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 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 sensor_info_t sensor[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 This can later be superseded by the usual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[s].order[0] = 1;
104 sensor[s].order[1] = 0;
105 sensor[s].order[2] = 2;
106 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
109 sensor[s].channel[0].opt_scale = x;
110 sensor[s].channel[1].opt_scale = y;
111 sensor[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 populate_descriptors (int s, int sensor_type)
204 int32_t min_delay_us;
205 max_delay_t max_delay_us;
207 /* Initialize Android-visible descriptor */
208 sensor_desc[s].name = sensor_get_name(s);
209 sensor_desc[s].vendor = sensor_get_vendor(s);
210 sensor_desc[s].version = sensor_get_version(s);
211 sensor_desc[s].handle = s;
212 sensor_desc[s].type = sensor_type;
214 sensor_desc[s].maxRange = sensor_get_max_range(s);
215 sensor_desc[s].resolution = sensor_get_resolution(s);
216 sensor_desc[s].power = sensor_get_power(s);
217 sensor_desc[s].stringType = sensor_get_string_type(s);
219 /* None of our supported sensors requires a special permission */
220 sensor_desc[s].requiredPermission = "";
222 sensor_desc[s].flags = sensor_get_flags(s);
223 sensor_desc[s].minDelay = sensor_get_min_delay(s);
224 sensor_desc[s].maxDelay = sensor_get_max_delay(s);
226 ALOGV("Sensor %d (%s) type(%d) minD(%d) maxD(%d) flags(%2.2x)\n",
227 s, sensor[s].friendly_name, sensor_desc[s].type,
228 sensor_desc[s].minDelay, sensor_desc[s].maxDelay,
229 sensor_desc[s].flags);
231 /* We currently do not implement batching */
232 sensor_desc[s].fifoReservedEventCount = 0;
233 sensor_desc[s].fifoMaxEventCount = 0;
235 min_delay_us = sensor_desc[s].minDelay;
236 max_delay_us = sensor_desc[s].maxDelay;
238 sensor[s].min_supported_rate = max_delay_us ? 1000000.0 / max_delay_us : 1;
239 sensor[s].max_supported_rate = min_delay_us && min_delay_us != -1 ? 1000000.0 / min_delay_us : 0;
243 static void add_virtual_sensor (int catalog_index)
248 if (sensor_count == MAX_SENSORS) {
249 ALOGE("Too many sensors!\n");
253 sensor_type = sensor_catalog[catalog_index].type;
257 sensor[s].is_virtual = 1;
258 sensor[s].catalog_index = catalog_index;
259 sensor[s].type = sensor_type;
261 populate_descriptors(s, sensor_type);
263 /* Initialize fields related to sysfs reads offloading */
264 sensor[s].thread_data_fd[0] = -1;
265 sensor[s].thread_data_fd[1] = -1;
266 sensor[s].acquisition_thread = -1;
272 static void add_sensor (int dev_num, int catalog_index, int use_polling)
277 char sysfs_path[PATH_MAX];
284 char suffix[MAX_NAME_SIZE + 8];
286 if (sensor_count == MAX_SENSORS) {
287 ALOGE("Too many sensors!\n");
291 sensor_type = sensor_catalog[catalog_index].type;
294 * At this point we could check that the expected sysfs attributes are
295 * present ; that would enable having multiple catalog entries with the
296 * same sensor type, accomodating different sets of sysfs attributes.
301 sensor[s].dev_num = dev_num;
302 sensor[s].catalog_index = catalog_index;
303 sensor[s].type = sensor_type;
305 num_channels = sensor_catalog[catalog_index].num_channels;
308 sensor[s].num_channels = 0;
310 sensor[s].num_channels = num_channels;
312 prefix = sensor_catalog[catalog_index].tag;
315 * receiving the illumination sensor calibration inputs from
316 * the Android properties and setting it within sysfs
318 if (sensor_type == SENSOR_TYPE_LIGHT) {
319 retval = sensor_get_illumincalib(s);
321 sprintf(sysfs_path, ILLUMINATION_CALIBPATH, dev_num);
322 sysfs_write_int(sysfs_path, retval);
326 /* Read name attribute, if available */
327 sprintf(sysfs_path, NAME_PATH, dev_num);
328 sysfs_read_str(sysfs_path, sensor[s].internal_name, MAX_NAME_SIZE);
330 /* See if we have general offsets and scale values for this sensor */
332 sprintf(sysfs_path, SENSOR_OFFSET_PATH, dev_num, prefix);
333 sysfs_read_float(sysfs_path, &sensor[s].offset);
335 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
336 if (!sensor_get_fl_prop(s, "scale", &scale)) {
338 * There is a chip preferred scale specified,
339 * so try to store it in sensor's scale file
341 if (sysfs_write_float(sysfs_path, scale) == -1 && errno == ENOENT) {
342 ALOGE("Failed to store scale[%g] into %s - file is missing", scale, sysfs_path);
343 /* Store failed, try to store the scale into channel specific file */
344 for (c = 0; c < num_channels; c++)
346 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
347 sensor_catalog[catalog_index].channel[c].scale_path);
348 if (sysfs_write_float(sysfs_path, scale) == -1)
349 ALOGE("Failed to store scale[%g] into %s", scale, sysfs_path);
354 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
355 if (!sysfs_read_float(sysfs_path, &scale)) {
356 sensor[s].scale = scale;
357 ALOGV("Scale path:%s scale:%g dev_num:%d\n",
358 sysfs_path, scale, dev_num);
362 /* Read channel specific scale if any*/
363 for (c = 0; c < num_channels; c++)
365 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
366 sensor_catalog[catalog_index].channel[c].scale_path);
368 if (!sysfs_read_float(sysfs_path, &scale)) {
369 sensor[s].channel[c].scale = scale;
372 ALOGV( "Scale path:%s "
373 "channel scale:%g dev_num:%d\n",
374 sysfs_path, scale, dev_num);
379 /* Set default scaling - if num_channels is zero, we have one channel */
381 sensor[s].channel[0].opt_scale = 1;
383 for (c = 1; c < num_channels; c++)
384 sensor[s].channel[c].opt_scale = 1;
386 /* Read ACPI _PLD attributes for this sensor, if there are any */
387 decode_placement_information(dev_num, num_channels, s);
390 * See if we have optional correction scaling factors for each of the
391 * channels of this sensor. These would be expressed using properties
392 * like iio.accel.y.opt_scale = -1. In case of a single channel we also
393 * support things such as iio.temp.opt_scale = -1. Note that this works
394 * for all types of sensors, and whatever transform is selected, on top
395 * of any previous conversions.
399 for (c = 0; c < num_channels; c++) {
400 ch_name = sensor_catalog[catalog_index].channel[c].name;
401 sprintf(suffix, "%s.opt_scale", ch_name);
402 if (!sensor_get_fl_prop(s, suffix, &opt_scale))
403 sensor[s].channel[c].opt_scale = opt_scale;
406 if (!sensor_get_fl_prop(s, "opt_scale", &opt_scale))
407 sensor[s].channel[0].opt_scale = opt_scale;
409 populate_descriptors(s, sensor_type);
411 /* Populate the quirks array */
412 sensor_get_quirks(s);
414 if (sensor[s].internal_name[0] == '\0') {
416 * In case the kernel-mode driver doesn't expose a name for
417 * the iio device, use (null)-dev%d as the trigger name...
418 * This can be considered a kernel-mode iio driver bug.
420 ALOGW("Using null trigger on sensor %d (dev %d)\n", s, dev_num);
421 strcpy(sensor[s].internal_name, "(null)");
424 switch (sensor_type) {
425 case SENSOR_TYPE_GYROSCOPE:
426 sensor[s].cal_data = malloc(sizeof(gyro_cal_t));
429 case SENSOR_TYPE_MAGNETIC_FIELD:
430 sensor[s].cal_data = malloc(sizeof(compass_cal_t));
434 sensor[s].max_cal_level = sensor_get_cal_steps(s);
436 /* Select one of the available sensor sample processing styles */
439 /* Initialize fields related to sysfs reads offloading */
440 sensor[s].thread_data_fd[0] = -1;
441 sensor[s].thread_data_fd[1] = -1;
442 sensor[s].acquisition_thread = -1;
444 /* Check if we have a special ordering property on this sensor */
445 if (sensor_get_order(s, sensor[s].order))
446 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
452 static void discover_poll_sensors (int dev_num, char map[CATALOG_SIZE])
454 char base_dir[PATH_MAX];
460 memset(map, 0, CATALOG_SIZE);
462 snprintf(base_dir, sizeof(base_dir), BASE_PATH, dev_num);
464 dir = opendir(base_dir);
469 /* Enumerate entries in this iio device's base folder */
471 while ((d = readdir(dir))) {
472 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
475 /* If the name matches a catalog entry, flag it */
476 for (i = 0; i < CATALOG_SIZE; i++) {
477 /* No discovery for virtual sensors */
478 if (sensor_catalog[i].is_virtual)
480 for (c=0; c<sensor_catalog[i].num_channels; c++)
481 if (!strcmp(d->d_name,sensor_catalog[i].channel[c].raw_path) ||
482 !strcmp(d->d_name, sensor_catalog[i].channel[c].input_path)) {
493 static void discover_trig_sensors (int dev_num, char map[CATALOG_SIZE])
495 char scan_elem_dir[PATH_MAX];
500 memset(map, 0, CATALOG_SIZE);
502 /* Enumerate entries in this iio device's scan_elements folder */
504 snprintf(scan_elem_dir, sizeof(scan_elem_dir), CHANNEL_PATH, dev_num);
506 dir = opendir(scan_elem_dir);
511 while ((d = readdir(dir))) {
512 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
515 /* Compare en entry to known ones and create matching sensors */
517 for (i = 0; i<CATALOG_SIZE; i++) {
518 /* No discovery for virtual sensors */
519 if (sensor_catalog[i].is_virtual)
521 if (!strcmp(d->d_name,
522 sensor_catalog[i].channel[0].en_path)) {
533 static void orientation_sensor_check (void)
536 * If we have accel + gyro + magn but no rotation vector sensor,
537 * SensorService replaces the HAL provided orientation sensor by the
538 * AOSP version... provided we report one. So initialize a virtual
539 * orientation sensor with zero values, which will get replaced. See:
540 * frameworks/native/services/sensorservice/SensorService.cpp, looking
541 * for SENSOR_TYPE_ROTATION_VECTOR; that code should presumably fall
542 * back to mUserSensorList.add instead of replaceAt, but accommodate it.
551 int catalog_size = CATALOG_SIZE;
553 for (i=0; i<sensor_count; i++)
554 switch (sensor[i].type) {
555 case SENSOR_TYPE_ACCELEROMETER:
558 case SENSOR_TYPE_GYROSCOPE:
561 case SENSOR_TYPE_MAGNETIC_FIELD:
564 case SENSOR_TYPE_ORIENTATION:
567 case SENSOR_TYPE_ROTATION_VECTOR:
572 if (has_acc && has_gyr && has_mag && !has_rot && !has_ori)
573 for (i=0; i<catalog_size; i++)
574 if (sensor_catalog[i].type == SENSOR_TYPE_ORIENTATION) {
575 ALOGI("Adding placeholder orientation sensor");
582 static void propose_new_trigger (int s, char trigger_name[MAX_NAME_SIZE],
586 * A new trigger has been enumerated for this sensor. Check if it makes
587 * sense to use it over the currently selected one, and select it if it
588 * is so. The format is something like sensor_name-dev0.
591 const char *suffix = trigger_name + sensor_name_len + 1;
593 /* dev is the default, and lowest priority; no need to update */
594 if (!memcmp(suffix, "dev", 3))
597 /* If we found any-motion trigger, record it */
599 if (!memcmp(suffix, "any-motion-", 11)) {
600 strcpy(sensor[s].motion_trigger_name, trigger_name);
605 * It's neither the default "dev" nor an "any-motion" one. Make sure we
606 * use this though, as we may not have any other indication of the name
607 * of the trigger to use with this sensor.
609 strcpy(sensor[s].init_trigger_name, trigger_name);
613 static void update_sensor_matching_trigger_name (char name[MAX_NAME_SIZE])
616 * Check if we have a sensor matching the specified trigger name,
617 * which should then begin with the sensor name, and end with a number
618 * equal to the iio device number the sensor is associated to. If so,
619 * update the string we're going to write to trigger/current_trigger
620 * when enabling this sensor.
630 * First determine the iio device number this trigger refers to. We
631 * expect the last few characters (typically one) of the trigger name
632 * to be this number, so perform a few checks.
634 len = strnlen(name, MAX_NAME_SIZE);
639 cursor = name + len - 1;
641 if (!isdigit(*cursor))
644 while (len && isdigit(*cursor)) {
649 dev_num = atoi(cursor+1);
651 /* See if that matches a sensor */
652 for (s=0; s<sensor_count; s++)
653 if (sensor[s].dev_num == dev_num) {
655 sensor_name_len = strlen(sensor[s].internal_name);
658 sensor[s].internal_name,
660 /* Switch to new trigger if appropriate */
661 propose_new_trigger(s, name, sensor_name_len);
666 static void setup_trigger_names (void)
668 char filename[PATH_MAX];
669 char buf[MAX_NAME_SIZE];
675 /* By default, use the name-dev convention that most drivers use */
676 for (s=0; s<sensor_count; s++)
677 snprintf(sensor[s].init_trigger_name,
678 MAX_NAME_SIZE, "%s-dev%d",
679 sensor[s].internal_name, sensor[s].dev_num);
681 /* Now have a look to /sys/bus/iio/devices/triggerX entries */
683 for (trigger=0; trigger<MAX_TRIGGERS; trigger++) {
685 snprintf(filename, sizeof(filename), TRIGGER_FILE_PATH,trigger);
687 ret = sysfs_read_str(filename, buf, sizeof(buf));
692 /* Record initial and any-motion triggers names */
693 update_sensor_matching_trigger_name(buf);
697 * Certain drivers expose only motion triggers even though they should
698 * be continous. For these, use the default trigger name as the motion
699 * trigger. The code generating intermediate events is dependent on
700 * motion_trigger_name being set to a non empty string.
703 for (s=0; s<sensor_count; s++)
704 if ((sensor[s].quirks & QUIRK_TERSE_DRIVER) &&
705 sensor[s].motion_trigger_name[0] == '\0')
706 strcpy( sensor[s].motion_trigger_name,
707 sensor[s].init_trigger_name);
709 for (s=0; s<sensor_count; s++)
710 if (sensor[s].num_channels) {
711 ALOGI("Sensor %d (%s) default trigger: %s\n", s,
712 sensor[s].friendly_name,
713 sensor[s].init_trigger_name);
714 if (sensor[s].motion_trigger_name[0])
715 ALOGI("Sensor %d (%s) motion trigger: %s\n",
716 s, sensor[s].friendly_name,
717 sensor[s].motion_trigger_name);
722 static void uncalibrated_gyro_check (void)
724 unsigned int has_gyr = 0;
725 unsigned int dev_num;
730 int catalog_size = CATALOG_SIZE; /* Avoid GCC sign comparison warning */
732 if (sensor_count == MAX_SENSORS)
734 /* Checking to see if we have a gyroscope - we can only have uncal if we have the base sensor */
735 for (i=0; i < sensor_count; i++)
736 if (sensor[i].type == SENSOR_TYPE_GYROSCOPE) {
743 uncal_idx = sensor_count;
744 sensor[uncal_idx].base_count = 1;
745 sensor[uncal_idx].base[0] = cal_idx;
747 for (i=0; i<catalog_size; i++)
748 if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
749 add_virtual_sensor(i);
756 void enumerate_sensors (void)
759 * Discover supported sensors and allocate control structures for them.
760 * Multiple sensors can potentially rely on a single iio device (each
761 * using their own channels). We can't have multiple sensors of the same
762 * type on the same device. In case of detection as both a poll-mode
763 * and trigger-based sensor, use the trigger usage mode.
765 char poll_sensors[CATALOG_SIZE];
766 char trig_sensors[CATALOG_SIZE];
771 for (dev_num=0; dev_num<MAX_DEVICES; dev_num++) {
774 discover_poll_sensors(dev_num, poll_sensors);
775 discover_trig_sensors(dev_num, trig_sensors);
777 for (i=0; i<CATALOG_SIZE; i++)
778 if (trig_sensors[i]) {
779 add_sensor(dev_num, i, 0);
784 add_sensor(dev_num, i, 1);
787 build_sensor_report_maps(dev_num);
791 ALOGI("Discovered %d sensors\n", sensor_count);
793 /* Set up default - as well as custom - trigger names */
794 setup_trigger_names();
796 /* Make sure Android fall backs to its own orientation sensor */
797 orientation_sensor_check();
800 * Create the uncalibrated counterpart to the compensated gyroscope.
801 * This is is a new sensor type in Android 4.4.
804 uncalibrated_gyro_check();
808 void delete_enumeration_data (void)
811 for (i = 0; i < sensor_count; i++)
812 if (sensor[i].cal_data) {
813 free(sensor[i].cal_data);
814 sensor[i].cal_data = NULL;
815 sensor[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)