enumeration.c

   1 /*
   2  * Copyright (C) 2014 Intel Corporation.
   3  */
   4
   5 #include <ctype.h>
   6 #include <dirent.h>
   7 #include <stdlib.h>
   8 #include <utils/Log.h>
   9 #include <hardware/sensors.h>
  10 #include "enumeration.h"
  11 #include "description.h"
  12 #include "utils.h"
  13 #include "transform.h"
  14 #include "description.h"
  15 #include "control.h"
  16 #include "calibration.h"
  17
  18 /*
  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.
  22  */
  23
  24  /*
  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.
  29   */
  30
  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")
  43 };
  44
  45 #define CATALOG_SIZE    ARRAY_SIZE(sensor_catalog)
  46
  47
  48 /* We equate sensor handles to indices in these tables */
  49
  50 struct sensor_t      sensor_desc[MAX_SENSORS];  /* Android-level descriptors */
  51 struct sensor_info_t sensor_info[MAX_SENSORS];  /* Internal descriptors      */
  52 int sensor_count;                               /* Detected sensors          */
  53
  54
  55 static void add_sensor (int dev_num, int catalog_index, int use_polling)
  56 {
  57         int s;
  58         int sensor_type;
  59         int retval;
  60         char sysfs_path[PATH_MAX];
  61         const char* prefix;
  62         float scale;
  63         int c;
  64         float opt_scale;
  65         const char* ch_name;
  66         int num_channels;
  67         char suffix[MAX_NAME_SIZE + 8];
  68
  69         if (sensor_count == MAX_SENSORS) {
  70                 ALOGE("Too many sensors!\n");
  71                 return;
  72         }
  73
  74         sensor_type = sensor_catalog[catalog_index].type;
  75
  76         /*
  77          * At this point we could check that the expected sysfs attributes are
  78          * present ; that would enable having multiple catalog entries with the
  79          * same sensor type, accomodating different sets of sysfs attributes.
  80          */
  81
  82         s = sensor_count;
  83
  84         sensor_info[s].dev_num          = dev_num;
  85         sensor_info[s].catalog_index    = catalog_index;
  86
  87         if (use_polling)
  88                 sensor_info[s].num_channels = 0;
  89         else
  90                 sensor_info[s].num_channels =
  91                                 sensor_catalog[catalog_index].num_channels;
  92
  93         prefix = sensor_catalog[catalog_index].tag;
  94
  95         /*
  96          * receiving the illumination sensor calibration inputs from
  97          * the Android properties and setting it within sysfs
  98          */
  99         if (sensor_catalog[catalog_index].type == SENSOR_TYPE_LIGHT) {
 100                 retval = sensor_get_illumincalib(s);
 101                 if (retval > 0) {
 102                         sprintf(sysfs_path, ILLUMINATION_CALIBPATH, dev_num);
 103                         sysfs_write_int(sysfs_path, retval);
 104                 }
 105         }
 106
 107         /* Read name attribute, if available */
 108         sprintf(sysfs_path, NAME_PATH, dev_num);
 109         sysfs_read_str(sysfs_path, sensor_info[s].internal_name, MAX_NAME_SIZE);
 110
 111         /* See if we have general offsets and scale values for this sensor */
 112
 113         sprintf(sysfs_path, SENSOR_OFFSET_PATH, dev_num, prefix);
 114         sysfs_read_float(sysfs_path, &sensor_info[s].offset);
 115
 116         sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
 117         if (!sysfs_read_float(sysfs_path, &scale)) {
 118                 sensor_info[s].scale = scale;
 119                 ALOGI("Scale path:%s scale:%f dev_num:%d\n",
 120                                         sysfs_path, scale, dev_num);
 121         } else {
 122                 sensor_info[s].scale = 1;
 123
 124                 /* Read channel specific scale if any*/
 125                 for (c = 0; c < sensor_catalog[catalog_index].num_channels; c++)
 126                 {
 127                         sprintf(sysfs_path, BASE_PATH "%s", dev_num,
 128                            sensor_catalog[catalog_index].channel[c].scale_path);
 129
 130                         if (!sysfs_read_float(sysfs_path, &scale)) {
 131                                 sensor_info[s].channel[c].scale = scale;
 132                                 sensor_info[s].scale = 0;
 133
 134                                 ALOGI(  "Scale path:%s "
 135                                         "channel scale:%f dev_num:%d\n",
 136                                         sysfs_path, scale, dev_num);
 137                         }
 138                 }
 139         }
 140
 141         /*
 142          * See if we have optional correction scaling factors for each of the
 143          * channels of this sensor. These would be expressed using properties
 144          * like iio.accel.y.opt_scale = -1. In case of a single channel we also
 145          * support things such as iio.temp.opt_scale = -1. Note that this works
 146          * for all types of sensors, and whatever transform is selected, on top
 147          * of any previous conversions.
 148          */
 149         num_channels = sensor_catalog[catalog_index].num_channels;
 150
 151         if (num_channels) {
 152                 for (c = 0; c < num_channels; c++) {
 153                         opt_scale = 1;
 154
 155                         ch_name = sensor_catalog[catalog_index].channel[c].name;
 156                         sprintf(suffix, "%s.opt_scale", ch_name);
 157                         sensor_get_fl_prop(s, suffix, &opt_scale);
 158
 159                         sensor_info[s].channel[c].opt_scale = opt_scale;
 160                 }
 161         } else {
 162                 opt_scale = 1;
 163                 sensor_get_fl_prop(s, "opt_scale", &opt_scale);
 164                 sensor_info[s].channel[0].opt_scale = opt_scale;
 165         }
 166
 167         /* Initialize Android-visible descriptor */
 168         sensor_desc[s].name             = sensor_get_name(s);
 169         sensor_desc[s].vendor           = sensor_get_vendor(s);
 170         sensor_desc[s].version          = sensor_get_version(s);
 171         sensor_desc[s].handle           = s;
 172         sensor_desc[s].type             = sensor_type;
 173         sensor_desc[s].maxRange         = sensor_get_max_range(s);
 174         sensor_desc[s].resolution       = sensor_get_resolution(s);
 175         sensor_desc[s].power            = sensor_get_power(s);
 176         sensor_desc[s].stringType = sensor_get_string_type(s);
 177
 178         /* None of our supported sensors requires a special permission.
 179         *  If this will be the case we should implement a sensor_get_perm
 180         */
 181         sensor_desc[s].requiredPermission = "";
 182         sensor_desc[s].flags = sensor_get_flags(s);
 183
 184         if (sensor_info[s].internal_name[0] == '\0') {
 185                 /*
 186                  * In case the kernel-mode driver doesn't expose a name for
 187                  * the iio device, use (null)-dev%d as the trigger name...
 188                  * This can be considered a kernel-mode iio driver bug.
 189                  */
 190                 ALOGW("Using null trigger on sensor %d (dev %d)\n", s, dev_num);
 191                 strcpy(sensor_info[s].internal_name, "(null)");
 192         }
 193
 194         if (sensor_catalog[catalog_index].type == SENSOR_TYPE_GYROSCOPE ||
 195                 sensor_catalog[catalog_index].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
 196                 struct gyro_cal* calibration_data = calloc(1, sizeof(struct gyro_cal));
 197                 sensor_info[s].cal_data = calibration_data;
 198         }
 199
 200         if (sensor_catalog[catalog_index].type == SENSOR_TYPE_MAGNETIC_FIELD) {
 201                 struct compass_cal* calibration_data = calloc(1, sizeof(struct compass_cal));
 202                 sensor_info[s].cal_data = calibration_data;
 203         }
 204
 205         /* Select one of the available sensor sample processing styles */
 206         select_transform(s);
 207
 208         /* Initialize fields related to sysfs reads offloading */
 209         sensor_info[s].thread_data_fd[0]  = -1;
 210         sensor_info[s].thread_data_fd[1]  = -1;
 211         sensor_info[s].acquisition_thread = -1;
 212
 213         /* Check if we have a special ordering property on this sensor */
 214         if (sensor_get_order(s, sensor_info[s].order))
 215                 sensor_info[s].flags |= FLAG_FIELD_ORDERING;
 216
 217         sensor_count++;
 218 }
 219
 220
 221 static void discover_poll_sensors (int dev_num, char map[CATALOG_SIZE])
 222 {
 223         char base_dir[PATH_MAX];
 224         DIR *dir;
 225         struct dirent *d;
 226         unsigned int i;
 227         int c;
 228
 229         memset(map, 0, CATALOG_SIZE);
 230
 231         snprintf(base_dir, sizeof(base_dir), BASE_PATH, dev_num);
 232
 233         dir = opendir(base_dir);
 234         if (!dir) {
 235                 return;
 236         }
 237
 238         /* Enumerate entries in this iio device's base folder */
 239
 240         while ((d = readdir(dir))) {
 241                 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
 242                         continue;
 243
 244                 /* If the name matches a catalog entry, flag it */
 245                 for (i = 0; i<CATALOG_SIZE; i++) {
 246                 /* This will be added separately later */
 247                 if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
 248                         continue;
 249                 for (c=0; c<sensor_catalog[i].num_channels; c++)
 250                         if (!strcmp(d->d_name,sensor_catalog[i].channel[c].raw_path) ||
 251                                 !strcmp(d->d_name, sensor_catalog[i].channel[c].input_path)) {
 252                                         map[i] = 1;
 253                                         break;
 254                         }
 255                 }
 256         }
 257
 258         closedir(dir);
 259 }
 260
 261
 262 static void discover_trig_sensors (int dev_num, char map[CATALOG_SIZE])
 263 {
 264         char scan_elem_dir[PATH_MAX];
 265         DIR *dir;
 266         struct dirent *d;
 267         unsigned int i;
 268
 269         memset(map, 0, CATALOG_SIZE);
 270
 271         /* Enumerate entries in this iio device's scan_elements folder */
 272
 273         snprintf(scan_elem_dir, sizeof(scan_elem_dir), CHANNEL_PATH, dev_num);
 274
 275         dir = opendir(scan_elem_dir);
 276         if (!dir) {
 277                 return;
 278         }
 279
 280         while ((d = readdir(dir))) {
 281                 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
 282                         continue;
 283
 284                 /* Compare en entry to known ones and create matching sensors */
 285
 286                 for (i = 0; i<CATALOG_SIZE; i++) {
 287                         if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
 288                                 continue;
 289                         if (!strcmp(d->d_name,
 290                                         sensor_catalog[i].channel[0].en_path)) {
 291                                         map[i] = 1;
 292                                         break;
 293                         }
 294                 }
 295         }
 296
 297         closedir(dir);
 298 }
 299
 300
 301 static void orientation_sensor_check(void)
 302 {
 303         /*
 304          * If we have accel + gyro + magn but no rotation vector sensor,
 305          * SensorService replaces the HAL provided orientation sensor by the
 306          * AOSP version... provided we report one. So initialize a virtual
 307          * orientation sensor with zero values, which will get replaced. See:
 308          * frameworks/native/services/sensorservice/SensorService.cpp, looking
 309          * for SENSOR_TYPE_ROTATION_VECTOR; that code should presumably fall
 310          * back to mUserSensorList.add instead of replaceAt, but accommodate it.
 311          */
 312
 313         int i;
 314         int has_acc = 0;
 315         int has_gyr = 0;
 316         int has_mag = 0;
 317         int has_rot = 0;
 318         int has_ori = 0;
 319         int catalog_size = CATALOG_SIZE;
 320
 321         for (i=0; i<sensor_count; i++)
 322                 switch (sensor_catalog[sensor_info[i].catalog_index].type) {
 323                         case SENSOR_TYPE_ACCELEROMETER:
 324                                 has_acc = 1;
 325                                 break;
 326                         case SENSOR_TYPE_GYROSCOPE:
 327                                 has_gyr = 1;
 328                                 break;
 329                         case SENSOR_TYPE_MAGNETIC_FIELD:
 330                                 has_mag = 1;
 331                                 break;
 332                         case SENSOR_TYPE_ORIENTATION:
 333                                 has_ori = 1;
 334                                 break;
 335                         case SENSOR_TYPE_ROTATION_VECTOR:
 336                                 has_rot = 1;
 337                                 break;
 338                 }
 339
 340         if (has_acc && has_gyr && has_mag && !has_rot && !has_ori)
 341                 for (i=0; i<catalog_size; i++)
 342                         if (sensor_catalog[i].type == SENSOR_TYPE_ORIENTATION) {
 343                                 ALOGI("Adding placeholder orientation sensor");
 344                                 add_sensor(0, i, 1);
 345                                 break;
 346                         }
 347 }
 348
 349 static void uncalibrated_gyro_check (void)
 350 {
 351         unsigned int has_gyr = 0;
 352         unsigned int dev_num;
 353         int i, c;
 354         unsigned int is_poll_sensor;
 355
 356         int cal_idx = 0;
 357         int uncal_idx = 0;
 358
 359         /* Checking to see if we have a gyroscope - we can only have uncal if we have the base sensor */
 360         for (i=0; i < sensor_count; i++)
 361                 if(sensor_catalog[sensor_info[i].catalog_index].type == SENSOR_TYPE_GYROSCOPE)
 362                 {
 363                         has_gyr=1;
 364                         dev_num = sensor_info[i].dev_num;
 365                         is_poll_sensor = !sensor_info[i].num_channels;
 366                         cal_idx = i;
 367                         break;
 368                 }
 369
 370         /*
 371          * If we have a gyro we can add the uncalibrated sensor of the same type and
 372          * on the same dev_num. We will save indexes for easy finding and also save the
 373          * channel specific information.
 374          */
 375         if (has_gyr)
 376                 for (i=0; i<CATALOG_SIZE; i++)
 377                         if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
 378                                 add_sensor(dev_num, i, is_poll_sensor);
 379
 380                                 uncal_idx = sensor_count - 1; /* Just added uncalibrated sensor */
 381
 382                                 /* Similar to build_sensor_report_maps */
 383                                 for (c = 0; c < sensor_info[uncal_idx].num_channels; c++)
 384                                 {
 385                                         memcpy( &(sensor_info[uncal_idx].channel[c].type_spec),
 386                                                 &(sensor_info[cal_idx].channel[c].type_spec),
 387                                                 sizeof(sensor_info[uncal_idx].channel[c].type_spec));
 388                                         sensor_info[uncal_idx].channel[c].type_info = sensor_info[cal_idx].channel[c].type_info;
 389                                         sensor_info[uncal_idx].channel[c].offset    = sensor_info[cal_idx].channel[c].offset;
 390                                         sensor_info[uncal_idx].channel[c].size      = sensor_info[cal_idx].channel[c].size;
 391                                 }
 392                                 sensor_info[uncal_idx].pair_idx = cal_idx;
 393                                 sensor_info[cal_idx].pair_idx = uncal_idx;
 394                                 break;
 395                         }
 396 }
 397
 398 static void update_sensor_matching_trigger_name (char name[MAX_NAME_SIZE])
 399 {
 400         /*
 401          * Check if we have a sensor matching the specified trigger name,
 402          * which should then begin with the sensor name, and end with a number
 403          * equal to the iio device number the sensor is associated to. If so,
 404          * update the string we're going to write to trigger/current_trigger
 405          * when enabling this sensor.
 406          */
 407
 408         int s;
 409         int dev_num;
 410         int len;
 411         char* cursor;
 412
 413         /*
 414          * First determine the iio device number this trigger refers to. We
 415          * expect the last few characters (typically one) of the trigger name
 416          * to be this number, so perform a few checks.
 417          */
 418         len = strnlen(name, MAX_NAME_SIZE);
 419
 420         if (len < 2)
 421                 return;
 422
 423         cursor = name + len - 1;
 424
 425         if (!isdigit(*cursor))
 426                 return;
 427
 428         while (len && isdigit(*cursor)) {
 429                 len--;
 430                 cursor--;
 431         }
 432
 433         dev_num = atoi(cursor+1);
 434
 435         /* See if that matches a sensor */
 436         for (s=0; s<sensor_count; s++)
 437                 if (sensor_info[s].dev_num == dev_num &&
 438                         !strncmp(name, sensor_info[s].internal_name,
 439                                 strlen(sensor_info[s].internal_name))) {
 440                                 /* Update sensor structure and return */
 441                                 strcpy(sensor_info[s].trigger_name, name);
 442                                 return;
 443                         }
 444 }
 445
 446
 447 static void setup_trigger_names (void)
 448 {
 449         char filename[PATH_MAX];
 450         char buf[MAX_NAME_SIZE];
 451         int len;
 452         int s;
 453         int trigger;
 454         int ret;
 455
 456         /* By default, use the name-dev convention that most drivers use */
 457         for (s=0; s<sensor_count; s++)
 458                 snprintf(sensor_info[s].trigger_name, MAX_NAME_SIZE, "%s-dev%d",
 459                         sensor_info[s].internal_name, sensor_info[s].dev_num);
 460
 461         /* Now have a look to /sys/bus/iio/devices/triggerX entries */
 462
 463         for (trigger=0; trigger<MAX_TRIGGERS; trigger++) {
 464
 465                 snprintf(filename, sizeof(filename), TRIGGER_FILE_PATH,trigger);
 466
 467                 ret = sysfs_read_str(filename, buf, sizeof(buf));
 468
 469                 if (ret < 0)
 470                         break;
 471
 472                 update_sensor_matching_trigger_name(buf);
 473         }
 474
 475         for (s=0; s<sensor_count; s++)
 476                 if (sensor_info[s].num_channels) {
 477                         ALOGI(  "Sensor %d (%s) using iio trigger %s\n", s,
 478                                 sensor_info[s].friendly_name,
 479                                 sensor_info[s].trigger_name);
 480                 }
 481 }
 482
 483
 484 void enumerate_sensors (void)
 485 {
 486         /*
 487          * Discover supported sensors and allocate control structures for them.
 488          * Multiple sensors can potentially rely on a single iio device (each
 489          * using their own channels). We can't have multiple sensors of the same
 490          * type on the same device. In case of detection as both a poll-mode
 491          * and trigger-based sensor, use the trigger usage mode.
 492          */
 493         char poll_sensors[CATALOG_SIZE];
 494         char trig_sensors[CATALOG_SIZE];
 495         int dev_num;
 496         unsigned int i;
 497         int trig_found;
 498
 499         for (dev_num=0; dev_num<MAX_DEVICES; dev_num++) {
 500                 trig_found = 0;
 501
 502                 discover_poll_sensors(dev_num, poll_sensors);
 503                 discover_trig_sensors(dev_num, trig_sensors);
 504
 505                 for (i=0; i<CATALOG_SIZE; i++)
 506                         if (trig_sensors[i]) {
 507                                 add_sensor(dev_num, i, 0);
 508                                 trig_found = 1;
 509                         }
 510                         else
 511                                 if (poll_sensors[i])
 512                                         add_sensor(dev_num, i, 1);
 513
 514                 if (trig_found) {
 515                         build_sensor_report_maps(dev_num);
 516                 }
 517         }
 518
 519         ALOGI("Discovered %d sensors\n", sensor_count);
 520
 521         /* Set up default - as well as custom - trigger names */
 522         setup_trigger_names();
 523
 524         /* Make sure Android fall backs to its own orientation sensor */
 525         orientation_sensor_check();
 526
 527         /* Create the uncalibrated counterpart to the compensated gyroscope;
 528          * This is is a new sensor type in Android 4.4 */
 529         uncalibrated_gyro_check();
 530 }
 531
 532
 533 void delete_enumeration_data (void)
 534 {
 535
 536         int i;
 537         for (i = 0; i < sensor_count; i++)
 538         switch (sensor_catalog[sensor_info[i].catalog_index].type) {
 539                 case SENSOR_TYPE_MAGNETIC_FIELD:
 540                 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
 541                 case SENSOR_TYPE_GYROSCOPE:
 542                         if (sensor_info[i].cal_data != NULL) {
 543                                 free(sensor_info[i].cal_data);
 544                                 sensor_info[i].cal_data = NULL;
 545                                 sensor_info[i].calibrated = 0;
 546                         }
 547                         break;
 548                 default:
 549                         break;
 550         }
 551         /* Reset sensor count */
 552         sensor_count = 0;
 553 }
 554
 555
 556 int get_sensors_list(   struct sensors_module_t* module,
 557                         struct sensor_t const** list)
 558 {
 559         *list = sensor_desc;
 560         return sensor_count;
 561 }
 562