#define MAX_DEVICES 8 /* Check iio devices 0 to MAX_DEVICES-1 */
#define MAX_SENSORS 10 /* We can handle as many sensors */
#define MAX_CHANNELS 4 /* We can handle as many channels per sensor */
+#define MAX_TRIGGERS 8 /* Check for triggers 0 to MAX_TRIGGERS-1 */
-#define DEV_FILE_PATH "/dev/iio:device%d"
-
-#define BASE_PATH "/sys/bus/iio/devices/iio:device%d/"
+#define DEV_FILE_PATH "/dev/iio:device%d"
+#define BASE_PATH "/sys/bus/iio/devices/iio:device%d/"
+#define TRIGGER_FILE_PATH "/sys/bus/iio/devices/trigger%d/name"
#define CHANNEL_PATH BASE_PATH "scan_elements/"
#define ENABLE_PATH BASE_PATH "buffer/enable"
#define SENSOR_OFFSET_PATH BASE_PATH "in_%s_offset"
#define SENSOR_SCALE_PATH BASE_PATH "in_%s_scale"
#define SENSOR_SAMPLING_PATH BASE_PATH "in_%s_sampling_frequency"
+#define DEVICE_SAMPLING_PATH BASE_PATH "sampling_frequency"
+#define DEVICE_AVAIL_FREQ_PATH BASE_PATH "sampling_frequency_available"
+#define ILLUMINATION_CALIBPATH BASE_PATH "in_illuminance_calibscale"
-#define PROP_BASE "ro.iio.%s.%s" /* Note: PROPERTY_KEY_MAX is small */
+#define PROP_BASE "ro.iio.%s.%s" /* Note: PROPERTY_KEY_MAX is small */
-#define MAX_TYPE_SPEC_LEN 32 /* Channel type spec len; ex: "le:u10/16>>0" */
+#define MAX_TYPE_SPEC_LEN 32 /* Channel type spec len; ex: "le:u10/16>>0" */
#define MAX_SENSOR_REPORT_SIZE 32 /* Sensor report buffer size */
+#define MAX_DEVICE_REPORT_SIZE 32 /* iio device scan buffer size */
#define MAX_NAME_SIZE 32
+#define MAX_SENSOR_BASES 3 /* Max number of base sensors a sensor can rely on */
+
#define ARRAY_SIZE(x) sizeof(x)/sizeof(x[0])
+#define REPORTING_MODE(x) ((x) & 0x06)
-struct channel_descriptor_t
+#define FILTER_TYPE_NONE 0
+#define FILTER_TYPE_MOVING_AVERAGE 1
+#define FILTER_TYPE_MEDIAN 2
+
+typedef struct
{
+ const char *name; /* channel name ; ex: x */
+
/* sysfs entries located under scan_elements */
const char *en_path; /* Enabled sysfs file name ; ex: "in_temp_en" */
const char *type_path; /* _type sysfs file name */
/* sysfs entries located in /sys/bus/iio/devices/iio:deviceX */
const char *raw_path; /* _raw sysfs file name */
const char *input_path; /* _input sysfs file name */
-};
+ const char *scale_path; /* _scale sysfs file name */
+}
+channel_descriptor_t;
-struct sensor_catalog_entry_t
+
+typedef struct
{
- const char *tag; /* Prefix such as "accel", "gyro", "temp"... */
- const int type; /* Sensor type ; ex: SENSOR_TYPE_ACCELEROMETER */
+ const char *tag; /* Prefix such as "accel", "gyro", "temp"... */
+ const int type; /* Sensor type ; ex: SENSOR_TYPE_ACCELEROMETER */
const int num_channels; /* Expected iio channels for this sensor */
- struct channel_descriptor_t channel[MAX_CHANNELS];
-};
+ const int is_virtual; /* Is the sensor virtual or not */
+ channel_descriptor_t channel[MAX_CHANNELS];
+}
+sensor_catalog_entry_t;
+
-struct datum_info_t
+typedef struct
{
char sign;
char endianness;
short realbits;
short storagebits;
short shift;
-};
+}
+datum_info_t;
+
-struct channel_info_t
+typedef struct
{
- int offset; /* Offset in bytes within the iio character device report */
- int size; /* Field size in bytes */
- char type_spec[MAX_TYPE_SPEC_LEN]; /* From driver; ex: le:u10/16>>0 */
- struct datum_info_t type_info; /* Decoded contents of type spec */
-};
+ int offset; /* Offset in bytes within the iio character device report */
+ int size; /* Field size in bytes */
+ float scale; /* scale for each channel */
+ char type_spec[MAX_TYPE_SPEC_LEN]; /* From driver; ex: le:u10/16>>0 */
+ datum_info_t type_info; /* Decoded contents of type spec */
+ float opt_scale; /*
+ * Optional correction scale read from a property such as iio.accel.x.scale, allowing late compensation of
+ * problems such as misconfigured axes ; set to 1 by default. Applied at the end of the scaling process.
+ */
+}
+channel_info_t;
-struct sample_ops_t
+
+typedef struct
{
/* Conversion function called once per channel */
- float (*transform)(int s, int c, unsigned char* sample_data);
+ float (*transform) (int s, int c, unsigned char* sample_data);
/* Function called once per sample */
- void (*finalize)(int s, struct sensors_event_t* data);
-};
+ int (*finalize) (int s, sensors_event_t* data);
+}
+sample_ops_t;
+
+
+/*
+ * Whenever we have sensor data recorded for a sensor in the associated
+ * sensor cell, its report_pending field is set to a non-zero value
+ * indicating how we got this data.
+ */
+#define DATA_TRIGGER 1 /* From /dev/iio:device fd */
+#define DATA_SYSFS 2 /* Through polling */
+#define DATA_DUPLICATE 3 /* Duplicate of triggered motion sample */
-struct sensor_info_t
-{
- char friendly_name[MAX_NAME_SIZE]; /* ex: Accelerometer */
- char internal_name[MAX_NAME_SIZE]; /* ex: accel_3d */
- char vendor_name[MAX_NAME_SIZE]; /* ex: Intel */
+typedef struct
+{
+ char friendly_name[MAX_NAME_SIZE]; /* ex: Accelerometer */
+ char internal_name[MAX_NAME_SIZE]; /* ex: accel_3d */
+ char vendor_name[MAX_NAME_SIZE]; /* ex: Intel */
+ char init_trigger_name[MAX_NAME_SIZE]; /* ex: accel-name-dev1 */
+ char motion_trigger_name[MAX_NAME_SIZE];/* ex: accel-any-motion-dev1 */
float max_range;
float resolution;
float power;
- float offset; /* (cooked = raw + offset) * scale */
- float scale;
+ /*
+ * Currently active trigger - either a pointer to the initial (default) trigger name buffer, or a pointer to the motion trigger name buffer,
+ * or something else (typically NULL or a pointer to some static "\n". This is used to determine if the conditions are met to switch from
+ * the default trigger to the motion trigger for a sensor, or rather for the interrupt-driven sensors associated to a given iio device.
+ */
+ const char* selected_trigger;
+
+ float offset; /* (cooked = raw + offset) * scale */
+ float scale; /* default:1. when set to 0, use channel specific value */
+ float illumincalib; /* to set the calibration for the ALS */
+
+ float requested_rate; /* requested events / second */
+ float sampling_rate; /* setup events / second */
+
+ float min_supported_rate;
+ float max_supported_rate;
- int sampling_rate; /* requested events / second */
+ int dev_num; /* Associated iio dev num, ex: 3 for /dev/iio:device3 */
- int dev_num; /* Associated iio dev num, ex: 3 for /dev/iio:device3 */
- int enable_count;
+ int catalog_index; /* Associated entry within the sensor_catalog array */
+ int type; /* Sensor type, such as SENSOR_TYPE_GYROSCOPE */
- int catalog_index;/* Associated entry within the sensor_catalog array */
+ int num_channels; /* Actual channel count ; 0 for poll mode sensors */
- int num_channels; /* Actual channel count ; 0 for poll mode sensors */
+ int is_polling; /* 1 if we use the sensor in poll mode, 0 if triggered */
/*
- * The array below indicates where to gather report data for this
- * sensor inside the reports that we read from the iio character device.
- * It is updated whenever channels are enabled or disabled on the same
- * device. Channel size indicates the size in bytes of fields, and
- * should be zero for disabled channels. The type field indicates how a
- * specific channel data item is structured.
+ * The array below indicates where to gather report data for this sensor inside the reports that we read from the iio character device.
+ * It is updated whenever channels are enabled or disabled on the same device. Channel size indicates the size in bytes of fields, and
+ * should be zero for disabled channels. The type field indicates how a specific channel data item is structured.
*/
- struct channel_info_t channel[MAX_CHANNELS];
+ channel_info_t channel[MAX_CHANNELS];
/*
- * This flag is set if we acquired data from the sensor but did not
- * forward it to upper layers (i.e. Android) yet. If so, report_buffer
- * contains that data.
+ * This flag is set if we acquired data from the sensor but did not forward it to upper layers (i.e. Android) yet. If so, report_buffer
+ * contains that data. Valid values are 0: empty, 1: normal, 2: repeat of last acquired value after timeout.
*/
int report_pending;
+ /* This flag is set if we have a meta data event pending */
+ int meta_data_pending;
+
+ /*
+ * Timestamp closely matching the date of sampling, preferably retrieved from a iio channel alongside sample data. Value zero indicates that
+ * we couldn't get such a closely correlated timestamp, and that one has to be generated before the report gets sent up to Android.
+ */
+ int64_t report_ts;
+
+ /* Buffer containing the last generated sensor report for this sensor */
unsigned char report_buffer[MAX_SENSOR_REPORT_SIZE];
- int64_t last_integration_ts; /* Last time an event was reported */
+ /* Whether or not the above buffer contains data from a device report */
+ int report_initialized;
+
+ /* Channel and sample finalization callbacks for this sensor */
+ sample_ops_t ops;
+
+ int cal_level; /* 0 means not calibrated */
- struct sample_ops_t ops;
+ /*
+ * Depending on the sensor, calibration may take too much time at higher levels. Allow optional capping to a certain level.
+ */
+ int max_cal_level;
+
+ void *cal_data; /* Sensor calibration data, e.g. for magnetometer */
+
+ /* Filtering data for noisy sensors */
+ void* filter;
+
+ float prev_val; /* Previously reported value, for on-change sensors */
+
+ /*
+ * Certain sensors expose their readings through sysfs files that have a long response time (100-200 ms for ALS). Rather than block our
+ * global control loop for several hundred ms each second, offload those lengthy blocking reads to dedicated threads, which will then report
+ * their data through a fd that we can add to our poll fd set.
+ */
+ int thread_data_fd[2];
+ pthread_t acquisition_thread;
+
+ int base_count; /* How many base sensors is the sensor depending on */
+ int base[MAX_SENSOR_BASES];
+
+ uint32_t quirks; /* Bit mask expressing the need for special tweaks */
/* Note: we may have to explicitely serialize access to some fields */
-};
+
+ int is_virtual; /* Composite sensor, exposed from data acquired through other sensors */
+
+ uint32_t ref_count; /* Dependency count - for a real sensor how many active virtual sensors are depending on it */
+
+ uint32_t directly_enabled; /* Flag showing if a sensor was enabled directly by Android */
+
+ /*
+ * Current sample for a virtual sensor - when a report is ready we'll keep the data here until it's finally processed. Can be modified for
+ * more than one at a later time.
+ */
+ sensors_event_t sample;
+
+ /*
+ * If the QUIRK_FIELD_ORDERING bit is set in quirks, the contents of this array are used in the finalization stage to swap sample fields
+ * before transmitting them to Android ; they form a mapping between the indices of the input and output arrays: ex: 0123 is identity for
+ * a sample containing 4 fields.
+ */
+ unsigned char order[MAX_CHANNELS];
+
+ /* A few variables used for data filtering */
+ float *history; /* Working buffer containing recorded samples */
+ float *history_sum; /* The current sum of the history elements */
+ int history_size; /* Number of recorded samples */
+ int history_entries; /* How many of these are initialized */
+ int history_index; /* Index of sample to evict next time */
+
+ /*
+ * Event counter - will be used to check if we have a significant sample for noisy sensors. We want to make sure we do not send any wrong
+ * events before filtering kicks in. We can also use it for statistics.
+ */
+ uint64_t event_count;
+
+ int filter_type; /* FILTER_ specification for this sensor ; default is FILTER_NONE */
+}
+sensor_info_t;
+
/* Reference a few commonly used variables... */
-extern int sensor_count;
-extern struct sensor_info_t sensor_info[MAX_SENSORS];
-extern struct sensor_catalog_entry_t sensor_catalog[];
+extern int sensor_count;
+extern struct sensor_t sensor_desc[MAX_SENSORS];
+extern sensor_info_t sensor[MAX_SENSORS];
+extern sensor_catalog_entry_t sensor_catalog[];
#endif