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authorMatt A. Tobin <mattatobin@localhost.localdomain>2018-02-02 04:16:08 -0500
committerMatt A. Tobin <mattatobin@localhost.localdomain>2018-02-02 04:16:08 -0500
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+/*
+ * 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;
+}
+