2 * Copyright (C) 2014 Intel Corporation.
9 #include <hardware/sensors.h>
10 #include "enumeration.h"
11 #include "description.h"
13 #include "transform.h"
14 #include "description.h"
16 #include "calibration.h"
19 * This table maps syfs entries in scan_elements directories to sensor types,
20 * and will also be used to determine other sysfs names as well as the iio
21 * device number associated to a specific sensor.
25 * We duplicate entries for the uncalibrated types after their respective base
26 * sensor. This is because all sensor entries must have an associated catalog entry
27 * and also because when only the uncal sensor is active it needs to take it's data
28 * from the same iio device as the base one.
31 struct sensor_catalog_entry_t sensor_catalog[] = {
32 DECLARE_SENSOR3("accel", SENSOR_TYPE_ACCELEROMETER, "x", "y", "z")
33 DECLARE_SENSOR3("anglvel", SENSOR_TYPE_GYROSCOPE, "x", "y", "z")
34 DECLARE_SENSOR3("magn", SENSOR_TYPE_MAGNETIC_FIELD, "x", "y", "z")
35 DECLARE_SENSOR1("intensity", SENSOR_TYPE_LIGHT, "both" )
36 DECLARE_SENSOR0("illuminance",SENSOR_TYPE_LIGHT )
37 DECLARE_SENSOR3("incli", SENSOR_TYPE_ORIENTATION, "x", "y", "z")
38 DECLARE_SENSOR4("rot", SENSOR_TYPE_ROTATION_VECTOR,
39 "quat_x", "quat_y", "quat_z", "quat_w")
40 DECLARE_SENSOR0("temp", SENSOR_TYPE_AMBIENT_TEMPERATURE )
41 DECLARE_SENSOR0("proximity", SENSOR_TYPE_PROXIMITY )
42 DECLARE_VIRTUAL(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
45 #define CATALOG_SIZE ARRAY_SIZE(sensor_catalog)
47 /* ACPI PLD (physical location of device) definitions, as used with sensors */
52 /* We equate sensor handles to indices in these tables */
54 struct sensor_t sensor_desc[MAX_SENSORS]; /* Android-level descriptors */
55 struct sensor_info_t sensor[MAX_SENSORS]; /* Internal descriptors */
56 int sensor_count; /* Detected sensors */
58 static void setup_properties_from_pld(int s, int panel, int rotation,
62 * Generate suitable order and opt_scale directives from the PLD panel
63 * and rotation codes we got. This can later be superseded by the usual
64 * properties if necessary. Eventually we'll need to replace these
65 * mechanisms by a less convoluted one, such as a 3x3 placement matrix.
72 int angle = rotation * 45;
74 /* Only deal with 3 axis chips for now */
78 if (panel == PANEL_BACK) {
79 /* Chip placed on the back panel ; negate x and z */
85 case 90: /* 90° clockwise: negate y then swap x,y */
90 case 180: /* Upside down: negate x and y */
95 case 270: /* 90° counter clockwise: negate x then swap x,y */
102 sensor[s].order[0] = 1;
103 sensor[s].order[1] = 0;
104 sensor[s].order[2] = 2;
105 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
108 sensor[s].channel[0].opt_scale = x;
109 sensor[s].channel[1].opt_scale = y;
110 sensor[s].channel[2].opt_scale = z;
114 static int is_valid_pld (int panel, int rotation)
116 if (panel != PANEL_FRONT && panel != PANEL_BACK) {
117 ALOGW("Unhandled PLD panel spec: %d\n", panel);
121 /* Only deal with 90° rotations for now */
122 if (rotation < 0 || rotation > 7 || (rotation & 1)) {
123 ALOGW("Unhandled PLD rotation spec: %d\n", rotation);
131 static int read_pld_from_properties (int s, int* panel, int* rotation)
135 if (sensor_get_prop(s, "panel", &p))
138 if (sensor_get_prop(s, "rotation", &r))
141 if (!is_valid_pld(p, r))
147 ALOGI("S%d PLD from properties: panel=%d, rotation=%d\n", s, p, r);
153 static int read_pld_from_sysfs (int s, int dev_num, int* panel, int* rotation)
155 char sysfs_path[PATH_MAX];
158 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/panel", dev_num);
160 if (sysfs_read_int(sysfs_path, &p))
163 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/rotation", dev_num);
165 if (sysfs_read_int(sysfs_path, &r))
168 if (!is_valid_pld(p, r))
174 ALOGI("S%d PLD from sysfs: panel=%d, rotation=%d\n", s, p, r);
180 static void decode_placement_information (int dev_num, int num_channels, int s)
183 * See if we have optional "physical location of device" ACPI tags.
184 * We're only interested in panel and rotation specifiers. Use the
185 * .panel and .rotation properties in priority, and the actual ACPI
186 * values as a second source.
192 if (read_pld_from_properties(s, &panel, &rotation) &&
193 read_pld_from_sysfs(s, dev_num, &panel, &rotation))
194 return; /* No PLD data available */
196 /* Map that to field ordering and scaling mechanisms */
197 setup_properties_from_pld(s, panel, rotation, num_channels);
200 static void populate_descriptors(int s, int sensor_type)
202 /* Initialize Android-visible descriptor */
203 sensor_desc[s].name = sensor_get_name(s);
204 sensor_desc[s].vendor = sensor_get_vendor(s);
205 sensor_desc[s].version = sensor_get_version(s);
206 sensor_desc[s].handle = s;
207 sensor_desc[s].type = sensor_type;
209 sensor_desc[s].maxRange = sensor_get_max_range(s);
210 sensor_desc[s].resolution = sensor_get_resolution(s);
211 sensor_desc[s].power = sensor_get_power(s);
212 sensor_desc[s].stringType = sensor_get_string_type(s);
214 /* None of our supported sensors requires a special permission.
215 * If this will be the case we should implement a sensor_get_perm
217 sensor_desc[s].requiredPermission = "";
218 sensor_desc[s].flags = sensor_get_flags(s);
219 sensor_desc[s].minDelay = sensor_get_min_delay(s);
220 sensor_desc[s].maxDelay = sensor_get_max_delay(s);
222 ALOGI("Sensor %d (%s) type(%d) minD(%d) maxD(%d) flags(%2.2x)\n",
223 s, sensor[s].friendly_name, sensor_desc[s].type,
224 sensor_desc[s].minDelay, sensor_desc[s].maxDelay, sensor_desc[s].flags);
226 /* We currently do not implement batching when we'll so
227 * these should be overriden appropriately
229 sensor_desc[s].fifoReservedEventCount = 0;
230 sensor_desc[s].fifoMaxEventCount = 0;
233 static void add_virtual_sensor (int catalog_index)
238 if (sensor_count == MAX_SENSORS) {
239 ALOGE("Too many sensors!\n");
243 sensor_type = sensor_catalog[catalog_index].type;
247 sensor[s].is_virtual = 1;
248 sensor[s].catalog_index = catalog_index;
249 sensor[s].type = sensor_type;
251 populate_descriptors(s, sensor_type);
253 /* Initialize fields related to sysfs reads offloading */
254 sensor[s].thread_data_fd[0] = -1;
255 sensor[s].thread_data_fd[1] = -1;
256 sensor[s].acquisition_thread = -1;
261 static void add_sensor (int dev_num, int catalog_index, int use_polling)
266 char sysfs_path[PATH_MAX];
273 char suffix[MAX_NAME_SIZE + 8];
275 if (sensor_count == MAX_SENSORS) {
276 ALOGE("Too many sensors!\n");
280 sensor_type = sensor_catalog[catalog_index].type;
283 * At this point we could check that the expected sysfs attributes are
284 * present ; that would enable having multiple catalog entries with the
285 * same sensor type, accomodating different sets of sysfs attributes.
290 sensor[s].dev_num = dev_num;
291 sensor[s].catalog_index = catalog_index;
292 sensor[s].type = sensor_type;
294 num_channels = sensor_catalog[catalog_index].num_channels;
297 sensor[s].num_channels = 0;
299 sensor[s].num_channels = num_channels;
301 prefix = sensor_catalog[catalog_index].tag;
304 * receiving the illumination sensor calibration inputs from
305 * the Android properties and setting it within sysfs
307 if (sensor_type == SENSOR_TYPE_LIGHT) {
308 retval = sensor_get_illumincalib(s);
310 sprintf(sysfs_path, ILLUMINATION_CALIBPATH, dev_num);
311 sysfs_write_int(sysfs_path, retval);
315 /* Read name attribute, if available */
316 sprintf(sysfs_path, NAME_PATH, dev_num);
317 sysfs_read_str(sysfs_path, sensor[s].internal_name, MAX_NAME_SIZE);
319 /* See if we have general offsets and scale values for this sensor */
321 sprintf(sysfs_path, SENSOR_OFFSET_PATH, dev_num, prefix);
322 sysfs_read_float(sysfs_path, &sensor[s].offset);
324 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
325 if (!sensor_get_fl_prop(s, "scale", &scale)) {
327 * There is a chip preferred scale specified,
328 * so try to store it in sensor's scale file
330 if (sysfs_write_float(sysfs_path, scale) == -1 && errno == ENOENT) {
331 ALOGE("Failed to store scale[%f] into %s - file is missing", scale, sysfs_path);
332 /* Store failed, try to store the scale into channel specific file */
333 for (c = 0; c < num_channels; c++)
335 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
336 sensor_catalog[catalog_index].channel[c].scale_path);
337 if (sysfs_write_float(sysfs_path, scale) == -1)
338 ALOGE("Failed to store scale[%f] into %s", scale, sysfs_path);
343 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
344 if (!sysfs_read_float(sysfs_path, &scale)) {
345 sensor[s].scale = scale;
346 ALOGI("Scale path:%s scale:%f dev_num:%d\n",
347 sysfs_path, scale, dev_num);
351 /* Read channel specific scale if any*/
352 for (c = 0; c < num_channels; c++)
354 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
355 sensor_catalog[catalog_index].channel[c].scale_path);
357 if (!sysfs_read_float(sysfs_path, &scale)) {
358 sensor[s].channel[c].scale = scale;
361 ALOGI( "Scale path:%s "
362 "channel scale:%f dev_num:%d\n",
363 sysfs_path, scale, dev_num);
368 /* Set default scaling - if num_channels is zero, we have one channel */
370 sensor[s].channel[0].opt_scale = 1;
372 for (c = 1; c < num_channels; c++)
373 sensor[s].channel[c].opt_scale = 1;
375 /* Read ACPI _PLD attributes for this sensor, if there are any */
376 decode_placement_information(dev_num, num_channels, s);
379 * See if we have optional correction scaling factors for each of the
380 * channels of this sensor. These would be expressed using properties
381 * like iio.accel.y.opt_scale = -1. In case of a single channel we also
382 * support things such as iio.temp.opt_scale = -1. Note that this works
383 * for all types of sensors, and whatever transform is selected, on top
384 * of any previous conversions.
388 for (c = 0; c < num_channels; c++) {
389 ch_name = sensor_catalog[catalog_index].channel[c].name;
390 sprintf(suffix, "%s.opt_scale", ch_name);
391 if (!sensor_get_fl_prop(s, suffix, &opt_scale))
392 sensor[s].channel[c].opt_scale = opt_scale;
395 if (!sensor_get_fl_prop(s, "opt_scale", &opt_scale))
396 sensor[s].channel[0].opt_scale = opt_scale;
398 populate_descriptors(s, sensor_type);
400 /* Populate the quirks array */
401 sensor_get_quirks(s);
403 if (sensor[s].internal_name[0] == '\0') {
405 * In case the kernel-mode driver doesn't expose a name for
406 * the iio device, use (null)-dev%d as the trigger name...
407 * This can be considered a kernel-mode iio driver bug.
409 ALOGW("Using null trigger on sensor %d (dev %d)\n", s, dev_num);
410 strcpy(sensor[s].internal_name, "(null)");
413 switch (sensor_type) {
414 case SENSOR_TYPE_GYROSCOPE:
415 sensor[s].cal_data = malloc(sizeof(struct gyro_cal_t));
418 case SENSOR_TYPE_MAGNETIC_FIELD:
419 sensor[s].cal_data = malloc(sizeof(struct compass_cal_t));
423 sensor[s].max_cal_level = sensor_get_cal_steps(s);
424 /* Select one of the available sensor sample processing styles */
427 /* Initialize fields related to sysfs reads offloading */
428 sensor[s].thread_data_fd[0] = -1;
429 sensor[s].thread_data_fd[1] = -1;
430 sensor[s].acquisition_thread = -1;
432 /* Check if we have a special ordering property on this sensor */
433 if (sensor_get_order(s, sensor[s].order))
434 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
440 static void discover_poll_sensors (int dev_num, char map[CATALOG_SIZE])
442 char base_dir[PATH_MAX];
448 memset(map, 0, CATALOG_SIZE);
450 snprintf(base_dir, sizeof(base_dir), BASE_PATH, dev_num);
452 dir = opendir(base_dir);
457 /* Enumerate entries in this iio device's base folder */
459 while ((d = readdir(dir))) {
460 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
463 /* If the name matches a catalog entry, flag it */
464 for (i = 0; i < CATALOG_SIZE; i++) {
465 /* No discovery for virtual sensors */
466 if (sensor_catalog[i].is_virtual)
468 for (c=0; c<sensor_catalog[i].num_channels; c++)
469 if (!strcmp(d->d_name,sensor_catalog[i].channel[c].raw_path) ||
470 !strcmp(d->d_name, sensor_catalog[i].channel[c].input_path)) {
481 static void discover_trig_sensors (int dev_num, char map[CATALOG_SIZE])
483 char scan_elem_dir[PATH_MAX];
488 memset(map, 0, CATALOG_SIZE);
490 /* Enumerate entries in this iio device's scan_elements folder */
492 snprintf(scan_elem_dir, sizeof(scan_elem_dir), CHANNEL_PATH, dev_num);
494 dir = opendir(scan_elem_dir);
499 while ((d = readdir(dir))) {
500 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
503 /* Compare en entry to known ones and create matching sensors */
505 for (i = 0; i<CATALOG_SIZE; i++) {
506 /* No discovery for virtual sensors */
507 if (sensor_catalog[i].is_virtual)
509 if (!strcmp(d->d_name,
510 sensor_catalog[i].channel[0].en_path)) {
521 static void orientation_sensor_check(void)
524 * If we have accel + gyro + magn but no rotation vector sensor,
525 * SensorService replaces the HAL provided orientation sensor by the
526 * AOSP version... provided we report one. So initialize a virtual
527 * orientation sensor with zero values, which will get replaced. See:
528 * frameworks/native/services/sensorservice/SensorService.cpp, looking
529 * for SENSOR_TYPE_ROTATION_VECTOR; that code should presumably fall
530 * back to mUserSensorList.add instead of replaceAt, but accommodate it.
539 int catalog_size = CATALOG_SIZE;
541 for (i=0; i<sensor_count; i++)
542 switch (sensor[i].type) {
543 case SENSOR_TYPE_ACCELEROMETER:
546 case SENSOR_TYPE_GYROSCOPE:
549 case SENSOR_TYPE_MAGNETIC_FIELD:
552 case SENSOR_TYPE_ORIENTATION:
555 case SENSOR_TYPE_ROTATION_VECTOR:
560 if (has_acc && has_gyr && has_mag && !has_rot && !has_ori)
561 for (i=0; i<catalog_size; i++)
562 if (sensor_catalog[i].type == SENSOR_TYPE_ORIENTATION) {
563 ALOGI("Adding placeholder orientation sensor");
569 static void propose_new_trigger (int s, char trigger_name[MAX_NAME_SIZE],
573 * A new trigger has been enumerated for this sensor. Check if it makes
574 * sense to use it over the currently selected one, and select it if it
575 * is so. The format is something like sensor_name-dev0.
578 const char *suffix = trigger_name + sensor_name_len + 1;
580 /* dev is the default, and lowest priority; no need to update */
581 if (!memcmp(suffix, "dev", 3))
584 /* If we found any-motion trigger, record it */
586 if (!memcmp(suffix, "any-motion-", 11)) {
587 strcpy(sensor[s].motion_trigger_name, trigger_name);
592 * It's neither the default "dev" nor an "any-motion" one. Make sure we
593 * use this though, as we may not have any other indication of the name
594 * of the trigger to use with this sensor.
596 strcpy(sensor[s].init_trigger_name, trigger_name);
600 static void update_sensor_matching_trigger_name (char name[MAX_NAME_SIZE])
603 * Check if we have a sensor matching the specified trigger name,
604 * which should then begin with the sensor name, and end with a number
605 * equal to the iio device number the sensor is associated to. If so,
606 * update the string we're going to write to trigger/current_trigger
607 * when enabling this sensor.
617 * First determine the iio device number this trigger refers to. We
618 * expect the last few characters (typically one) of the trigger name
619 * to be this number, so perform a few checks.
621 len = strnlen(name, MAX_NAME_SIZE);
626 cursor = name + len - 1;
628 if (!isdigit(*cursor))
631 while (len && isdigit(*cursor)) {
636 dev_num = atoi(cursor+1);
638 /* See if that matches a sensor */
639 for (s=0; s<sensor_count; s++)
640 if (sensor[s].dev_num == dev_num) {
642 sensor_name_len = strlen(sensor[s].internal_name);
645 sensor[s].internal_name,
647 /* Switch to new trigger if appropriate */
648 propose_new_trigger(s, name, sensor_name_len);
653 static void setup_trigger_names (void)
655 char filename[PATH_MAX];
656 char buf[MAX_NAME_SIZE];
662 /* By default, use the name-dev convention that most drivers use */
663 for (s=0; s<sensor_count; s++)
664 snprintf(sensor[s].init_trigger_name,
665 MAX_NAME_SIZE, "%s-dev%d",
666 sensor[s].internal_name, sensor[s].dev_num);
668 /* Now have a look to /sys/bus/iio/devices/triggerX entries */
670 for (trigger=0; trigger<MAX_TRIGGERS; trigger++) {
672 snprintf(filename, sizeof(filename), TRIGGER_FILE_PATH,trigger);
674 ret = sysfs_read_str(filename, buf, sizeof(buf));
679 /* Record initial and any-motion triggers names */
680 update_sensor_matching_trigger_name(buf);
684 * Certain drivers expose only motion triggers even though they should
685 * be continous. For these, use the default trigger name as the motion
686 * trigger. The code generating intermediate events is dependent on
687 * motion_trigger_name being set to a non empty string.
690 for (s=0; s<sensor_count; s++)
691 if ((sensor[s].quirks & QUIRK_TERSE_DRIVER) &&
692 sensor[s].motion_trigger_name[0] == '\0')
693 strcpy( sensor[s].motion_trigger_name,
694 sensor[s].init_trigger_name);
696 for (s=0; s<sensor_count; s++)
697 if (sensor[s].num_channels) {
698 ALOGI("Sensor %d (%s) default trigger: %s\n", s,
699 sensor[s].friendly_name,
700 sensor[s].init_trigger_name);
701 if (sensor[s].motion_trigger_name[0])
702 ALOGI("Sensor %d (%s) motion trigger: %s\n",
703 s, sensor[s].friendly_name,
704 sensor[s].motion_trigger_name);
708 static void uncalibrated_gyro_check (void)
710 unsigned int has_gyr = 0;
711 unsigned int dev_num;
716 int catalog_size = CATALOG_SIZE; /* Avoid GCC sign comparison warning */
718 if (sensor_count == MAX_SENSORS)
720 /* Checking to see if we have a gyroscope - we can only have uncal if we have the base sensor */
721 for (i=0; i < sensor_count; i++)
722 if (sensor[i].type == SENSOR_TYPE_GYROSCOPE) {
729 uncal_idx = sensor_count;
730 sensor[uncal_idx].base_count = 1;
731 sensor[uncal_idx].base_idx[0] = cal_idx;
733 for (i=0; i<catalog_size; i++)
734 if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
735 add_virtual_sensor(i);
741 void enumerate_sensors (void)
744 * Discover supported sensors and allocate control structures for them.
745 * Multiple sensors can potentially rely on a single iio device (each
746 * using their own channels). We can't have multiple sensors of the same
747 * type on the same device. In case of detection as both a poll-mode
748 * and trigger-based sensor, use the trigger usage mode.
750 char poll_sensors[CATALOG_SIZE];
751 char trig_sensors[CATALOG_SIZE];
756 for (dev_num=0; dev_num<MAX_DEVICES; dev_num++) {
759 discover_poll_sensors(dev_num, poll_sensors);
760 discover_trig_sensors(dev_num, trig_sensors);
762 for (i=0; i<CATALOG_SIZE; i++)
763 if (trig_sensors[i]) {
764 add_sensor(dev_num, i, 0);
769 add_sensor(dev_num, i, 1);
772 build_sensor_report_maps(dev_num);
776 ALOGI("Discovered %d sensors\n", sensor_count);
778 /* Set up default - as well as custom - trigger names */
779 setup_trigger_names();
781 /* Make sure Android fall backs to its own orientation sensor */
782 orientation_sensor_check();
785 * Create the uncalibrated counterpart to the compensated gyroscope.
786 * This is is a new sensor type in Android 4.4.
789 uncalibrated_gyro_check();
793 void delete_enumeration_data (void)
796 for (i = 0; i < sensor_count; i++)
797 switch (sensor[i].type) {
798 case SENSOR_TYPE_MAGNETIC_FIELD:
799 if (sensor[i].cal_data != NULL) {
800 free(sensor[i].cal_data);
801 sensor[i].cal_data = NULL;
802 sensor[i].cal_level = 0;
806 case SENSOR_TYPE_GYROSCOPE:
807 if (sensor[i].cal_data != NULL) {
808 free(sensor[i].cal_data);
809 sensor[i].cal_data = NULL;
810 sensor[i].cal_level = 0;
817 /* Reset sensor count */
822 int get_sensors_list (__attribute__((unused)) struct sensors_module_t* module,
823 struct sensor_t const** list)