Adding upstream version 110.0.1.upstream/110.0.1upstream

Signed-off-by: Daniel Baumann <daniel.baumann@progress-linux.org>

1 files changed, 870 insertions, 0 deletions

diff --git a/hal/cocoa/smslib.mm b/hal/cocoa/smslib.mm
new file mode 100644
index 0000000000..1a27d404a3
--- /dev/null
+++ b/hal/cocoa/smslib.mm
@@ -0,0 +1,870 @@
+/*
+ * 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;
+}