2 * Copyright (C) 2014 Intel Corporation.
11 #include <sys/epoll.h>
12 #include <sys/socket.h>
13 #include <utils/Log.h>
14 #include <hardware/sensors.h>
16 #include "enumeration.h"
18 #include "transform.h"
19 #include "calibration.h"
20 #include "description.h"
21 #include "filtering.h"
23 /* Currently active sensors count, per device */
24 static int poll_sensors_per_dev[MAX_DEVICES]; /* poll-mode sensors */
25 static int trig_sensors_per_dev[MAX_DEVICES]; /* trigger, event based */
27 static int device_fd[MAX_DEVICES]; /* fd on the /dev/iio:deviceX file */
28 static int has_iio_ts[MAX_DEVICES]; /* ts channel available on this iio dev */
29 static int expected_dev_report_size[MAX_DEVICES]; /* expected iio scan len */
30 static int poll_fd; /* epoll instance covering all enabled sensors */
32 static int active_poll_sensors; /* Number of enabled poll-mode sensors */
34 /* We use pthread condition variables to get worker threads out of sleep */
35 static pthread_condattr_t thread_cond_attr [MAX_SENSORS];
36 static pthread_cond_t thread_release_cond [MAX_SENSORS];
37 static pthread_mutex_t thread_release_mutex [MAX_SENSORS];
40 * We associate tags to each of our poll set entries. These tags have the following values:
41 * - a iio device number if the fd is a iio character device fd
42 * - THREAD_REPORT_TAG_BASE + sensor handle if the fd is the receiving end of a pipe used by a sysfs data acquisition thread
44 #define THREAD_REPORT_TAG_BASE 1000
46 /* If buffer enable fails, we may want to retry a few times before giving up */
47 #define ENABLE_BUFFER_RETRIES 3
48 #define ENABLE_BUFFER_RETRY_DELAY_MS 10
51 inline int is_enabled (int s)
53 return sensor[s].directly_enabled || sensor[s].ref_count;
57 static int check_state_change (int s, int enabled, int from_virtual)
60 if (sensor[s].directly_enabled)
61 return 0; /* We're being enabled but already were directly activated: no change. */
64 sensor[s].directly_enabled = 1; /* We're being directly enabled */
66 if (sensor[s].ref_count)
67 return 0; /* We were already indirectly enabled */
69 return 1; /* Do continue enabling this sensor */
73 return 0; /* We are being disabled but already were: no change */
75 if (from_virtual && sensor[s].directly_enabled)
76 return 0; /* We're indirectly disabled but the base is still active */
78 sensor[s].directly_enabled = 0; /* We're now directly disabled */
80 if (!from_virtual && sensor[s].ref_count)
81 return 0; /* We still have ref counts */
83 return 1; /* Do continue disabling this sensor */
87 static int enable_buffer (int dev_num, int enabled)
89 char sysfs_path[PATH_MAX];
90 int retries = ENABLE_BUFFER_RETRIES;
92 sprintf(sysfs_path, ENABLE_PATH, dev_num);
95 /* Low level, non-multiplexed, enable/disable routine */
96 if (sysfs_write_int(sysfs_path, enabled) > 0)
99 ALOGE("Failed enabling buffer on dev%d, retrying", dev_num);
100 usleep(ENABLE_BUFFER_RETRY_DELAY_MS*1000);
104 ALOGE("Could not enable buffer\n");
109 static int setup_trigger (int s, const char* trigger_val)
111 char sysfs_path[PATH_MAX];
112 int ret = -1, attempts = 5;
114 sprintf(sysfs_path, TRIGGER_PATH, sensor[s].dev_num);
116 if (trigger_val[0] != '\n')
117 ALOGI("Setting S%d (%s) trigger to %s\n", s, sensor[s].friendly_name, trigger_val);
119 while (ret == -1 && attempts) {
120 ret = sysfs_write_str(sysfs_path, trigger_val);
125 sensor[s].selected_trigger = trigger_val;
127 ALOGE("Setting S%d (%s) trigger to %s FAILED.\n", s, sensor[s].friendly_name, trigger_val);
132 static void enable_iio_timestamp (int dev_num, int known_channels)
134 /* Check if we have a dedicated iio timestamp channel */
136 char spec_buf[MAX_TYPE_SPEC_LEN];
137 char sysfs_path[PATH_MAX];
140 sprintf(sysfs_path, CHANNEL_PATH "%s", dev_num, "in_timestamp_type");
142 n = sysfs_read_str(sysfs_path, spec_buf, sizeof(spec_buf));
147 if (strcmp(spec_buf, "le:s64/64>>0"))
150 /* OK, type is int64_t as expected, in little endian representation */
152 sprintf(sysfs_path, CHANNEL_PATH"%s", dev_num, "in_timestamp_index");
154 if (sysfs_read_int(sysfs_path, &n))
157 /* Check that the timestamp comes after the other fields we read */
158 if (n != known_channels)
161 /* Try enabling that channel */
162 sprintf(sysfs_path, CHANNEL_PATH "%s", dev_num, "in_timestamp_en");
164 sysfs_write_int(sysfs_path, 1);
166 if (sysfs_read_int(sysfs_path, &n))
170 ALOGI("Detected timestamp channel on iio device %d\n", dev_num);
171 has_iio_ts[dev_num] = 1;
176 static int decode_type_spec (const char type_buf[MAX_TYPE_SPEC_LEN], datum_info_t *type_info)
178 /* Return size in bytes for this type specification, or -1 in error */
181 unsigned int realbits, storagebits, shift;
184 /* Valid specs: "le:u10/16>>0", "le:s16/32>>0" or "le:s32/32>>0" */
186 tokens = sscanf(type_buf, "%ce:%c%u/%u>>%u", &endianness, &sign, &realbits, &storagebits, &shift);
188 if (tokens != 5 || (endianness != 'b' && endianness != 'l') || (sign != 'u' && sign != 's') ||
189 realbits > storagebits || (storagebits != 16 && storagebits != 32 && storagebits != 64)) {
190 ALOGE("Invalid iio channel type spec: %s\n", type_buf);
194 type_info->endianness = endianness;
195 type_info->sign = sign;
196 type_info->realbits = (short) realbits;
197 type_info->storagebits = (short) storagebits;
198 type_info->shift = (short) shift;
200 return storagebits / 8;
204 void build_sensor_report_maps (int dev_num)
207 * Read sysfs files from a iio device's scan_element directory, and build a couple of tables from that data. These tables will tell, for
208 * each sensor, where to gather relevant data in a device report, i.e. the structure that we read from the /dev/iio:deviceX file in order to
209 * sensor report, itself being the data that we return to Android when a sensor poll completes. The mapping should be straightforward in the
210 * case where we have a single sensor active per iio device but, this is not the general case. In general several sensors can be handled
211 * through a single iio device, and the _en, _index and _type syfs entries all concur to paint a picture of what the structure of the
221 char spec_buf[MAX_TYPE_SPEC_LEN];
222 datum_info_t* ch_info;
224 char sysfs_path[PATH_MAX];
227 int channel_size_from_index[MAX_SENSORS * MAX_CHANNELS] = { 0 };
228 int sensor_handle_from_index[MAX_SENSORS * MAX_CHANNELS] = { 0 };
229 int channel_number_from_index[MAX_SENSORS * MAX_CHANNELS] = { 0 };
233 /* For each sensor that is linked to this device */
234 for (s=0; s<sensor_count; s++) {
235 if (sensor[s].dev_num != dev_num)
238 i = sensor[s].catalog_index;
240 /* Read channel details through sysfs attributes */
241 for (c=0; c<sensor[s].num_channels; c++) {
243 /* Read _type file */
244 sprintf(sysfs_path, CHANNEL_PATH "%s", sensor[s].dev_num, sensor_catalog[i].channel[c].type_path);
246 n = sysfs_read_str(sysfs_path, spec_buf, sizeof(spec_buf));
249 ALOGW( "Failed to read type: %s\n", sysfs_path);
253 ch_spec = sensor[s].channel[c].type_spec;
255 memcpy(ch_spec, spec_buf, sizeof(spec_buf));
257 ch_info = &sensor[s].channel[c].type_info;
259 size = decode_type_spec(ch_spec, ch_info);
261 /* Read _index file */
262 sprintf(sysfs_path, CHANNEL_PATH "%s", sensor[s].dev_num, sensor_catalog[i].channel[c].index_path);
264 n = sysfs_read_int(sysfs_path, &ch_index);
267 ALOGW( "Failed to read index: %s\n", sysfs_path);
271 if (ch_index >= MAX_SENSORS) {
272 ALOGE("Index out of bounds!: %s\n", sysfs_path);
276 /* Record what this index is about */
278 sensor_handle_from_index [ch_index] = s;
279 channel_number_from_index[ch_index] = c;
280 channel_size_from_index [ch_index] = size;
285 /* Stop sampling - if we are recovering from hal restart */
286 enable_buffer(dev_num, 0);
287 setup_trigger(s, "\n");
289 /* Turn on channels we're aware of */
290 for (c=0;c<sensor[s].num_channels; c++) {
291 sprintf(sysfs_path, CHANNEL_PATH "%s", sensor[s].dev_num, sensor_catalog[i].channel[c].en_path);
292 sysfs_write_int(sysfs_path, 1);
296 ALOGI("Found %d channels on iio device %d\n", known_channels, dev_num);
299 * Now that we know which channels are defined, their sizes and their ordering, update channels offsets within device report. Note: there
300 * is a possibility that several sensors share the same index, with their data fields being isolated by masking and shifting as specified
301 * through the real bits and shift values in type attributes. This case is not currently supported. Also, the code below assumes no hole in
302 * the sequence of indices, so it is dependent on discovery of all sensors.
306 for (i=0; i<MAX_SENSORS * MAX_CHANNELS; i++) {
307 s = sensor_handle_from_index[i];
308 c = channel_number_from_index[i];
309 size = channel_size_from_index[i];
314 ALOGI("S%d C%d : offset %d, size %d, type %s\n", s, c, offset, size, sensor[s].channel[c].type_spec);
316 sensor[s].channel[c].offset = offset;
317 sensor[s].channel[c].size = size;
322 /* Enable the timestamp channel if there is one available */
323 enable_iio_timestamp(dev_num, known_channels);
325 /* Add padding and timestamp size if it's enabled on this iio device */
326 if (has_iio_ts[dev_num])
327 offset = (offset+7)/8*8 + sizeof(int64_t);
329 expected_dev_report_size[dev_num] = offset;
330 ALOGI("Expecting %d scan length on iio dev %d\n", offset, dev_num);
332 if (expected_dev_report_size[dev_num] > MAX_DEVICE_REPORT_SIZE) {
333 ALOGE("Unexpectedly large scan buffer on iio dev%d: %d bytes\n", dev_num, expected_dev_report_size[dev_num]);
335 expected_dev_report_size[dev_num] = MAX_DEVICE_REPORT_SIZE;
340 int adjust_counters (int s, int enabled, int from_virtual)
343 * Adjust counters based on sensor enable action. Return values are:
344 * 0 if the operation was completed and we're all set
345 * 1 if we toggled the state of the sensor and there's work left
348 int dev_num = sensor[s].dev_num;
350 if (!check_state_change(s, enabled, from_virtual))
351 return 0; /* The state of the sensor remains the same: we're done */
354 ALOGI("Enabling sensor %d (iio device %d: %s)\n", s, dev_num, sensor[s].friendly_name);
356 switch (sensor[s].type) {
357 case SENSOR_TYPE_MAGNETIC_FIELD:
358 compass_read_data(&sensor[s]);
361 case SENSOR_TYPE_GYROSCOPE:
362 gyro_cal_init(&sensor[s]);
366 ALOGI("Disabling sensor %d (iio device %d: %s)\n", s, dev_num, sensor[s].friendly_name);
368 /* Sensor disabled, lower report available flag */
369 sensor[s].report_pending = 0;
371 if (sensor[s].type == SENSOR_TYPE_MAGNETIC_FIELD)
372 compass_store_data(&sensor[s]);
374 if (sensor[s].type == SENSOR_TYPE_GYROSCOPE)
375 gyro_store_data(&sensor[s]);
378 /* We changed the state of a sensor: adjust device ref counts */
380 if (!sensor[s].is_polling) {
383 trig_sensors_per_dev[dev_num]++;
385 trig_sensors_per_dev[dev_num]--;
391 active_poll_sensors++;
392 poll_sensors_per_dev[dev_num]++;
396 active_poll_sensors--;
397 poll_sensors_per_dev[dev_num]--;
402 static int get_field_count (int s)
404 switch (sensor[s].type) {
405 case SENSOR_TYPE_ACCELEROMETER: /* m/s^2 */
406 case SENSOR_TYPE_MAGNETIC_FIELD: /* micro-tesla */
407 case SENSOR_TYPE_ORIENTATION: /* degrees */
408 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
409 case SENSOR_TYPE_GYROSCOPE: /* radians/s */
412 case SENSOR_TYPE_LIGHT: /* SI lux units */
413 case SENSOR_TYPE_AMBIENT_TEMPERATURE: /* °C */
414 case SENSOR_TYPE_TEMPERATURE: /* °C */
415 case SENSOR_TYPE_PROXIMITY: /* centimeters */
416 case SENSOR_TYPE_PRESSURE: /* hecto-pascal */
417 case SENSOR_TYPE_RELATIVE_HUMIDITY: /* percent */
420 case SENSOR_TYPE_ROTATION_VECTOR:
424 ALOGE("Unknown sensor type!\n");
425 return 0; /* Drop sample */
430 static void* acquisition_routine (void* param)
433 * Data acquisition routine run in a dedicated thread, covering a single sensor. This loop will periodically retrieve sampling data through
434 * sysfs, then package it as a sample and transfer it to our master poll loop through a report fd. Checks for a cancellation signal quite
435 * frequently, as the thread may be disposed of at any time. Note that Bionic does not provide pthread_cancel / pthread_testcancel...
438 int s = (int) (size_t) param;
439 int num_fields, sample_size;
440 sensors_event_t data = {0};
443 struct timespec target_time;
444 int64_t timestamp, period, start, stop;
446 if (s < 0 || s >= sensor_count) {
447 ALOGE("Invalid sensor handle!\n");
451 ALOGI("Entering S%d (%s) data acquisition thread: rate:%g\n", s, sensor[s].friendly_name, sensor[s].sampling_rate);
453 if (sensor[s].sampling_rate <= 0) {
454 ALOGE("Invalid rate in acquisition routine for sensor %d: %g\n", s, sensor[s].sampling_rate);
458 num_fields = get_field_count(s);
459 sample_size = sizeof(int64_t) + num_fields * sizeof(float);
462 * Each condition variable is associated to a mutex that has to be locked by the thread that's waiting on it. We use these condition
463 * variables to get the acquisition threads out of sleep quickly after the sampling rate is adjusted, or the sensor is disabled.
465 pthread_mutex_lock(&thread_release_mutex[s]);
467 /* Pinpoint the moment we start sampling */
468 timestamp = get_timestamp_monotonic();
470 /* Check and honor termination requests */
471 while (sensor[s].thread_data_fd[1] != -1) {
472 start = get_timestamp_boot();
474 /* Read values through sysfs */
475 for (c=0; c<num_fields; c++) {
476 data.data[c] = acquire_immediate_value(s, c);
478 /* Check and honor termination requests */
479 if (sensor[s].thread_data_fd[1] == -1)
482 stop = get_timestamp_boot();
483 data.timestamp = start/2 + stop/2;
485 /* If the sample looks good */
486 if (sensor[s].ops.finalize(s, &data)) {
488 /* Pipe it for transmission to poll loop */
489 ret = write(sensor[s].thread_data_fd[1], &data.timestamp, sample_size);
491 if (ret != sample_size)
492 ALOGE("S%d write failure: wrote %d, got %d\n", s, sample_size, ret);
495 /* Check and honor termination requests */
496 if (sensor[s].thread_data_fd[1] == -1)
499 /* Recalculate period assuming sensor[s].sampling_rate can be changed dynamically during the thread run */
500 if (sensor[s].sampling_rate <= 0) {
501 ALOGE("Unexpected sampling rate for sensor %d: %g\n", s, sensor[s].sampling_rate);
505 period = (int64_t) (1000000000.0 / sensor[s].sampling_rate);
507 set_timestamp(&target_time, timestamp);
509 /* Wait until the sampling time elapses, or a rate change is signaled, or a thread exit is requested */
510 ret = pthread_cond_timedwait(&thread_release_cond[s], &thread_release_mutex[s], &target_time);
514 ALOGV("Acquisition thread for S%d exiting\n", s);
515 pthread_mutex_unlock(&thread_release_mutex[s]);
521 static void start_acquisition_thread (int s)
523 int incoming_data_fd;
526 struct epoll_event ev = {0};
528 ALOGV("Initializing acquisition context for sensor %d\n", s);
530 /* Create condition variable and mutex for quick thread release */
531 ret = pthread_condattr_init(&thread_cond_attr[s]);
532 ret = pthread_condattr_setclock(&thread_cond_attr[s], CLOCK_MONOTONIC);
533 ret = pthread_cond_init(&thread_release_cond[s], &thread_cond_attr[s]);
534 ret = pthread_mutex_init(&thread_release_mutex[s], NULL);
536 /* Create a pipe for inter thread communication */
537 ret = pipe(sensor[s].thread_data_fd);
539 incoming_data_fd = sensor[s].thread_data_fd[0];
542 ev.data.u32 = THREAD_REPORT_TAG_BASE + s;
544 /* Add incoming side of pipe to our poll set, with a suitable tag */
545 ret = epoll_ctl(poll_fd, EPOLL_CTL_ADD, incoming_data_fd , &ev);
547 /* Create and start worker thread */
548 ret = pthread_create(&sensor[s].acquisition_thread, NULL, acquisition_routine, (void*) (size_t) s);
552 static void stop_acquisition_thread (int s)
554 int incoming_data_fd = sensor[s].thread_data_fd[0];
555 int outgoing_data_fd = sensor[s].thread_data_fd[1];
557 ALOGV("Tearing down acquisition context for sensor %d\n", s);
559 /* Delete the incoming side of the pipe from our poll set */
560 epoll_ctl(poll_fd, EPOLL_CTL_DEL, incoming_data_fd, NULL);
562 /* Mark the pipe ends as invalid ; that's a cheap exit flag */
563 sensor[s].thread_data_fd[0] = -1;
564 sensor[s].thread_data_fd[1] = -1;
566 /* Close both sides of our pipe */
567 close(incoming_data_fd);
568 close(outgoing_data_fd);
570 /* Stop acquisition thread and clean up thread handle */
571 pthread_cond_signal(&thread_release_cond[s]);
572 pthread_join(sensor[s].acquisition_thread, NULL);
574 /* Clean up our sensor descriptor */
575 sensor[s].acquisition_thread = -1;
577 /* Delete condition variable and mutex */
578 pthread_cond_destroy(&thread_release_cond[s]);
579 pthread_mutex_destroy(&thread_release_mutex[s]);
583 static int is_fast_accelerometer (int s)
586 * Some games don't react well to accelerometers using any-motion triggers. Even very low thresholds seem to trip them, and they tend to
587 * request fairly high event rates. Favor continuous triggers if the sensor is an accelerometer and uses a sampling rate of at least 25.
590 if (sensor[s].type != SENSOR_TYPE_ACCELEROMETER)
593 if (sensor[s].sampling_rate < 25)
600 static void tentative_switch_trigger (int s)
603 * Under certain situations it may be beneficial to use an alternate trigger:
605 * - for applications using the accelerometer with high sampling rates, prefer the continuous trigger over the any-motion one, to avoid
606 * jumps related to motion thresholds
609 if (is_fast_accelerometer(s) && !(sensor[s].quirks & QUIRK_TERSE_DRIVER) && sensor[s].selected_trigger == sensor[s].motion_trigger_name)
610 setup_trigger(s, sensor[s].init_trigger_name);
614 static float get_group_max_sampling_rate (int s)
616 /* Review the sampling rates of linked sensors and return the maximum */
620 float arbitrated_rate = 0;
623 arbitrated_rate = sensor[s].requested_rate;
625 /* If any of the currently active sensors built on top of this one need a higher sampling rate, switch to this rate */
626 for (i = 0; i < sensor_count; i++)
627 for (vi = 0; vi < sensor[i].base_count; vi++)
628 if (sensor[i].base[vi] == s && is_enabled(i) && sensor[i].requested_rate > arbitrated_rate) /* If sensor i depends on sensor s */
629 arbitrated_rate = sensor[i].requested_rate;
631 /* If any of the currently active sensors we rely on is using a higher sampling rate, switch to this rate */
632 for (vi = 0; vi < sensor[s].base_count; vi++) {
633 i = sensor[s].base[vi];
634 if (is_enabled(i) && sensor[i].requested_rate > arbitrated_rate)
635 arbitrated_rate = sensor[i].requested_rate;
638 return arbitrated_rate;
642 static int sensor_set_rate (int s, float requested_rate)
644 /* Set the rate at which a specific sensor should report events. See Android sensors.h for indication on sensor trigger modes */
646 char sysfs_path[PATH_MAX];
647 char avail_sysfs_path[PATH_MAX];
648 int dev_num = sensor[s].dev_num;
649 int i = sensor[s].catalog_index;
650 const char *prefix = sensor_catalog[i].tag;
651 int per_sensor_sampling_rate;
652 int per_device_sampling_rate;
657 float group_max_sampling_rate;
658 float cur_sampling_rate; /* Currently used sampling rate */
659 float arb_sampling_rate; /* Granted sampling rate after arbitration */
661 ALOGV("Sampling rate %g requested on sensor %d (%s)\n", requested_rate, s, sensor[s].friendly_name);
663 sensor[s].requested_rate = requested_rate;
665 arb_sampling_rate = requested_rate;
667 if (arb_sampling_rate < sensor[s].min_supported_rate) {
668 ALOGV("Sampling rate %g too low for %s, using %g instead\n", arb_sampling_rate, sensor[s].friendly_name, sensor[s].min_supported_rate);
669 arb_sampling_rate = sensor[s].min_supported_rate;
672 /* If one of the linked sensors uses a higher rate, adopt it */
673 group_max_sampling_rate = get_group_max_sampling_rate(s);
675 if (arb_sampling_rate < group_max_sampling_rate) {
676 ALOGV("Using %s sampling rate to %g too due to dependency\n", sensor[s].friendly_name, arb_sampling_rate);
677 arb_sampling_rate = group_max_sampling_rate;
680 if (sensor[s].max_supported_rate && arb_sampling_rate > sensor[s].max_supported_rate) {
681 ALOGV("Sampling rate %g too high for %s, using %g instead\n", arb_sampling_rate, sensor[s].friendly_name, sensor[s].max_supported_rate);
682 arb_sampling_rate = sensor[s].max_supported_rate;
685 sensor[s].sampling_rate = arb_sampling_rate;
687 /* If the sensor is virtual, we're done */
688 if (sensor[s].is_virtual)
691 /* If we're dealing with a poll-mode sensor */
692 if (sensor[s].is_polling) {
694 pthread_cond_signal(&thread_release_cond[s]); /* Wake up thread so the new sampling rate gets used */
698 sprintf(sysfs_path, SENSOR_SAMPLING_PATH, dev_num, prefix);
700 if (sysfs_read_float(sysfs_path, &cur_sampling_rate) != -1) {
701 per_sensor_sampling_rate = 1;
702 per_device_sampling_rate = 0;
704 per_sensor_sampling_rate = 0;
706 sprintf(sysfs_path, DEVICE_SAMPLING_PATH, dev_num);
708 if (sysfs_read_float(sysfs_path, &cur_sampling_rate) != -1)
709 per_device_sampling_rate = 1;
711 per_device_sampling_rate = 0;
714 if (!per_sensor_sampling_rate && !per_device_sampling_rate) {
715 ALOGE("No way to adjust sampling rate on sensor %d\n", s);
719 /* Check if we have contraints on allowed sampling rates */
721 sprintf(avail_sysfs_path, DEVICE_AVAIL_FREQ_PATH, dev_num);
723 if (sysfs_read_str(avail_sysfs_path, freqs_buf, sizeof(freqs_buf)) > 0) {
726 /* Decode allowed sampling rates string, ex: "10 20 50 100" */
728 /* While we're not at the end of the string */
729 while (*cursor && cursor[0]) {
731 /* Decode a single value */
732 sr = strtod(cursor, NULL);
734 /* If this matches the selected rate, we're happy. Have some tolerance for rounding errors and avoid needless jumps to higher rates */
735 if (fabs(arb_sampling_rate - sr) <= 0.001) {
736 arb_sampling_rate = sr;
741 * If we reached a higher value than the desired rate, adjust selected rate so it matches the first higher available one and
742 * stop parsing - this makes the assumption that rates are sorted by increasing value in the allowed frequencies string.
744 if (sr > arb_sampling_rate) {
745 arb_sampling_rate = sr;
750 while (cursor[0] && !isspace(cursor[0]))
754 while (cursor[0] && isspace(cursor[0]))
759 if (sensor[s].max_supported_rate &&
760 arb_sampling_rate > sensor[s].max_supported_rate) {
761 arb_sampling_rate = sensor[s].max_supported_rate;
764 /* Coordinate with others active sensors on the same device, if any */
765 if (per_device_sampling_rate)
766 for (n=0; n<sensor_count; n++)
767 if (n != s && sensor[n].dev_num == dev_num && sensor[n].num_channels && is_enabled(n) && sensor[n].sampling_rate > arb_sampling_rate) {
768 ALOGV("Sampling rate shared between %s and %s, using %g instead of %g\n", sensor[s].friendly_name, sensor[n].friendly_name,
769 sensor[n].sampling_rate, arb_sampling_rate);
770 arb_sampling_rate = sensor[n].sampling_rate;
773 sensor[s].sampling_rate = arb_sampling_rate;
775 /* Update actual sampling rate field for this sensor and others which may be sharing the same sampling rate */
776 if (per_device_sampling_rate)
777 for (n=0; n<sensor_count; n++)
778 if (sensor[n].dev_num == dev_num && n != s && sensor[n].num_channels)
779 sensor[n].sampling_rate = arb_sampling_rate;
781 /* If the desired rate is already active we're all set */
782 if (arb_sampling_rate == cur_sampling_rate)
785 ALOGI("Sensor %d (%s) sampling rate set to %g\n", s, sensor[s].friendly_name, arb_sampling_rate);
787 if (trig_sensors_per_dev[dev_num])
788 enable_buffer(dev_num, 0);
790 sysfs_write_float(sysfs_path, arb_sampling_rate);
792 /* Check if it makes sense to use an alternate trigger */
793 tentative_switch_trigger(s);
795 if (trig_sensors_per_dev[dev_num])
796 enable_buffer(dev_num, 1);
802 static void reapply_sampling_rates (int s)
805 * The specified sensor was either enabled or disabled. Other sensors in the same group may have constraints related to this sensor
806 * sampling rate on their own sampling rate, so reevaluate them by retrying to use their requested sampling rate, rather than the one
807 * that ended up being used after arbitration.
810 int i, j, base, user;
812 if (sensor[s].is_virtual) {
813 /* Take care of downwards dependencies */
814 for (i=0; i<sensor[s].base_count; i++) {
815 base = sensor[s].base[i];
816 sensor_set_rate(base, sensor[base].requested_rate);
822 for (i=0; i<sensor_count; i++)
823 for (j=0; j<sensor[i].base_count; j++)
824 if (sensor[i].base[j] == s) /* If sensor i depends on sensor s */
825 sensor_set_rate(i, sensor[i].requested_rate);
829 static int sensor_activate_virtual (int s, int enabled, int from_virtual)
833 sensor[s].event_count = 0;
834 sensor[s].meta_data_pending = 0;
836 if (!check_state_change(s, enabled, from_virtual))
837 return 0; /* The state of the sensor remains the same ; we're done */
840 ALOGI("Enabling sensor %d (%s)\n", s, sensor[s].friendly_name);
842 ALOGI("Disabling sensor %d (%s)\n", s, sensor[s].friendly_name);
844 sensor[s].report_pending = 0;
846 for (i=0; i<sensor[s].base_count; i++) {
848 base = sensor[s].base[i];
849 sensor_activate(base, enabled, 1);
852 sensor[base].ref_count++;
854 sensor[base].ref_count--;
857 /* Reevaluate sampling rates of linked sensors */
858 reapply_sampling_rates(s);
863 int sensor_activate (int s, int enabled, int from_virtual)
865 char device_name[PATH_MAX];
866 struct epoll_event ev = {0};
869 int dev_num = sensor[s].dev_num;
871 if (sensor[s].is_virtual)
872 return sensor_activate_virtual(s, enabled, from_virtual);
874 /* Prepare the report timestamp field for the first event, see set_report_ts method */
875 sensor[s].report_ts = 0;
877 ret = adjust_counters(s, enabled, from_virtual);
879 /* If the operation was neutral in terms of state, we're done */
883 sensor[s].event_count = 0;
884 sensor[s].meta_data_pending = 0;
886 if (enabled && (sensor[s].quirks & QUIRK_NOISY))
887 setup_noise_filtering(s); /* Initialize filtering data if required */
889 if (!sensor[s].is_polling) {
892 enable_buffer(dev_num, 0);
893 setup_trigger(s, "\n");
895 /* If there's at least one sensor enabled on this iio device */
896 if (trig_sensors_per_dev[dev_num]) {
899 setup_trigger(s, sensor[s].init_trigger_name);
900 enable_buffer(dev_num, 1);
905 * Make sure we have a fd on the character device ; conversely, close the fd if no one is using associated sensors anymore. The assumption
906 * here is that the underlying driver will power on the relevant hardware block while someone holds a fd on the device.
908 dev_fd = device_fd[dev_num];
911 if (sensor[s].is_polling)
912 stop_acquisition_thread(s);
914 if (dev_fd != -1 && !poll_sensors_per_dev[dev_num] && !trig_sensors_per_dev[dev_num]) {
915 /* Stop watching this fd. This should be a no-op in case this fd was not in the poll set. */
916 epoll_ctl(poll_fd, EPOLL_CTL_DEL, dev_fd, NULL);
919 device_fd[dev_num] = -1;
922 /* Release any filtering data we may have accumulated */
923 release_noise_filtering_data(s);
925 /* Reevaluate sampling rates of linked sensors */
926 reapply_sampling_rates(s);
931 /* First enabled sensor on this iio device */
932 sprintf(device_name, DEV_FILE_PATH, dev_num);
933 dev_fd = open(device_name, O_RDONLY | O_NONBLOCK);
935 device_fd[dev_num] = dev_fd;
938 ALOGE("Could not open fd on %s (%s)\n", device_name, strerror(errno));
939 adjust_counters(s, 0, from_virtual);
943 ALOGV("Opened %s: fd=%d\n", device_name, dev_fd);
945 if (!sensor[s].is_polling) {
947 /* Add this iio device fd to the set of watched fds */
949 ev.data.u32 = dev_num;
951 ret = epoll_ctl(poll_fd, EPOLL_CTL_ADD, dev_fd, &ev);
954 ALOGE("Failed adding %d to poll set (%s)\n", dev_fd, strerror(errno));
958 /* Note: poll-mode fds are not readable */
962 /* Ensure that on-change sensors send at least one event after enable */
963 sensor[s].prev_val = -1;
965 if (sensor[s].is_polling)
966 start_acquisition_thread(s);
968 /* Reevaluate sampling rates of linked sensors */
969 reapply_sampling_rates(s);
975 static void enable_motion_trigger (int dev_num)
978 * In the ideal case, we enumerate two triggers per iio device ; the default (periodically firing) trigger, and another one (the motion
979 * trigger) that only fires up when motion is detected. This second one allows for lesser energy consumption, but requires periodic sample
980 * duplication at the HAL level for sensors that Android defines as continuous. This "duplicate last sample" logic can only be engaged
981 * once we got a first sample for the driver, so we start with the default trigger when an iio device is first opened, then adjust the
982 * trigger when we got events for all active sensors. Unfortunately in the general case several sensors can be associated to a given iio
983 * device, they can independently be controlled, and we have to adjust the trigger in use at the iio device level depending on whether or
984 * not appropriate conditions are met at the sensor level.
989 int active_sensors = trig_sensors_per_dev[dev_num];
990 int candidate[MAX_SENSORS];
991 int candidate_count = 0;
996 /* Check that all active sensors are ready to switch */
998 for (s=0; s<MAX_SENSORS; s++)
999 if (sensor[s].dev_num == dev_num && is_enabled(s) && sensor[s].num_channels &&
1000 (!sensor[s].motion_trigger_name[0] || !sensor[s].report_initialized || is_fast_accelerometer(s) ||
1001 (sensor[s].quirks & QUIRK_FORCE_CONTINUOUS)))
1004 /* Record which particular sensors need to switch */
1006 for (s=0; s<MAX_SENSORS; s++)
1007 if (sensor[s].dev_num == dev_num && is_enabled(s) && sensor[s].num_channels && sensor[s].selected_trigger != sensor[s].motion_trigger_name)
1008 candidate[candidate_count++] = s;
1010 if (!candidate_count)
1013 /* Now engage the motion trigger for sensors which aren't using it */
1015 enable_buffer(dev_num, 0);
1017 for (i=0; i<candidate_count; i++) {
1019 setup_trigger(s, sensor[s].motion_trigger_name);
1022 enable_buffer(dev_num, 1);
1027 * CTS acceptable thresholds:
1028 * EventGapVerification.java: (th <= 1.8)
1029 * FrequencyVerification.java: (0.9)*(expected freq) => (th <= 1.1111)
1031 #define THRESHOLD 1.10
1032 #define MAX_DELAY 500000000 /* 500 ms */
1034 void set_report_ts(int s, int64_t ts)
1036 int64_t maxTs, period;
1039 * A bit of a hack to please a bunch of cts tests. They
1040 * expect the timestamp to be exacly according to the set-up
1041 * frequency but if we're simply getting the timestamp at hal level
1042 * this may not be the case. Perhaps we'll get rid of this when
1043 * we'll be reading the timestamp from the iio channel for all sensors
1045 if (sensor[s].report_ts && sensor[s].sampling_rate &&
1046 REPORTING_MODE(sensor_desc[s].flags) == SENSOR_FLAG_CONTINUOUS_MODE)
1048 period = (int64_t) (1000000000.0 / sensor[s].sampling_rate);
1049 maxTs = sensor[s].report_ts + THRESHOLD * period;
1050 /* If we're too far behind get back on track */
1051 if (ts - maxTs >= MAX_DELAY)
1053 sensor[s].report_ts = (ts < maxTs ? ts : maxTs);
1055 sensor[s].report_ts = ts;
1060 static void stamp_reports (int dev_num, int64_t ts)
1064 for (s=0; s<MAX_SENSORS; s++)
1065 if (sensor[s].dev_num == dev_num && is_enabled(s))
1066 set_report_ts(s, ts);
1070 static int integrate_device_report (int dev_num)
1074 unsigned char buf[MAX_DEVICE_REPORT_SIZE] = { 0 };
1076 unsigned char *target;
1077 unsigned char *source;
1080 int ts_offset = 0; /* Offset of iio timestamp, if provided */
1081 int64_t boot_to_rt_delta;
1083 /* There's an incoming report on the specified iio device char dev fd */
1085 if (dev_num < 0 || dev_num >= MAX_DEVICES) {
1086 ALOGE("Event reported on unexpected iio device %d\n", dev_num);
1090 if (device_fd[dev_num] == -1) {
1091 ALOGE("Ignoring stale report on iio device %d\n", dev_num);
1095 len = read(device_fd[dev_num], buf, expected_dev_report_size[dev_num]);
1098 ALOGE("Could not read report from iio device %d (%s)\n", dev_num, strerror(errno));
1102 ALOGV("Read %d bytes from iio device %d\n", len, dev_num);
1104 /* Map device report to sensor reports */
1106 for (s=0; s<MAX_SENSORS; s++)
1107 if (sensor[s].dev_num == dev_num && is_enabled(s)) {
1111 /* Copy data from device to sensor report buffer */
1112 for (c=0; c<sensor[s].num_channels; c++) {
1114 target = sensor[s].report_buffer + sr_offset;
1116 source = buf + sensor[s].channel[c].offset;
1118 size = sensor[s].channel[c].size;
1120 memcpy(target, source, size);
1125 ALOGV("Sensor %d report available (%d bytes)\n", s, sr_offset);
1127 sensor[s].report_pending = DATA_TRIGGER;
1128 sensor[s].report_initialized = 1;
1130 ts_offset += sr_offset;
1133 /* Tentatively switch to an any-motion trigger if conditions are met */
1134 enable_motion_trigger(dev_num);
1136 /* If no iio timestamp channel was detected for this device, bail out */
1137 if (!has_iio_ts[dev_num]) {
1138 stamp_reports(dev_num, get_timestamp_boot());
1142 /* Don't trust the timestamp channel in any-motion mode */
1143 for (s=0; s<MAX_SENSORS; s++)
1144 if (sensor[s].dev_num == dev_num && is_enabled(s) && sensor[s].selected_trigger == sensor[s].motion_trigger_name) {
1145 stamp_reports(dev_num, get_timestamp_boot());
1149 /* Align on a 64 bits boundary */
1150 ts_offset = (ts_offset + 7)/8*8;
1152 /* If we read an amount of data consistent with timestamp presence */
1153 if (len == expected_dev_report_size[dev_num])
1154 ts = *(int64_t*) (buf + ts_offset);
1157 ALOGV("Unreliable timestamp channel on iio dev %d\n", dev_num);
1158 stamp_reports(dev_num, get_timestamp_boot());
1162 ALOGV("Driver timestamp on iio device %d: ts=%lld\n", dev_num, ts);
1164 boot_to_rt_delta = get_timestamp_boot() - get_timestamp_realtime();
1166 stamp_reports(dev_num, ts + boot_to_rt_delta);
1172 static int propagate_vsensor_report (int s, sensors_event_t *data)
1174 /* There's a new report stored in sensor.sample for this sensor; transmit it */
1176 memcpy(data, &sensor[s].sample, sizeof(sensors_event_t));
1179 data->type = sensor[s].type;
1184 static int propagate_sensor_report (int s, sensors_event_t *data)
1186 /* There's a sensor report pending for this sensor ; transmit it */
1188 int num_fields = get_field_count(s);
1190 unsigned char* current_sample;
1192 /* If there's nothing to return... we're done */
1196 memset(data, 0, sizeof(sensors_event_t));
1198 data->version = sizeof(sensors_event_t);
1200 data->type = sensor[s].type;
1201 data->timestamp = sensor[s].report_ts;
1203 ALOGV("Sample on sensor %d (type %d):\n", s, sensor[s].type);
1205 current_sample = sensor[s].report_buffer;
1207 /* If this is a poll sensor */
1208 if (sensor[s].is_polling) {
1209 /* Use the data provided by the acquisition thread */
1210 ALOGV("Reporting data from worker thread for S%d\n", s);
1211 memcpy(data->data, current_sample, num_fields * sizeof(float));
1215 /* Convert the data into the expected Android-level format */
1216 for (c=0; c<num_fields; c++) {
1218 data->data[c] = sensor[s].ops.transform (s, c, current_sample);
1220 ALOGV("\tfield %d: %g\n", c, data->data[c]);
1221 current_sample += sensor[s].channel[c].size;
1224 /* The finalize routine, in addition to its late sample processing duty, has the final say on whether or not the sample gets sent to Android */
1225 return sensor[s].ops.finalize(s, data);
1229 static void synthetize_duplicate_samples (void)
1232 * Some sensor types (ex: gyroscope) are defined as continuously firing by Android, despite the fact that
1233 * we can be dealing with iio drivers that only report events for new samples. For these we generate reports
1234 * periodically, duplicating the last data we got from the driver. This is not necessary for polling sensors.
1242 for (s=0; s<sensor_count; s++) {
1244 /* Ignore disabled sensors */
1248 /* If the sensor is continuously firing, leave it alone */
1249 if (sensor[s].selected_trigger != sensor[s].motion_trigger_name)
1252 /* If we haven't seen a sample, there's nothing to duplicate */
1253 if (!sensor[s].report_initialized)
1256 /* If a sample was recently buffered, leave it alone too */
1257 if (sensor[s].report_pending)
1260 /* We also need a valid sampling rate to be configured */
1261 if (!sensor[s].sampling_rate)
1264 period = (int64_t) (1000000000.0 / sensor[s].sampling_rate);
1266 current_ts = get_timestamp_boot();
1267 target_ts = sensor[s].report_ts + period;
1269 if (target_ts <= current_ts) {
1270 /* Mark the sensor for event generation */
1271 set_report_ts(s, current_ts);
1272 sensor[s].report_pending = DATA_DUPLICATE;
1278 static void integrate_thread_report (uint32_t tag)
1280 int s = tag - THREAD_REPORT_TAG_BASE;
1284 unsigned char current_sample[MAX_SENSOR_REPORT_SIZE];
1286 expected_len = sizeof(int64_t) + get_field_count(s) * sizeof(float);
1288 len = read(sensor[s].thread_data_fd[0], current_sample, expected_len);
1290 memcpy(×tamp, current_sample, sizeof(int64_t));
1291 memcpy(sensor[s].report_buffer, sizeof(int64_t) + current_sample, expected_len - sizeof(int64_t));
1293 if (len == expected_len) {
1294 set_report_ts(s, timestamp);
1295 sensor[s].report_pending = DATA_SYSFS;
1300 static int get_poll_wait_timeout (void)
1303 * Compute an appropriate timeout value, in ms, for the epoll_wait call that's going to await
1304 * for iio device reports and incoming reports from our sensor sysfs data reader threads.
1308 int64_t target_ts = INT64_MAX;
1313 * Check if we're dealing with a driver that only send events when there is motion, despite the fact that the associated Android sensor
1314 * type is continuous rather than on-change. In that case we have to duplicate events. Check deadline for the nearest upcoming event.
1316 for (s=0; s<sensor_count; s++)
1317 if (is_enabled(s) && sensor[s].selected_trigger == sensor[s].motion_trigger_name && sensor[s].sampling_rate) {
1318 period = (int64_t) (1000000000.0 / sensor[s].sampling_rate);
1320 if (sensor[s].report_ts + period < target_ts)
1321 target_ts = sensor[s].report_ts + period;
1324 /* If we don't have such a driver to deal with */
1325 if (target_ts == INT64_MAX)
1326 return -1; /* Infinite wait */
1328 ms_to_wait = (target_ts - get_timestamp_boot()) / 1000000;
1330 /* If the target timestamp is already behind us, don't wait */
1338 int sensor_poll (sensors_event_t* data, int count)
1343 struct epoll_event ev[MAX_DEVICES];
1344 int returned_events;
1348 /* Get one or more events from our collection of sensors */
1349 return_available_sensor_reports:
1351 /* Synthetize duplicate samples if needed */
1352 synthetize_duplicate_samples();
1354 returned_events = 0;
1356 /* Check our sensor collection for available reports */
1357 for (s=0; s<sensor_count && returned_events < count; s++) {
1359 if (sensor[s].report_pending) {
1362 if (sensor[s].is_virtual)
1363 event_count = propagate_vsensor_report(s, &data[returned_events]);
1365 /* Report this event if it looks OK */
1366 event_count = propagate_sensor_report(s, &data[returned_events]);
1369 sensor[s].report_pending = 0;
1370 returned_events += event_count;
1373 * If the sample was deemed invalid or unreportable, e.g. had the same value as the previously reported
1374 * value for a 'on change' sensor, silently drop it.
1378 while (sensor[s].meta_data_pending) {
1379 /* See sensors.h on these */
1380 data[returned_events].version = META_DATA_VERSION;
1381 data[returned_events].sensor = 0;
1382 data[returned_events].type = SENSOR_TYPE_META_DATA;
1383 data[returned_events].reserved0 = 0;
1384 data[returned_events].timestamp = 0;
1385 data[returned_events].meta_data.sensor = s;
1386 data[returned_events].meta_data.what = META_DATA_FLUSH_COMPLETE;
1388 sensor[s].meta_data_pending--;
1392 if (returned_events)
1393 return returned_events;
1397 ALOGV("Awaiting sensor data\n");
1399 nfds = epoll_wait(poll_fd, ev, MAX_DEVICES, get_poll_wait_timeout());
1402 ALOGE("epoll_wait returned -1 (%s)\n", strerror(errno));
1406 ALOGV("%d fds signalled\n", nfds);
1408 /* For each of the signalled sources */
1409 for (i=0; i<nfds; i++)
1410 if (ev[i].events == EPOLLIN)
1411 switch (ev[i].data.u32) {
1412 case 0 ... MAX_DEVICES-1:
1413 /* Read report from iio char dev fd */
1414 integrate_device_report(ev[i].data.u32);
1417 case THREAD_REPORT_TAG_BASE ...
1418 THREAD_REPORT_TAG_BASE + MAX_SENSORS-1:
1419 /* Get report from acquisition thread */
1420 integrate_thread_report(ev[i].data.u32);
1424 ALOGW("Unexpected event source!\n");
1428 goto return_available_sensor_reports;
1432 int sensor_set_delay (int s, int64_t ns)
1434 float requested_sampling_rate;
1437 ALOGE("Invalid delay requested on sensor %d: %lld\n", s, ns);
1441 requested_sampling_rate = 1000000000.0 / ns;
1443 ALOGV("Entering set delay S%d (%s): current rate: %g, requested: %g\n", s, sensor[s].friendly_name, sensor[s].sampling_rate, requested_sampling_rate);
1446 * Only try to adjust the low level sampling rate if it's different from the current one, as set by the HAL. This saves a few sysfs
1447 * reads and writes as well as buffer enable/disable operations, since at the iio level most drivers require the buffer to be turned off
1448 * in order to accept a sampling rate change. Of course that implies that this field has to be kept up to date and that only this library
1449 * is changing the sampling rate.
1452 if (requested_sampling_rate != sensor[s].sampling_rate)
1453 return sensor_set_rate(s, requested_sampling_rate);
1459 int sensor_flush (int s)
1461 /* If one shot or not enabled return -EINVAL */
1462 if (sensor_desc[s].flags & SENSOR_FLAG_ONE_SHOT_MODE || !is_enabled(s))
1465 sensor[s].meta_data_pending++;
1470 int allocate_control_data (void)
1474 for (i=0; i<MAX_DEVICES; i++)
1477 poll_fd = epoll_create(MAX_DEVICES);
1479 if (poll_fd == -1) {
1480 ALOGE("Can't create epoll instance for iio sensors!\n");
1488 void delete_control_data (void)