diff options
Diffstat (limited to 'libsensors/akmdfs')
28 files changed, 0 insertions, 3563 deletions
diff --git a/libsensors/akmdfs/AK8975Driver.c b/libsensors/akmdfs/AK8975Driver.c deleted file mode 100644 index 003c8d2..0000000 --- a/libsensors/akmdfs/AK8975Driver.c +++ /dev/null @@ -1,318 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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. - * - ******************************************************************************/ -#include <fcntl.h> -#include "AKFS_Common.h" -#include "AK8975Driver.h" - -#define MSENSOR_NAME "/dev/akm8975_dev" - -static int s_fdDev = -1; - -/*! - Open device driver. - This function opens both device drivers of magnetic sensor and acceleration - sensor. Additionally, some initial hardware settings are done, such as - measurement range, built-in filter function and etc. - @return If this function succeeds, the return value is #AKD_SUCCESS. - Otherwise the return value is #AKD_FAIL. - */ -int16_t AKD_InitDevice(void) -{ - if (s_fdDev < 0) { - /* Open magnetic sensor's device driver. */ - if ((s_fdDev = open(MSENSOR_NAME, O_RDWR)) < 0) { - AKMERROR_STR("open"); - return AKD_FAIL; - } - } - - return AKD_SUCCESS; -} - -/*! - Close device driver. - This function closes both device drivers of magnetic sensor and acceleration - sensor. - */ -void AKD_DeinitDevice(void) -{ - if (s_fdDev >= 0) { - close(s_fdDev); - s_fdDev = -1; - } -} - -/*! - Writes data to a register of the AK8975. When more than one byte of data is - specified, the data is written in contiguous locations starting at an address - specified in \a address. - @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise - the return value is #AKD_FAIL. - @param[in] address Specify the address of a register in which data is to be - written. - @param[in] data Specify data to write or a pointer to a data array containing - the data. When specifying more than one byte of data, specify the starting - address of the array. - @param[in] numberOfBytesToWrite Specify the number of bytes that make up the - data to write. When a pointer to an array is specified in data, this argument - equals the number of elements of the array. - */ -int16_t AKD_TxData( - const BYTE address, - const BYTE * data, - const uint16_t numberOfBytesToWrite) -{ - int i; - char buf[RWBUF_SIZE]; - - if (s_fdDev < 0) { - ALOGE("%s: Device file is not opened.", __FUNCTION__); - return AKD_FAIL; - } - if (numberOfBytesToWrite > (RWBUF_SIZE-2)) { - ALOGE("%s: Tx size is too large.", __FUNCTION__); - return AKD_FAIL; - } - - buf[0] = numberOfBytesToWrite + 1; - buf[1] = address; - - for (i = 0; i < numberOfBytesToWrite; i++) { - buf[i + 2] = data[i]; - } - if (ioctl(s_fdDev, ECS_IOCTL_WRITE, buf) < 0) { - AKMERROR_STR("ioctl"); - return AKD_FAIL; - } else { - -#if ENABLE_AKMDEBUG - AKMDATA(AKMDATA_DRV, "addr(HEX)=%02x data(HEX)=", address); - for (i = 0; i < numberOfBytesToWrite; i++) { - AKMDATA(AKMDATA_DRV, " %02x", data[i]); - } - AKMDATA(AKMDATA_DRV, "\n"); -#endif - return AKD_SUCCESS; - } -} - -/*! - Acquires data from a register or the EEPROM of the AK8975. - @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise - the return value is #AKD_FAIL. - @param[in] address Specify the address of a register from which data is to be - read. - @param[out] data Specify a pointer to a data array which the read data are - stored. - @param[in] numberOfBytesToRead Specify the number of bytes that make up the - data to read. When a pointer to an array is specified in data, this argument - equals the number of elements of the array. - */ -int16_t AKD_RxData( - const BYTE address, - BYTE * data, - const uint16_t numberOfBytesToRead) -{ - int i; - char buf[RWBUF_SIZE]; - - memset(data, 0, numberOfBytesToRead); - - if (s_fdDev < 0) { - ALOGE("%s: Device file is not opened.", __FUNCTION__); - return AKD_FAIL; - } - if (numberOfBytesToRead > (RWBUF_SIZE-1)) { - ALOGE("%s: Rx size is too large.", __FUNCTION__); - return AKD_FAIL; - } - - buf[0] = numberOfBytesToRead; - buf[1] = address; - - if (ioctl(s_fdDev, ECS_IOCTL_READ, buf) < 0) { - AKMERROR_STR("ioctl"); - return AKD_FAIL; - } else { - for (i = 0; i < numberOfBytesToRead; i++) { - data[i] = buf[i + 1]; - } -#if ENABLE_AKMDEBUG - AKMDATA(AKMDATA_DRV, "addr(HEX)=%02x len=%d data(HEX)=", - address, numberOfBytesToRead); - for (i = 0; i < numberOfBytesToRead; i++) { - AKMDATA(AKMDATA_DRV, " %02x", data[i]); - } - AKMDATA(AKMDATA_DRV, "\n"); -#endif - return AKD_SUCCESS; - } -} - -/*! - Acquire magnetic data from AK8975. If measurement is not done, this function - waits until measurement completion. - @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise - the return value is #AKD_FAIL. - @param[out] data A magnetic data array. The size should be larger than #SENSOR_DATA_SIZE. - */ -int16_t AKD_GetMagneticData(BYTE data[SENSOR_DATA_SIZE]) -{ - memset(data, 0, SENSOR_DATA_SIZE); - - if (s_fdDev < 0) { - ALOGE("%s: Device file is not opened.", __FUNCTION__); - return AKD_FAIL; - } - - if (ioctl(s_fdDev, ECS_IOCTL_GETDATA, data) < 0) { - AKMERROR_STR("ioctl"); - return AKD_FAIL; - } - - AKMDATA(AKMDATA_DRV, - "bdata(HEX)= %02x %02x %02x %02x %02x %02x %02x %02x\n", - data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); - - return AKD_SUCCESS; -} - -/*! - Set calculated data to device driver. - @param[in] buf The order of input data depends on driver's specification. - */ -void AKD_SetYPR(const int buf[YPR_DATA_SIZE]) -{ - if (s_fdDev < 0) { - ALOGE("%s: Device file is not opened.", __FUNCTION__); - } else { - if (ioctl(s_fdDev, ECS_IOCTL_SET_YPR, buf) < 0) { - AKMERROR_STR("ioctl"); - } - } -} - -/*! - */ -int AKD_GetOpenStatus(int* status) -{ - if (s_fdDev < 0) { - ALOGE("%s: Device file is not opened.", __FUNCTION__); - return AKD_FAIL; - } - if (ioctl(s_fdDev, ECS_IOCTL_GET_OPEN_STATUS, status) < 0) { - AKMERROR_STR("ioctl"); - return AKD_FAIL; - } - return AKD_SUCCESS; -} - -/*! - */ -int AKD_GetCloseStatus(int* status) -{ - if (s_fdDev < 0) { - ALOGE("%s: Device file is not opened.", __FUNCTION__); - return AKD_FAIL; - } - if (ioctl(s_fdDev, ECS_IOCTL_GET_CLOSE_STATUS, status) < 0) { - AKMERROR_STR("ioctl"); - return AKD_FAIL; - } - return AKD_SUCCESS; -} - -/*! - Set AK8975 to the specific mode. - @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise - the return value is #AKD_FAIL. - @param[in] mode This value should be one of the AK8975_Mode which is defined in - akm8975.h file. - */ -int16_t AKD_SetMode(const BYTE mode) -{ - if (s_fdDev < 0) { - ALOGE("%s: Device file is not opened.", __FUNCTION__); - return AKD_FAIL; - } - - if (ioctl(s_fdDev, ECS_IOCTL_SET_MODE, &mode) < 0) { - AKMERROR_STR("ioctl"); - return AKD_FAIL; - } - - return AKD_SUCCESS; -} - -/*! - Acquire delay - @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise - the return value is #AKD_FAIL. - @param[out] delay A delay in nanosecond. - */ -int16_t AKD_GetDelay(int64_t delay[AKM_NUM_SENSORS]) -{ - if (s_fdDev < 0) { - ALOGE("%s: Device file is not opened.\n", __FUNCTION__); - return AKD_FAIL; - } - if (ioctl(s_fdDev, ECS_IOCTL_GET_DELAY, delay) < 0) { - AKMERROR_STR("ioctl"); - return AKD_FAIL; - } - return AKD_SUCCESS; -} - -/*! - Get layout information from device driver, i.e. platform data. - */ -int16_t AKD_GetLayout(int16_t* layout) -{ - char tmp; - - if (s_fdDev < 0) { - ALOGE("%s: Device file is not opened.", __FUNCTION__); - return AKD_FAIL; - } - - if (ioctl(s_fdDev, ECS_IOCTL_GET_LAYOUT, &tmp) < 0) { - AKMERROR_STR("ioctl"); - return AKD_FAIL; - } - - *layout = tmp; - return AKD_SUCCESS; -} - -/* Get acceleration data. */ -int16_t AKD_GetAccelerationData(int16_t data[3]) -{ - if (s_fdDev < 0) { - ALOGE("%s: Device file is not opened.", __FUNCTION__); - return AKD_FAIL; - } - if (ioctl(s_fdDev, ECS_IOCTL_GET_ACCEL, data) < 0) { - AKMERROR_STR("ioctl"); - return AKD_FAIL; - } - - AKMDATA(AKMDATA_DRV, "%s: acc=%d, %d, %d\n", - __FUNCTION__, data[0], data[1], data[2]); - - return AKD_SUCCESS; -} diff --git a/libsensors/akmdfs/AK8975Driver.h b/libsensors/akmdfs/AK8975Driver.h deleted file mode 100644 index 731210d..0000000 --- a/libsensors/akmdfs/AK8975Driver.h +++ /dev/null @@ -1,102 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKMD_INC_AK8975DRIVER_H -#define AKMD_INC_AK8975DRIVER_H - -#include <linux/akm8975.h> /* Device driver */ -#include <stdint.h> /* int8_t, int16_t etc. */ - -/*** Constant definition ******************************************************/ -#define AKD_TRUE 1 /*!< Represents true */ -#define AKD_FALSE 0 /*!< Represents false */ -#define AKD_SUCCESS 1 /*!< Represents success.*/ -#define AKD_FAIL 0 /*!< Represents fail. */ -#define AKD_ERROR -1 /*!< Represents error. */ - -/*! 0:Don't Output data, 1:Output data */ -#define AKD_DBG_DATA 0 -/*! Typical interval in ns */ -#define AK8975_MEASUREMENT_TIME_NS ((AK8975_MEASUREMENT_TIME_US) * 1000) -/*! 720 LSG = 1G = 9.8 m/s2 */ -#define LSG 720 - - -/*** Type declaration *********************************************************/ -typedef unsigned char BYTE; - -/*! - Open device driver. - This function opens device driver of acceleration sensor. - @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise - the return value is #AKD_FAIL. - */ -typedef int16_t(*ACCFNC_INITDEVICE)(void); - -/*! - Close device driver. - This function closes device drivers of acceleration sensor. - */ -typedef void(*ACCFNC_DEINITDEVICE)(void); - -/*! - Acquire acceleration data from acceleration sensor and convert it to Android - coordinate system. - @return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise - the return value is #AKD_FAIL. - @param[out] data A acceleration data array. The coordinate system of the - acquired data follows the definition of Android. Unit is SmartCompass. - */ -typedef int16_t(*ACCFNC_GETACCDATA)(short data[3]); - - -/*** Global variables *********************************************************/ - -/*** Prototype of Function ***************************************************/ - -int16_t AKD_InitDevice(void); - -void AKD_DeinitDevice(void); - -int16_t AKD_TxData( - const BYTE address, - const BYTE* data, - const uint16_t numberOfBytesToWrite); - -int16_t AKD_RxData( - const BYTE address, - BYTE* data, - const uint16_t numberOfBytesToRead); - -int16_t AKD_GetMagneticData(BYTE data[SENSOR_DATA_SIZE]); - -void AKD_SetYPR(const int buf[YPR_DATA_SIZE]); - -int AKD_GetOpenStatus(int* status); - -int AKD_GetCloseStatus(int* status); - -int16_t AKD_SetMode(const BYTE mode); - -int16_t AKD_GetDelay(int64_t delay[AKM_NUM_SENSORS]); - -int16_t AKD_GetLayout(int16_t* layout); - -int16_t AKD_GetAccelerationData(int16_t data[3]); - -#endif /* AKMD_INC_AK8975DRIVER_H */ - diff --git a/libsensors/akmdfs/AKFS_APIs.c b/libsensors/akmdfs/AKFS_APIs.c deleted file mode 100644 index ace9bc1..0000000 --- a/libsensors/akmdfs/AKFS_APIs.c +++ /dev/null @@ -1,389 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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. - * - ******************************************************************************/ -#include "AKFS_Common.h" -#include "AKFS_Disp.h" -#include "AKFS_FileIO.h" -#include "AKFS_APIs.h" - -#ifdef WIN32 -#include "AK8975_LinuxDriver.h" -#endif - -static AK8975PRMS g_prms; - -/*! - Initialize library. At first, 0 is set to all parameters. After that, some - parameters, which should not be 0, are set to specific value. Some of initial - values can be customized by editing the file \c "AKFS_CSpec.h". - @return The return value is #AKM_SUCCESS. - @param[in] hpat Specify a layout pattern number. The number is determined - according to the mount orientation of the magnetometer. - @param[in] regs[3] Specify the ASA values which are read out from - fuse ROM. regs[0] is ASAX, regs[1] is ASAY, regs[2] is ASAZ. - */ -int16 AKFS_Init( - const AKFS_PATNO hpat, - const uint8 regs[] -) -{ - AKMDATA(AKMDATA_DUMP, "%s: hpat=%d, r[0]=0x%02X, r[1]=0x%02X, r[2]=0x%02X\n", - __FUNCTION__, hpat, regs[0], regs[1], regs[2]); - - /* Set 0 to the AK8975 structure. */ - memset(&g_prms, 0, sizeof(AK8975PRMS)); - - /* Sensitivity */ - g_prms.mfv_hs.u.x = AK8975_HSENSE_DEFAULT; - g_prms.mfv_hs.u.y = AK8975_HSENSE_DEFAULT; - g_prms.mfv_hs.u.z = AK8975_HSENSE_DEFAULT; - g_prms.mfv_as.u.x = AK8975_ASENSE_DEFAULT; - g_prms.mfv_as.u.y = AK8975_ASENSE_DEFAULT; - g_prms.mfv_as.u.z = AK8975_ASENSE_DEFAULT; - - /* Initialize variables that initial value is not 0. */ - g_prms.mi_hnaveV = CSPEC_HNAVE_V; - g_prms.mi_hnaveD = CSPEC_HNAVE_D; - g_prms.mi_anaveV = CSPEC_ANAVE_V; - g_prms.mi_anaveD = CSPEC_ANAVE_D; - - /* Copy ASA values */ - g_prms.mi_asa.u.x = regs[0]; - g_prms.mi_asa.u.y = regs[1]; - g_prms.mi_asa.u.z = regs[2]; - - /* Copy layout pattern */ - g_prms.m_hpat = hpat; - - return AKM_SUCCESS; -} - -/*! - Release resources. This function is for future expansion. - @return The return value is #AKM_SUCCESS. - */ -int16 AKFS_Release(void) -{ - return AKM_SUCCESS; -} - -/* - This function is called just before a measurement sequence starts. - This function reads parameters from file, then initializes algorithm - parameters. - @return The return value is #AKM_SUCCESS. - @param[in] path Specify a path to the settings file. - */ -int16 AKFS_Start( - const char* path -) -{ - AKMDATA(AKMDATA_DUMP, "%s: path=%s\n", __FUNCTION__, path); - - /* Read setting files from a file */ - if (AKFS_LoadParameters(&g_prms, path) != AKM_SUCCESS) { - AKMERROR_STR("AKFS_Load"); - } - - /* Initialize buffer */ - AKFS_InitBuffer(AKFS_HDATA_SIZE, g_prms.mfv_hdata); - AKFS_InitBuffer(AKFS_HDATA_SIZE, g_prms.mfv_hvbuf); - AKFS_InitBuffer(AKFS_ADATA_SIZE, g_prms.mfv_adata); - AKFS_InitBuffer(AKFS_ADATA_SIZE, g_prms.mfv_avbuf); - - /* Initialize for AOC */ - AKFS_InitAOC(&g_prms.m_aocv); - /* Initialize magnetic status */ - g_prms.mi_hstatus = 0; - - return AKM_SUCCESS; -} - -/*! - This function is called when a measurement sequence is done. - This fucntion writes parameters to file. - @return The return value is #AKM_SUCCESS. - @param[in] path Specify a path to the settings file. - */ -int16 AKFS_Stop( - const char* path -) -{ - AKMDATA(AKMDATA_DUMP, "%s: path=%s\n", __FUNCTION__, path); - - /* Write setting files to a file */ - if (AKFS_SaveParameters(&g_prms, path) != AKM_SUCCESS) { - AKMERROR_STR("AKFS_Save"); - } - - return AKM_SUCCESS; -} - -/*! - This function is called when new magnetometer data is available. The output - vector format and coordination system follow the Android definition. - @return The return value is #AKM_SUCCESS. - Otherwise the return value is #AKM_FAIL. - @param[in] mag A set of measurement data from magnetometer. X axis value - should be in mag[0], Y axis value should be in mag[1], Z axis value should be - in mag[2]. - @param[in] status A status of magnetometer. This status indicates the result - of measurement data, i.e. overflow, success or fail, etc. - @param[out] vx X axis value of magnetic field vector. - @param[out] vy Y axis value of magnetic field vector. - @param[out] vz Z axis value of magnetic field vector. - @param[out] accuracy Accuracy of magnetic field vector. - */ -int16 AKFS_Get_MAGNETIC_FIELD( - const int16 mag[3], - const int16 status, - AKFLOAT* vx, - AKFLOAT* vy, - AKFLOAT* vz, - int16* accuracy -) -{ - int16 akret; - int16 aocret; - AKFLOAT radius; - - AKMDATA(AKMDATA_DUMP, "%s: m[0]=%d, m[1]=%d, m[2]=%d, st=%d\n", - __FUNCTION__, mag[0], mag[1], mag[2], status); - - /* Decomposition */ - /* Sensitivity adjustment, i.e. multiply ASA, is done in this function. */ - akret = AKFS_DecompAK8975( - mag, - status, - &g_prms.mi_asa, - AKFS_HDATA_SIZE, - g_prms.mfv_hdata - ); - if(akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - - /* Adjust coordination */ - akret = AKFS_Rotate( - g_prms.m_hpat, - &g_prms.mfv_hdata[0] - ); - if (akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - - /* AOC for magnetometer */ - /* Offset estimation is done in this function */ - aocret = AKFS_AOC( - &g_prms.m_aocv, - g_prms.mfv_hdata, - &g_prms.mfv_ho - ); - - /* Subtract offset */ - /* Then, a magnetic vector, the unit is uT, is stored in mfv_hvbuf. */ - akret = AKFS_VbNorm( - AKFS_HDATA_SIZE, - g_prms.mfv_hdata, - 1, - &g_prms.mfv_ho, - &g_prms.mfv_hs, - AK8975_HSENSE_TARGET, - AKFS_HDATA_SIZE, - g_prms.mfv_hvbuf - ); - if(akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - - /* Averaging */ - akret = AKFS_VbAve( - AKFS_HDATA_SIZE, - g_prms.mfv_hvbuf, - CSPEC_HNAVE_V, - &g_prms.mfv_hvec - ); - if (akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - - /* Check the size of magnetic vector */ - radius = AKFS_SQRT( - (g_prms.mfv_hvec.u.x * g_prms.mfv_hvec.u.x) + - (g_prms.mfv_hvec.u.y * g_prms.mfv_hvec.u.y) + - (g_prms.mfv_hvec.u.z * g_prms.mfv_hvec.u.z)); - - if (radius > AKFS_GEOMAG_MAX) { - g_prms.mi_hstatus = 0; - } else { - if (aocret) { - g_prms.mi_hstatus = 3; - } - } - - *vx = g_prms.mfv_hvec.u.x; - *vy = g_prms.mfv_hvec.u.y; - *vz = g_prms.mfv_hvec.u.z; - *accuracy = g_prms.mi_hstatus; - - /* Debug output */ - AKMDATA(AKMDATA_MAG, "Mag(%d):%8.2f, %8.2f, %8.2f\n", - *accuracy, *vx, *vy, *vz); - - return AKM_SUCCESS; -} - -/*! - This function is called when new accelerometer data is available. The output - vector format and coordination system follow the Android definition. - @return The return value is #AKM_SUCCESS when function succeeds. Otherwise - the return value is #AKM_FAIL. - @param[in] acc A set of measurement data from accelerometer. X axis value - should be in acc[0], Y axis value should be in acc[1], Z axis value should be - in acc[2]. - @param[in] status A status of accelerometer. This status indicates the result - of acceleration data, i.e. overflow, success or fail, etc. - @param[out] vx X axis value of acceleration vector. - @param[out] vy Y axis value of acceleration vector. - @param[out] vz Z axis value of acceleration vector. - @param[out] accuracy Accuracy of acceleration vector. - This value is always 3. - */ -int16 AKFS_Get_ACCELEROMETER( - const int16 acc[3], - const int16 status, - AKFLOAT* vx, - AKFLOAT* vy, - AKFLOAT* vz, - int16* accuracy -) -{ - int16 akret; - - AKMDATA(AKMDATA_DUMP, "%s: a[0]=%d, a[1]=%d, a[2]=%d, st=%d\n", - __FUNCTION__, acc[0], acc[1], acc[2], status); - - /* Save data to buffer */ - AKFS_BufShift( - AKFS_ADATA_SIZE, - 1, - g_prms.mfv_adata - ); - g_prms.mfv_adata[0].u.x = acc[0]; - g_prms.mfv_adata[0].u.y = acc[1]; - g_prms.mfv_adata[0].u.z = acc[2]; - - /* Subtract offset, adjust sensitivity */ - /* As a result, a unit of acceleration data in mfv_avbuf is '1G = 9.8' */ - akret = AKFS_VbNorm( - AKFS_ADATA_SIZE, - g_prms.mfv_adata, - 1, - &g_prms.mfv_ao, - &g_prms.mfv_as, - AK8975_ASENSE_TARGET, - AKFS_ADATA_SIZE, - g_prms.mfv_avbuf - ); - if(akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - - /* Averaging */ - akret = AKFS_VbAve( - AKFS_ADATA_SIZE, - g_prms.mfv_avbuf, - CSPEC_ANAVE_V, - &g_prms.mfv_avec - ); - if (akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - - /* Adjust coordination */ - /* It is not needed. Because, the data from AK8975 driver is already - follows Android coordinate system. */ - - *vx = g_prms.mfv_avec.u.x; - *vy = g_prms.mfv_avec.u.y; - *vz = g_prms.mfv_avec.u.z; - *accuracy = 3; - - /* Debug output */ - AKMDATA(AKMDATA_ACC, "Acc(%d):%8.2f, %8.2f, %8.2f\n", - *accuracy, *vx, *vy, *vz); - - return AKM_SUCCESS; -} - -/*! - Get orientation sensor's elements. The vector format and coordination system - follow the Android definition. Before this function is called, magnetic - field vector and acceleration vector should be stored in the buffer by - calling #AKFS_Get_MAGNETIC_FIELD and #AKFS_Get_ACCELEROMETER. - @return The return value is #AKM_SUCCESS when function succeeds. Otherwise - the return value is #AKM_FAIL. - @param[out] azimuth Azimuthal angle in degree. - @param[out] pitch Pitch angle in degree. - @param[out] roll Roll angle in degree. - @param[out] accuracy Accuracy of orientation sensor. - */ -int16 AKFS_Get_ORIENTATION( - AKFLOAT* azimuth, - AKFLOAT* pitch, - AKFLOAT* roll, - int16* accuracy -) -{ - int16 akret; - - /* Azimuth calculation */ - /* Coordination system follows the Android coordination. */ - akret = AKFS_Direction( - AKFS_HDATA_SIZE, - g_prms.mfv_hvbuf, - CSPEC_HNAVE_D, - AKFS_ADATA_SIZE, - g_prms.mfv_avbuf, - CSPEC_ANAVE_D, - &g_prms.mf_azimuth, - &g_prms.mf_pitch, - &g_prms.mf_roll - ); - - if(akret == AKFS_ERROR) { - AKMERROR; - return AKM_FAIL; - } - *azimuth = g_prms.mf_azimuth; - *pitch = g_prms.mf_pitch; - *roll = g_prms.mf_roll; - *accuracy = g_prms.mi_hstatus; - - /* Debug output */ - AKMDATA(AKMDATA_ORI, "Ori(%d):%8.2f, %8.2f, %8.2f\n", - *accuracy, *azimuth, *pitch, *roll); - - return AKM_SUCCESS; -} - diff --git a/libsensors/akmdfs/AKFS_APIs.h b/libsensors/akmdfs/AKFS_APIs.h deleted file mode 100644 index e4d1e48..0000000 --- a/libsensors/akmdfs/AKFS_APIs.h +++ /dev/null @@ -1,69 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_APIS_H -#define AKFS_INC_APIS_H - -/* Include files for AK8975 library. */ -#include "AKFS_Compass.h" - -/*** Constant definition ******************************************************/ -#define AKFS_GEOMAG_MAX 70 - -/*** Type declaration *********************************************************/ - -/*** Global variables *********************************************************/ - -/*** Prototype of function ****************************************************/ -int16 AKFS_Init( - const AKFS_PATNO hpat, - const uint8 regs[] -); - -int16 AKFS_Release(void); - -int16 AKFS_Start(const char* path); - -int16 AKFS_Stop(const char* path); - -int16 AKFS_Get_MAGNETIC_FIELD( - const int16 mag[3], - const int16 status, - AKFLOAT* vx, - AKFLOAT* vy, - AKFLOAT* vz, - int16* accuracy -); - -int16 AKFS_Get_ACCELEROMETER( - const int16 acc[3], - const int16 status, - AKFLOAT* vx, - AKFLOAT* vy, - AKFLOAT* vz, - int16* accuracy -); - -int16 AKFS_Get_ORIENTATION( - AKFLOAT* azimuth, - AKFLOAT* pitch, - AKFLOAT* roll, - int16* accuracy -); - -#endif - diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.c b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.c deleted file mode 100644 index 7bac9a1..0000000 --- a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.c +++ /dev/null @@ -1,44 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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. - * - ******************************************************************************/ -#include "AKFS_AK8975.h" -#include "AKFS_Device.h" - -/*! - */ -int16 AKFS_DecompAK8975( - const int16 mag[3], - const int16 status, - const uint8vec* asa, - const int16 nhdata, - AKFVEC hdata[] -) -{ - /* put st1 and st2 value */ - if (AK8975_ST_ERROR(status)) { - return AKFS_ERROR; - } - - /* magnetic */ - AKFS_BufShift(nhdata, 1, hdata); - hdata[0].u.x = mag[0] * (((asa->u.x)/256.0f) + 0.5f); - hdata[0].u.y = mag[1] * (((asa->u.y)/256.0f) + 0.5f); - hdata[0].u.z = mag[2] * (((asa->u.z)/256.0f) + 0.5f); - - return AKFS_SUCCESS; -} - diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.h deleted file mode 100644 index 25459e3..0000000 --- a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AK8975.h +++ /dev/null @@ -1,50 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_AK8975_H -#define AKFS_INC_AK8975_H - -#include "AKFS_Device.h" - -/***** Constant definition ****************************************************/ -#define AK8975_BDATA_SIZE 8 - -#define AK8975_HSENSE_DEFAULT 1 -#define AK8975_HSENSE_TARGET 0.3f -#define AK8975_ASENSE_DEFAULT 720 -#define AK8975_ASENSE_TARGET 9.80665f - -#define AK8975_HDATA_CONVERTER(hi, low, asa) \ - (AKFLOAT)((int16)((((uint16)(hi))<<8)+(uint16)(low))*(((asa)/256.0f) + 0.5f)) - -#define AK8975_ST_ERROR(st) (((st)&0x09) != 0x01) - -/***** Type declaration *******************************************************/ - -/***** Prototype of function **************************************************/ -AKLIB_C_API_START -int16 AKFS_DecompAK8975( - const int16 mag[3], - const int16 status, - const uint8vec* asa, - const int16 nhdata, - AKFVEC hdata[] -); -AKLIB_C_API_END - -#endif - diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.c b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.c deleted file mode 100644 index 62b2361..0000000 --- a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.c +++ /dev/null @@ -1,333 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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. - * - ******************************************************************************/ -#include "AKFS_AOC.h" -#include "AKFS_Math.h" - -/* - * CalcR - */ -static AKFLOAT CalcR( - const AKFVEC* x, - const AKFVEC* y -){ - int16 i; - AKFLOAT r; - - r = 0.0; - for(i = 0; i < 3; i++){ - r += (x->v[i]-y->v[i]) * (x->v[i]-y->v[i]); - } - r = sqrt(r); - - return r; -} - -/* - * From4Points2Sphere() - */ -static int16 From4Points2Sphere( - const AKFVEC points[], /*! (i/o) : input vectors */ - AKFVEC* center, /*! (o) : center of sphere */ - AKFLOAT* r /*! (i) : add/subtract value */ -){ - AKFLOAT dif[3][3]; - AKFLOAT r2[3]; - - AKFLOAT A; - AKFLOAT B; - AKFLOAT C; - AKFLOAT D; - AKFLOAT E; - AKFLOAT F; - AKFLOAT G; - - AKFLOAT OU; - AKFLOAT OD; - - int16 i, j; - - for(i = 0; i < 3; i++){ - r2[i] = 0.0; - for(j = 0; j < 3; j++){ - dif[i][j] = points[i].v[j] - points[3].v[j]; - r2[i] += (points[i].v[j]*points[i].v[j] - - points[3].v[j]*points[3].v[j]); - } - r2[i] *= 0.5; - } - - A = dif[0][0]*dif[2][2] - dif[0][2]*dif[2][0]; - B = dif[0][1]*dif[2][0] - dif[0][0]*dif[2][1]; - C = dif[0][0]*dif[2][1] - dif[0][1]*dif[2][0]; - D = dif[0][0]*r2[2] - dif[2][0]*r2[0]; - E = dif[0][0]*dif[1][1] - dif[0][1]*dif[1][0]; - F = dif[1][0]*dif[0][2] - dif[0][0]*dif[1][2]; - G = dif[0][0]*r2[1] - dif[1][0]*r2[0]; - - OU = D*E + B*G; - OD = C*F + A*E; - - if(fabs(OD) < AKFS_EPSILON){ - return -1; - } - - center->v[2] = OU / OD; - - OU = F*center->v[2] + G; - OD = E; - - if(fabs(OD) < AKFS_EPSILON){ - return -1; - } - - center->v[1] = OU / OD; - - OU = r2[0] - dif[0][1]*center->v[1] - dif[0][2]*center->v[2]; - OD = dif[0][0]; - - if(fabs(OD) < AKFS_EPSILON){ - return -1; - } - - center->v[0] = OU / OD; - - *r = CalcR(&points[0], center); - - return 0; - -} - -/* - * MeanVar - */ -static void MeanVar( - const AKFVEC v[], /*!< (i) : input vectors */ - const int16 n, /*!< (i) : number of vectors */ - AKFVEC* mean, /*!< (o) : (max+min)/2 */ - AKFVEC* var /*!< (o) : variation in vectors */ -){ - int16 i; - int16 j; - AKFVEC max; - AKFVEC min; - - for(j = 0; j < 3; j++){ - min.v[j] = v[0].v[j]; - max.v[j] = v[0].v[j]; - for(i = 1; i < n; i++){ - if(v[i].v[j] < min.v[j]){ - min.v[j] = v[i].v[j]; - } - if(v[i].v[j] > max.v[j]){ - max.v[j] = v[i].v[j]; - } - } - mean->v[j] = (max.v[j] + min.v[j]) / 2.0; /*mean */ - var->v[j] = max.v[j] - min.v[j]; /*var */ - } -} - -/* - * Get4points - */ -static void Get4points( - const AKFVEC v[], /*!< (i) : input vectors */ - const int16 n, /*!< (i) : number of vectors */ - AKFVEC out[] /*!< (o) : */ -){ - int16 i, j; - AKFLOAT temp; - AKFLOAT d; - - AKFVEC dv[AKFS_HBUF_SIZE]; - AKFVEC cross; - AKFVEC tempv; - - /* out 0 */ - out[0] = v[0]; - - /* out 1 */ - d = 0.0; - for(i = 1; i < n; i++){ - temp = CalcR(&v[i], &out[0]); - if(d < temp){ - d = temp; - out[1] = v[i]; - } - } - - /* out 2 */ - d = 0.0; - for(j = 0; j < 3; j++){ - dv[0].v[j] = out[1].v[j] - out[0].v[j]; - } - for(i = 1; i < n; i++){ - for(j = 0; j < 3; j++){ - dv[i].v[j] = v[i].v[j] - out[0].v[j]; - } - tempv.v[0] = dv[0].v[1]*dv[i].v[2] - dv[0].v[2]*dv[i].v[1]; - tempv.v[1] = dv[0].v[2]*dv[i].v[0] - dv[0].v[0]*dv[i].v[2]; - tempv.v[2] = dv[0].v[0]*dv[i].v[1] - dv[0].v[1]*dv[i].v[0]; - temp = tempv.u.x * tempv.u.x - + tempv.u.y * tempv.u.y - + tempv.u.z * tempv.u.z; - if(d < temp){ - d = temp; - out[2] = v[i]; - cross = tempv; - } - } - - /* out 3 */ - d = 0.0; - for(i = 1; i < n; i++){ - temp = dv[i].u.x * cross.u.x - + dv[i].u.y * cross.u.y - + dv[i].u.z * cross.u.z; - temp = fabs(temp); - if(d < temp){ - d = temp; - out[3] = v[i]; - } - } -} - -/* - * CheckInitFvec - */ -static int16 CheckInitFvec( - const AKFVEC *v /*!< [in] vector */ -){ - int16 i; - - for(i = 0; i < 3; i++){ - if(AKFS_FMAX <= v->v[i]){ - return 1; /* initvalue */ - } - } - - return 0; /* not initvalue */ -} - -/* - * AKFS_AOC - */ -int16 AKFS_AOC( /*!< (o) : calibration success(1), failure(0) */ - AKFS_AOC_VAR* haocv, /*!< (i/o) : a set of variables */ - const AKFVEC* hdata, /*!< (i) : vectors of data */ - AKFVEC* ho /*!< (i/o) : offset */ -){ - int16 i, j; - int16 num; - AKFLOAT tempf; - AKFVEC tempho; - - AKFVEC fourpoints[4]; - - AKFVEC var; - AKFVEC mean; - - /* buffer new data */ - for(i = 1; i < AKFS_HBUF_SIZE; i++){ - haocv->hbuf[AKFS_HBUF_SIZE-i] = haocv->hbuf[AKFS_HBUF_SIZE-i-1]; - } - haocv->hbuf[0] = *hdata; - - /* Check Init */ - num = 0; - for(i = AKFS_HBUF_SIZE; 3 < i; i--){ - if(CheckInitFvec(&haocv->hbuf[i-1]) == 0){ - num = i; - break; - } - } - if(num < 4){ - return AKFS_ERROR; - } - - /* get 4 points */ - Get4points(haocv->hbuf, num, fourpoints); - - /* estimate offset */ - if(0 != From4Points2Sphere(fourpoints, &tempho, &haocv->hraoc)){ - return AKFS_ERROR; - } - - /* check distance */ - for(i = 0; i < 4; i++){ - for(j = (i+1); j < 4; j++){ - tempf = CalcR(&fourpoints[i], &fourpoints[j]); - if((tempf < haocv->hraoc)||(tempf < AKFS_HR_TH)){ - return AKFS_ERROR; - } - } - } - - /* update offset buffer */ - for(i = 1; i < AKFS_HOBUF_SIZE; i++){ - haocv->hobuf[AKFS_HOBUF_SIZE-i] = haocv->hobuf[AKFS_HOBUF_SIZE-i-1]; - } - haocv->hobuf[0] = tempho; - - /* clear hbuf */ - for(i = (AKFS_HBUF_SIZE>>1); i < AKFS_HBUF_SIZE; i++) { - for(j = 0; j < 3; j++) { - haocv->hbuf[i].v[j]= AKFS_FMAX; - } - } - - /* Check Init */ - if(CheckInitFvec(&haocv->hobuf[AKFS_HOBUF_SIZE-1]) == 1){ - return AKFS_ERROR; - } - - /* Check ovar */ - tempf = haocv->hraoc * AKFS_HO_TH; - MeanVar(haocv->hobuf, AKFS_HOBUF_SIZE, &mean, &var); - if ((var.u.x >= tempf) || (var.u.y >= tempf) || (var.u.z >= tempf)){ - return AKFS_ERROR; - } - - *ho = mean; - - return AKFS_SUCCESS; -} - -/* - * AKFS_InitAOC - */ -void AKFS_InitAOC( - AKFS_AOC_VAR* haocv -){ - int16 i, j; - - /* Initialize buffer */ - for(i = 0; i < AKFS_HBUF_SIZE; i++) { - for(j = 0; j < 3; j++) { - haocv->hbuf[i].v[j]= AKFS_FMAX; - } - } - for(i = 0; i < AKFS_HOBUF_SIZE; i++) { - for(j = 0; j < 3; j++) { - haocv->hobuf[i].v[j]= AKFS_FMAX; - } - } - - haocv->hraoc = 0.0; -} - diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.h deleted file mode 100644 index ffaaa88..0000000 --- a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_AOC.h +++ /dev/null @@ -1,53 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_AOC_H -#define AKFS_INC_AOC_H - -#include "AKFS_Device.h" - -/***** Constant definition ****************************************************/ -#define AKFS_HBUF_SIZE 20 -#define AKFS_HOBUF_SIZE 4 -#define AKFS_HR_TH 10 -#define AKFS_HO_TH 0.15 - -/***** Macro definition *******************************************************/ - -/***** Type declaration *******************************************************/ -typedef struct _AKFS_AOC_VAR{ - AKFVEC hbuf[AKFS_HBUF_SIZE]; - AKFVEC hobuf[AKFS_HOBUF_SIZE]; - AKFLOAT hraoc; -} AKFS_AOC_VAR; - -/***** Prototype of function **************************************************/ -AKLIB_C_API_START -int16 AKFS_AOC( - AKFS_AOC_VAR* haocv, - const AKFVEC* hdata, - AKFVEC* ho -); - -void AKFS_InitAOC( - AKFS_AOC_VAR* haocv -); - -AKLIB_C_API_END - -#endif - diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Configure.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Configure.h deleted file mode 100644 index 1f80f48..0000000 --- a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Configure.h +++ /dev/null @@ -1,37 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_CONFIG_H -#define AKFS_INC_CONFIG_H - -/***** Language configuration *************************************************/ -#if defined(__cplusplus) -#define AKLIB_C_API_START extern "C" { -#define AKLIB_C_API_END } -#else -#define AKLIB_C_API_START -#define AKLIB_C_API_END -#endif - -/*! If following line is commented in, double type is used for floating point - calculation */ -/* -#define AKFS_PRECISION_DOUBLE -*/ - -#endif - diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Device.c b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Device.c deleted file mode 100644 index 3d99ab1..0000000 --- a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Device.c +++ /dev/null @@ -1,110 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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. - * - ******************************************************************************/ -#include "AKFS_Device.h" - -int16 AKFS_InitBuffer( - const int16 ndata, /*!< Size of vector buffer */ - AKFVEC vdata[] /*!< Vector buffer */ -) -{ - int i; - - /* size check */ - if (ndata <= 0) { - return AKFS_ERROR; - } - - for (i=0; i<ndata; i++) { - vdata[i].u.x = AKFS_INIT_VALUE_F; - vdata[i].u.y = AKFS_INIT_VALUE_F; - vdata[i].u.z = AKFS_INIT_VALUE_F; - } - - return AKFS_SUCCESS; -} - -int16 AKFS_BufShift( - const int16 len, /*!< size of buffer */ - const int16 shift, /*!< shift size */ - AKFVEC v[] /*!< buffer */ -) -{ - int16 i; - - if((shift < 1) || (len < shift)) { - return AKFS_ERROR; - } - for (i = len-1; i >= shift; i--) { - v[i] = v[i-shift]; - } - return AKFS_SUCCESS; -} - -int16 AKFS_Rotate( - const AKFS_PATNO pat, - AKFVEC* vec -) -{ - AKFLOAT tmp; - switch(pat){ - /* Obverse */ - case PAT1: - /* This is Android default */ - break; - case PAT2: - tmp = vec->u.x; - vec->u.x = vec->u.y; - vec->u.y = -tmp; - break; - case PAT3: - vec->u.x = -(vec->u.x); - vec->u.y = -(vec->u.y); - break; - case PAT4: - tmp = vec->u.x; - vec->u.x = -(vec->u.y); - vec->u.y = tmp; - break; - /* Reverse */ - case PAT5: - vec->u.x = -(vec->u.x); - vec->u.z = -(vec->u.z); - break; - case PAT6: - tmp = vec->u.x; - vec->u.x = vec->u.y; - vec->u.y = tmp; - vec->u.z = -(vec->u.z); - break; - case PAT7: - vec->u.y = -(vec->u.y); - vec->u.z = -(vec->u.z); - break; - case PAT8: - tmp = vec->u.x; - vec->u.x = -(vec->u.y); - vec->u.y = -tmp; - vec->u.z = -(vec->u.z); - break; - default: - return AKFS_ERROR; - } - - return AKFS_SUCCESS; -} - diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Device.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Device.h deleted file mode 100644 index 0292d54..0000000 --- a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Device.h +++ /dev/null @@ -1,107 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_DEVICE_H -#define AKFS_INC_DEVICE_H - -#include <float.h> -#include "AKFS_Configure.h" - -/***** Constant definition ****************************************************/ -#define AKFS_ERROR 0 -#define AKFS_SUCCESS 1 - -#define AKFS_HDATA_SIZE 32 -#define AKFS_ADATA_SIZE 32 - -/***** Type declaration *******************************************************/ -typedef signed char int8; -typedef signed short int16; -typedef unsigned char uint8; -typedef unsigned short uint16; - - -#ifdef AKFS_PRECISION_DOUBLE -typedef double AKFLOAT; -#define AKFS_EPSILON DBL_EPSILON -#define AKFS_FMAX DBL_MAX -#define AKFS_FMIN DBL_MIN - -#else -typedef float AKFLOAT; -#define AKFS_EPSILON FLT_EPSILON -#define AKFS_FMAX FLT_MAX -#define AKFS_FMIN FLT_MIN - -#endif - -/* Treat maximum value as initial value */ -#define AKFS_INIT_VALUE_F AKFS_FMAX - -/***** Vector *****/ -typedef union _uint8vec{ - struct { - uint8 x; - uint8 y; - uint8 z; - }u; - uint8 v[3]; -} uint8vec; - -typedef union _AKFVEC{ - struct { - AKFLOAT x; - AKFLOAT y; - AKFLOAT z; - }u; - AKFLOAT v[3]; -} AKFVEC; - -/***** Layout pattern *****/ -typedef enum _AKFS_PATNO { - PAT_INVALID = 0, - PAT1, /* obverse: 1st pin is right down */ - PAT2, /* obverse: 1st pin is left down */ - PAT3, /* obverse: 1st pin is left top */ - PAT4, /* obverse: 1st pin is right top */ - PAT5, /* reverse: 1st pin is left down (from top view) */ - PAT6, /* reverse: 1st pin is left top (from top view) */ - PAT7, /* reverse: 1st pin is right top (from top view) */ - PAT8 /* reverse: 1st pin is right down (from top view) */ -} AKFS_PATNO; - -/***** Prototype of function **************************************************/ -AKLIB_C_API_START -int16 AKFS_InitBuffer( - const int16 ndata, /*!< Size of raw vector buffer */ - AKFVEC vdata[] /*!< Raw vector buffer */ -); - -int16 AKFS_BufShift( - const int16 len, - const int16 shift, - AKFVEC v[] -); - -int16 AKFS_Rotate( - const AKFS_PATNO pat, - AKFVEC* vec -); -AKLIB_C_API_END - -#endif - diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.c b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.c deleted file mode 100644 index f47e930..0000000 --- a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.c +++ /dev/null @@ -1,133 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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. - * - ******************************************************************************/ -#include "AKFS_Direction.h" -#include "AKFS_VNorm.h" -#include "AKFS_Math.h" - -/* - Coordinate system is right-handed. - X-Axis: from left to right. - Y-Axis: from bottom to top. - Z-Axis: from reverse to obverse. - - azimuth: Rotaion around Z axis, with positive values - when y-axis moves toward the x-axis. - pitch: Rotation around X axis, with positive values - when z-axis moves toward the y-axis. - roll: Rotation around Y axis, with positive values - when x-axis moves toward the z-axis. -*/ - -/* - This function is used internaly, so output is RADIAN! - */ -static void AKFS_Angle( - const AKFVEC* avec, - AKFLOAT* pitch, /* radian */ - AKFLOAT* roll /* radian */ -) -{ - AKFLOAT av; /* Size of vector */ - - av = AKFS_SQRT((avec->u.x)*(avec->u.x) + (avec->u.y)*(avec->u.y) + (avec->u.z)*(avec->u.z)); - - *pitch = AKFS_ASIN(-(avec->u.y) / av); - *roll = AKFS_ASIN((avec->u.x) / av); -} - -/* - This function is used internaly, so output is RADIAN! - */ -static void AKFS_Azimuth( - const AKFVEC* hvec, - const AKFLOAT pitch, /* radian */ - const AKFLOAT roll, /* radian */ - AKFLOAT* azimuth /* radian */ -) -{ - AKFLOAT sinP; /* sin value of pitch angle */ - AKFLOAT cosP; /* cos value of pitch angle */ - AKFLOAT sinR; /* sin value of roll angle */ - AKFLOAT cosR; /* cos value of roll angle */ - AKFLOAT Xh; /* X axis element of vector which is projected to horizontal plane */ - AKFLOAT Yh; /* Y axis element of vector which is projected to horizontal plane */ - - sinP = AKFS_SIN(pitch); - cosP = AKFS_COS(pitch); - sinR = AKFS_SIN(roll); - cosR = AKFS_COS(roll); - - Yh = -(hvec->u.x)*cosR + (hvec->u.z)*sinR; - Xh = (hvec->u.x)*sinP*sinR + (hvec->u.y)*cosP + (hvec->u.z)*sinP*cosR; - - /* atan2(y, x) -> divisor and dividend is opposite from mathematical equation. */ - *azimuth = AKFS_ATAN2(Yh, Xh); -} - -int16 AKFS_Direction( - const int16 nhvec, - const AKFVEC hvec[], - const int16 hnave, - const int16 navec, - const AKFVEC avec[], - const int16 anave, - AKFLOAT* azimuth, - AKFLOAT* pitch, - AKFLOAT* roll -) -{ - AKFVEC have, aave; - AKFLOAT azimuthRad; - AKFLOAT pitchRad; - AKFLOAT rollRad; - - /* arguments check */ - if ((nhvec <= 0) || (navec <= 0) || (hnave <= 0) || (anave <= 0)) { - return AKFS_ERROR; - } - if ((nhvec < hnave) || (navec < anave)) { - return AKFS_ERROR; - } - - /* average */ - if (AKFS_VbAve(nhvec, hvec, hnave, &have) != AKFS_SUCCESS) { - return AKFS_ERROR; - } - if (AKFS_VbAve(navec, avec, anave, &aave) != AKFS_SUCCESS) { - return AKFS_ERROR; - } - - /* calculate pitch and roll */ - AKFS_Angle(&aave, &pitchRad, &rollRad); - - /* calculate azimuth */ - AKFS_Azimuth(&have, pitchRad, rollRad, &azimuthRad); - - *azimuth = RAD2DEG(azimuthRad); - *pitch = RAD2DEG(pitchRad); - *roll = RAD2DEG(rollRad); - - /* Adjust range of azimuth */ - if (*azimuth < 0) { - *azimuth += 360.0f; - } - - return AKFS_SUCCESS; -} - - diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.h deleted file mode 100644 index c08338d..0000000 --- a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Direction.h +++ /dev/null @@ -1,39 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_DIRECTION_H -#define AKFS_INC_DIRECTION_H - -#include "AKFS_Device.h" - -/***** Prototype of function **************************************************/ -AKLIB_C_API_START -int16 AKFS_Direction( - const int16 nhvec, - const AKFVEC hvec[], - const int16 hnave, - const int16 navec, - const AKFVEC avec[], - const int16 anave, - AKFLOAT* azimuth, - AKFLOAT* pitch, - AKFLOAT* roll -); -AKLIB_C_API_END - -#endif - diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Math.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Math.h deleted file mode 100644 index dfe48b3..0000000 --- a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_Math.h +++ /dev/null @@ -1,47 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_MATH_H -#define AKFS_INC_MATH_H - -#include <math.h> -#include "AKFS_Configure.h" - -/***** Constant definition ****************************************************/ -#define AKFS_PI 3.141592654f -#define RAD2DEG(rad) ((rad)*180.0f/AKFS_PI) - -/***** Macro definition *******************************************************/ - -#ifdef AKFS_PRECISION_DOUBLE -#define AKFS_SIN(x) sin(x) -#define AKFS_COS(x) cos(x) -#define AKFS_ASIN(x) asin(x) -#define AKFS_ACOS(x) acos(x) -#define AKFS_ATAN2(y, x) atan2((y), (x)) -#define AKFS_SQRT(x) sqrt(x) -#else -#define AKFS_SIN(x) sinf(x) -#define AKFS_COS(x) cosf(x) -#define AKFS_ASIN(x) asinf(x) -#define AKFS_ACOS(x) acosf(x) -#define AKFS_ATAN2(y, x) atan2f((y), (x)) -#define AKFS_SQRT(x) sqrtf(x) -#endif - -#endif - diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.c b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.c deleted file mode 100644 index ffa934a..0000000 --- a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.c +++ /dev/null @@ -1,107 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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. - * - ******************************************************************************/ -#include "AKFS_VNorm.h" -#include "AKFS_Device.h" - -/*! - */ -int16 AKFS_VbNorm( - const int16 ndata, /*!< Size of raw vector buffer */ - const AKFVEC vdata[], /*!< Raw vector buffer */ - const int16 nbuf, /*!< Size of data to be buffered */ - const AKFVEC* o, /*!< Offset */ - const AKFVEC* s, /*!< Sensitivity */ - const AKFLOAT tgt, /*!< Target sensitivity */ - const int16 nvec, /*!< Size of normalized vector buffer */ - AKFVEC vvec[] /*!< Normalized vector buffer */ -) -{ - int i; - - /* size check */ - if ((ndata <= 0) || (nvec <= 0) || (nbuf <= 0)) { - return AKFS_ERROR; - } - /* dependency check */ - if ((nbuf < 1) || (ndata < nbuf) || (nvec < nbuf)) { - return AKFS_ERROR; - } - /* sensitivity check */ - if ((s->u.x <= AKFS_EPSILON) || - (s->u.y <= AKFS_EPSILON) || - (s->u.z <= AKFS_EPSILON) || - (tgt <= 0)) { - return AKFS_ERROR; - } - - /* calculate and store data to buffer */ - if (AKFS_BufShift(nvec, nbuf, vvec) != AKFS_SUCCESS) { - return AKFS_ERROR; - } - for (i=0; i<nbuf; i++) { - vvec[i].u.x = ((vdata[i].u.x - o->u.x) / (s->u.x) * (AKFLOAT)tgt); - vvec[i].u.y = ((vdata[i].u.y - o->u.y) / (s->u.y) * (AKFLOAT)tgt); - vvec[i].u.z = ((vdata[i].u.z - o->u.z) / (s->u.z) * (AKFLOAT)tgt); - } - - return AKFS_SUCCESS; -} - -/*! - */ -int16 AKFS_VbAve( - const int16 nvec, /*!< Size of normalized vector buffer */ - const AKFVEC vvec[], /*!< Normalized vector buffer */ - const int16 nave, /*!< Number of averaeg */ - AKFVEC* vave /*!< Averaged vector */ -) -{ - int i; - - /* arguments check */ - if ((nave <= 0) || (nvec <= 0) || (nvec < nave)) { - return AKFS_ERROR; - } - - /* calculate average */ - vave->u.x = 0; - vave->u.y = 0; - vave->u.z = 0; - for (i=0; i<nave; i++) { - if ((vvec[i].u.x == AKFS_INIT_VALUE_F) || - (vvec[i].u.y == AKFS_INIT_VALUE_F) || - (vvec[i].u.z == AKFS_INIT_VALUE_F)) { - break; - } - vave->u.x += vvec[i].u.x; - vave->u.y += vvec[i].u.y; - vave->u.z += vvec[i].u.z; - } - if (i == 0) { - vave->u.x = 0; - vave->u.y = 0; - vave->u.z = 0; - } else { - vave->u.x /= i; - vave->u.y /= i; - vave->u.z /= i; - } - return AKFS_SUCCESS; -} - - diff --git a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.h b/libsensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.h deleted file mode 100644 index c3c9bed..0000000 --- a/libsensors/akmdfs/AKFS_APIs_8975/AKFS_VNorm.h +++ /dev/null @@ -1,46 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_VNORM_H -#define AKFS_INC_VNORM_H - -#include "AKFS_Device.h" - -/***** Prototype of function **************************************************/ -AKLIB_C_API_START -int16 AKFS_VbNorm( - const int16 ndata, /*!< Size of raw vector buffer */ - const AKFVEC vdata[], /*!< Raw vector buffer */ - const int16 nbuf, /*!< Size of data to be buffered */ - const AKFVEC* o, /*!< Offset */ - const AKFVEC* s, /*!< Sensitivity */ - const AKFLOAT tgt, /*!< Target sensitivity */ - const int16 nvec, /*!< Size of normalized vector buffer */ - AKFVEC vvec[] /*!< Normalized vector buffer */ -); - -int16 AKFS_VbAve( - const int16 nvec, /*!< Size of normalized vector buffer */ - const AKFVEC vvec[], /*!< Normalized vector buffer */ - const int16 nave, /*!< Number of averaeg */ - AKFVEC* vave /*!< Averaged vector */ -); - -AKLIB_C_API_END - -#endif - diff --git a/libsensors/akmdfs/AKFS_CSpec.h b/libsensors/akmdfs/AKFS_CSpec.h deleted file mode 100644 index 380f06f..0000000 --- a/libsensors/akmdfs/AKFS_CSpec.h +++ /dev/null @@ -1,38 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_CSPEC_H -#define AKFS_INC_CSPEC_H - -/******************************************************************************* - User defines parameters. - ******************************************************************************/ -/* Parameters for Average */ -/* The number of magnetic/acceleration data to be averaged. */ -#define CSPEC_HNAVE_D 4 -#define CSPEC_ANAVE_D 4 -#define CSPEC_HNAVE_V 8 -#define CSPEC_ANAVE_V 8 - -#ifdef WIN32 -#define CSPEC_SETTING_FILE "akmdfs.txt" -#else -#define CSPEC_SETTING_FILE "/data/misc/akmdfs.txt" -#endif - -#endif - diff --git a/libsensors/akmdfs/AKFS_Common.h b/libsensors/akmdfs/AKFS_Common.h deleted file mode 100644 index 53eabf9..0000000 --- a/libsensors/akmdfs/AKFS_Common.h +++ /dev/null @@ -1,141 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_COMMON_H -#define AKFS_INC_COMMON_H - -#ifdef WIN32 -#ifndef _WIN32_WINNT -#define _WIN32_WINNT 0x0501 -#endif - -#include <windows.h> -#include <stdio.h> -#include <stdlib.h> -#include <conio.h> -#include <stdarg.h> -#include <crtdbg.h> -#include "Android.h" - -#define DBG_LEVEL DBG_LEVEL4 -#define ENABLE_AKMDEBUG 1 - -#else -#include <stdio.h> /* frpintf */ -#include <stdlib.h> /* atoi */ -#include <string.h> /* memset */ -#include <unistd.h> -#include <stdarg.h> /* va_list */ -#include <utils/Log.h> /* LOGV */ -#include <errno.h> /* errno */ - -#endif - -/*** Constant definition ******************************************************/ -#define AKM_TRUE 1 /*!< Represents true */ -#define AKM_FALSE 0 /*!< Represents false */ -#define AKM_SUCCESS 1 /*!< Represents success */ -#define AKM_FAIL 0 /*!< Represents fail */ - -#define DBG_LEVEL0 0 /* Critical */ -#define DBG_LEVEL1 1 /* Notice */ -#define DBG_LEVEL2 2 /* Information */ -#define DBG_LEVEL3 3 /* Debug */ -#define DBG_LEVEL4 4 /* Verbose */ - -#ifndef DBG_LEVEL -#define DBG_LEVEL DBG_LEVEL0 -#endif - -#define DATA_AREA01 0x0001 -#define DATA_AREA02 0x0002 -#define DATA_AREA03 0x0004 -#define DATA_AREA04 0x0008 -#define DATA_AREA05 0x0010 -#define DATA_AREA06 0x0020 -#define DATA_AREA07 0x0040 -#define DATA_AREA08 0x0080 -#define DATA_AREA09 0x0100 -#define DATA_AREA10 0x0200 -#define DATA_AREA11 0x0400 -#define DATA_AREA12 0x0800 -#define DATA_AREA13 0x1000 -#define DATA_AREA14 0x2000 -#define DATA_AREA15 0x4000 -#define DATA_AREA16 0x8000 - - -/* Debug area definition */ -#define AKMDATA_DUMP DATA_AREA01 /*<! Dump data */ -#define AKMDATA_BDATA DATA_AREA02 /*<! BDATA */ -#define AKMDATA_MAG DATA_AREA03 /*<! Magnetic Field */ -#define AKMDATA_ACC DATA_AREA04 /*<! Accelerometer */ -#define AKMDATA_ORI DATA_AREA05 /*<! Orientation */ -#define AKMDATA_GETINTERVAL DATA_AREA06 -#define AKMDATA_LOOP DATA_AREA07 -#define AKMDATA_DRV DATA_AREA08 - -#ifndef ENABLE_AKMDEBUG -#define ENABLE_AKMDEBUG 0 /* Eanble debug output when it is 1. */ -#endif - -#define OPMODE_CONSOLE 0x01 -#define OPMODE_FST 0x02 - -/***** Debug Level Output *************************************/ -#if ENABLE_AKMDEBUG -#define AKMDEBUG(level, format, ...) \ - (((level) <= DBG_LEVEL) \ - ? (fprintf(stdout, (format), ##__VA_ARGS__)) \ - : ((void)0)) -#else -#define AKMDEBUG(level, format, ...) -#endif - -/***** Dbg Zone Output ***************************************/ -#if ENABLE_AKMDEBUG -#define AKMDATA(flag, format, ...) \ - ((((int)flag) & g_dbgzone) \ - ? (fprintf(stdout, (format), ##__VA_ARGS__)) \ - : ((void)0)) -#else -#define AKMDATA(flag, format, ...) -#endif - -/***** Log output ********************************************/ -#ifdef AKM_LOG_ENABLE -#define AKM_LOG(format, ...) LOGD((format), ##__VA_ARGS__) -#else -#define AKM_LOG(format, ...) -#endif - -/***** Error output *******************************************/ -#define AKMERROR \ - ALOGE("%s:%d Error.", __FUNCTION__, __LINE__) - -#define AKMERROR_STR(api) \ - ALOGE("%s:%d %s Error (%s).", \ - __FUNCTION__, __LINE__, (api), strerror(errno)) - -/*** Type declaration *********************************************************/ - -/*** Global variables *********************************************************/ - -/*** Prototype of function ****************************************************/ - -#endif /* AKMD_INC_AKCOMMON_H */ - diff --git a/libsensors/akmdfs/AKFS_Compass.h b/libsensors/akmdfs/AKFS_Compass.h deleted file mode 100644 index aa59285..0000000 --- a/libsensors/akmdfs/AKFS_Compass.h +++ /dev/null @@ -1,84 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_COMPASS_H -#define AKFS_INC_COMPASS_H - -#include "AKFS_Common.h" -#include "AKFS_CSpec.h" - -/****************************************/ -/* Include files for AK8975 library. */ -/****************************************/ -#include "AKFS_AK8975.h" -#include "AKFS_Configure.h" -#include "AKFS_AOC.h" -#include "AKFS_Device.h" -#include "AKFS_Direction.h" -#include "AKFS_Math.h" -#include "AKFS_VNorm.h" - -/*** Constant definition ******************************************************/ - -/*** Type declaration *********************************************************/ -typedef struct _AKSENSOR_DATA{ - AKFLOAT x; - AKFLOAT y; - AKFLOAT z; - int8 status; -} AKSENSOR_DATA; - -/*! A parameter structure. */ -typedef struct _AK8975PRMS{ - /* Variables for Decomp8975. */ - AKFVEC mfv_hdata[AKFS_HDATA_SIZE]; - uint8vec mi_asa; - uint8 mi_st; - - /* Variables forAOC. */ - AKFS_AOC_VAR m_aocv; - - /* Variables for Magnetometer buffer. */ - AKFVEC mfv_hvbuf[AKFS_HDATA_SIZE]; - AKFVEC mfv_ho; - AKFVEC mfv_hs; - AKFS_PATNO m_hpat; - - /* Variables for Accelerometer buffer. */ - AKFVEC mfv_adata[AKFS_ADATA_SIZE]; - AKFVEC mfv_avbuf[AKFS_ADATA_SIZE]; - AKFVEC mfv_ao; - AKFVEC mfv_as; - - /* Variables for Direction. */ - int16 mi_hnaveD; - int16 mi_anaveD; - AKFLOAT mf_azimuth; - AKFLOAT mf_pitch; - AKFLOAT mf_roll; - - /* Variables for vector output */ - int16 mi_hnaveV; - int16 mi_anaveV; - AKFVEC mfv_hvec; - AKFVEC mfv_avec; - int16 mi_hstatus; - -} AK8975PRMS; - -#endif - diff --git a/libsensors/akmdfs/AKFS_Disp.c b/libsensors/akmdfs/AKFS_Disp.c deleted file mode 100644 index 4e7c501..0000000 --- a/libsensors/akmdfs/AKFS_Disp.c +++ /dev/null @@ -1,89 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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. - * - ******************************************************************************/ -#include "AKFS_Disp.h" -#include "AKFS_Common.h" - -/*! - Print startup message to Android Log daemon. - */ -void Disp_StartMessage(void) -{ - ALOGI("AK8975 Daemon for Open Source v20120329."); - ALOGI("Debug: %s", ((ENABLE_AKMDEBUG)?("ON"):("OFF"))); - ALOGI("Debug level: %d", DBG_LEVEL); -} - -/*! - Print ending message to Android Log daemon. - */ -void Disp_EndMessage(int ret) -{ - ALOGI("AK8975 for Android end (%d).", ret); -} - -/*! - Print result - */ -void Disp_Result(int buf[YPR_DATA_SIZE]) -{ - AKMDEBUG(DBG_LEVEL1, - "Flag=%d\n", buf[0]); - AKMDEBUG(DBG_LEVEL1, - "Acc(%d):%8.2f, %8.2f, %8.2f\n", - buf[4], REVERT_ACC(buf[1]), REVERT_ACC(buf[2]), REVERT_ACC(buf[3])); - AKMDEBUG(DBG_LEVEL1, - "Mag(%d):%8.2f, %8.2f, %8.2f\n", - buf[8], REVERT_MAG(buf[5]), REVERT_MAG(buf[6]), REVERT_MAG(buf[7])); - AKMDEBUG(DBG_LEVEL1, - "Ori(%d)=%8.2f, %8.2f, %8.2f\n", - buf[8], REVERT_ORI(buf[9]), REVERT_ORI(buf[10]), REVERT_ORI(buf[11])); -} - -/*! - Output main menu to stdout and wait for user input from stdin. - @return Selected mode. - */ -MODE Menu_Main(void) -{ - char msg[20]; - memset(msg, 0, sizeof(msg)); - - AKMDEBUG(DBG_LEVEL1, - " -------------------- AK8975 Console Application -------------------- \n" - " 1. Start measurement. \n" - " 2. Self-test. \n" - " Q. Quit application. \n" - " --------------------------------------------------------------------- \n" - " Please select a number.\n" - " ---> "); - fgets(msg, 10, stdin); - AKMDEBUG(DBG_LEVEL1, "\n"); - - /* BUG : If 2-digits number is input, */ - /* only the first character is compared. */ - if (!strncmp(msg, "1", 1)) { - return MODE_Measure; - } else if (!strncmp(msg, "2", 1)) { - return MODE_SelfTest; - } else if (strncmp(msg, "Q", 1) == 0 || strncmp(msg, "q", 1) == 0) { - return MODE_Quit; - } else { - return MODE_ERROR; - } -} - diff --git a/libsensors/akmdfs/AKFS_Disp.h b/libsensors/akmdfs/AKFS_Disp.h deleted file mode 100644 index 4769e3c..0000000 --- a/libsensors/akmdfs/AKFS_Disp.h +++ /dev/null @@ -1,52 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_DISP_H -#define AKFS_INC_DISP_H - -/* Include file for AK8975 library. */ -#include "AKFS_Compass.h" - -/*** Constant definition ******************************************************/ -#define REVERT_ACC(a) ((float)((a) * 9.8f / 720.0f)) -#define REVERT_MAG(m) ((float)((m) * 0.06f)) -#define REVERT_ORI(o) ((float)((o) / 64.0f)) - -/*** Type declaration *********************************************************/ - -/*! These defined types represents the current mode. */ -typedef enum _MODE { - MODE_ERROR, /*!< Error */ - MODE_Measure, /*!< Measurement */ - MODE_SelfTest, /*!< Self-test */ - MODE_Quit /*!< Quit */ -} MODE; - -/*** Prototype of function ****************************************************/ -/* - Disp_ : Display messages. - Menu_ : Display menu (two or more selection) and wait for user input. - */ - -void Disp_StartMessage(void); -void Disp_EndMessage(int ret); -void Disp_Result(int buf[YPR_DATA_SIZE]); - -MODE Menu_Main(void); - -#endif - diff --git a/libsensors/akmdfs/AKFS_FileIO.c b/libsensors/akmdfs/AKFS_FileIO.c deleted file mode 100644 index 92c2ce9..0000000 --- a/libsensors/akmdfs/AKFS_FileIO.c +++ /dev/null @@ -1,130 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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. - * - ******************************************************************************/ -#include "AKFS_FileIO.h" - -/*** Constant definition ******************************************************/ -#ifdef AKFS_PRECISION_DOUBLE -#define AKFS_SCANF_FORMAT "%63s = %lf" -#else -#define AKFS_SCANF_FORMAT "%63s = %f" -#endif -#define AKFS_PRINTF_FORMAT "%s = %f\n" -#define LOAD_BUF_SIZE 64 - -/*! - Load parameters from file which is specified with #path. This function reads - data from a beginning of the file line by line, and check parameter name - sequentially. In otherword, this function depends on the order of eache - parameter described in the file. - @return If function fails, the return value is #AKM_FAIL. When function fails, - the output is undefined. Therefore, parameters which are possibly overwritten - by this function should be initialized again. If function succeeds, the - return value is #AKM_SUCCESS. - @param[out] prms A pointer to #AK8975PRMS structure. Loaded parameter is - stored to the member of this structure. - @param[in] path A path to the setting file. - */ -int16 AKFS_LoadParameters(AK8975PRMS * prms, const char* path) -{ - int16 ret; - char buf[LOAD_BUF_SIZE]; - FILE *fp = NULL; - - /* Open setting file for read. */ - if ((fp = fopen(path, "r")) == NULL) { - AKMERROR_STR("fopen"); - return AKM_FAIL; - } - - ret = 1; - - /* Load data to HO */ - if (fscanf(fp, AKFS_SCANF_FORMAT, buf, &prms->mfv_ho.u.x) != 2) { - ret = 0; - } else { - if (strncmp(buf, "HO.x", sizeof(buf)) != 0) { - ret = 0; - } - } - if (fscanf(fp, AKFS_SCANF_FORMAT, buf, &prms->mfv_ho.u.y) != 2) { - ret = 0; - } else { - if (strncmp(buf, "HO.y", sizeof(buf)) != 0) { - ret = 0; - } - } - if (fscanf(fp, AKFS_SCANF_FORMAT, buf, &prms->mfv_ho.u.z) != 2) { - ret = 0; - } else { - if (strncmp(buf, "HO.z", sizeof(buf)) != 0) { - ret = 0; - } - } - - if (fclose(fp) != 0) { - AKMERROR_STR("fclose"); - ret = 0; - } - - if (ret == 0) { - AKMERROR; - return AKM_FAIL; - } - - return AKM_SUCCESS; -} - -/*! - Save parameters to file which is specified with #path. This function saves - variables when the offsets of magnetic sensor estimated successfully. - @return If function fails, the return value is #AKM_FAIL. When function fails, - the parameter file may collapsed. Therefore, the parameters file should be - discarded. If function succeeds, the return value is #AKM_SUCCESS. - @param[out] prms A pointer to #AK8975PRMS structure. Member variables are - saved to the parameter file. - @param[in] path A path to the setting file. - */ -int16 AKFS_SaveParameters(AK8975PRMS *prms, const char* path) -{ - int16 ret = 1; - FILE *fp; - - /*Open setting file for write. */ - if ((fp = fopen(path, "w")) == NULL) { - AKMERROR_STR("fopen"); - return AKM_FAIL; - } - - /* Save data to HO */ - if (fprintf(fp, AKFS_PRINTF_FORMAT, "HO.x", prms->mfv_ho.u.x) < 0) { ret = 0; } - if (fprintf(fp, AKFS_PRINTF_FORMAT, "HO.y", prms->mfv_ho.u.y) < 0) { ret = 0; } - if (fprintf(fp, AKFS_PRINTF_FORMAT, "HO.z", prms->mfv_ho.u.z) < 0) { ret = 0; } - - if (fclose(fp) != 0) { - AKMERROR_STR("fclose"); - ret = 0; - } - - if (ret == 0) { - AKMERROR; - return AKM_FAIL; - } - - return AKM_SUCCESS; -} - diff --git a/libsensors/akmdfs/AKFS_FileIO.h b/libsensors/akmdfs/AKFS_FileIO.h deleted file mode 100644 index 62f6e77..0000000 --- a/libsensors/akmdfs/AKFS_FileIO.h +++ /dev/null @@ -1,39 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_FILEIO_H -#define AKFS_INC_FILEIO_H - -/* Common include files. */ -#include "AKFS_Common.h" - -/* Include file for AK8975 library. */ -#include "AKFS_Compass.h" - -/*** Constant definition ******************************************************/ - -/*** Type declaration *********************************************************/ - -/*** Global variables *********************************************************/ - -/*** Prototype of function ****************************************************/ -int16 AKFS_LoadParameters(AK8975PRMS *prms, const char* path); - -int16 AKFS_SaveParameters(AK8975PRMS* prms, const char* path); - -#endif - diff --git a/libsensors/akmdfs/AKFS_Measure.c b/libsensors/akmdfs/AKFS_Measure.c deleted file mode 100644 index 84c0843..0000000 --- a/libsensors/akmdfs/AKFS_Measure.c +++ /dev/null @@ -1,410 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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. - * - ******************************************************************************/ -#ifdef WIN32 -#include "AK8975_LinuxDriver.h" -#else -#include "AK8975Driver.h" -#endif - -#include "AKFS_Measure.h" -#include "AKFS_Disp.h" -#include "AKFS_APIs.h" - -/*! - Read sensitivity adjustment data from fuse ROM. - @return If data are read successfully, the return value is #AKM_SUCCESS. - Otherwise the return value is #AKM_FAIL. - @param[out] regs The read ASA values. When this function succeeds, ASAX value - is saved in regs[0], ASAY is saved in regs[1], ASAZ is saved in regs[2]. - */ -int16 AKFS_ReadAK8975FUSEROM( - uint8 regs[3] -) -{ - /* Set to FUSE ROM access mode */ - if (AKD_SetMode(AK8975_MODE_FUSE_ACCESS) != AKD_SUCCESS) { - AKMERROR; - return AKM_FAIL; - } - - /* Read values. ASAX, ASAY, ASAZ */ - if (AKD_RxData(AK8975_FUSE_ASAX, regs, 3) != AKD_SUCCESS) { - AKMERROR; - return AKM_FAIL; - } - - /* Set to PowerDown mode */ - if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) { - AKMERROR; - return AKM_FAIL; - } - - AKMDEBUG(DBG_LEVEL2, "%s: asa(dec)=%d,%d,%d\n", - __FUNCTION__, regs[0], regs[1], regs[2]); - - return AKM_SUCCESS; -} - -/*! - Carry out self-test. - @return If this function succeeds, the return value is #AKM_SUCCESS. - Otherwise the return value is #AKM_FAIL. - */ -int16 AKFS_SelfTest(void) -{ - BYTE i2cData[SENSOR_DATA_SIZE]; - BYTE asa[3]; - AKFLOAT hdata[3]; - int16 ret; - - /* Set to FUSE ROM access mode */ - if (AKD_SetMode(AK8975_MODE_FUSE_ACCESS) != AKD_SUCCESS) { - AKMERROR; - return AKM_FAIL; - } - - /* Read values from ASAX to ASAZ */ - if (AKD_RxData(AK8975_FUSE_ASAX, asa, 3) != AKD_SUCCESS) { - AKMERROR; - return AKM_FAIL; - } - - /* Set to PowerDown mode */ - if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) { - AKMERROR; - return AKM_FAIL; - } - - /* Set to self-test mode */ - i2cData[0] = 0x40; - if (AKD_TxData(AK8975_REG_ASTC, i2cData, 1) != AKD_SUCCESS) { - AKMERROR; - return AKM_FAIL; - } - - /* Set to Self-test mode */ - if (AKD_SetMode(AK8975_MODE_SELF_TEST) != AKD_SUCCESS) { - AKMERROR; - return AKM_FAIL; - } - - /* - Wait for DRDY pin changes to HIGH. - Get measurement data from AK8975 - */ - if (AKD_GetMagneticData(i2cData) != AKD_SUCCESS) { - AKMERROR; - return AKM_FAIL; - } - - hdata[0] = AK8975_HDATA_CONVERTER(i2cData[2], i2cData[1], asa[0]); - hdata[1] = AK8975_HDATA_CONVERTER(i2cData[4], i2cData[3], asa[1]); - hdata[2] = AK8975_HDATA_CONVERTER(i2cData[6], i2cData[5], asa[2]); - - /* Test */ - ret = 1; - if ((hdata[0] < AK8975_SELFTEST_MIN_X) || - (AK8975_SELFTEST_MAX_X < hdata[0])) { - ret = 0; - } - if ((hdata[1] < AK8975_SELFTEST_MIN_Y) || - (AK8975_SELFTEST_MAX_Y < hdata[1])) { - ret = 0; - } - if ((hdata[2] < AK8975_SELFTEST_MIN_Z) || - (AK8975_SELFTEST_MAX_Z < hdata[2])) { - ret = 0; - } - - AKMDEBUG(DBG_LEVEL2, "Test(%s):%8.2f, %8.2f, %8.2f\n", - (ret ? "Success" : "fail"), hdata[0], hdata[1], hdata[2]); - - if (ret) { - return AKM_SUCCESS; - } else { - return AKM_FAIL; - } -} - -/*! - This function calculate the duration of sleep for maintaining - the loop keep the period. - This function calculates "minimum - (end - start)". - @return The result of above equation in nanosecond. - @param end The time of after execution. - @param start The time of before execution. - @param minimum Loop period of each execution. - */ -struct timespec AKFS_CalcSleep( - const struct timespec* end, - const struct timespec* start, - const int64_t minimum -) -{ - int64_t endL; - int64_t startL; - int64_t diff; - - struct timespec ret; - - endL = (end->tv_sec * 1000000000) + end->tv_nsec; - startL = (start->tv_sec * 1000000000) + start->tv_nsec; - diff = minimum; - - diff -= (endL - startL); - - /* Don't allow negative value */ - if (diff < 0) { - diff = 0; - } - - /* Convert to timespec */ - if (diff > 1000000000) { - ret.tv_sec = diff / 1000000000; - ret.tv_nsec = diff % 1000000000; - } else { - ret.tv_sec = 0; - ret.tv_nsec = diff; - } - return ret; -} - -/*! - Get interval of each sensors from device driver. - @return If this function succeeds, the return value is #AKM_SUCCESS. - Otherwise the return value is #AKM_FAIL. - @param flag This variable indicates what sensor frequency is updated. - @param minimum This value show the minimum loop period in all sensors. - */ -int16 AKFS_GetInterval( - uint16* flag, - int64_t* minimum -) -{ - /* Accelerometer, Magnetometer, Orientation */ - /* Delay is in nano second unit. */ - /* Negative value means the sensor is disabled.*/ - int64_t delay[AKM_NUM_SENSORS]; - int i; - - if (AKD_GetDelay(delay) < 0) { - AKMERROR; - return AKM_FAIL; - } - AKMDATA(AKMDATA_GETINTERVAL,"delay[A,M,O]=%lld,%lld,%lld\n", - delay[0], delay[1], delay[2]); - - /* update */ - *minimum = 1000000000; - *flag = 0; - for (i=0; i<AKM_NUM_SENSORS; i++) { - /* Set flag */ - if (delay[i] >= 0) { - *flag |= 1 << i; - if (*minimum > delay[i]) { - *minimum = delay[i]; - } - } - } - return AKM_SUCCESS; -} - -/*! - If this program run as console mode, measurement result will be displayed - on console terminal. - @return If this function succeeds, the return value is #AKM_SUCCESS. - Otherwise the return value is #AKM_FAIL. - */ -void AKFS_OutputResult( - const uint16 flag, - const AKSENSOR_DATA* acc, - const AKSENSOR_DATA* mag, - const AKSENSOR_DATA* ori -) -{ - int buf[YPR_DATA_SIZE]; - - /* Store to buffer */ - buf[0] = flag; /* Data flag */ - buf[1] = CONVERT_ACC(acc->x); /* Ax */ - buf[2] = CONVERT_ACC(acc->y); /* Ay */ - buf[3] = CONVERT_ACC(acc->z); /* Az */ - buf[4] = acc->status; /* Acc status */ - buf[5] = CONVERT_MAG(mag->x); /* Mx */ - buf[6] = CONVERT_MAG(mag->y); /* My */ - buf[7] = CONVERT_MAG(mag->z); /* Mz */ - buf[8] = mag->status; /* Mag status */ - buf[9] = CONVERT_ORI(ori->x); /* yaw */ - buf[10] = CONVERT_ORI(ori->y); /* pitch */ - buf[11] = CONVERT_ORI(ori->z); /* roll */ - - if (g_opmode & OPMODE_CONSOLE) { - /* Console mode */ - Disp_Result(buf); - } - - /* Set result to driver */ - AKD_SetYPR(buf); -} - -/*! - This is the main routine of measurement. - */ -void AKFS_MeasureLoop(void) -{ - BYTE i2cData[SENSOR_DATA_SIZE]; /* ST1 ~ ST2 */ - int16 mag[3]; - int16 mstat; - int16 acc[3]; - struct timespec tsstart= {0, 0}; - struct timespec tsend = {0, 0}; - struct timespec doze; - int64_t minimum; - uint16 flag; - AKSENSOR_DATA sv_acc; - AKSENSOR_DATA sv_mag; - AKSENSOR_DATA sv_ori; - AKFLOAT tmpx, tmpy, tmpz; - int16 tmp_accuracy; - - minimum = -1; - -#ifdef WIN32 - clock_init_time(); -#endif - - /* Initialize library functions and device */ - if (AKFS_Start(CSPEC_SETTING_FILE) != AKM_SUCCESS) { - AKMERROR; - goto MEASURE_END; - } - - while (g_stopRequest != AKM_TRUE) { - /* Beginning time */ - if (clock_gettime(CLOCK_MONOTONIC, &tsstart) < 0) { - AKMERROR; - goto MEASURE_END; - } - - /* Get interval */ - if (AKFS_GetInterval(&flag, &minimum) != AKM_SUCCESS) { - AKMERROR; - goto MEASURE_END; - } - - if ((flag & ACC_DATA_READY) || (flag & ORI_DATA_READY)) { - /* Get accelerometer */ - if (AKD_GetAccelerationData(acc) != AKD_SUCCESS) { - AKMERROR; - goto MEASURE_END; - } - - /* Calculate accelerometer vector */ - if (AKFS_Get_ACCELEROMETER(acc, 0, &tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) { - sv_acc.x = tmpx; - sv_acc.y = tmpy; - sv_acc.z = tmpz; - sv_acc.status = tmp_accuracy; - } else { - flag &= ~ACC_DATA_READY; - flag &= ~ORI_DATA_READY; - } - } - - if ((flag & MAG_DATA_READY) || (flag & ORI_DATA_READY)) { - /* Set to measurement mode */ - if (AKD_SetMode(AK8975_MODE_SNG_MEASURE) != AKD_SUCCESS) { - AKMERROR; - goto MEASURE_END; - } - - /* Wait for DRDY and get data from device */ - if (AKD_GetMagneticData(i2cData) != AKD_SUCCESS) { - AKMERROR; - goto MEASURE_END; - } - /* raw data to x,y,z value */ - mag[0] = (int)((int16_t)(i2cData[2]<<8)+((int16_t)i2cData[1])); - mag[1] = (int)((int16_t)(i2cData[4]<<8)+((int16_t)i2cData[3])); - mag[2] = (int)((int16_t)(i2cData[6]<<8)+((int16_t)i2cData[5])); - mstat = i2cData[0] | i2cData[7]; - - AKMDATA(AKMDATA_BDATA, - "bData=%02X,%02X,%02X,%02X,%02X,%02X,%02X,%02X\n", - i2cData[0], i2cData[1], i2cData[2], i2cData[3], - i2cData[4], i2cData[5], i2cData[6], i2cData[7]); - - /* Calculate magnetic field vector */ - if (AKFS_Get_MAGNETIC_FIELD(mag, mstat, &tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) { - sv_mag.x = tmpx; - sv_mag.y = tmpy; - sv_mag.z = tmpz; - sv_mag.status = tmp_accuracy; - } else { - flag &= ~MAG_DATA_READY; - flag &= ~ORI_DATA_READY; - } - } - - if (flag & ORI_DATA_READY) { - if (AKFS_Get_ORIENTATION(&tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) { - sv_ori.x = tmpx; - sv_ori.y = tmpy; - sv_ori.z = tmpz; - sv_ori.status = tmp_accuracy; - } else { - flag &= ~ORI_DATA_READY; - } - } - - /* Output result */ - AKFS_OutputResult(flag, &sv_acc, &sv_mag, &sv_ori); - - /* Ending time */ - if (clock_gettime(CLOCK_MONOTONIC, &tsend) < 0) { - AKMERROR; - goto MEASURE_END; - } - - /* Calculate duration */ - doze = AKFS_CalcSleep(&tsend, &tsstart, minimum); - AKMDATA(AKMDATA_LOOP, "Sleep: %6.2f msec\n", (doze.tv_nsec/1000000.0f)); - nanosleep(&doze, NULL); - -#ifdef WIN32 - if (_kbhit()) { - _getch(); - break; - } -#endif - } - -MEASURE_END: - /* Set to PowerDown mode */ - if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) { - AKMERROR; - return; - } - - /* Save parameters */ - if (AKFS_Stop(CSPEC_SETTING_FILE) != AKM_SUCCESS) { - AKMERROR; - } -} - - diff --git a/libsensors/akmdfs/AKFS_Measure.h b/libsensors/akmdfs/AKFS_Measure.h deleted file mode 100644 index d156b95..0000000 --- a/libsensors/akmdfs/AKFS_Measure.h +++ /dev/null @@ -1,70 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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 AKFS_INC_MEASURE_H -#define AKFS_INC_MEASURE_H - -/* Include files for AK8975 library. */ -#include "AKFS_Compass.h" - -/*** Constant definition ******************************************************/ -#define AK8975_SELFTEST_MIN_X -100 -#define AK8975_SELFTEST_MAX_X 100 - -#define AK8975_SELFTEST_MIN_Y -100 -#define AK8975_SELFTEST_MAX_Y 100 - -#define AK8975_SELFTEST_MIN_Z -1000 -#define AK8975_SELFTEST_MAX_Z -300 - -#define CONVERT_ACC(a) ((int)((a) * 720 / 9.8f)) -#define CONVERT_MAG(m) ((int)((m) / 0.06f)) -#define CONVERT_ORI(o) ((int)((o) * 64)) - -/*** Type declaration *********************************************************/ - -/*** Global variables *********************************************************/ - -/*** Prototype of function ****************************************************/ -int16 AKFS_ReadAK8975FUSEROM( - uint8 regs[3] -); - -int16 AKFS_SelfTest(void); - -struct timespec AKFS_CalcSleep( - const struct timespec* end, - const struct timespec* start, - const int64_t minimum -); - -int16 AKFS_GetInterval( - uint16* flag, - int64_t* minimum -); - -void AKFS_OutputResult( - const uint16 flag, - const AKSENSOR_DATA* acc, - const AKSENSOR_DATA* mag, - const AKSENSOR_DATA* ori -); - -void AKFS_MeasureLoop(void); - -#endif - diff --git a/libsensors/akmdfs/NOTICE b/libsensors/akmdfs/NOTICE deleted file mode 100644 index d645695..0000000 --- a/libsensors/akmdfs/NOTICE +++ /dev/null @@ -1,202 +0,0 @@ - - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. 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If You - institute patent litigation against any entity (including a - cross-claim or counterclaim in a lawsuit) alleging that the Work - or a Contribution incorporated within the Work constitutes direct - or contributory patent infringement, then any patent licenses - granted to You under this License for that Work shall terminate - as of the date such litigation is filed. - - 4. Redistribution. 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We also recommend that a - file or class name and description of purpose be included on the - same "printed page" as the copyright notice for easier - identification within third-party archives. - - Copyright [yyyy] [name of copyright owner] - - 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. diff --git a/libsensors/akmdfs/Version.txt b/libsensors/akmdfs/Version.txt deleted file mode 100644 index 3d56b30..0000000 --- a/libsensors/akmdfs/Version.txt +++ /dev/null @@ -1,31 +0,0 @@ -Version - * Console Version 20120329 - 570 AK8975Driver.c - 496 AK8975Driver.h - 579 AKFS_APIs.c - 572 AKFS_APIs.h - 580 AKFS_APIs_8975/AKFS_AK8975.c - 580 AKFS_APIs_8975/AKFS_AK8975.h - 580 AKFS_APIs_8975/AKFS_AOC.c - 580 AKFS_APIs_8975/AKFS_AOC.h - 580 AKFS_APIs_8975/AKFS_Configure.h - 580 AKFS_APIs_8975/AKFS_Device.c - 580 AKFS_APIs_8975/AKFS_Device.h - 580 AKFS_APIs_8975/AKFS_Direction.c - 580 AKFS_APIs_8975/AKFS_Direction.h - 580 AKFS_APIs_8975/AKFS_Math.h - 580 AKFS_APIs_8975/AKFS_VNorm.c - 580 AKFS_APIs_8975/AKFS_VNorm.h - 568 AKFS_CSpec.h - 573 AKFS_Common.h - 572 AKFS_Compass.h - 579 AKFS_Disp.c - 568 AKFS_Disp.h - 568 AKFS_FileIO.c - 549 AKFS_FileIO.h - 573 AKFS_Measure.c - 568 AKFS_Measure.h - 574 Android.mk - 575 NOTICE - 579 main.c - diff --git a/libsensors/akmdfs/main.c b/libsensors/akmdfs/main.c deleted file mode 100644 index a3df0bc..0000000 --- a/libsensors/akmdfs/main.c +++ /dev/null @@ -1,293 +0,0 @@ -/****************************************************************************** - * - * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan - * - * 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. - * - ******************************************************************************/ -#include "AKFS_Common.h" -#include "AKFS_Compass.h" -#include "AKFS_Disp.h" -#include "AKFS_FileIO.h" -#include "AKFS_Measure.h" -#include "AKFS_APIs.h" - -#ifndef WIN32 -#include <sched.h> -#include <pthread.h> -#include <linux/input.h> -#endif - -#define ERROR_INITDEVICE (-1) -#define ERROR_OPTPARSE (-2) -#define ERROR_SELF_TEST (-3) -#define ERROR_READ_FUSE (-4) -#define ERROR_INIT (-5) -#define ERROR_GETOPEN_STAT (-6) -#define ERROR_STARTCLONE (-7) -#define ERROR_GETCLOSE_STAT (-8) - -/* Global variable. See AKFS_Common.h file. */ -int g_stopRequest = 0; -int g_opmode = 0; -int g_dbgzone = 0; -int g_mainQuit = AKD_FALSE; - -/* Static variable. */ -static pthread_t s_thread; /*!< Thread handle */ - -/*! - A thread function which is raised when measurement is started. - @param[in] args This parameter is not used currently. - */ -static void* thread_main(void* args) -{ - AKFS_MeasureLoop(); - return ((void*)0); -} - -/*! - Signal handler. This should be used only in DEBUG mode. - @param[in] sig Event - */ -static void signal_handler(int sig) -{ - if (sig == SIGINT) { - ALOGE("SIGINT signal"); - g_stopRequest = 1; - g_mainQuit = AKD_TRUE; - } -} - -/*! - Starts new thread. - @return If this function succeeds, the return value is 1. Otherwise, - the return value is 0. - */ -static int startClone(void) -{ - pthread_attr_t attr; - - pthread_attr_init(&attr); - g_stopRequest = 0; - if (pthread_create(&s_thread, &attr, thread_main, NULL) == 0) { - return 1; - } else { - return 0; - } -} - -/*! - This function parse the option. - @retval 1 Parse succeeds. - @retval 0 Parse failed. - @param[in] argc Argument count - @param[in] argv Argument vector - @param[out] layout_patno - */ -int OptParse( - int argc, - char* argv[], - AKFS_PATNO* layout_patno) -{ -#ifdef WIN32 - /* Static */ -#if defined(AKFS_WIN32_PAT1) - *layout_patno = PAT1; -#elif defined(AKFS_WIN32_PAT2) - *layout_patno = PAT2; -#elif defined(AKFS_WIN32_PAT3) - *layout_patno = PAT3; -#elif defined(AKFS_WIN32_PAT4) - *layout_patno = PAT4; -#elif defined(AKFS_WIN32_PAT5) - *layout_patno = PAT5; -#else - *layout_patno = PAT1; -#endif - g_opmode = OPMODE_CONSOLE; - /*g_opmode = 0;*/ - g_dbgzone = AKMDATA_LOOP | AKMDATA_TEST; -#else - int opt; - char optVal; - - *layout_patno = PAT_INVALID; - - while ((opt = getopt(argc, argv, "sm:z:")) != -1) { - switch(opt){ - case 'm': - optVal = (char)(optarg[0] - '0'); - if ((PAT1 <= optVal) && (optVal <= PAT8)) { - *layout_patno = (AKFS_PATNO)optVal; - AKMDEBUG(DBG_LEVEL2, "%s: Layout=%d\n", __FUNCTION__, optVal); - } - break; - case 's': - g_opmode |= OPMODE_CONSOLE; - break; - case 'z': - /* If error detected, hopefully 0 is returned. */ - errno = 0; - g_dbgzone = (int)strtol(optarg, (char**)NULL, 0); - AKMDEBUG(DBG_LEVEL2, "%s: Dbg Zone=%d\n", __FUNCTION__, g_dbgzone); - break; - default: - ALOGE("%s: Invalid argument", argv[0]); - return 0; - } - } - - /* If layout is not specified with argument, get parameter from driver */ - if (*layout_patno == PAT_INVALID) { - int16_t n; - if (AKD_GetLayout(&n) == AKM_SUCCESS) { - if ((PAT1 <= n) && (n <= PAT8)) { - *layout_patno = (AKFS_PATNO)n; - } - } - } - /* Error */ - if (*layout_patno == PAT_INVALID) { - ALOGE("No layout is specified."); - return 0; - } -#endif - - return 1; -} - -void ConsoleMode(void) -{ - /*** Console Mode *********************************************/ - while (AKD_TRUE) { - /* Select operation */ - switch (Menu_Main()) { - case MODE_SelfTest: - AKFS_SelfTest(); - break; - case MODE_Measure: - /* Reset flag */ - g_stopRequest = 0; - /* Measurement routine */ - AKFS_MeasureLoop(); - break; - - case MODE_Quit: - return; - - default: - AKMDEBUG(DBG_LEVEL0, "Unknown operation mode.\n"); - break; - } - } -} - -int main(int argc, char **argv) -{ - int retValue = 0; - AKFS_PATNO pat; - uint8 regs[3]; - - /* Show the version info of this software. */ - Disp_StartMessage(); - -#if ENABLE_AKMDEBUG - /* Register signal handler */ - signal(SIGINT, signal_handler); -#endif - - /* Open device driver */ - if(AKD_InitDevice() != AKD_SUCCESS) { - retValue = ERROR_INITDEVICE; - goto MAIN_QUIT; - } - - /* Parse command-line options */ - /* This function calls device driver function to get layout */ - if (OptParse(argc, argv, &pat) == 0) { - retValue = ERROR_OPTPARSE; - goto MAIN_QUIT; - } - - /* Self Test */ - if (g_opmode & OPMODE_FST){ - if (AKFS_SelfTest() != AKD_SUCCESS) { - retValue = ERROR_SELF_TEST; - goto MAIN_QUIT; - } - } - - /* OK, then start */ - if (AKFS_ReadAK8975FUSEROM(regs) != AKM_SUCCESS) { - retValue = ERROR_READ_FUSE; - goto MAIN_QUIT; - } - - /* Initialize library. */ - if (AKFS_Init(pat, regs) != AKM_SUCCESS) { - retValue = ERROR_INIT; - goto MAIN_QUIT; - } - - /* Start console mode */ - if (g_opmode & OPMODE_CONSOLE) { - ConsoleMode(); - goto MAIN_QUIT; - } - - /*** Start Daemon ********************************************/ - while (g_mainQuit == AKD_FALSE) { - int st = 0; - /* Wait until device driver is opened. */ - if (AKD_GetOpenStatus(&st) != AKD_SUCCESS) { - retValue = ERROR_GETOPEN_STAT; - goto MAIN_QUIT; - } - if (st == 0) { - ALOGI("Suspended."); - } else { - ALOGI("Compass Opened."); - /* Reset flag */ - g_stopRequest = 0; - /* Start measurement thread. */ - if (startClone() == 0) { - retValue = ERROR_STARTCLONE; - goto MAIN_QUIT; - } - - /* Wait until device driver is closed. */ - if (AKD_GetCloseStatus(&st) != AKD_SUCCESS) { - retValue = ERROR_GETCLOSE_STAT; - g_mainQuit = AKD_TRUE; - } - /* Wait thread completion. */ - g_stopRequest = 1; - pthread_join(s_thread, NULL); - ALOGI("Compass Closed."); - } - } - -MAIN_QUIT: - - /* Release library */ - AKFS_Release(); - /* Close device driver. */ - AKD_DeinitDevice(); - /* Show the last message. */ - Disp_EndMessage(retValue); - - return retValue; -} - - |