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 This can later be superseded by the usual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;
233 sensor_info[s].type = sensor_type;
235 num_channels = sensor_catalog[catalog_index].num_channels;
238 sensor_info[s].num_channels = 0;
240 sensor_info[s].num_channels = num_channels;
242 prefix = sensor_catalog[catalog_index].tag;
245 * receiving the illumination sensor calibration inputs from
246 * the Android properties and setting it within sysfs
248 if (sensor_type == SENSOR_TYPE_LIGHT) {
249 retval = sensor_get_illumincalib(s);
251 sprintf(sysfs_path, ILLUMINATION_CALIBPATH, dev_num);
252 sysfs_write_int(sysfs_path, retval);
256 /* Read name attribute, if available */
257 sprintf(sysfs_path, NAME_PATH, dev_num);
258 sysfs_read_str(sysfs_path, sensor_info[s].internal_name, MAX_NAME_SIZE);
260 /* See if we have general offsets and scale values for this sensor */
262 sprintf(sysfs_path, SENSOR_OFFSET_PATH, dev_num, prefix);
263 sysfs_read_float(sysfs_path, &sensor_info[s].offset);
265 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
266 if (!sensor_get_fl_prop(s, "scale", &scale)) {
268 * There is a chip preferred scale specified,
269 * so try to store it in sensor's scale file
271 if (sysfs_write_float(sysfs_path, scale) == -1 && errno == ENOENT) {
272 ALOGE("Failed to store scale[%f] into %s - file is missing", scale, sysfs_path);
273 /* Store failed, try to store the scale into channel specific file */
274 for (c = 0; c < num_channels; c++)
276 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
277 sensor_catalog[catalog_index].channel[c].scale_path);
278 if (sysfs_write_float(sysfs_path, scale) == -1)
279 ALOGE("Failed to store scale[%f] into %s", scale, sysfs_path);
284 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
285 if (!sysfs_read_float(sysfs_path, &scale)) {
286 sensor_info[s].scale = scale;
287 ALOGI("Scale path:%s scale:%f dev_num:%d\n",
288 sysfs_path, scale, dev_num);
290 sensor_info[s].scale = 1;
292 /* Read channel specific scale if any*/
293 for (c = 0; c < num_channels; c++)
295 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
296 sensor_catalog[catalog_index].channel[c].scale_path);
298 if (!sysfs_read_float(sysfs_path, &scale)) {
299 sensor_info[s].channel[c].scale = scale;
300 sensor_info[s].scale = 0;
302 ALOGI( "Scale path:%s "
303 "channel scale:%f dev_num:%d\n",
304 sysfs_path, scale, dev_num);
309 /* Set default scaling - if num_channels is zero, we have one channel */
311 sensor_info[s].channel[0].opt_scale = 1;
313 for (c = 1; c < num_channels; c++)
314 sensor_info[s].channel[c].opt_scale = 1;
316 /* Read ACPI _PLD attributes for this sensor, if there are any */
317 decode_placement_information(dev_num, num_channels, s);
320 * See if we have optional correction scaling factors for each of the
321 * channels of this sensor. These would be expressed using properties
322 * like iio.accel.y.opt_scale = -1. In case of a single channel we also
323 * support things such as iio.temp.opt_scale = -1. Note that this works
324 * for all types of sensors, and whatever transform is selected, on top
325 * of any previous conversions.
329 for (c = 0; c < num_channels; c++) {
330 ch_name = sensor_catalog[catalog_index].channel[c].name;
331 sprintf(suffix, "%s.opt_scale", ch_name);
332 if (!sensor_get_fl_prop(s, suffix, &opt_scale))
333 sensor_info[s].channel[c].opt_scale = opt_scale;
336 if (!sensor_get_fl_prop(s, "opt_scale", &opt_scale))
337 sensor_info[s].channel[0].opt_scale = opt_scale;
339 /* Initialize Android-visible descriptor */
340 sensor_desc[s].name = sensor_get_name(s);
341 sensor_desc[s].vendor = sensor_get_vendor(s);
342 sensor_desc[s].version = sensor_get_version(s);
343 sensor_desc[s].handle = s;
344 sensor_desc[s].type = sensor_type;
345 sensor_desc[s].maxRange = sensor_get_max_range(s);
346 sensor_desc[s].resolution = sensor_get_resolution(s);
347 sensor_desc[s].power = sensor_get_power(s);
348 sensor_desc[s].stringType = sensor_get_string_type(s);
350 /* None of our supported sensors requires a special permission.
351 * If this will be the case we should implement a sensor_get_perm
353 sensor_desc[s].requiredPermission = "";
354 sensor_desc[s].flags = sensor_get_flags(s);
355 sensor_desc[s].minDelay = sensor_get_min_delay(s);
356 sensor_desc[s].maxDelay = sensor_get_max_delay(s);
357 ALOGI("Sensor %d (%s) type(%d) minD(%d) maxD(%d) flags(%2.2x)\n",
358 s, sensor_info[s].friendly_name, sensor_desc[s].type,
359 sensor_desc[s].minDelay, sensor_desc[s].maxDelay, sensor_desc[s].flags);
361 /* We currently do not implement batching when we'll so
362 * these should be overriden appropriately
364 sensor_desc[s].fifoReservedEventCount = 0;
365 sensor_desc[s].fifoMaxEventCount = 0;
367 /* Populate the quirks array */
368 sensor_get_quirks(s);
370 if (sensor_info[s].internal_name[0] == '\0') {
372 * In case the kernel-mode driver doesn't expose a name for
373 * the iio device, use (null)-dev%d as the trigger name...
374 * This can be considered a kernel-mode iio driver bug.
376 ALOGW("Using null trigger on sensor %d (dev %d)\n", s, dev_num);
377 strcpy(sensor_info[s].internal_name, "(null)");
380 if (sensor_type == SENSOR_TYPE_GYROSCOPE ||
381 sensor_type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
382 struct gyro_cal* calibration_data = calloc(1, sizeof(struct gyro_cal));
383 sensor_info[s].cal_data = calibration_data;
386 if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD) {
387 struct compass_cal* calibration_data = calloc(1, sizeof(struct compass_cal));
388 sensor_info[s].cal_data = calibration_data;
390 sensor_info[s].max_cal_level = sensor_get_cal_steps(s);
391 /* Select one of the available sensor sample processing styles */
394 /* Initialize fields related to sysfs reads offloading */
395 sensor_info[s].thread_data_fd[0] = -1;
396 sensor_info[s].thread_data_fd[1] = -1;
397 sensor_info[s].acquisition_thread = -1;
399 /* Check if we have a special ordering property on this sensor */
400 if (sensor_get_order(s, sensor_info[s].order))
401 sensor_info[s].quirks |= QUIRK_FIELD_ORDERING;
407 static void discover_poll_sensors (int dev_num, char map[CATALOG_SIZE])
409 char base_dir[PATH_MAX];
415 memset(map, 0, CATALOG_SIZE);
417 snprintf(base_dir, sizeof(base_dir), BASE_PATH, dev_num);
419 dir = opendir(base_dir);
424 /* Enumerate entries in this iio device's base folder */
426 while ((d = readdir(dir))) {
427 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
430 /* If the name matches a catalog entry, flag it */
431 for (i = 0; i<CATALOG_SIZE; i++) {
432 /* This will be added separately later */
433 if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
435 for (c=0; c<sensor_catalog[i].num_channels; c++)
436 if (!strcmp(d->d_name,sensor_catalog[i].channel[c].raw_path) ||
437 !strcmp(d->d_name, sensor_catalog[i].channel[c].input_path)) {
448 static void discover_trig_sensors (int dev_num, char map[CATALOG_SIZE])
450 char scan_elem_dir[PATH_MAX];
455 memset(map, 0, CATALOG_SIZE);
457 /* Enumerate entries in this iio device's scan_elements folder */
459 snprintf(scan_elem_dir, sizeof(scan_elem_dir), CHANNEL_PATH, dev_num);
461 dir = opendir(scan_elem_dir);
466 while ((d = readdir(dir))) {
467 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
470 /* Compare en entry to known ones and create matching sensors */
472 for (i = 0; i<CATALOG_SIZE; i++) {
473 if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
475 if (!strcmp(d->d_name,
476 sensor_catalog[i].channel[0].en_path)) {
487 static void orientation_sensor_check(void)
490 * If we have accel + gyro + magn but no rotation vector sensor,
491 * SensorService replaces the HAL provided orientation sensor by the
492 * AOSP version... provided we report one. So initialize a virtual
493 * orientation sensor with zero values, which will get replaced. See:
494 * frameworks/native/services/sensorservice/SensorService.cpp, looking
495 * for SENSOR_TYPE_ROTATION_VECTOR; that code should presumably fall
496 * back to mUserSensorList.add instead of replaceAt, but accommodate it.
505 int catalog_size = CATALOG_SIZE;
507 for (i=0; i<sensor_count; i++)
508 switch (sensor_info[i].type) {
509 case SENSOR_TYPE_ACCELEROMETER:
512 case SENSOR_TYPE_GYROSCOPE:
515 case SENSOR_TYPE_MAGNETIC_FIELD:
518 case SENSOR_TYPE_ORIENTATION:
521 case SENSOR_TYPE_ROTATION_VECTOR:
526 if (has_acc && has_gyr && has_mag && !has_rot && !has_ori)
527 for (i=0; i<catalog_size; i++)
528 if (sensor_catalog[i].type == SENSOR_TYPE_ORIENTATION) {
529 ALOGI("Adding placeholder orientation sensor");
535 static void propose_new_trigger (int s, char trigger_name[MAX_NAME_SIZE],
539 * A new trigger has been enumerated for this sensor. Check if it makes
540 * sense to use it over the currently selected one, and select it if it
541 * is so. The format is something like sensor_name-dev0.
544 const char *suffix = trigger_name + sensor_name_len + 1;
546 /* dev is the default, and lowest priority; no need to update */
547 if (!memcmp(suffix, "dev", 3))
550 /* If we found any-motion trigger, record it */
552 if (!memcmp(suffix, "any-motion-", 11)) {
553 strcpy(sensor_info[s].motion_trigger_name, trigger_name);
558 * It's neither the default "dev" nor an "any-motion" one. Make sure we
559 * use this though, as we may not have any other indication of the name
560 * of the trigger to use with this sensor.
562 strcpy(sensor_info[s].init_trigger_name, trigger_name);
566 static void update_sensor_matching_trigger_name (char name[MAX_NAME_SIZE])
569 * Check if we have a sensor matching the specified trigger name,
570 * which should then begin with the sensor name, and end with a number
571 * equal to the iio device number the sensor is associated to. If so,
572 * update the string we're going to write to trigger/current_trigger
573 * when enabling this sensor.
583 * First determine the iio device number this trigger refers to. We
584 * expect the last few characters (typically one) of the trigger name
585 * to be this number, so perform a few checks.
587 len = strnlen(name, MAX_NAME_SIZE);
592 cursor = name + len - 1;
594 if (!isdigit(*cursor))
597 while (len && isdigit(*cursor)) {
602 dev_num = atoi(cursor+1);
604 /* See if that matches a sensor */
605 for (s=0; s<sensor_count; s++)
606 if (sensor_info[s].dev_num == dev_num) {
608 sensor_name_len = strlen(sensor_info[s].internal_name);
611 sensor_info[s].internal_name,
613 /* Switch to new trigger if appropriate */
614 propose_new_trigger(s, name, sensor_name_len);
619 static void setup_trigger_names (void)
621 char filename[PATH_MAX];
622 char buf[MAX_NAME_SIZE];
628 /* By default, use the name-dev convention that most drivers use */
629 for (s=0; s<sensor_count; s++)
630 snprintf(sensor_info[s].init_trigger_name,
631 MAX_NAME_SIZE, "%s-dev%d",
632 sensor_info[s].internal_name, sensor_info[s].dev_num);
634 /* Now have a look to /sys/bus/iio/devices/triggerX entries */
636 for (trigger=0; trigger<MAX_TRIGGERS; trigger++) {
638 snprintf(filename, sizeof(filename), TRIGGER_FILE_PATH,trigger);
640 ret = sysfs_read_str(filename, buf, sizeof(buf));
645 /* Record initial and any-motion triggers names */
646 update_sensor_matching_trigger_name(buf);
650 * Certain drivers expose only motion triggers even though they should
651 * be continous. For these, use the default trigger name as the motion
652 * trigger. The code generating intermediate events is dependent on
653 * motion_trigger_name being set to a non empty string.
656 for (s=0; s<sensor_count; s++)
657 if ((sensor_info[s].quirks & QUIRK_TERSE_DRIVER) &&
658 sensor_info[s].motion_trigger_name[0] == '\0')
659 strcpy( sensor_info[s].motion_trigger_name,
660 sensor_info[s].init_trigger_name);
662 for (s=0; s<sensor_count; s++)
663 if (sensor_info[s].num_channels) {
664 ALOGI("Sensor %d (%s) default trigger: %s\n", s,
665 sensor_info[s].friendly_name,
666 sensor_info[s].init_trigger_name);
667 if (sensor_info[s].motion_trigger_name[0])
668 ALOGI("Sensor %d (%s) motion trigger: %s\n",
669 s, sensor_info[s].friendly_name,
670 sensor_info[s].motion_trigger_name);
674 static void uncalibrated_gyro_check (void)
676 unsigned int has_gyr = 0;
677 unsigned int dev_num;
679 unsigned int is_poll_sensor;
680 char buf[MAX_NAME_SIZE];
684 int catalog_size = CATALOG_SIZE; /* Avoid GCC sign comparison warning */
686 /* Checking to see if we have a gyroscope - we can only have uncal if we have the base sensor */
687 for (i=0; i < sensor_count; i++)
688 if (sensor_info[i].type == SENSOR_TYPE_GYROSCOPE) {
690 dev_num = sensor_info[i].dev_num;
691 is_poll_sensor = !sensor_info[i].num_channels;
697 * If we have a gyro we can add the uncalibrated sensor of the same type and
698 * on the same dev_num. We will save indexes for easy finding and also save the
699 * channel specific information.
702 for (i=0; i<catalog_size; i++)
703 if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
704 add_sensor(dev_num, i, is_poll_sensor);
706 uncal_idx = sensor_count - 1; /* Just added uncalibrated sensor */
708 /* Similar to build_sensor_report_maps */
709 for (c = 0; c < sensor_info[uncal_idx].num_channels; c++)
711 memcpy( &(sensor_info[uncal_idx].channel[c].type_spec),
712 &(sensor_info[cal_idx].channel[c].type_spec),
713 sizeof(sensor_info[uncal_idx].channel[c].type_spec));
714 sensor_info[uncal_idx].channel[c].type_info = sensor_info[cal_idx].channel[c].type_info;
715 sensor_info[uncal_idx].channel[c].offset = sensor_info[cal_idx].channel[c].offset;
716 sensor_info[uncal_idx].channel[c].size = sensor_info[cal_idx].channel[c].size;
718 sensor_info[uncal_idx].pair_idx = cal_idx;
719 sensor_info[cal_idx].pair_idx = uncal_idx;
720 strncpy(sensor_info[uncal_idx].init_trigger_name,
721 sensor_info[cal_idx].init_trigger_name,
723 strncpy(sensor_info[uncal_idx].motion_trigger_name,
724 sensor_info[cal_idx].motion_trigger_name,
727 /* Add "Uncalibrated " prefix to sensor name */
728 strcpy(buf, sensor_info[cal_idx].friendly_name);
729 snprintf(sensor_info[uncal_idx].friendly_name,
731 "%s %s", "Uncalibrated", buf);
736 void enumerate_sensors (void)
739 * Discover supported sensors and allocate control structures for them.
740 * Multiple sensors can potentially rely on a single iio device (each
741 * using their own channels). We can't have multiple sensors of the same
742 * type on the same device. In case of detection as both a poll-mode
743 * and trigger-based sensor, use the trigger usage mode.
745 char poll_sensors[CATALOG_SIZE];
746 char trig_sensors[CATALOG_SIZE];
751 for (dev_num=0; dev_num<MAX_DEVICES; dev_num++) {
754 discover_poll_sensors(dev_num, poll_sensors);
755 discover_trig_sensors(dev_num, trig_sensors);
757 for (i=0; i<CATALOG_SIZE; i++)
758 if (trig_sensors[i]) {
759 add_sensor(dev_num, i, 0);
764 add_sensor(dev_num, i, 1);
767 build_sensor_report_maps(dev_num);
771 ALOGI("Discovered %d sensors\n", sensor_count);
773 /* Set up default - as well as custom - trigger names */
774 setup_trigger_names();
776 /* Make sure Android fall backs to its own orientation sensor */
777 orientation_sensor_check();
780 * Create the uncalibrated counterpart to the compensated gyroscope.
781 * This is is a new sensor type in Android 4.4.
785 * Patrick Porlan 11/12/2014 - Disabled for now due to a possible
786 * relation with GMINL-3234 Panorama Drift. I take full responsability
789 * uncalibrated_gyro_check(); */
793 void delete_enumeration_data (void)
796 for (i = 0; i < sensor_count; i++)
797 switch (sensor_info[i].type) {
798 case SENSOR_TYPE_MAGNETIC_FIELD:
799 if (sensor_info[i].cal_data != NULL) {
800 free(sensor_info[i].cal_data);
801 sensor_info[i].cal_data = NULL;
802 sensor_info[i].cal_level = 0;
806 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
807 case SENSOR_TYPE_GYROSCOPE:
808 if (sensor_info[i].cal_data != NULL) {
809 free(sensor_info[i].cal_data);
810 sensor_info[i].cal_data = NULL;
811 sensor_info[i].cal_level = 0;
818 /* Reset sensor count */
823 int get_sensors_list (__attribute__((unused)) struct sensors_module_t* module,
824 struct sensor_t const** list)