bool
MPU9250_mag::ak8963_setup(void)
{
int retries = 10;
// enable the I2C master to slaves on the aux bus
uint8_t user_ctrl = _parent->read_reg(MPUREG_USER_CTRL);
_parent->write_checked_reg(MPUREG_USER_CTRL, user_ctrl | BIT_I2C_MST_EN);
_parent->write_reg(MPUREG_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | BIT_I2C_MST_WAIT_FOR_ES | BITS_I2C_MST_CLOCK_400HZ);
if (!ak8963_check_id()) {
::printf("AK8963: bad id\n");
}
while (!ak8963_read_adjustments()) {
if (!retries--) {
::printf("AK8963: failed to read adjustment data\n");
break;
}
}
passthrough_write(AK8963REG_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
set_passthrough(AK8963REG_ST1, sizeof(struct ak8963_regs));
return true;
}
/*
* 400kHz I2C bus speed = 2.5us per bit = 25us per byte
*/
void
MPU9250_mag::passthrough_write(uint8_t reg, uint8_t val)
{
set_passthrough(reg, 1, &val);
usleep(50); // wait for the value to be written to slave
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new writes
}
static GstFlowReturn
gst_iir_equalizer_transform_ip (GstBaseTransform * btrans, GstBuffer * buf)
{
GstAudioFilter *filter = GST_AUDIO_FILTER (btrans);
GstIirEqualizer *equ = GST_IIR_EQUALIZER (btrans);
GstClockTime timestamp;
if (G_UNLIKELY (filter->format.channels < 1 || equ->process == NULL))
return GST_FLOW_NOT_NEGOTIATED;
if (equ->need_new_coefficients) {
update_coefficients (equ);
set_passthrough (equ);
}
if (gst_base_transform_is_passthrough (btrans))
return GST_FLOW_OK;
timestamp = GST_BUFFER_TIMESTAMP (buf);
timestamp =
gst_segment_to_stream_time (&btrans->segment, GST_FORMAT_TIME, timestamp);
if (GST_CLOCK_TIME_IS_VALID (timestamp))
gst_object_sync_values (G_OBJECT (equ), timestamp);
equ->process (equ, GST_BUFFER_DATA (buf), GST_BUFFER_SIZE (buf),
filter->format.channels);
return GST_FLOW_OK;
}
void
MPU9250_mag::passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size)
{
set_passthrough(reg, size);
usleep(25 + 25 * size); // wait for the value to be read from slave
read_block(MPUREG_EXT_SENS_DATA_00, buf, size);
_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new reads
}
static GstFlowReturn
gst_iir_equalizer_transform_ip (GstBaseTransform * btrans, GstBuffer * buf)
{
GstAudioFilter *filter = GST_AUDIO_FILTER (btrans);
GstIirEqualizer *equ = GST_IIR_EQUALIZER (btrans);
GstClockTime timestamp;
GstMapInfo map;
gint channels = GST_AUDIO_FILTER_CHANNELS (filter);
gboolean need_new_coefficients;
if (G_UNLIKELY (channels < 1 || equ->process == NULL))
return GST_FLOW_NOT_NEGOTIATED;
BANDS_LOCK (equ);
need_new_coefficients = equ->need_new_coefficients;
BANDS_UNLOCK (equ);
if (!need_new_coefficients && gst_base_transform_is_passthrough (btrans))
return GST_FLOW_OK;
timestamp = GST_BUFFER_TIMESTAMP (buf);
timestamp =
gst_segment_to_stream_time (&btrans->segment, GST_FORMAT_TIME, timestamp);
if (GST_CLOCK_TIME_IS_VALID (timestamp)) {
GstIirEqualizerBand **filters = equ->bands;
guint f, nf = equ->freq_band_count;
gst_object_sync_values (GST_OBJECT (equ), timestamp);
/* sync values for bands too */
/* FIXME: iterating equ->bands is not thread-safe here */
for (f = 0; f < nf; f++) {
gst_object_sync_values (GST_OBJECT (filters[f]), timestamp);
}
}
BANDS_LOCK (equ);
if (need_new_coefficients) {
update_coefficients (equ);
set_passthrough (equ);
}
BANDS_UNLOCK (equ);
gst_buffer_map (buf, &map, GST_MAP_READWRITE);
equ->process (equ, map.data, map.size, channels);
gst_buffer_unmap (buf, &map);
return GST_FLOW_OK;
}
static void
gst_iir_equalizer_band_set_property (GObject * object, guint prop_id,
const GValue * value, GParamSpec * pspec)
{
GstIirEqualizerBand *band = GST_IIR_EQUALIZER_BAND (object);
GstIirEqualizer *equ =
GST_IIR_EQUALIZER (gst_object_get_parent (GST_OBJECT (band)));
switch (prop_id) {
case PROP_GAIN:{
gdouble gain;
gain = g_value_get_double (value);
GST_DEBUG_OBJECT (band, "gain = %lf -> %lf", band->gain, gain);
if (gain != band->gain) {
BANDS_LOCK (equ);
equ->need_new_coefficients = TRUE;
band->gain = gain;
set_passthrough (equ);
BANDS_UNLOCK (equ);
GST_DEBUG_OBJECT (band, "changed gain = %lf ", band->gain);
}
break;
}
case PROP_FREQ:{
gdouble freq;
freq = g_value_get_double (value);
GST_DEBUG_OBJECT (band, "freq = %lf -> %lf", band->freq, freq);
if (freq != band->freq) {
BANDS_LOCK (equ);
equ->need_new_coefficients = TRUE;
band->freq = freq;
BANDS_UNLOCK (equ);
GST_DEBUG_OBJECT (band, "changed freq = %lf ", band->freq);
}
break;
}
case PROP_BANDWIDTH:{
gdouble width;
width = g_value_get_double (value);
GST_DEBUG_OBJECT (band, "width = %lf -> %lf", band->width, width);
if (width != band->width) {
BANDS_LOCK (equ);
equ->need_new_coefficients = TRUE;
band->width = width;
BANDS_UNLOCK (equ);
GST_DEBUG_OBJECT (band, "changed width = %lf ", band->width);
}
break;
}
case PROP_TYPE:{
GstIirEqualizerBandType type;
type = g_value_get_enum (value);
GST_DEBUG_OBJECT (band, "type = %d -> %d", band->type, type);
if (type != band->type) {
BANDS_LOCK (equ);
equ->need_new_coefficients = TRUE;
band->type = type;
BANDS_UNLOCK (equ);
GST_DEBUG_OBJECT (band, "changed type = %d ", band->type);
}
break;
}
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
break;
}
#ifdef GSTREAMER_LITE
// We need to update coefficients and disable passthrough
// if needed, otherwise after we disable passthrough equalizer will not
// get re-enabled.
// BANDS_LOCK (equ);
// if (equ->need_new_coefficients) {
// update_coefficients (equ);
// set_passthrough (equ);
// }
// BANDS_UNLOCK (equ);
#endif // GSTREAMER_LITE
gst_object_unref (equ);
}
