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         sensor_desc[s].maxDelay = sensor_get_max_delay(s);
 184
 185         if (sensor_info[s].internal_name[0] == '\0') {
 186                 /*
 187                  * In case the kernel-mode driver doesn't expose a name for
 188                  * the iio device, use (null)-dev%d as the trigger name...
 189                  * This can be considered a kernel-mode iio driver bug.
 190                  */
 191                 ALOGW("Using null trigger on sensor %d (dev %d)\n", s, dev_num);
 192                 strcpy(sensor_info[s].internal_name, "(null)");
 193         }
 194
 195         if (sensor_catalog[catalog_index].type == SENSOR_TYPE_GYROSCOPE ||
 196                 sensor_catalog[catalog_index].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
 197                 struct gyro_cal* calibration_data = calloc(1, sizeof(struct gyro_cal));
 198                 sensor_info[s].cal_data = calibration_data;
 199         }
 200
 201         if (sensor_catalog[catalog_index].type == SENSOR_TYPE_MAGNETIC_FIELD) {
 202                 struct compass_cal* calibration_data = calloc(1, sizeof(struct compass_cal));
 203                 sensor_info[s].cal_data = calibration_data;
 204         }
 205
 206         /* Select one of the available sensor sample processing styles */
 207         select_transform(s);
 208
 209         /* Initialize fields related to sysfs reads offloading */
 210         sensor_info[s].thread_data_fd[0]  = -1;
 211         sensor_info[s].thread_data_fd[1]  = -1;
 212         sensor_info[s].acquisition_thread = -1;
 213
 214         /* Check if we have a special ordering property on this sensor */
 215         if (sensor_get_order(s, sensor_info[s].order))
 216                 sensor_info[s].quirks |= QUIRK_FIELD_ORDERING;
 217
 218         sensor_count++;
 219 }
 220
 221
 222 static void discover_poll_sensors (int dev_num, char map[CATALOG_SIZE])
 223 {
 224         char base_dir[PATH_MAX];
 225         DIR *dir;
 226         struct dirent *d;
 227         unsigned int i;
 228         int c;
 229
 230         memset(map, 0, CATALOG_SIZE);
 231
 232         snprintf(base_dir, sizeof(base_dir), BASE_PATH, dev_num);
 233
 234         dir = opendir(base_dir);
 235         if (!dir) {
 236                 return;
 237         }
 238
 239         /* Enumerate entries in this iio device's base folder */
 240
 241         while ((d = readdir(dir))) {
 242                 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
 243                         continue;
 244
 245                 /* If the name matches a catalog entry, flag it */
 246                 for (i = 0; i<CATALOG_SIZE; i++) {
 247                 /* This will be added separately later */
 248                 if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
 249                         continue;
 250                 for (c=0; c<sensor_catalog[i].num_channels; c++)
 251                         if (!strcmp(d->d_name,sensor_catalog[i].channel[c].raw_path) ||
 252                                 !strcmp(d->d_name, sensor_catalog[i].channel[c].input_path)) {
 253                                         map[i] = 1;
 254                                         break;
 255                         }
 256                 }
 257         }
 258
 259         closedir(dir);
 260 }
 261
 262
 263 static void discover_trig_sensors (int dev_num, char map[CATALOG_SIZE])
 264 {
 265         char scan_elem_dir[PATH_MAX];
 266         DIR *dir;
 267         struct dirent *d;
 268         unsigned int i;
 269
 270         memset(map, 0, CATALOG_SIZE);
 271
 272         /* Enumerate entries in this iio device's scan_elements folder */
 273
 274         snprintf(scan_elem_dir, sizeof(scan_elem_dir), CHANNEL_PATH, dev_num);
 275
 276         dir = opendir(scan_elem_dir);
 277         if (!dir) {
 278                 return;
 279         }
 280
 281         while ((d = readdir(dir))) {
 282                 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
 283                         continue;
 284
 285                 /* Compare en entry to known ones and create matching sensors */
 286
 287                 for (i = 0; i<CATALOG_SIZE; i++) {
 288                         if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
 289                                 continue;
 290                         if (!strcmp(d->d_name,
 291                                         sensor_catalog[i].channel[0].en_path)) {
 292                                         map[i] = 1;
 293                                         break;
 294                         }
 295                 }
 296         }
 297
 298         closedir(dir);
 299 }
 300
 301
 302 static void orientation_sensor_check(void)
 303 {
 304         /*
 305          * If we have accel + gyro + magn but no rotation vector sensor,
 306          * SensorService replaces the HAL provided orientation sensor by the
 307          * AOSP version... provided we report one. So initialize a virtual
 308          * orientation sensor with zero values, which will get replaced. See:
 309          * frameworks/native/services/sensorservice/SensorService.cpp, looking
 310          * for SENSOR_TYPE_ROTATION_VECTOR; that code should presumably fall
 311          * back to mUserSensorList.add instead of replaceAt, but accommodate it.
 312          */
 313
 314         int i;
 315         int has_acc = 0;
 316         int has_gyr = 0;
 317         int has_mag = 0;
 318         int has_rot = 0;
 319         int has_ori = 0;
 320         int catalog_size = CATALOG_SIZE;
 321
 322         for (i=0; i<sensor_count; i++)
 323                 switch (sensor_catalog[sensor_info[i].catalog_index].type) {
 324                         case SENSOR_TYPE_ACCELEROMETER:
 325                                 has_acc = 1;
 326                                 break;
 327                         case SENSOR_TYPE_GYROSCOPE:
 328                                 has_gyr = 1;
 329                                 break;
 330                         case SENSOR_TYPE_MAGNETIC_FIELD:
 331                                 has_mag = 1;
 332                                 break;
 333                         case SENSOR_TYPE_ORIENTATION:
 334                                 has_ori = 1;
 335                                 break;
 336                         case SENSOR_TYPE_ROTATION_VECTOR:
 337                                 has_rot = 1;
 338                                 break;
 339                 }
 340
 341         if (has_acc && has_gyr && has_mag && !has_rot && !has_ori)
 342                 for (i=0; i<catalog_size; i++)
 343                         if (sensor_catalog[i].type == SENSOR_TYPE_ORIENTATION) {
 344                                 ALOGI("Adding placeholder orientation sensor");
 345                                 add_sensor(0, i, 1);
 346                                 break;
 347                         }
 348 }
 349
 350 static void uncalibrated_gyro_check (void)
 351 {
 352         unsigned int has_gyr = 0;
 353         unsigned int dev_num;
 354         int i, c;
 355         unsigned int is_poll_sensor;
 356
 357         int cal_idx = 0;
 358         int uncal_idx = 0;
 359
 360         /* Checking to see if we have a gyroscope - we can only have uncal if we have the base sensor */
 361         for (i=0; i < sensor_count; i++)
 362                 if(sensor_catalog[sensor_info[i].catalog_index].type == SENSOR_TYPE_GYROSCOPE)
 363                 {
 364                         has_gyr=1;
 365                         dev_num = sensor_info[i].dev_num;
 366                         is_poll_sensor = !sensor_info[i].num_channels;
 367                         cal_idx = i;
 368                         break;
 369                 }
 370
 371         /*
 372          * If we have a gyro we can add the uncalibrated sensor of the same type and
 373          * on the same dev_num. We will save indexes for easy finding and also save the
 374          * channel specific information.
 375          */
 376         if (has_gyr)
 377                 for (i=0; i<CATALOG_SIZE; i++)
 378                         if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
 379                                 add_sensor(dev_num, i, is_poll_sensor);
 380
 381                                 uncal_idx = sensor_count - 1; /* Just added uncalibrated sensor */
 382
 383                                 /* Similar to build_sensor_report_maps */
 384                                 for (c = 0; c < sensor_info[uncal_idx].num_channels; c++)
 385                                 {
 386                                         memcpy( &(sensor_info[uncal_idx].channel[c].type_spec),
 387                                                 &(sensor_info[cal_idx].channel[c].type_spec),
 388                                                 sizeof(sensor_info[uncal_idx].channel[c].type_spec));
 389                                         sensor_info[uncal_idx].channel[c].type_info = sensor_info[cal_idx].channel[c].type_info;
 390                                         sensor_info[uncal_idx].channel[c].offset    = sensor_info[cal_idx].channel[c].offset;
 391                                         sensor_info[uncal_idx].channel[c].size      = sensor_info[cal_idx].channel[c].size;
 392                                 }
 393                                 sensor_info[uncal_idx].pair_idx = cal_idx;
 394                                 sensor_info[cal_idx].pair_idx = uncal_idx;
 395                                 break;
 396                         }
 397 }
 398
 399 static void update_sensor_matching_trigger_name (char name[MAX_NAME_SIZE])
 400 {
 401         /*
 402          * Check if we have a sensor matching the specified trigger name,
 403          * which should then begin with the sensor name, and end with a number
 404          * equal to the iio device number the sensor is associated to. If so,
 405          * update the string we're going to write to trigger/current_trigger
 406          * when enabling this sensor.
 407          */
 408
 409         int s;
 410         int dev_num;
 411         int len;
 412         char* cursor;
 413
 414         /*
 415          * First determine the iio device number this trigger refers to. We
 416          * expect the last few characters (typically one) of the trigger name
 417          * to be this number, so perform a few checks.
 418          */
 419         len = strnlen(name, MAX_NAME_SIZE);
 420
 421         if (len < 2)
 422                 return;
 423
 424         cursor = name + len - 1;
 425
 426         if (!isdigit(*cursor))
 427                 return;
 428
 429         while (len && isdigit(*cursor)) {
 430                 len--;
 431                 cursor--;
 432         }
 433
 434         dev_num = atoi(cursor+1);
 435
 436         /* See if that matches a sensor */
 437         for (s=0; s<sensor_count; s++)
 438                 if (sensor_info[s].dev_num == dev_num &&
 439                         !strncmp(name, sensor_info[s].internal_name,
 440                                 strlen(sensor_info[s].internal_name))) {
 441                                 /* Update sensor structure and return */
 442                                 strcpy(sensor_info[s].trigger_name, name);
 443                                 return;
 444                         }
 445 }
 446
 447
 448 static void setup_trigger_names (void)
 449 {
 450         char filename[PATH_MAX];
 451         char buf[MAX_NAME_SIZE];
 452         int len;
 453         int s;
 454         int trigger;
 455         int ret;
 456
 457         /* By default, use the name-dev convention that most drivers use */
 458         for (s=0; s<sensor_count; s++)
 459                 snprintf(sensor_info[s].trigger_name, MAX_NAME_SIZE, "%s-dev%d",
 460                         sensor_info[s].internal_name, sensor_info[s].dev_num);
 461
 462         /* Now have a look to /sys/bus/iio/devices/triggerX entries */
 463
 464         for (trigger=0; trigger<MAX_TRIGGERS; trigger++) {
 465
 466                 snprintf(filename, sizeof(filename), TRIGGER_FILE_PATH,trigger);
 467
 468                 ret = sysfs_read_str(filename, buf, sizeof(buf));
 469
 470                 if (ret < 0)
 471                         break;
 472
 473                 update_sensor_matching_trigger_name(buf);
 474         }
 475
 476         for (s=0; s<sensor_count; s++)
 477                 if (sensor_info[s].num_channels) {
 478                         ALOGI(  "Sensor %d (%s) using iio trigger %s\n", s,
 479                                 sensor_info[s].friendly_name,
 480                                 sensor_info[s].trigger_name);
 481                 }
 482 }
 483
 484
 485 void enumerate_sensors (void)
 486 {
 487         /*
 488          * Discover supported sensors and allocate control structures for them.
 489          * Multiple sensors can potentially rely on a single iio device (each
 490          * using their own channels). We can't have multiple sensors of the same
 491          * type on the same device. In case of detection as both a poll-mode
 492          * and trigger-based sensor, use the trigger usage mode.
 493          */
 494         char poll_sensors[CATALOG_SIZE];
 495         char trig_sensors[CATALOG_SIZE];
 496         int dev_num;
 497         unsigned int i;
 498         int trig_found;
 499
 500         for (dev_num=0; dev_num<MAX_DEVICES; dev_num++) {
 501                 trig_found = 0;
 502
 503                 discover_poll_sensors(dev_num, poll_sensors);
 504                 discover_trig_sensors(dev_num, trig_sensors);
 505
 506                 for (i=0; i<CATALOG_SIZE; i++)
 507                         if (trig_sensors[i]) {
 508                                 add_sensor(dev_num, i, 0);
 509                                 trig_found = 1;
 510                         }
 511                         else
 512                                 if (poll_sensors[i])
 513                                         add_sensor(dev_num, i, 1);
 514
 515                 if (trig_found) {
 516                         build_sensor_report_maps(dev_num);
 517                 }
 518         }
 519
 520         ALOGI("Discovered %d sensors\n", sensor_count);
 521
 522         /* Set up default - as well as custom - trigger names */
 523         setup_trigger_names();
 524
 525         /* Make sure Android fall backs to its own orientation sensor */
 526         orientation_sensor_check();
 527
 528         /* Create the uncalibrated counterpart to the compensated gyroscope;
 529          * This is is a new sensor type in Android 4.4 */
 530         uncalibrated_gyro_check();
 531 }
 532
 533
 534 void delete_enumeration_data (void)
 535 {
 536
 537         int i;
 538         for (i = 0; i < sensor_count; i++)
 539         switch (sensor_catalog[sensor_info[i].catalog_index].type) {
 540                 case SENSOR_TYPE_MAGNETIC_FIELD:
 541                 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
 542                 case SENSOR_TYPE_GYROSCOPE:
 543                         if (sensor_info[i].cal_data != NULL) {
 544                                 free(sensor_info[i].cal_data);
 545                                 sensor_info[i].cal_data = NULL;
 546                                 sensor_info[i].calibrated = 0;
 547                         }
 548                         break;
 549                 default:
 550                         break;
 551         }
 552         /* Reset sensor count */
 553         sensor_count = 0;
 554 }
 555
 556
 557 int get_sensors_list(   struct sensors_module_t* module,
 558                         struct sensor_t const** list)
 559 {
 560         *list = sensor_desc;
 561         return sensor_count;
 562 }
 563