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_SENSOR3("anglvel", SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, "x", "y", "z")
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_info[MAX_SENSORS]; /* Internal descriptors */
56 int sensor_count; /* Detected sensors */
59 static void setup_properties_from_pld(int s, int panel, int rotation,
63 * Generate suitable order and opt_scale directives from the PLD panel
64 * and rotation codes we got. This can later be superseded by the usual
65 * properties if necessary. Eventually we'll need to replace these
66 * mechanisms by a less convoluted one, such as a 3x3 placement matrix.
73 int angle = rotation * 45;
75 /* Only deal with 3 axis chips for now */
79 if (panel == PANEL_BACK) {
80 /* Chip placed on the back panel ; negate x and z */
86 case 90: /* 90° clockwise: negate y then swap x,y */
91 case 180: /* Upside down: negate x and y */
96 case 270: /* 90° counter clockwise: negate x then swap x,y */
103 sensor_info[s].order[0] = 1;
104 sensor_info[s].order[1] = 0;
105 sensor_info[s].order[2] = 2;
106 sensor_info[s].quirks |= QUIRK_FIELD_ORDERING;
109 sensor_info[s].channel[0].opt_scale = x;
110 sensor_info[s].channel[1].opt_scale = y;
111 sensor_info[s].channel[2].opt_scale = z;
115 static int is_valid_pld (int panel, int rotation)
117 if (panel != PANEL_FRONT && panel != PANEL_BACK) {
118 ALOGW("Unhandled PLD panel spec: %d\n", panel);
122 /* Only deal with 90° rotations for now */
123 if (rotation < 0 || rotation > 7 || (rotation & 1)) {
124 ALOGW("Unhandled PLD rotation spec: %d\n", rotation);
132 static int read_pld_from_properties (int s, int* panel, int* rotation)
136 if (sensor_get_prop(s, "panel", &p))
139 if (sensor_get_prop(s, "rotation", &r))
142 if (!is_valid_pld(p, r))
148 ALOGI("S%d PLD from properties: panel=%d, rotation=%d\n", s, p, r);
154 static int read_pld_from_sysfs (int s, int dev_num, int* panel, int* rotation)
156 char sysfs_path[PATH_MAX];
159 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/panel", dev_num);
161 if (sysfs_read_int(sysfs_path, &p))
164 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/rotation", dev_num);
166 if (sysfs_read_int(sysfs_path, &r))
169 if (!is_valid_pld(p, r))
175 ALOGI("S%d PLD from sysfs: panel=%d, rotation=%d\n", s, p, r);
181 static void decode_placement_information (int dev_num, int num_channels, int s)
184 * See if we have optional "physical location of device" ACPI tags.
185 * We're only interested in panel and rotation specifiers. Use the
186 * .panel and .rotation properties in priority, and the actual ACPI
187 * values as a second source.
193 if (read_pld_from_properties(s, &panel, &rotation) &&
194 read_pld_from_sysfs(s, dev_num, &panel, &rotation))
195 return; /* No PLD data available */
197 /* Map that to field ordering and scaling mechanisms */
198 setup_properties_from_pld(s, panel, rotation, num_channels);
202 static void add_sensor (int dev_num, int catalog_index, int use_polling)
207 char sysfs_path[PATH_MAX];
214 char suffix[MAX_NAME_SIZE + 8];
216 if (sensor_count == MAX_SENSORS) {
217 ALOGE("Too many sensors!\n");
221 sensor_type = sensor_catalog[catalog_index].type;
224 * At this point we could check that the expected sysfs attributes are
225 * present ; that would enable having multiple catalog entries with the
226 * same sensor type, accomodating different sets of sysfs attributes.
231 sensor_info[s].dev_num = dev_num;
232 sensor_info[s].catalog_index = catalog_index;
234 num_channels = sensor_catalog[catalog_index].num_channels;
237 sensor_info[s].num_channels = 0;
239 sensor_info[s].num_channels = num_channels;
241 prefix = sensor_catalog[catalog_index].tag;
244 * receiving the illumination sensor calibration inputs from
245 * the Android properties and setting it within sysfs
247 if (sensor_catalog[catalog_index].type == SENSOR_TYPE_LIGHT) {
248 retval = sensor_get_illumincalib(s);
250 sprintf(sysfs_path, ILLUMINATION_CALIBPATH, dev_num);
251 sysfs_write_int(sysfs_path, retval);
255 /* Read name attribute, if available */
256 sprintf(sysfs_path, NAME_PATH, dev_num);
257 sysfs_read_str(sysfs_path, sensor_info[s].internal_name, MAX_NAME_SIZE);
259 /* See if we have general offsets and scale values for this sensor */
261 sprintf(sysfs_path, SENSOR_OFFSET_PATH, dev_num, prefix);
262 sysfs_read_float(sysfs_path, &sensor_info[s].offset);
264 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
265 if (!sysfs_read_float(sysfs_path, &scale)) {
266 sensor_info[s].scale = scale;
267 ALOGI("Scale path:%s scale:%f dev_num:%d\n",
268 sysfs_path, scale, dev_num);
270 sensor_info[s].scale = 1;
272 /* Read channel specific scale if any*/
273 for (c = 0; c < num_channels; c++)
275 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
276 sensor_catalog[catalog_index].channel[c].scale_path);
278 if (!sysfs_read_float(sysfs_path, &scale)) {
279 sensor_info[s].channel[c].scale = scale;
280 sensor_info[s].scale = 0;
282 ALOGI( "Scale path:%s "
283 "channel scale:%f dev_num:%d\n",
284 sysfs_path, scale, dev_num);
289 /* Set default scaling - if num_channels is zero, we have one channel */
291 sensor_info[s].channel[0].opt_scale = 1;
293 for (c = 1; c < num_channels; c++)
294 sensor_info[s].channel[c].opt_scale = 1;
296 /* Read ACPI _PLD attributes for this sensor, if there are any */
297 decode_placement_information(dev_num, num_channels, s);
300 * See if we have optional correction scaling factors for each of the
301 * channels of this sensor. These would be expressed using properties
302 * like iio.accel.y.opt_scale = -1. In case of a single channel we also
303 * support things such as iio.temp.opt_scale = -1. Note that this works
304 * for all types of sensors, and whatever transform is selected, on top
305 * of any previous conversions.
309 for (c = 0; c < num_channels; c++) {
310 ch_name = sensor_catalog[catalog_index].channel[c].name;
311 sprintf(suffix, "%s.opt_scale", ch_name);
312 if (!sensor_get_fl_prop(s, suffix, &opt_scale))
313 sensor_info[s].channel[c].opt_scale = opt_scale;
316 if (!sensor_get_fl_prop(s, "opt_scale", &opt_scale))
317 sensor_info[s].channel[0].opt_scale = opt_scale;
319 /* Initialize Android-visible descriptor */
320 sensor_desc[s].name = sensor_get_name(s);
321 sensor_desc[s].vendor = sensor_get_vendor(s);
322 sensor_desc[s].version = sensor_get_version(s);
323 sensor_desc[s].handle = s;
324 sensor_desc[s].type = sensor_type;
325 sensor_desc[s].maxRange = sensor_get_max_range(s);
326 sensor_desc[s].resolution = sensor_get_resolution(s);
327 sensor_desc[s].power = sensor_get_power(s);
328 sensor_desc[s].stringType = sensor_get_string_type(s);
330 /* None of our supported sensors requires a special permission.
331 * If this will be the case we should implement a sensor_get_perm
333 sensor_desc[s].requiredPermission = "";
334 sensor_desc[s].flags = sensor_get_flags(s);
335 sensor_desc[s].maxDelay = sensor_get_max_delay(s);
337 if (sensor_info[s].internal_name[0] == '\0') {
339 * In case the kernel-mode driver doesn't expose a name for
340 * the iio device, use (null)-dev%d as the trigger name...
341 * This can be considered a kernel-mode iio driver bug.
343 ALOGW("Using null trigger on sensor %d (dev %d)\n", s, dev_num);
344 strcpy(sensor_info[s].internal_name, "(null)");
347 if (sensor_type == SENSOR_TYPE_GYROSCOPE ||
348 sensor_type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
349 struct gyro_cal* calibration_data = calloc(1, sizeof(struct gyro_cal));
350 sensor_info[s].cal_data = calibration_data;
353 if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD) {
354 struct compass_cal* calibration_data = calloc(1, sizeof(struct compass_cal));
355 sensor_info[s].cal_data = calibration_data;
358 /* Select one of the available sensor sample processing styles */
361 /* Initialize fields related to sysfs reads offloading */
362 sensor_info[s].thread_data_fd[0] = -1;
363 sensor_info[s].thread_data_fd[1] = -1;
364 sensor_info[s].acquisition_thread = -1;
366 /* Check if we have a special ordering property on this sensor */
367 if (sensor_get_order(s, sensor_info[s].order))
368 sensor_info[s].quirks |= QUIRK_FIELD_ORDERING;
374 static void discover_poll_sensors (int dev_num, char map[CATALOG_SIZE])
376 char base_dir[PATH_MAX];
382 memset(map, 0, CATALOG_SIZE);
384 snprintf(base_dir, sizeof(base_dir), BASE_PATH, dev_num);
386 dir = opendir(base_dir);
391 /* Enumerate entries in this iio device's base folder */
393 while ((d = readdir(dir))) {
394 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
397 /* If the name matches a catalog entry, flag it */
398 for (i = 0; i<CATALOG_SIZE; i++) {
399 /* This will be added separately later */
400 if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
402 for (c=0; c<sensor_catalog[i].num_channels; c++)
403 if (!strcmp(d->d_name,sensor_catalog[i].channel[c].raw_path) ||
404 !strcmp(d->d_name, sensor_catalog[i].channel[c].input_path)) {
415 static void discover_trig_sensors (int dev_num, char map[CATALOG_SIZE])
417 char scan_elem_dir[PATH_MAX];
422 memset(map, 0, CATALOG_SIZE);
424 /* Enumerate entries in this iio device's scan_elements folder */
426 snprintf(scan_elem_dir, sizeof(scan_elem_dir), CHANNEL_PATH, dev_num);
428 dir = opendir(scan_elem_dir);
433 while ((d = readdir(dir))) {
434 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
437 /* Compare en entry to known ones and create matching sensors */
439 for (i = 0; i<CATALOG_SIZE; i++) {
440 if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
442 if (!strcmp(d->d_name,
443 sensor_catalog[i].channel[0].en_path)) {
454 static void orientation_sensor_check(void)
457 * If we have accel + gyro + magn but no rotation vector sensor,
458 * SensorService replaces the HAL provided orientation sensor by the
459 * AOSP version... provided we report one. So initialize a virtual
460 * orientation sensor with zero values, which will get replaced. See:
461 * frameworks/native/services/sensorservice/SensorService.cpp, looking
462 * for SENSOR_TYPE_ROTATION_VECTOR; that code should presumably fall
463 * back to mUserSensorList.add instead of replaceAt, but accommodate it.
472 int catalog_size = CATALOG_SIZE;
474 for (i=0; i<sensor_count; i++)
475 switch (sensor_catalog[sensor_info[i].catalog_index].type) {
476 case SENSOR_TYPE_ACCELEROMETER:
479 case SENSOR_TYPE_GYROSCOPE:
482 case SENSOR_TYPE_MAGNETIC_FIELD:
485 case SENSOR_TYPE_ORIENTATION:
488 case SENSOR_TYPE_ROTATION_VECTOR:
493 if (has_acc && has_gyr && has_mag && !has_rot && !has_ori)
494 for (i=0; i<catalog_size; i++)
495 if (sensor_catalog[i].type == SENSOR_TYPE_ORIENTATION) {
496 ALOGI("Adding placeholder orientation sensor");
502 static void uncalibrated_gyro_check (void)
504 unsigned int has_gyr = 0;
505 unsigned int dev_num;
507 unsigned int is_poll_sensor;
512 /* Checking to see if we have a gyroscope - we can only have uncal if we have the base sensor */
513 for (i=0; i < sensor_count; i++)
514 if(sensor_catalog[sensor_info[i].catalog_index].type == SENSOR_TYPE_GYROSCOPE)
517 dev_num = sensor_info[i].dev_num;
518 is_poll_sensor = !sensor_info[i].num_channels;
524 * If we have a gyro we can add the uncalibrated sensor of the same type and
525 * on the same dev_num. We will save indexes for easy finding and also save the
526 * channel specific information.
529 for (i=0; i<CATALOG_SIZE; i++)
530 if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
531 add_sensor(dev_num, i, is_poll_sensor);
533 uncal_idx = sensor_count - 1; /* Just added uncalibrated sensor */
535 /* Similar to build_sensor_report_maps */
536 for (c = 0; c < sensor_info[uncal_idx].num_channels; c++)
538 memcpy( &(sensor_info[uncal_idx].channel[c].type_spec),
539 &(sensor_info[cal_idx].channel[c].type_spec),
540 sizeof(sensor_info[uncal_idx].channel[c].type_spec));
541 sensor_info[uncal_idx].channel[c].type_info = sensor_info[cal_idx].channel[c].type_info;
542 sensor_info[uncal_idx].channel[c].offset = sensor_info[cal_idx].channel[c].offset;
543 sensor_info[uncal_idx].channel[c].size = sensor_info[cal_idx].channel[c].size;
545 strncpy(sensor_info[uncal_idx].trigger_name,
546 sensor_info[cal_idx].trigger_name,
548 sensor_info[uncal_idx].pair_idx = cal_idx;
549 sensor_info[cal_idx].pair_idx = uncal_idx;
554 static int is_continuous (int s)
556 /* Is sensor s of the continous trigger type kind? */
558 int catalog_index = sensor_info[s].catalog_index;
559 int sensor_type = sensor_catalog[catalog_index].type;
561 switch (sensor_type) {
562 case SENSOR_TYPE_ACCELEROMETER:
563 case SENSOR_TYPE_MAGNETIC_FIELD:
564 case SENSOR_TYPE_ORIENTATION:
565 case SENSOR_TYPE_GYROSCOPE:
566 case SENSOR_TYPE_PRESSURE:
567 case SENSOR_TYPE_GRAVITY:
568 case SENSOR_TYPE_LINEAR_ACCELERATION:
569 case SENSOR_TYPE_ROTATION_VECTOR:
570 case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
571 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
572 case SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR:
581 static void propose_new_trigger (int s, char trigger_name[MAX_NAME_SIZE],
585 * A new trigger has been enumerated for this sensor. Check if it makes
586 * sense to use it over the currently selected one, and select it if it
587 * is so. The format is something like sensor_name-dev0.
590 const char *suffix = trigger_name + sensor_name_len + 1;
592 /* dev is the default, and lowest priority; no need to update */
593 if (!memcmp(suffix, "dev", 3))
597 * Anything else is higher priority. However if we already found an
598 * any-motion trigger, don't select anything else.
601 if (!memcmp(sensor_info[s].trigger_name + sensor_name_len + 1,
606 * If we're switching to an any-motion trigger, force the sensor to
607 * automatic intermediate event generation mode, at least if it is of a
608 * continuously firing sensor type.
611 if (!memcmp(suffix, "any-motion-", 11) && is_continuous(s))
612 sensor_info[s].quirks |= QUIRK_TERSE_DRIVER;
614 /* Update the trigger name to use for this sensor */
615 strcpy(sensor_info[s].trigger_name, trigger_name);
619 static void update_sensor_matching_trigger_name (char name[MAX_NAME_SIZE])
622 * Check if we have a sensor matching the specified trigger name,
623 * which should then begin with the sensor name, and end with a number
624 * equal to the iio device number the sensor is associated to. If so,
625 * update the string we're going to write to trigger/current_trigger
626 * when enabling this sensor.
636 * First determine the iio device number this trigger refers to. We
637 * expect the last few characters (typically one) of the trigger name
638 * to be this number, so perform a few checks.
640 len = strnlen(name, MAX_NAME_SIZE);
645 cursor = name + len - 1;
647 if (!isdigit(*cursor))
650 while (len && isdigit(*cursor)) {
655 dev_num = atoi(cursor+1);
657 /* See if that matches a sensor */
658 for (s=0; s<sensor_count; s++)
659 if (sensor_info[s].dev_num == dev_num) {
661 sensor_name_len = strlen(sensor_info[s].internal_name);
664 sensor_info[s].internal_name,
666 /* Switch to new trigger if appropriate */
667 propose_new_trigger(s, name, sensor_name_len);
672 static void setup_trigger_names (void)
674 char filename[PATH_MAX];
675 char buf[MAX_NAME_SIZE];
681 /* By default, use the name-dev convention that most drivers use */
682 for (s=0; s<sensor_count; s++)
683 snprintf(sensor_info[s].trigger_name, MAX_NAME_SIZE, "%s-dev%d",
684 sensor_info[s].internal_name, sensor_info[s].dev_num);
686 /* Now have a look to /sys/bus/iio/devices/triggerX entries */
688 for (trigger=0; trigger<MAX_TRIGGERS; trigger++) {
690 snprintf(filename, sizeof(filename), TRIGGER_FILE_PATH,trigger);
692 ret = sysfs_read_str(filename, buf, sizeof(buf));
697 update_sensor_matching_trigger_name(buf);
700 for (s=0; s<sensor_count; s++)
701 if (sensor_info[s].num_channels) {
702 ALOGI( "Sensor %d (%s) using iio trigger %s\n", s,
703 sensor_info[s].friendly_name,
704 sensor_info[s].trigger_name);
709 void enumerate_sensors (void)
712 * Discover supported sensors and allocate control structures for them.
713 * Multiple sensors can potentially rely on a single iio device (each
714 * using their own channels). We can't have multiple sensors of the same
715 * type on the same device. In case of detection as both a poll-mode
716 * and trigger-based sensor, use the trigger usage mode.
718 char poll_sensors[CATALOG_SIZE];
719 char trig_sensors[CATALOG_SIZE];
724 for (dev_num=0; dev_num<MAX_DEVICES; dev_num++) {
727 discover_poll_sensors(dev_num, poll_sensors);
728 discover_trig_sensors(dev_num, trig_sensors);
730 for (i=0; i<CATALOG_SIZE; i++)
731 if (trig_sensors[i]) {
732 add_sensor(dev_num, i, 0);
737 add_sensor(dev_num, i, 1);
740 build_sensor_report_maps(dev_num);
744 ALOGI("Discovered %d sensors\n", sensor_count);
746 /* Set up default - as well as custom - trigger names */
747 setup_trigger_names();
749 /* Make sure Android fall backs to its own orientation sensor */
750 orientation_sensor_check();
752 /* Create the uncalibrated counterpart to the compensated gyroscope;
753 * This is is a new sensor type in Android 4.4 */
754 uncalibrated_gyro_check();
758 void delete_enumeration_data (void)
762 for (i = 0; i < sensor_count; i++)
763 switch (sensor_catalog[sensor_info[i].catalog_index].type) {
764 case SENSOR_TYPE_MAGNETIC_FIELD:
765 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
766 case SENSOR_TYPE_GYROSCOPE:
767 if (sensor_info[i].cal_data != NULL) {
768 free(sensor_info[i].cal_data);
769 sensor_info[i].cal_data = NULL;
770 sensor_info[i].cal_level = 0;
776 /* Reset sensor count */
781 int get_sensors_list( struct sensors_module_t* module,
782 struct sensor_t const** list)