Add m-esr52 at 52.6.0

1 files changed, 938 insertions, 0 deletions

diff --git a/hal/cocoa/smslib.mm b/hal/cocoa/smslib.mm
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index 000000000..c11c1e4d6
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+++ b/hal/cocoa/smslib.mm
@@ -0,0 +1,938 @@
+/*
+ * smslib.m
+ * 
+ * SMSLib Sudden Motion Sensor Access Library
+ * Copyright (c) 2010 Suitable Systems
+ * All rights reserved.
+ * 
+ * Developed by: Daniel Griscom
+ *               Suitable Systems
+ *               http://www.suitable.com
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the
+ * "Software"), to deal with the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ * 
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimers.
+ * 
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimers in the
+ * documentation and/or other materials provided with the distribution.
+ * 
+ * - Neither the names of Suitable Systems nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this Software without specific prior written permission.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR
+ * ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * SOFTWARE OR THE USE OR OTHER DEALINGS WITH THE SOFTWARE.
+ *
+ * For more information about SMSLib, see
+ *		<http://www.suitable.com/tools/smslib.html>
+ * or contact
+ *		Daniel Griscom
+ *		Suitable Systems
+ *		1 Centre Street, Suite 204
+ *		Wakefield, MA 01880
+ *		(781) 665-0053
+ *
+ */
+
+#import <IOKit/IOKitLib.h>
+#import <sys/sysctl.h>
+#import <math.h>
+#import "smslib.h"
+
+#pragma mark Internal structures
+
+// Represents a single axis of a type of sensor.
+typedef struct axisStruct {
+	int enabled;				// Non-zero if axis is valid in this sensor
+	int index;					// Location in struct of first byte
+	int size;					// Number of bytes
+	float zerog;				// Value meaning "zero g"
+	float oneg;					// Change in value meaning "increase of one g"
+								// (can be negative if axis sensor reversed)
+} axisStruct;
+
+// Represents the configuration of a type of sensor.
+typedef struct sensorSpec {
+	const char *model;			// Prefix of model to be tested
+	const char *name;			// Name of device to be read
+	unsigned int function;		// Kernel function index
+	int recordSize;				// Size of record to be sent/received
+	axisStruct axes[3];			// Description of three axes (X, Y, Z)
+} sensorSpec;
+	
+// Configuration of all known types of sensors. The configurations are
+// tried in order until one succeeds in returning data.
+// All default values are set here, but each axis' zerog and oneg values 
+// may be changed to saved (calibrated) values.
+//
+// These values came from SeisMaCalibrate calibration reports. In general I've
+// found the following:
+//	- All Intel-based SMSs have 250 counts per g, centered on 0, but the signs
+//		are different (and in one case two axes are swapped)
+//	- PowerBooks and iBooks all have sensors centered on 0, and reading
+//		50-53 steps per gravity (but with differing polarities!)
+//	- PowerBooks and iBooks of the same model all have the same axis polarities
+//	- PowerBook and iBook access methods are model- and OS version-specific
+//
+// So, the sequence of tests is:
+//	- Try model-specific access methods. Note that the test is for a match to the
+//		beginning of the model name, e.g. the record with model name "MacBook"
+//		matches computer models "MacBookPro1,2" and "MacBook1,1" (and ""
+//		matches any model).
+//	- If no model-specific record's access fails, then try each model-independent
+//		access method in order, stopping when one works.
+static const sensorSpec sensors[] = {
+	// ****** Model-dependent methods ******
+	// The PowerBook5,6 is one of the G4 models that seems to lose
+	// SMS access until the next reboot.
+	{"PowerBook5,6", "IOI2CMotionSensor", 21, 60, {
+			{1, 0, 1, 0,  51.5},
+			{1, 1, 1, 0, -51.5},
+			{1, 2, 1, 0, -51.5}
+		}
+	},
+	// The PowerBook5,7 is one of the G4 models that seems to lose
+	// SMS access until the next reboot.
+	{"PowerBook5,7", "IOI2CMotionSensor", 21, 60, {
+			{1, 0, 1, 0,  51.5},
+			{1, 1, 1, 0,  51.5},
+			{1, 2, 1, 0,  51.5}
+		}
+	},
+	// Access seems to be reliable on the PowerBook5,8
+	{"PowerBook5,8", "PMUMotionSensor", 21, 60, {
+			{1, 0, 1, 0, -51.5},
+			{1, 1, 1, 0,  51.5},
+			{1, 2, 1, 0, -51.5}
+		}
+	},
+	// Access seems to be reliable on the PowerBook5,9
+	{"PowerBook5,9", "PMUMotionSensor", 21, 60, {
+			{1, 0, 1, 0,  51.5},
+			{1, 1, 1, 0, -51.5},
+			{1, 2, 1, 0, -51.5}
+		}
+	},
+	// The PowerBook6,7 is one of the G4 models that seems to lose
+	// SMS access until the next reboot.
+	{"PowerBook6,7", "IOI2CMotionSensor", 21, 60, {
+			{1, 0, 1, 0,  51.5},
+			{1, 1, 1, 0,  51.5},
+			{1, 2, 1, 0,  51.5}
+		}
+	},
+	// The PowerBook6,8 is one of the G4 models that seems to lose
+	// SMS access until the next reboot.
+	{"PowerBook6,8", "IOI2CMotionSensor", 21, 60, {
+			{1, 0, 1, 0,  51.5},
+			{1, 1, 1, 0,  51.5},
+			{1, 2, 1, 0,  51.5}
+		}
+	},
+	// MacBook Pro Core 2 Duo 17". Note the reversed Y and Z axes.
+	{"MacBookPro2,1", "SMCMotionSensor", 5, 40, {
+			{1, 0, 2, 0,  251},
+			{1, 2, 2, 0, -251},
+			{1, 4, 2, 0, -251}
+		}
+	},
+	// MacBook Pro Core 2 Duo 15" AND 17" with LED backlight, introduced June '07.
+	// NOTE! The 17" machines have the signs of their X and Y axes reversed
+	// from this calibration, but there's no clear way to discriminate between
+	// the two machines.
+	{"MacBookPro3,1", "SMCMotionSensor", 5, 40, {
+			{1, 0, 2, 0, -251},
+			{1, 2, 2, 0,  251},
+			{1, 4, 2, 0, -251}
+		}
+	},
+	// ... specs?
+	{"MacBook5,2", "SMCMotionSensor", 5, 40, {
+			{1, 0, 2, 0, -251},
+			{1, 2, 2, 0,  251},
+			{1, 4, 2, 0, -251}
+		}
+	},
+	// ... specs?
+	{"MacBookPro5,1", "SMCMotionSensor", 5, 40, {
+			{1, 0, 2, 0, -251},
+			{1, 2, 2, 0, -251},
+			{1, 4, 2, 0,  251}
+		}
+	},
+	// ... specs?
+	{"MacBookPro5,2", "SMCMotionSensor", 5, 40, {
+			{1, 0, 2, 0, -251},
+			{1, 2, 2, 0, -251},
+			{1, 4, 2, 0,  251}
+		}
+	},
+	// This is speculative, based on a single user's report. Looks like the X and Y axes
+	// are swapped. This is true for no other known Appple laptop.
+	{"MacBookPro5,3", "SMCMotionSensor", 5, 40, {
+			{1, 2, 2, 0, -251},
+			{1, 0, 2, 0, -251},
+			{1, 4, 2, 0, -251}
+		}
+	},
+	// ... specs?
+	{"MacBookPro5,4", "SMCMotionSensor", 5, 40, {
+			{1, 0, 2, 0, -251},
+			{1, 2, 2, 0, -251},
+			{1, 4, 2, 0,  251}
+		}
+	},
+	// ****** Model-independent methods ******
+	// Seen once with PowerBook6,8 under system 10.3.9; I suspect
+	// other G4-based 10.3.* systems might use this
+	{"", "IOI2CMotionSensor", 24, 60, {
+			{1, 0, 1, 0, 51.5},
+			{1, 1, 1, 0, 51.5},
+			{1, 2, 1, 0, 51.5}
+		}
+	},
+	// PowerBook5,6 , PowerBook5,7 , PowerBook6,7 , PowerBook6,8
+	// under OS X 10.4.*
+	{"", "IOI2CMotionSensor", 21, 60, {
+			{1, 0, 1, 0, 51.5},
+			{1, 1, 1, 0, 51.5},
+			{1, 2, 1, 0, 51.5}
+		}
+	},
+	// PowerBook5,8 , PowerBook5,9 under OS X 10.4.*
+	{"", "PMUMotionSensor", 21, 60, {
+			// Each has two out of three gains negative, but it's different
+			// for the different models. So, this will be right in two out
+			// of three axis for either model.
+			{1, 0, 1,  0, -51.5},
+			{1, 1, 1, -6, -51.5},
+			{1, 2, 1,  0, -51.5}
+		}
+	},
+	// All MacBook, MacBookPro models. Hardware (at least on early MacBookPro 15")
+	// is Kionix KXM52-1050 three-axis accelerometer chip. Data is at
+	// http://kionix.com/Product-Index/product-index.htm. Specific MB and MBP models
+	// that use this are: 
+	//		MacBook1,1
+	//		MacBook2,1
+	//		MacBook3,1
+	//		MacBook4,1
+	//		MacBook5,1
+	//		MacBook6,1
+	//		MacBookAir1,1
+	//		MacBookPro1,1
+	//		MacBookPro1,2
+	//		MacBookPro4,1
+	//		MacBookPro5,5
+	{"", "SMCMotionSensor", 5, 40, {
+			{1, 0, 2, 0, 251},
+			{1, 2, 2, 0, 251},
+			{1, 4, 2, 0, 251}
+		}
+	}
+};
+
+#define SENSOR_COUNT (sizeof(sensors)/sizeof(sensorSpec))
+
+#pragma mark Internal prototypes
+
+static int getData(sms_acceleration *accel, int calibrated, id logObject, SEL logSelector);
+static float getAxis(int which, int calibrated);
+static int signExtend(int value, int size);
+static NSString *getModelName(void);
+static NSString *getOSVersion(void);
+static BOOL loadCalibration(void);
+static void storeCalibration(void);
+static void defaultCalibration(void);
+static void deleteCalibration(void);
+static int prefIntRead(NSString *prefName, BOOL *success);
+static void prefIntWrite(NSString *prefName, int prefValue);
+static float prefFloatRead(NSString *prefName, BOOL *success);
+static void prefFloatWrite(NSString *prefName, float prefValue);
+static void prefDelete(NSString *prefName);
+static void prefSynchronize(void);
+// static long getMicroseconds(void);
+float fakeData(NSTimeInterval time);
+
+#pragma mark Static variables
+
+static int debugging = NO;		// True if debugging (synthetic data)
+static io_connect_t connection;	// Connection for reading accel values
+static int running = NO;		// True if we successfully started
+static unsigned int sensorNum = 0;		// The current index into sensors[]
+static const char *serviceName;	// The name of the current service
+static char *iRecord, *oRecord;	// Pointers to read/write records for sensor
+static int recordSize;			// Size of read/write records
+static unsigned int function;	// Which kernel function should be used
+static float zeros[3];			// X, Y and Z zero calibration values
+static float onegs[3];			// X, Y and Z one-g calibration values
+
+#pragma mark Defines
+
+// Pattern for building axis letter from axis number
+#define INT_TO_AXIS(a) (a == 0 ? @"X" : a == 1 ? @"Y" : @"Z")
+// Name of configuration for given axis' zero (axis specified by integer)
+#define ZERO_NAME(a) [NSString stringWithFormat:@"%@-Axis-Zero", INT_TO_AXIS(a)]
+// Name of configuration for given axis' oneg (axis specified by integer)
+#define ONEG_NAME(a) [NSString stringWithFormat:@"%@-Axis-One-g", INT_TO_AXIS(a)]
+// Name of "Is calibrated" preference
+#define CALIBRATED_NAME (@"Calibrated")
+// Application domain for SeisMac library
+#define APP_ID ((CFStringRef)@"com.suitable.SeisMacLib")
+
+// These #defines make the accelStartup code a LOT easier to read.
+#undef LOG
+#define LOG(message) \
+	if (logObject) { \
+		[logObject performSelector:logSelector withObject:message]; \
+	}
+#define LOG_ARG(format, var1) \
+	if (logObject) { \
+		[logObject performSelector:logSelector \
+			withObject:[NSString stringWithFormat:format, var1]]; \
+	}
+#define LOG_2ARG(format, var1, var2) \
+	if (logObject) { \
+		[logObject performSelector:logSelector \
+			withObject:[NSString stringWithFormat:format, var1, var2]]; \
+	}
+#define LOG_3ARG(format, var1, var2, var3) \
+	if (logObject) { \
+		[logObject performSelector:logSelector \
+			withObject:[NSString stringWithFormat:format, var1, var2, var3]]; \
+	}
+
+#pragma mark Function definitions
+
+// This starts up the accelerometer code, trying each possible sensor
+// specification. Note that for logging purposes it
+// takes an object and a selector; the object's selector is then invoked
+// with a single NSString as argument giving progress messages. Example
+// logging method:
+//		- (void)logMessage: (NSString *)theString
+// which would be used in accelStartup's invocation thusly:
+//		result = accelStartup(self, @selector(logMessage:));
+// If the object is nil, then no logging is done. Sets calibation from built-in
+// value table. Returns ACCEL_SUCCESS for success, and other (negative)
+// values for various failures (returns value indicating result of
+// most successful trial).
+int smsStartup(id logObject, SEL logSelector) {
+	io_iterator_t iterator;
+	io_object_t device;
+	kern_return_t result;
+	sms_acceleration accel;
+	int failure_result = SMS_FAIL_MODEL;
+		
+	running = NO;
+	debugging = NO;
+	
+	NSString *modelName = getModelName();
+	
+	LOG_ARG(@"Machine model: %@\n", modelName);
+	LOG_ARG(@"OS X version: %@\n", getOSVersion());
+	LOG_ARG(@"Accelerometer library version: %s\n", SMSLIB_VERSION);
+		
+	for (sensorNum = 0; sensorNum < SENSOR_COUNT; sensorNum++) {
+		
+		// Set up all specs for this type of sensor
+		serviceName = sensors[sensorNum].name;
+		recordSize = sensors[sensorNum].recordSize;
+		function = sensors[sensorNum].function;
+		
+		LOG_3ARG(@"Trying service \"%s\" with selector %d and %d byte record:\n",
+				serviceName, function, recordSize);
+		
+		NSString *targetName = [NSString stringWithCString:sensors[sensorNum].model
+												  encoding:NSMacOSRomanStringEncoding];
+		LOG_ARG(@"    Comparing model name to target \"%@\": ", targetName);
+		if ([targetName length] == 0 || [modelName hasPrefix:targetName]) {
+			LOG(@"success.\n");
+		} else {
+			LOG(@"failure.\n");
+			// Don't need to increment failure_result.
+			continue;
+		}
+		
+		LOG(@"    Fetching dictionary for service: ");
+		CFMutableDictionaryRef dict = IOServiceMatching(serviceName);
+		
+		if (dict) {
+			LOG(@"success.\n");
+		} else {
+			LOG(@"failure.\n");
+			if (failure_result < SMS_FAIL_DICTIONARY) {
+				failure_result = SMS_FAIL_DICTIONARY;
+			}
+			continue;
+		}
+		
+		LOG(@"    Getting list of matching services: ");
+		result = IOServiceGetMatchingServices(kIOMasterPortDefault, 
+										 dict, 
+										 &iterator);
+		
+		if (result == KERN_SUCCESS) {
+			LOG(@"success.\n");
+		} else {
+			LOG_ARG(@"failure, with return value 0x%x.\n", result);
+			if (failure_result < SMS_FAIL_LIST_SERVICES) {
+				failure_result = SMS_FAIL_LIST_SERVICES;
+			}
+			continue;
+		}
+		
+		LOG(@"    Getting first device in list: ");
+		device = IOIteratorNext(iterator);	
+		
+		if (device == 0) {
+			LOG(@"failure.\n");
+			if (failure_result < SMS_FAIL_NO_SERVICES) {
+				failure_result = SMS_FAIL_NO_SERVICES;
+			}
+			continue;
+		} else {
+			LOG(@"success.\n");
+			LOG(@"    Opening device: ");
+		}
+		
+		result = IOServiceOpen(device, mach_task_self(), 0, &connection);
+		
+		if (result != KERN_SUCCESS) {
+			LOG_ARG(@"failure, with return value 0x%x.\n", result);
+			IOObjectRelease(device);
+			if (failure_result < SMS_FAIL_OPENING) {
+				failure_result = SMS_FAIL_OPENING;
+			}
+			continue;
+		} else if (connection == 0) {
+			LOG_ARG(@"'success', but didn't get a connection (return value was: 0x%x).\n", result);
+			IOObjectRelease(device);
+			if (failure_result < SMS_FAIL_CONNECTION) {
+				failure_result = SMS_FAIL_CONNECTION;
+			}
+			continue;
+		} else {
+			IOObjectRelease(device);
+			LOG(@"success.\n");
+		}
+		LOG(@"    Testing device.\n");
+		
+		defaultCalibration();
+		
+		iRecord = (char*) malloc(recordSize);
+		oRecord = (char*) malloc(recordSize);
+		
+		running = YES;
+		result = getData(&accel, true, logObject, logSelector);
+		running = NO;
+		
+		if (result) {
+			LOG_ARG(@"    Failure testing device, with result 0x%x.\n", result);
+			free(iRecord);
+			iRecord = 0;
+			free(oRecord);
+			oRecord = 0;
+			if (failure_result < SMS_FAIL_ACCESS) {
+				failure_result = SMS_FAIL_ACCESS;
+			}
+			continue;
+		} else {
+			LOG(@"    Success testing device!\n");
+			running = YES;
+			return SMS_SUCCESS;
+		}
+	}
+	return failure_result;
+}
+
+// This starts up the library in debug mode, ignoring the actual hardware.
+// Returned data is in the form of 1Hz sine waves, with the X, Y and Z
+// axes 120 degrees out of phase; "calibrated" data has range +/- (1.0/5);
+// "uncalibrated" data has range +/- (256/5). X and Y axes centered on 0.0,
+// Z axes centered on 1 (calibrated) or 256 (uncalibrated). 
+// Don't use smsGetBufferLength or smsGetBufferData. Always returns SMS_SUCCESS.
+int smsDebugStartup(id logObject, SEL logSelector) {
+	LOG(@"Starting up in debug mode\n");
+	debugging = YES;
+	return SMS_SUCCESS;
+}
+
+// Returns the current calibration values.
+void smsGetCalibration(sms_calibration *calibrationRecord) {
+	int x;
+	
+	for (x = 0; x < 3; x++) {
+		calibrationRecord->zeros[x] = (debugging ? 0 : zeros[x]);
+		calibrationRecord->onegs[x] = (debugging ? 256 : onegs[x]);
+	}
+}
+
+// Sets the calibration, but does NOT store it as a preference. If the argument
+// is nil then the current calibration is set from the built-in value table.
+void smsSetCalibration(sms_calibration *calibrationRecord) {
+	int x;
+	
+	if (!debugging) {
+		if (calibrationRecord) {
+			for (x = 0; x < 3; x++) {
+				zeros[x] = calibrationRecord->zeros[x];
+				onegs[x] = calibrationRecord->onegs[x];
+			}
+		} else {
+			defaultCalibration();
+		}
+	}
+}
+
+// Stores the current calibration values as a stored preference.
+void smsStoreCalibration(void) {
+	if (!debugging)
+		storeCalibration();
+}
+
+// Loads the stored preference values into the current calibration.
+// Returns YES if successful.
+BOOL smsLoadCalibration(void) {
+	if (debugging) {
+		return YES;
+	} else if (loadCalibration()) {
+		return YES;
+	} else {
+		defaultCalibration();
+		return NO;
+	}
+}
+
+// Deletes any stored calibration, and then takes the current calibration values
+// from the built-in value table.
+void smsDeleteCalibration(void) {
+	if (!debugging) {
+		deleteCalibration();
+		defaultCalibration();
+	}
+}
+
+// Fills in the accel record with calibrated acceleration data. Takes
+// 1-2ms to return a value. Returns 0 if success, error number if failure.
+int smsGetData(sms_acceleration *accel) {
+	NSTimeInterval time;
+	if (debugging) {
+		usleep(1500);						// Usually takes 1-2 milliseconds
+		time = [NSDate timeIntervalSinceReferenceDate];
+		accel->x = fakeData(time)/5;
+		accel->y = fakeData(time - 1)/5;
+		accel->z = fakeData(time - 2)/5 + 1.0;
+		return true;
+	} else {
+		return getData(accel, true, nil, nil);
+	}
+}
+
+// Fills in the accel record with uncalibrated acceleration data.
+// Returns 0 if success, error number if failure.
+int smsGetUncalibratedData(sms_acceleration *accel) {
+	NSTimeInterval time;
+	if (debugging) {
+		usleep(1500);						// Usually takes 1-2 milliseconds
+		time = [NSDate timeIntervalSinceReferenceDate];
+		accel->x = fakeData(time) * 256 / 5;
+		accel->y = fakeData(time - 1) * 256 / 5;
+		accel->z = fakeData(time - 2) * 256 / 5 + 256;
+		return true;
+	} else {
+		return getData(accel, false, nil, nil);
+	}
+}
+
+// Returns the length of a raw block of data for the current type of sensor.
+int smsGetBufferLength(void) {
+	if (debugging) {
+		return 0;
+	} else if (running) {
+		return sensors[sensorNum].recordSize;
+	} else {
+		return 0;
+	}
+}
+
+// Takes a pointer to accelGetRawLength() bytes; sets those bytes
+// to return value from sensor. Make darn sure the buffer length is right!
+void smsGetBufferData(char *buffer) {
+	IOItemCount iSize = recordSize;
+	IOByteCount oSize = recordSize;
+	kern_return_t result;
+
+	if (debugging || running == NO) {
+		return;
+	}
+
+	memset(iRecord, 1, iSize);
+	memset(buffer, 0, oSize);
+#if __MAC_OS_X_VERSION_MIN_REQUIRED  >= 1050
+	const size_t InStructSize = recordSize;
+	size_t OutStructSize = recordSize;
+	result = IOConnectCallStructMethod(connection,
+						function,				// magic kernel function number
+						(const void *)iRecord,
+						InStructSize,
+						(void *)buffer,
+						&OutStructSize
+					);
+#else // __MAC_OS_X_VERSION_MIN_REQUIRED 1050
+	result = IOConnectMethodStructureIStructureO(connection,
+						function,				// magic kernel function number
+						iSize,
+						&oSize,
+						iRecord,
+						buffer
+					);
+#endif // __MAC_OS_X_VERSION_MIN_REQUIRED 1050
+	
+	if (result != KERN_SUCCESS) {
+		running = NO;
+	}
+}
+
+// This returns an NSString describing the current calibration in
+// human-readable form. Also include a description of the machine.
+NSString *smsGetCalibrationDescription(void) {
+	BOOL success;
+	NSMutableString *s = [[NSMutableString alloc] init];
+	
+	if (debugging) {
+		[s release];
+		return @"Debugging!";
+	}
+	
+	[s appendString:@"---- SeisMac Calibration Record ----\n \n"];
+	[s appendFormat:@"Machine model: %@\n", 
+		getModelName()];
+	[s appendFormat:@"OS X build: %@\n", 
+		getOSVersion()];
+	[s appendFormat:@"SeisMacLib version %s, record %d\n \n", 
+		SMSLIB_VERSION, sensorNum];
+	[s appendFormat:@"Using service \"%s\", function index %d, size %d\n \n",
+		serviceName, function, recordSize];
+	if (prefIntRead(CALIBRATED_NAME, &success) && success) {
+		[s appendString:@"Calibration values (from calibration):\n"];
+	} else {
+		[s appendString:@"Calibration values (from defaults):\n"];
+	}
+	[s appendFormat:@"    X-Axis-Zero  = %.2f\n", zeros[0]];
+	[s appendFormat:@"    X-Axis-One-g = %.2f\n", onegs[0]];
+	[s appendFormat:@"    Y-Axis-Zero  = %.2f\n", zeros[1]];
+	[s appendFormat:@"    Y-Axis-One-g = %.2f\n", onegs[1]];
+	[s appendFormat:@"    Z-Axis-Zero  = %.2f\n", zeros[2]];
+	[s appendFormat:@"    Z-Axis-One-g = %.2f\n \n", onegs[2]];
+	[s appendString:@"---- End Record ----\n"];
+	return s;
+}
+
+// Shuts down the accelerometer.
+void smsShutdown(void) {
+	if (!debugging) {
+		running = NO;
+		if (iRecord) free(iRecord);
+		if (oRecord) free(oRecord);
+		IOServiceClose(connection);
+	}
+}
+
+#pragma mark Internal functions
+
+// Loads the current calibration from the stored preferences.
+// Returns true iff successful.
+BOOL loadCalibration(void) {
+	BOOL thisSuccess, allSuccess;
+	int x;
+	
+	prefSynchronize();
+	
+	if (prefIntRead(CALIBRATED_NAME, &thisSuccess) && thisSuccess) {
+		// Calibrated. Set all values from saved values.
+		allSuccess = YES;
+		for (x = 0; x < 3; x++) {
+			zeros[x] = prefFloatRead(ZERO_NAME(x), &thisSuccess);
+			allSuccess &= thisSuccess;
+			onegs[x] = prefFloatRead(ONEG_NAME(x), &thisSuccess);
+			allSuccess &= thisSuccess;
+		}
+		return allSuccess;
+	}
+	
+	return NO;
+}
+
+// Stores the current calibration into the stored preferences.
+static void storeCalibration(void) {
+	int x;
+	prefIntWrite(CALIBRATED_NAME, 1);
+	for (x = 0; x < 3; x++) {
+		prefFloatWrite(ZERO_NAME(x), zeros[x]);
+		prefFloatWrite(ONEG_NAME(x), onegs[x]);
+	}	
+	prefSynchronize();
+}
+
+
+// Sets the calibration to its default values.
+void defaultCalibration(void) {
+	int x;
+	for (x = 0; x < 3; x++) {
+		zeros[x] = sensors[sensorNum].axes[x].zerog;
+		onegs[x] = sensors[sensorNum].axes[x].oneg;
+	}
+}
+
+// Deletes the stored preferences.
+static void deleteCalibration(void) {
+	int x;
+	
+	prefDelete(CALIBRATED_NAME);
+	for (x = 0; x < 3; x++) {
+		prefDelete(ZERO_NAME(x));
+		prefDelete(ONEG_NAME(x));
+	}
+	prefSynchronize();
+}
+
+// Read a named floating point value from the stored preferences. Sets
+// the success boolean based on, you guessed it, whether it succeeds.
+static float prefFloatRead(NSString *prefName, BOOL *success) {
+	float result = 0.0f;
+	
+	CFPropertyListRef ref = CFPreferencesCopyAppValue((CFStringRef)prefName, 
+													   APP_ID);
+	// If there isn't such a preference, fail
+	if (ref == NULL) {
+		*success = NO;
+		return result;
+	}
+	CFTypeID typeID = CFGetTypeID(ref);
+	// Is it a number?
+	if (typeID == CFNumberGetTypeID()) {
+		// Is it a floating point number?
+		if (CFNumberIsFloatType((CFNumberRef)ref)) {
+			// Yup: grab it.
+			*success = CFNumberGetValue((__CFNumber*)ref, kCFNumberFloat32Type, &result);
+		} else {
+			// Nope: grab as an integer, and convert to a float.
+			long num;
+			if (CFNumberGetValue((CFNumberRef)ref, kCFNumberLongType, &num)) {
+				result = num;
+				*success = YES;
+			} else {
+				*success = NO;
+			}
+		}
+	// Or is it a string (e.g. set by the command line "defaults" command)?
+	} else if (typeID == CFStringGetTypeID()) {
+		result = (float)CFStringGetDoubleValue((CFStringRef)ref);
+		*success = YES;
+	} else {
+		// Can't convert to a number: fail.
+		*success = NO;
+	}
+	CFRelease(ref);
+	return result;
+}
+
+// Writes a named floating point value to the stored preferences.
+static void prefFloatWrite(NSString *prefName, float prefValue) {
+	CFNumberRef cfFloat = CFNumberCreate(kCFAllocatorDefault,
+										 kCFNumberFloatType,
+										 &prefValue);
+	CFPreferencesSetAppValue((CFStringRef)prefName,
+							 cfFloat,
+							 APP_ID);
+	CFRelease(cfFloat);
+}
+
+// Reads a named integer value from the stored preferences.
+static int prefIntRead(NSString *prefName, BOOL *success) {
+	Boolean internalSuccess;
+	CFIndex result = CFPreferencesGetAppIntegerValue((CFStringRef)prefName,
+													 APP_ID, 
+													 &internalSuccess);
+	*success = internalSuccess;
+	
+	return result;
+}
+
+// Writes a named integer value to the stored preferences.
+static void prefIntWrite(NSString *prefName, int prefValue) {
+	CFPreferencesSetAppValue((CFStringRef)prefName,
+							 (CFNumberRef)[NSNumber numberWithInt:prefValue],
+							 APP_ID);
+}
+
+// Deletes the named preference values.
+static void prefDelete(NSString *prefName) {
+		CFPreferencesSetAppValue((CFStringRef)prefName,
+								 NULL,
+								 APP_ID);
+}
+
+// Synchronizes the local preferences with the stored preferences.
+static void prefSynchronize(void) {
+	CFPreferencesAppSynchronize(APP_ID);
+}
+
+// Internal version of accelGetData, with logging
+int getData(sms_acceleration *accel, int calibrated, id logObject, SEL logSelector) {
+	IOItemCount iSize = recordSize;
+	IOByteCount oSize = recordSize;
+	kern_return_t result;
+	
+	if (running == NO) {
+		return -1;
+	}
+	
+	memset(iRecord, 1, iSize);
+	memset(oRecord, 0, oSize);
+	
+	LOG_2ARG(@"    Querying device (%u, %d): ", 
+			 sensors[sensorNum].function, sensors[sensorNum].recordSize);
+	
+#if __MAC_OS_X_VERSION_MIN_REQUIRED  >= 1050
+	const size_t InStructSize = recordSize;
+	size_t OutStructSize = recordSize;
+	result = IOConnectCallStructMethod(connection,
+						function,				// magic kernel function number
+						(const void *)iRecord,
+						InStructSize,
+						(void *)oRecord,
+						&OutStructSize
+					);
+#else // __MAC_OS_X_VERSION_MIN_REQUIRED 1050
+	result = IOConnectMethodStructureIStructureO(connection,
+						function,				// magic kernel function number
+						iSize,
+						&oSize,
+						iRecord,
+						oRecord
+					);
+#endif // __MAC_OS_X_VERSION_MIN_REQUIRED 1050
+
+	if (result != KERN_SUCCESS) {
+		LOG(@"failed.\n");
+		running = NO;
+		return result;
+	} else {
+		LOG(@"succeeded.\n");
+		
+		accel->x = getAxis(0, calibrated);
+		accel->y = getAxis(1, calibrated);
+		accel->z = getAxis(2, calibrated);
+		return 0;
+	}
+}
+
+// Given the returned record, extracts the value of the given axis. If
+// calibrated, then zero G is 0.0, and one G is 1.0.
+float getAxis(int which, int calibrated) {
+	// Get various values (to make code cleaner)
+	int indx = sensors[sensorNum].axes[which].index;
+	int size = sensors[sensorNum].axes[which].size;
+	float zerog = zeros[which];
+	float oneg = onegs[which];
+	// Storage for value to be returned
+	int value = 0;
+	
+	// Although the values in the returned record should have the proper
+	// endianness, we still have to get it into the proper end of value.
+#if (BYTE_ORDER == BIG_ENDIAN)
+	// On PowerPC processors
+	memcpy(((char *)&value) + (sizeof(int) - size), &oRecord[indx], size);
+#endif
+#if (BYTE_ORDER == LITTLE_ENDIAN)
+	// On Intel processors
+	memcpy(&value, &oRecord[indx], size);
+#endif
+	
+	value = signExtend(value, size);
+	
+	if (calibrated) {
+		// Scale and shift for zero.
+		return ((float)(value - zerog)) / oneg;
+	} else {
+		return value;
+	}
+}
+
+// Extends the sign, given the length of the value.
+int signExtend(int value, int size) {
+	// Extend sign
+	switch (size) {
+		case 1:
+			if (value & 0x00000080)
+				value |= 0xffffff00;
+			break;
+		case 2:
+			if (value & 0x00008000)
+				value |= 0xffff0000;
+			break;
+		case 3:
+			if (value & 0x00800000)
+				value |= 0xff000000;
+			break;
+	}
+	return value;
+}
+
+// Returns the model name of the computer (e.g. "MacBookPro1,1")
+NSString *getModelName(void) {
+	char model[32];
+	size_t len = sizeof(model);
+	int name[2] = {CTL_HW, HW_MODEL};
+	NSString *result;
+	
+	if (sysctl(name, 2, &model, &len, NULL, 0) == 0) {
+		result = [NSString stringWithFormat:@"%s", model];
+	} else {
+		result = @"";
+	}
+	
+	return result;
+}
+
+// Returns the current OS X version and build (e.g. "10.4.7 (build 8J2135a)")
+NSString *getOSVersion(void) {
+	NSDictionary *dict = [NSDictionary dictionaryWithContentsOfFile:
+		@"/System/Library/CoreServices/SystemVersion.plist"];
+	NSString *versionString = [dict objectForKey:@"ProductVersion"];
+	NSString *buildString = [dict objectForKey:@"ProductBuildVersion"];
+	NSString *wholeString = [NSString stringWithFormat:@"%@ (build %@)", 
+		versionString, buildString];
+	return wholeString;
+}
+
+// Returns time within the current second in microseconds.
+// long getMicroseconds() {
+//	struct timeval t;
+//	gettimeofday(&t, 0);
+//	return t.tv_usec;
+//}
+
+// Returns fake data given the time. Range is +/-1.
+float fakeData(NSTimeInterval time) {
+	long secs = lround(floor(time));
+	int secsMod3 = secs % 3;
+	double angle = time * 10 * M_PI * 2;
+	double mag = exp(-(time - (secs - secsMod3)) * 2);
+	return sin(angle) * mag;
+}
+