2 * Copyright (C) 2014 Intel Corporation.
10 #include <hardware/sensors.h>
11 #include "enumeration.h"
12 #include "description.h"
14 #include "transform.h"
15 #include "description.h"
17 #include "calibration.h"
20 * This table maps syfs entries in scan_elements directories to sensor types,
21 * and will also be used to determine other sysfs names as well as the iio
22 * device number associated to a specific sensor.
26 * We duplicate entries for the uncalibrated types after their respective base
27 * sensor. This is because all sensor entries must have an associated catalog entry
28 * and also because when only the uncal sensor is active it needs to take it's data
29 * from the same iio device as the base one.
32 sensor_catalog_entry_t sensor_catalog[] = {
35 .type = SENSOR_TYPE_ACCELEROMETER,
39 { DECLARE_NAMED_CHANNEL("accel", "x") },
40 { DECLARE_NAMED_CHANNEL("accel", "y") },
41 { DECLARE_NAMED_CHANNEL("accel", "z") },
46 .type = SENSOR_TYPE_GYROSCOPE,
50 { DECLARE_NAMED_CHANNEL("anglvel", "x") },
51 { DECLARE_NAMED_CHANNEL("anglvel", "y") },
52 { DECLARE_NAMED_CHANNEL("anglvel", "z") },
57 .type = SENSOR_TYPE_MAGNETIC_FIELD,
61 { DECLARE_NAMED_CHANNEL("magn", "x") },
62 { DECLARE_NAMED_CHANNEL("magn", "y") },
63 { DECLARE_NAMED_CHANNEL("magn", "z") },
68 .type = SENSOR_TYPE_LIGHT,
72 { DECLARE_NAMED_CHANNEL("intensity", "both") },
77 .type = SENSOR_TYPE_LIGHT,
81 { DECLARE_GENERIC_CHANNEL("illuminance") },
86 .type = SENSOR_TYPE_ORIENTATION,
90 { DECLARE_NAMED_CHANNEL("incli", "x") },
91 { DECLARE_NAMED_CHANNEL("incli", "y") },
92 { DECLARE_NAMED_CHANNEL("incli", "z") },
97 .type = SENSOR_TYPE_ROTATION_VECTOR,
101 { DECLARE_NAMED_CHANNEL("rot", "quat_x") },
102 { DECLARE_NAMED_CHANNEL("rot", "quat_y") },
103 { DECLARE_NAMED_CHANNEL("rot", "quat_z") },
104 { DECLARE_NAMED_CHANNEL("rot", "quat_w") },
109 .type = SENSOR_TYPE_AMBIENT_TEMPERATURE,
113 { DECLARE_GENERIC_CHANNEL("temp") },
118 .type = SENSOR_TYPE_PROXIMITY,
122 { DECLARE_GENERIC_CHANNEL("proximity") },
127 .type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED,
131 { DECLARE_GENERIC_CHANNEL("") },
137 .type = SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED,
141 { DECLARE_GENERIC_CHANNEL("") },
146 .type = SENSOR_TYPE_STEP_COUNTER,
150 { DECLARE_GENERIC_CHANNEL("steps") },
155 #define CATALOG_SIZE ARRAY_SIZE(sensor_catalog)
157 /* ACPI PLD (physical location of device) definitions, as used with sensors */
159 #define PANEL_FRONT 4
162 /* We equate sensor handles to indices in these tables */
164 struct sensor_t sensor_desc[MAX_SENSORS]; /* Android-level descriptors */
165 sensor_info_t sensor[MAX_SENSORS]; /* Internal descriptors */
166 int sensor_count; /* Detected sensors */
169 /* if the sensor has an _en attribute, we need to enable it */
170 int get_needs_enable(int dev_num, const char *tag)
172 char sysfs_path[PATH_MAX];
175 sprintf(sysfs_path, SENSOR_ENABLE_PATH, dev_num, tag);
177 fd = open(sysfs_path, O_RDWR);
185 static void setup_properties_from_pld (int s, int panel, int rotation,
189 * Generate suitable order and opt_scale directives from the PLD panel
190 * and rotation codes we got. This can later be superseded by the usual
191 * properties if necessary. Eventually we'll need to replace these
192 * mechanisms by a less convoluted one, such as a 3x3 placement matrix.
199 int angle = rotation * 45;
201 /* Only deal with 3 axis chips for now */
202 if (num_channels < 3)
205 if (panel == PANEL_BACK) {
206 /* Chip placed on the back panel ; negate x and z */
212 case 90: /* 90° clockwise: negate y then swap x,y */
217 case 180: /* Upside down: negate x and y */
222 case 270: /* 90° counter clockwise: negate x then swap x,y */
229 sensor[s].order[0] = 1;
230 sensor[s].order[1] = 0;
231 sensor[s].order[2] = 2;
232 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
235 sensor[s].channel[0].opt_scale = x;
236 sensor[s].channel[1].opt_scale = y;
237 sensor[s].channel[2].opt_scale = z;
241 static int is_valid_pld (int panel, int rotation)
243 if (panel != PANEL_FRONT && panel != PANEL_BACK) {
244 ALOGW("Unhandled PLD panel spec: %d\n", panel);
248 /* Only deal with 90° rotations for now */
249 if (rotation < 0 || rotation > 7 || (rotation & 1)) {
250 ALOGW("Unhandled PLD rotation spec: %d\n", rotation);
258 static int read_pld_from_properties (int s, int* panel, int* rotation)
262 if (sensor_get_prop(s, "panel", &p))
265 if (sensor_get_prop(s, "rotation", &r))
268 if (!is_valid_pld(p, r))
274 ALOGI("S%d PLD from properties: panel=%d, rotation=%d\n", s, p, r);
280 static int read_pld_from_sysfs (int s, int dev_num, int* panel, int* rotation)
282 char sysfs_path[PATH_MAX];
285 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/panel", dev_num);
287 if (sysfs_read_int(sysfs_path, &p))
290 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/rotation", dev_num);
292 if (sysfs_read_int(sysfs_path, &r))
295 if (!is_valid_pld(p, r))
301 ALOGI("S%d PLD from sysfs: panel=%d, rotation=%d\n", s, p, r);
307 static void decode_placement_information (int dev_num, int num_channels, int s)
310 * See if we have optional "physical location of device" ACPI tags.
311 * We're only interested in panel and rotation specifiers. Use the
312 * .panel and .rotation properties in priority, and the actual ACPI
313 * values as a second source.
319 if (read_pld_from_properties(s, &panel, &rotation) &&
320 read_pld_from_sysfs(s, dev_num, &panel, &rotation))
321 return; /* No PLD data available */
323 /* Map that to field ordering and scaling mechanisms */
324 setup_properties_from_pld(s, panel, rotation, num_channels);
328 static void populate_descriptors (int s, int sensor_type)
330 int32_t min_delay_us;
331 max_delay_t max_delay_us;
333 /* Initialize Android-visible descriptor */
334 sensor_desc[s].name = sensor_get_name(s);
335 sensor_desc[s].vendor = sensor_get_vendor(s);
336 sensor_desc[s].version = sensor_get_version(s);
337 sensor_desc[s].handle = s;
338 sensor_desc[s].type = sensor_type;
340 sensor_desc[s].maxRange = sensor_get_max_range(s);
341 sensor_desc[s].resolution = sensor_get_resolution(s);
342 sensor_desc[s].power = sensor_get_power(s);
343 sensor_desc[s].stringType = sensor_get_string_type(s);
345 /* None of our supported sensors requires a special permission */
346 sensor_desc[s].requiredPermission = "";
348 sensor_desc[s].flags = sensor_get_flags(s);
349 sensor_desc[s].minDelay = sensor_get_min_delay(s);
350 sensor_desc[s].maxDelay = sensor_get_max_delay(s);
352 ALOGV("Sensor %d (%s) type(%d) minD(%d) maxD(%d) flags(%2.2x)\n",
353 s, sensor[s].friendly_name, sensor_desc[s].type,
354 sensor_desc[s].minDelay, sensor_desc[s].maxDelay,
355 sensor_desc[s].flags);
357 /* We currently do not implement batching */
358 sensor_desc[s].fifoReservedEventCount = 0;
359 sensor_desc[s].fifoMaxEventCount = 0;
361 min_delay_us = sensor_desc[s].minDelay;
362 max_delay_us = sensor_desc[s].maxDelay;
364 sensor[s].min_supported_rate = max_delay_us ? 1000000.0 / max_delay_us : 1;
365 sensor[s].max_supported_rate = min_delay_us && min_delay_us != -1 ? 1000000.0 / min_delay_us : 0;
369 static void add_virtual_sensor (int catalog_index)
374 if (sensor_count == MAX_SENSORS) {
375 ALOGE("Too many sensors!\n");
379 sensor_type = sensor_catalog[catalog_index].type;
383 sensor[s].is_virtual = 1;
384 sensor[s].catalog_index = catalog_index;
385 sensor[s].type = sensor_type;
387 populate_descriptors(s, sensor_type);
389 /* Initialize fields related to sysfs reads offloading */
390 sensor[s].thread_data_fd[0] = -1;
391 sensor[s].thread_data_fd[1] = -1;
392 sensor[s].acquisition_thread = -1;
398 static void add_sensor (int dev_num, int catalog_index, int mode)
403 char sysfs_path[PATH_MAX];
410 char suffix[MAX_NAME_SIZE + 8];
413 if (sensor_count == MAX_SENSORS) {
414 ALOGE("Too many sensors!\n");
418 sensor_type = sensor_catalog[catalog_index].type;
421 * At this point we could check that the expected sysfs attributes are
422 * present ; that would enable having multiple catalog entries with the
423 * same sensor type, accomodating different sets of sysfs attributes.
428 sensor[s].dev_num = dev_num;
429 sensor[s].catalog_index = catalog_index;
430 sensor[s].type = sensor_type;
431 sensor[s].mode = mode;
433 num_channels = sensor_catalog[catalog_index].num_channels;
435 if (mode == MODE_POLL)
436 sensor[s].num_channels = 0;
438 sensor[s].num_channels = num_channels;
440 prefix = sensor_catalog[catalog_index].tag;
443 * receiving the illumination sensor calibration inputs from
444 * the Android properties and setting it within sysfs
446 if (sensor_type == SENSOR_TYPE_LIGHT) {
447 retval = sensor_get_illumincalib(s);
449 sprintf(sysfs_path, ILLUMINATION_CALIBPATH, dev_num);
450 sysfs_write_int(sysfs_path, retval);
455 * See if we have optional calibration biases for each of the channels of this sensor. These would be expressed using properties like
456 * iio.accel.y.calib_bias = -1, or possibly something like iio.temp.calib_bias if the sensor has a single channel. This value gets stored in the
457 * relevant calibbias sysfs file if that file can be located and then used internally by the iio sensor driver.
461 for (c = 0; c < num_channels; c++) {
462 ch_name = sensor_catalog[catalog_index].channel[c].name;
463 sprintf(suffix, "%s.calib_bias", ch_name);
464 if (!sensor_get_prop(s, suffix, &calib_bias) && calib_bias) {
465 sprintf(suffix, "%s_%s", prefix, sensor_catalog[catalog_index].channel[c].name);
466 sprintf(sysfs_path, SENSOR_CALIB_BIAS_PATH, dev_num, suffix);
467 sysfs_write_int(sysfs_path, calib_bias);
471 if (!sensor_get_prop(s, "calib_bias", &calib_bias) && calib_bias) {
472 sprintf(sysfs_path, SENSOR_CALIB_BIAS_PATH, dev_num, prefix);
473 sysfs_write_int(sysfs_path, calib_bias);
476 /* Read name attribute, if available */
477 sprintf(sysfs_path, NAME_PATH, dev_num);
478 sysfs_read_str(sysfs_path, sensor[s].internal_name, MAX_NAME_SIZE);
480 /* See if we have general offsets and scale values for this sensor */
482 sprintf(sysfs_path, SENSOR_OFFSET_PATH, dev_num, prefix);
483 sysfs_read_float(sysfs_path, &sensor[s].offset);
485 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
486 if (!sensor_get_fl_prop(s, "scale", &scale)) {
488 * There is a chip preferred scale specified,
489 * so try to store it in sensor's scale file
491 if (sysfs_write_float(sysfs_path, scale) == -1 && errno == ENOENT) {
492 ALOGE("Failed to store scale[%g] into %s - file is missing", scale, sysfs_path);
493 /* Store failed, try to store the scale into channel specific file */
494 for (c = 0; c < num_channels; c++)
496 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
497 sensor_catalog[catalog_index].channel[c].scale_path);
498 if (sysfs_write_float(sysfs_path, scale) == -1)
499 ALOGE("Failed to store scale[%g] into %s", scale, sysfs_path);
504 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
505 if (!sysfs_read_float(sysfs_path, &scale)) {
506 sensor[s].scale = scale;
507 ALOGV("Scale path:%s scale:%g dev_num:%d\n",
508 sysfs_path, scale, dev_num);
512 /* Read channel specific scale if any*/
513 for (c = 0; c < num_channels; c++)
515 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
516 sensor_catalog[catalog_index].channel[c].scale_path);
518 if (!sysfs_read_float(sysfs_path, &scale)) {
519 sensor[s].channel[c].scale = scale;
522 ALOGV( "Scale path:%s "
523 "channel scale:%g dev_num:%d\n",
524 sysfs_path, scale, dev_num);
529 /* Set default scaling - if num_channels is zero, we have one channel */
531 sensor[s].channel[0].opt_scale = 1;
533 for (c = 1; c < num_channels; c++)
534 sensor[s].channel[c].opt_scale = 1;
536 /* Read ACPI _PLD attributes for this sensor, if there are any */
537 decode_placement_information(dev_num, num_channels, s);
540 * See if we have optional correction scaling factors for each of the
541 * channels of this sensor. These would be expressed using properties
542 * like iio.accel.y.opt_scale = -1. In case of a single channel we also
543 * support things such as iio.temp.opt_scale = -1. Note that this works
544 * for all types of sensors, and whatever transform is selected, on top
545 * of any previous conversions.
549 for (c = 0; c < num_channels; c++) {
550 ch_name = sensor_catalog[catalog_index].channel[c].name;
551 sprintf(suffix, "%s.opt_scale", ch_name);
552 if (!sensor_get_fl_prop(s, suffix, &opt_scale))
553 sensor[s].channel[c].opt_scale = opt_scale;
556 if (!sensor_get_fl_prop(s, "opt_scale", &opt_scale))
557 sensor[s].channel[0].opt_scale = opt_scale;
559 populate_descriptors(s, sensor_type);
561 /* Populate the quirks array */
562 sensor_get_quirks(s);
564 if (sensor[s].internal_name[0] == '\0') {
566 * In case the kernel-mode driver doesn't expose a name for
567 * the iio device, use (null)-dev%d as the trigger name...
568 * This can be considered a kernel-mode iio driver bug.
570 ALOGW("Using null trigger on sensor %d (dev %d)\n", s, dev_num);
571 strcpy(sensor[s].internal_name, "(null)");
574 switch (sensor_type) {
575 case SENSOR_TYPE_GYROSCOPE:
576 sensor[s].cal_data = malloc(sizeof(gyro_cal_t));
579 case SENSOR_TYPE_MAGNETIC_FIELD:
580 sensor[s].cal_data = malloc(sizeof(compass_cal_t));
584 sensor[s].max_cal_level = sensor_get_cal_steps(s);
586 /* Select one of the available sensor sample processing styles */
589 /* Initialize fields related to sysfs reads offloading */
590 sensor[s].thread_data_fd[0] = -1;
591 sensor[s].thread_data_fd[1] = -1;
592 sensor[s].acquisition_thread = -1;
594 /* Check if we have a special ordering property on this sensor */
595 if (sensor_get_order(s, sensor[s].order))
596 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
598 sensor[s].needs_enable = get_needs_enable(dev_num, sensor_catalog[catalog_index].tag);
604 static void discover_sensors (int dev_num, char *sysfs_base_path, char map[CATALOG_SIZE],
605 void (*discover_sensor)(int, char*, char*))
607 char sysfs_dir[PATH_MAX];
612 memset(map, 0, CATALOG_SIZE);
614 snprintf(sysfs_dir, sizeof(sysfs_dir), sysfs_base_path, dev_num);
616 dir = opendir(sysfs_dir);
621 /* Enumerate entries in this iio device's base folder */
623 while ((d = readdir(dir))) {
624 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
627 /* If the name matches a catalog entry, flag it */
628 for (i = 0; i < CATALOG_SIZE; i++) {
630 /* No discovery for virtual sensors */
631 if (sensor_catalog[i].is_virtual)
633 discover_sensor(i, d->d_name, map);
640 static void check_poll_sensors (int i, char *sysfs_file, char map[CATALOG_SIZE])
644 for (c = 0; c < sensor_catalog[i].num_channels; c++)
645 if (!strcmp(sysfs_file, sensor_catalog[i].channel[c].raw_path) ||
646 !strcmp(sysfs_file, sensor_catalog[i].channel[c].input_path)) {
651 static void check_trig_sensors (int i, char *sysfs_file, char map[CATALOG_SIZE])
654 if (!strcmp(sysfs_file, sensor_catalog[i].channel[0].en_path)) {
660 static void virtual_sensors_check (void)
668 int catalog_size = CATALOG_SIZE;
669 int gyro_cal_idx = 0;
670 int magn_cal_idx = 0;
672 for (i=0; i<sensor_count; i++)
673 switch (sensor[i].type) {
674 case SENSOR_TYPE_ACCELEROMETER:
677 case SENSOR_TYPE_GYROSCOPE:
681 case SENSOR_TYPE_MAGNETIC_FIELD:
685 case SENSOR_TYPE_ORIENTATION:
688 case SENSOR_TYPE_ROTATION_VECTOR:
693 for (i=0; i<catalog_size; i++)
694 switch (sensor_catalog[i].type) {
696 * If we have accel + gyro + magn but no rotation vector sensor,
697 * SensorService replaces the HAL provided orientation sensor by the
698 * AOSP version... provided we report one. So initialize a virtual
699 * orientation sensor with zero values, which will get replaced. See:
700 * frameworks/native/services/sensorservice/SensorService.cpp, looking
701 * for SENSOR_TYPE_ROTATION_VECTOR; that code should presumably fall
702 * back to mUserSensorList.add instead of replaceAt, but accommodate it.
705 case SENSOR_TYPE_ORIENTATION:
706 if (has_acc && has_gyr && has_mag && !has_rot && !has_ori)
707 add_sensor(0, i, MODE_POLL);
709 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
711 sensor[sensor_count].base_count = 1;
712 sensor[sensor_count].base[0] = gyro_cal_idx;
713 add_virtual_sensor(i);
716 case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
718 sensor[sensor_count].base_count = 1;
719 sensor[sensor_count].base[0] = magn_cal_idx;
720 add_virtual_sensor(i);
729 static void propose_new_trigger (int s, char trigger_name[MAX_NAME_SIZE],
733 * A new trigger has been enumerated for this sensor. Check if it makes sense to use it over the currently selected one,
734 * and select it if it is so. The format is something like sensor_name-dev0.
737 const char *suffix = trigger_name + sensor_name_len + 1;
739 /* dev is the default, and lowest priority; no need to update */
740 if (!memcmp(suffix, "dev", 3))
743 /* If we found any-motion trigger, record it */
745 if (!memcmp(suffix, "any-motion-", 11)) {
746 strcpy(sensor[s].motion_trigger_name, trigger_name);
751 * It's neither the default "dev" nor an "any-motion" one. Make sure we use this though, as we may not have any other indication of the name
752 * of the trigger to use with this sensor.
754 strcpy(sensor[s].init_trigger_name, trigger_name);
758 static void update_sensor_matching_trigger_name (char name[MAX_NAME_SIZE])
761 * Check if we have a sensor matching the specified trigger name, which should then begin with the sensor name, and end with a number
762 * equal to the iio device number the sensor is associated to. If so, update the string we're going to write to trigger/current_trigger
763 * when enabling this sensor.
773 * First determine the iio device number this trigger refers to. We expect the last few characters (typically one) of the trigger name
774 * to be this number, so perform a few checks.
776 len = strnlen(name, MAX_NAME_SIZE);
781 cursor = name + len - 1;
783 if (!isdigit(*cursor))
786 while (len && isdigit(*cursor)) {
791 dev_num = atoi(cursor+1);
793 /* See if that matches a sensor */
794 for (s=0; s<sensor_count; s++)
795 if (sensor[s].dev_num == dev_num) {
797 sensor_name_len = strlen(sensor[s].internal_name);
799 if (!strncmp(name, sensor[s].internal_name, sensor_name_len))
800 /* Switch to new trigger if appropriate */
801 propose_new_trigger(s, name, sensor_name_len);
806 static void setup_trigger_names (void)
808 char filename[PATH_MAX];
809 char buf[MAX_NAME_SIZE];
814 /* By default, use the name-dev convention that most drivers use */
815 for (s=0; s<sensor_count; s++)
816 snprintf(sensor[s].init_trigger_name, MAX_NAME_SIZE, "%s-dev%d", sensor[s].internal_name, sensor[s].dev_num);
818 /* Now have a look to /sys/bus/iio/devices/triggerX entries */
820 for (trigger=0; trigger<MAX_TRIGGERS; trigger++) {
822 snprintf(filename, sizeof(filename), TRIGGER_FILE_PATH,trigger);
824 ret = sysfs_read_str(filename, buf, sizeof(buf));
829 /* Record initial and any-motion triggers names */
830 update_sensor_matching_trigger_name(buf);
834 * Certain drivers expose only motion triggers even though they should be continous. For these, use the default trigger name as the motion
835 * trigger. The code generating intermediate events is dependent on motion_trigger_name being set to a non empty string.
838 for (s=0; s<sensor_count; s++)
839 if ((sensor[s].quirks & QUIRK_TERSE_DRIVER) && sensor[s].motion_trigger_name[0] == '\0')
840 strcpy(sensor[s].motion_trigger_name, sensor[s].init_trigger_name);
842 for (s=0; s<sensor_count; s++)
843 if (sensor[s].mode == MODE_TRIGGER) {
844 ALOGI("Sensor %d (%s) default trigger: %s\n", s, sensor[s].friendly_name, sensor[s].init_trigger_name);
845 if (sensor[s].motion_trigger_name[0])
846 ALOGI("Sensor %d (%s) motion trigger: %s\n", s, sensor[s].friendly_name, sensor[s].motion_trigger_name);
850 void enumerate_sensors (void)
853 * Discover supported sensors and allocate control structures for them. Multiple sensors can potentially rely on a single iio device (each
854 * using their own channels). We can't have multiple sensors of the same type on the same device. In case of detection as both a poll-mode
855 * and trigger-based sensor, use the trigger usage mode.
857 char poll_sensors[CATALOG_SIZE];
858 char trig_sensors[CATALOG_SIZE];
863 for (dev_num=0; dev_num<MAX_DEVICES; dev_num++) {
866 discover_sensors(dev_num, BASE_PATH, poll_sensors, check_poll_sensors);
867 discover_sensors(dev_num, CHANNEL_PATH, trig_sensors, check_trig_sensors);
869 for (i=0; i<CATALOG_SIZE; i++)
870 if (trig_sensors[i]) {
871 add_sensor(dev_num, i, MODE_TRIGGER);
876 add_sensor(dev_num, i, MODE_POLL);
879 build_sensor_report_maps(dev_num);
882 ALOGI("Discovered %d sensors\n", sensor_count);
884 /* Set up default - as well as custom - trigger names */
885 setup_trigger_names();
887 virtual_sensors_check();
891 void delete_enumeration_data (void)
894 for (i = 0; i < sensor_count; i++)
895 if (sensor[i].cal_data) {
896 free(sensor[i].cal_data);
897 sensor[i].cal_data = NULL;
898 sensor[i].cal_level = 0;
901 /* Reset sensor count */
906 int get_sensors_list (__attribute__((unused)) struct sensors_module_t* module,
907 struct sensor_t const** list)