1.1 --- /dev/null Thu Jan 01 00:00:00 1970 +0000
1.2 +++ b/hal/cocoa/smslib.mm Wed Dec 31 06:09:35 2014 +0100
1.3 @@ -0,0 +1,938 @@
1.4 +/*
1.5 + * smslib.m
1.6 + *
1.7 + * SMSLib Sudden Motion Sensor Access Library
1.8 + * Copyright (c) 2010 Suitable Systems
1.9 + * All rights reserved.
1.10 + *
1.11 + * Developed by: Daniel Griscom
1.12 + * Suitable Systems
1.13 + * http://www.suitable.com
1.14 + *
1.15 + * Permission is hereby granted, free of charge, to any person obtaining a
1.16 + * copy of this software and associated documentation files (the
1.17 + * "Software"), to deal with the Software without restriction, including
1.18 + * without limitation the rights to use, copy, modify, merge, publish,
1.19 + * distribute, sublicense, and/or sell copies of the Software, and to
1.20 + * permit persons to whom the Software is furnished to do so, subject to
1.21 + * the following conditions:
1.22 + *
1.23 + * - Redistributions of source code must retain the above copyright notice,
1.24 + * this list of conditions and the following disclaimers.
1.25 + *
1.26 + * - Redistributions in binary form must reproduce the above copyright
1.27 + * notice, this list of conditions and the following disclaimers in the
1.28 + * documentation and/or other materials provided with the distribution.
1.29 + *
1.30 + * - Neither the names of Suitable Systems nor the names of its
1.31 + * contributors may be used to endorse or promote products derived from
1.32 + * this Software without specific prior written permission.
1.33 + *
1.34 + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
1.35 + * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
1.36 + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
1.37 + * IN NO EVENT SHALL THE CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR
1.38 + * ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
1.39 + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
1.40 + * SOFTWARE OR THE USE OR OTHER DEALINGS WITH THE SOFTWARE.
1.41 + *
1.42 + * For more information about SMSLib, see
1.43 + * <http://www.suitable.com/tools/smslib.html>
1.44 + * or contact
1.45 + * Daniel Griscom
1.46 + * Suitable Systems
1.47 + * 1 Centre Street, Suite 204
1.48 + * Wakefield, MA 01880
1.49 + * (781) 665-0053
1.50 + *
1.51 + */
1.52 +
1.53 +#import <IOKit/IOKitLib.h>
1.54 +#import <sys/sysctl.h>
1.55 +#import <math.h>
1.56 +#import "smslib.h"
1.57 +
1.58 +#pragma mark Internal structures
1.59 +
1.60 +// Represents a single axis of a type of sensor.
1.61 +typedef struct axisStruct {
1.62 + int enabled; // Non-zero if axis is valid in this sensor
1.63 + int index; // Location in struct of first byte
1.64 + int size; // Number of bytes
1.65 + float zerog; // Value meaning "zero g"
1.66 + float oneg; // Change in value meaning "increase of one g"
1.67 + // (can be negative if axis sensor reversed)
1.68 +} axisStruct;
1.69 +
1.70 +// Represents the configuration of a type of sensor.
1.71 +typedef struct sensorSpec {
1.72 + const char *model; // Prefix of model to be tested
1.73 + const char *name; // Name of device to be read
1.74 + unsigned int function; // Kernel function index
1.75 + int recordSize; // Size of record to be sent/received
1.76 + axisStruct axes[3]; // Description of three axes (X, Y, Z)
1.77 +} sensorSpec;
1.78 +
1.79 +// Configuration of all known types of sensors. The configurations are
1.80 +// tried in order until one succeeds in returning data.
1.81 +// All default values are set here, but each axis' zerog and oneg values
1.82 +// may be changed to saved (calibrated) values.
1.83 +//
1.84 +// These values came from SeisMaCalibrate calibration reports. In general I've
1.85 +// found the following:
1.86 +// - All Intel-based SMSs have 250 counts per g, centered on 0, but the signs
1.87 +// are different (and in one case two axes are swapped)
1.88 +// - PowerBooks and iBooks all have sensors centered on 0, and reading
1.89 +// 50-53 steps per gravity (but with differing polarities!)
1.90 +// - PowerBooks and iBooks of the same model all have the same axis polarities
1.91 +// - PowerBook and iBook access methods are model- and OS version-specific
1.92 +//
1.93 +// So, the sequence of tests is:
1.94 +// - Try model-specific access methods. Note that the test is for a match to the
1.95 +// beginning of the model name, e.g. the record with model name "MacBook"
1.96 +// matches computer models "MacBookPro1,2" and "MacBook1,1" (and ""
1.97 +// matches any model).
1.98 +// - If no model-specific record's access fails, then try each model-independent
1.99 +// access method in order, stopping when one works.
1.100 +static const sensorSpec sensors[] = {
1.101 + // ****** Model-dependent methods ******
1.102 + // The PowerBook5,6 is one of the G4 models that seems to lose
1.103 + // SMS access until the next reboot.
1.104 + {"PowerBook5,6", "IOI2CMotionSensor", 21, 60, {
1.105 + {1, 0, 1, 0, 51.5},
1.106 + {1, 1, 1, 0, -51.5},
1.107 + {1, 2, 1, 0, -51.5}
1.108 + }
1.109 + },
1.110 + // The PowerBook5,7 is one of the G4 models that seems to lose
1.111 + // SMS access until the next reboot.
1.112 + {"PowerBook5,7", "IOI2CMotionSensor", 21, 60, {
1.113 + {1, 0, 1, 0, 51.5},
1.114 + {1, 1, 1, 0, 51.5},
1.115 + {1, 2, 1, 0, 51.5}
1.116 + }
1.117 + },
1.118 + // Access seems to be reliable on the PowerBook5,8
1.119 + {"PowerBook5,8", "PMUMotionSensor", 21, 60, {
1.120 + {1, 0, 1, 0, -51.5},
1.121 + {1, 1, 1, 0, 51.5},
1.122 + {1, 2, 1, 0, -51.5}
1.123 + }
1.124 + },
1.125 + // Access seems to be reliable on the PowerBook5,9
1.126 + {"PowerBook5,9", "PMUMotionSensor", 21, 60, {
1.127 + {1, 0, 1, 0, 51.5},
1.128 + {1, 1, 1, 0, -51.5},
1.129 + {1, 2, 1, 0, -51.5}
1.130 + }
1.131 + },
1.132 + // The PowerBook6,7 is one of the G4 models that seems to lose
1.133 + // SMS access until the next reboot.
1.134 + {"PowerBook6,7", "IOI2CMotionSensor", 21, 60, {
1.135 + {1, 0, 1, 0, 51.5},
1.136 + {1, 1, 1, 0, 51.5},
1.137 + {1, 2, 1, 0, 51.5}
1.138 + }
1.139 + },
1.140 + // The PowerBook6,8 is one of the G4 models that seems to lose
1.141 + // SMS access until the next reboot.
1.142 + {"PowerBook6,8", "IOI2CMotionSensor", 21, 60, {
1.143 + {1, 0, 1, 0, 51.5},
1.144 + {1, 1, 1, 0, 51.5},
1.145 + {1, 2, 1, 0, 51.5}
1.146 + }
1.147 + },
1.148 + // MacBook Pro Core 2 Duo 17". Note the reversed Y and Z axes.
1.149 + {"MacBookPro2,1", "SMCMotionSensor", 5, 40, {
1.150 + {1, 0, 2, 0, 251},
1.151 + {1, 2, 2, 0, -251},
1.152 + {1, 4, 2, 0, -251}
1.153 + }
1.154 + },
1.155 + // MacBook Pro Core 2 Duo 15" AND 17" with LED backlight, introduced June '07.
1.156 + // NOTE! The 17" machines have the signs of their X and Y axes reversed
1.157 + // from this calibration, but there's no clear way to discriminate between
1.158 + // the two machines.
1.159 + {"MacBookPro3,1", "SMCMotionSensor", 5, 40, {
1.160 + {1, 0, 2, 0, -251},
1.161 + {1, 2, 2, 0, 251},
1.162 + {1, 4, 2, 0, -251}
1.163 + }
1.164 + },
1.165 + // ... specs?
1.166 + {"MacBook5,2", "SMCMotionSensor", 5, 40, {
1.167 + {1, 0, 2, 0, -251},
1.168 + {1, 2, 2, 0, 251},
1.169 + {1, 4, 2, 0, -251}
1.170 + }
1.171 + },
1.172 + // ... specs?
1.173 + {"MacBookPro5,1", "SMCMotionSensor", 5, 40, {
1.174 + {1, 0, 2, 0, -251},
1.175 + {1, 2, 2, 0, -251},
1.176 + {1, 4, 2, 0, 251}
1.177 + }
1.178 + },
1.179 + // ... specs?
1.180 + {"MacBookPro5,2", "SMCMotionSensor", 5, 40, {
1.181 + {1, 0, 2, 0, -251},
1.182 + {1, 2, 2, 0, -251},
1.183 + {1, 4, 2, 0, 251}
1.184 + }
1.185 + },
1.186 + // This is speculative, based on a single user's report. Looks like the X and Y axes
1.187 + // are swapped. This is true for no other known Appple laptop.
1.188 + {"MacBookPro5,3", "SMCMotionSensor", 5, 40, {
1.189 + {1, 2, 2, 0, -251},
1.190 + {1, 0, 2, 0, -251},
1.191 + {1, 4, 2, 0, -251}
1.192 + }
1.193 + },
1.194 + // ... specs?
1.195 + {"MacBookPro5,4", "SMCMotionSensor", 5, 40, {
1.196 + {1, 0, 2, 0, -251},
1.197 + {1, 2, 2, 0, -251},
1.198 + {1, 4, 2, 0, 251}
1.199 + }
1.200 + },
1.201 + // ****** Model-independent methods ******
1.202 + // Seen once with PowerBook6,8 under system 10.3.9; I suspect
1.203 + // other G4-based 10.3.* systems might use this
1.204 + {"", "IOI2CMotionSensor", 24, 60, {
1.205 + {1, 0, 1, 0, 51.5},
1.206 + {1, 1, 1, 0, 51.5},
1.207 + {1, 2, 1, 0, 51.5}
1.208 + }
1.209 + },
1.210 + // PowerBook5,6 , PowerBook5,7 , PowerBook6,7 , PowerBook6,8
1.211 + // under OS X 10.4.*
1.212 + {"", "IOI2CMotionSensor", 21, 60, {
1.213 + {1, 0, 1, 0, 51.5},
1.214 + {1, 1, 1, 0, 51.5},
1.215 + {1, 2, 1, 0, 51.5}
1.216 + }
1.217 + },
1.218 + // PowerBook5,8 , PowerBook5,9 under OS X 10.4.*
1.219 + {"", "PMUMotionSensor", 21, 60, {
1.220 + // Each has two out of three gains negative, but it's different
1.221 + // for the different models. So, this will be right in two out
1.222 + // of three axis for either model.
1.223 + {1, 0, 1, 0, -51.5},
1.224 + {1, 1, 1, -6, -51.5},
1.225 + {1, 2, 1, 0, -51.5}
1.226 + }
1.227 + },
1.228 + // All MacBook, MacBookPro models. Hardware (at least on early MacBookPro 15")
1.229 + // is Kionix KXM52-1050 three-axis accelerometer chip. Data is at
1.230 + // http://kionix.com/Product-Index/product-index.htm. Specific MB and MBP models
1.231 + // that use this are:
1.232 + // MacBook1,1
1.233 + // MacBook2,1
1.234 + // MacBook3,1
1.235 + // MacBook4,1
1.236 + // MacBook5,1
1.237 + // MacBook6,1
1.238 + // MacBookAir1,1
1.239 + // MacBookPro1,1
1.240 + // MacBookPro1,2
1.241 + // MacBookPro4,1
1.242 + // MacBookPro5,5
1.243 + {"", "SMCMotionSensor", 5, 40, {
1.244 + {1, 0, 2, 0, 251},
1.245 + {1, 2, 2, 0, 251},
1.246 + {1, 4, 2, 0, 251}
1.247 + }
1.248 + }
1.249 +};
1.250 +
1.251 +#define SENSOR_COUNT (sizeof(sensors)/sizeof(sensorSpec))
1.252 +
1.253 +#pragma mark Internal prototypes
1.254 +
1.255 +static int getData(sms_acceleration *accel, int calibrated, id logObject, SEL logSelector);
1.256 +static float getAxis(int which, int calibrated);
1.257 +static int signExtend(int value, int size);
1.258 +static NSString *getModelName(void);
1.259 +static NSString *getOSVersion(void);
1.260 +static BOOL loadCalibration(void);
1.261 +static void storeCalibration(void);
1.262 +static void defaultCalibration(void);
1.263 +static void deleteCalibration(void);
1.264 +static int prefIntRead(NSString *prefName, BOOL *success);
1.265 +static void prefIntWrite(NSString *prefName, int prefValue);
1.266 +static float prefFloatRead(NSString *prefName, BOOL *success);
1.267 +static void prefFloatWrite(NSString *prefName, float prefValue);
1.268 +static void prefDelete(NSString *prefName);
1.269 +static void prefSynchronize(void);
1.270 +// static long getMicroseconds(void);
1.271 +float fakeData(NSTimeInterval time);
1.272 +
1.273 +#pragma mark Static variables
1.274 +
1.275 +static int debugging = NO; // True if debugging (synthetic data)
1.276 +static io_connect_t connection; // Connection for reading accel values
1.277 +static int running = NO; // True if we successfully started
1.278 +static unsigned int sensorNum = 0; // The current index into sensors[]
1.279 +static const char *serviceName; // The name of the current service
1.280 +static char *iRecord, *oRecord; // Pointers to read/write records for sensor
1.281 +static int recordSize; // Size of read/write records
1.282 +static unsigned int function; // Which kernel function should be used
1.283 +static float zeros[3]; // X, Y and Z zero calibration values
1.284 +static float onegs[3]; // X, Y and Z one-g calibration values
1.285 +
1.286 +#pragma mark Defines
1.287 +
1.288 +// Pattern for building axis letter from axis number
1.289 +#define INT_TO_AXIS(a) (a == 0 ? @"X" : a == 1 ? @"Y" : @"Z")
1.290 +// Name of configuration for given axis' zero (axis specified by integer)
1.291 +#define ZERO_NAME(a) [NSString stringWithFormat:@"%@-Axis-Zero", INT_TO_AXIS(a)]
1.292 +// Name of configuration for given axis' oneg (axis specified by integer)
1.293 +#define ONEG_NAME(a) [NSString stringWithFormat:@"%@-Axis-One-g", INT_TO_AXIS(a)]
1.294 +// Name of "Is calibrated" preference
1.295 +#define CALIBRATED_NAME (@"Calibrated")
1.296 +// Application domain for SeisMac library
1.297 +#define APP_ID ((CFStringRef)@"com.suitable.SeisMacLib")
1.298 +
1.299 +// These #defines make the accelStartup code a LOT easier to read.
1.300 +#undef LOG
1.301 +#define LOG(message) \
1.302 + if (logObject) { \
1.303 + [logObject performSelector:logSelector withObject:message]; \
1.304 + }
1.305 +#define LOG_ARG(format, var1) \
1.306 + if (logObject) { \
1.307 + [logObject performSelector:logSelector \
1.308 + withObject:[NSString stringWithFormat:format, var1]]; \
1.309 + }
1.310 +#define LOG_2ARG(format, var1, var2) \
1.311 + if (logObject) { \
1.312 + [logObject performSelector:logSelector \
1.313 + withObject:[NSString stringWithFormat:format, var1, var2]]; \
1.314 + }
1.315 +#define LOG_3ARG(format, var1, var2, var3) \
1.316 + if (logObject) { \
1.317 + [logObject performSelector:logSelector \
1.318 + withObject:[NSString stringWithFormat:format, var1, var2, var3]]; \
1.319 + }
1.320 +
1.321 +#pragma mark Function definitions
1.322 +
1.323 +// This starts up the accelerometer code, trying each possible sensor
1.324 +// specification. Note that for logging purposes it
1.325 +// takes an object and a selector; the object's selector is then invoked
1.326 +// with a single NSString as argument giving progress messages. Example
1.327 +// logging method:
1.328 +// - (void)logMessage: (NSString *)theString
1.329 +// which would be used in accelStartup's invocation thusly:
1.330 +// result = accelStartup(self, @selector(logMessage:));
1.331 +// If the object is nil, then no logging is done. Sets calibation from built-in
1.332 +// value table. Returns ACCEL_SUCCESS for success, and other (negative)
1.333 +// values for various failures (returns value indicating result of
1.334 +// most successful trial).
1.335 +int smsStartup(id logObject, SEL logSelector) {
1.336 + io_iterator_t iterator;
1.337 + io_object_t device;
1.338 + kern_return_t result;
1.339 + sms_acceleration accel;
1.340 + int failure_result = SMS_FAIL_MODEL;
1.341 +
1.342 + running = NO;
1.343 + debugging = NO;
1.344 +
1.345 + NSString *modelName = getModelName();
1.346 +
1.347 + LOG_ARG(@"Machine model: %@\n", modelName);
1.348 + LOG_ARG(@"OS X version: %@\n", getOSVersion());
1.349 + LOG_ARG(@"Accelerometer library version: %s\n", SMSLIB_VERSION);
1.350 +
1.351 + for (sensorNum = 0; sensorNum < SENSOR_COUNT; sensorNum++) {
1.352 +
1.353 + // Set up all specs for this type of sensor
1.354 + serviceName = sensors[sensorNum].name;
1.355 + recordSize = sensors[sensorNum].recordSize;
1.356 + function = sensors[sensorNum].function;
1.357 +
1.358 + LOG_3ARG(@"Trying service \"%s\" with selector %d and %d byte record:\n",
1.359 + serviceName, function, recordSize);
1.360 +
1.361 + NSString *targetName = [NSString stringWithCString:sensors[sensorNum].model
1.362 + encoding:NSMacOSRomanStringEncoding];
1.363 + LOG_ARG(@" Comparing model name to target \"%@\": ", targetName);
1.364 + if ([targetName length] == 0 || [modelName hasPrefix:targetName]) {
1.365 + LOG(@"success.\n");
1.366 + } else {
1.367 + LOG(@"failure.\n");
1.368 + // Don't need to increment failure_result.
1.369 + continue;
1.370 + }
1.371 +
1.372 + LOG(@" Fetching dictionary for service: ");
1.373 + CFMutableDictionaryRef dict = IOServiceMatching(serviceName);
1.374 +
1.375 + if (dict) {
1.376 + LOG(@"success.\n");
1.377 + } else {
1.378 + LOG(@"failure.\n");
1.379 + if (failure_result < SMS_FAIL_DICTIONARY) {
1.380 + failure_result = SMS_FAIL_DICTIONARY;
1.381 + }
1.382 + continue;
1.383 + }
1.384 +
1.385 + LOG(@" Getting list of matching services: ");
1.386 + result = IOServiceGetMatchingServices(kIOMasterPortDefault,
1.387 + dict,
1.388 + &iterator);
1.389 +
1.390 + if (result == KERN_SUCCESS) {
1.391 + LOG(@"success.\n");
1.392 + } else {
1.393 + LOG_ARG(@"failure, with return value 0x%x.\n", result);
1.394 + if (failure_result < SMS_FAIL_LIST_SERVICES) {
1.395 + failure_result = SMS_FAIL_LIST_SERVICES;
1.396 + }
1.397 + continue;
1.398 + }
1.399 +
1.400 + LOG(@" Getting first device in list: ");
1.401 + device = IOIteratorNext(iterator);
1.402 +
1.403 + if (device == 0) {
1.404 + LOG(@"failure.\n");
1.405 + if (failure_result < SMS_FAIL_NO_SERVICES) {
1.406 + failure_result = SMS_FAIL_NO_SERVICES;
1.407 + }
1.408 + continue;
1.409 + } else {
1.410 + LOG(@"success.\n");
1.411 + LOG(@" Opening device: ");
1.412 + }
1.413 +
1.414 + result = IOServiceOpen(device, mach_task_self(), 0, &connection);
1.415 +
1.416 + if (result != KERN_SUCCESS) {
1.417 + LOG_ARG(@"failure, with return value 0x%x.\n", result);
1.418 + IOObjectRelease(device);
1.419 + if (failure_result < SMS_FAIL_OPENING) {
1.420 + failure_result = SMS_FAIL_OPENING;
1.421 + }
1.422 + continue;
1.423 + } else if (connection == 0) {
1.424 + LOG_ARG(@"'success', but didn't get a connection (return value was: 0x%x).\n", result);
1.425 + IOObjectRelease(device);
1.426 + if (failure_result < SMS_FAIL_CONNECTION) {
1.427 + failure_result = SMS_FAIL_CONNECTION;
1.428 + }
1.429 + continue;
1.430 + } else {
1.431 + IOObjectRelease(device);
1.432 + LOG(@"success.\n");
1.433 + }
1.434 + LOG(@" Testing device.\n");
1.435 +
1.436 + defaultCalibration();
1.437 +
1.438 + iRecord = (char*) malloc(recordSize);
1.439 + oRecord = (char*) malloc(recordSize);
1.440 +
1.441 + running = YES;
1.442 + result = getData(&accel, true, logObject, logSelector);
1.443 + running = NO;
1.444 +
1.445 + if (result) {
1.446 + LOG_ARG(@" Failure testing device, with result 0x%x.\n", result);
1.447 + free(iRecord);
1.448 + iRecord = 0;
1.449 + free(oRecord);
1.450 + oRecord = 0;
1.451 + if (failure_result < SMS_FAIL_ACCESS) {
1.452 + failure_result = SMS_FAIL_ACCESS;
1.453 + }
1.454 + continue;
1.455 + } else {
1.456 + LOG(@" Success testing device!\n");
1.457 + running = YES;
1.458 + return SMS_SUCCESS;
1.459 + }
1.460 + }
1.461 + return failure_result;
1.462 +}
1.463 +
1.464 +// This starts up the library in debug mode, ignoring the actual hardware.
1.465 +// Returned data is in the form of 1Hz sine waves, with the X, Y and Z
1.466 +// axes 120 degrees out of phase; "calibrated" data has range +/- (1.0/5);
1.467 +// "uncalibrated" data has range +/- (256/5). X and Y axes centered on 0.0,
1.468 +// Z axes centered on 1 (calibrated) or 256 (uncalibrated).
1.469 +// Don't use smsGetBufferLength or smsGetBufferData. Always returns SMS_SUCCESS.
1.470 +int smsDebugStartup(id logObject, SEL logSelector) {
1.471 + LOG(@"Starting up in debug mode\n");
1.472 + debugging = YES;
1.473 + return SMS_SUCCESS;
1.474 +}
1.475 +
1.476 +// Returns the current calibration values.
1.477 +void smsGetCalibration(sms_calibration *calibrationRecord) {
1.478 + int x;
1.479 +
1.480 + for (x = 0; x < 3; x++) {
1.481 + calibrationRecord->zeros[x] = (debugging ? 0 : zeros[x]);
1.482 + calibrationRecord->onegs[x] = (debugging ? 256 : onegs[x]);
1.483 + }
1.484 +}
1.485 +
1.486 +// Sets the calibration, but does NOT store it as a preference. If the argument
1.487 +// is nil then the current calibration is set from the built-in value table.
1.488 +void smsSetCalibration(sms_calibration *calibrationRecord) {
1.489 + int x;
1.490 +
1.491 + if (!debugging) {
1.492 + if (calibrationRecord) {
1.493 + for (x = 0; x < 3; x++) {
1.494 + zeros[x] = calibrationRecord->zeros[x];
1.495 + onegs[x] = calibrationRecord->onegs[x];
1.496 + }
1.497 + } else {
1.498 + defaultCalibration();
1.499 + }
1.500 + }
1.501 +}
1.502 +
1.503 +// Stores the current calibration values as a stored preference.
1.504 +void smsStoreCalibration(void) {
1.505 + if (!debugging)
1.506 + storeCalibration();
1.507 +}
1.508 +
1.509 +// Loads the stored preference values into the current calibration.
1.510 +// Returns YES if successful.
1.511 +BOOL smsLoadCalibration(void) {
1.512 + if (debugging) {
1.513 + return YES;
1.514 + } else if (loadCalibration()) {
1.515 + return YES;
1.516 + } else {
1.517 + defaultCalibration();
1.518 + return NO;
1.519 + }
1.520 +}
1.521 +
1.522 +// Deletes any stored calibration, and then takes the current calibration values
1.523 +// from the built-in value table.
1.524 +void smsDeleteCalibration(void) {
1.525 + if (!debugging) {
1.526 + deleteCalibration();
1.527 + defaultCalibration();
1.528 + }
1.529 +}
1.530 +
1.531 +// Fills in the accel record with calibrated acceleration data. Takes
1.532 +// 1-2ms to return a value. Returns 0 if success, error number if failure.
1.533 +int smsGetData(sms_acceleration *accel) {
1.534 + NSTimeInterval time;
1.535 + if (debugging) {
1.536 + usleep(1500); // Usually takes 1-2 milliseconds
1.537 + time = [NSDate timeIntervalSinceReferenceDate];
1.538 + accel->x = fakeData(time)/5;
1.539 + accel->y = fakeData(time - 1)/5;
1.540 + accel->z = fakeData(time - 2)/5 + 1.0;
1.541 + return true;
1.542 + } else {
1.543 + return getData(accel, true, nil, nil);
1.544 + }
1.545 +}
1.546 +
1.547 +// Fills in the accel record with uncalibrated acceleration data.
1.548 +// Returns 0 if success, error number if failure.
1.549 +int smsGetUncalibratedData(sms_acceleration *accel) {
1.550 + NSTimeInterval time;
1.551 + if (debugging) {
1.552 + usleep(1500); // Usually takes 1-2 milliseconds
1.553 + time = [NSDate timeIntervalSinceReferenceDate];
1.554 + accel->x = fakeData(time) * 256 / 5;
1.555 + accel->y = fakeData(time - 1) * 256 / 5;
1.556 + accel->z = fakeData(time - 2) * 256 / 5 + 256;
1.557 + return true;
1.558 + } else {
1.559 + return getData(accel, false, nil, nil);
1.560 + }
1.561 +}
1.562 +
1.563 +// Returns the length of a raw block of data for the current type of sensor.
1.564 +int smsGetBufferLength(void) {
1.565 + if (debugging) {
1.566 + return 0;
1.567 + } else if (running) {
1.568 + return sensors[sensorNum].recordSize;
1.569 + } else {
1.570 + return 0;
1.571 + }
1.572 +}
1.573 +
1.574 +// Takes a pointer to accelGetRawLength() bytes; sets those bytes
1.575 +// to return value from sensor. Make darn sure the buffer length is right!
1.576 +void smsGetBufferData(char *buffer) {
1.577 + IOItemCount iSize = recordSize;
1.578 + IOByteCount oSize = recordSize;
1.579 + kern_return_t result;
1.580 +
1.581 + if (debugging || running == NO) {
1.582 + return;
1.583 + }
1.584 +
1.585 + memset(iRecord, 1, iSize);
1.586 + memset(buffer, 0, oSize);
1.587 +#if __MAC_OS_X_VERSION_MIN_REQUIRED >= 1050
1.588 + const size_t InStructSize = recordSize;
1.589 + size_t OutStructSize = recordSize;
1.590 + result = IOConnectCallStructMethod(connection,
1.591 + function, // magic kernel function number
1.592 + (const void *)iRecord,
1.593 + InStructSize,
1.594 + (void *)buffer,
1.595 + &OutStructSize
1.596 + );
1.597 +#else // __MAC_OS_X_VERSION_MIN_REQUIRED 1050
1.598 + result = IOConnectMethodStructureIStructureO(connection,
1.599 + function, // magic kernel function number
1.600 + iSize,
1.601 + &oSize,
1.602 + iRecord,
1.603 + buffer
1.604 + );
1.605 +#endif // __MAC_OS_X_VERSION_MIN_REQUIRED 1050
1.606 +
1.607 + if (result != KERN_SUCCESS) {
1.608 + running = NO;
1.609 + }
1.610 +}
1.611 +
1.612 +// This returns an NSString describing the current calibration in
1.613 +// human-readable form. Also include a description of the machine.
1.614 +NSString *smsGetCalibrationDescription(void) {
1.615 + BOOL success;
1.616 + NSMutableString *s = [[NSMutableString alloc] init];
1.617 +
1.618 + if (debugging) {
1.619 + [s release];
1.620 + return @"Debugging!";
1.621 + }
1.622 +
1.623 + [s appendString:@"---- SeisMac Calibration Record ----\n \n"];
1.624 + [s appendFormat:@"Machine model: %@\n",
1.625 + getModelName()];
1.626 + [s appendFormat:@"OS X build: %@\n",
1.627 + getOSVersion()];
1.628 + [s appendFormat:@"SeisMacLib version %s, record %d\n \n",
1.629 + SMSLIB_VERSION, sensorNum];
1.630 + [s appendFormat:@"Using service \"%s\", function index %d, size %d\n \n",
1.631 + serviceName, function, recordSize];
1.632 + if (prefIntRead(CALIBRATED_NAME, &success) && success) {
1.633 + [s appendString:@"Calibration values (from calibration):\n"];
1.634 + } else {
1.635 + [s appendString:@"Calibration values (from defaults):\n"];
1.636 + }
1.637 + [s appendFormat:@" X-Axis-Zero = %.2f\n", zeros[0]];
1.638 + [s appendFormat:@" X-Axis-One-g = %.2f\n", onegs[0]];
1.639 + [s appendFormat:@" Y-Axis-Zero = %.2f\n", zeros[1]];
1.640 + [s appendFormat:@" Y-Axis-One-g = %.2f\n", onegs[1]];
1.641 + [s appendFormat:@" Z-Axis-Zero = %.2f\n", zeros[2]];
1.642 + [s appendFormat:@" Z-Axis-One-g = %.2f\n \n", onegs[2]];
1.643 + [s appendString:@"---- End Record ----\n"];
1.644 + return s;
1.645 +}
1.646 +
1.647 +// Shuts down the accelerometer.
1.648 +void smsShutdown(void) {
1.649 + if (!debugging) {
1.650 + running = NO;
1.651 + if (iRecord) free(iRecord);
1.652 + if (oRecord) free(oRecord);
1.653 + IOServiceClose(connection);
1.654 + }
1.655 +}
1.656 +
1.657 +#pragma mark Internal functions
1.658 +
1.659 +// Loads the current calibration from the stored preferences.
1.660 +// Returns true iff successful.
1.661 +BOOL loadCalibration(void) {
1.662 + BOOL thisSuccess, allSuccess;
1.663 + int x;
1.664 +
1.665 + prefSynchronize();
1.666 +
1.667 + if (prefIntRead(CALIBRATED_NAME, &thisSuccess) && thisSuccess) {
1.668 + // Calibrated. Set all values from saved values.
1.669 + allSuccess = YES;
1.670 + for (x = 0; x < 3; x++) {
1.671 + zeros[x] = prefFloatRead(ZERO_NAME(x), &thisSuccess);
1.672 + allSuccess &= thisSuccess;
1.673 + onegs[x] = prefFloatRead(ONEG_NAME(x), &thisSuccess);
1.674 + allSuccess &= thisSuccess;
1.675 + }
1.676 + return allSuccess;
1.677 + }
1.678 +
1.679 + return NO;
1.680 +}
1.681 +
1.682 +// Stores the current calibration into the stored preferences.
1.683 +static void storeCalibration(void) {
1.684 + int x;
1.685 + prefIntWrite(CALIBRATED_NAME, 1);
1.686 + for (x = 0; x < 3; x++) {
1.687 + prefFloatWrite(ZERO_NAME(x), zeros[x]);
1.688 + prefFloatWrite(ONEG_NAME(x), onegs[x]);
1.689 + }
1.690 + prefSynchronize();
1.691 +}
1.692 +
1.693 +
1.694 +// Sets the calibration to its default values.
1.695 +void defaultCalibration(void) {
1.696 + int x;
1.697 + for (x = 0; x < 3; x++) {
1.698 + zeros[x] = sensors[sensorNum].axes[x].zerog;
1.699 + onegs[x] = sensors[sensorNum].axes[x].oneg;
1.700 + }
1.701 +}
1.702 +
1.703 +// Deletes the stored preferences.
1.704 +static void deleteCalibration(void) {
1.705 + int x;
1.706 +
1.707 + prefDelete(CALIBRATED_NAME);
1.708 + for (x = 0; x < 3; x++) {
1.709 + prefDelete(ZERO_NAME(x));
1.710 + prefDelete(ONEG_NAME(x));
1.711 + }
1.712 + prefSynchronize();
1.713 +}
1.714 +
1.715 +// Read a named floating point value from the stored preferences. Sets
1.716 +// the success boolean based on, you guessed it, whether it succeeds.
1.717 +static float prefFloatRead(NSString *prefName, BOOL *success) {
1.718 + float result = 0.0f;
1.719 +
1.720 + CFPropertyListRef ref = CFPreferencesCopyAppValue((CFStringRef)prefName,
1.721 + APP_ID);
1.722 + // If there isn't such a preference, fail
1.723 + if (ref == NULL) {
1.724 + *success = NO;
1.725 + return result;
1.726 + }
1.727 + CFTypeID typeID = CFGetTypeID(ref);
1.728 + // Is it a number?
1.729 + if (typeID == CFNumberGetTypeID()) {
1.730 + // Is it a floating point number?
1.731 + if (CFNumberIsFloatType((CFNumberRef)ref)) {
1.732 + // Yup: grab it.
1.733 + *success = CFNumberGetValue((__CFNumber*)ref, kCFNumberFloat32Type, &result);
1.734 + } else {
1.735 + // Nope: grab as an integer, and convert to a float.
1.736 + long num;
1.737 + if (CFNumberGetValue((CFNumberRef)ref, kCFNumberLongType, &num)) {
1.738 + result = num;
1.739 + *success = YES;
1.740 + } else {
1.741 + *success = NO;
1.742 + }
1.743 + }
1.744 + // Or is it a string (e.g. set by the command line "defaults" command)?
1.745 + } else if (typeID == CFStringGetTypeID()) {
1.746 + result = (float)CFStringGetDoubleValue((CFStringRef)ref);
1.747 + *success = YES;
1.748 + } else {
1.749 + // Can't convert to a number: fail.
1.750 + *success = NO;
1.751 + }
1.752 + CFRelease(ref);
1.753 + return result;
1.754 +}
1.755 +
1.756 +// Writes a named floating point value to the stored preferences.
1.757 +static void prefFloatWrite(NSString *prefName, float prefValue) {
1.758 + CFNumberRef cfFloat = CFNumberCreate(kCFAllocatorDefault,
1.759 + kCFNumberFloatType,
1.760 + &prefValue);
1.761 + CFPreferencesSetAppValue((CFStringRef)prefName,
1.762 + cfFloat,
1.763 + APP_ID);
1.764 + CFRelease(cfFloat);
1.765 +}
1.766 +
1.767 +// Reads a named integer value from the stored preferences.
1.768 +static int prefIntRead(NSString *prefName, BOOL *success) {
1.769 + Boolean internalSuccess;
1.770 + CFIndex result = CFPreferencesGetAppIntegerValue((CFStringRef)prefName,
1.771 + APP_ID,
1.772 + &internalSuccess);
1.773 + *success = internalSuccess;
1.774 +
1.775 + return result;
1.776 +}
1.777 +
1.778 +// Writes a named integer value to the stored preferences.
1.779 +static void prefIntWrite(NSString *prefName, int prefValue) {
1.780 + CFPreferencesSetAppValue((CFStringRef)prefName,
1.781 + (CFNumberRef)[NSNumber numberWithInt:prefValue],
1.782 + APP_ID);
1.783 +}
1.784 +
1.785 +// Deletes the named preference values.
1.786 +static void prefDelete(NSString *prefName) {
1.787 + CFPreferencesSetAppValue((CFStringRef)prefName,
1.788 + NULL,
1.789 + APP_ID);
1.790 +}
1.791 +
1.792 +// Synchronizes the local preferences with the stored preferences.
1.793 +static void prefSynchronize(void) {
1.794 + CFPreferencesAppSynchronize(APP_ID);
1.795 +}
1.796 +
1.797 +// Internal version of accelGetData, with logging
1.798 +int getData(sms_acceleration *accel, int calibrated, id logObject, SEL logSelector) {
1.799 + IOItemCount iSize = recordSize;
1.800 + IOByteCount oSize = recordSize;
1.801 + kern_return_t result;
1.802 +
1.803 + if (running == NO) {
1.804 + return -1;
1.805 + }
1.806 +
1.807 + memset(iRecord, 1, iSize);
1.808 + memset(oRecord, 0, oSize);
1.809 +
1.810 + LOG_2ARG(@" Querying device (%u, %d): ",
1.811 + sensors[sensorNum].function, sensors[sensorNum].recordSize);
1.812 +
1.813 +#if __MAC_OS_X_VERSION_MIN_REQUIRED >= 1050
1.814 + const size_t InStructSize = recordSize;
1.815 + size_t OutStructSize = recordSize;
1.816 + result = IOConnectCallStructMethod(connection,
1.817 + function, // magic kernel function number
1.818 + (const void *)iRecord,
1.819 + InStructSize,
1.820 + (void *)oRecord,
1.821 + &OutStructSize
1.822 + );
1.823 +#else // __MAC_OS_X_VERSION_MIN_REQUIRED 1050
1.824 + result = IOConnectMethodStructureIStructureO(connection,
1.825 + function, // magic kernel function number
1.826 + iSize,
1.827 + &oSize,
1.828 + iRecord,
1.829 + oRecord
1.830 + );
1.831 +#endif // __MAC_OS_X_VERSION_MIN_REQUIRED 1050
1.832 +
1.833 + if (result != KERN_SUCCESS) {
1.834 + LOG(@"failed.\n");
1.835 + running = NO;
1.836 + return result;
1.837 + } else {
1.838 + LOG(@"succeeded.\n");
1.839 +
1.840 + accel->x = getAxis(0, calibrated);
1.841 + accel->y = getAxis(1, calibrated);
1.842 + accel->z = getAxis(2, calibrated);
1.843 + return 0;
1.844 + }
1.845 +}
1.846 +
1.847 +// Given the returned record, extracts the value of the given axis. If
1.848 +// calibrated, then zero G is 0.0, and one G is 1.0.
1.849 +float getAxis(int which, int calibrated) {
1.850 + // Get various values (to make code cleaner)
1.851 + int indx = sensors[sensorNum].axes[which].index;
1.852 + int size = sensors[sensorNum].axes[which].size;
1.853 + float zerog = zeros[which];
1.854 + float oneg = onegs[which];
1.855 + // Storage for value to be returned
1.856 + int value = 0;
1.857 +
1.858 + // Although the values in the returned record should have the proper
1.859 + // endianness, we still have to get it into the proper end of value.
1.860 +#if (BYTE_ORDER == BIG_ENDIAN)
1.861 + // On PowerPC processors
1.862 + memcpy(((char *)&value) + (sizeof(int) - size), &oRecord[indx], size);
1.863 +#endif
1.864 +#if (BYTE_ORDER == LITTLE_ENDIAN)
1.865 + // On Intel processors
1.866 + memcpy(&value, &oRecord[indx], size);
1.867 +#endif
1.868 +
1.869 + value = signExtend(value, size);
1.870 +
1.871 + if (calibrated) {
1.872 + // Scale and shift for zero.
1.873 + return ((float)(value - zerog)) / oneg;
1.874 + } else {
1.875 + return value;
1.876 + }
1.877 +}
1.878 +
1.879 +// Extends the sign, given the length of the value.
1.880 +int signExtend(int value, int size) {
1.881 + // Extend sign
1.882 + switch (size) {
1.883 + case 1:
1.884 + if (value & 0x00000080)
1.885 + value |= 0xffffff00;
1.886 + break;
1.887 + case 2:
1.888 + if (value & 0x00008000)
1.889 + value |= 0xffff0000;
1.890 + break;
1.891 + case 3:
1.892 + if (value & 0x00800000)
1.893 + value |= 0xff000000;
1.894 + break;
1.895 + }
1.896 + return value;
1.897 +}
1.898 +
1.899 +// Returns the model name of the computer (e.g. "MacBookPro1,1")
1.900 +NSString *getModelName(void) {
1.901 + char model[32];
1.902 + size_t len = sizeof(model);
1.903 + int name[2] = {CTL_HW, HW_MODEL};
1.904 + NSString *result;
1.905 +
1.906 + if (sysctl(name, 2, &model, &len, NULL, 0) == 0) {
1.907 + result = [NSString stringWithFormat:@"%s", model];
1.908 + } else {
1.909 + result = @"";
1.910 + }
1.911 +
1.912 + return result;
1.913 +}
1.914 +
1.915 +// Returns the current OS X version and build (e.g. "10.4.7 (build 8J2135a)")
1.916 +NSString *getOSVersion(void) {
1.917 + NSDictionary *dict = [NSDictionary dictionaryWithContentsOfFile:
1.918 + @"/System/Library/CoreServices/SystemVersion.plist"];
1.919 + NSString *versionString = [dict objectForKey:@"ProductVersion"];
1.920 + NSString *buildString = [dict objectForKey:@"ProductBuildVersion"];
1.921 + NSString *wholeString = [NSString stringWithFormat:@"%@ (build %@)",
1.922 + versionString, buildString];
1.923 + return wholeString;
1.924 +}
1.925 +
1.926 +// Returns time within the current second in microseconds.
1.927 +// long getMicroseconds() {
1.928 +// struct timeval t;
1.929 +// gettimeofday(&t, 0);
1.930 +// return t.tv_usec;
1.931 +//}
1.932 +
1.933 +// Returns fake data given the time. Range is +/-1.
1.934 +float fakeData(NSTimeInterval time) {
1.935 + long secs = lround(floor(time));
1.936 + int secsMod3 = secs % 3;
1.937 + double angle = time * 10 * M_PI * 2;
1.938 + double mag = exp(-(time - (secs - secsMod3)) * 2);
1.939 + return sin(angle) * mag;
1.940 +}
1.941 +
