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Diffstat (limited to '60xx/libsensors_iio/MPLSensor.h')
| -rw-r--r-- | 60xx/libsensors_iio/MPLSensor.h | 346 |
1 files changed, 346 insertions, 0 deletions
diff --git a/60xx/libsensors_iio/MPLSensor.h b/60xx/libsensors_iio/MPLSensor.h new file mode 100644 index 0000000..4162324 --- /dev/null +++ b/60xx/libsensors_iio/MPLSensor.h @@ -0,0 +1,346 @@ +/*
+* Copyright (C) 2012 Invensense, Inc.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+* http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*/
+
+#ifndef ANDROID_MPL_SENSOR_H
+#define ANDROID_MPL_SENSOR_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+#include <poll.h>
+#include <utils/Vector.h>
+#include <utils/KeyedVector.h>
+#include "sensors.h"
+#include "SensorBase.h"
+#include "InputEventReader.h"
+
+#ifdef INVENSENSE_COMPASS_CAL
+
+#ifdef COMPASS_YAS53x
+#warning "unified HAL for YAS53x"
+#include "CompassSensor.IIO.primary.h"
+#elif COMPASS_AMI306
+#warning "unified HAL for AMI306"
+#include "CompassSensor.IIO.primary.h"
+#else
+#warning "unified HAL for MPU9150"
+#include "CompassSensor.IIO.9150.h"
+#endif
+#else
+#warning "unified HAL for AKM"
+#include "CompassSensor.AKM.h"
+#endif
+
+/*****************************************************************************/
+/* Sensors Enable/Disable Mask
+ *****************************************************************************/
+#define MAX_CHIP_ID_LEN (20)
+
+#define INV_THREE_AXIS_GYRO (0x000F)
+#define INV_THREE_AXIS_ACCEL (0x0070)
+#define INV_THREE_AXIS_COMPASS (0x0380)
+#define INV_ALL_SENSORS (0x7FFF)
+
+#ifdef INVENSENSE_COMPASS_CAL
+#define ALL_MPL_SENSORS_NP (INV_THREE_AXIS_ACCEL \
+ | INV_THREE_AXIS_COMPASS \
+ | INV_THREE_AXIS_GYRO)
+#else
+#define ALL_MPL_SENSORS_NP (INV_THREE_AXIS_ACCEL \
+ | INV_THREE_AXIS_COMPASS \
+ | INV_THREE_AXIS_GYRO)
+#endif
+
+// bit mask of current active features (mFeatureActiveMask)
+#define INV_COMPASS_CAL 0x01
+#define INV_COMPASS_FIT 0x02
+#define INV_DMP_QUATERNION 0x04
+#define INV_DMP_DISPL_ORIENTATION 0x08
+
+/* Uncomment to enable Low Power Quaternion */
+#define ENABLE_LP_QUAT_FEAT
+
+/* Uncomment to enable DMP display orientation
+ (within the HAL, see below for Java framework) */
+// #define ENABLE_DMP_DISPL_ORIENT_FEAT
+
+#ifdef ENABLE_DMP_DISPL_ORIENT_FEAT
+/* Uncomment following to expose the SENSOR_TYPE_SCREEN_ORIENTATION
+ sensor type (DMP screen orientation) to the Java framework.
+ NOTE:
+ need Invensense customized
+ 'hardware/libhardware/include/hardware/sensors.h' to compile correctly.
+ NOTE:
+ need Invensense java framework changes to:
+ 'frameworks/base/core/java/android/view/WindowOrientationListener.java'
+ 'frameworks/base/core/java/android/hardware/Sensor.java'
+ 'frameworks/base/core/java/android/hardware/SensorEvent.java'
+ for the 'Auto-rotate screen' to use this feature.
+*/
+#define ENABLE_DMP_SCREEN_AUTO_ROTATION
+#warning "ENABLE_DMP_DISPL_ORIENT_FEAT is defined, framework changes are necessary for HAL to work properly"
+#endif
+
+int isDmpScreenAutoRotationEnabled()
+{
+#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
+ return 1;
+#else
+ return 0;
+#endif
+}
+
+int (*m_pt2AccelCalLoadFunc)(long *bias) = NULL;
+/*****************************************************************************/
+/** MPLSensor implementation which fits into the HAL example for crespo provided
+ * by Google.
+ * WARNING: there may only be one instance of MPLSensor, ever.
+ */
+
+class MPLSensor: public SensorBase
+{
+ typedef int (MPLSensor::*hfunc_t)(sensors_event_t*);
+
+public:
+
+ enum {
+ Gyro = 0,
+ RawGyro,
+ Accelerometer,
+ MagneticField,
+ Orientation,
+ RotationVector,
+ LinearAccel,
+ Gravity,
+ numSensors
+ };
+
+ MPLSensor(CompassSensor *, int (*m_pt2AccelCalLoadFunc)(long*) = 0);
+ virtual ~MPLSensor();
+
+ virtual int setDelay(int32_t handle, int64_t ns);
+ virtual int enable(int32_t handle, int enabled);
+ int32_t getEnableMask() { return mEnabled; }
+
+ virtual int readEvents(sensors_event_t *data, int count);
+ virtual int getFd() const;
+ virtual int getAccelFd() const;
+ virtual int getCompassFd() const;
+ virtual int getPollTime();
+ virtual bool hasPendingEvents() const;
+ virtual void sleepEvent();
+ virtual void wakeEvent();
+ int populateSensorList(struct sensor_t *list, int len);
+ void cbProcData();
+
+ //static pointer to the object that will handle callbacks
+ static MPLSensor* gMPLSensor;
+
+ //AKM HAL Integration
+ //void set_compass(long ready, long x, long y, long z, long accuracy);
+ int executeOnData(sensors_event_t* data, int count);
+ int readAccelEvents(sensors_event_t* data, int count);
+ int readCompassEvents(sensors_event_t* data, int count);
+
+ int turnOffAccelFifo();
+ int enableDmpOrientation(int);
+ int dmpOrientHandler(int);
+ int readDmpOrientEvents(sensors_event_t* data, int count);
+ int getDmpOrientFd();
+ int openDmpOrientFd();
+ int closeDmpOrientFd();
+
+ int getDmpRate(int64_t *);
+ int checkDMPOrientation();
+
+protected:
+ CompassSensor *mCompassSensor;
+
+ int gyroHandler(sensors_event_t *data);
+ int rawGyroHandler(sensors_event_t *data);
+ int accelHandler(sensors_event_t *data);
+ int compassHandler(sensors_event_t *data);
+ int rvHandler(sensors_event_t *data);
+ int laHandler(sensors_event_t *data);
+ int gravHandler(sensors_event_t *data);
+ int orienHandler(sensors_event_t *data);
+ void calcOrientationSensor(float *Rx, float *Val);
+ virtual int update_delay();
+
+ void inv_set_device_properties();
+ int inv_constructor_init();
+ int inv_constructor_default_enable();
+ int setGyroInitialState();
+ int setAccelInitialState();
+ int masterEnable(int en);
+ int onPower(int en);
+ int enableLPQuaternion(int);
+ int enableQuaternionData(int);
+ int onDMP(int);
+ int enableOneSensor(int en, const char *name, int (MPLSensor::*enabler)(int));
+ int enableGyro(int en);
+ int enableAccel(int en);
+ int enableCompass(int en);
+ void computeLocalSensorMask(int enabled_sensors);
+ int enableSensors(unsigned long sensors, int en, uint32_t changed);
+ int inv_read_gyro_buffer(int fd, short *data, long long *timestamp);
+ int inv_float_to_q16(float *fdata, long *ldata);
+ int inv_long_to_q16(long *fdata, long *ldata);
+ int inv_float_to_round(float *fdata, long *ldata);
+ int inv_float_to_round2(float *fdata, short *sdata);
+ int inv_read_temperature(long long *data);
+ int inv_read_dmp_state(int fd);
+ int inv_read_sensor_bias(int fd, long *data);
+ void inv_get_sensors_orientation(void);
+ int inv_init_sysfs_attributes(void);
+#ifdef COMPASS_YAS53x
+ int resetCompass(void);
+#endif
+ void setCompassDelay(int64_t ns);
+ void enable_iio_sysfs(void);
+ int enableTap(int);
+ int enableFlick(int);
+ int enablePedometer(int);
+ int checkLPQuaternion();
+
+ int mNewData; // flag indicating that the MPL calculated new output values
+ int mDmpStarted;
+ long mMasterSensorMask;
+ long mLocalSensorMask;
+ int mPollTime;
+ bool mHaveGoodMpuCal; // flag indicating that the cal file can be written
+ int mGyroAccuracy; // value indicating the quality of the gyro calibr.
+ int mAccelAccuracy; // value indicating the quality of the accel calibr.
+ int mCompassAccuracy; // value indicating the quality of the compass calibr.
+ struct pollfd mPollFds[5];
+ int mSampleCount;
+ pthread_mutex_t mMplMutex;
+ pthread_mutex_t mHALMutex;
+
+ char mIIOBuffer[(16 + 8 * 3 + 8) * IIO_BUFFER_LENGTH];
+
+ int iio_fd;
+ int accel_fd;
+ int mpufifo_fd;
+ int gyro_temperature_fd;
+ int dmp_orient_fd;
+
+ int mDmpOrientationEnabled;
+
+
+ uint32_t mEnabled;
+ uint32_t mOldEnabledMask;
+ sensors_event_t mPendingEvents[numSensors];
+ int64_t mDelays[numSensors];
+ hfunc_t mHandlers[numSensors];
+ short mCachedGyroData[3];
+ long mCachedAccelData[3];
+ long mCachedCompassData[3];
+ long mCachedQuaternionData[4];
+ android::KeyedVector<int, int> mIrqFds;
+
+ InputEventCircularReader mAccelInputReader;
+ InputEventCircularReader mGyroInputReader;
+
+ bool mFirstRead;
+ short mTempScale;
+ short mTempOffset;
+ int64_t mTempCurrentTime;
+ int mAccelScale;
+
+ uint32_t mPendingMask;
+ unsigned long mSensorMask;
+
+ char chip_ID[MAX_CHIP_ID_LEN];
+
+ signed char mGyroOrientation[9];
+ signed char mAccelOrientation[9];
+
+ int64_t mSensorTimestamp;
+ int64_t mCompassTimestamp;
+
+ struct sysfs_attrbs {
+ char *chip_enable;
+ char *power_state;
+ char *dmp_firmware;
+ char *firmware_loaded;
+ char *dmp_on;
+ char *dmp_int_on;
+ char *dmp_event_int_on;
+ char *dmp_output_rate;
+ char *tap_on;
+ char *key;
+ char *self_test;
+ char *temperature;
+
+ char *gyro_enable;
+ char *gyro_fifo_rate;
+ char *gyro_orient;
+ char *gyro_x_fifo_enable;
+ char *gyro_y_fifo_enable;
+ char *gyro_z_fifo_enable;
+
+ char *accel_enable;
+ char *accel_fifo_rate;
+ char *accel_fsr;
+ char *accel_bias;
+ char *accel_orient;
+ char *accel_x_fifo_enable;
+ char *accel_y_fifo_enable;
+ char *accel_z_fifo_enable;
+
+ char *quaternion_on;
+ char *in_quat_r_en;
+ char *in_quat_x_en;
+ char *in_quat_y_en;
+ char *in_quat_z_en;
+
+ char *in_timestamp_en;
+ char *trigger_name;
+ char *current_trigger;
+ char *buffer_length;
+
+ char *display_orientation_on;
+ char *event_display_orientation;
+ } mpu;
+
+ char *sysfs_names_ptr;
+ int mFeatureActiveMask;
+
+private:
+ /* added for dynamic get sensor list */
+ void fillAccel(const char* accel, struct sensor_t *list);
+ void fillGyro(const char* gyro, struct sensor_t *list);
+ void fillRV(struct sensor_t *list);
+ void fillOrientation(struct sensor_t *list);
+ void fillGravity(struct sensor_t *list);
+ void fillLinearAccel(struct sensor_t *list);
+ void storeCalibration();
+ void loadDMP();
+ bool isMpu3050();
+ int isLowPowerQuatEnabled();
+ int isDmpDisplayOrientationOn();
+
+
+};
+
+extern "C" {
+ void setCallbackObject(MPLSensor*);
+ MPLSensor *getCallbackObject();
+}
+
+#endif // ANDROID_MPL_SENSOR_H
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