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 )
43 DECLARE_VIRTUAL(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED )
46 #define CATALOG_SIZE ARRAY_SIZE(sensor_catalog)
48 /* ACPI PLD (physical location of device) definitions, as used with sensors */
53 /* We equate sensor handles to indices in these tables */
55 struct sensor_t sensor_desc[MAX_SENSORS]; /* Android-level descriptors */
56 sensor_info_t sensor[MAX_SENSORS]; /* Internal descriptors */
57 int sensor_count; /* Detected sensors */
60 static void setup_properties_from_pld (int s, int panel, int rotation,
64 * Generate suitable order and opt_scale directives from the PLD panel
65 * and rotation codes we got. This can later be superseded by the usual
66 * properties if necessary. Eventually we'll need to replace these
67 * mechanisms by a less convoluted one, such as a 3x3 placement matrix.
74 int angle = rotation * 45;
76 /* Only deal with 3 axis chips for now */
80 if (panel == PANEL_BACK) {
81 /* Chip placed on the back panel ; negate x and z */
87 case 90: /* 90° clockwise: negate y then swap x,y */
92 case 180: /* Upside down: negate x and y */
97 case 270: /* 90° counter clockwise: negate x then swap x,y */
104 sensor[s].order[0] = 1;
105 sensor[s].order[1] = 0;
106 sensor[s].order[2] = 2;
107 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
110 sensor[s].channel[0].opt_scale = x;
111 sensor[s].channel[1].opt_scale = y;
112 sensor[s].channel[2].opt_scale = z;
116 static int is_valid_pld (int panel, int rotation)
118 if (panel != PANEL_FRONT && panel != PANEL_BACK) {
119 ALOGW("Unhandled PLD panel spec: %d\n", panel);
123 /* Only deal with 90° rotations for now */
124 if (rotation < 0 || rotation > 7 || (rotation & 1)) {
125 ALOGW("Unhandled PLD rotation spec: %d\n", rotation);
133 static int read_pld_from_properties (int s, int* panel, int* rotation)
137 if (sensor_get_prop(s, "panel", &p))
140 if (sensor_get_prop(s, "rotation", &r))
143 if (!is_valid_pld(p, r))
149 ALOGI("S%d PLD from properties: panel=%d, rotation=%d\n", s, p, r);
155 static int read_pld_from_sysfs (int s, int dev_num, int* panel, int* rotation)
157 char sysfs_path[PATH_MAX];
160 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/panel", dev_num);
162 if (sysfs_read_int(sysfs_path, &p))
165 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/rotation", dev_num);
167 if (sysfs_read_int(sysfs_path, &r))
170 if (!is_valid_pld(p, r))
176 ALOGI("S%d PLD from sysfs: panel=%d, rotation=%d\n", s, p, r);
182 static void decode_placement_information (int dev_num, int num_channels, int s)
185 * See if we have optional "physical location of device" ACPI tags.
186 * We're only interested in panel and rotation specifiers. Use the
187 * .panel and .rotation properties in priority, and the actual ACPI
188 * values as a second source.
194 if (read_pld_from_properties(s, &panel, &rotation) &&
195 read_pld_from_sysfs(s, dev_num, &panel, &rotation))
196 return; /* No PLD data available */
198 /* Map that to field ordering and scaling mechanisms */
199 setup_properties_from_pld(s, panel, rotation, num_channels);
203 static void populate_descriptors (int s, int sensor_type)
205 int32_t min_delay_us;
206 max_delay_t max_delay_us;
208 /* Initialize Android-visible descriptor */
209 sensor_desc[s].name = sensor_get_name(s);
210 sensor_desc[s].vendor = sensor_get_vendor(s);
211 sensor_desc[s].version = sensor_get_version(s);
212 sensor_desc[s].handle = s;
213 sensor_desc[s].type = sensor_type;
215 sensor_desc[s].maxRange = sensor_get_max_range(s);
216 sensor_desc[s].resolution = sensor_get_resolution(s);
217 sensor_desc[s].power = sensor_get_power(s);
218 sensor_desc[s].stringType = sensor_get_string_type(s);
220 /* None of our supported sensors requires a special permission */
221 sensor_desc[s].requiredPermission = "";
223 sensor_desc[s].flags = sensor_get_flags(s);
224 sensor_desc[s].minDelay = sensor_get_min_delay(s);
225 sensor_desc[s].maxDelay = sensor_get_max_delay(s);
227 ALOGV("Sensor %d (%s) type(%d) minD(%d) maxD(%d) flags(%2.2x)\n",
228 s, sensor[s].friendly_name, sensor_desc[s].type,
229 sensor_desc[s].minDelay, sensor_desc[s].maxDelay,
230 sensor_desc[s].flags);
232 /* We currently do not implement batching */
233 sensor_desc[s].fifoReservedEventCount = 0;
234 sensor_desc[s].fifoMaxEventCount = 0;
236 min_delay_us = sensor_desc[s].minDelay;
237 max_delay_us = sensor_desc[s].maxDelay;
239 sensor[s].min_supported_rate = max_delay_us ? 1000000.0 / max_delay_us : 1;
240 sensor[s].max_supported_rate = min_delay_us && min_delay_us != -1 ? 1000000.0 / min_delay_us : 0;
244 static void add_virtual_sensor (int catalog_index)
249 if (sensor_count == MAX_SENSORS) {
250 ALOGE("Too many sensors!\n");
254 sensor_type = sensor_catalog[catalog_index].type;
258 sensor[s].is_virtual = 1;
259 sensor[s].catalog_index = catalog_index;
260 sensor[s].type = sensor_type;
262 populate_descriptors(s, sensor_type);
264 /* Initialize fields related to sysfs reads offloading */
265 sensor[s].thread_data_fd[0] = -1;
266 sensor[s].thread_data_fd[1] = -1;
267 sensor[s].acquisition_thread = -1;
273 static void add_sensor (int dev_num, int catalog_index, int use_polling)
278 char sysfs_path[PATH_MAX];
285 char suffix[MAX_NAME_SIZE + 8];
288 if (sensor_count == MAX_SENSORS) {
289 ALOGE("Too many sensors!\n");
293 sensor_type = sensor_catalog[catalog_index].type;
296 * At this point we could check that the expected sysfs attributes are
297 * present ; that would enable having multiple catalog entries with the
298 * same sensor type, accomodating different sets of sysfs attributes.
303 sensor[s].dev_num = dev_num;
304 sensor[s].catalog_index = catalog_index;
305 sensor[s].type = sensor_type;
306 sensor[s].is_polling = use_polling;
308 num_channels = sensor_catalog[catalog_index].num_channels;
311 sensor[s].num_channels = 0;
313 sensor[s].num_channels = num_channels;
315 prefix = sensor_catalog[catalog_index].tag;
318 * receiving the illumination sensor calibration inputs from
319 * the Android properties and setting it within sysfs
321 if (sensor_type == SENSOR_TYPE_LIGHT) {
322 retval = sensor_get_illumincalib(s);
324 sprintf(sysfs_path, ILLUMINATION_CALIBPATH, dev_num);
325 sysfs_write_int(sysfs_path, retval);
330 * See if we have optional calibration biases for each of the channels of this sensor. These would be expressed using properties like
331 * 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
332 * relevant calibbias sysfs file if that file can be located and then used internally by the iio sensor driver.
336 for (c = 0; c < num_channels; c++) {
337 ch_name = sensor_catalog[catalog_index].channel[c].name;
338 sprintf(suffix, "%s.calib_bias", ch_name);
339 if (!sensor_get_prop(s, suffix, &calib_bias) && calib_bias) {
340 sprintf(suffix, "%s_%s", prefix, sensor_catalog[catalog_index].channel[c].name);
341 sprintf(sysfs_path, SENSOR_CALIB_BIAS_PATH, dev_num, suffix);
342 sysfs_write_int(sysfs_path, calib_bias);
346 if (!sensor_get_prop(s, "calib_bias", &calib_bias) && calib_bias) {
347 sprintf(sysfs_path, SENSOR_CALIB_BIAS_PATH, dev_num, prefix);
348 sysfs_write_int(sysfs_path, calib_bias);
351 /* Read name attribute, if available */
352 sprintf(sysfs_path, NAME_PATH, dev_num);
353 sysfs_read_str(sysfs_path, sensor[s].internal_name, MAX_NAME_SIZE);
355 /* See if we have general offsets and scale values for this sensor */
357 sprintf(sysfs_path, SENSOR_OFFSET_PATH, dev_num, prefix);
358 sysfs_read_float(sysfs_path, &sensor[s].offset);
360 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
361 if (!sensor_get_fl_prop(s, "scale", &scale)) {
363 * There is a chip preferred scale specified,
364 * so try to store it in sensor's scale file
366 if (sysfs_write_float(sysfs_path, scale) == -1 && errno == ENOENT) {
367 ALOGE("Failed to store scale[%g] into %s - file is missing", scale, sysfs_path);
368 /* Store failed, try to store the scale into channel specific file */
369 for (c = 0; c < num_channels; c++)
371 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
372 sensor_catalog[catalog_index].channel[c].scale_path);
373 if (sysfs_write_float(sysfs_path, scale) == -1)
374 ALOGE("Failed to store scale[%g] into %s", scale, sysfs_path);
379 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
380 if (!sysfs_read_float(sysfs_path, &scale)) {
381 sensor[s].scale = scale;
382 ALOGV("Scale path:%s scale:%g dev_num:%d\n",
383 sysfs_path, scale, dev_num);
387 /* Read channel specific scale if any*/
388 for (c = 0; c < num_channels; c++)
390 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
391 sensor_catalog[catalog_index].channel[c].scale_path);
393 if (!sysfs_read_float(sysfs_path, &scale)) {
394 sensor[s].channel[c].scale = scale;
397 ALOGV( "Scale path:%s "
398 "channel scale:%g dev_num:%d\n",
399 sysfs_path, scale, dev_num);
404 /* Set default scaling - if num_channels is zero, we have one channel */
406 sensor[s].channel[0].opt_scale = 1;
408 for (c = 1; c < num_channels; c++)
409 sensor[s].channel[c].opt_scale = 1;
411 /* Read ACPI _PLD attributes for this sensor, if there are any */
412 decode_placement_information(dev_num, num_channels, s);
415 * See if we have optional correction scaling factors for each of the
416 * channels of this sensor. These would be expressed using properties
417 * like iio.accel.y.opt_scale = -1. In case of a single channel we also
418 * support things such as iio.temp.opt_scale = -1. Note that this works
419 * for all types of sensors, and whatever transform is selected, on top
420 * of any previous conversions.
424 for (c = 0; c < num_channels; c++) {
425 ch_name = sensor_catalog[catalog_index].channel[c].name;
426 sprintf(suffix, "%s.opt_scale", ch_name);
427 if (!sensor_get_fl_prop(s, suffix, &opt_scale))
428 sensor[s].channel[c].opt_scale = opt_scale;
431 if (!sensor_get_fl_prop(s, "opt_scale", &opt_scale))
432 sensor[s].channel[0].opt_scale = opt_scale;
434 populate_descriptors(s, sensor_type);
436 /* Populate the quirks array */
437 sensor_get_quirks(s);
439 if (sensor[s].internal_name[0] == '\0') {
441 * In case the kernel-mode driver doesn't expose a name for
442 * the iio device, use (null)-dev%d as the trigger name...
443 * This can be considered a kernel-mode iio driver bug.
445 ALOGW("Using null trigger on sensor %d (dev %d)\n", s, dev_num);
446 strcpy(sensor[s].internal_name, "(null)");
449 switch (sensor_type) {
450 case SENSOR_TYPE_GYROSCOPE:
451 sensor[s].cal_data = malloc(sizeof(gyro_cal_t));
454 case SENSOR_TYPE_MAGNETIC_FIELD:
455 sensor[s].cal_data = malloc(sizeof(compass_cal_t));
459 sensor[s].max_cal_level = sensor_get_cal_steps(s);
461 /* Select one of the available sensor sample processing styles */
464 /* Initialize fields related to sysfs reads offloading */
465 sensor[s].thread_data_fd[0] = -1;
466 sensor[s].thread_data_fd[1] = -1;
467 sensor[s].acquisition_thread = -1;
469 /* Check if we have a special ordering property on this sensor */
470 if (sensor_get_order(s, sensor[s].order))
471 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
477 static void discover_poll_sensors (int dev_num, char map[CATALOG_SIZE])
479 char base_dir[PATH_MAX];
485 memset(map, 0, CATALOG_SIZE);
487 snprintf(base_dir, sizeof(base_dir), BASE_PATH, dev_num);
489 dir = opendir(base_dir);
494 /* Enumerate entries in this iio device's base folder */
496 while ((d = readdir(dir))) {
497 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
500 /* If the name matches a catalog entry, flag it */
501 for (i = 0; i < CATALOG_SIZE; i++) {
503 /* No discovery for virtual sensors */
504 if (sensor_catalog[i].is_virtual)
507 for (c=0; c<sensor_catalog[i].num_channels; c++)
508 if (!strcmp(d->d_name,sensor_catalog[i].channel[c].raw_path) || !strcmp(d->d_name, sensor_catalog[i].channel[c].input_path)) {
519 static void discover_trig_sensors (int dev_num, char map[CATALOG_SIZE])
521 char scan_elem_dir[PATH_MAX];
526 memset(map, 0, CATALOG_SIZE);
528 /* Enumerate entries in this iio device's scan_elements folder */
530 snprintf(scan_elem_dir, sizeof(scan_elem_dir), CHANNEL_PATH, dev_num);
532 dir = opendir(scan_elem_dir);
537 while ((d = readdir(dir))) {
538 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
541 /* Compare en entry to known ones and create matching sensors */
543 for (i = 0; i<CATALOG_SIZE; i++) {
545 /* No discovery for virtual sensors */
546 if (sensor_catalog[i].is_virtual)
549 if (!strcmp(d->d_name, sensor_catalog[i].channel[0].en_path)) {
560 static void virtual_sensors_check (void)
568 int catalog_size = CATALOG_SIZE;
569 int gyro_cal_idx = 0;
570 int magn_cal_idx = 0;
572 for (i=0; i<sensor_count; i++)
573 switch (sensor[i].type) {
574 case SENSOR_TYPE_ACCELEROMETER:
577 case SENSOR_TYPE_GYROSCOPE:
581 case SENSOR_TYPE_MAGNETIC_FIELD:
585 case SENSOR_TYPE_ORIENTATION:
588 case SENSOR_TYPE_ROTATION_VECTOR:
593 for (i=0; i<catalog_size; i++)
594 switch (sensor_catalog[i].type) {
596 * If we have accel + gyro + magn but no rotation vector sensor,
597 * SensorService replaces the HAL provided orientation sensor by the
598 * AOSP version... provided we report one. So initialize a virtual
599 * orientation sensor with zero values, which will get replaced. See:
600 * frameworks/native/services/sensorservice/SensorService.cpp, looking
601 * for SENSOR_TYPE_ROTATION_VECTOR; that code should presumably fall
602 * back to mUserSensorList.add instead of replaceAt, but accommodate it.
605 case SENSOR_TYPE_ORIENTATION:
606 if (has_acc && has_gyr && has_mag && !has_rot && !has_ori)
609 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
611 sensor[sensor_count].base_count = 1;
612 sensor[sensor_count].base[0] = gyro_cal_idx;
613 add_virtual_sensor(i);
616 case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
618 sensor[sensor_count].base_count = 1;
619 sensor[sensor_count].base[0] = magn_cal_idx;
620 add_virtual_sensor(i);
629 static void propose_new_trigger (int s, char trigger_name[MAX_NAME_SIZE],
633 * A new trigger has been enumerated for this sensor. Check if it makes sense to use it over the currently selected one,
634 * and select it if it is so. The format is something like sensor_name-dev0.
637 const char *suffix = trigger_name + sensor_name_len + 1;
639 /* dev is the default, and lowest priority; no need to update */
640 if (!memcmp(suffix, "dev", 3))
643 /* If we found any-motion trigger, record it */
645 if (!memcmp(suffix, "any-motion-", 11)) {
646 strcpy(sensor[s].motion_trigger_name, trigger_name);
651 * 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
652 * of the trigger to use with this sensor.
654 strcpy(sensor[s].init_trigger_name, trigger_name);
658 static void update_sensor_matching_trigger_name (char name[MAX_NAME_SIZE])
661 * Check if we have a sensor matching the specified trigger name, which should then begin with the sensor name, and end with a number
662 * 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
663 * when enabling this sensor.
673 * First determine the iio device number this trigger refers to. We expect the last few characters (typically one) of the trigger name
674 * to be this number, so perform a few checks.
676 len = strnlen(name, MAX_NAME_SIZE);
681 cursor = name + len - 1;
683 if (!isdigit(*cursor))
686 while (len && isdigit(*cursor)) {
691 dev_num = atoi(cursor+1);
693 /* See if that matches a sensor */
694 for (s=0; s<sensor_count; s++)
695 if (sensor[s].dev_num == dev_num) {
697 sensor_name_len = strlen(sensor[s].internal_name);
699 if (!strncmp(name, sensor[s].internal_name, sensor_name_len))
700 /* Switch to new trigger if appropriate */
701 propose_new_trigger(s, name, sensor_name_len);
706 static void setup_trigger_names (void)
708 char filename[PATH_MAX];
709 char buf[MAX_NAME_SIZE];
715 /* By default, use the name-dev convention that most drivers use */
716 for (s=0; s<sensor_count; s++)
717 snprintf(sensor[s].init_trigger_name, MAX_NAME_SIZE, "%s-dev%d", sensor[s].internal_name, sensor[s].dev_num);
719 /* Now have a look to /sys/bus/iio/devices/triggerX entries */
721 for (trigger=0; trigger<MAX_TRIGGERS; trigger++) {
723 snprintf(filename, sizeof(filename), TRIGGER_FILE_PATH,trigger);
725 ret = sysfs_read_str(filename, buf, sizeof(buf));
730 /* Record initial and any-motion triggers names */
731 update_sensor_matching_trigger_name(buf);
735 * Certain drivers expose only motion triggers even though they should be continous. For these, use the default trigger name as the motion
736 * trigger. The code generating intermediate events is dependent on motion_trigger_name being set to a non empty string.
739 for (s=0; s<sensor_count; s++)
740 if ((sensor[s].quirks & QUIRK_TERSE_DRIVER) && sensor[s].motion_trigger_name[0] == '\0')
741 strcpy(sensor[s].motion_trigger_name, sensor[s].init_trigger_name);
743 for (s=0; s<sensor_count; s++)
744 if (!sensor[s].is_polling) {
745 ALOGI("Sensor %d (%s) default trigger: %s\n", s, sensor[s].friendly_name, sensor[s].init_trigger_name);
746 if (sensor[s].motion_trigger_name[0])
747 ALOGI("Sensor %d (%s) motion trigger: %s\n", s, sensor[s].friendly_name, sensor[s].motion_trigger_name);
751 void enumerate_sensors (void)
754 * Discover supported sensors and allocate control structures for them. Multiple sensors can potentially rely on a single iio device (each
755 * 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
756 * and trigger-based sensor, use the trigger usage mode.
758 char poll_sensors[CATALOG_SIZE];
759 char trig_sensors[CATALOG_SIZE];
764 for (dev_num=0; dev_num<MAX_DEVICES; dev_num++) {
767 discover_poll_sensors(dev_num, poll_sensors);
768 discover_trig_sensors(dev_num, trig_sensors);
770 for (i=0; i<CATALOG_SIZE; i++)
771 if (trig_sensors[i]) {
772 add_sensor(dev_num, i, 0);
777 add_sensor(dev_num, i, 1);
780 build_sensor_report_maps(dev_num);
783 ALOGI("Discovered %d sensors\n", sensor_count);
785 /* Set up default - as well as custom - trigger names */
786 setup_trigger_names();
788 virtual_sensors_check();
792 void delete_enumeration_data (void)
795 for (i = 0; i < sensor_count; i++)
796 if (sensor[i].cal_data) {
797 free(sensor[i].cal_data);
798 sensor[i].cal_data = NULL;
799 sensor[i].cal_level = 0;
802 /* Reset sensor count */
807 int get_sensors_list (__attribute__((unused)) struct sensors_module_t* module,
808 struct sensor_t const** list)