CompassSensor::CompassSensor()
: SensorBase(NULL, NULL),
compass_fd(-1),
mCompassTimestamp(0),
mCompassInputReader(8)
{
VFUNC_LOG;
if(!strcmp(COMPASS_NAME, "USE_SYSFS")) {
int result = find_name_by_sensor_type("in_magn_scale", "iio:device",
sensor_name);
if(result) {
LOGE("HAL:Cannot read secondary device name - (%d)", result);
}
dev_name = sensor_name;
}
LOGI_IF(PROCESS_VERBOSE, "HAL:Secondary Chip Id: %s", dev_name);
if(inv_init_sysfs_attributes()) {
LOGE("Error Instantiating Compass\n");
return;
}
memset(mCachedCompassData, 0, sizeof(mCachedCompassData));
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
compassSysFs.compass_orient, getTimestamp());
FILE *fptr;
fptr = fopen(compassSysFs.compass_orient, "r");
if (fptr != NULL) {
int om[9];
if (fscanf(fptr, "%d,%d,%d,%d,%d,%d,%d,%d,%d",
&om[0], &om[1], &om[2], &om[3], &om[4], &om[5],
&om[6], &om[7], &om[8]) < 0 || fclose(fptr) < 0) {
LOGE("HAL:Could not read compass mounting matrix");
} else {
LOGV_IF(EXTRA_VERBOSE, "HAL:compass mounting matrix: "
"%+d %+d %+d %+d %+d %+d %+d %+d %+d", om[0], om[1], om[2],
om[3], om[4], om[5], om[6], om[7], om[8]);
mCompassOrientation[0] = om[0];
mCompassOrientation[1] = om[1];
mCompassOrientation[2] = om[2];
mCompassOrientation[3] = om[3];
mCompassOrientation[4] = om[4];
mCompassOrientation[5] = om[5];
mCompassOrientation[6] = om[6];
mCompassOrientation[7] = om[7];
mCompassOrientation[8] = om[8];
}
}
if (!isIntegrated()) {
enable(ID_M, 0);
}
}
CompassSensor::CompassSensor()
: SensorBase(NULL, NULL),
compass_fd(-1),
mCompassTimestamp(0),
mCompassInputReader(8)
{
VFUNC_LOG;
if(inv_init_sysfs_attributes()) {
LOGE("Error Instantiating Compass\n");
return;
}
if (!strcmp(COMPASS_NAME, "INV_COMPASS")) {
mI2CBus = COMPASS_BUS_SECONDARY;
} else {
mI2CBus = COMPASS_BUS_PRIMARY;
}
memset(mCachedCompassData, 0, sizeof(mCachedCompassData));
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
compassSysFs.compass_orient, getTimestamp());
FILE *fptr;
fptr = fopen(compassSysFs.compass_orient, "r");
if (fptr != NULL) {
int om[9];
fscanf(fptr, "%d,%d,%d,%d,%d,%d,%d,%d,%d",
&om[0], &om[1], &om[2], &om[3], &om[4], &om[5],
&om[6], &om[7], &om[8]);
fclose(fptr);
LOGV_IF(EXTRA_VERBOSE,
"HAL:compass mounting matrix: "
"%+d %+d %+d %+d %+d %+d %+d %+d %+d",
om[0], om[1], om[2], om[3], om[4], om[5], om[6], om[7], om[8]);
mCompassOrientation[0] = om[0];
mCompassOrientation[1] = om[1];
mCompassOrientation[2] = om[2];
mCompassOrientation[3] = om[3];
mCompassOrientation[4] = om[4];
mCompassOrientation[5] = om[5];
mCompassOrientation[6] = om[6];
mCompassOrientation[7] = om[7];
mCompassOrientation[8] = om[8];
} else {
LOGE("HAL:Couldn't read compass mounting matrix");
}
if (!isIntegrated()) {
enable(ID_M, 0);
}
}
int main(int argc, char **argv)
{
char data[4];
int i, res= 0;
printf("\n"
"****************************************************************\n"
"*** NOTE: ***\n"
"*** the HAL must be compiled with Low power quaternion ***\n"
"*** and/or DMP screen orientation support. ***\n"
"*** 'At least' one of the 4 Android virtual sensors ***\n"
"*** must be enabled. ***\n"
"*** ***\n"
"*** Please perform gestures to see the output. ***\n"
"*** Press any key to stop the program. ***\n"
"****************************************************************\n"
"\n");
res = inv_init_sysfs_attributes();
if (res) {
printf("GT:ERR-Can't allocate mem\n");
return -1;
}
/* init Fds to poll for gesture data */
init_fds();
/* on Gesture/DMP supported features */
if (enable_dmp_features(1) < 0) {
printf("GT:ERR-Can't enable Gestures\n");
return -1;
}
do {
for (i = 0; i < NUM_DMP_FEATS; i++)
read(pfd[i].fd, data, 4);
poll(pfd, NUM_DMP_FEATS, POLL_TIME);
parse_events(pfd, NUM_DMP_FEATS);
} while (!_kbhit());
/* off Gesture/DMP supported features */
if (enable_dmp_features(0) < 0) {
printf("GT:ERR-Can't disable Gestures\n");
return -1;
}
/* release resources */
close_fds();
if (sysfs_names_ptr)
free(sysfs_names_ptr);
return res;
}
PressureSensor::PressureSensor(const char *sysfs_path)
: SensorBase(NULL, NULL),
pressure_fd(-1)
{
VFUNC_LOG;
mSysfsPath = sysfs_path;
LOGI("pressuresensor path: %s", mSysfsPath);
if(inv_init_sysfs_attributes()) {
LOGE("Error Instantiating Pressure Sensor\n");
return;
} else {
LOGI("HAL:Secondary Chip Id: %s", CHIP_ID);
}
}
/*******************************************************************************
* M a i n
******************************************************************************/
int main(int argc, char **argv)
{
FILE *fptr;
int self_test_status = 0;
inv_error_t result;
bias_dtype gyro_bias[3];
bias_dtype gyro_scale;
bias_dtype accel_bias[3];
bias_dtype accel_scale;
int scale_ratio;
size_t packet_sz;
int axis_sign = 1;
unsigned char *buffer;
long timestamp;
long long temperature = 0;
bool compass_present = true;
int c;
result= inv_init_sysfs_attributes();
if (result)
return -1;
// Self-test for Non-Hub
inv_init_storage_manager();
// Register packet to be saved.
result = inv_register_load_store(
inv_db_load_func, inv_db_save_func,
sizeof(save_data), INV_DB_SAVE_KEY);
// Self-test for Android Hub
if (android_hub() == true) {
printf(" android_hub() == true \n");
fptr = fopen(mpu.self_test, "r");
if (fptr) {
fscanf(fptr, "%d", &self_test_status);
printf("\nSelf-Test:Hub:Self test result - "
"Gyro passed= %x, Accel passed= %x, Compass passed= %x\n",
(self_test_status & GYRO_PASS_STATUS_BIT),
(self_test_status & ACCEL_PASS_STATUS_BIT) >> 1,
(self_test_status & COMPASS_PASS_STATUS_BIT) >> 2);
fclose(fptr);
result = 0;
} else {
int main(int argc, char **argv)
{
char data[4];
int i, res= 0;
res = inv_init_sysfs_attributes();
if (res) {
printf("GT:ERR-Can't allocate mem");
return -1;
}
/* On Gesture/DMP supported features */
enableDMPFeatures(1);
/* init Fds to poll for Gesture data */
initFds();
/* prompt user to make gesture and how to stop program */
printf("\n**Please make Gesture to see data. Press any key to stop Prog**\n\n");
do {
for (i=0; i< numDMPFeatures; i++) {
read(pfd[i].fd, data, 4);
}
poll(pfd, numDMPFeatures, POLL_TIME);
for (i=0; i< numDMPFeatures; i++) {
if(pfd[i].revents != 0) {
switch(i) {
case tap:
tapHandler();
break;
case flick:
flickHandler();
break;
case gOrient:
googleOrientHandler();
break;
case orient:
orientHandler();
break;
default:
printf("GT:ERR-Not supported");
break;
}
pfd[i].revents= 0; //no need. reset anyway
}
}
} while (!_kbhit());
/* Off DMP features */
enableDMPFeatures(0);
/* release resources */
closeFds();
if (sysfs_names_ptr) {
free(sysfs_names_ptr);
}
printf("\nThank You!\n");
return res;
}
CompassSensor::CompassSensor()
: SensorBase(COMPASS_NAME, NULL),
mCompassTimestamp(0),
mCompassInputReader(8),
mCoilsResetFd(0)
{
FILE *fptr;
VFUNC_LOG;
mYasCompass = false;
if(!strcmp(dev_name, "USE_SYSFS")) {
char sensor_name[20];
find_name_by_sensor_type("in_magn_x_raw", "iio:device", sensor_name);
strncpy(dev_full_name, sensor_name,
sizeof(dev_full_name) / sizeof(dev_full_name[0]));
if(!strncmp(dev_full_name, "yas", 3)) {
mYasCompass = true;
}
} else {
#ifdef COMPASS_YAS53x
/* for YAS53x compasses, dev_name is just a prefix,
we need to find the actual name */
if (fill_dev_full_name_by_prefix(dev_name,
dev_full_name, sizeof(dev_full_name) / sizeof(dev_full_name[0]))) {
LOGE("Cannot find Yamaha device with prefix name '%s' - "
"magnetometer will likely not work.", dev_name);
} else {
mYasCompass = true;
}
#else
strncpy(dev_full_name, dev_name,
sizeof(dev_full_name) / sizeof(dev_full_name[0]));
#endif
}
if (inv_init_sysfs_attributes()) {
LOGE("Error Instantiating Compass\n");
return;
}
if (!strcmp(dev_full_name, "INV_COMPASS")) {
mI2CBus = COMPASS_BUS_SECONDARY;
} else {
mI2CBus = COMPASS_BUS_PRIMARY;
}
memset(mCachedCompassData, 0, sizeof(mCachedCompassData));
if (!isIntegrated()) {
enable(ID_M, 0);
}
LOGV_IF(SYSFS_VERBOSE, "HAL:compass name: %s", dev_full_name);
enable_iio_sysfs();
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
compassSysFs.compass_orient, getTimestamp());
fptr = fopen(compassSysFs.compass_orient, "r");
if (fptr != NULL) {
int om[9];
if (fscanf(fptr, "%d,%d,%d,%d,%d,%d,%d,%d,%d",
&om[0], &om[1], &om[2], &om[3], &om[4], &om[5],
&om[6], &om[7], &om[8]) < 0 || fclose(fptr)) {
LOGE("HAL:could not read compass mounting matrix");
} else {
LOGV_IF(EXTRA_VERBOSE,
"HAL:compass mounting matrix: "
"%+d %+d %+d %+d %+d %+d %+d %+d %+d",
om[0], om[1], om[2], om[3], om[4], om[5], om[6], om[7], om[8]);
mCompassOrientation[0] = om[0];
mCompassOrientation[1] = om[1];
mCompassOrientation[2] = om[2];
mCompassOrientation[3] = om[3];
mCompassOrientation[4] = om[4];
mCompassOrientation[5] = om[5];
mCompassOrientation[6] = om[6];
mCompassOrientation[7] = om[7];
mCompassOrientation[8] = om[8];
}
}
if(mYasCompass) {
mCoilsResetFd = fopen(compassSysFs.compass_attr_1, "r+");
if (fptr == NULL) {
LOGE("HAL:Could not open compass overunderflow");
}
}
}
