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[] = {
34 .type = SENSOR_TYPE_ACCELEROMETER,
38 { DECLARE_NAMED_CHANNEL("accel", "x") },
39 { DECLARE_NAMED_CHANNEL("accel", "y") },
40 { DECLARE_NAMED_CHANNEL("accel", "z") },
45 .type = SENSOR_TYPE_GYROSCOPE,
49 { DECLARE_NAMED_CHANNEL("anglvel", "x") },
50 { DECLARE_NAMED_CHANNEL("anglvel", "y") },
51 { DECLARE_NAMED_CHANNEL("anglvel", "z") },
56 .type = SENSOR_TYPE_MAGNETIC_FIELD,
60 { DECLARE_NAMED_CHANNEL("magn", "x") },
61 { DECLARE_NAMED_CHANNEL("magn", "y") },
62 { DECLARE_NAMED_CHANNEL("magn", "z") },
67 .type = SENSOR_TYPE_LIGHT,
71 { DECLARE_NAMED_CHANNEL("intensity", "both") },
76 .type = SENSOR_TYPE_LIGHT,
80 { DECLARE_GENERIC_CHANNEL("illuminance") },
85 .type = SENSOR_TYPE_ORIENTATION,
89 { DECLARE_NAMED_CHANNEL("incli", "x") },
90 { DECLARE_NAMED_CHANNEL("incli", "y") },
91 { DECLARE_NAMED_CHANNEL("incli", "z") },
96 .type = SENSOR_TYPE_ROTATION_VECTOR,
100 { DECLARE_NAMED_CHANNEL("rot", "quat_x") },
101 { DECLARE_NAMED_CHANNEL("rot", "quat_y") },
102 { DECLARE_NAMED_CHANNEL("rot", "quat_z") },
103 { DECLARE_NAMED_CHANNEL("rot", "quat_w") },
108 .type = SENSOR_TYPE_AMBIENT_TEMPERATURE,
112 { DECLARE_GENERIC_CHANNEL("temp") },
117 .type = SENSOR_TYPE_PROXIMITY,
121 { DECLARE_GENERIC_CHANNEL("proximity") },
126 .type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED,
130 { DECLARE_GENERIC_CHANNEL("") },
136 .type = SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED,
140 { DECLARE_GENERIC_CHANNEL("") },
145 #define CATALOG_SIZE ARRAY_SIZE(sensor_catalog)
147 /* ACPI PLD (physical location of device) definitions, as used with sensors */
149 #define PANEL_FRONT 4
152 /* We equate sensor handles to indices in these tables */
154 struct sensor_t sensor_desc[MAX_SENSORS]; /* Android-level descriptors */
155 sensor_info_t sensor[MAX_SENSORS]; /* Internal descriptors */
156 int sensor_count; /* Detected sensors */
159 static void setup_properties_from_pld (int s, int panel, int rotation,
163 * Generate suitable order and opt_scale directives from the PLD panel
164 * and rotation codes we got. This can later be superseded by the usual
165 * properties if necessary. Eventually we'll need to replace these
166 * mechanisms by a less convoluted one, such as a 3x3 placement matrix.
173 int angle = rotation * 45;
175 /* Only deal with 3 axis chips for now */
176 if (num_channels < 3)
179 if (panel == PANEL_BACK) {
180 /* Chip placed on the back panel ; negate x and z */
186 case 90: /* 90° clockwise: negate y then swap x,y */
191 case 180: /* Upside down: negate x and y */
196 case 270: /* 90° counter clockwise: negate x then swap x,y */
203 sensor[s].order[0] = 1;
204 sensor[s].order[1] = 0;
205 sensor[s].order[2] = 2;
206 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
209 sensor[s].channel[0].opt_scale = x;
210 sensor[s].channel[1].opt_scale = y;
211 sensor[s].channel[2].opt_scale = z;
215 static int is_valid_pld (int panel, int rotation)
217 if (panel != PANEL_FRONT && panel != PANEL_BACK) {
218 ALOGW("Unhandled PLD panel spec: %d\n", panel);
222 /* Only deal with 90° rotations for now */
223 if (rotation < 0 || rotation > 7 || (rotation & 1)) {
224 ALOGW("Unhandled PLD rotation spec: %d\n", rotation);
232 static int read_pld_from_properties (int s, int* panel, int* rotation)
236 if (sensor_get_prop(s, "panel", &p))
239 if (sensor_get_prop(s, "rotation", &r))
242 if (!is_valid_pld(p, r))
248 ALOGI("S%d PLD from properties: panel=%d, rotation=%d\n", s, p, r);
254 static int read_pld_from_sysfs (int s, int dev_num, int* panel, int* rotation)
256 char sysfs_path[PATH_MAX];
259 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/panel", dev_num);
261 if (sysfs_read_int(sysfs_path, &p))
264 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/rotation", dev_num);
266 if (sysfs_read_int(sysfs_path, &r))
269 if (!is_valid_pld(p, r))
275 ALOGI("S%d PLD from sysfs: panel=%d, rotation=%d\n", s, p, r);
281 static void decode_placement_information (int dev_num, int num_channels, int s)
284 * See if we have optional "physical location of device" ACPI tags.
285 * We're only interested in panel and rotation specifiers. Use the
286 * .panel and .rotation properties in priority, and the actual ACPI
287 * values as a second source.
293 if (read_pld_from_properties(s, &panel, &rotation) &&
294 read_pld_from_sysfs(s, dev_num, &panel, &rotation))
295 return; /* No PLD data available */
297 /* Map that to field ordering and scaling mechanisms */
298 setup_properties_from_pld(s, panel, rotation, num_channels);
302 static void populate_descriptors (int s, int sensor_type)
304 int32_t min_delay_us;
305 max_delay_t max_delay_us;
307 /* Initialize Android-visible descriptor */
308 sensor_desc[s].name = sensor_get_name(s);
309 sensor_desc[s].vendor = sensor_get_vendor(s);
310 sensor_desc[s].version = sensor_get_version(s);
311 sensor_desc[s].handle = s;
312 sensor_desc[s].type = sensor_type;
314 sensor_desc[s].maxRange = sensor_get_max_range(s);
315 sensor_desc[s].resolution = sensor_get_resolution(s);
316 sensor_desc[s].power = sensor_get_power(s);
317 sensor_desc[s].stringType = sensor_get_string_type(s);
319 /* None of our supported sensors requires a special permission */
320 sensor_desc[s].requiredPermission = "";
322 sensor_desc[s].flags = sensor_get_flags(s);
323 sensor_desc[s].minDelay = sensor_get_min_delay(s);
324 sensor_desc[s].maxDelay = sensor_get_max_delay(s);
326 ALOGV("Sensor %d (%s) type(%d) minD(%d) maxD(%d) flags(%2.2x)\n",
327 s, sensor[s].friendly_name, sensor_desc[s].type,
328 sensor_desc[s].minDelay, sensor_desc[s].maxDelay,
329 sensor_desc[s].flags);
331 /* We currently do not implement batching */
332 sensor_desc[s].fifoReservedEventCount = 0;
333 sensor_desc[s].fifoMaxEventCount = 0;
335 min_delay_us = sensor_desc[s].minDelay;
336 max_delay_us = sensor_desc[s].maxDelay;
338 sensor[s].min_supported_rate = max_delay_us ? 1000000.0 / max_delay_us : 1;
339 sensor[s].max_supported_rate = min_delay_us && min_delay_us != -1 ? 1000000.0 / min_delay_us : 0;
343 static void add_virtual_sensor (int catalog_index)
348 if (sensor_count == MAX_SENSORS) {
349 ALOGE("Too many sensors!\n");
353 sensor_type = sensor_catalog[catalog_index].type;
357 sensor[s].is_virtual = 1;
358 sensor[s].catalog_index = catalog_index;
359 sensor[s].type = sensor_type;
361 populate_descriptors(s, sensor_type);
363 /* Initialize fields related to sysfs reads offloading */
364 sensor[s].thread_data_fd[0] = -1;
365 sensor[s].thread_data_fd[1] = -1;
366 sensor[s].acquisition_thread = -1;
372 static void add_sensor (int dev_num, int catalog_index, int mode)
377 char sysfs_path[PATH_MAX];
384 char suffix[MAX_NAME_SIZE + 8];
387 if (sensor_count == MAX_SENSORS) {
388 ALOGE("Too many sensors!\n");
392 sensor_type = sensor_catalog[catalog_index].type;
395 * At this point we could check that the expected sysfs attributes are
396 * present ; that would enable having multiple catalog entries with the
397 * same sensor type, accomodating different sets of sysfs attributes.
402 sensor[s].dev_num = dev_num;
403 sensor[s].catalog_index = catalog_index;
404 sensor[s].type = sensor_type;
405 sensor[s].mode = mode;
407 num_channels = sensor_catalog[catalog_index].num_channels;
409 if (mode == MODE_POLL)
410 sensor[s].num_channels = 0;
412 sensor[s].num_channels = num_channels;
414 prefix = sensor_catalog[catalog_index].tag;
417 * receiving the illumination sensor calibration inputs from
418 * the Android properties and setting it within sysfs
420 if (sensor_type == SENSOR_TYPE_LIGHT) {
421 retval = sensor_get_illumincalib(s);
423 sprintf(sysfs_path, ILLUMINATION_CALIBPATH, dev_num);
424 sysfs_write_int(sysfs_path, retval);
429 * See if we have optional calibration biases for each of the channels of this sensor. These would be expressed using properties like
430 * 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
431 * relevant calibbias sysfs file if that file can be located and then used internally by the iio sensor driver.
435 for (c = 0; c < num_channels; c++) {
436 ch_name = sensor_catalog[catalog_index].channel[c].name;
437 sprintf(suffix, "%s.calib_bias", ch_name);
438 if (!sensor_get_prop(s, suffix, &calib_bias) && calib_bias) {
439 sprintf(suffix, "%s_%s", prefix, sensor_catalog[catalog_index].channel[c].name);
440 sprintf(sysfs_path, SENSOR_CALIB_BIAS_PATH, dev_num, suffix);
441 sysfs_write_int(sysfs_path, calib_bias);
445 if (!sensor_get_prop(s, "calib_bias", &calib_bias) && calib_bias) {
446 sprintf(sysfs_path, SENSOR_CALIB_BIAS_PATH, dev_num, prefix);
447 sysfs_write_int(sysfs_path, calib_bias);
450 /* Read name attribute, if available */
451 sprintf(sysfs_path, NAME_PATH, dev_num);
452 sysfs_read_str(sysfs_path, sensor[s].internal_name, MAX_NAME_SIZE);
454 /* See if we have general offsets and scale values for this sensor */
456 sprintf(sysfs_path, SENSOR_OFFSET_PATH, dev_num, prefix);
457 sysfs_read_float(sysfs_path, &sensor[s].offset);
459 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
460 if (!sensor_get_fl_prop(s, "scale", &scale)) {
462 * There is a chip preferred scale specified,
463 * so try to store it in sensor's scale file
465 if (sysfs_write_float(sysfs_path, scale) == -1 && errno == ENOENT) {
466 ALOGE("Failed to store scale[%g] into %s - file is missing", scale, sysfs_path);
467 /* Store failed, try to store the scale into channel specific file */
468 for (c = 0; c < num_channels; c++)
470 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
471 sensor_catalog[catalog_index].channel[c].scale_path);
472 if (sysfs_write_float(sysfs_path, scale) == -1)
473 ALOGE("Failed to store scale[%g] into %s", scale, sysfs_path);
478 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
479 if (!sysfs_read_float(sysfs_path, &scale)) {
480 sensor[s].scale = scale;
481 ALOGV("Scale path:%s scale:%g dev_num:%d\n",
482 sysfs_path, scale, dev_num);
486 /* Read channel specific scale if any*/
487 for (c = 0; c < num_channels; c++)
489 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
490 sensor_catalog[catalog_index].channel[c].scale_path);
492 if (!sysfs_read_float(sysfs_path, &scale)) {
493 sensor[s].channel[c].scale = scale;
496 ALOGV( "Scale path:%s "
497 "channel scale:%g dev_num:%d\n",
498 sysfs_path, scale, dev_num);
503 /* Set default scaling - if num_channels is zero, we have one channel */
505 sensor[s].channel[0].opt_scale = 1;
507 for (c = 1; c < num_channels; c++)
508 sensor[s].channel[c].opt_scale = 1;
510 /* Read ACPI _PLD attributes for this sensor, if there are any */
511 decode_placement_information(dev_num, num_channels, s);
514 * See if we have optional correction scaling factors for each of the
515 * channels of this sensor. These would be expressed using properties
516 * like iio.accel.y.opt_scale = -1. In case of a single channel we also
517 * support things such as iio.temp.opt_scale = -1. Note that this works
518 * for all types of sensors, and whatever transform is selected, on top
519 * of any previous conversions.
523 for (c = 0; c < num_channels; c++) {
524 ch_name = sensor_catalog[catalog_index].channel[c].name;
525 sprintf(suffix, "%s.opt_scale", ch_name);
526 if (!sensor_get_fl_prop(s, suffix, &opt_scale))
527 sensor[s].channel[c].opt_scale = opt_scale;
530 if (!sensor_get_fl_prop(s, "opt_scale", &opt_scale))
531 sensor[s].channel[0].opt_scale = opt_scale;
533 populate_descriptors(s, sensor_type);
535 /* Populate the quirks array */
536 sensor_get_quirks(s);
538 if (sensor[s].internal_name[0] == '\0') {
540 * In case the kernel-mode driver doesn't expose a name for
541 * the iio device, use (null)-dev%d as the trigger name...
542 * This can be considered a kernel-mode iio driver bug.
544 ALOGW("Using null trigger on sensor %d (dev %d)\n", s, dev_num);
545 strcpy(sensor[s].internal_name, "(null)");
548 switch (sensor_type) {
549 case SENSOR_TYPE_GYROSCOPE:
550 sensor[s].cal_data = malloc(sizeof(gyro_cal_t));
553 case SENSOR_TYPE_MAGNETIC_FIELD:
554 sensor[s].cal_data = malloc(sizeof(compass_cal_t));
558 sensor[s].max_cal_level = sensor_get_cal_steps(s);
560 /* Select one of the available sensor sample processing styles */
563 /* Initialize fields related to sysfs reads offloading */
564 sensor[s].thread_data_fd[0] = -1;
565 sensor[s].thread_data_fd[1] = -1;
566 sensor[s].acquisition_thread = -1;
568 /* Check if we have a special ordering property on this sensor */
569 if (sensor_get_order(s, sensor[s].order))
570 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
576 static void discover_sensors (int dev_num, char *sysfs_base_path, char map[CATALOG_SIZE],
577 void (*discover_sensor)(int, char*, char*))
579 char sysfs_dir[PATH_MAX];
584 memset(map, 0, CATALOG_SIZE);
586 snprintf(sysfs_dir, sizeof(sysfs_dir), sysfs_base_path, dev_num);
588 dir = opendir(sysfs_dir);
593 /* Enumerate entries in this iio device's base folder */
595 while ((d = readdir(dir))) {
596 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
599 /* If the name matches a catalog entry, flag it */
600 for (i = 0; i < CATALOG_SIZE; i++) {
602 /* No discovery for virtual sensors */
603 if (sensor_catalog[i].is_virtual)
605 discover_sensor(i, d->d_name, map);
612 static void check_poll_sensors (int i, char *sysfs_file, char map[CATALOG_SIZE])
616 for (c = 0; c < sensor_catalog[i].num_channels; c++)
617 if (!strcmp(sysfs_file, sensor_catalog[i].channel[c].raw_path) ||
618 !strcmp(sysfs_file, sensor_catalog[i].channel[c].input_path)) {
623 static void check_trig_sensors (int i, char *sysfs_file, char map[CATALOG_SIZE])
626 if (!strcmp(sysfs_file, sensor_catalog[i].channel[0].en_path)) {
632 static void virtual_sensors_check (void)
640 int catalog_size = CATALOG_SIZE;
641 int gyro_cal_idx = 0;
642 int magn_cal_idx = 0;
644 for (i=0; i<sensor_count; i++)
645 switch (sensor[i].type) {
646 case SENSOR_TYPE_ACCELEROMETER:
649 case SENSOR_TYPE_GYROSCOPE:
653 case SENSOR_TYPE_MAGNETIC_FIELD:
657 case SENSOR_TYPE_ORIENTATION:
660 case SENSOR_TYPE_ROTATION_VECTOR:
665 for (i=0; i<catalog_size; i++)
666 switch (sensor_catalog[i].type) {
668 * If we have accel + gyro + magn but no rotation vector sensor,
669 * SensorService replaces the HAL provided orientation sensor by the
670 * AOSP version... provided we report one. So initialize a virtual
671 * orientation sensor with zero values, which will get replaced. See:
672 * frameworks/native/services/sensorservice/SensorService.cpp, looking
673 * for SENSOR_TYPE_ROTATION_VECTOR; that code should presumably fall
674 * back to mUserSensorList.add instead of replaceAt, but accommodate it.
677 case SENSOR_TYPE_ORIENTATION:
678 if (has_acc && has_gyr && has_mag && !has_rot && !has_ori)
679 add_sensor(0, i, MODE_POLL);
681 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
683 sensor[sensor_count].base_count = 1;
684 sensor[sensor_count].base[0] = gyro_cal_idx;
685 add_virtual_sensor(i);
688 case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
690 sensor[sensor_count].base_count = 1;
691 sensor[sensor_count].base[0] = magn_cal_idx;
692 add_virtual_sensor(i);
701 static void propose_new_trigger (int s, char trigger_name[MAX_NAME_SIZE],
705 * A new trigger has been enumerated for this sensor. Check if it makes sense to use it over the currently selected one,
706 * and select it if it is so. The format is something like sensor_name-dev0.
709 const char *suffix = trigger_name + sensor_name_len + 1;
711 /* dev is the default, and lowest priority; no need to update */
712 if (!memcmp(suffix, "dev", 3))
715 /* If we found any-motion trigger, record it */
717 if (!memcmp(suffix, "any-motion-", 11)) {
718 strcpy(sensor[s].motion_trigger_name, trigger_name);
723 * 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
724 * of the trigger to use with this sensor.
726 strcpy(sensor[s].init_trigger_name, trigger_name);
730 static void update_sensor_matching_trigger_name (char name[MAX_NAME_SIZE])
733 * Check if we have a sensor matching the specified trigger name, which should then begin with the sensor name, and end with a number
734 * 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
735 * when enabling this sensor.
745 * First determine the iio device number this trigger refers to. We expect the last few characters (typically one) of the trigger name
746 * to be this number, so perform a few checks.
748 len = strnlen(name, MAX_NAME_SIZE);
753 cursor = name + len - 1;
755 if (!isdigit(*cursor))
758 while (len && isdigit(*cursor)) {
763 dev_num = atoi(cursor+1);
765 /* See if that matches a sensor */
766 for (s=0; s<sensor_count; s++)
767 if (sensor[s].dev_num == dev_num) {
769 sensor_name_len = strlen(sensor[s].internal_name);
771 if (!strncmp(name, sensor[s].internal_name, sensor_name_len))
772 /* Switch to new trigger if appropriate */
773 propose_new_trigger(s, name, sensor_name_len);
778 static void setup_trigger_names (void)
780 char filename[PATH_MAX];
781 char buf[MAX_NAME_SIZE];
786 /* By default, use the name-dev convention that most drivers use */
787 for (s=0; s<sensor_count; s++)
788 snprintf(sensor[s].init_trigger_name, MAX_NAME_SIZE, "%s-dev%d", sensor[s].internal_name, sensor[s].dev_num);
790 /* Now have a look to /sys/bus/iio/devices/triggerX entries */
792 for (trigger=0; trigger<MAX_TRIGGERS; trigger++) {
794 snprintf(filename, sizeof(filename), TRIGGER_FILE_PATH,trigger);
796 ret = sysfs_read_str(filename, buf, sizeof(buf));
801 /* Record initial and any-motion triggers names */
802 update_sensor_matching_trigger_name(buf);
806 * Certain drivers expose only motion triggers even though they should be continous. For these, use the default trigger name as the motion
807 * trigger. The code generating intermediate events is dependent on motion_trigger_name being set to a non empty string.
810 for (s=0; s<sensor_count; s++)
811 if ((sensor[s].quirks & QUIRK_TERSE_DRIVER) && sensor[s].motion_trigger_name[0] == '\0')
812 strcpy(sensor[s].motion_trigger_name, sensor[s].init_trigger_name);
814 for (s=0; s<sensor_count; s++)
815 if (sensor[s].mode == MODE_TRIGGER) {
816 ALOGI("Sensor %d (%s) default trigger: %s\n", s, sensor[s].friendly_name, sensor[s].init_trigger_name);
817 if (sensor[s].motion_trigger_name[0])
818 ALOGI("Sensor %d (%s) motion trigger: %s\n", s, sensor[s].friendly_name, sensor[s].motion_trigger_name);
822 void enumerate_sensors (void)
825 * Discover supported sensors and allocate control structures for them. Multiple sensors can potentially rely on a single iio device (each
826 * 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
827 * and trigger-based sensor, use the trigger usage mode.
829 char poll_sensors[CATALOG_SIZE];
830 char trig_sensors[CATALOG_SIZE];
835 for (dev_num=0; dev_num<MAX_DEVICES; dev_num++) {
838 discover_sensors(dev_num, BASE_PATH, poll_sensors, check_poll_sensors);
839 discover_sensors(dev_num, CHANNEL_PATH, trig_sensors, check_trig_sensors);
841 for (i=0; i<CATALOG_SIZE; i++)
842 if (trig_sensors[i]) {
843 add_sensor(dev_num, i, MODE_TRIGGER);
848 add_sensor(dev_num, i, MODE_POLL);
851 build_sensor_report_maps(dev_num);
854 ALOGI("Discovered %d sensors\n", sensor_count);
856 /* Set up default - as well as custom - trigger names */
857 setup_trigger_names();
859 virtual_sensors_check();
863 void delete_enumeration_data (void)
866 for (i = 0; i < sensor_count; i++)
867 if (sensor[i].cal_data) {
868 free(sensor[i].cal_data);
869 sensor[i].cal_data = NULL;
870 sensor[i].cal_level = 0;
873 /* Reset sensor count */
878 int get_sensors_list (__attribute__((unused)) struct sensors_module_t* module,
879 struct sensor_t const** list)