michael@0: /*
michael@0:  * smslib.m
michael@0:  * 
michael@0:  * SMSLib Sudden Motion Sensor Access Library
michael@0:  * Copyright (c) 2010 Suitable Systems
michael@0:  * All rights reserved.
michael@0:  * 
michael@0:  * Developed by: Daniel Griscom
michael@0:  *               Suitable Systems
michael@0:  *               http://www.suitable.com
michael@0:  * 
michael@0:  * Permission is hereby granted, free of charge, to any person obtaining a
michael@0:  * copy of this software and associated documentation files (the
michael@0:  * "Software"), to deal with the Software without restriction, including
michael@0:  * without limitation the rights to use, copy, modify, merge, publish,
michael@0:  * distribute, sublicense, and/or sell copies of the Software, and to
michael@0:  * permit persons to whom the Software is furnished to do so, subject to
michael@0:  * the following conditions:
michael@0:  * 
michael@0:  * - Redistributions of source code must retain the above copyright notice,
michael@0:  * this list of conditions and the following disclaimers.
michael@0:  * 
michael@0:  * - Redistributions in binary form must reproduce the above copyright
michael@0:  * notice, this list of conditions and the following disclaimers in the
michael@0:  * documentation and/or other materials provided with the distribution.
michael@0:  * 
michael@0:  * - Neither the names of Suitable Systems nor the names of its
michael@0:  * contributors may be used to endorse or promote products derived from
michael@0:  * this Software without specific prior written permission.
michael@0:  * 
michael@0:  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
michael@0:  * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
michael@0:  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
michael@0:  * IN NO EVENT SHALL THE CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR
michael@0:  * ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
michael@0:  * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
michael@0:  * SOFTWARE OR THE USE OR OTHER DEALINGS WITH THE SOFTWARE.
michael@0:  *
michael@0:  * For more information about SMSLib, see
michael@0:  *		<http://www.suitable.com/tools/smslib.html>
michael@0:  * or contact
michael@0:  *		Daniel Griscom
michael@0:  *		Suitable Systems
michael@0:  *		1 Centre Street, Suite 204
michael@0:  *		Wakefield, MA 01880
michael@0:  *		(781) 665-0053
michael@0:  *
michael@0:  */
michael@0: 
michael@0: #import <IOKit/IOKitLib.h>
michael@0: #import <sys/sysctl.h>
michael@0: #import <math.h>
michael@0: #import "smslib.h"
michael@0: 
michael@0: #pragma mark Internal structures
michael@0: 
michael@0: // Represents a single axis of a type of sensor.
michael@0: typedef struct axisStruct {
michael@0: 	int enabled;				// Non-zero if axis is valid in this sensor
michael@0: 	int index;					// Location in struct of first byte
michael@0: 	int size;					// Number of bytes
michael@0: 	float zerog;				// Value meaning "zero g"
michael@0: 	float oneg;					// Change in value meaning "increase of one g"
michael@0: 								// (can be negative if axis sensor reversed)
michael@0: } axisStruct;
michael@0: 
michael@0: // Represents the configuration of a type of sensor.
michael@0: typedef struct sensorSpec {
michael@0: 	const char *model;			// Prefix of model to be tested
michael@0: 	const char *name;			// Name of device to be read
michael@0: 	unsigned int function;		// Kernel function index
michael@0: 	int recordSize;				// Size of record to be sent/received
michael@0: 	axisStruct axes[3];			// Description of three axes (X, Y, Z)
michael@0: } sensorSpec;
michael@0: 	
michael@0: // Configuration of all known types of sensors. The configurations are
michael@0: // tried in order until one succeeds in returning data.
michael@0: // All default values are set here, but each axis' zerog and oneg values 
michael@0: // may be changed to saved (calibrated) values.
michael@0: //
michael@0: // These values came from SeisMaCalibrate calibration reports. In general I've
michael@0: // found the following:
michael@0: //	- All Intel-based SMSs have 250 counts per g, centered on 0, but the signs
michael@0: //		are different (and in one case two axes are swapped)
michael@0: //	- PowerBooks and iBooks all have sensors centered on 0, and reading
michael@0: //		50-53 steps per gravity (but with differing polarities!)
michael@0: //	- PowerBooks and iBooks of the same model all have the same axis polarities
michael@0: //	- PowerBook and iBook access methods are model- and OS version-specific
michael@0: //
michael@0: // So, the sequence of tests is:
michael@0: //	- Try model-specific access methods. Note that the test is for a match to the
michael@0: //		beginning of the model name, e.g. the record with model name "MacBook"
michael@0: //		matches computer models "MacBookPro1,2" and "MacBook1,1" (and ""
michael@0: //		matches any model).
michael@0: //	- If no model-specific record's access fails, then try each model-independent
michael@0: //		access method in order, stopping when one works.
michael@0: static const sensorSpec sensors[] = {
michael@0: 	// ****** Model-dependent methods ******
michael@0: 	// The PowerBook5,6 is one of the G4 models that seems to lose
michael@0: 	// SMS access until the next reboot.
michael@0: 	{"PowerBook5,6", "IOI2CMotionSensor", 21, 60, {
michael@0: 			{1, 0, 1, 0,  51.5},
michael@0: 			{1, 1, 1, 0, -51.5},
michael@0: 			{1, 2, 1, 0, -51.5}
michael@0: 		}
michael@0: 	},
michael@0: 	// The PowerBook5,7 is one of the G4 models that seems to lose
michael@0: 	// SMS access until the next reboot.
michael@0: 	{"PowerBook5,7", "IOI2CMotionSensor", 21, 60, {
michael@0: 			{1, 0, 1, 0,  51.5},
michael@0: 			{1, 1, 1, 0,  51.5},
michael@0: 			{1, 2, 1, 0,  51.5}
michael@0: 		}
michael@0: 	},
michael@0: 	// Access seems to be reliable on the PowerBook5,8
michael@0: 	{"PowerBook5,8", "PMUMotionSensor", 21, 60, {
michael@0: 			{1, 0, 1, 0, -51.5},
michael@0: 			{1, 1, 1, 0,  51.5},
michael@0: 			{1, 2, 1, 0, -51.5}
michael@0: 		}
michael@0: 	},
michael@0: 	// Access seems to be reliable on the PowerBook5,9
michael@0: 	{"PowerBook5,9", "PMUMotionSensor", 21, 60, {
michael@0: 			{1, 0, 1, 0,  51.5},
michael@0: 			{1, 1, 1, 0, -51.5},
michael@0: 			{1, 2, 1, 0, -51.5}
michael@0: 		}
michael@0: 	},
michael@0: 	// The PowerBook6,7 is one of the G4 models that seems to lose
michael@0: 	// SMS access until the next reboot.
michael@0: 	{"PowerBook6,7", "IOI2CMotionSensor", 21, 60, {
michael@0: 			{1, 0, 1, 0,  51.5},
michael@0: 			{1, 1, 1, 0,  51.5},
michael@0: 			{1, 2, 1, 0,  51.5}
michael@0: 		}
michael@0: 	},
michael@0: 	// The PowerBook6,8 is one of the G4 models that seems to lose
michael@0: 	// SMS access until the next reboot.
michael@0: 	{"PowerBook6,8", "IOI2CMotionSensor", 21, 60, {
michael@0: 			{1, 0, 1, 0,  51.5},
michael@0: 			{1, 1, 1, 0,  51.5},
michael@0: 			{1, 2, 1, 0,  51.5}
michael@0: 		}
michael@0: 	},
michael@0: 	// MacBook Pro Core 2 Duo 17". Note the reversed Y and Z axes.
michael@0: 	{"MacBookPro2,1", "SMCMotionSensor", 5, 40, {
michael@0: 			{1, 0, 2, 0,  251},
michael@0: 			{1, 2, 2, 0, -251},
michael@0: 			{1, 4, 2, 0, -251}
michael@0: 		}
michael@0: 	},
michael@0: 	// MacBook Pro Core 2 Duo 15" AND 17" with LED backlight, introduced June '07.
michael@0: 	// NOTE! The 17" machines have the signs of their X and Y axes reversed
michael@0: 	// from this calibration, but there's no clear way to discriminate between
michael@0: 	// the two machines.
michael@0: 	{"MacBookPro3,1", "SMCMotionSensor", 5, 40, {
michael@0: 			{1, 0, 2, 0, -251},
michael@0: 			{1, 2, 2, 0,  251},
michael@0: 			{1, 4, 2, 0, -251}
michael@0: 		}
michael@0: 	},
michael@0: 	// ... specs?
michael@0: 	{"MacBook5,2", "SMCMotionSensor", 5, 40, {
michael@0: 			{1, 0, 2, 0, -251},
michael@0: 			{1, 2, 2, 0,  251},
michael@0: 			{1, 4, 2, 0, -251}
michael@0: 		}
michael@0: 	},
michael@0: 	// ... specs?
michael@0: 	{"MacBookPro5,1", "SMCMotionSensor", 5, 40, {
michael@0: 			{1, 0, 2, 0, -251},
michael@0: 			{1, 2, 2, 0, -251},
michael@0: 			{1, 4, 2, 0,  251}
michael@0: 		}
michael@0: 	},
michael@0: 	// ... specs?
michael@0: 	{"MacBookPro5,2", "SMCMotionSensor", 5, 40, {
michael@0: 			{1, 0, 2, 0, -251},
michael@0: 			{1, 2, 2, 0, -251},
michael@0: 			{1, 4, 2, 0,  251}
michael@0: 		}
michael@0: 	},
michael@0: 	// This is speculative, based on a single user's report. Looks like the X and Y axes
michael@0: 	// are swapped. This is true for no other known Appple laptop.
michael@0: 	{"MacBookPro5,3", "SMCMotionSensor", 5, 40, {
michael@0: 			{1, 2, 2, 0, -251},
michael@0: 			{1, 0, 2, 0, -251},
michael@0: 			{1, 4, 2, 0, -251}
michael@0: 		}
michael@0: 	},
michael@0: 	// ... specs?
michael@0: 	{"MacBookPro5,4", "SMCMotionSensor", 5, 40, {
michael@0: 			{1, 0, 2, 0, -251},
michael@0: 			{1, 2, 2, 0, -251},
michael@0: 			{1, 4, 2, 0,  251}
michael@0: 		}
michael@0: 	},
michael@0: 	// ****** Model-independent methods ******
michael@0: 	// Seen once with PowerBook6,8 under system 10.3.9; I suspect
michael@0: 	// other G4-based 10.3.* systems might use this
michael@0: 	{"", "IOI2CMotionSensor", 24, 60, {
michael@0: 			{1, 0, 1, 0, 51.5},
michael@0: 			{1, 1, 1, 0, 51.5},
michael@0: 			{1, 2, 1, 0, 51.5}
michael@0: 		}
michael@0: 	},
michael@0: 	// PowerBook5,6 , PowerBook5,7 , PowerBook6,7 , PowerBook6,8
michael@0: 	// under OS X 10.4.*
michael@0: 	{"", "IOI2CMotionSensor", 21, 60, {
michael@0: 			{1, 0, 1, 0, 51.5},
michael@0: 			{1, 1, 1, 0, 51.5},
michael@0: 			{1, 2, 1, 0, 51.5}
michael@0: 		}
michael@0: 	},
michael@0: 	// PowerBook5,8 , PowerBook5,9 under OS X 10.4.*
michael@0: 	{"", "PMUMotionSensor", 21, 60, {
michael@0: 			// Each has two out of three gains negative, but it's different
michael@0: 			// for the different models. So, this will be right in two out
michael@0: 			// of three axis for either model.
michael@0: 			{1, 0, 1,  0, -51.5},
michael@0: 			{1, 1, 1, -6, -51.5},
michael@0: 			{1, 2, 1,  0, -51.5}
michael@0: 		}
michael@0: 	},
michael@0: 	// All MacBook, MacBookPro models. Hardware (at least on early MacBookPro 15")
michael@0: 	// is Kionix KXM52-1050 three-axis accelerometer chip. Data is at
michael@0: 	// http://kionix.com/Product-Index/product-index.htm. Specific MB and MBP models
michael@0: 	// that use this are: 
michael@0: 	//		MacBook1,1
michael@0: 	//		MacBook2,1
michael@0: 	//		MacBook3,1
michael@0: 	//		MacBook4,1
michael@0: 	//		MacBook5,1
michael@0: 	//		MacBook6,1
michael@0: 	//		MacBookAir1,1
michael@0: 	//		MacBookPro1,1
michael@0: 	//		MacBookPro1,2
michael@0: 	//		MacBookPro4,1
michael@0: 	//		MacBookPro5,5
michael@0: 	{"", "SMCMotionSensor", 5, 40, {
michael@0: 			{1, 0, 2, 0, 251},
michael@0: 			{1, 2, 2, 0, 251},
michael@0: 			{1, 4, 2, 0, 251}
michael@0: 		}
michael@0: 	}
michael@0: };
michael@0: 
michael@0: #define SENSOR_COUNT (sizeof(sensors)/sizeof(sensorSpec))
michael@0: 
michael@0: #pragma mark Internal prototypes
michael@0: 
michael@0: static int getData(sms_acceleration *accel, int calibrated, id logObject, SEL logSelector);
michael@0: static float getAxis(int which, int calibrated);
michael@0: static int signExtend(int value, int size);
michael@0: static NSString *getModelName(void);
michael@0: static NSString *getOSVersion(void);
michael@0: static BOOL loadCalibration(void);
michael@0: static void storeCalibration(void);
michael@0: static void defaultCalibration(void);
michael@0: static void deleteCalibration(void);
michael@0: static int prefIntRead(NSString *prefName, BOOL *success);
michael@0: static void prefIntWrite(NSString *prefName, int prefValue);
michael@0: static float prefFloatRead(NSString *prefName, BOOL *success);
michael@0: static void prefFloatWrite(NSString *prefName, float prefValue);
michael@0: static void prefDelete(NSString *prefName);
michael@0: static void prefSynchronize(void);
michael@0: // static long getMicroseconds(void);
michael@0: float fakeData(NSTimeInterval time);
michael@0: 
michael@0: #pragma mark Static variables
michael@0: 
michael@0: static int debugging = NO;		// True if debugging (synthetic data)
michael@0: static io_connect_t connection;	// Connection for reading accel values
michael@0: static int running = NO;		// True if we successfully started
michael@0: static unsigned int sensorNum = 0;		// The current index into sensors[]
michael@0: static const char *serviceName;	// The name of the current service
michael@0: static char *iRecord, *oRecord;	// Pointers to read/write records for sensor
michael@0: static int recordSize;			// Size of read/write records
michael@0: static unsigned int function;	// Which kernel function should be used
michael@0: static float zeros[3];			// X, Y and Z zero calibration values
michael@0: static float onegs[3];			// X, Y and Z one-g calibration values
michael@0: 
michael@0: #pragma mark Defines
michael@0: 
michael@0: // Pattern for building axis letter from axis number
michael@0: #define INT_TO_AXIS(a) (a == 0 ? @"X" : a == 1 ? @"Y" : @"Z")
michael@0: // Name of configuration for given axis' zero (axis specified by integer)
michael@0: #define ZERO_NAME(a) [NSString stringWithFormat:@"%@-Axis-Zero", INT_TO_AXIS(a)]
michael@0: // Name of configuration for given axis' oneg (axis specified by integer)
michael@0: #define ONEG_NAME(a) [NSString stringWithFormat:@"%@-Axis-One-g", INT_TO_AXIS(a)]
michael@0: // Name of "Is calibrated" preference
michael@0: #define CALIBRATED_NAME (@"Calibrated")
michael@0: // Application domain for SeisMac library
michael@0: #define APP_ID ((CFStringRef)@"com.suitable.SeisMacLib")
michael@0: 
michael@0: // These #defines make the accelStartup code a LOT easier to read.
michael@0: #undef LOG
michael@0: #define LOG(message) \
michael@0: 	if (logObject) { \
michael@0: 		[logObject performSelector:logSelector withObject:message]; \
michael@0: 	}
michael@0: #define LOG_ARG(format, var1) \
michael@0: 	if (logObject) { \
michael@0: 		[logObject performSelector:logSelector \
michael@0: 			withObject:[NSString stringWithFormat:format, var1]]; \
michael@0: 	}
michael@0: #define LOG_2ARG(format, var1, var2) \
michael@0: 	if (logObject) { \
michael@0: 		[logObject performSelector:logSelector \
michael@0: 			withObject:[NSString stringWithFormat:format, var1, var2]]; \
michael@0: 	}
michael@0: #define LOG_3ARG(format, var1, var2, var3) \
michael@0: 	if (logObject) { \
michael@0: 		[logObject performSelector:logSelector \
michael@0: 			withObject:[NSString stringWithFormat:format, var1, var2, var3]]; \
michael@0: 	}
michael@0: 
michael@0: #pragma mark Function definitions
michael@0: 
michael@0: // This starts up the accelerometer code, trying each possible sensor
michael@0: // specification. Note that for logging purposes it
michael@0: // takes an object and a selector; the object's selector is then invoked
michael@0: // with a single NSString as argument giving progress messages. Example
michael@0: // logging method:
michael@0: //		- (void)logMessage: (NSString *)theString
michael@0: // which would be used in accelStartup's invocation thusly:
michael@0: //		result = accelStartup(self, @selector(logMessage:));
michael@0: // If the object is nil, then no logging is done. Sets calibation from built-in
michael@0: // value table. Returns ACCEL_SUCCESS for success, and other (negative)
michael@0: // values for various failures (returns value indicating result of
michael@0: // most successful trial).
michael@0: int smsStartup(id logObject, SEL logSelector) {
michael@0: 	io_iterator_t iterator;
michael@0: 	io_object_t device;
michael@0: 	kern_return_t result;
michael@0: 	sms_acceleration accel;
michael@0: 	int failure_result = SMS_FAIL_MODEL;
michael@0: 		
michael@0: 	running = NO;
michael@0: 	debugging = NO;
michael@0: 	
michael@0: 	NSString *modelName = getModelName();
michael@0: 	
michael@0: 	LOG_ARG(@"Machine model: %@\n", modelName);
michael@0: 	LOG_ARG(@"OS X version: %@\n", getOSVersion());
michael@0: 	LOG_ARG(@"Accelerometer library version: %s\n", SMSLIB_VERSION);
michael@0: 		
michael@0: 	for (sensorNum = 0; sensorNum < SENSOR_COUNT; sensorNum++) {
michael@0: 		
michael@0: 		// Set up all specs for this type of sensor
michael@0: 		serviceName = sensors[sensorNum].name;
michael@0: 		recordSize = sensors[sensorNum].recordSize;
michael@0: 		function = sensors[sensorNum].function;
michael@0: 		
michael@0: 		LOG_3ARG(@"Trying service \"%s\" with selector %d and %d byte record:\n",
michael@0: 				serviceName, function, recordSize);
michael@0: 		
michael@0: 		NSString *targetName = [NSString stringWithCString:sensors[sensorNum].model
michael@0: 												  encoding:NSMacOSRomanStringEncoding];
michael@0: 		LOG_ARG(@"    Comparing model name to target \"%@\": ", targetName);
michael@0: 		if ([targetName length] == 0 || [modelName hasPrefix:targetName]) {
michael@0: 			LOG(@"success.\n");
michael@0: 		} else {
michael@0: 			LOG(@"failure.\n");
michael@0: 			// Don't need to increment failure_result.
michael@0: 			continue;
michael@0: 		}
michael@0: 		
michael@0: 		LOG(@"    Fetching dictionary for service: ");
michael@0: 		CFMutableDictionaryRef dict = IOServiceMatching(serviceName);
michael@0: 		
michael@0: 		if (dict) {
michael@0: 			LOG(@"success.\n");
michael@0: 		} else {
michael@0: 			LOG(@"failure.\n");
michael@0: 			if (failure_result < SMS_FAIL_DICTIONARY) {
michael@0: 				failure_result = SMS_FAIL_DICTIONARY;
michael@0: 			}
michael@0: 			continue;
michael@0: 		}
michael@0: 		
michael@0: 		LOG(@"    Getting list of matching services: ");
michael@0: 		result = IOServiceGetMatchingServices(kIOMasterPortDefault, 
michael@0: 										 dict, 
michael@0: 										 &iterator);
michael@0: 		
michael@0: 		if (result == KERN_SUCCESS) {
michael@0: 			LOG(@"success.\n");
michael@0: 		} else {
michael@0: 			LOG_ARG(@"failure, with return value 0x%x.\n", result);
michael@0: 			if (failure_result < SMS_FAIL_LIST_SERVICES) {
michael@0: 				failure_result = SMS_FAIL_LIST_SERVICES;
michael@0: 			}
michael@0: 			continue;
michael@0: 		}
michael@0: 		
michael@0: 		LOG(@"    Getting first device in list: ");
michael@0: 		device = IOIteratorNext(iterator);	
michael@0: 		
michael@0: 		if (device == 0) {
michael@0: 			LOG(@"failure.\n");
michael@0: 			if (failure_result < SMS_FAIL_NO_SERVICES) {
michael@0: 				failure_result = SMS_FAIL_NO_SERVICES;
michael@0: 			}
michael@0: 			continue;
michael@0: 		} else {
michael@0: 			LOG(@"success.\n");
michael@0: 			LOG(@"    Opening device: ");
michael@0: 		}
michael@0: 		
michael@0: 		result = IOServiceOpen(device, mach_task_self(), 0, &connection);
michael@0: 		
michael@0: 		if (result != KERN_SUCCESS) {
michael@0: 			LOG_ARG(@"failure, with return value 0x%x.\n", result);
michael@0: 			IOObjectRelease(device);
michael@0: 			if (failure_result < SMS_FAIL_OPENING) {
michael@0: 				failure_result = SMS_FAIL_OPENING;
michael@0: 			}
michael@0: 			continue;
michael@0: 		} else if (connection == 0) {
michael@0: 			LOG_ARG(@"'success', but didn't get a connection (return value was: 0x%x).\n", result);
michael@0: 			IOObjectRelease(device);
michael@0: 			if (failure_result < SMS_FAIL_CONNECTION) {
michael@0: 				failure_result = SMS_FAIL_CONNECTION;
michael@0: 			}
michael@0: 			continue;
michael@0: 		} else {
michael@0: 			IOObjectRelease(device);
michael@0: 			LOG(@"success.\n");
michael@0: 		}
michael@0: 		LOG(@"    Testing device.\n");
michael@0: 		
michael@0: 		defaultCalibration();
michael@0: 		
michael@0: 		iRecord = (char*) malloc(recordSize);
michael@0: 		oRecord = (char*) malloc(recordSize);
michael@0: 		
michael@0: 		running = YES;
michael@0: 		result = getData(&accel, true, logObject, logSelector);
michael@0: 		running = NO;
michael@0: 		
michael@0: 		if (result) {
michael@0: 			LOG_ARG(@"    Failure testing device, with result 0x%x.\n", result);
michael@0: 			free(iRecord);
michael@0: 			iRecord = 0;
michael@0: 			free(oRecord);
michael@0: 			oRecord = 0;
michael@0: 			if (failure_result < SMS_FAIL_ACCESS) {
michael@0: 				failure_result = SMS_FAIL_ACCESS;
michael@0: 			}
michael@0: 			continue;
michael@0: 		} else {
michael@0: 			LOG(@"    Success testing device!\n");
michael@0: 			running = YES;
michael@0: 			return SMS_SUCCESS;
michael@0: 		}
michael@0: 	}
michael@0: 	return failure_result;
michael@0: }
michael@0: 
michael@0: // This starts up the library in debug mode, ignoring the actual hardware.
michael@0: // Returned data is in the form of 1Hz sine waves, with the X, Y and Z
michael@0: // axes 120 degrees out of phase; "calibrated" data has range +/- (1.0/5);
michael@0: // "uncalibrated" data has range +/- (256/5). X and Y axes centered on 0.0,
michael@0: // Z axes centered on 1 (calibrated) or 256 (uncalibrated). 
michael@0: // Don't use smsGetBufferLength or smsGetBufferData. Always returns SMS_SUCCESS.
michael@0: int smsDebugStartup(id logObject, SEL logSelector) {
michael@0: 	LOG(@"Starting up in debug mode\n");
michael@0: 	debugging = YES;
michael@0: 	return SMS_SUCCESS;
michael@0: }
michael@0: 
michael@0: // Returns the current calibration values.
michael@0: void smsGetCalibration(sms_calibration *calibrationRecord) {
michael@0: 	int x;
michael@0: 	
michael@0: 	for (x = 0; x < 3; x++) {
michael@0: 		calibrationRecord->zeros[x] = (debugging ? 0 : zeros[x]);
michael@0: 		calibrationRecord->onegs[x] = (debugging ? 256 : onegs[x]);
michael@0: 	}
michael@0: }
michael@0: 
michael@0: // Sets the calibration, but does NOT store it as a preference. If the argument
michael@0: // is nil then the current calibration is set from the built-in value table.
michael@0: void smsSetCalibration(sms_calibration *calibrationRecord) {
michael@0: 	int x;
michael@0: 	
michael@0: 	if (!debugging) {
michael@0: 		if (calibrationRecord) {
michael@0: 			for (x = 0; x < 3; x++) {
michael@0: 				zeros[x] = calibrationRecord->zeros[x];
michael@0: 				onegs[x] = calibrationRecord->onegs[x];
michael@0: 			}
michael@0: 		} else {
michael@0: 			defaultCalibration();
michael@0: 		}
michael@0: 	}
michael@0: }
michael@0: 
michael@0: // Stores the current calibration values as a stored preference.
michael@0: void smsStoreCalibration(void) {
michael@0: 	if (!debugging)
michael@0: 		storeCalibration();
michael@0: }
michael@0: 
michael@0: // Loads the stored preference values into the current calibration.
michael@0: // Returns YES if successful.
michael@0: BOOL smsLoadCalibration(void) {
michael@0: 	if (debugging) {
michael@0: 		return YES;
michael@0: 	} else if (loadCalibration()) {
michael@0: 		return YES;
michael@0: 	} else {
michael@0: 		defaultCalibration();
michael@0: 		return NO;
michael@0: 	}
michael@0: }
michael@0: 
michael@0: // Deletes any stored calibration, and then takes the current calibration values
michael@0: // from the built-in value table.
michael@0: void smsDeleteCalibration(void) {
michael@0: 	if (!debugging) {
michael@0: 		deleteCalibration();
michael@0: 		defaultCalibration();
michael@0: 	}
michael@0: }
michael@0: 
michael@0: // Fills in the accel record with calibrated acceleration data. Takes
michael@0: // 1-2ms to return a value. Returns 0 if success, error number if failure.
michael@0: int smsGetData(sms_acceleration *accel) {
michael@0: 	NSTimeInterval time;
michael@0: 	if (debugging) {
michael@0: 		usleep(1500);						// Usually takes 1-2 milliseconds
michael@0: 		time = [NSDate timeIntervalSinceReferenceDate];
michael@0: 		accel->x = fakeData(time)/5;
michael@0: 		accel->y = fakeData(time - 1)/5;
michael@0: 		accel->z = fakeData(time - 2)/5 + 1.0;
michael@0: 		return true;
michael@0: 	} else {
michael@0: 		return getData(accel, true, nil, nil);
michael@0: 	}
michael@0: }
michael@0: 
michael@0: // Fills in the accel record with uncalibrated acceleration data.
michael@0: // Returns 0 if success, error number if failure.
michael@0: int smsGetUncalibratedData(sms_acceleration *accel) {
michael@0: 	NSTimeInterval time;
michael@0: 	if (debugging) {
michael@0: 		usleep(1500);						// Usually takes 1-2 milliseconds
michael@0: 		time = [NSDate timeIntervalSinceReferenceDate];
michael@0: 		accel->x = fakeData(time) * 256 / 5;
michael@0: 		accel->y = fakeData(time - 1) * 256 / 5;
michael@0: 		accel->z = fakeData(time - 2) * 256 / 5 + 256;
michael@0: 		return true;
michael@0: 	} else {
michael@0: 		return getData(accel, false, nil, nil);
michael@0: 	}
michael@0: }
michael@0: 
michael@0: // Returns the length of a raw block of data for the current type of sensor.
michael@0: int smsGetBufferLength(void) {
michael@0: 	if (debugging) {
michael@0: 		return 0;
michael@0: 	} else if (running) {
michael@0: 		return sensors[sensorNum].recordSize;
michael@0: 	} else {
michael@0: 		return 0;
michael@0: 	}
michael@0: }
michael@0: 
michael@0: // Takes a pointer to accelGetRawLength() bytes; sets those bytes
michael@0: // to return value from sensor. Make darn sure the buffer length is right!
michael@0: void smsGetBufferData(char *buffer) {
michael@0: 	IOItemCount iSize = recordSize;
michael@0: 	IOByteCount oSize = recordSize;
michael@0: 	kern_return_t result;
michael@0: 
michael@0: 	if (debugging || running == NO) {
michael@0: 		return;
michael@0: 	}
michael@0: 
michael@0: 	memset(iRecord, 1, iSize);
michael@0: 	memset(buffer, 0, oSize);
michael@0: #if __MAC_OS_X_VERSION_MIN_REQUIRED  >= 1050
michael@0: 	const size_t InStructSize = recordSize;
michael@0: 	size_t OutStructSize = recordSize;
michael@0: 	result = IOConnectCallStructMethod(connection,
michael@0: 						function,				// magic kernel function number
michael@0: 						(const void *)iRecord,
michael@0: 						InStructSize,
michael@0: 						(void *)buffer,
michael@0: 						&OutStructSize
michael@0: 					);
michael@0: #else // __MAC_OS_X_VERSION_MIN_REQUIRED 1050
michael@0: 	result = IOConnectMethodStructureIStructureO(connection,
michael@0: 						function,				// magic kernel function number
michael@0: 						iSize,
michael@0: 						&oSize,
michael@0: 						iRecord,
michael@0: 						buffer
michael@0: 					);
michael@0: #endif // __MAC_OS_X_VERSION_MIN_REQUIRED 1050
michael@0: 	
michael@0: 	if (result != KERN_SUCCESS) {
michael@0: 		running = NO;
michael@0: 	}
michael@0: }
michael@0: 
michael@0: // This returns an NSString describing the current calibration in
michael@0: // human-readable form. Also include a description of the machine.
michael@0: NSString *smsGetCalibrationDescription(void) {
michael@0: 	BOOL success;
michael@0: 	NSMutableString *s = [[NSMutableString alloc] init];
michael@0: 	
michael@0: 	if (debugging) {
michael@0: 		[s release];
michael@0: 		return @"Debugging!";
michael@0: 	}
michael@0: 	
michael@0: 	[s appendString:@"---- SeisMac Calibration Record ----\n \n"];
michael@0: 	[s appendFormat:@"Machine model: %@\n", 
michael@0: 		getModelName()];
michael@0: 	[s appendFormat:@"OS X build: %@\n", 
michael@0: 		getOSVersion()];
michael@0: 	[s appendFormat:@"SeisMacLib version %s, record %d\n \n", 
michael@0: 		SMSLIB_VERSION, sensorNum];
michael@0: 	[s appendFormat:@"Using service \"%s\", function index %d, size %d\n \n",
michael@0: 		serviceName, function, recordSize];
michael@0: 	if (prefIntRead(CALIBRATED_NAME, &success) && success) {
michael@0: 		[s appendString:@"Calibration values (from calibration):\n"];
michael@0: 	} else {
michael@0: 		[s appendString:@"Calibration values (from defaults):\n"];
michael@0: 	}
michael@0: 	[s appendFormat:@"    X-Axis-Zero  = %.2f\n", zeros[0]];
michael@0: 	[s appendFormat:@"    X-Axis-One-g = %.2f\n", onegs[0]];
michael@0: 	[s appendFormat:@"    Y-Axis-Zero  = %.2f\n", zeros[1]];
michael@0: 	[s appendFormat:@"    Y-Axis-One-g = %.2f\n", onegs[1]];
michael@0: 	[s appendFormat:@"    Z-Axis-Zero  = %.2f\n", zeros[2]];
michael@0: 	[s appendFormat:@"    Z-Axis-One-g = %.2f\n \n", onegs[2]];
michael@0: 	[s appendString:@"---- End Record ----\n"];
michael@0: 	return s;
michael@0: }
michael@0: 
michael@0: // Shuts down the accelerometer.
michael@0: void smsShutdown(void) {
michael@0: 	if (!debugging) {
michael@0: 		running = NO;
michael@0: 		if (iRecord) free(iRecord);
michael@0: 		if (oRecord) free(oRecord);
michael@0: 		IOServiceClose(connection);
michael@0: 	}
michael@0: }
michael@0: 
michael@0: #pragma mark Internal functions
michael@0: 
michael@0: // Loads the current calibration from the stored preferences.
michael@0: // Returns true iff successful.
michael@0: BOOL loadCalibration(void) {
michael@0: 	BOOL thisSuccess, allSuccess;
michael@0: 	int x;
michael@0: 	
michael@0: 	prefSynchronize();
michael@0: 	
michael@0: 	if (prefIntRead(CALIBRATED_NAME, &thisSuccess) && thisSuccess) {
michael@0: 		// Calibrated. Set all values from saved values.
michael@0: 		allSuccess = YES;
michael@0: 		for (x = 0; x < 3; x++) {
michael@0: 			zeros[x] = prefFloatRead(ZERO_NAME(x), &thisSuccess);
michael@0: 			allSuccess &= thisSuccess;
michael@0: 			onegs[x] = prefFloatRead(ONEG_NAME(x), &thisSuccess);
michael@0: 			allSuccess &= thisSuccess;
michael@0: 		}
michael@0: 		return allSuccess;
michael@0: 	}
michael@0: 	
michael@0: 	return NO;
michael@0: }
michael@0: 
michael@0: // Stores the current calibration into the stored preferences.
michael@0: static void storeCalibration(void) {
michael@0: 	int x;
michael@0: 	prefIntWrite(CALIBRATED_NAME, 1);
michael@0: 	for (x = 0; x < 3; x++) {
michael@0: 		prefFloatWrite(ZERO_NAME(x), zeros[x]);
michael@0: 		prefFloatWrite(ONEG_NAME(x), onegs[x]);
michael@0: 	}	
michael@0: 	prefSynchronize();
michael@0: }
michael@0: 
michael@0: 
michael@0: // Sets the calibration to its default values.
michael@0: void defaultCalibration(void) {
michael@0: 	int x;
michael@0: 	for (x = 0; x < 3; x++) {
michael@0: 		zeros[x] = sensors[sensorNum].axes[x].zerog;
michael@0: 		onegs[x] = sensors[sensorNum].axes[x].oneg;
michael@0: 	}
michael@0: }
michael@0: 
michael@0: // Deletes the stored preferences.
michael@0: static void deleteCalibration(void) {
michael@0: 	int x;
michael@0: 	
michael@0: 	prefDelete(CALIBRATED_NAME);
michael@0: 	for (x = 0; x < 3; x++) {
michael@0: 		prefDelete(ZERO_NAME(x));
michael@0: 		prefDelete(ONEG_NAME(x));
michael@0: 	}
michael@0: 	prefSynchronize();
michael@0: }
michael@0: 
michael@0: // Read a named floating point value from the stored preferences. Sets
michael@0: // the success boolean based on, you guessed it, whether it succeeds.
michael@0: static float prefFloatRead(NSString *prefName, BOOL *success) {
michael@0: 	float result = 0.0f;
michael@0: 	
michael@0: 	CFPropertyListRef ref = CFPreferencesCopyAppValue((CFStringRef)prefName, 
michael@0: 													   APP_ID);
michael@0: 	// If there isn't such a preference, fail
michael@0: 	if (ref == NULL) {
michael@0: 		*success = NO;
michael@0: 		return result;
michael@0: 	}
michael@0: 	CFTypeID typeID = CFGetTypeID(ref);
michael@0: 	// Is it a number?
michael@0: 	if (typeID == CFNumberGetTypeID()) {
michael@0: 		// Is it a floating point number?
michael@0: 		if (CFNumberIsFloatType((CFNumberRef)ref)) {
michael@0: 			// Yup: grab it.
michael@0: 			*success = CFNumberGetValue((__CFNumber*)ref, kCFNumberFloat32Type, &result);
michael@0: 		} else {
michael@0: 			// Nope: grab as an integer, and convert to a float.
michael@0: 			long num;
michael@0: 			if (CFNumberGetValue((CFNumberRef)ref, kCFNumberLongType, &num)) {
michael@0: 				result = num;
michael@0: 				*success = YES;
michael@0: 			} else {
michael@0: 				*success = NO;
michael@0: 			}
michael@0: 		}
michael@0: 	// Or is it a string (e.g. set by the command line "defaults" command)?
michael@0: 	} else if (typeID == CFStringGetTypeID()) {
michael@0: 		result = (float)CFStringGetDoubleValue((CFStringRef)ref);
michael@0: 		*success = YES;
michael@0: 	} else {
michael@0: 		// Can't convert to a number: fail.
michael@0: 		*success = NO;
michael@0: 	}
michael@0: 	CFRelease(ref);
michael@0: 	return result;
michael@0: }
michael@0: 
michael@0: // Writes a named floating point value to the stored preferences.
michael@0: static void prefFloatWrite(NSString *prefName, float prefValue) {
michael@0: 	CFNumberRef cfFloat = CFNumberCreate(kCFAllocatorDefault,
michael@0: 										 kCFNumberFloatType,
michael@0: 										 &prefValue);
michael@0: 	CFPreferencesSetAppValue((CFStringRef)prefName,
michael@0: 							 cfFloat,
michael@0: 							 APP_ID);
michael@0: 	CFRelease(cfFloat);
michael@0: }
michael@0: 
michael@0: // Reads a named integer value from the stored preferences.
michael@0: static int prefIntRead(NSString *prefName, BOOL *success) {
michael@0: 	Boolean internalSuccess;
michael@0: 	CFIndex result = CFPreferencesGetAppIntegerValue((CFStringRef)prefName,
michael@0: 													 APP_ID, 
michael@0: 													 &internalSuccess);
michael@0: 	*success = internalSuccess;
michael@0: 	
michael@0: 	return result;
michael@0: }
michael@0: 
michael@0: // Writes a named integer value to the stored preferences.
michael@0: static void prefIntWrite(NSString *prefName, int prefValue) {
michael@0: 	CFPreferencesSetAppValue((CFStringRef)prefName,
michael@0: 							 (CFNumberRef)[NSNumber numberWithInt:prefValue],
michael@0: 							 APP_ID);
michael@0: }
michael@0: 
michael@0: // Deletes the named preference values.
michael@0: static void prefDelete(NSString *prefName) {
michael@0: 		CFPreferencesSetAppValue((CFStringRef)prefName,
michael@0: 								 NULL,
michael@0: 								 APP_ID);
michael@0: }
michael@0: 
michael@0: // Synchronizes the local preferences with the stored preferences.
michael@0: static void prefSynchronize(void) {
michael@0: 	CFPreferencesAppSynchronize(APP_ID);
michael@0: }
michael@0: 
michael@0: // Internal version of accelGetData, with logging
michael@0: int getData(sms_acceleration *accel, int calibrated, id logObject, SEL logSelector) {
michael@0: 	IOItemCount iSize = recordSize;
michael@0: 	IOByteCount oSize = recordSize;
michael@0: 	kern_return_t result;
michael@0: 	
michael@0: 	if (running == NO) {
michael@0: 		return -1;
michael@0: 	}
michael@0: 	
michael@0: 	memset(iRecord, 1, iSize);
michael@0: 	memset(oRecord, 0, oSize);
michael@0: 	
michael@0: 	LOG_2ARG(@"    Querying device (%u, %d): ", 
michael@0: 			 sensors[sensorNum].function, sensors[sensorNum].recordSize);
michael@0: 	
michael@0: #if __MAC_OS_X_VERSION_MIN_REQUIRED  >= 1050
michael@0: 	const size_t InStructSize = recordSize;
michael@0: 	size_t OutStructSize = recordSize;
michael@0: 	result = IOConnectCallStructMethod(connection,
michael@0: 						function,				// magic kernel function number
michael@0: 						(const void *)iRecord,
michael@0: 						InStructSize,
michael@0: 						(void *)oRecord,
michael@0: 						&OutStructSize
michael@0: 					);
michael@0: #else // __MAC_OS_X_VERSION_MIN_REQUIRED 1050
michael@0: 	result = IOConnectMethodStructureIStructureO(connection,
michael@0: 						function,				// magic kernel function number
michael@0: 						iSize,
michael@0: 						&oSize,
michael@0: 						iRecord,
michael@0: 						oRecord
michael@0: 					);
michael@0: #endif // __MAC_OS_X_VERSION_MIN_REQUIRED 1050
michael@0: 
michael@0: 	if (result != KERN_SUCCESS) {
michael@0: 		LOG(@"failed.\n");
michael@0: 		running = NO;
michael@0: 		return result;
michael@0: 	} else {
michael@0: 		LOG(@"succeeded.\n");
michael@0: 		
michael@0: 		accel->x = getAxis(0, calibrated);
michael@0: 		accel->y = getAxis(1, calibrated);
michael@0: 		accel->z = getAxis(2, calibrated);
michael@0: 		return 0;
michael@0: 	}
michael@0: }
michael@0: 
michael@0: // Given the returned record, extracts the value of the given axis. If
michael@0: // calibrated, then zero G is 0.0, and one G is 1.0.
michael@0: float getAxis(int which, int calibrated) {
michael@0: 	// Get various values (to make code cleaner)
michael@0: 	int indx = sensors[sensorNum].axes[which].index;
michael@0: 	int size = sensors[sensorNum].axes[which].size;
michael@0: 	float zerog = zeros[which];
michael@0: 	float oneg = onegs[which];
michael@0: 	// Storage for value to be returned
michael@0: 	int value = 0;
michael@0: 	
michael@0: 	// Although the values in the returned record should have the proper
michael@0: 	// endianness, we still have to get it into the proper end of value.
michael@0: #if (BYTE_ORDER == BIG_ENDIAN)
michael@0: 	// On PowerPC processors
michael@0: 	memcpy(((char *)&value) + (sizeof(int) - size), &oRecord[indx], size);
michael@0: #endif
michael@0: #if (BYTE_ORDER == LITTLE_ENDIAN)
michael@0: 	// On Intel processors
michael@0: 	memcpy(&value, &oRecord[indx], size);
michael@0: #endif
michael@0: 	
michael@0: 	value = signExtend(value, size);
michael@0: 	
michael@0: 	if (calibrated) {
michael@0: 		// Scale and shift for zero.
michael@0: 		return ((float)(value - zerog)) / oneg;
michael@0: 	} else {
michael@0: 		return value;
michael@0: 	}
michael@0: }
michael@0: 
michael@0: // Extends the sign, given the length of the value.
michael@0: int signExtend(int value, int size) {
michael@0: 	// Extend sign
michael@0: 	switch (size) {
michael@0: 		case 1:
michael@0: 			if (value & 0x00000080)
michael@0: 				value |= 0xffffff00;
michael@0: 			break;
michael@0: 		case 2:
michael@0: 			if (value & 0x00008000)
michael@0: 				value |= 0xffff0000;
michael@0: 			break;
michael@0: 		case 3:
michael@0: 			if (value & 0x00800000)
michael@0: 				value |= 0xff000000;
michael@0: 			break;
michael@0: 	}
michael@0: 	return value;
michael@0: }
michael@0: 
michael@0: // Returns the model name of the computer (e.g. "MacBookPro1,1")
michael@0: NSString *getModelName(void) {
michael@0: 	char model[32];
michael@0: 	size_t len = sizeof(model);
michael@0: 	int name[2] = {CTL_HW, HW_MODEL};
michael@0: 	NSString *result;
michael@0: 	
michael@0: 	if (sysctl(name, 2, &model, &len, NULL, 0) == 0) {
michael@0: 		result = [NSString stringWithFormat:@"%s", model];
michael@0: 	} else {
michael@0: 		result = @"";
michael@0: 	}
michael@0: 	
michael@0: 	return result;
michael@0: }
michael@0: 
michael@0: // Returns the current OS X version and build (e.g. "10.4.7 (build 8J2135a)")
michael@0: NSString *getOSVersion(void) {
michael@0: 	NSDictionary *dict = [NSDictionary dictionaryWithContentsOfFile:
michael@0: 		@"/System/Library/CoreServices/SystemVersion.plist"];
michael@0: 	NSString *versionString = [dict objectForKey:@"ProductVersion"];
michael@0: 	NSString *buildString = [dict objectForKey:@"ProductBuildVersion"];
michael@0: 	NSString *wholeString = [NSString stringWithFormat:@"%@ (build %@)", 
michael@0: 		versionString, buildString];
michael@0: 	return wholeString;
michael@0: }
michael@0: 
michael@0: // Returns time within the current second in microseconds.
michael@0: // long getMicroseconds() {
michael@0: //	struct timeval t;
michael@0: //	gettimeofday(&t, 0);
michael@0: //	return t.tv_usec;
michael@0: //}
michael@0: 
michael@0: // Returns fake data given the time. Range is +/-1.
michael@0: float fakeData(NSTimeInterval time) {
michael@0: 	long secs = lround(floor(time));
michael@0: 	int secsMod3 = secs % 3;
michael@0: 	double angle = time * 10 * M_PI * 2;
michael@0: 	double mag = exp(-(time - (secs - secsMod3)) * 2);
michael@0: 	return sin(angle) * mag;
michael@0: }
michael@0: