Adding TYPE_GYROSCOPE_UNCALIBRATED

[android-x86/hardware-intel-libsensors.git] / control.c

diff --git a/control.c b/control.c
index 6e961a2..029c876 100644 (file)
--- a/control.c
+++ b/control.c
@@ -228,6 +228,7 @@ int adjust_counters (int s, int enabled)
                                break;
 
                        case SENSOR_TYPE_GYROSCOPE:
+                       case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
                                gyro_cal_init(&sensor_info[s]);
                                break;
                }
@@ -250,6 +251,12 @@ int adjust_counters (int s, int enabled)
                        compass_store_data(&sensor_info[s]);
        }
 
+
+       /* If uncalibrated type and pair is already active don't adjust counters */
+       if (sensor_type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
+               sensor_info[sensor_info[s].pair_idx].enable_count != 0)
+                       return 0;
+
        /* We changed the state of a sensor - adjust per iio device counters */
 
        /* If this is a regular event-driven sensor */
@@ -284,6 +291,7 @@ static int get_field_count (int s)
                case SENSOR_TYPE_ACCELEROMETER:         /* m/s^2        */
                case SENSOR_TYPE_MAGNETIC_FIELD:        /* micro-tesla  */
                case SENSOR_TYPE_ORIENTATION:           /* degrees      */
+               case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
                case SENSOR_TYPE_GYROSCOPE:             /* radians/s    */
                        return 3;
 
@@ -490,12 +498,32 @@ int sensor_activate(int s, int enabled)
        int i = sensor_info[s].catalog_index;
        int is_poll_sensor = !sensor_info[s].num_channels;
 
+       /* If we want to activate gyro calibrated and gyro uncalibrated is activated
+        * Deactivate gyro uncalibrated - Uncalibrated releases handler
+        * Activate gyro calibrated     - Calibrated has handler
+        * Reactivate gyro uncalibrated - Uncalibrated gets data from calibrated */
+
+       /* If we want to deactivate gyro calibrated and gyro uncalibrated is active
+        * Deactivate gyro uncalibrated - Uncalibrated no longer gets data from handler
+        * Deactivate gyro calibrated   - Calibrated releases handler
+        * Reactivate gyro uncalibrated - Uncalibrated has handler */
+
+       if (sensor_catalog[sensor_info[s].catalog_index].type == SENSOR_TYPE_GYROSCOPE &&
+               sensor_info[s].pair_idx && sensor_info[sensor_info[s].pair_idx].enable_count != 0) {
+
+                               sensor_activate(sensor_info[s].pair_idx, 0);
+                               ret = sensor_activate(s, enabled);
+                               sensor_activate(sensor_info[s].pair_idx, 1);
+                               return ret;
+       }
+
        ret = adjust_counters(s, enabled);
 
        /* If the operation was neutral in terms of state, we're done */
        if (ret <= 0)
                return ret;
 
+
        if (!is_poll_sensor) {
 
                /* Stop sampling */
@@ -664,6 +692,12 @@ static int propagate_sensor_report(int s, struct sensors_event_t  *data)
        if (!num_fields)
                return 0;
 
+
+       /* Only return uncalibrated event if also gyro active */
+       if (sensor_type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
+               sensor_info[sensor_info[s].pair_idx].enable_count != 0)
+                       return 0;
+
        memset(data, 0, sizeof(sensors_event_t));
 
        data->version   = sizeof(sensors_event_t);
@@ -728,6 +762,7 @@ int sensor_poll(struct sensors_event_t* data, int count)
        struct epoll_event ev[MAX_DEVICES];
        int64_t target_ts;
        int returned_events;
+       int event_count;
 
        /* Get one or more events from our collection of sensors */
 
@@ -736,16 +771,38 @@ return_available_sensor_reports:
        returned_events = 0;
 
        /* Check our sensor collection for available reports */
-       for (s=0; s<sensor_count && returned_events<count; s++)
+       for (s=0; s<sensor_count && returned_events < count; s++)
                if (sensor_info[s].report_pending) {
-
+                       event_count = 0;
                        /* Lower flag */
                        sensor_info[s].report_pending = 0;
 
                        /* Report this event if it looks OK */
-                       returned_events +=
-                            propagate_sensor_report(s, &data[returned_events]);
-
+                       event_count = propagate_sensor_report(s, &data[returned_events]);
+
+                       /* Duplicate only if both cal & uncal are active */
+                       if (sensor_catalog[sensor_info[s].catalog_index].type == SENSOR_TYPE_GYROSCOPE &&
+                                       sensor_info[s].pair_idx && sensor_info[sensor_info[s].pair_idx].enable_count != 0) {
+                                       struct gyro_cal* gyro_data = (struct gyro_cal*) sensor_info[s].cal_data;
+
+                                       memcpy(&data[returned_events + event_count], &data[returned_events],
+                                                       sizeof(struct sensors_event_t) * event_count);
+                                       for (i = 0; i < event_count; i++) {
+                                               data[returned_events + i].type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED;
+                                               data[returned_events + i].sensor = sensor_info[s].pair_idx;
+
+                                               data[returned_events + i].data[0] = data[returned_events + i].data[0] + gyro_data->bias[0];
+                                               data[returned_events + i].data[1] = data[returned_events + i].data[1] + gyro_data->bias[1];
+                                               data[returned_events + i].data[2] = data[returned_events + i].data[2] + gyro_data->bias[2];
+
+                                               data[returned_events + i].uncalibrated_gyro.bias[0] = gyro_data->bias[0];
+                                               data[returned_events + i].uncalibrated_gyro.bias[1] = gyro_data->bias[1];
+                                               data[returned_events + i].uncalibrated_gyro.bias[2] = gyro_data->bias[2];
+                                       }
+                                       event_count <<= 1;
+                       }
+                       sensor_info[sensor_info[s].pair_idx].report_pending = 0;
+                       returned_events += event_count;
                        /*
                         * If the sample was deemed invalid or unreportable,
                         * e.g. had the same value as the previously reported