Jean-Baptiste Queru | 4233185 | 2011-08-01 10:20:23 -0700 | [diff] [blame^] | 1 | /* |
| 2 | * Copyright (C) 2011 Invensense, Inc. |
| 3 | * |
| 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | * you may not use this file except in compliance with the License. |
| 6 | * You may obtain a copy of the License at |
| 7 | * |
| 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | * |
| 10 | * Unless required by applicable law or agreed to in writing, software |
| 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | * See the License for the specific language governing permissions and |
| 14 | * limitations under the License. |
| 15 | */ |
| 16 | |
| 17 | //#define LOG_NDEBUG 0 |
| 18 | //see also the EXTRA_VERBOSE define, below |
| 19 | |
| 20 | #include <fcntl.h> |
| 21 | #include <errno.h> |
| 22 | #include <math.h> |
| 23 | #include <float.h> |
| 24 | #include <poll.h> |
| 25 | #include <unistd.h> |
| 26 | #include <dirent.h> |
| 27 | #include <stdlib.h> |
| 28 | #include <sys/select.h> |
| 29 | #include <dlfcn.h> |
| 30 | #include <pthread.h> |
| 31 | |
| 32 | #include <cutils/log.h> |
| 33 | #include <utils/KeyedVector.h> |
| 34 | |
| 35 | #include "MPLSensor.h" |
| 36 | |
| 37 | #include "math.h" |
| 38 | #include "ml.h" |
| 39 | #include "mlFIFO.h" |
| 40 | #include "mlsl.h" |
| 41 | #include "mlos.h" |
| 42 | #include "ml_mputest.h" |
| 43 | #include "ml_stored_data.h" |
| 44 | #include "mldl_cfg.h" |
| 45 | #include "mldl.h" |
| 46 | |
| 47 | #include "mpu.h" |
| 48 | #include "kernel/timerirq.h" |
| 49 | #include "kernel/mpuirq.h" |
| 50 | #include "kernel/slaveirq.h" |
| 51 | |
| 52 | extern "C" { |
| 53 | #include "mlsupervisor.h" |
| 54 | } |
| 55 | |
| 56 | #include "mlcontrol.h" |
| 57 | |
| 58 | #define EXTRA_VERBOSE (0) |
| 59 | #define FUNC_LOG LOGV("%s", __PRETTY_FUNCTION__) |
| 60 | #define VFUNC_LOG LOGV_IF(EXTRA_VERBOSE, "%s", __PRETTY_FUNCTION__) |
| 61 | /* this mask must turn on only the sensors that are present and managed by the MPL */ |
| 62 | #define ALL_MPL_SENSORS_NP (INV_THREE_AXIS_ACCEL | INV_THREE_AXIS_COMPASS | INV_THREE_AXIS_GYRO) |
| 63 | |
| 64 | #define CALL_MEMBER_FN(pobject,ptrToMember) ((pobject)->*(ptrToMember)) |
| 65 | |
| 66 | /* *************************************************************************** |
| 67 | * MPL interface misc. |
| 68 | */ |
| 69 | //static pointer to the object that will handle callbacks |
| 70 | static MPLSensor* gMPLSensor = NULL; |
| 71 | |
| 72 | /* we need to pass some callbacks to the MPL. The mpl is a C library, so |
| 73 | * wrappers for the C++ callback implementations are required. |
| 74 | */ |
| 75 | extern "C" { |
| 76 | //callback wrappers go here |
| 77 | void mot_cb_wrapper(uint16_t val) |
| 78 | { |
| 79 | if (gMPLSensor) { |
| 80 | gMPLSensor->cbOnMotion(val); |
| 81 | } |
| 82 | } |
| 83 | |
| 84 | void procData_cb_wrapper() |
| 85 | { |
| 86 | if(gMPLSensor) { |
| 87 | gMPLSensor->cbProcData(); |
| 88 | } |
| 89 | } |
| 90 | |
| 91 | } //end of extern C |
| 92 | |
| 93 | void setCallbackObject(MPLSensor* gbpt) |
| 94 | { |
| 95 | gMPLSensor = gbpt; |
| 96 | } |
| 97 | |
| 98 | |
| 99 | /***************************************************************************** |
| 100 | * sensor class implementation |
| 101 | */ |
| 102 | |
| 103 | #define GY_ENABLED ((1<<ID_GY) & enabled_sensors) |
| 104 | #define A_ENABLED ((1<<ID_A) & enabled_sensors) |
| 105 | #define O_ENABLED ((1<<ID_O) & enabled_sensors) |
| 106 | #define M_ENABLED ((1<<ID_M) & enabled_sensors) |
| 107 | #define LA_ENABLED ((1<<ID_LA) & enabled_sensors) |
| 108 | #define GR_ENABLED ((1<<ID_GR) & enabled_sensors) |
| 109 | #define RV_ENABLED ((1<<ID_RV) & enabled_sensors) |
| 110 | |
| 111 | MPLSensor::MPLSensor() : |
| 112 | SensorBase(NULL, NULL), mEnabled(0), mPendingMask(0), mMpuAccuracy(0), |
| 113 | mNewData(0), mDmpStarted(false), |
| 114 | mMplMutex(PTHREAD_MUTEX_INITIALIZER), |
| 115 | mMasterSensorMask(INV_ALL_SENSORS), |
| 116 | mLocalSensorMask(ALL_MPL_SENSORS_NP), mPollTime(-1), |
| 117 | mCurFifoRate(-1), mHaveGoodMpuCal(false), |
| 118 | mUseTimerIrqAccel(false), mUsetimerIrqCompass(true), |
| 119 | mUseTimerirq(false), mSampleCount(0) |
| 120 | { |
| 121 | FUNC_LOG; |
| 122 | inv_error_t rv; |
| 123 | int mpu_int_fd, i; |
| 124 | char *port = NULL; |
| 125 | |
| 126 | LOGV_IF(EXTRA_VERBOSE, "MPLSensor constructor: numSensors = %d", numSensors); |
| 127 | |
| 128 | mForceSleep = false; |
| 129 | |
| 130 | for (i = 0; i < ARRAY_SIZE(mPollFds); i++) { |
| 131 | mPollFds[i].fd = -1; |
| 132 | mPollFds[i].events = 0; |
| 133 | } |
| 134 | |
| 135 | pthread_mutex_lock(&mMplMutex); |
| 136 | |
| 137 | mpu_int_fd = open("/dev/mpuirq", O_RDWR); |
| 138 | if (mpu_int_fd == -1) { |
| 139 | LOGE("could not open the mpu irq device node"); |
| 140 | } else { |
| 141 | fcntl(mpu_int_fd, F_SETFL, O_NONBLOCK); |
| 142 | //ioctl(mpu_int_fd, MPUIRQ_SET_TIMEOUT, 0); |
| 143 | mIrqFds.add(MPUIRQ_FD, mpu_int_fd); |
| 144 | mPollFds[MPUIRQ_FD].fd = mpu_int_fd; |
| 145 | mPollFds[MPUIRQ_FD].events = POLLIN; |
| 146 | } |
| 147 | |
| 148 | accel_fd = open("/dev/accelirq", O_RDWR); |
| 149 | if (accel_fd == -1) { |
| 150 | LOGE("could not open the accel irq device node"); |
| 151 | } else { |
| 152 | fcntl(accel_fd, F_SETFL, O_NONBLOCK); |
| 153 | //ioctl(accel_fd, SLAVEIRQ_SET_TIMEOUT, 0); |
| 154 | mIrqFds.add(ACCELIRQ_FD, accel_fd); |
| 155 | mPollFds[ACCELIRQ_FD].fd = accel_fd; |
| 156 | mPollFds[ACCELIRQ_FD].events = POLLIN; |
| 157 | } |
| 158 | |
| 159 | timer_fd = open("/dev/timerirq", O_RDWR); |
| 160 | if (timer_fd == -1) { |
| 161 | LOGE("could not open the timer irq device node"); |
| 162 | } else { |
| 163 | fcntl(timer_fd, F_SETFL, O_NONBLOCK); |
| 164 | //ioctl(timer_fd, TIMERIRQ_SET_TIMEOUT, 0); |
| 165 | mIrqFds.add(TIMERIRQ_FD, timer_fd); |
| 166 | mPollFds[TIMERIRQ_FD].fd = timer_fd; |
| 167 | mPollFds[TIMERIRQ_FD].events = POLLIN; |
| 168 | } |
| 169 | |
| 170 | data_fd = mpu_int_fd; |
| 171 | |
| 172 | if ((accel_fd == -1) && (timer_fd != -1)) { |
| 173 | //no accel irq and timer available |
| 174 | mUseTimerIrqAccel = true; |
| 175 | LOGD("MPLSensor falling back to timerirq for accel data"); |
| 176 | } |
| 177 | |
| 178 | memset(mPendingEvents, 0, sizeof(mPendingEvents)); |
| 179 | |
| 180 | mPendingEvents[RotationVector].version = sizeof(sensors_event_t); |
| 181 | mPendingEvents[RotationVector].sensor = ID_RV; |
| 182 | mPendingEvents[RotationVector].type = SENSOR_TYPE_ROTATION_VECTOR; |
| 183 | mPendingEvents[RotationVector].acceleration.status |
| 184 | = SENSOR_STATUS_ACCURACY_HIGH; |
| 185 | |
| 186 | mPendingEvents[LinearAccel].version = sizeof(sensors_event_t); |
| 187 | mPendingEvents[LinearAccel].sensor = ID_LA; |
| 188 | mPendingEvents[LinearAccel].type = SENSOR_TYPE_LINEAR_ACCELERATION; |
| 189 | mPendingEvents[LinearAccel].acceleration.status |
| 190 | = SENSOR_STATUS_ACCURACY_HIGH; |
| 191 | |
| 192 | mPendingEvents[Gravity].version = sizeof(sensors_event_t); |
| 193 | mPendingEvents[Gravity].sensor = ID_GR; |
| 194 | mPendingEvents[Gravity].type = SENSOR_TYPE_GRAVITY; |
| 195 | mPendingEvents[Gravity].acceleration.status = SENSOR_STATUS_ACCURACY_HIGH; |
| 196 | |
| 197 | mPendingEvents[Gyro].version = sizeof(sensors_event_t); |
| 198 | mPendingEvents[Gyro].sensor = ID_GY; |
| 199 | mPendingEvents[Gyro].type = SENSOR_TYPE_GYROSCOPE; |
| 200 | mPendingEvents[Gyro].gyro.status = SENSOR_STATUS_ACCURACY_HIGH; |
| 201 | |
| 202 | mPendingEvents[Accelerometer].version = sizeof(sensors_event_t); |
| 203 | mPendingEvents[Accelerometer].sensor = ID_A; |
| 204 | mPendingEvents[Accelerometer].type = SENSOR_TYPE_ACCELEROMETER; |
| 205 | mPendingEvents[Accelerometer].acceleration.status |
| 206 | = SENSOR_STATUS_ACCURACY_HIGH; |
| 207 | |
| 208 | mPendingEvents[MagneticField].version = sizeof(sensors_event_t); |
| 209 | mPendingEvents[MagneticField].sensor = ID_M; |
| 210 | mPendingEvents[MagneticField].type = SENSOR_TYPE_MAGNETIC_FIELD; |
| 211 | mPendingEvents[MagneticField].magnetic.status = SENSOR_STATUS_ACCURACY_HIGH; |
| 212 | |
| 213 | mPendingEvents[Orientation].version = sizeof(sensors_event_t); |
| 214 | mPendingEvents[Orientation].sensor = ID_O; |
| 215 | mPendingEvents[Orientation].type = SENSOR_TYPE_ORIENTATION; |
| 216 | mPendingEvents[Orientation].orientation.status |
| 217 | = SENSOR_STATUS_ACCURACY_HIGH; |
| 218 | |
| 219 | mHandlers[RotationVector] = &MPLSensor::rvHandler; |
| 220 | mHandlers[LinearAccel] = &MPLSensor::laHandler; |
| 221 | mHandlers[Gravity] = &MPLSensor::gravHandler; |
| 222 | mHandlers[Gyro] = &MPLSensor::gyroHandler; |
| 223 | mHandlers[Accelerometer] = &MPLSensor::accelHandler; |
| 224 | mHandlers[MagneticField] = &MPLSensor::compassHandler; |
| 225 | mHandlers[Orientation] = &MPLSensor::orienHandler; |
| 226 | |
| 227 | for (int i = 0; i < numSensors; i++) |
| 228 | mDelays[i] = 30000000LLU; // 30 ms by default |
| 229 | |
| 230 | if (inv_serial_start(port) != INV_SUCCESS) { |
| 231 | LOGE("Fatal Error : could not open MPL serial interface"); |
| 232 | } |
| 233 | |
| 234 | //initialize library parameters |
| 235 | initMPL(); |
| 236 | |
| 237 | //setup the FIFO contents |
| 238 | setupFIFO(); |
| 239 | |
| 240 | //we start the motion processing only when a sensor is enabled... |
| 241 | //rv = inv_dmp_start(); |
| 242 | //LOGE_IF(rv != INV_SUCCESS, "Fatal error: could not start the DMP correctly. (code = %d)\n", rv); |
| 243 | //dmp_started = true; |
| 244 | |
| 245 | pthread_mutex_unlock(&mMplMutex); |
| 246 | |
| 247 | } |
| 248 | |
| 249 | MPLSensor::~MPLSensor() |
| 250 | { |
| 251 | FUNC_LOG; |
| 252 | pthread_mutex_lock(&mMplMutex); |
| 253 | if (inv_dmp_stop() != INV_SUCCESS) { |
| 254 | LOGD("Error: could not stop the DMP correctly.\n"); |
| 255 | } |
| 256 | |
| 257 | if (inv_dmp_close() != INV_SUCCESS) { |
| 258 | LOGD("Error: could not close the DMP"); |
| 259 | } |
| 260 | |
| 261 | if (inv_serial_stop() != INV_SUCCESS) { |
| 262 | LOGD("Error : could not close the serial port"); |
| 263 | } |
| 264 | pthread_mutex_unlock(&mMplMutex); |
| 265 | } |
| 266 | |
| 267 | /* clear any data from our various filehandles */ |
| 268 | void MPLSensor::clearIrqData(bool* irq_set) |
| 269 | { |
| 270 | unsigned int i; |
| 271 | int nread; |
| 272 | struct mpuirq_data irqdata; |
| 273 | |
| 274 | poll(mPollFds, ARRAY_SIZE(mPollFds), 0); //check which ones need to be cleared |
| 275 | |
| 276 | for (i = 0; i < ARRAY_SIZE(mPollFds); i++) { |
| 277 | int cur_fd = mPollFds[i].fd; |
| 278 | int j = 0; |
| 279 | if (mPollFds[i].revents & POLLIN) { |
| 280 | nread = read(cur_fd, &irqdata, sizeof(irqdata)); |
| 281 | if (nread > 0) { |
| 282 | irq_set[i] = true; |
| 283 | //LOGV_IF(EXTRA_VERBOSE, "irq: %d %d (%d)", i, irqdata.interruptcount, j++); |
| 284 | } |
| 285 | } |
| 286 | mPollFds[i].revents = 0; |
| 287 | } |
| 288 | } |
| 289 | |
| 290 | /* set the power states of the various sensors based on the bits set in the |
| 291 | * enabled_sensors parameter. |
| 292 | * this function modifies globalish state variables. It must be called with the mMplMutex held. */ |
| 293 | void MPLSensor::setPowerStates(int enabled_sensors) |
| 294 | { |
| 295 | FUNC_LOG; |
| 296 | bool irq_set[5] = { false, false, false, false, false }; |
| 297 | |
| 298 | LOGV(" enabled_sensors: %d dmp_started: %d", enabled_sensors, mDmpStarted); |
| 299 | |
| 300 | do { |
| 301 | |
| 302 | if (LA_ENABLED || GR_ENABLED || RV_ENABLED || O_ENABLED) { |
| 303 | mLocalSensorMask = ALL_MPL_SENSORS_NP; |
| 304 | break; |
| 305 | } |
| 306 | |
| 307 | if (!A_ENABLED && !M_ENABLED && !GY_ENABLED) { |
| 308 | mLocalSensorMask = 0; |
| 309 | break; |
| 310 | } |
| 311 | |
| 312 | if (GY_ENABLED) { |
| 313 | mLocalSensorMask |= INV_THREE_AXIS_GYRO; |
| 314 | } else { |
| 315 | mLocalSensorMask &= ~INV_THREE_AXIS_GYRO; |
| 316 | } |
| 317 | |
| 318 | if (A_ENABLED) { |
| 319 | mLocalSensorMask |= (INV_THREE_AXIS_ACCEL); |
| 320 | } else { |
| 321 | mLocalSensorMask &= ~(INV_THREE_AXIS_ACCEL); |
| 322 | } |
| 323 | |
| 324 | if (M_ENABLED) { |
| 325 | mLocalSensorMask |= INV_THREE_AXIS_COMPASS; |
| 326 | } else { |
| 327 | mLocalSensorMask &= ~(INV_THREE_AXIS_COMPASS); |
| 328 | } |
| 329 | |
| 330 | } while (0); |
| 331 | |
| 332 | //record the new sensor state |
| 333 | inv_error_t rv; |
| 334 | |
| 335 | long sen_mask = mLocalSensorMask & mMasterSensorMask; |
| 336 | |
| 337 | bool changing_sensors = ((inv_get_dl_config()->requested_sensors |
| 338 | != sen_mask) && (sen_mask != 0)); |
| 339 | bool restart = (!mDmpStarted) && (sen_mask != 0); |
| 340 | |
| 341 | if (changing_sensors || restart) { |
| 342 | |
| 343 | LOGV_IF(EXTRA_VERBOSE, "cs:%d rs:%d ", changing_sensors, restart); |
| 344 | |
| 345 | if (mDmpStarted) { |
| 346 | inv_dmp_stop(); |
| 347 | clearIrqData(irq_set); |
| 348 | mDmpStarted = false; |
| 349 | } |
| 350 | |
| 351 | if (sen_mask != inv_get_dl_config()->requested_sensors) { |
| 352 | LOGV("inv_set_mpu_sensors: %lx", sen_mask); |
| 353 | rv = inv_set_mpu_sensors(sen_mask); |
| 354 | LOGE_IF( |
| 355 | rv != INV_SUCCESS, |
| 356 | "error: unable to set MPL sensor power states (sens=%ld retcode = %d)", |
| 357 | sen_mask, rv); |
| 358 | } |
| 359 | |
| 360 | if (((mUsetimerIrqCompass && (sen_mask == INV_THREE_AXIS_COMPASS)) |
| 361 | || (mUseTimerIrqAccel && (sen_mask & INV_THREE_AXIS_ACCEL))) |
| 362 | && ((sen_mask & INV_DMP_PROCESSOR) == 0)) { |
| 363 | LOGV_IF(EXTRA_VERBOSE, "Allowing TimerIRQ"); |
| 364 | mUseTimerirq = true; |
| 365 | } else { |
| 366 | if (mUseTimerirq) { |
| 367 | ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0); |
| 368 | clearIrqData(irq_set); |
| 369 | } |
| 370 | LOGV_IF(EXTRA_VERBOSE, "Not allowing TimerIRQ"); |
| 371 | mUseTimerirq = false; |
| 372 | } |
| 373 | |
| 374 | if (!mDmpStarted) { |
| 375 | LOGV("Starting DMP"); |
| 376 | rv = inv_dmp_start(); |
| 377 | LOGE_IF(rv != INV_SUCCESS, "unable to start dmp"); |
| 378 | mDmpStarted = true; |
| 379 | } |
| 380 | } |
| 381 | |
| 382 | //check if we should stop the DMP |
| 383 | if (mDmpStarted && (sen_mask == 0)) { |
| 384 | LOGV("Stopping DMP"); |
| 385 | rv = inv_dmp_stop(); |
| 386 | LOGE_IF(rv != INV_SUCCESS, "error: unable to stop DMP (retcode = %d)", |
| 387 | rv); |
| 388 | if (mUseTimerirq) { |
| 389 | ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0); |
| 390 | } |
| 391 | clearIrqData(irq_set); |
| 392 | if (mHaveGoodMpuCal) { |
| 393 | rv = inv_store_calibration(); |
| 394 | LOGE_IF(rv != INV_SUCCESS, |
| 395 | "error: unable to store MPL calibration file"); |
| 396 | mHaveGoodMpuCal = false; |
| 397 | } |
| 398 | |
| 399 | mDmpStarted = false; |
| 400 | mPollTime = -1; |
| 401 | mCurFifoRate = -1; |
| 402 | } |
| 403 | |
| 404 | } |
| 405 | |
| 406 | /** |
| 407 | * container function for all the calls we make once to set up the MPL. |
| 408 | */ |
| 409 | void MPLSensor::initMPL() |
| 410 | { |
| 411 | FUNC_LOG; |
| 412 | inv_error_t result; |
| 413 | unsigned short bias_update_mask = 0xFFFF; |
| 414 | struct mldl_cfg *mldl_cfg; |
| 415 | |
| 416 | if (inv_dmp_open() != INV_SUCCESS) { |
| 417 | LOGE("Fatal Error : could not open DMP correctly.\n"); |
| 418 | } |
| 419 | |
| 420 | result = inv_set_mpu_sensors(ALL_MPL_SENSORS_NP); //default to all sensors, also makes 9axis enable work |
| 421 | LOGE_IF(result != INV_SUCCESS, |
| 422 | "Fatal Error : could not set enabled sensors."); |
| 423 | |
| 424 | if (inv_load_calibration() != INV_SUCCESS) { |
| 425 | LOGE("could not open MPL calibration file"); |
| 426 | } |
| 427 | |
| 428 | //check for the 9axis fusion library: if available load it and start 9x |
| 429 | void* h_dmp_lib=dlopen("libmpl.so", RTLD_LAZY); |
| 430 | if(h_dmp_lib) { |
| 431 | const char* error; |
| 432 | inv_error_t (*fp_inv_enable_9x_fusion)() = |
| 433 | (inv_error_t(*)()) dlsym(h_dmp_lib, "inv_enable_9x_fusion"); |
| 434 | if((error = dlerror()) != NULL) { |
| 435 | LOGE("%s", error); |
| 436 | } else if ((*fp_inv_enable_9x_fusion)() != INV_SUCCESS) { |
| 437 | LOGE( "Warning : 9 axis sensor fusion not available " |
| 438 | "- No compass detected.\n"); |
| 439 | } |
| 440 | } else { |
| 441 | const char* error = dlerror(); |
| 442 | LOGE("libmpl.so not found, 9x sensor fusion disabled (%s)",error); |
| 443 | } |
| 444 | |
| 445 | mldl_cfg = inv_get_dl_config(); |
| 446 | |
| 447 | if (inv_set_bias_update(bias_update_mask) != INV_SUCCESS) { |
| 448 | LOGE("Error : Bias update function could not be set.\n"); |
| 449 | } |
| 450 | |
| 451 | if (inv_set_motion_interrupt(1) != INV_SUCCESS) { |
| 452 | LOGE("Error : could not set motion interrupt"); |
| 453 | } |
| 454 | |
| 455 | if (inv_set_fifo_interrupt(1) != INV_SUCCESS) { |
| 456 | LOGE("Error : could not set fifo interrupt"); |
| 457 | } |
| 458 | |
| 459 | result = inv_set_fifo_rate(6); |
| 460 | if (result != INV_SUCCESS) { |
| 461 | LOGE("Fatal error: inv_set_fifo_rate returned %d\n", result); |
| 462 | } |
| 463 | |
| 464 | mMpuAccuracy = SENSOR_STATUS_ACCURACY_MEDIUM; |
| 465 | setupCallbacks(); |
| 466 | |
| 467 | } |
| 468 | |
| 469 | /** setup the fifo contents. |
| 470 | */ |
| 471 | void MPLSensor::setupFIFO() |
| 472 | { |
| 473 | FUNC_LOG; |
| 474 | inv_error_t result; |
| 475 | |
| 476 | result = inv_send_accel(INV_ALL, INV_32_BIT); |
| 477 | if (result != INV_SUCCESS) { |
| 478 | LOGE("Fatal error: inv_send_accel returned %d\n", result); |
| 479 | } |
| 480 | |
| 481 | result = inv_send_quaternion(INV_32_BIT); |
| 482 | if (result != INV_SUCCESS) { |
| 483 | LOGE("Fatal error: inv_send_quaternion returned %d\n", result); |
| 484 | } |
| 485 | |
| 486 | result = inv_send_linear_accel(INV_ALL, INV_32_BIT); |
| 487 | if (result != INV_SUCCESS) { |
| 488 | LOGE("Fatal error: inv_send_linear_accel returned %d\n", result); |
| 489 | } |
| 490 | |
| 491 | result = inv_send_linear_accel_in_world(INV_ALL, INV_32_BIT); |
| 492 | if (result != INV_SUCCESS) { |
| 493 | LOGE("Fatal error: inv_send_linear_accel_in_world returned %d\n", |
| 494 | result); |
| 495 | } |
| 496 | |
| 497 | result = inv_send_gravity(INV_ALL, INV_32_BIT); |
| 498 | if (result != INV_SUCCESS) { |
| 499 | LOGE("Fatal error: inv_send_gravity returned %d\n", result); |
| 500 | } |
| 501 | |
| 502 | result = inv_send_gyro(INV_ALL, INV_32_BIT); |
| 503 | if (result != INV_SUCCESS) { |
| 504 | LOGE("Fatal error: inv_send_gyro returned %d\n", result); |
| 505 | } |
| 506 | |
| 507 | } |
| 508 | |
| 509 | /** |
| 510 | * set up the callbacks that we use in all cases (outside of gestures, etc) |
| 511 | */ |
| 512 | void MPLSensor::setupCallbacks() |
| 513 | { |
| 514 | FUNC_LOG; |
| 515 | if (inv_set_motion_callback(mot_cb_wrapper) != INV_SUCCESS) { |
| 516 | LOGE("Error : Motion callback could not be set.\n"); |
| 517 | |
| 518 | } |
| 519 | |
| 520 | if (inv_set_fifo_processed_callback(procData_cb_wrapper) != INV_SUCCESS) { |
| 521 | LOGE("Error : Processed data callback could not be set."); |
| 522 | |
| 523 | } |
| 524 | } |
| 525 | |
| 526 | /** |
| 527 | * handle the motion/no motion output from the MPL. |
| 528 | */ |
| 529 | void MPLSensor::cbOnMotion(uint16_t val) |
| 530 | { |
| 531 | FUNC_LOG; |
| 532 | //after the first no motion, the gyro should be calibrated well |
| 533 | if (val == 2) { |
| 534 | mMpuAccuracy = SENSOR_STATUS_ACCURACY_HIGH; |
| 535 | if (mEnabled & (1 << MPLSensor::Gyro)) { |
| 536 | //if gyros are on and we got a no motion, set a flag |
| 537 | // indicating that the cal file can be written. |
| 538 | mHaveGoodMpuCal = true; |
| 539 | } |
| 540 | } |
| 541 | |
| 542 | return; |
| 543 | } |
| 544 | |
| 545 | |
| 546 | void MPLSensor::cbProcData() |
| 547 | { |
| 548 | mNewData = 1; |
| 549 | mSampleCount++; |
| 550 | //LOGV_IF(EXTRA_VERBOSE, "new data (%d)", sampleCount); |
| 551 | } |
| 552 | |
| 553 | //these handlers transform mpl data into one of the Android sensor types |
| 554 | // scaling and coordinate transforms should be done in the handlers |
| 555 | |
| 556 | void MPLSensor::gyroHandler(sensors_event_t* s, uint32_t* pending_mask, |
| 557 | int index) |
| 558 | { |
| 559 | VFUNC_LOG; |
| 560 | inv_error_t res; |
| 561 | res = inv_get_float_array(INV_GYROS, s->gyro.v); |
| 562 | s->gyro.v[0] = s->gyro.v[0] * M_PI / 180.0; |
| 563 | s->gyro.v[1] = s->gyro.v[1] * M_PI / 180.0; |
| 564 | s->gyro.v[2] = s->gyro.v[2] * M_PI / 180.0; |
| 565 | s->gyro.status = mMpuAccuracy; |
| 566 | if (res == INV_SUCCESS) |
| 567 | *pending_mask |= (1 << index); |
| 568 | } |
| 569 | |
| 570 | void MPLSensor::accelHandler(sensors_event_t* s, uint32_t* pending_mask, |
| 571 | int index) |
| 572 | { |
| 573 | //VFUNC_LOG; |
| 574 | inv_error_t res; |
| 575 | res = inv_get_float_array(INV_ACCELS, s->acceleration.v); |
| 576 | //res = inv_get_accel_float(s->acceleration.v); |
| 577 | s->acceleration.v[0] = s->acceleration.v[0] * 9.81; |
| 578 | s->acceleration.v[1] = s->acceleration.v[1] * 9.81; |
| 579 | s->acceleration.v[2] = s->acceleration.v[2] * 9.81; |
| 580 | //LOGV_IF(EXTRA_VERBOSE, "accel data: %f %f %f", s->acceleration.v[0], s->acceleration.v[1], s->acceleration.v[2]); |
| 581 | s->acceleration.status = SENSOR_STATUS_ACCURACY_HIGH; |
| 582 | if (res == INV_SUCCESS) |
| 583 | *pending_mask |= (1 << index); |
| 584 | } |
| 585 | |
| 586 | int MPLSensor::estimateCompassAccuracy() |
| 587 | { |
| 588 | inv_error_t res; |
| 589 | int rv; |
| 590 | |
| 591 | res = inv_get_compass_accuracy(&rv); |
| 592 | LOGE_IF(res != INV_SUCCESS, "error returned from inv_get_compass_accuracy"); |
| 593 | |
| 594 | return rv; |
| 595 | } |
| 596 | |
| 597 | void MPLSensor::compassHandler(sensors_event_t* s, uint32_t* pending_mask, |
| 598 | int index) |
| 599 | { |
| 600 | VFUNC_LOG; |
| 601 | inv_error_t res, res2; |
| 602 | float bias_error[3]; |
| 603 | float total_be; |
| 604 | static int bias_error_settled = 0; |
| 605 | |
| 606 | res = inv_get_float_array(INV_MAGNETOMETER, s->magnetic.v); |
| 607 | |
| 608 | if (res != INV_SUCCESS) { |
| 609 | LOGD( |
| 610 | "compass_handler inv_get_float_array(INV_MAGNETOMETER) returned %d", |
| 611 | res); |
| 612 | } |
| 613 | |
| 614 | s->magnetic.status = estimateCompassAccuracy(); |
| 615 | |
| 616 | if (res == INV_SUCCESS) |
| 617 | *pending_mask |= (1 << index); |
| 618 | } |
| 619 | |
| 620 | void MPLSensor::rvHandler(sensors_event_t* s, uint32_t* pending_mask, |
| 621 | int index) |
| 622 | { |
| 623 | VFUNC_LOG; |
| 624 | float quat[4]; |
| 625 | float norm = 0; |
| 626 | float ang = 0; |
| 627 | inv_error_t r; |
| 628 | |
| 629 | r = inv_get_float_array(INV_QUATERNION, quat); |
| 630 | |
| 631 | if (r != INV_SUCCESS) { |
| 632 | *pending_mask &= ~(1 << index); |
| 633 | return; |
| 634 | } else { |
| 635 | *pending_mask |= (1 << index); |
| 636 | } |
| 637 | |
| 638 | norm = quat[1] * quat[1] + quat[2] * quat[2] + quat[3] * quat[3] |
| 639 | + FLT_EPSILON; |
| 640 | |
| 641 | if (norm > 1.0f) { |
| 642 | //renormalize |
| 643 | norm = sqrtf(norm); |
| 644 | float inv_norm = 1.0f / norm; |
| 645 | quat[1] = quat[1] * inv_norm; |
| 646 | quat[2] = quat[2] * inv_norm; |
| 647 | quat[3] = quat[3] * inv_norm; |
| 648 | } |
| 649 | |
| 650 | if (quat[0] < 0.0) { |
| 651 | quat[1] = -quat[1]; |
| 652 | quat[2] = -quat[2]; |
| 653 | quat[3] = -quat[3]; |
| 654 | } |
| 655 | |
| 656 | s->gyro.v[0] = quat[1]; |
| 657 | s->gyro.v[1] = quat[2]; |
| 658 | s->gyro.v[2] = quat[3]; |
| 659 | |
| 660 | s->gyro.status |
| 661 | = ((mMpuAccuracy < estimateCompassAccuracy()) ? mMpuAccuracy |
| 662 | : estimateCompassAccuracy()); |
| 663 | } |
| 664 | |
| 665 | void MPLSensor::laHandler(sensors_event_t* s, uint32_t* pending_mask, |
| 666 | int index) |
| 667 | { |
| 668 | VFUNC_LOG; |
| 669 | inv_error_t res; |
| 670 | res = inv_get_float_array(INV_LINEAR_ACCELERATION, s->gyro.v); |
| 671 | s->gyro.v[0] *= 9.81; |
| 672 | s->gyro.v[1] *= 9.81; |
| 673 | s->gyro.v[2] *= 9.81; |
| 674 | s->gyro.status = mMpuAccuracy; |
| 675 | if (res == INV_SUCCESS) |
| 676 | *pending_mask |= (1 << index); |
| 677 | } |
| 678 | |
| 679 | void MPLSensor::gravHandler(sensors_event_t* s, uint32_t* pending_mask, |
| 680 | int index) |
| 681 | { |
| 682 | VFUNC_LOG; |
| 683 | inv_error_t res; |
| 684 | res = inv_get_float_array(INV_GRAVITY, s->gyro.v); |
| 685 | s->gyro.v[0] *= 9.81; |
| 686 | s->gyro.v[1] *= 9.81; |
| 687 | s->gyro.v[2] *= 9.81; |
| 688 | s->gyro.status = mMpuAccuracy; |
| 689 | if (res == INV_SUCCESS) |
| 690 | *pending_mask |= (1 << index); |
| 691 | } |
| 692 | |
| 693 | void MPLSensor::calcOrientationSensor(float *R, float *values) |
| 694 | { |
| 695 | float tmp; |
| 696 | |
| 697 | //Azimuth |
| 698 | if ((R[7] > 0.7071067f) || ((R[8] < 0) && (fabs(R[7]) > fabs(R[6])))) { |
| 699 | values[0] = (float) atan2f(-R[3], R[0]); |
| 700 | } else { |
| 701 | values[0] = (float) atan2f(R[1], R[4]); |
| 702 | } |
| 703 | values[0] *= 57.295779513082320876798154814105f; |
| 704 | if (values[0] < 0) { |
| 705 | values[0] += 360.0f; |
| 706 | } |
| 707 | //Pitch |
| 708 | tmp = R[7]; |
| 709 | if (tmp > 1.0f) |
| 710 | tmp = 1.0f; |
| 711 | if (tmp < -1.0f) |
| 712 | tmp = -1.0f; |
| 713 | values[1] = -asinf(tmp) * 57.295779513082320876798154814105f; |
| 714 | if (R[8] < 0) { |
| 715 | values[1] = 180.0f - values[1]; |
| 716 | } |
| 717 | if (values[1] > 180.0f) { |
| 718 | values[1] -= 360.0f; |
| 719 | } |
| 720 | //Roll |
| 721 | if ((R[7] > 0.7071067f)) { |
| 722 | values[2] = (float) atan2f(R[6], R[7]); |
| 723 | } else { |
| 724 | values[2] = (float) atan2f(R[6], R[8]); |
| 725 | } |
| 726 | |
| 727 | values[2] *= 57.295779513082320876798154814105f; |
| 728 | if (values[2] > 90.0f) { |
| 729 | values[2] = 180.0f - values[2]; |
| 730 | } |
| 731 | if (values[2] < -90.0f) { |
| 732 | values[2] = -180.0f - values[2]; |
| 733 | } |
| 734 | } |
| 735 | |
| 736 | void MPLSensor::orienHandler(sensors_event_t* s, uint32_t* pending_mask, |
| 737 | int index) //note that this is the handler for the android 'orientation' sensor, not the mpl orientation output |
| 738 | { |
| 739 | VFUNC_LOG; |
| 740 | inv_error_t res; |
| 741 | float euler[3]; |
| 742 | float heading[1]; |
| 743 | float rot_mat[9]; |
| 744 | |
| 745 | res = inv_get_float_array(INV_ROTATION_MATRIX, rot_mat); |
| 746 | |
| 747 | //ComputeAndOrientation(heading[0], euler, s->orientation.v); |
| 748 | calcOrientationSensor(rot_mat, s->orientation.v); |
| 749 | |
| 750 | s->orientation.status |
| 751 | = ((mMpuAccuracy < estimateCompassAccuracy()) ? mMpuAccuracy |
| 752 | : estimateCompassAccuracy()); |
| 753 | |
| 754 | if (res == INV_SUCCESS) |
| 755 | *pending_mask |= (1 << index); |
| 756 | else |
| 757 | LOGD("orien_handler: data not valid (%d)", (int) res); |
| 758 | |
| 759 | } |
| 760 | |
| 761 | int MPLSensor::enable(int32_t handle, int en) |
| 762 | { |
| 763 | FUNC_LOG; |
| 764 | LOGV("handle : %d en: %d", handle, en); |
| 765 | |
| 766 | int what = -1; |
| 767 | |
| 768 | switch (handle) { |
| 769 | case ID_A: |
| 770 | what = Accelerometer; |
| 771 | break; |
| 772 | case ID_M: |
| 773 | what = MagneticField; |
| 774 | break; |
| 775 | case ID_O: |
| 776 | what = Orientation; |
| 777 | break; |
| 778 | case ID_GY: |
| 779 | what = Gyro; |
| 780 | break; |
| 781 | case ID_GR: |
| 782 | what = Gravity; |
| 783 | break; |
| 784 | case ID_RV: |
| 785 | what = RotationVector; |
| 786 | break; |
| 787 | case ID_LA: |
| 788 | what = LinearAccel; |
| 789 | break; |
| 790 | default: //this takes care of all the gestures |
| 791 | what = handle; |
| 792 | break; |
| 793 | } |
| 794 | |
| 795 | if (uint32_t(what) >= numSensors) |
| 796 | return -EINVAL; |
| 797 | |
| 798 | int newState = en ? 1 : 0; |
| 799 | int err = 0; |
| 800 | LOGV_IF((uint32_t(newState) << what) != (mEnabled & (1 << what)), |
| 801 | "sensor state change what=%d", what); |
| 802 | |
| 803 | pthread_mutex_lock(&mMplMutex); |
| 804 | if ((uint32_t(newState) << what) != (mEnabled & (1 << what))) { |
| 805 | uint32_t sensor_type; |
| 806 | short flags = newState; |
| 807 | mEnabled &= ~(1 << what); |
| 808 | mEnabled |= (uint32_t(flags) << what); |
| 809 | LOGV_IF(EXTRA_VERBOSE, "mEnabled = %x", mEnabled); |
| 810 | setPowerStates(mEnabled); |
| 811 | pthread_mutex_unlock(&mMplMutex); |
| 812 | if (!newState) |
| 813 | update_delay(); |
| 814 | return err; |
| 815 | } |
| 816 | pthread_mutex_unlock(&mMplMutex); |
| 817 | return err; |
| 818 | } |
| 819 | |
| 820 | int MPLSensor::setDelay(int32_t handle, int64_t ns) |
| 821 | { |
| 822 | FUNC_LOG; |
| 823 | /* LOGV_IF(EXTRA_VERBOSE, */ |
| 824 | LOGE(" setDelay handle: %d rate %d", handle, (int) (ns / 1000000LL)); |
| 825 | int what = -1; |
| 826 | switch (handle) { |
| 827 | case ID_A: |
| 828 | what = Accelerometer; |
| 829 | break; |
| 830 | case ID_M: |
| 831 | what = MagneticField; |
| 832 | break; |
| 833 | case ID_O: |
| 834 | what = Orientation; |
| 835 | break; |
| 836 | case ID_GY: |
| 837 | what = Gyro; |
| 838 | break; |
| 839 | case ID_GR: |
| 840 | what = Gravity; |
| 841 | break; |
| 842 | case ID_RV: |
| 843 | what = RotationVector; |
| 844 | break; |
| 845 | case ID_LA: |
| 846 | what = LinearAccel; |
| 847 | break; |
| 848 | default: |
| 849 | what = handle; |
| 850 | break; |
| 851 | } |
| 852 | |
| 853 | if (uint32_t(what) >= numSensors) |
| 854 | return -EINVAL; |
| 855 | |
| 856 | if (ns < 0) |
| 857 | return -EINVAL; |
| 858 | |
| 859 | pthread_mutex_lock(&mMplMutex); |
| 860 | mDelays[what] = ns; |
| 861 | pthread_mutex_unlock(&mMplMutex); |
| 862 | return update_delay(); |
| 863 | } |
| 864 | |
| 865 | int MPLSensor::update_delay() |
| 866 | { |
| 867 | FUNC_LOG; |
| 868 | int rv = 0; |
| 869 | bool irq_set[5]; |
| 870 | |
| 871 | pthread_mutex_lock(&mMplMutex); |
| 872 | |
| 873 | if (mEnabled) { |
| 874 | uint64_t wanted = -1LLU; |
| 875 | for (int i = 0; i < numSensors; i++) { |
| 876 | if (mEnabled & (1 << i)) { |
| 877 | uint64_t ns = mDelays[i]; |
| 878 | wanted = wanted < ns ? wanted : ns; |
| 879 | } |
| 880 | } |
| 881 | |
| 882 | //Limit all rates to 100Hz max. 100Hz = 10ms = 10000000ns |
| 883 | if (wanted < 10000000LLU) { |
| 884 | wanted = 10000000LLU; |
| 885 | } |
| 886 | |
| 887 | int rate = ((wanted) / 5000000LLU) - ((wanted % 5000000LLU == 0) ? 1 |
| 888 | : 0); //mpu fifo rate is in increments of 5ms |
| 889 | if (rate == 0) //KLP disallow fifo rate 0 |
| 890 | rate = 1; |
| 891 | |
| 892 | if (rate != mCurFifoRate) { |
| 893 | LOGV("set fifo rate: %d %llu", rate, wanted); |
| 894 | inv_error_t res; // = inv_dmp_stop(); |
| 895 | res = inv_set_fifo_rate(rate); |
| 896 | LOGE_IF(res != INV_SUCCESS, "error setting FIFO rate"); |
| 897 | |
| 898 | //res = inv_dmp_start(); |
| 899 | //LOGE_IF(res != INV_SUCCESS, "error re-starting DMP"); |
| 900 | |
| 901 | mCurFifoRate = rate; |
| 902 | rv = (res == INV_SUCCESS); |
| 903 | } |
| 904 | |
| 905 | if (((inv_get_dl_config()->requested_sensors & INV_DMP_PROCESSOR) == 0)) { |
| 906 | if (mUseTimerirq) { |
| 907 | ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_STOP, 0); |
| 908 | clearIrqData(irq_set); |
| 909 | if (inv_get_dl_config()->requested_sensors |
| 910 | == INV_THREE_AXIS_COMPASS) { |
| 911 | ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_START, |
| 912 | (unsigned long) (wanted / 1000000LLU)); |
| 913 | LOGV_IF(EXTRA_VERBOSE, "updated timerirq period to %d", |
| 914 | (int) (wanted / 1000000LLU)); |
| 915 | } else { |
| 916 | ioctl(mIrqFds.valueFor(TIMERIRQ_FD), TIMERIRQ_START, |
| 917 | (unsigned long) inv_get_sample_step_size_ms()); |
| 918 | LOGV_IF(EXTRA_VERBOSE, "updated timerirq period to %d", |
| 919 | (int) inv_get_sample_step_size_ms()); |
| 920 | } |
| 921 | } |
| 922 | } |
| 923 | |
| 924 | } |
| 925 | pthread_mutex_unlock(&mMplMutex); |
| 926 | return rv; |
| 927 | } |
| 928 | |
| 929 | /* return the current time in nanoseconds */ |
| 930 | int64_t MPLSensor::now_ns(void) |
| 931 | { |
| 932 | //FUNC_LOG; |
| 933 | struct timespec ts; |
| 934 | |
| 935 | clock_gettime(CLOCK_MONOTONIC, &ts); |
| 936 | //LOGV("Time %lld", (int64_t)ts.tv_sec * 1000000000 + ts.tv_nsec); |
| 937 | return (int64_t) ts.tv_sec * 1000000000 + ts.tv_nsec; |
| 938 | } |
| 939 | |
| 940 | int MPLSensor::readEvents(sensors_event_t* data, int count) |
| 941 | { |
| 942 | //VFUNC_LOG; |
| 943 | int i; |
| 944 | bool irq_set[5] = { false, false, false, false, false }; |
| 945 | inv_error_t rv; |
| 946 | if (count < 1) |
| 947 | return -EINVAL; |
| 948 | int numEventReceived = 0; |
| 949 | |
| 950 | clearIrqData(irq_set); |
| 951 | |
| 952 | pthread_mutex_lock(&mMplMutex); |
| 953 | if (mDmpStarted) { |
| 954 | //LOGV_IF(EXTRA_VERBOSE, "Update Data"); |
| 955 | rv = inv_update_data(); |
| 956 | LOGE_IF(rv != INV_SUCCESS, "inv_update_data error (code %d)", (int) rv); |
| 957 | } |
| 958 | |
| 959 | else { |
| 960 | //probably just one extra read after shutting down |
| 961 | LOGV_IF(EXTRA_VERBOSE, |
| 962 | "MPLSensor::readEvents called, but there's nothing to do."); |
| 963 | } |
| 964 | |
| 965 | pthread_mutex_unlock(&mMplMutex); |
| 966 | |
| 967 | if (!mNewData) { |
| 968 | LOGV_IF(EXTRA_VERBOSE, "no new data"); |
| 969 | return 0; |
| 970 | } |
| 971 | mNewData = 0; |
| 972 | int64_t tt = now_ns(); |
| 973 | pthread_mutex_lock(&mMplMutex); |
| 974 | for (int i = 0; i < numSensors; i++) { |
| 975 | if (mEnabled & (1 << i)) { |
| 976 | CALL_MEMBER_FN(this,mHandlers[i])(mPendingEvents + i, |
| 977 | &mPendingMask, i); |
| 978 | mPendingEvents[i].timestamp = tt; |
| 979 | } |
| 980 | } |
| 981 | |
| 982 | for (int j = 0; count && mPendingMask && j < numSensors; j++) { |
| 983 | if (mPendingMask & (1 << j)) { |
| 984 | mPendingMask &= ~(1 << j); |
| 985 | if (mEnabled & (1 << j)) { |
| 986 | *data++ = mPendingEvents[j]; |
| 987 | count--; |
| 988 | numEventReceived++; |
| 989 | } |
| 990 | } |
| 991 | |
| 992 | } |
| 993 | |
| 994 | pthread_mutex_unlock(&mMplMutex); |
| 995 | return numEventReceived; |
| 996 | } |
| 997 | |
| 998 | int MPLSensor::getFd() const |
| 999 | { |
| 1000 | LOGV("MPLSensor::getFd returning %d", data_fd); |
| 1001 | return data_fd; |
| 1002 | } |
| 1003 | |
| 1004 | int MPLSensor::getAccelFd() const |
| 1005 | { |
| 1006 | LOGV("MPLSensor::getAccelFd returning %d", accel_fd); |
| 1007 | return accel_fd; |
| 1008 | } |
| 1009 | |
| 1010 | int MPLSensor::getTimerFd() const |
| 1011 | { |
| 1012 | LOGV("MPLSensor::getTimerFd returning %d", timer_fd); |
| 1013 | return timer_fd; |
| 1014 | } |
| 1015 | |
| 1016 | int MPLSensor::getPowerFd() const |
| 1017 | { |
| 1018 | int hdl = (int) inv_get_serial_handle(); |
| 1019 | LOGV("MPLSensor::getPowerFd returning %d", hdl); |
| 1020 | return hdl; |
| 1021 | } |
| 1022 | |
| 1023 | int MPLSensor::getPollTime() |
| 1024 | { |
| 1025 | return mPollTime; |
| 1026 | } |
| 1027 | |
| 1028 | bool MPLSensor::hasPendingEvents() const |
| 1029 | { |
| 1030 | //if we are using the polling workaround, force the main loop to check for data every time |
| 1031 | return (mPollTime != -1); |
| 1032 | } |
| 1033 | |
| 1034 | void MPLSensor::handlePowerEvent() |
| 1035 | { |
| 1036 | VFUNC_LOG; |
| 1037 | mpuirq_data irqd; |
| 1038 | |
| 1039 | int fd = (int) inv_get_serial_handle(); |
| 1040 | read(fd, &irqd, sizeof(irqd)); |
| 1041 | |
| 1042 | if (irqd.data == MPU_PM_EVENT_SUSPEND_PREPARE) { |
| 1043 | //going to sleep |
| 1044 | sleepEvent(); |
| 1045 | } else if (irqd.data == MPU_PM_EVENT_POST_SUSPEND) { |
| 1046 | //waking up |
| 1047 | wakeEvent(); |
| 1048 | } |
| 1049 | |
| 1050 | ioctl(fd, MPU_PM_EVENT_HANDLED, 0); |
| 1051 | } |
| 1052 | |
| 1053 | void MPLSensor::sleepEvent() |
| 1054 | { |
| 1055 | VFUNC_LOG; |
| 1056 | pthread_mutex_lock(&mMplMutex); |
| 1057 | if (mEnabled != 0) { |
| 1058 | mForceSleep = true; |
| 1059 | mOldEnabledMask = mEnabled; |
| 1060 | setPowerStates(0); |
| 1061 | } |
| 1062 | pthread_mutex_unlock(&mMplMutex); |
| 1063 | } |
| 1064 | |
| 1065 | void MPLSensor::wakeEvent() |
| 1066 | { |
| 1067 | VFUNC_LOG; |
| 1068 | pthread_mutex_lock(&mMplMutex); |
| 1069 | if (mForceSleep) { |
| 1070 | setPowerStates((mOldEnabledMask | mEnabled)); |
| 1071 | } |
| 1072 | mForceSleep = false; |
| 1073 | pthread_mutex_unlock(&mMplMutex); |
| 1074 | } |