3152,7 +3261,7 @@ int MPLSensor::update_delay(void)
wanted = wanted < ns ? wanted : ns;
}
}
-
+
/* initialize rate for each sensor */
gyroRate = wanted;
accelRate = wanted;
@@ -3212,7 +3321,7 @@ int MPLSensor::update_delay(void)
"HAL:MPL compass sample rate: (mpl)=%d us (mpu)=%.2f Hz",
rateInus, 1000000000.f / compassRate);
- LOGV_IF(ENG_VERBOSE,
+ LOGV_IF(ENG_VERBOSE,
"mFeatureActiveMask=%016llx", mFeatureActiveMask);
if(mFeatureActiveMask & DMP_FEATURE_MASK) {
bool setDMPrate= 0;
@@ -3225,13 +3334,13 @@ int MPLSensor::update_delay(void)
// Set LP Quaternion sample rate if enabled
if (checkLPQuaternion()) {
if (wanted <= RATE_200HZ) {
-#ifndef USE_LPQ_AT_FASTEST
+#ifndef USE_LPQ_AT_FASTEST
enableLPQuaternion(0);
#endif
} else {
inv_set_quat_sample_rate(rateInus);
LOGV_IF(ENG_VERBOSE, "HAL:MPL quat sample rate: "
- "(mpl)=%d us (mpu)=%.2f Hz",
+ "(mpl)=%d us (mpu)=%.2f Hz",
rateInus, 1000000000.f / wanted);
setDMPrate= 1;
}
@@ -3368,7 +3477,7 @@ int MPLSensor::update_delay(void)
LOGV_IF(ENG_VERBOSE, "HAL:MPL compass sample rate: (mpl)=%d us",
int(got/1000LL));
}
-
+
if (PS_ENABLED) {
int64_t pressureRate = mDelays[Pressure];
LOGV_IF(ENG_VERBOSE, "mFeatureActiveMask=%016llx", mFeatureActiveMask);
@@ -3402,52 +3511,6 @@ int MPLSensor::update_delay(void)
return res;
}
-/* For Third Party Accel Input Subsystem Drivers only */
-int MPLSensor::readAccelEvents(sensors_event_t* data, int count)
-{
- VHANDLER_LOG;
-
- if (count < 1)
- return -EINVAL;
-
- ssize_t n = mAccelInputReader.fill(accel_fd);
- if (n < 0) {
- LOGE("HAL:missed accel events, exit");
- return n;
- }
-
- int numEventReceived = 0;
- input_event const* event;
- int nb, done = 0;
-
- while (done == 0 && count && mAccelInputReader.readEvent(&event)) {
- int type = event->type;
- if (type == EV_ABS) {
- if (event->code == EVENT_TYPE_ACCEL_X) {
- mPendingMask |= 1 << Accelerometer;
- mCachedAccelData[0] = event->value;
- } else if (event->code == EVENT_TYPE_ACCEL_Y) {
- mPendingMask |= 1 << Accelerometer;
- mCachedAccelData[1] = event->value;
- } else if (event->code == EVENT_TYPE_ACCEL_Z) {
- mPendingMask |= 1 << Accelerometer;
- mCachedAccelData[2] =event-> value;
- }
- } else if (type == EV_SYN) {
- done = 1;
- if (mLocalSensorMask & INV_THREE_AXIS_ACCEL) {
- inv_build_accel(mCachedAccelData, 0, getTimestamp());
- }
- } else {
- LOGE("HAL:AccelSensor: unknown event (type=%d, code=%d)",
- type, event->code);
- }
- mAccelInputReader.next();
- }
-
- return numEventReceived;
-}
-
/**
* Should be called after reading at least one of gyro
* compass or accel data. (Also okay for handling all of them).
@@ -3456,7 +3519,7 @@ int MPLSensor::readAccelEvents(sensors_event_t* data, int count)
int MPLSensor::readEvents(sensors_event_t* data, int count)
{
VHANDLER_LOG;
-
+
inv_execute_on_data();
int numEventReceived = 0;
@@ -3499,21 +3562,21 @@ int MPLSensor::readEvents(sensors_event_t* data, int count)
getCompassBias();
mCompassAccuracy = inv_get_mag_accuracy();
}
- }
+ }
// handle partial packet read and end marker
// skip readEvents from hal_outputs
- if (mSkipReadEvents) {
- if(mDataMarkerDetected || mEmptyDataMarkerDetected) {
+ if (mSkipReadEvents) {
+ if(mDataMarkerDetected || mEmptyDataMarkerDetected) {
if (!mEmptyDataMarkerDetected) {
// turn off sensors in data_builder
resetMplStates();
}
- mEmptyDataMarkerDetected = 0;
+ mEmptyDataMarkerDetected = 0;
mDataMarkerDetected = 0;
// handle flush complete event
- if(mFlushBatchSet && mFlushSensorEnabled != -1) {
+ if(mFlushBatchSet && !mFlushSensorEnabledVector.isEmpty()) {
sensors_event_t temp;
#if defined ANDROID_KITKAT
int sendEvent = metaHandler(&temp, META_DATA_FLUSH_COMPLETE);
@@ -3585,20 +3648,18 @@ void MPLSensor::buildMpuEvent(void)
(((mLocalSensorMask & INV_THREE_AXIS_COMPASS)
&& mCompassSensor->isIntegrated())? 1 : 0) +
((mLocalSensorMask & INV_ONE_AXIS_PRESSURE)? 1 : 0);
- //LOGV("mLocalSensorMask=0x%lx", mLocalSensorMask);
+
char *rdata = mIIOBuffer;
ssize_t rsize = 0;
ssize_t readCounter = 0;
char *rdataP = NULL;
bool doneFlag = 0;
- if (isLowPowerQuatEnabled()) {
- lp_quaternion_on = checkLPQuaternion();
- }
+ lp_quaternion_on = isLowPowerQuatEnabled() && checkLPQuaternion();
sixAxis_quaternion_on = check6AxisQuatEnabled();
ped_quaternion_on = checkPedQuatEnabled();
ped_standalone_on = checkPedStandaloneEnabled();
-
+
nbyte = MAX_READ_SIZE - mLeftOverBufferSize;
/* check previous copied buffer */
@@ -3609,21 +3670,21 @@ void MPLSensor::buildMpuEvent(void)
memcpy(rdata, mLeftOverBuffer, mLeftOverBufferSize);
LOGV_IF(0,
"HAL:input retrieve old buffer data=:%d, %d, %d, %d,%d, %d, %d, %d,%d, %d, "
- "%d, %d,%d, %d, %d, %d\n",
+ "%d, %d,%d, %d, %d, %d\n",
rdata[0], rdata[1], rdata[2], rdata[3],
rdata[4], rdata[5], rdata[6], rdata[7],
rdata[8], rdata[9], rdata[10], rdata[11],
rdata[12], rdata[13], rdata[14], rdata[15]);
}
rdataP = rdata + mLeftOverBufferSize;
-
+
/* read expected number of bytes */
rsize = read(iio_fd, rdataP, nbyte);
if(rsize < 0) {
/* IIO buffer might have old data.
- Need to flush it if no sensor is on, to avoid infinite
+ Need to flush it if no sensor is on, to avoid infinite
read loop.*/
- LOGE("HAL:input data file descriptor not available - (%s)",
+ LOGE("HAL:input data file descriptor not available - (%s)",
strerror(errno));
if (sensors == 0) {
rsize = read(iio_fd, rdata, MAX_SUSPEND_BATCH_PACKET_SIZE);
@@ -3637,7 +3698,7 @@ void MPLSensor::buildMpuEvent(void)
rdataP[0], rdataP[1], rdataP[2], rdataP[3],
rdataP[4], rdataP[5], rdataP[6], rdataP[7]);
#endif
- mLeftOverBufferSize = 0;
+ mLeftOverBufferSize = 0;
}
}
return;
@@ -3690,22 +3751,22 @@ LOGV_IF(INPUT_DATA,
}
/* reset data and count pointer */
- rdataP = rdata;
+ rdataP = rdata;
readCounter = rsize + mLeftOverBufferSize;
LOGV_IF(0, "HAL:input readCounter set=%d", (int)readCounter);
-
- LOGV_IF(INPUT_DATA && ENG_VERBOSE,
+
+ LOGV_IF(INPUT_DATA && ENG_VERBOSE,
"HAL:input b=%d rdata= %d nbyte= %d rsize= %d readCounter= %d",
checkBatchEnabled(), *((short *) rdata), nbyte, (int)rsize, (int)readCounter);
- LOGV_IF(INPUT_DATA && ENG_VERBOSE,
+ LOGV_IF(INPUT_DATA && ENG_VERBOSE,
"HAL:input sensors= %d, lp_q_on= %d, 6axis_q_on= %d, "
"ped_q_on= %d, ped_standalone_on= %d",
- sensors, lp_quaternion_on, sixAxis_quaternion_on, ped_quaternion_on,
- ped_standalone_on);
-
+ sensors, lp_quaternion_on, sixAxis_quaternion_on, ped_quaternion_on,
+ ped_standalone_on);
+
while (readCounter > 0) {
// since copied buffer is already accounted for, reset left over size
- mLeftOverBufferSize = 0;
+ mLeftOverBufferSize = 0;
// clear data format mask for parsing the next set of data
mask = 0;
data_format = *((short *)(rdata));
@@ -3733,19 +3794,19 @@ LOGV_IF(INPUT_DATA,
data_format &= (~DATA_FORMAT_STEP);
}
- if (data_format & DATA_FORMAT_MARKER) {
+ if (data_format == DATA_FORMAT_MARKER) {
LOGV_IF(ENG_VERBOSE && INPUT_DATA, "MARKER DETECTED:0x%x", data_format);
readCounter -= BYTES_PER_SENSOR;
- if (mFlushSensorEnabled != -1) {
+ if (!mFlushSensorEnabledVector.isEmpty()) {
mFlushBatchSet = 1;
}
mDataMarkerDetected = 1;
- mSkipReadEvents = 1;
+ mSkipReadEvents = 1;
}
- else if (data_format & DATA_FORMAT_EMPTY_MARKER) {
+ else if (data_format == DATA_FORMAT_EMPTY_MARKER) {
LOGV_IF(ENG_VERBOSE && INPUT_DATA, "EMPTY MARKER DETECTED:0x%x", data_format);
readCounter -= BYTES_PER_SENSOR;
- if (mFlushSensorEnabled != -1) {
+ if (!mFlushSensorEnabledVector.isEmpty()) {
mFlushBatchSet = 1;
}
mEmptyDataMarkerDetected = 1;
@@ -3760,7 +3821,7 @@ LOGV_IF(INPUT_DATA,
rdata += QUAT_ONLY_LAST_PACKET_OFFSET;
mQuatSensorTimestamp = *((long long*) (rdata));
mask |= DATA_FORMAT_QUAT;
- readCounter -= BYTES_QUAT_DATA;
+ readCounter -= BYTES_QUAT_DATA;
}
else {
doneFlag = 1;
@@ -3859,8 +3920,8 @@ LOGV_IF(INPUT_DATA,
LOGV_IF(ENG_VERBOSE && INPUT_DATA, "PRESSURE DETECTED:0x%x", data_format);
if (readCounter >= BYTES_QUAT_DATA) {
if (mPressureSensor->isIntegrated()) {
- mCachedPressureData =
- ((*((short *)(rdata + 4))) << 16) +
+ mCachedPressureData =
+ ((*((short *)(rdata + 4))) << 16) +
(*((unsigned short *) (rdata + 6)));
rdata += BYTES_PER_SENSOR;
mPressureTimestamp = *((long long*) (rdata));
@@ -3881,24 +3942,41 @@ LOGV_IF(INPUT_DATA,
else {
LOGV_IF(ENG_VERBOSE && INPUT_DATA, "HAL: input data doneFlag is set, readCounter=%d", (int)readCounter);
}
-
+
/* read ahead and store left over data if any */
if (readCounter != 0) {
int currentBufferCounter = 0;
LOGV_IF(0, "Not enough data readCounter=%d, expected nbyte=%d, rsize=%d", (int)readCounter, nbyte, (int)rsize);
memset(mLeftOverBuffer, 0, sizeof(mLeftOverBuffer));
- memcpy(mLeftOverBuffer, rdata, readCounter);
- LOGV_IF(0,
- "HAL:input store rdata=:%d, %d, %d, %d,%d, %d, %d, %d,%d, "
- "%d, %d, %d,%d, %d, %d, %d\n",
- mLeftOverBuffer[0], mLeftOverBuffer[1], mLeftOverBuffer[2], mLeftOverBuffer[3],
- mLeftOverBuffer[4], mLeftOverBuffer[5], mLeftOverBuffer[6], mLeftOverBuffer[7],
- mLeftOverBuffer[8], mLeftOverBuffer[9], mLeftOverBuffer[10], mLeftOverBuffer[11],
- mLeftOverBuffer[12],mLeftOverBuffer[13],mLeftOverBuffer[14], mLeftOverBuffer[15]);
+ /* check for end markers, don't save */
+ data_format = *((short *) (rdata));
+ if ((data_format == DATA_FORMAT_MARKER) || (data_format == DATA_FORMAT_MARKER)) {
+ LOGV_IF(ENG_VERBOSE && INPUT_DATA, "s MARKER DETECTED:0x%x", data_format);
+ rdata += BYTES_PER_SENSOR;
+ readCounter -= BYTES_PER_SENSOR;
+ if (!mFlushSensorEnabledVector.isEmpty()) {
+ mFlushBatchSet = 1;
+ }
+ mDataMarkerDetected = 1;
+ mSkipReadEvents = 1;
+ if (readCounter == 0) {
+ mLeftOverBufferSize = 0;
+ if(doneFlag != 0)
+ return;
+ }
+ }
+ memcpy(mLeftOverBuffer, rdata, readCounter);
+ LOGV_IF(0,
+ "HAL:input store rdata=:%d, %d, %d, %d,%d, %d, %d, %d,%d, "
+ "%d, %d, %d,%d, %d, %d, %d\n",
+ mLeftOverBuffer[0], mLeftOverBuffer[1], mLeftOverBuffer[2], mLeftOverBuffer[3],
+ mLeftOverBuffer[4], mLeftOverBuffer[5], mLeftOverBuffer[6], mLeftOverBuffer[7],
+ mLeftOverBuffer[8], mLeftOverBuffer[9], mLeftOverBuffer[10], mLeftOverBuffer[11],
+ mLeftOverBuffer[12],mLeftOverBuffer[13],mLeftOverBuffer[14], mLeftOverBuffer[15]);
mLeftOverBufferSize = readCounter;
readCounter = 0;
- LOGV_IF(0, "Stored number of bytes:%d", mLeftOverBufferSize);
+ LOGV_IF(0, "Stored number of bytes:%d", mLeftOverBufferSize);
} else {
/* reset count since this is the last packet for the data set */
readCounter = 0;
@@ -3941,9 +4019,9 @@ LOGV_IF(INPUT_DATA,
}
mPendingMask |= 1 << Gyro;
mPendingMask |= 1 << RawGyro;
-
+
inv_build_gyro(mCachedGyroData, mGyroSensorTimestamp);
- LOGV_IF(INPUT_DATA,
+ LOGV_IF(INPUT_DATA,
"HAL:input inv_build_gyro: %+8d %+8d %+8d - %lld",
mCachedGyroData[0], mCachedGyroData[1],
mCachedGyroData[2], mGyroSensorTimestamp);
@@ -3960,7 +4038,7 @@ LOGV_IF(INPUT_DATA,
/* remember inital 6 axis quaternion */
inv_time_t tempTimestamp;
inv_get_6axis_quaternion(mInitial6QuatValue, &tempTimestamp);
- if (mInitial6QuatValue[0] != 0 && mInitial6QuatValue[1] != 0 &&
+ if (mInitial6QuatValue[0] != 0 && mInitial6QuatValue[1] != 0 &&
mInitial6QuatValue[2] != 0 && mInitial6QuatValue[3] != 0) {
mInitial6QuatValueAvailable = 1;
LOGV_IF(INPUT_DATA && ENG_VERBOSE,
@@ -4030,7 +4108,7 @@ LOGV_IF(INPUT_DATA,
set status bits to disable gyro bias cal */
int status = 0;
if (mGyroBiasApplied == true) {
- LOGV_IF(INPUT_DATA && ENG_VERBOSE,
+ LOGV_IF(INPUT_DATA && ENG_VERBOSE,
"HAL:input dmp bias is used");
status |= INV_QUAT_6AXIS;
}
@@ -4056,10 +4134,10 @@ LOGV_IF(INPUT_DATA,
mPressureUpdate = 1;
inv_build_pressure(mCachedPressureData,
status,
- mPressureTimestamp);
+ mPressureTimestamp);
LOGV_IF(INPUT_DATA,
"HAL:input inv_build_pressure: %+8ld - %lld",
- mCachedPressureData, mPressureTimestamp);
+ mCachedPressureData, mPressureTimestamp);
}
}
@@ -4069,7 +4147,7 @@ LOGV_IF(INPUT_DATA,
if (latestTimestamp > mStepSensorTimestamp) {
mStepSensorTimestamp = latestTimestamp;
LOGV_IF(INPUT_DATA,
- "HAL:input build step: 1 - %lld", mStepSensorTimestamp);
+ "HAL:input build step: 1 - %lld", mStepSensorTimestamp);
} else {
mPedUpdate = 0;
}
@@ -4079,12 +4157,15 @@ LOGV_IF(INPUT_DATA,
int MPLSensor::checkValidHeader(unsigned short data_format)
{
+ LOGV_IF(ENG_VERBOSE && INPUT_DATA, "check data_format=%x", data_format);
+
+ if(data_format == DATA_FORMAT_STEP)
+ return 1;
+
if(data_format & DATA_FORMAT_STEP) {
data_format &= (~DATA_FORMAT_STEP);
}
-
- LOGV_IF(ENG_VERBOSE && INPUT_DATA, "check data_format=%x", data_format);
-
+
if ((data_format == DATA_FORMAT_PED_STANDALONE) ||
(data_format == DATA_FORMAT_PED_QUAT) ||
(data_format == DATA_FORMAT_6_AXIS) ||
@@ -4132,6 +4213,7 @@ void MPLSensor::buildCompassEvent(void)
"HAL:input inv_build_compass: %+8ld %+8ld %+8ld - %lld",
mCachedCompassData[0], mCachedCompassData[1],
mCachedCompassData[2], mCompassTimestamp);
+ mSkipReadEvents = 0;
}
}
@@ -4259,7 +4341,7 @@ int MPLSensor::enableDmpOrientation(int en)
return res;
}
}
-
+
if (mEnabled){
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, mpu.dmp_event_int_on, getTimestamp());
@@ -4388,26 +4470,10 @@ int MPLSensor::getDmpRate(int64_t *wanted)
// set DMP output rate to FIFO
if(mDmpOn == 1) {
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- int(1000000000.f / *wanted), mpu.three_axis_q_rate,
- getTimestamp());
- write_sysfs_int(mpu.three_axis_q_rate, 1000000000.f / *wanted);
- LOGV_IF(PROCESS_VERBOSE,
- "HAL:DMP three axis rate %.2f Hz", 1000000000.f / *wanted);
+ setQuaternionRate(*wanted);
if (mFeatureActiveMask & INV_DMP_BATCH_MODE) {
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- int(1000000000.f / *wanted), mpu.six_axis_q_rate,
- getTimestamp());
- write_sysfs_int(mpu.six_axis_q_rate, 1000000000.f / *wanted);
- LOGV_IF(PROCESS_VERBOSE,
- "HAL:DMP six axis rate %.2f Hz", 1000000000.f / *wanted);
-
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- int(1000000000.f / *wanted), mpu.ped_q_rate,
- getTimestamp());
- write_sysfs_int(mpu.ped_q_rate, 1000000000.f / *wanted);
- LOGV_IF(PROCESS_VERBOSE,
- "HAL:DMP ped quaternion rate %.2f Hz", 1000000000.f / *wanted);
+ set6AxisQuaternionRate(*wanted);
+ setPedQuaternionRate(*wanted);
}
// DMP running rate must be @ 200Hz
*wanted= RATE_200HZ;
@@ -4427,7 +4493,7 @@ int MPLSensor::getStepCountPollTime(void)
{
VFUNC_LOG;
/* clamped to 1ms? as spec, still rather large */
- return 1000;
+ return 100;
}
bool MPLSensor::hasStepCountPendingEvents(void)
@@ -4946,8 +5012,8 @@ int MPLSensor::inv_init_sysfs_attributes(void)
sprintf(mpu.in_accel_x_dmp_bias, "%s%s", sysfs_path, "/in_accel_x_dmp_bias");
sprintf(mpu.in_accel_y_dmp_bias, "%s%s", sysfs_path, "/in_accel_y_dmp_bias");
sprintf(mpu.in_accel_z_dmp_bias, "%s%s", sysfs_path, "/in_accel_z_dmp_bias");
-
- // MPU uses these values
+
+ // MPU uses these values
sprintf(mpu.in_accel_x_offset, "%s%s", sysfs_path, "/in_accel_x_offset");
sprintf(mpu.in_accel_y_offset, "%s%s", sysfs_path, "/in_accel_y_offset");
sprintf(mpu.in_accel_z_offset, "%s%s", sysfs_path, "/in_accel_z_offset");
@@ -4967,10 +5033,10 @@ int MPLSensor::inv_init_sysfs_attributes(void)
sprintf(mpu.three_axis_q_on, "%s%s", sysfs_path, "/three_axes_q_on"); //formerly quaternion_on
sprintf(mpu.three_axis_q_rate, "%s%s", sysfs_path, "/three_axes_q_rate");
-
+
sprintf(mpu.ped_q_on, "%s%s", sysfs_path, "/ped_q_on");
sprintf(mpu.ped_q_rate, "%s%s", sysfs_path, "/ped_q_rate");
-
+
sprintf(mpu.six_axis_q_on, "%s%s", sysfs_path, "/six_axes_q_on");
sprintf(mpu.six_axis_q_rate, "%s%s", sysfs_path, "/six_axes_q_rate");
@@ -5008,6 +5074,8 @@ int MPLSensor::inv_init_sysfs_attributes(void)
"/event_pedometer");
sprintf(mpu.pedometer_steps, "%s%s", sysfs_path,
"/pedometer_steps");
+ sprintf(mpu.pedometer_step_thresh, "%s%s", sysfs_path,
+ "/pedometer_step_thresh");
sprintf(mpu.pedometer_counter, "%s%s", sysfs_path,
"/pedometer_counter");
sprintf(mpu.motion_lpa_on, "%s%s", sysfs_path,
@@ -5053,7 +5121,7 @@ void MPLSensor::getCompassBias()
{
VFUNC_LOG;
-
+
long bias[3];
long compassBias[3];
unsigned short orient;
@@ -5076,7 +5144,7 @@ void MPLSensor::getCompassBias()
mCompassBias[i] =(float) (compassBias[i] * temp / 65536.f);
}
- return;
+ return;
}
void MPLSensor::getFactoryGyroBias()
@@ -5094,7 +5162,7 @@ void MPLSensor::getFactoryGyroBias()
/* set bias from factory cal file to MPU offset (in chip frame)
x = values store in cal file --> (v/1000 * 2^16 / (2000/250))
offset = x/2^16 * (Gyro scale / self test scale used) * (-1) / offset scale
- i.e. self test default scale = 250
+ i.e. self test default scale = 250
gyro scale default to = 2000
offset scale = 4 //as spec by hardware
offset = x/2^16 * (8) * (-1) / (4)
@@ -5154,10 +5222,10 @@ void MPLSensor::getGyroBias()
/* Get Values from MPL */
inv_get_mpl_gyro_bias(mGyroChipBias, temp);
- orient = inv_orientation_matrix_to_scalar(mGyroOrientation);
+ orient = inv_orientation_matrix_to_scalar(mGyroOrientation);
inv_convert_to_body(orient, mGyroChipBias, bias);
- LOGV_IF(ENG_VERBOSE, "Mpl Gyro Bias (HW unit) %ld %ld %ld", mGyroChipBias[0], mGyroChipBias[1], mGyroChipBias[2]);
- LOGV_IF(ENG_VERBOSE, "Mpl Gyro Bias (HW unit) (body) %ld %ld %ld", bias[0], bias[1], bias[2]);
+ LOGV_IF(ENG_VERBOSE && INPUT_DATA, "Mpl Gyro Bias (HW unit) %ld %ld %ld", mGyroChipBias[0], mGyroChipBias[1], mGyroChipBias[2]);
+ LOGV_IF(ENG_VERBOSE && INPUT_DATA, "Mpl Gyro Bias (HW unit) (body) %ld %ld %ld", bias[0], bias[1], bias[2]);
long gyroSensitivity = inv_get_gyro_sensitivity();
if(gyroSensitivity == 0) {
gyroSensitivity = mGyroScale;
@@ -5177,7 +5245,7 @@ void MPLSensor::getGyroBias()
void MPLSensor::setGyroZeroBias()
{
VFUNC_LOG;
-
+
/* Write to Driver */
LOGV_IF(SYSFS_VERBOSE && INPUT_DATA, "HAL:sysfs:echo %d > %s (%lld)",
0, mpu.in_gyro_x_dmp_bias, getTimestamp());
@@ -5196,7 +5264,7 @@ void MPLSensor::setGyroZeroBias()
if(write_attribute_sensor_continuous(gyro_z_dmp_bias_fd, 0) < 0) {
LOGE("HAL:Error writing to gyro_z_dmp_bias");
return;
- }
+ }
LOGV_IF(EXTRA_VERBOSE, "HAL:Zero Gyro DMP Calibrated Bias Applied");
return;
@@ -5215,7 +5283,7 @@ void MPLSensor::setGyroBias()
if(gyroSensitivity == 0) {
gyroSensitivity = mGyroScale;
}
-
+
inv_get_gyro_bias_dmp_units(bias);
/* Write to Driver */
@@ -5308,7 +5376,7 @@ void MPLSensor::getAccelBias()
/* Get Values from MPL */
inv_get_mpl_accel_bias(mAccelBias, &temp);
- LOGV_IF(ENG_VERBOSE, "Accel Bias (mg) %ld %ld %ld",
+ LOGV_IF(ENG_VERBOSE, "Accel Bias (mg) %ld %ld %ld",
mAccelBias[0], mAccelBias[1], mAccelBias[2]);
mAccelBiasAvailable = true;
@@ -5330,7 +5398,7 @@ void MPLSensor::setAccelBias()
/* write to driver */
LOGV_IF(SYSFS_VERBOSE && INPUT_DATA, "HAL:sysfs:echo %ld > %s (%lld)",
- (long) (mAccelBias[0] / 65536.f / 2),
+ (long) (mAccelBias[0] / 65536.f / 2),
mpu.in_accel_x_dmp_bias, getTimestamp());
if(write_attribute_sensor_continuous(
accel_x_dmp_bias_fd, (long)(mAccelBias[0] / 65536.f / 2)) < 0) {
@@ -5338,7 +5406,7 @@ void MPLSensor::setAccelBias()
return;
}
LOGV_IF(SYSFS_VERBOSE && INPUT_DATA, "HAL:sysfs:echo %ld > %s (%lld)",
- (long)(mAccelBias[1] / 65536.f / 2),
+ (long)(mAccelBias[1] / 65536.f / 2),
mpu.in_accel_y_dmp_bias, getTimestamp());
if(write_attribute_sensor_continuous(
accel_y_dmp_bias_fd, (long)(mAccelBias[1] / 65536.f / 2)) < 0) {
@@ -5346,7 +5414,7 @@ void MPLSensor::setAccelBias()
return;
}
LOGV_IF(SYSFS_VERBOSE && INPUT_DATA, "HAL:sysfs:echo %ld > %s (%lld)",
- (long)(mAccelBias[2] / 65536 / 2),
+ (long)(mAccelBias[2] / 65536 / 2),
mpu.in_accel_z_dmp_bias, getTimestamp());
if(write_attribute_sensor_continuous(
accel_z_dmp_bias_fd, (long)(mAccelBias[2] / 65536 / 2)) < 0) {
@@ -5433,13 +5501,18 @@ int MPLSensor::batch(int handle, int flags, int64_t period_ns, int64_t timeout)
case Gyro:
case RawGyro:
case Accelerometer:
- case MagneticField:
- case RawMagneticField:
case Pressure:
case GameRotationVector:
case StepDetector:
LOGV_IF(PROCESS_VERBOSE, "HAL: batch - select sensor (handle %d)", handle);
break;
+ case MagneticField:
+ case RawMagneticField:
+ if(timeout > 0 && !mCompassSensor->isIntegrated())
+ return -EINVAL;
+ else
+ LOGV_IF(PROCESS_VERBOSE, "HAL: batch - select sensor (handle %d)", handle);
+ break;
default:
if (timeout > 0) {
LOGE("sensor (handle %d) is not supported in batch mode", handle);
@@ -5453,7 +5526,7 @@ int MPLSensor::batch(int handle, int flags, int64_t period_ns, int64_t timeout)
}
int tempBatch = 0;
- if (timeout > 0) {
+ if (timeout > 0) {
tempBatch = mBatchEnabled | (1 << what);
} else {
tempBatch = mBatchEnabled & ~(1 << what);
@@ -5464,7 +5537,7 @@ int MPLSensor::batch(int handle, int flags, int64_t period_ns, int64_t timeout)
} else {
batchMode = 1;
}
-
+
/* get maximum possible bytes to batch per sample */
/* get minimum delay for each requested sensor */
ssize_t nBytes = 0;
@@ -5488,19 +5561,19 @@ int MPLSensor::batch(int handle, int flags, int64_t period_ns, int64_t timeout)
}
}
}
-
+
/* starting from code below, we will modify hardware */
/* first edit global batch mode mask */
if (!timeout) {
mBatchEnabled &= ~(1 << what);
mBatchDelays[what] = 1000000000L;
- mDelays[what] = period_ns;
+ mDelays[what] = period_ns;
mBatchTimeouts[what] = 100000000000LL;
} else {
mBatchEnabled |= (1 << what);
mBatchDelays[what] = period_ns;
- mDelays[what] = period_ns;
+ mDelays[what] = period_ns;
mBatchTimeouts[what] = timeout;
}
@@ -5511,7 +5584,7 @@ int MPLSensor::batch(int handle, int flags, int64_t period_ns, int64_t timeout)
}
if(((int)mOldBatchEnabledMask != batchMode) || batchMode) {
-
+
/* remember batch mode that is set */
mOldBatchEnabledMask = batchMode;
@@ -5522,42 +5595,17 @@ int MPLSensor::batch(int handle, int flags, int64_t period_ns, int64_t timeout)
batchMode, featureMask, mEnabled);
if (DEBUG_BATCHING && EXTRA_VERBOSE) {
LOGV("HAL:batch - sensor=0x%01x", mBatchEnabled);
- for (int d = 0; d < NumSensors; d++) {
+ for (int d = 0; d < NumSensors; d++) {
LOGV("HAL:batch - sensor status=0x%01x batch status=0x%01x timeout=%lld delay=%lld",
mEnabled & (1 << d), (mBatchEnabled & (1 << d)), mBatchTimeouts[d],
mBatchDelays[d]);
}
}
- /* take the minimum batchmode timeout */
- if (batchMode == 1) {
- int64_t tempTimeout = 100000000000LL;
- for (int i = 0; i < NumSensors; i++) {
- if ((mEnabled & (1 << i) && mBatchEnabled & (1 << i)) ||
- (((featureMask & INV_DMP_PED_STANDALONE) && (mBatchEnabled & (1 << StepDetector))))) {
- LOGV_IF(ENG_VERBOSE, "i=%d, timeout=%lld", i, mBatchTimeouts[i]);
- ns = mBatchTimeouts[i];
- tempTimeout = (ns < tempTimeout) ? ns : tempTimeout;
- }
- }
- timeout = tempTimeout;
- /* Convert ns to millisecond */
- timeoutInMs = timeout / 1000000;
-
- /* remember last timeout value */
- mBatchTimeoutInMs = timeoutInMs;
- } else {
- timeoutInMs = 0;
- }
-
- LOGV_IF(DEBUG_BATCHING || EXTRA_VERBOSE,
- "HAL:batch - timeout - timeout=%lld ns, timeoutInMs=%lld, delay=%lld ns",
- timeout, timeoutInMs, period_ns);
-
/* case for Ped standalone */
if ((batchMode == 1) && (featureMask & INV_DMP_PED_STANDALONE) &&
(mFeatureActiveMask & INV_DMP_PEDOMETER)) {
- LOGI("ID_P only = 0x%x", mBatchEnabled);
+ LOGI_IF(ENG_VERBOSE, "batch - ID_P only = 0x%x", mBatchEnabled);
enablePedQuaternion(0);
enablePedStandalone(1);
} else {
@@ -5572,19 +5620,14 @@ int MPLSensor::batch(int handle, int flags, int64_t period_ns, int64_t timeout)
if ((batchMode == 1) && (featureMask & INV_DMP_PED_QUATERNION) &&
(mEnabled & (1 << GameRotationVector)) &&
(mFeatureActiveMask & INV_DMP_PEDOMETER)) {
- LOGI("ID_P and GRV or ALL = 0x%x", mBatchEnabled);
- LOGI("ID_P is enabled for batching, PED quat will be automatically enabled");
+ LOGI_IF(ENG_VERBOSE, "batch - ID_P and GRV or ALL = 0x%x", mBatchEnabled);
+ LOGI_IF(ENG_VERBOSE, "batch - ID_P is enabled for batching, PED quat will be automatically enabled");
enableLPQuaternion(0);
enablePedQuaternion(1);
-
- wanted = mBatchDelays[GameRotationVector];
+
/* set pedq rate */
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- int(1000000000.f / wanted), mpu.ped_q_rate,
- getTimestamp());
- write_sysfs_int(mpu.ped_q_rate, 1000000000.f / wanted);
- LOGV_IF(PROCESS_VERBOSE,
- "HAL:DMP ped quaternion rate %.2f Hz", 1000000000.f / wanted);
+ wanted = mBatchDelays[GameRotationVector];
+ setPedQuaternionRate(wanted);
} else if (!(featureMask & INV_DMP_PED_STANDALONE)){
LOGV_IF(ENG_VERBOSE, "batch - PedQ Toggle back to normal 6 axis");
if (mEnabled & (1 << GameRotationVector)) {
@@ -5600,26 +5643,21 @@ int MPLSensor::batch(int handle, int flags, int64_t period_ns, int64_t timeout)
enablePedIndicator(1);
} else {
enablePedIndicator(0);
- }
+ }
/* case for Six Axis Quaternion */
if ((batchMode == 1) && (featureMask & INV_DMP_6AXIS_QUATERNION) &&
(mEnabled & (1 << GameRotationVector))) {
- LOGI("GRV = 0x%x", mBatchEnabled);
+ LOGI_IF(ENG_VERBOSE, "batch - GRV = 0x%x", mBatchEnabled);
enableLPQuaternion(0);
enable6AxisQuaternion(1);
if (what == GameRotationVector) {
setInitial6QuatValue();
}
- wanted = mBatchDelays[GameRotationVector];
/* set sixaxis rate */
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- int(1000000000.f / wanted), mpu.six_axis_q_rate,
- getTimestamp());
- write_sysfs_int(mpu.six_axis_q_rate, 1000000000.f / wanted);
- LOGV_IF(PROCESS_VERBOSE,
- "HAL:DMP six axis rate %.2f Hz", 1000000000.f / wanted);
+ wanted = mBatchDelays[GameRotationVector];
+ set6AxisQuaternionRate(wanted);
} else if (!(featureMask & INV_DMP_PED_QUATERNION)){
LOGV_IF(ENG_VERBOSE, "batch - 6Axis Toggle back to normal 6 axis");
if (mEnabled & (1 << GameRotationVector)) {
@@ -5640,12 +5678,7 @@ int MPLSensor::batch(int handle, int flags, int64_t period_ns, int64_t timeout)
}
}*/
- /* write required timeout to sysfs */
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %lld > %s (%lld)",
- timeoutInMs, mpu.batchmode_timeout, getTimestamp());
- if (write_sysfs_int(mpu.batchmode_timeout, timeoutInMs) < 0) {
- LOGE("HAL:ERR can't write batchmode_timeout");
- }
+ writeBatchTimeout(batchMode);
if (computeAndSetDmpState() < 0) {
LOGE("HAL:ERR can't compute dmp state");
@@ -5699,6 +5732,9 @@ int MPLSensor::flush(int handle)
return -EINVAL;
}
+ LOGV_IF(PROCESS_VERBOSE, "HAL: flush - select sensor %s (handle %d)", sname.string(), handle);
+
+#if 0
switch (what) {
case Gyro:
case RawGyro:
@@ -5714,10 +5750,11 @@ int MPLSensor::flush(int handle)
LOGE("sensor (handle %d) is not supported in batch or flush mode", handle);
return -EINVAL;
}
+#endif
if (((what != StepDetector) && (!(mEnabled & (1 << what)))) ||
((what == StepDetector) && !(mFeatureActiveMask & INV_DMP_PEDOMETER))) {
- LOGE("HAL: flush - sensor %s not enabled", sname.string());
+ LOGE_IF(ENG_VERBOSE, "HAL: flush - sensor %s not enabled", sname.string());
return -EINVAL;
}
@@ -5733,7 +5770,7 @@ int MPLSensor::flush(int handle)
if (status < 0)
return status;
-
+
/* driver returns 0 if FIFO is empty */
/* ensure we return status zero */
if (res == 0) {
@@ -5741,8 +5778,8 @@ int MPLSensor::flush(int handle)
status = 0;
}
- mFlushSensorEnabled = handle;
- LOGV_IF(ENG_VERBOSE, "HAl:flush - mFlushSensorEnabled=%d", mFlushSensorEnabled);
+ mFlushSensorEnabledVector.push_back(handle);
+ LOGV_IF(ENG_VERBOSE, "HAl:flush - mFlushSensorEnabledVector=%d res=%d", handle, res);
mFlushBatchSet = 0;
return status;
@@ -5764,15 +5801,10 @@ int MPLSensor::selectAndSetQuaternion(int batchMode, int mEnabled, long long fea
enable6AxisQuaternion(0);
setInitial6QuatValue();
enablePedQuaternion(1);
-
- wanted = mBatchDelays[GameRotationVector];
+
/* set pedq rate */
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- int(1000000000.f / wanted), mpu.ped_q_rate,
- getTimestamp());
- write_sysfs_int(mpu.ped_q_rate, 1000000000.f / wanted);
- LOGV_IF(PROCESS_VERBOSE,
- "HAL:DMP ped quaternion rate %.2f Hz", 1000000000.f / wanted);
+ wanted = mBatchDelays[GameRotationVector];
+ setPedQuaternionRate(wanted);
} else if ((featureMask & INV_DMP_6AXIS_QUATERNION) &&
(mEnabled & (1 << GameRotationVector))) {
enableLPQuaternion(0);
@@ -5780,18 +5812,13 @@ int MPLSensor::selectAndSetQuaternion(int batchMode, int mEnabled, long long fea
setInitial6QuatValue();
enable6AxisQuaternion(1);
- wanted = mBatchDelays[GameRotationVector];
/* set sixaxis rate */
- LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
- int(1000000000.f / wanted), mpu.six_axis_q_rate,
- getTimestamp());
- write_sysfs_int(mpu.six_axis_q_rate, 1000000000.f / wanted);
- LOGV_IF(PROCESS_VERBOSE,
- "HAL:DMP six axis rate %.2f Hz", 1000000000.f / wanted);
+ wanted = mBatchDelays[GameRotationVector];
+ set6AxisQuaternionRate(wanted);
} else {
enablePedQuaternion(0);
enable6AxisQuaternion(0);
- }
+ }
} else {
if(mEnabled & (1 << GameRotationVector)) {
enablePedQuaternion(0);
@@ -5802,7 +5829,7 @@ int MPLSensor::selectAndSetQuaternion(int batchMode, int mEnabled, long long fea
enablePedQuaternion(0);
enable6AxisQuaternion(0);
}
- }
+ }
return res;
}
@@ -5827,17 +5854,17 @@ int MPLSensor::computeBatchDataOutput()
int featureMask = 0;
if (mBatchEnabled == 0)
return 0;//h
-
+
uint32_t hardwareSensorMask = (1 << Gyro)
| (1 << RawGyro)
| (1 << Accelerometer)
| (1 << MagneticField)
| (1 << RawMagneticField)
| (1 << Pressure);
- LOGV_IF(ENG_VERBOSE, "hardwareSensorMask = 0x%0x, mBatchEnabled = 0x%0x",
+ LOGV_IF(ENG_VERBOSE, "hardwareSensorMask = 0x%0x, mBatchEnabled = 0x%0x",
hardwareSensorMask, mBatchEnabled);
-
- if (mBatchEnabled & (1 << StepDetector)) {
+
+ if (mBatchEnabled & (1 << StepDetector)) {
if (mBatchEnabled & (1 << GameRotationVector)) {
if ((mBatchEnabled & hardwareSensorMask)) {
featureMask |= INV_DMP_6AXIS_QUATERNION;//a
@@ -5862,13 +5889,13 @@ int MPLSensor::computeBatchDataOutput()
featureMask |= INV_DMP_6AXIS_QUATERNION; //e,f
//LOGE("batch output: e,f");
} else {
- LOGV_IF(ENG_VERBOSE,
+ LOGV_IF(ENG_VERBOSE,
"HAL:computeBatchDataOutput: featuerMask=0x%x", featureMask);
//LOGE("batch output: g");
return 0; //g
}
- LOGV_IF(ENG_VERBOSE,
+ LOGV_IF(ENG_VERBOSE,
"HAL:computeBatchDataOutput: featuerMask=0x%x", featureMask);
return featureMask;
}
@@ -5888,12 +5915,12 @@ int MPLSensor::readDmpPedometerEvents(sensors_event_t* data, int count,
VFUNC_LOG;
int res = 0;
- char dummy[4];
-
+ char dummy[4];
+
int numEventReceived = 0;
int update = 0;
- LOGI_IF(0, "HAL: Read Pedometer Event ID=%d", id);
+ LOGI_IF(0, "HAL: Read Pedometer Event ID=%d", id);
switch (id) {
case ID_P:
if (mDmpPedometerEnabled && count > 0) {
@@ -5906,20 +5933,20 @@ int MPLSensor::readDmpPedometerEvents(sensors_event_t* data, int count,
*data++ = mSdEvents;
count--;
numEventReceived++;
- }
+ }
break;
case ID_SC:
FILE *fp;
uint64_t stepCount;
uint64_t stepCountTs;
-
+
if (mDmpStepCountEnabled && count > 0) {
fp = fopen(mpu.pedometer_steps, "r");
if (fp == NULL) {
LOGE("HAL:cannot open pedometer_steps");
} else {
if (fscanf(fp, "%lld\n", &stepCount) < 0 || fclose(fp) < 0) {
- LOGE("HAL:cannot read pedometer_steps");
+ LOGW("HAL:cannot read pedometer_steps");
return 0;
}
}
@@ -5942,8 +5969,8 @@ int MPLSensor::readDmpPedometerEvents(sensors_event_t* data, int count,
}
}
mScEvents.timestamp = stepCountTs;
-
- /* Handles return event */
+
+ /* Handles return event */
update = scHandler(&mScEvents);
}
@@ -5961,7 +5988,7 @@ int MPLSensor::readDmpPedometerEvents(sensors_event_t* data, int count,
read(dmp_pedometer_fd, dummy, 4);
} else {
return 1;
- }
+ }
return numEventReceived;
}
@@ -6010,7 +6037,7 @@ int MPLSensor::readDmpSignificantMotionEvents(sensors_event_t* data, int count)
*data++ = mSmEvents;
count--;
numEventReceived++;
-
+
/* reset smd state */
mDmpSignificantMotionEnabled = 0;
mFeatureActiveMask &= ~INV_DMP_SIGNIFICANT_MOTION;
@@ -6046,7 +6073,7 @@ int MPLSensor::enableDmpSignificantMotion(int en)
if (write_sysfs_int(mpu.smd_enable, 1) < 0) {
LOGE("HAL:ERR can't write DMP smd_enable");
res = -1; //Indicate an err
- }
+ }
mFeatureActiveMask |= INV_DMP_SIGNIFICANT_MOTION;
}
else {
@@ -6056,16 +6083,19 @@ int MPLSensor::enableDmpSignificantMotion(int en)
if (write_sysfs_int(mpu.smd_enable, 0) < 0) {
LOGE("HAL:ERR write DMP smd_enable");
}
- mFeatureActiveMask &= ~INV_DMP_SIGNIFICANT_MOTION;
+ mFeatureActiveMask &= ~INV_DMP_SIGNIFICANT_MOTION;
}
-
+
if ((res = setDmpFeature(en)) < 0)
return res;
if ((res = computeAndSetDmpState()) < 0)
return res;
-
- if(en || enabled_sensors || mFeatureActiveMask) {
+
+ if (!mBatchEnabled && (resetDataRates() < 0))
+ return res;
+
+ if(en || enabled_sensors || mFeatureActiveMask) {
res = masterEnable(1);
}
return res;
@@ -6084,7 +6114,11 @@ void MPLSensor::setInitial6QuatValue()
convert_long_to_hex_char(mInitial6QuatValue, quat, 4);
/* write to sysfs */
- LOGV_IF(EXTRA_VERBOSE, "HAL:six axis q value: %s", mpu.six_axis_q_value);
+ LOGV_IF(EXTRA_VERBOSE, "HAL:sysfs:echo quat value > %s", mpu.six_axis_q_value);
+ LOGV_IF(EXTRA_VERBOSE && ENG_VERBOSE, "quat=%ld,%ld,%ld,%ld", mInitial6QuatValue[0],
+ mInitial6QuatValue[1],
+ mInitial6QuatValue[2],
+ mInitial6QuatValue[3]);
FILE* fptr = fopen(mpu.six_axis_q_value, "w");
if(fptr == NULL) {
LOGE("HAL:could not open six_axis_q_value");
@@ -6148,20 +6182,20 @@ int MPLSensor::setBatchDataRates()
int64_t compassRate;
int64_t pressureRate;
int64_t quatRate;
-
+
int mplGyroRate;
int mplAccelRate;
int mplCompassRate;
int mplQuatRate;
-
+
#ifdef ENABLE_MULTI_RATE
- gyroRate = mBatchDelays[Gyro];
+ gyroRate = mBatchDelays[Gyro];
/* take care of case where only one type of gyro sensors or
compass sensors is turned on */
if (mBatchEnabled & (1 << Gyro) || mBatchEnabled & (1 << RawGyro)) {
gyroRate = (mBatchDelays[Gyro] <= mBatchDelays[RawGyro]) ?
(mBatchEnabled & (1 << Gyro) ? mBatchDelays[Gyro] : mBatchDelays[RawGyro]):
- (mBatchEnabled & (1 << RawGyro) ? mBatchDelays[RawGyro] : mBatchDelays[Gyro]);
+ (mBatchEnabled & (1 << RawGyro) ? mBatchDelays[RawGyro] : mBatchDelays[Gyro]);
}
compassRate = mBatchDelays[MagneticField];
if (mBatchEnabled & (1 << MagneticField) || mBatchEnabled & (1 << RawMagneticField)) {
@@ -6169,12 +6203,12 @@ int MPLSensor::setBatchDataRates()
(mBatchEnabled & (1 << MagneticField) ? mBatchDelays[MagneticField] :
mBatchDelays[RawMagneticField]) :
(mBatchEnabled & (1 << RawMagneticField) ? mBatchDelays[RawMagneticField] :
- mBatchDelays[MagneticField]);
+ mBatchDelays[MagneticField]);
}
accelRate = mBatchDelays[Accelerometer];
pressureRate = mBatchDelays[Pressure];
- if ((mFeatureActiveMask & INV_DMP_PED_QUATERNION) ||
+ if ((mFeatureActiveMask & INV_DMP_PED_QUATERNION) ||
(mFeatureActiveMask & INV_DMP_6AXIS_QUATERNION)) {
quatRate = mBatchDelays[GameRotationVector];
mplQuatRate = (int) quatRate / 1000LL;
@@ -6192,13 +6226,13 @@ int MPLSensor::setBatchDataRates()
mplGyroRate = (int) gyroRate / 1000LL;
mplAccelRate = (int) accelRate / 1000LL;
mplCompassRate = (int) compassRate / 1000LL;
-
+
/* set rate in MPL */
/* compass can only do 100Hz max */
inv_set_gyro_sample_rate(mplGyroRate);
inv_set_accel_sample_rate(mplAccelRate);
inv_set_compass_sample_rate(mplCompassRate);
-
+
LOGV_IF(PROCESS_VERBOSE,
"HAL:MPL gyro sample rate: (mpl)=%d us (mpu)=%.2f Hz", mplGyroRate, 1000000000.f / gyroRate);
LOGV_IF(PROCESS_VERBOSE,
@@ -6230,7 +6264,7 @@ int MPLSensor::setBatchDataRates()
if(res < 0) {
LOGE("HAL:GYRO update delay error");
}
-
+
/* takes care of accel rate */
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)",
1000000000.f / accelRate, mpu.accel_rate,
@@ -6238,7 +6272,7 @@ int MPLSensor::setBatchDataRates()
tempFd = open(mpu.accel_rate, O_RDWR);
res = write_attribute_sensor(tempFd, 1000000000.f / accelRate);
LOGE_IF(res < 0, "HAL:ACCEL update delay error");
-
+
/* takes care of compass rate */
if (compassRate < mCompassSensor->getMinDelay() * 1000LL) {
compassRate = mCompassSensor->getMinDelay() * 1000LL;
@@ -6247,7 +6281,7 @@ int MPLSensor::setBatchDataRates()
/* takes care of pressure rate */
mPressureSensor->setDelay(ID_PS, pressureRate);
-
+
return res;
}
@@ -6256,7 +6290,7 @@ int MPLSensor::setBatchDataRates()
int MPLSensor::resetDataRates()
{
VFUNC_LOG;
-
+
int res = 0;
int tempFd = -1;
int64_t wanted = 1000000000LL;
@@ -6305,13 +6339,13 @@ int MPLSensor::resetDataRates()
inv_set_geomagnetic_rotation_vector_sample_rate((int)resetRate/1000LL);
LOGV_IF(PROCESS_VERBOSE,
- "HAL:MPL gyro sample rate: (mpl)=%lld us (mpu)=%.2f Hz",
+ "HAL:MPL gyro sample rate: (mpl)=%lld us (mpu)=%.2f Hz",
gyroRate/1000LL, 1000000000.f / gyroRate);
LOGV_IF(PROCESS_VERBOSE,
- "HAL:MPL accel sample rate: (mpl)=%lld us (mpu)=%.2f Hz",
+ "HAL:MPL accel sample rate: (mpl)=%lld us (mpu)=%.2f Hz",
accelRate/1000LL, 1000000000.f / accelRate);
LOGV_IF(PROCESS_VERBOSE,
- "HAL:MPL compass sample rate: (mpl)=%lld us (mpu)=%.2f Hz",
+ "HAL:MPL compass sample rate: (mpl)=%lld us (mpu)=%.2f Hz",
compassRate/1000LL, 1000000000.f / compassRate);
/* reset dmp rate */
@@ -6323,7 +6357,7 @@ int MPLSensor::resetDataRates()
tempFd = open(mpu.gyro_fifo_rate, O_RDWR);
res = write_attribute_sensor(tempFd, 1000000000.f / wanted);
LOGE_IF(res < 0, "HAL:sampling frequency update delay error");
-
+
/* takes care of gyro rate */
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)",
1000000000.f / gyroRate, mpu.gyro_rate,
@@ -6350,16 +6384,16 @@ int MPLSensor::resetDataRates()
/* takes care of pressure rate */
mPressureSensor->setDelay(ID_PS, pressureRate);
-
+
/* takes care of lpq case for data rate at 200Hz */
if (checkLPQuaternion()) {
if (resetRate <= RATE_200HZ) {
#ifndef USE_LPQ_AT_FASTEST
- enableLPQuaternion(0);
+ enableLPQuaternion(0);
#endif
}
}
-
+
return res;
}
@@ -6390,7 +6424,7 @@ void MPLSensor::initBias()
if(write_attribute_sensor_continuous(accel_z_dmp_bias_fd, 0) < 0) {
LOGE("HAL:Error writing to accel_z_dmp_bias");
}
-
+
if(write_attribute_sensor_continuous(accel_x_offset_fd, 0) < 0) {
LOGE("HAL:Error writing to accel_x_offset");
}
@@ -6400,7 +6434,7 @@ void MPLSensor::initBias()
if(write_attribute_sensor_continuous(accel_z_offset_fd, 0) < 0) {
LOGE("HAL:Error writing to accel_z_offset");
}
-
+
if(write_attribute_sensor_continuous(gyro_x_dmp_bias_fd, 0) < 0) {
LOGE("HAL:Error writing to gyro_x_dmp_bias");
}
@@ -6410,7 +6444,7 @@ void MPLSensor::initBias()
if(write_attribute_sensor_continuous(gyro_z_dmp_bias_fd, 0) < 0) {
LOGE("HAL:Error writing to gyro_z_dmp_bias");
}
-
+
if(write_attribute_sensor_continuous(gyro_x_offset_fd, 0) < 0) {
LOGE("HAL:Error writing to gyro_x_offset");
}
@@ -6422,7 +6456,7 @@ void MPLSensor::initBias()
}
return;
}
-
+
/*TODO: reg_dump in a separate file*/
void MPLSensor::sys_dump(bool fileMode)
{
diff --git a/6515/libsensors_iio/MPLSensor.h b/6515/libsensors_iio/MPLSensor.h
index 65e3b23..aa9dbc5 100644..100755
--- a/6515/libsensors_iio/MPLSensor.h
+++ b/6515/libsensors_iio/MPLSensor.h
@@ -1,5 +1,5 @@
/*
-* Copyright (C) 2012 Invensense, Inc.
+* Copyright (C) 2014 Invensense, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
@@ -186,6 +186,7 @@ public:
int selectAndSetQuaternion(int batchMode, int mEnabled, long long featureMask);
int checkBatchEnabled();
int setBatch(int en, int toggleEnable);
+ int writeBatchTimeout(int en);
int32_t getEnableMask() { return mEnabled; }
void getHandle(int32_t handle, int &what, android::String8 &sname);
@@ -199,7 +200,6 @@ public:
virtual bool hasStepCountPendingEvents();
int populateSensorList(struct sensor_t *list, int len);
- int readAccelEvents(sensors_event_t* data, int count);
void buildCompassEvent();
void buildMpuEvent();
int checkValidHeader(unsigned short data_format);
@@ -263,10 +263,13 @@ protected:
int enablePedStandaloneData(int en);
int enablePedQuaternion(int);
int enablePedQuaternionData(int);
+ int setPedQuaternionRate(int64_t wanted);
int enable6AxisQuaternion(int);
int enable6AxisQuaternionData(int);
+ int set6AxisQuaternionRate(int64_t wanted);
int enableLPQuaternion(int);
int enableQuaternionData(int);
+ int setQuaternionRate(int64_t wanted);
int enableAccelPedometer(int);
int enableAccelPedData(int);
int onDmp(int);
@@ -292,6 +295,7 @@ protected:
int computeAndSetDmpState(void);
int enablePedometer(int);
int enablePedIndicator(int en);
+ int checkPedStandaloneBatched(void);
int checkPedStandaloneEnabled(void);
int checkPedQuatEnabled();
int check6AxisQuatEnabled();
@@ -348,7 +352,7 @@ protected:
uint32_t mEnabled;
uint32_t mBatchEnabled;
- int32_t mFlushSensorEnabled;
+ android::Vector<int> mFlushSensorEnabledVector;
uint32_t mOldBatchEnabledMask;
int64_t mBatchTimeoutInMs;
sensors_event_t mPendingEvents[NumSensors];
@@ -489,6 +493,7 @@ protected:
char *pedometer_int_on;
char *event_pedometer;
char *pedometer_steps;
+ char *pedometer_step_thresh;
char *pedometer_counter;
char *motion_lpa_on;
diff --git a/6515/libsensors_iio/MPLSupport.cpp b/6515/libsensors_iio/MPLSupport.cpp
index 08b48bb..2954df3 100644..100755
--- a/6515/libsensors_iio/MPLSupport.cpp
+++ b/6515/libsensors_iio/MPLSupport.cpp
@@ -1,5 +1,5 @@
/*
-* Copyright (C) 2012 Invensense, Inc.
+* Copyright (C) 2014 Invensense, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
diff --git a/6515/libsensors_iio/MPLSupport.h b/6515/libsensors_iio/MPLSupport.h
index c7f8eff..36fa35c 100644..100755
--- a/6515/libsensors_iio/MPLSupport.h
+++ b/6515/libsensors_iio/MPLSupport.h
@@ -1,5 +1,5 @@
/*
-* Copyright (C) 2012 Invensense, Inc.
+* Copyright (C) 2014 Invensense, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
diff --git a/6515/libsensors_iio/PressureSensor.IIO.secondary.cpp b/6515/libsensors_iio/PressureSensor.IIO.secondary.cpp
index 1a33c19..039881e 100644..100755
--- a/6515/libsensors_iio/PressureSensor.IIO.secondary.cpp
+++ b/6515/libsensors_iio/PressureSensor.IIO.secondary.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (C) 2012 The Android Open Source Project
+ * Copyright (C) 2014 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.
diff --git a/6515/libsensors_iio/PressureSensor.IIO.secondary.h b/6515/libsensors_iio/PressureSensor.IIO.secondary.h
index 3dae748..701e6ec 100644..100755
--- a/6515/libsensors_iio/PressureSensor.IIO.secondary.h
+++ b/6515/libsensors_iio/PressureSensor.IIO.secondary.h
@@ -1,5 +1,5 @@
/*
- * Copyright (C) 2012 The Android Open Source Project
+ * Copyright (C) 2014 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.
diff --git a/6515/libsensors_iio/SensorBase.cpp b/6515/libsensors_iio/SensorBase.cpp
index 016d2df..544ac15 100644..100755
--- a/6515/libsensors_iio/SensorBase.cpp
+++ b/6515/libsensors_iio/SensorBase.cpp
@@ -1,5 +1,5 @@
/*
-* Copyright (C) 2012 Invensense, Inc.
+* Copyright (C) 2014 Invensense, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
diff --git a/6515/libsensors_iio/SensorBase.h b/6515/libsensors_iio/SensorBase.h
index 3a30310..1619958 100644..100755
--- a/6515/libsensors_iio/SensorBase.h
+++ b/6515/libsensors_iio/SensorBase.h
@@ -1,5 +1,5 @@
/*
-* Copyright (C) 2012 Invensense, Inc.
+* Copyright (C) 2014 Invensense, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
diff --git a/6515/libsensors_iio/sensor_params.h b/6515/libsensors_iio/sensor_params.h
index d9bd978..28e2031 100644..100755
--- a/6515/libsensors_iio/sensor_params.h
+++ b/6515/libsensors_iio/sensor_params.h
@@ -1,5 +1,5 @@
/*
-* Copyright (C) 2012 Invensense, Inc.
+* Copyright (C) 2014 Invensense, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
@@ -44,6 +44,11 @@
#define COMPASS_AKM8963_RESOLUTION (0.15f)
#define COMPASS_AKM8963_POWER (10.f)
#define COMPASS_AKM8963_MINDELAY (10000)
+//COMPASS_ID_AK09911
+#define COMPASS_AKM9911_RANGE (9830.f)
+#define COMPASS_AKM9911_RESOLUTION (0.60f)
+#define COMPASS_AKM9911_POWER (10.f)
+#define COMPASS_AKM9911_MINDELAY (10000)
//COMPASS_ID_AMI30X
#define COMPASS_AMI30X_RANGE (5461.f)
#define COMPASS_AMI30X_RESOLUTION (0.9f)
diff --git a/6515/libsensors_iio/sensors.h b/6515/libsensors_iio/sensors.h
index 9920daf..987eaff 100644..100755
--- a/6515/libsensors_iio/sensors.h
+++ b/6515/libsensors_iio/sensors.h
@@ -1,5 +1,5 @@
/*
-* Copyright (C) 2012 Invensense, Inc.
+* Copyright (C) 2014 Invensense, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
@@ -106,23 +106,23 @@ static struct sensor_t sBaseSensorList[] =
{
{"MPL Gyroscope", "Invensense", 1,
SENSORS_GYROSCOPE_HANDLE,
- SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, 0, 128, {}},
+ SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, 0, 124, {}},
{"MPL Raw Gyroscope", "Invensense", 1,
SENSORS_RAW_GYROSCOPE_HANDLE,
- SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, 2000.0f, 1.0f, 0.5f, 10000, 0, 128, {}},
+ SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, 2000.0f, 1.0f, 0.5f, 10000, 0, 124, {}},
{"MPL Accelerometer", "Invensense", 1,
SENSORS_ACCELERATION_HANDLE,
- SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, 0, 128, {}},
+ SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, {}},
{"MPL Magnetic Field", "Invensense", 1,
SENSORS_MAGNETIC_FIELD_HANDLE,
- SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, 0, 128, {}},
+ SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, {}},
{"MPL Raw Magnetic Field", "Invensense", 1,
SENSORS_RAW_MAGNETIC_FIELD_HANDLE,
- SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 10240.0f, 1.0f, 0.5f, 10000, 0, 128, {}},
+ SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, {}},
#ifdef ENABLE_PRESSURE
{"MPL Pressure", "Invensense", 1,
SENSORS_PRESSURE_HANDLE,
- SENSOR_TYPE_PRESSURE, 10240.0f, 1.0f, 0.5f, 10000, 0, 128, {}},
+ SENSOR_TYPE_PRESSURE, 10240.0f, 1.0f, 0.5f, 10000, 0, 165, {}},
#endif
{"MPL Orientation", "Invensense", 1,
SENSORS_ORIENTATION_HANDLE,
@@ -132,7 +132,7 @@ static struct sensor_t sBaseSensorList[] =
SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, {}},
{"MPL Game Rotation Vector", "Invensense", 1,
SENSORS_GAME_ROTATION_VECTOR_HANDLE,
- SENSOR_TYPE_GAME_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 64, {}},
+ SENSOR_TYPE_GAME_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 62, {}},
{"MPL Linear Acceleration", "Invensense", 1,
SENSORS_LINEAR_ACCEL_HANDLE,
SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, {}},
@@ -144,7 +144,7 @@ static struct sensor_t sBaseSensorList[] =
SENSOR_TYPE_SIGNIFICANT_MOTION, 100.0f, 1.0f, 1.1f, 0, 0, 0, {}},
{"MPL Step Detector", "Invensense", 1,
SENSORS_PEDOMETER_HANDLE,
- SENSOR_TYPE_STEP_DETECTOR, 100.0f, 1.0f, 1.1f, 0, 0, 128, {}},
+ SENSOR_TYPE_STEP_DETECTOR, 100.0f, 1.0f, 1.1f, 0, 0, 124, {}},
{"MPL Step Counter", "Invensense", 1,
SENSORS_STEP_COUNTER_HANDLE,
SENSOR_TYPE_STEP_COUNTER, 100.0f, 1.0f, 1.1f, 0, 0, 0, {}},
diff --git a/6515/libsensors_iio/sensors_mpl.cpp b/6515/libsensors_iio/sensors_mpl.cpp
index 97a4009..f15454c 100644..100755
--- a/6515/libsensors_iio/sensors_mpl.cpp
+++ b/6515/libsensors_iio/sensors_mpl.cpp
@@ -1,5 +1,5 @@
/*
-* Copyright (C) 2012 Invensense, Inc.
+* Copyright (C) 2014 Invensense, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
@@ -103,17 +103,13 @@ private:
dmpOrient,
dmpSign,
dmpPed,
- numSensorDrivers, // wake pipe goes here
+ numSensorDrivers,
numFds,
};
struct pollfd mPollFds[numFds];
SensorBase *mSensor;
CompassSensor *mCompassSensor;
-
- static const size_t wake = numSensorDrivers;
- static const char WAKE_MESSAGE = 'W';
- int mWritePipeFd;
};
/******************************************************************************/
@@ -154,19 +150,7 @@ sensors_poll_context_t::sensors_poll_context_t() {
mPollFds[dmpPed].fd = ((MPLSensor*) mSensor)->getDmpPedometerFd();
mPollFds[dmpPed].events = POLLPRI;
- mPollFds[dmpPed].revents = 0;
-
- /* Timer based sensor initialization */
- int wakeFds[2];
- int result = pipe(wakeFds);
- LOGE_IF(result<0, "error creating wake pipe (%s)", strerror(errno));
- fcntl(wakeFds[0], F_SETFL, O_NONBLOCK);
- fcntl(wakeFds[1], F_SETFL, O_NONBLOCK);
- mWritePipeFd = wakeFds[1];
-
- mPollFds[numSensorDrivers].fd = wakeFds[0];
- mPollFds[numSensorDrivers].events = POLLIN;
- mPollFds[numSensorDrivers].revents = 0;
+ mPollFds[dmpPed].revents = 0;
}
sensors_poll_context_t::~sensors_poll_context_t() {
@@ -176,20 +160,13 @@ sensors_poll_context_t::~sensors_poll_context_t() {
for (int i = 0; i < numSensorDrivers; i++) {
close(mPollFds[i].fd);
}
- close(mWritePipeFd);
}
int sensors_poll_context_t::activate(int handle, int enabled) {
FUNC_LOG;
int err;
- err = mSensor->enable(handle, enabled);
- if (!err) {
- const char wakeMessage(WAKE_MESSAGE);
- int result = write(mWritePipeFd, &wakeMessage, 1);
- LOGE_IF(result < 0,
- "error sending wake message (%s)", strerror(errno));
- }
+ err = mSensor->enable(handle, enabled);
return err;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-25 16:47:12 +0000