Read data from the old bmc150-accel-i2c modified driver
This commit is contained in:
Denis
parent
35bbaa4f2d
commit
749b184d13
1 changed files with 517 additions and 36 deletions
553
rog_ally.c
553
rog_ally.c
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@ -3,6 +3,9 @@
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#include "dev_hidraw.h"
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#include "message.h"
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#include "xbox360.h"
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#include <stdio.h>
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static const char iio_base_path[] = "/sys/bus/iio/devices/iio:device0/";
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enum rc71l_leds_mode {
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ROG_ALLY_MODE_STATIC = 0,
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@ -1486,6 +1489,516 @@ static int rc71l_platform_leds(const dev_in_settings_t *const conf, uint8_t r, u
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return 0;
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}
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typedef struct dev_iio {
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char* path;
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char* name;
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uint32_t flags;
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FILE* accel_x_fd;
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FILE* accel_y_fd;
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FILE* accel_z_fd;
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double accel_scale_x;
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double accel_scale_y;
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double accel_scale_z;
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FILE* anglvel_x_fd;
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FILE* anglvel_y_fd;
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FILE* anglvel_z_fd;
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double anglvel_scale_x;
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double anglvel_scale_y;
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double anglvel_scale_z;
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double temp_scale;
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double outer_temp_scale;
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double mount_matrix[3][3];
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double sampling_rate_hz;
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} dev_old_iio_t;
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static char* read_file(const char* base_path, const char *file) {
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char* res = NULL;
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char* fdir = NULL;
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long len = 0;
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len = strlen(base_path) + strlen(file) + 1;
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fdir = malloc(len);
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if (fdir == NULL) {
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fprintf(stderr, "Cannot allocate %ld bytes for device path, device skipped.\n", len);
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goto read_file_err;
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}
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strcpy(fdir, base_path);
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strcat(fdir, file);
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if (access(fdir, F_OK) == 0) {
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FILE* fp = fopen(fdir, "r");
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if (fp != NULL) {
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fseek(fp, 0L, SEEK_END);
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len = ftell(fp);
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rewind(fp);
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len += 1;
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res = malloc(len);
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if (res != NULL) {
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unsigned long read_bytes = fread(res, 1, len, fp);
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printf("Read %lu bytes from file %s\n", read_bytes, fdir);
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} else {
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fprintf(stderr, "Cannot allocate %ld bytes for %s content.\n", len, fdir);
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}
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fclose(fp);
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} else {
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fprintf(stderr, "Cannot open file %s.\n", fdir);
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}
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} else {
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fprintf(stderr, "File %s does not exists.\n", fdir);
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}
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free(fdir);
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fdir = NULL;
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read_file_err:
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return res;
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}
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int write_file(const char* base_path, const char *file, const void* buf, size_t buf_sz) {
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char* fdir = NULL;
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int res = 0;
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const size_t len = strlen(base_path) + strlen(file) + 1;
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fdir = malloc(len);
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if (fdir == NULL) {
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fprintf(stderr, "Cannot allocate %ld bytes for device path, device skipped.\n", len);
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goto write_file_err;
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}
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strcpy(fdir, base_path);
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strcat(fdir, file);
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if (access(fdir, F_OK) == 0) {
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FILE* fp = fopen(fdir, "w");
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if (fp != NULL) {
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res = fwrite(buf, 1, buf_sz, fp);
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if (res >= buf_sz) {
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printf("Written %d bytes to file %s\n", res, fdir);
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} else {
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fprintf(stderr, "Cannot write to %s: %d.\n", fdir, res);
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}
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fclose(fp);
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} else {
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fprintf(stderr, "Cannot open file %s.\n", fdir);
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}
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} else {
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fprintf(stderr, "File %s does not exists.\n", fdir);
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}
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free(fdir);
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fdir = NULL;
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write_file_err:
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return res;
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}
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dev_old_iio_t* dev_old_iio_create(const char* path) {
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dev_old_iio_t *iio = malloc(sizeof(dev_old_iio_t));
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if (iio == NULL) {
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return NULL;
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}
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iio->anglvel_x_fd = NULL;
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iio->anglvel_y_fd = NULL;
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iio->anglvel_z_fd = NULL;
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iio->accel_x_fd = NULL;
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iio->accel_y_fd = NULL;
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iio->accel_z_fd = NULL;
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iio->accel_scale_x = 0.0f;
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iio->accel_scale_y = 0.0f;
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iio->accel_scale_z = 0.0f;
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iio->anglvel_scale_x = 0.0f;
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iio->anglvel_scale_y = 0.0f;
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iio->anglvel_scale_z = 0.0f;
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iio->temp_scale = 0.0f;
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iio->outer_temp_scale = 0.0;
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double mm[3][3] =
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// this is the correct matrix:
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{
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{-1.0, 0.0, 0.0},
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{0.0, 1.0, 0.0},
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{0.0, 0.0, 1.0}
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};
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// store the mount matrix
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memcpy(iio->mount_matrix, mm, sizeof(mm));
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const long path_len = strlen(path) + 1;
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iio->path = malloc(path_len);
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if (iio->path == NULL) {
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fprintf(stderr, "Cannot allocate %ld bytes for device name, device skipped.\n", path_len);
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free(iio);
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iio = NULL;
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goto dev_old_iio_create_err;
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}
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strcpy(iio->path, path);
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// ============================================= DEVICE NAME ================================================
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iio->name = read_file(iio->path, "/name");
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if (iio->name == NULL) {
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fprintf(stderr, "Unable to read iio device name.\n");
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free(iio);
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iio = NULL;
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goto dev_old_iio_create_err;
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} else {
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int idx = strlen(iio->name) - 1;
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if ((iio->name[idx] == '\n') || ((iio->name[idx] == '\t'))) {
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iio->name[idx] = '\0';
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}
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}
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// ==========================================================================================================
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// ========================================== in_anglvel_scale ==============================================
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{
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const char* preferred_scale = LSB_PER_RAD_S_2000_DEG_S_STR;
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const char *scale_main_file = "/in_anglvel_scale";
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char* const anglvel_scale = read_file(iio->path, scale_main_file);
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if (anglvel_scale != NULL) {
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iio->anglvel_scale_x = iio->anglvel_scale_y = iio->anglvel_scale_z = strtod(anglvel_scale, NULL);
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free((void*)anglvel_scale);
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if (write_file(iio->path, scale_main_file, preferred_scale, strlen(preferred_scale)) >= 0) {
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iio->anglvel_scale_x = iio->anglvel_scale_y = iio->anglvel_scale_z = LSB_PER_RAD_S_2000_DEG_S;
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printf("anglvel scale changed to %f for device %s\n", iio->anglvel_scale_x, iio->name);
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} else {
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fprintf(stderr, "Unable to set preferred in_anglvel_scale for device %s.\n", iio->name);
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}
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} else {
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// TODO: what about if those are split in in_anglvel_{x,y,z}_scale?
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fprintf(stderr, "Unable to read in_anglvel_scale from path %s%s.\n", iio->path, scale_main_file);
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free(iio);
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iio = NULL;
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goto dev_old_iio_create_err;
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}
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}
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// ==========================================================================================================
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// =========================================== in_accel_scale ===============================================
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{
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const char* preferred_scale = LSB_PER_16G_STR;
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const char *scale_main_file = "/in_accel_scale";
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char* const accel_scale = read_file(iio->path, scale_main_file);
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if (accel_scale != NULL) {
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iio->accel_scale_x = iio->accel_scale_y = iio->accel_scale_z = strtod(accel_scale, NULL);
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free((void*)accel_scale);
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if (write_file(iio->path, scale_main_file, preferred_scale, strlen(preferred_scale)) >= 0) {
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iio->accel_scale_x = iio->accel_scale_y = iio->accel_scale_z = LSB_PER_16G;
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printf("accel scale changed to %f for device %s\n", iio->accel_scale_x, iio->name);
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} else {
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fprintf(stderr, "Unable to set preferred in_accel_scale for device %s.\n", iio->name);
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}
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} else {
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// TODO: what about if those are plit in in_accel_{x,y,z}_scale?
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fprintf(stderr, "Unable to read in_accel_scale file from path %s%s.\n", iio->path, scale_main_file);
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free(iio);
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iio = NULL;
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goto dev_old_iio_create_err;
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}
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}
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// ==========================================================================================================
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// ============================================= temp_scale =================================================
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{
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char* const accel_scale = read_file(iio->path, "/in_temp_scale");
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if (accel_scale != NULL) {
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iio->temp_scale = strtod(accel_scale, NULL);
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free((void*)accel_scale);
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} else {
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fprintf(stderr, "Unable to read in_accel_scale file from path %s%s.\n", iio->path, "/in_accel_scale");
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free(iio);
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iio = NULL;
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goto dev_old_iio_create_err;
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}
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}
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// ==========================================================================================================
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// ============================================ sampling_rate ================================================
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{
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char* const accel_scale = read_file(iio->path, "/in_temp_scale");
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if (accel_scale != NULL) {
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iio->temp_scale = strtod(accel_scale, NULL);
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free((void*)accel_scale);
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} else {
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fprintf(stderr, "Unable to read in_accel_scale file from path %s%s.\n", iio->path, "/in_accel_scale");
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free(iio);
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iio = NULL;
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goto dev_old_iio_create_err;
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}
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}
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// ==========================================================================================================
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const size_t tmp_sz = path_len + 128 + 1;
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char* const tmp = malloc(tmp_sz);
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memset(tmp, 0, tmp_sz);
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strcat(tmp, iio->path);
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strcat(tmp, "/in_accel_x_raw");
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iio->accel_x_fd = fopen(tmp, "r");
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memset(tmp, 0, tmp_sz);
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strcat(tmp, iio->path);
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strcat(tmp, "/in_accel_y_raw");
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iio->accel_y_fd = fopen(tmp, "r");
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memset(tmp, 0, tmp_sz);
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strcat(tmp, iio->path);
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strcat(tmp, "/in_accel_z_raw");
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iio->accel_z_fd = fopen(tmp, "r");
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memset(tmp, 0, tmp_sz);
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strcat(tmp, iio->path);
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strcat(tmp, "/in_anglvel_x_raw");
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iio->anglvel_x_fd = fopen(tmp, "r");
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memset(tmp, 0, tmp_sz);
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strcat(tmp, iio->path);
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strcat(tmp, "/in_anglvel_y_raw");
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iio->anglvel_y_fd = fopen(tmp, "r");
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memset(tmp, 0, tmp_sz);
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strcat(tmp, iio->path);
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strcat(tmp, "/in_anglvel_z_raw");
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iio->anglvel_z_fd = fopen(tmp, "r");
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free(tmp);
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printf(
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"anglvel scale: x=%f, y=%f, z=%f | accel scale: x=%f, y=%f, z=%f\n",
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iio->anglvel_scale_x,
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iio->anglvel_scale_y,
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iio->anglvel_scale_z,
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iio->accel_scale_x,
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iio->accel_scale_y,
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iio->accel_scale_z
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);
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// give time to change the scale
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sleep(4);
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dev_old_iio_create_err:
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return iio;
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}
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void dev_old_iio_destroy(dev_old_iio_t* iio) {
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fclose(iio->accel_x_fd);
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fclose(iio->accel_y_fd);
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fclose(iio->accel_z_fd);
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fclose(iio->anglvel_x_fd);
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fclose(iio->anglvel_y_fd);
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fclose(iio->anglvel_z_fd);
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free(iio->name);
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free(iio->path);
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free(iio);
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}
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const char* dev_old_iio_get_name(const dev_old_iio_t* iio) {
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return iio->name;
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}
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const char* dev_old_iio_get_path(const dev_old_iio_t* iio) {
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return iio->path;
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}
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static void multiplyMatrixVector(const double matrix[3][3], const double vector[3], double result[3]) {
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result[0] = matrix[0][0] * vector[0] + matrix[1][0] * vector[1] + matrix[2][0] * vector[2];
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result[1] = matrix[0][1] * vector[0] + matrix[1][1] * vector[1] + matrix[2][1] * vector[2];
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result[2] = matrix[0][2] * vector[0] + matrix[1][2] * vector[1] + matrix[2][2] * vector[2];
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}
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int dev_old_iio_read_imu(const dev_old_iio_t *const iio, in_message_t *const messages) {
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int res = 0;
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struct timespec tp;
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if (clock_gettime(CLOCK_MONOTONIC, &tp) == -1) {
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perror("Error getting time");
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return res; // Handle the error appropriately in your application
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}
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const uint64_t nanoseconds = (tp.tv_sec * 1000000000ULL) + tp.tv_nsec;
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uint16_t accel_x_raw = 0, accel_y_raw = 0, accel_z_raw = 0;
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uint16_t gyro_x_raw = 0, gyro_y_raw = 0, gyro_z_raw = 0;
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char tmp[128];
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if (iio->accel_x_fd != NULL) {
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rewind(iio->accel_x_fd);
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memset((void*)&tmp[0], 0, sizeof(tmp));
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const int tmp_read = fread((void*)&tmp[0], 1, sizeof(tmp), iio->accel_x_fd);
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if (tmp_read >= 0) {
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accel_x_raw = strtol(&tmp[0], NULL, 10);
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} else {
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fprintf(stderr, "While reading accel(x): %d\n", tmp_read);
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goto dev_old_iio_read_imu_err;
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}
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}
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if (iio->accel_y_fd != NULL) {
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rewind(iio->accel_y_fd);
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memset((void*)&tmp[0], 0, sizeof(tmp));
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const int tmp_read = fread((void*)&tmp[0], 1, sizeof(tmp), iio->accel_y_fd);
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if (tmp_read >= 0) {
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accel_y_raw = strtol(&tmp[0], NULL, 10);
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} else {
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fprintf(stderr, "While reading accel(y): %d\n", tmp_read);
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goto dev_old_iio_read_imu_err;
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}
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}
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if (iio->accel_z_fd != NULL) {
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rewind(iio->accel_z_fd);
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memset((void*)&tmp[0], 0, sizeof(tmp));
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const int tmp_read = fread((void*)&tmp[0], 1, sizeof(tmp), iio->accel_z_fd);
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if (tmp_read >= 0) {
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accel_z_raw = strtol(&tmp[0], NULL, 10);
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} else {
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fprintf(stderr, "While reading accel(z): %d\n", tmp_read);
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goto dev_old_iio_read_imu_err;
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}
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}
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if (iio->anglvel_x_fd != NULL) {
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rewind(iio->anglvel_x_fd);
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memset((void*)&tmp[0], 0, sizeof(tmp));
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const int tmp_read = fread((void*)&tmp[0], 1, sizeof(tmp), iio->anglvel_x_fd);
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if (tmp_read >= 0) {
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gyro_x_raw = strtol(&tmp[0], NULL, 10);
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} else {
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fprintf(stderr, "While reading anglvel(x): %d\n", tmp_read);
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goto dev_old_iio_read_imu_err;
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}
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}
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if (iio->anglvel_y_fd != NULL) {
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rewind(iio->anglvel_y_fd);
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memset((void*)&tmp[0], 0, sizeof(tmp));
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const int tmp_read = fread((void*)&tmp[0], 1, sizeof(tmp), iio->anglvel_y_fd);
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if (tmp_read >= 0) {
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gyro_y_raw = strtol(&tmp[0], NULL, 10);
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} else {
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fprintf(stderr, "While reading anglvel(y): %d\n", tmp_read);
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goto dev_old_iio_read_imu_err;
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}
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}
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if (iio->anglvel_z_fd != NULL) {
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rewind(iio->anglvel_z_fd);
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memset((void*)&tmp[0], 0, sizeof(tmp));
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const int tmp_read = fread((void*)&tmp[0], 1, sizeof(tmp), iio->anglvel_z_fd);
|
||||
if (tmp_read >= 0) {
|
||||
gyro_z_raw = strtol(&tmp[0], NULL, 10);
|
||||
} else {
|
||||
fprintf(stderr, "While reading anglvel(z): %d\n", tmp_read);
|
||||
goto dev_old_iio_read_imu_err;
|
||||
}
|
||||
}
|
||||
|
||||
messages[0].type = GAMEPAD_SET_ELEMENT;
|
||||
messages[0].data.gamepad_set.element = GAMEPAD_ACCELEROMETER;
|
||||
messages[1].data.gamepad_set.status.accel.sample_timestamp_ns = nanoseconds;
|
||||
messages[0].data.gamepad_set.status.accel.x = (uint16_t)(-1) * accel_x_raw;
|
||||
messages[0].data.gamepad_set.status.accel.y = accel_y_raw;
|
||||
messages[0].data.gamepad_set.status.accel.z = accel_z_raw;
|
||||
|
||||
messages[1].type = GAMEPAD_SET_ELEMENT;
|
||||
messages[1].data.gamepad_set.element = GAMEPAD_GYROSCOPE;
|
||||
messages[1].data.gamepad_set.status.gyro.sample_timestamp_ns = nanoseconds;
|
||||
messages[1].data.gamepad_set.status.gyro.x = (uint16_t)(-1) * gyro_x_raw;
|
||||
messages[1].data.gamepad_set.status.gyro.y = gyro_y_raw;
|
||||
messages[1].data.gamepad_set.status.gyro.z = gyro_z_raw;
|
||||
|
||||
res = 2;
|
||||
|
||||
dev_old_iio_read_imu_err:
|
||||
return res;
|
||||
}
|
||||
|
||||
typedef struct bmc150_accel_user_data {
|
||||
dev_old_iio_t *iio;
|
||||
char* name;
|
||||
uint64_t errors;
|
||||
} bmc150_accel_user_data_t;
|
||||
|
||||
static bmc150_accel_user_data_t bmc15_timer_data = {
|
||||
.iio = NULL,
|
||||
.name = NULL,
|
||||
.errors = 0,
|
||||
};
|
||||
|
||||
int rc71l_bmc150_accel_timer_map(const dev_in_settings_t *const conf, int timer_fd, uint64_t expirations, in_message_t *const messages, size_t messages_len, void* user_data) {
|
||||
bmc150_accel_user_data_t *const timer_data = (bmc150_accel_user_data_t*)user_data;
|
||||
|
||||
static const uint64_t max_attempts = 250000000;
|
||||
|
||||
if (timer_data == NULL) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (timer_data->iio == NULL) {
|
||||
if (timer_data->errors < max_attempts) {
|
||||
// try to open the device and give up after some errors
|
||||
timer_data->iio = dev_old_iio_create(iio_base_path);
|
||||
|
||||
if (timer_data->iio == NULL) {
|
||||
timer_data->errors++;
|
||||
|
||||
if (timer_data->errors == max_attempts) {
|
||||
fprintf(stderr, "Max attempts to acquire bmc150 accel driver reached.\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
} else {
|
||||
// read the device and fill data from that
|
||||
return dev_old_iio_read_imu(timer_data->iio, messages);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
input_dev_t bmc150_timer_dev = {
|
||||
.dev_type = input_dev_type_timer,
|
||||
.filters = {
|
||||
.timer = {
|
||||
.name = "RC71L_bmc150-accel_timer",
|
||||
.ticktime_ms = 0,
|
||||
.ticktime_ns = 625000
|
||||
}
|
||||
},
|
||||
.user_data = &bmc15_timer_data,
|
||||
.map = {
|
||||
.timer_callbacks = {
|
||||
.map_fn = rc71l_bmc150_accel_timer_map,
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
int rc71l_timer_map(const dev_in_settings_t *const conf, int timer_fd, uint64_t expirations, in_message_t *const messages, size_t messages_len, void* user_data) {
|
||||
rc71l_timer_user_data_t *const timer_data = (rc71l_timer_user_data_t*)user_data;
|
||||
rc71l_platform_t *const platform_data = timer_data->parent;
|
||||
|
|
@ -1513,41 +2026,6 @@ input_dev_t timer_dev = {
|
|||
}
|
||||
};
|
||||
|
||||
typedef struct bmc150_accel_user_data {
|
||||
|
||||
} bmc150_accel_user_data_t;
|
||||
|
||||
static bmc150_accel_user_data_t bmc15_timer_data = {
|
||||
|
||||
};
|
||||
|
||||
int rc71l_bmc150_accel_timer_map(const dev_in_settings_t *const conf, int timer_fd, uint64_t expirations, in_message_t *const messages, size_t messages_len, void* user_data) {
|
||||
bmc150_accel_user_data_t *const timer_data = (bmc150_accel_user_data_t*)user_data;
|
||||
|
||||
if (timer_data == NULL) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
input_dev_t bmc150_timer_dev = {
|
||||
.dev_type = input_dev_type_timer,
|
||||
.filters = {
|
||||
.timer = {
|
||||
.name = "RC71L_bmc150-accel_timer",
|
||||
.ticktime_ms = 0,
|
||||
.ticktime_ns = 625000
|
||||
}
|
||||
},
|
||||
.user_data = &bmc15_timer_data,
|
||||
.map = {
|
||||
.timer_callbacks = {
|
||||
.map_fn = rc71l_bmc150_accel_timer_map,
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
input_dev_composite_t rc71l_composite = {
|
||||
.dev = {
|
||||
&in_xbox_dev,
|
||||
|
|
@ -1564,9 +2042,12 @@ input_dev_composite_t rc71l_composite = {
|
|||
|
||||
input_dev_composite_t* rog_ally_device_def(const dev_in_settings_t *const conf) {
|
||||
if (conf->enable_imu) {
|
||||
if (false) {
|
||||
bmc15_timer_data.name = read_file(iio_base_path, "name");
|
||||
if ((bmc15_timer_data.name != NULL) && (strcmp(bmc15_timer_data.name, "bmi323"))) {
|
||||
printf("Old bmc150-accel-i2c for bmi323 device has been selected! Are you running a neptune kernel?\n");
|
||||
rc71l_composite.dev[rc71l_composite.dev_count++] = &bmc150_timer_dev;
|
||||
} else {
|
||||
printf("Using the newer upstreamed bmi323-imu driver\n");
|
||||
rc71l_composite.dev[rc71l_composite.dev_count++] = &in_iio_dev;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue