From deb5d22e3769be80b6627c812dba9ea3b5a90f0a Mon Sep 17 00:00:00 2001 From: Mark Salyzyn Date: Wed, 25 Feb 2015 20:51:59 +0000 Subject: Revert "manta: batching and timestamp issues" Breaks AOSP build for Manta. New Build Breakage in branch: git_mirror-aosp-master-with-vendor @ 1754987 This reverts commit 0850f97bc90f715e7e4496203cf7cf26050819a2. Change-Id: If8635b47a9a1423711eba96b75ef270da82da91c --- 60xx/libsensors_iio/Android.mk | 17 --- 60xx/libsensors_iio/MPLSensor.cpp | 5 +- .../software/core/mllite/data_builder.c | 127 ++------------------- .../software/core/mllite/data_builder.h | 7 -- .../software/core/mllite/hal_outputs.c | 25 ++-- .../software/core/mllite/hal_outputs.h | 4 - 6 files changed, 18 insertions(+), 167 deletions(-) diff --git a/60xx/libsensors_iio/Android.mk b/60xx/libsensors_iio/Android.mk index 874f63e..5d936a2 100644 --- a/60xx/libsensors_iio/Android.mk +++ b/60xx/libsensors_iio/Android.mk @@ -84,8 +84,6 @@ OVERRIDE_BUILT_MODULE_PATH := $(TARGET_OUT_INTERMEDIATE_LIBRARIES) LOCAL_STRIP_MODULE := true include $(BUILD_PREBUILT) -# Experimental -ifneq ($(BOARD_INV_LIBMLLITE_FROM_SOURCE),true) include $(CLEAR_VARS) LOCAL_MODULE := libmllite LOCAL_SRC_FILES := libmllite.so @@ -97,18 +95,3 @@ LOCAL_MODULE_PATH := $(TARGET_OUT)/lib OVERRIDE_BUILT_MODULE_PATH := $(TARGET_OUT_INTERMEDIATE_LIBRARIES) LOCAL_STRIP_MODULE := true include $(BUILD_PREBUILT) -else -include $(CLEAR_VARS) -LOCAL_CFLAGS += -DANDROID_JELLYBEAN -LOCAL_CFLAGS += -DLINUX=1 -LOCAL_MODULE := libmllite -LOCAL_SRC_FILES := $(call all-c-files-under, software/core/mllite) -LOCAL_C_INCLUDES += $(LOCAL_PATH)/software/core/mllite -LOCAL_C_INCLUDES += $(LOCAL_PATH)/software/core/mllite/linux -LOCAL_C_INCLUDES += $(LOCAL_PATH)/software/core/driver/include -LOCAL_C_INCLUDES += $(LOCAL_PATH)/software/core/driver/include/linux -LOCAL_MODULE_OWNER := invensense -LOCAL_MODULE_PATH := $(TARGET_OUT)/lib -LOCAL_SHARED_LIBRARIES := liblog -include $(BUILD_SHARED_LIBRARY) -endif diff --git a/60xx/libsensors_iio/MPLSensor.cpp b/60xx/libsensors_iio/MPLSensor.cpp index 610069c..0aa6556 100644 --- a/60xx/libsensors_iio/MPLSensor.cpp +++ b/60xx/libsensors_iio/MPLSensor.cpp @@ -1588,8 +1588,6 @@ int MPLSensor::update_delay() { inv_set_gyro_sample_rate(mplGyroRate); inv_set_accel_sample_rate(mplAccelRate); inv_set_compass_sample_rate(mplCompassRate); - inv_set_linear_acceleration_sample_rate(rateInus); - inv_set_gravity_sample_rate(rateInus); /* TODO: Test 200Hz */ // inv_set_gyro_sample_rate(5000); @@ -1886,10 +1884,9 @@ int MPLSensor::readEvents(sensors_event_t* /*data*/, int /*count*/) { ((mLocalSensorMask & INV_THREE_AXIS_ACCEL)? 6: 0))); #endif - if (rsize != nbyte) { + if (rsize < (nbyte - 8)) { LOGE("HAL:ERR Full data packet was not read. rsize=%zd nbyte=%d sensors=%d errno=%d(%s)", rsize, nbyte, sensors, errno, strerror(errno)); - rsize = read(iio_fd, rdata, sizeof(mIIOBuffer)); return -1; } diff --git a/60xx/libsensors_iio/software/core/mllite/data_builder.c b/60xx/libsensors_iio/software/core/mllite/data_builder.c index 0aa418d..48993bc 100644 --- a/60xx/libsensors_iio/software/core/mllite/data_builder.c +++ b/60xx/libsensors_iio/software/core/mllite/data_builder.c @@ -62,7 +62,6 @@ struct inv_data_builder_t { struct process_t process[INV_MAX_DATA_CB]; struct inv_db_save_t save; int compass_disturbance; - int mode; #ifdef INV_PLAYBACK_DBG int debug_mode; int last_mode; @@ -240,117 +239,6 @@ void inv_set_accel_sample_rate(long sample_rate_us) } } -/** Pick the smallest non-negative number. Priority to td1 on equal -* If both are negative, return the largest. -*/ -static int inv_pick_best_time_difference(long td1, long td2) -{ - if (td1 >= 0) { - if (td2 >= 0) { - if (td1 <= td2) { - // td1 - return 0; - } else { - // td2 - return 1; - } - } else { - // td1 - return 0; - } - } else if (td2 >= 0) { - // td2 - return 1; - } else { - // Both are negative - if (td1 >= td2) { - // td1 - return 0; - } else { - // td2 - return 1; - } - } -} - -/** Returns timestame based upon a raw sensor, and returns if that sample has a new piece of data. -*/ -static int inv_raw_sensor_timestamp(int sensor_number, inv_time_t *ts) -{ - int status = 0; - switch (sensor_number) { - case 0: // Quat - *ts = sensors.quat.timestamp; - if (inv_data_builder.mode & INV_QUAT_NEW) - if (sensors.quat.timestamp_prev != sensors.quat.timestamp) - status = 1; - return status; - case 1: // Gyro - *ts = sensors.gyro.timestamp; - if (inv_data_builder.mode & INV_GYRO_NEW) - if (sensors.gyro.timestamp_prev != sensors.gyro.timestamp) - status = 1; - return status; - case 2: // Accel - *ts = sensors.accel.timestamp; - if (inv_data_builder.mode & INV_ACCEL_NEW) - if (sensors.accel.timestamp_prev != sensors.accel.timestamp) - status = 1; - return status; - case 3: // Compass - *ts = sensors.compass.timestamp; - if (inv_data_builder.mode & INV_MAG_NEW) - if (sensors.compass.timestamp_prev != sensors.compass.timestamp) - status = 1; - return status; - default: - *ts = 0; - return 0; - } - return 0; -} - -/** Gets best timestamp and if there is a new piece of data for a 9-axis sensor combination. -* It does this by finding a raw sensor that has the closest sample rate that is at least as -* often desired. It also returns if that raw sensor has a new piece of data. -* Priority is Quaternion-6axis, Quaternion 3-axis, Gyro, Accel -* @return Returns 1, if the raw sensor being attached has new data, 0 otherwise. -*/ -int inv_get_6_axis_gyro_accel_timestamp(long sample_rate_us, inv_time_t *ts) -{ - long td[2]; - int idx; - - if ((sensors.quat.status & (INV_QUAT_6AXIS | INV_SENSOR_ON)) == (INV_QUAT_6AXIS | INV_SENSOR_ON)) { - // Sensor number is 0 (Quat) - return inv_raw_sensor_timestamp(0, ts); - } else if ((sensors.accel.status & INV_SENSOR_ON) == 0) { - return 0; // Accel must be on or 6-axis quat must be on - } - - // At this point, we know accel is on. Check if 3-axis quat is on - td[0] = sample_rate_us - sensors.quat.sample_rate_us; - td[1] = sample_rate_us - sensors.accel.sample_rate_us; - if ((sensors.quat.status & (INV_QUAT_3AXIS | INV_SENSOR_ON)) == (INV_QUAT_3AXIS | INV_SENSOR_ON)) { - idx = inv_pick_best_time_difference(td[0], td[1]); - idx *= 2; - // 0 = quat, 3=accel - return inv_raw_sensor_timestamp(idx, ts); - } - - // No Quaternion data from outside, Gyro must be on - if ((sensors.gyro.status & INV_SENSOR_ON) == 0) { - return 0; // Gyro must be on - } - - td[0] = sample_rate_us - sensors.gyro.sample_rate_us; - idx = inv_pick_best_time_difference(td[0], td[1]); - idx *= 2; // 0=gyro 2=accel - idx++; - // 1 = gyro, 3=accel - return inv_raw_sensor_timestamp(idx, ts); -} - /** Set Compass Sample rate in micro seconds. * @param[in] sample_rate_us Set Gyro Sample rate in micro seconds. */ @@ -1007,6 +895,7 @@ inv_error_t inv_execute_on_data(void) { inv_error_t result, first_error; int kk; + int mode; #ifdef INV_PLAYBACK_DBG if (inv_data_builder.debug_mode == RD_RECORD) { @@ -1015,22 +904,22 @@ inv_error_t inv_execute_on_data(void) } #endif // Determine what new data we have - inv_data_builder.mode = 0; + mode = 0; if (sensors.gyro.status & INV_NEW_DATA) - inv_data_builder.mode |= INV_GYRO_NEW; + mode |= INV_GYRO_NEW; if (sensors.accel.status & INV_NEW_DATA) - inv_data_builder.mode |= INV_ACCEL_NEW; + mode |= INV_ACCEL_NEW; if (sensors.compass.status & INV_NEW_DATA) - inv_data_builder.mode |= INV_MAG_NEW; + mode |= INV_MAG_NEW; if (sensors.temp.status & INV_NEW_DATA) - inv_data_builder.mode |= INV_TEMP_NEW; + mode |= INV_TEMP_NEW; if (sensors.quat.status & INV_QUAT_NEW) - inv_data_builder.mode |= INV_QUAT_NEW; + mode |= INV_QUAT_NEW; first_error = INV_SUCCESS; for (kk = 0; kk < inv_data_builder.num_cb; ++kk) { - if (inv_data_builder.mode & inv_data_builder.process[kk].data_required) { + if (mode & inv_data_builder.process[kk].data_required) { result = inv_data_builder.process[kk].func(&sensors); if (result && !first_error) { first_error = result; diff --git a/60xx/libsensors_iio/software/core/mllite/data_builder.h b/60xx/libsensors_iio/software/core/mllite/data_builder.h index c8c18cf..9aa46e6 100644 --- a/60xx/libsensors_iio/software/core/mllite/data_builder.h +++ b/60xx/libsensors_iio/software/core/mllite/data_builder.h @@ -26,10 +26,6 @@ extern "C" { #define INV_TEMP_NEW 8 /** This is a new sample of quaternion data */ #define INV_QUAT_NEW 16 -/** Set if quaternion is 6-axis from DMP */ -#define INV_QUAT_6AXIS 1024 -/** Set if quaternion is 3-axis from DMP */ -#define INV_QUAT_3AXIS 4096 /** Set if the data is contiguous. Typically not set if a sample was skipped */ #define INV_CONTIGUOUS 16 @@ -102,7 +98,6 @@ struct inv_quat_sensor_t { * INV_CALIBRATED_SET if calibrated data has been solved for */ int status; inv_time_t timestamp; - inv_time_t timestamp_prev; long sample_rate_us; long sample_rate_ms; }; @@ -230,8 +225,6 @@ int inv_get_compass_disturbance(void); inv_error_t inv_get_gyro_orient(int *orient); inv_error_t inv_get_accel_orient(int *orient); -// internal -int inv_get_6_axis_gyro_accel_timestamp(long sample_rate_us, inv_time_t *ts); #ifdef __cplusplus } diff --git a/60xx/libsensors_iio/software/core/mllite/hal_outputs.c b/60xx/libsensors_iio/software/core/mllite/hal_outputs.c index caa1db7..7cdca59 100644 --- a/60xx/libsensors_iio/software/core/mllite/hal_outputs.c +++ b/60xx/libsensors_iio/software/core/mllite/hal_outputs.c @@ -42,22 +42,10 @@ struct hal_output_t { int nine_axis_status; inv_biquad_filter_t lp_filter[3]; float compass_float[3]; - long linear_acceleration_sample_rate_us; - long gravity_sample_rate_us; }; static struct hal_output_t hal_out; -void inv_set_linear_acceleration_sample_rate(long sample_rate_us) -{ - hal_out.linear_acceleration_sample_rate_us = sample_rate_us; -} - -void inv_set_gravity_sample_rate(long sample_rate_us) -{ - hal_out.gravity_sample_rate_us = sample_rate_us; -} - /** Acceleration (m/s^2) in body frame. * @param[out] values Acceleration in m/s^2 includes gravity. So while not in motion, it * should return a vector of magnitude near 9.81 m/s^2 @@ -97,9 +85,8 @@ int inv_get_sensor_type_linear_acceleration(float *values, int8_t *accuracy, inv_time_t * timestamp) { long gravity[3], accel[3]; - inv_time_t timestamp1; - inv_get_accel_set(accel, accuracy, ×tamp1); + inv_get_accel_set(accel, accuracy, timestamp); inv_get_gravity(gravity); accel[0] -= gravity[0] >> 14; accel[1] -= gravity[1] >> 14; @@ -108,7 +95,7 @@ int inv_get_sensor_type_linear_acceleration(float *values, int8_t *accuracy, values[1] = accel[1] * ACCEL_CONVERSION; values[2] = accel[2] * ACCEL_CONVERSION; - return inv_get_6_axis_gyro_accel_timestamp(hal_out.linear_acceleration_sample_rate_us, timestamp); + return hal_out.nine_axis_status; } /** Gravity vector (m/s^2) in Body Frame. @@ -122,13 +109,19 @@ int inv_get_sensor_type_gravity(float *values, int8_t *accuracy, inv_time_t * timestamp) { long gravity[3]; + int status; *accuracy = (int8_t) hal_out.accuracy_quat; + *timestamp = hal_out.nav_timestamp; inv_get_gravity(gravity); values[0] = (gravity[0] >> 14) * ACCEL_CONVERSION; values[1] = (gravity[1] >> 14) * ACCEL_CONVERSION; values[2] = (gravity[2] >> 14) * ACCEL_CONVERSION; - return inv_get_6_axis_gyro_accel_timestamp(hal_out.gravity_sample_rate_us, timestamp); + if ((hal_out.accel_status & INV_NEW_DATA) || (hal_out.gyro_status & INV_NEW_DATA)) + status = 1; + else + status = 0; + return status; } /* Converts fixed point to rad/sec. Fixed point has 1 dps = 2^16. diff --git a/60xx/libsensors_iio/software/core/mllite/hal_outputs.h b/60xx/libsensors_iio/software/core/mllite/hal_outputs.h index 41b72c6..85e88f3 100644 --- a/60xx/libsensors_iio/software/core/mllite/hal_outputs.h +++ b/60xx/libsensors_iio/software/core/mllite/hal_outputs.h @@ -38,10 +38,6 @@ extern "C" { inv_error_t inv_start_hal_outputs(void); inv_error_t inv_stop_hal_outputs(void); - // Set data rates for virtual sensors - void inv_set_linear_acceleration_sample_rate(long sample_rate_us); - void inv_set_gravity_sample_rate(long sample_rate_us); - #ifdef __cplusplus } #endif -- cgit v1.2.3