#include <ctype.h>
#include <fcntl.h>
#include <pthread.h>
+#include <time.h>
+#include <math.h>
#include <sys/epoll.h>
#include <sys/socket.h>
#include <utils/Log.h>
#include "utils.h"
#include "transform.h"
#include "calibration.h"
+#include "description.h"
+#include "filtering.h"
/* Currently active sensors count, per device */
static int poll_sensors_per_dev[MAX_DEVICES]; /* poll-mode sensors */
static int trig_sensors_per_dev[MAX_DEVICES]; /* trigger, event based */
static int device_fd[MAX_DEVICES]; /* fd on the /dev/iio:deviceX file */
-
+static int has_iio_ts[MAX_DEVICES]; /* ts channel available on this iio dev */
+static int expected_dev_report_size[MAX_DEVICES]; /* expected iio scan len */
static int poll_fd; /* epoll instance covering all enabled sensors */
static int active_poll_sensors; /* Number of enabled poll-mode sensors */
+/* We use pthread condition variables to get worker threads out of sleep */
+static pthread_condattr_t thread_cond_attr [MAX_SENSORS];
+static pthread_cond_t thread_release_cond [MAX_SENSORS];
+static pthread_mutex_t thread_release_mutex [MAX_SENSORS];
+
/*
* We associate tags to each of our poll set entries. These tags have the
* following values:
* - a iio device number if the fd is a iio character device fd
* - THREAD_REPORT_TAG_BASE + sensor handle if the fd is the receiving end of a
* pipe used by a sysfs data acquisition thread
- * */
+ */
#define THREAD_REPORT_TAG_BASE 0x00010000
+#define ENABLE_BUFFER_RETRIES 10
+#define ENABLE_BUFFER_RETRY_DELAY_MS 10
+
+
+inline int is_enabled (int s)
+{
+ return sensor[s].directly_enabled || sensor[s].ref_count;
+}
+
+
+static int check_state_change (int s, int enabled, int from_virtual)
+{
+ if (enabled) {
+ if (sensor[s].directly_enabled)
+ /*
+ * We're being enabled but already were
+ * directly activated: no change.
+ */
+ return 0;
+
+ if (!from_virtual)
+ /* We're being directly enabled */
+ sensor[s].directly_enabled = 1;
+
+ if (sensor[s].ref_count)
+ /* We were already indirectly enabled */
+ return 0;
+
+ return 1; /* Do continue enabling this sensor */
+ }
+
+ if (!is_enabled(s))
+ /* We are being disabled but already were: no change */
+ return 0;
+
+ if (from_virtual && sensor[s].directly_enabled)
+ /* We're indirectly disabled but the base is still active */
+ return 0;
+
+ /* If it's disable, and it's from Android, and we still have ref counts */
+ if (!from_virtual && sensor[s].ref_count) {
+ sensor[s].directly_enabled = 0;
+ return 0;
+ }
+
+ /*If perhaps we are from virtual but we're disabling it*/
+ sensor[s].directly_enabled = 0;
+
+ return 1; /* Do continue disabling this sensor */
+}
+
static int enable_buffer(int dev_num, int enabled)
{
char sysfs_path[PATH_MAX];
+ int ret, retries, millisec;
+ struct timespec req = {0};
+
+ retries = ENABLE_BUFFER_RETRIES;
+ millisec = ENABLE_BUFFER_RETRY_DELAY_MS;
+ req.tv_sec = 0;
+ req.tv_nsec = millisec * 1000000L;
sprintf(sysfs_path, ENABLE_PATH, dev_num);
- /* Low level, non-multiplexed, enable/disable routine */
- return sysfs_write_int(sysfs_path, enabled);
+ while (retries--) {
+ /* Low level, non-multiplexed, enable/disable routine */
+ ret = sysfs_write_int(sysfs_path, enabled);
+ if (ret > 0)
+ break;
+
+ ALOGE("Failed enabling buffer, retrying");
+ nanosleep(&req, (struct timespec *)NULL);
+ }
+
+ if (ret < 0) {
+ ALOGE("Could not enable buffer\n");
+ return -EIO;
+ }
+
+ return 0;
+}
+
+
+static int setup_trigger (int s, const char* trigger_val)
+{
+ char sysfs_path[PATH_MAX];
+ int ret = -1, attempts = 5;
+
+ sprintf(sysfs_path, TRIGGER_PATH, sensor[s].dev_num);
+
+ if (trigger_val[0] != '\n')
+ ALOGI("Setting S%d (%s) trigger to %s\n", s,
+ sensor[s].friendly_name, trigger_val);
+
+ while (ret == -1 && attempts) {
+ ret = sysfs_write_str(sysfs_path, trigger_val);
+ attempts--;
+ }
+
+ if (ret != -1)
+ sensor[s].selected_trigger = trigger_val;
+ else
+ ALOGE("Setting S%d (%s) trigger to %s FAILED.\n", s,
+ sensor[s].friendly_name, trigger_val);
+ return ret;
}
-static int setup_trigger(int dev_num, const char* trigger_val)
+static void enable_iio_timestamp (int dev_num, int known_channels)
{
+ /* Check if we have a dedicated iio timestamp channel */
+
+ char spec_buf[MAX_TYPE_SPEC_LEN];
char sysfs_path[PATH_MAX];
+ int n;
+
+ sprintf(sysfs_path, CHANNEL_PATH "%s", dev_num, "in_timestamp_type");
+
+ n = sysfs_read_str(sysfs_path, spec_buf, sizeof(spec_buf));
+
+ if (n <= 0)
+ return;
+
+ if (strcmp(spec_buf, "le:s64/64>>0"))
+ return;
+
+ /* OK, type is int64_t as expected, in little endian representation */
+
+ sprintf(sysfs_path, CHANNEL_PATH"%s", dev_num, "in_timestamp_index");
+
+ if (sysfs_read_int(sysfs_path, &n))
+ return;
+
+ /* Check that the timestamp comes after the other fields we read */
+ if (n != known_channels)
+ return;
+
+ /* Try enabling that channel */
+ sprintf(sysfs_path, CHANNEL_PATH "%s", dev_num, "in_timestamp_en");
+
+ sysfs_write_int(sysfs_path, 1);
+
+ if (sysfs_read_int(sysfs_path, &n))
+ return;
+
+ if (n) {
+ ALOGI("Detected timestamp channel on iio device %d\n", dev_num);
+ has_iio_ts[dev_num] = 1;
+ }
+}
+
+
+static int decode_type_spec (const char type_buf[MAX_TYPE_SPEC_LEN],
+ struct datum_info_t *type_info)
+{
+ /* Return size in bytes for this type specification, or -1 in error */
+ char sign;
+ char endianness;
+ unsigned int realbits, storagebits, shift;
+ int tokens;
+
+ /* Valid specs: "le:u10/16>>0", "le:s16/32>>0" or "le:s32/32>>0" */
+
+ tokens = sscanf(type_buf, "%ce:%c%u/%u>>%u",
+ &endianness, &sign, &realbits, &storagebits, &shift);
+
+ if (tokens != 5 ||
+ (endianness != 'b' && endianness != 'l') ||
+ (sign != 'u' && sign != 's') ||
+ realbits > storagebits ||
+ (storagebits != 16 && storagebits != 32 && storagebits != 64)) {
+ ALOGE("Invalid iio channel type spec: %s\n", type_buf);
+ return -1;
+ }
- sprintf(sysfs_path, TRIGGER_PATH, dev_num);
+ type_info->endianness = endianness;
+ type_info->sign = sign;
+ type_info->realbits = (short) realbits;
+ type_info->storagebits = (short) storagebits;
+ type_info->shift = (short) shift;
- return sysfs_write_str(sysfs_path, trigger_val);
+ return storagebits / 8;
}
-void build_sensor_report_maps(int dev_num)
+void build_sensor_report_maps (int dev_num)
{
/*
* Read sysfs files from a iio device's scan_element directory, and
/* For each sensor that is linked to this device */
for (s=0; s<sensor_count; s++) {
- if (sensor_info[s].dev_num != dev_num)
+ if (sensor[s].dev_num != dev_num)
continue;
- i = sensor_info[s].catalog_index;
+ i = sensor[s].catalog_index;
/* Read channel details through sysfs attributes */
- for (c=0; c<sensor_info[s].num_channels; c++) {
+ for (c=0; c<sensor[s].num_channels; c++) {
/* Read _type file */
sprintf(sysfs_path, CHANNEL_PATH "%s",
- sensor_info[s].dev_num,
+ sensor[s].dev_num,
sensor_catalog[i].channel[c].type_path);
n = sysfs_read_str(sysfs_path, spec_buf,
continue;
}
- ch_spec = sensor_info[s].channel[c].type_spec;
+ ch_spec = sensor[s].channel[c].type_spec;
memcpy(ch_spec, spec_buf, sizeof(spec_buf));
- ch_info = &sensor_info[s].channel[c].type_info;
+ ch_info = &sensor[s].channel[c].type_info;
size = decode_type_spec(ch_spec, ch_info);
/* Read _index file */
sprintf(sysfs_path, CHANNEL_PATH "%s",
- sensor_info[s].dev_num,
+ sensor[s].dev_num,
sensor_catalog[i].channel[c].index_path);
n = sysfs_read_int(sysfs_path, &ch_index);
/* Stop sampling - if we are recovering from hal restart */
enable_buffer(dev_num, 0);
- setup_trigger(dev_num, "\n");
+ setup_trigger(s, "\n");
/* Turn on channels we're aware of */
- for (c=0;c<sensor_info[s].num_channels; c++) {
+ for (c=0;c<sensor[s].num_channels; c++) {
sprintf(sysfs_path, CHANNEL_PATH "%s",
- sensor_info[s].dev_num,
+ sensor[s].dev_num,
sensor_catalog[i].channel[c].en_path);
sysfs_write_int(sysfs_path, 1);
}
continue;
ALOGI("S%d C%d : offset %d, size %d, type %s\n",
- s, c, offset, size, sensor_info[s].channel[c].type_spec);
+ s, c, offset, size, sensor[s].channel[c].type_spec);
- sensor_info[s].channel[c].offset = offset;
- sensor_info[s].channel[c].size = size;
+ sensor[s].channel[c].offset = offset;
+ sensor[s].channel[c].size = size;
offset += size;
}
+
+ /* Enable the timestamp channel if there is one available */
+ enable_iio_timestamp(dev_num, known_channels);
+
+ /* Add padding and timestamp size if it's enabled on this iio device */
+ if (has_iio_ts[dev_num])
+ offset = (offset+7)/8*8 + sizeof(int64_t);
+
+ expected_dev_report_size[dev_num] = offset;
+ ALOGI("Expecting %d scan length on iio dev %d\n", offset, dev_num);
+
+ if (expected_dev_report_size[dev_num] > MAX_DEVICE_REPORT_SIZE) {
+ ALOGE("Unexpectedly large scan buffer on iio dev%d: %d bytes\n",
+ dev_num, expected_dev_report_size[dev_num]);
+
+ expected_dev_report_size[dev_num] = MAX_DEVICE_REPORT_SIZE;
+ }
}
-int adjust_counters (int s, int enabled)
+int adjust_counters (int s, int enabled, int from_virtual)
{
/*
* Adjust counters based on sensor enable action. Return values are:
- * -1 if there's an inconsistency: abort action in this case
* 0 if the operation was completed and we're all set
* 1 if we toggled the state of the sensor and there's work left
*/
- int dev_num = sensor_info[s].dev_num;
- int catalog_index = sensor_info[s].catalog_index;
- int sensor_type = sensor_catalog[catalog_index].type;
+ int dev_num = sensor[s].dev_num;
+
+ if (!check_state_change(s, enabled, from_virtual))
+ /* The state of the sensor remains the same: we're done */
+ return 0;
- /* Refcount per sensor, in terms of enable count */
if (enabled) {
ALOGI("Enabling sensor %d (iio device %d: %s)\n",
- s, dev_num, sensor_info[s].friendly_name);
+ s, dev_num, sensor[s].friendly_name);
- sensor_info[s].enable_count++;
-
- if (sensor_info[s].enable_count > 1)
- return 0; /* The sensor was, and remains, in use */
-
- switch (sensor_type) {
+ switch (sensor[s].type) {
case SENSOR_TYPE_MAGNETIC_FIELD:
- compass_read_data(&sensor_info[s]);
+ compass_read_data(&sensor[s]);
break;
case SENSOR_TYPE_GYROSCOPE:
- gyro_cal_init(&sensor_info[s]);
+ gyro_cal_init(&sensor[s]);
break;
}
} else {
- if (sensor_info[s].enable_count == 0)
- return -1; /* Spurious disable call */
-
ALOGI("Disabling sensor %d (iio device %d: %s)\n", s, dev_num,
- sensor_info[s].friendly_name);
-
- sensor_info[s].enable_count--;
-
- if (sensor_info[s].enable_count > 0)
- return 0; /* The sensor was, and remains, in use */
+ sensor[s].friendly_name);
/* Sensor disabled, lower report available flag */
- sensor_info[s].report_pending = 0;
+ sensor[s].report_pending = 0;
+
+ if (sensor[s].type == SENSOR_TYPE_MAGNETIC_FIELD)
+ compass_store_data(&sensor[s]);
- if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD)
- compass_store_data(&sensor_info[s]);
+ if (sensor[s].type == SENSOR_TYPE_GYROSCOPE)
+ gyro_store_data(&sensor[s]);
}
- /* We changed the state of a sensor - adjust per iio device counters */
+ /* We changed the state of a sensor: adjust device ref counts */
- /* If this is a regular event-driven sensor */
- if (sensor_info[s].num_channels) {
+ if (sensor[s].num_channels) {
if (enabled)
trig_sensors_per_dev[dev_num]++;
trig_sensors_per_dev[dev_num]--;
return 1;
- }
+ }
if (enabled) {
active_poll_sensors++;
static int get_field_count (int s)
{
- int catalog_index = sensor_info[s].catalog_index;
- int sensor_type = sensor_catalog[catalog_index].type;
-
- switch (sensor_type) {
+ switch (sensor[s].type) {
case SENSOR_TYPE_ACCELEROMETER: /* m/s^2 */
case SENSOR_TYPE_MAGNETIC_FIELD: /* micro-tesla */
case SENSOR_TYPE_ORIENTATION: /* degrees */
+ case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
case SENSOR_TYPE_GYROSCOPE: /* radians/s */
return 3;
return 1;
case SENSOR_TYPE_ROTATION_VECTOR:
- return 4;
+ return 4;
default:
ALOGE("Unknown sensor type!\n");
}
-/* Check and honor termination requests */
-#define CHECK_CANCEL(s) \
- if (sensor_info[s].thread_data_fd[1] == -1) { \
- ALOGV("Acquisition thread for S%d exiting\n", s); \
- pthread_exit(0); \
- }
-
-
static void* acquisition_routine (void* param)
{
/*
* Bionic does not provide pthread_cancel / pthread_testcancel...
*/
- int s = (int) param;
- int report_fd;
- int num_fields;
- uint32_t period;
- int64_t entry_ts;
+ int s = (int) (size_t) param;
+ int num_fields, sample_size;
struct sensors_event_t data = {0};
int c;
- int sampling_rate;
int ret;
- uint32_t elapsed;
-
- ALOGV("Entering data acquisition thread for sensor %d\n", s);
+ struct timespec target_time;
+ int64_t timestamp, period, start, stop;
if (s < 0 || s >= sensor_count) {
ALOGE("Invalid sensor handle!\n");
return NULL;
}
- if (!sensor_info[s].sampling_rate) {
- ALOGE("Zero rate in acquisition routine for sensor %d\n", s);
+ ALOGI("Entering data acquisition thread S%d (%s), rate:%g\n",
+ s, sensor[s].friendly_name, sensor[s].sampling_rate);
+
+ if (sensor[s].sampling_rate <= 0) {
+ ALOGE("Invalid rate in acquisition routine for sensor %d: %g\n",
+ s, sensor[s].sampling_rate);
return NULL;
}
num_fields = get_field_count(s);
+ sample_size = sizeof(int64_t) + num_fields * sizeof(float);
- while (1) {
- CHECK_CANCEL(s)
-
- /* Pinpoint the moment we start sampling */
- entry_ts = get_timestamp();
+ /*
+ * Each condition variable is associated to a mutex that has to be
+ * locked by the thread that's waiting on it. We use these condition
+ * variables to get the acquisition threads out of sleep quickly after
+ * the sampling rate is adjusted, or the sensor is disabled.
+ */
+ pthread_mutex_lock(&thread_release_mutex[s]);
- ALOGV("Acquiring sample data for sensor %d through sysfs\n", s);
+ /* Pinpoint the moment we start sampling */
+ timestamp = get_timestamp_monotonic();
+ /* Check and honor termination requests */
+ while (sensor[s].thread_data_fd[1] != -1) {
+ start = get_timestamp_boot();
/* Read values through sysfs */
for (c=0; c<num_fields; c++) {
data.data[c] = acquire_immediate_value(s, c);
-
- ALOGV("\tfield %d: %f\n", c, data.data[c]);
- CHECK_CANCEL(s)
+ /* Check and honor termination requests */
+ if (sensor[s].thread_data_fd[1] == -1)
+ goto exit;
}
+ stop = get_timestamp_boot();
+ data.timestamp = start/2 + stop/2;
/* If the sample looks good */
- if (sensor_info[s].ops.finalize(s, &data)) {
+ if (sensor[s].ops.finalize(s, &data)) {
/* Pipe it for transmission to poll loop */
- ret = write( sensor_info[s].thread_data_fd[1],
- data.data,
- num_fields * sizeof(float));
- }
+ ret = write( sensor[s].thread_data_fd[1],
+ &data.timestamp, sample_size);
- CHECK_CANCEL(s)
+ if (ret != sample_size)
+ ALOGE("S%d write failure: wrote %d, got %d\n",
+ s, sample_size, ret);
+ }
- /* Sleep a little, deducting read & write times */
- elapsed = (get_timestamp() - entry_ts) / 1000;
+ /* Check and honor termination requests */
+ if (sensor[s].thread_data_fd[1] == -1)
+ goto exit;
- period = (uint32_t)
- (1000000000LL / sensor_info[s].sampling_rate / 1000);
+ /* Recalculate period asumming sensor[s].sampling_rate
+ * can be changed dynamically during the thread run */
+ if (sensor[s].sampling_rate <= 0) {
+ ALOGE("Unexpected sampling rate for sensor %d: %g\n",
+ s, sensor[s].sampling_rate);
+ goto exit;
+ }
- if (period > elapsed)
- usleep(period - elapsed);
+ period = (int64_t) (1000000000LL / sensor[s].sampling_rate);
+ timestamp += period;
+ set_timestamp(&target_time, timestamp);
+
+ /*
+ * Wait until the sampling time elapses, or a rate change is
+ * signaled, or a thread exit is requested.
+ */
+ ret = pthread_cond_timedwait( &thread_release_cond[s],
+ &thread_release_mutex[s],
+ &target_time);
}
+exit:
+ ALOGV("Acquisition thread for S%d exiting\n", s);
+ pthread_mutex_unlock(&thread_release_mutex[s]);
+ pthread_exit(0);
return NULL;
}
ALOGV("Initializing acquisition context for sensor %d\n", s);
+ /* Create condition variable and mutex for quick thread release */
+ ret = pthread_condattr_init(&thread_cond_attr[s]);
+ ret = pthread_condattr_setclock(&thread_cond_attr[s], CLOCK_MONOTONIC);
+ ret = pthread_cond_init(&thread_release_cond[s], &thread_cond_attr[s]);
+ ret = pthread_mutex_init(&thread_release_mutex[s], NULL);
+
/* Create a pipe for inter thread communication */
- ret = pipe(sensor_info[s].thread_data_fd);
+ ret = pipe(sensor[s].thread_data_fd);
- incoming_data_fd = sensor_info[s].thread_data_fd[0];
+ incoming_data_fd = sensor[s].thread_data_fd[0];
ev.events = EPOLLIN;
ev.data.u32 = THREAD_REPORT_TAG_BASE + s;
ret = epoll_ctl(poll_fd, EPOLL_CTL_ADD, incoming_data_fd , &ev);
/* Create and start worker thread */
- ret = pthread_create( &sensor_info[s].acquisition_thread,
+ ret = pthread_create( &sensor[s].acquisition_thread,
NULL,
acquisition_routine,
- (void*) s);
+ (void*) (size_t) s);
}
static void stop_acquisition_thread (int s)
{
- int incoming_data_fd = sensor_info[s].thread_data_fd[0];
- int outgoing_data_fd = sensor_info[s].thread_data_fd[1];
+ int incoming_data_fd = sensor[s].thread_data_fd[0];
+ int outgoing_data_fd = sensor[s].thread_data_fd[1];
ALOGV("Tearing down acquisition context for sensor %d\n", s);
/* Delete the incoming side of the pipe from our poll set */
epoll_ctl(poll_fd, EPOLL_CTL_DEL, incoming_data_fd, NULL);
- /* Mark the pipe ends as invalid ; that's a cheap exit signal */
- sensor_info[s].thread_data_fd[0] = -1;
- sensor_info[s].thread_data_fd[1] = -1;
+ /* Mark the pipe ends as invalid ; that's a cheap exit flag */
+ sensor[s].thread_data_fd[0] = -1;
+ sensor[s].thread_data_fd[1] = -1;
/* Close both sides of our pipe */
close(incoming_data_fd);
close(outgoing_data_fd);
- /* Wait end of thread, and clean up thread handle */
- pthread_join(sensor_info[s].acquisition_thread, NULL);
+ /* Stop acquisition thread and clean up thread handle */
+ pthread_cond_signal(&thread_release_cond[s]);
+ pthread_join(sensor[s].acquisition_thread, NULL);
/* Clean up our sensor descriptor */
- sensor_info[s].acquisition_thread = -1;
+ sensor[s].acquisition_thread = -1;
+
+ /* Delete condition variable and mutex */
+ pthread_cond_destroy(&thread_release_cond[s]);
+ pthread_mutex_destroy(&thread_release_mutex[s]);
+}
+
+
+static void sensor_activate_virtual (int s, int enabled, int from_virtual)
+{
+ int i, base;
+
+ sensor[s].event_count = 0;
+ sensor[s].meta_data_pending = 0;
+
+ if (!check_state_change(s, enabled, from_virtual))
+ return;
+ if (enabled) {
+ /* Enable all the base sensors for this virtual one */
+ for (i = 0; i < sensor[s].base_count; i++) {
+ base = sensor[s].base[i];
+ sensor_activate(base, enabled, 1);
+ sensor[base].ref_count++;
+ }
+ return;
+ }
+
+ /* Sensor disabled, lower report available flag */
+ sensor[s].report_pending = 0;
+
+ for (i = 0; i < sensor[s].base_count; i++) {
+ base = sensor[s].base[i];
+ sensor_activate(base, enabled, 1);
+ sensor[base].ref_count--;
+ }
+
+}
+
+
+static int is_fast_accelerometer (int s)
+{
+ /*
+ * Some games don't react well to accelerometers using any-motion
+ * triggers. Even very low thresholds seem to trip them, and they tend
+ * to request fairly high event rates. Favor continuous triggers if the
+ * sensor is an accelerometer and uses a sampling rate of at least 25.
+ */
+
+ if (sensor[s].type != SENSOR_TYPE_ACCELEROMETER)
+ return 0;
+
+ if (sensor[s].sampling_rate < 25)
+ return 0;
+
+ return 1;
+}
+
+
+static void tentative_switch_trigger (int s)
+{
+ /*
+ * Under certain situations it may be beneficial to use an alternate
+ * trigger:
+ *
+ * - for applications using the accelerometer with high sampling rates,
+ * prefer the continuous trigger over the any-motion one, to avoid
+ * jumps related to motion thresholds
+ */
+
+ if (is_fast_accelerometer(s) &&
+ !(sensor[s].quirks & QUIRK_TERSE_DRIVER) &&
+ sensor[s].selected_trigger ==
+ sensor[s].motion_trigger_name)
+ setup_trigger(s, sensor[s].init_trigger_name);
+}
+
+
+static int setup_delay_sysfs (int s, float requested_rate)
+{
+ /* Set the rate at which a specific sensor should report events */
+ /* See Android sensors.h for indication on sensor trigger modes */
+
+ char sysfs_path[PATH_MAX];
+ char avail_sysfs_path[PATH_MAX];
+ int dev_num = sensor[s].dev_num;
+ int i = sensor[s].catalog_index;
+ const char *prefix = sensor_catalog[i].tag;
+ int per_sensor_sampling_rate;
+ int per_device_sampling_rate;
+ int32_t min_delay_us = sensor_desc[s].minDelay;
+ max_delay_t max_delay_us = sensor_desc[s].maxDelay;
+ float min_supported_rate = max_delay_us ? 1000000.0/max_delay_us : 1;
+ float max_supported_rate =
+ min_delay_us && min_delay_us != -1 ? 1000000.0/min_delay_us : 0;
+ char freqs_buf[100];
+ char* cursor;
+ int n;
+ float sr;
+ float cur_sampling_rate; /* Currently used sampling rate */
+ float arb_sampling_rate; /* Granted sampling rate after arbitration */
+
+ ALOGV("Sampling rate %g requested on sensor %d (%s)\n", requested_rate,
+ s, sensor[s].friendly_name);
+
+ sensor[s].requested_rate = requested_rate;
+
+ arb_sampling_rate = requested_rate;
+
+ if (arb_sampling_rate < min_supported_rate) {
+ ALOGV("Sampling rate %g too low for %s, using %g instead\n",
+ arb_sampling_rate, sensor[s].friendly_name,
+ min_supported_rate);
+
+ arb_sampling_rate = min_supported_rate;
+ }
+
+ if (max_supported_rate && arb_sampling_rate > max_supported_rate) {
+ ALOGV("Sampling rate %g too high for %s, using %g instead\n",
+ arb_sampling_rate, sensor[s].friendly_name, max_supported_rate);
+ arb_sampling_rate = max_supported_rate;
+ }
+
+ sensor[s].sampling_rate = arb_sampling_rate;
+
+ /* If we're dealing with a poll-mode sensor */
+ if (!sensor[s].num_channels) {
+ /* Wake up thread so the new sampling rate gets used */
+ pthread_cond_signal(&thread_release_cond[s]);
+ return 0;
+ }
+
+ sprintf(sysfs_path, SENSOR_SAMPLING_PATH, dev_num, prefix);
+
+ if (sysfs_read_float(sysfs_path, &cur_sampling_rate) != -1) {
+ per_sensor_sampling_rate = 1;
+ per_device_sampling_rate = 0;
+ } else {
+ per_sensor_sampling_rate = 0;
+
+ sprintf(sysfs_path, DEVICE_SAMPLING_PATH, dev_num);
+
+ if (sysfs_read_float(sysfs_path, &cur_sampling_rate) != -1)
+ per_device_sampling_rate = 1;
+ else
+ per_device_sampling_rate = 0;
+ }
+
+ if (!per_sensor_sampling_rate && !per_device_sampling_rate) {
+ ALOGE("No way to adjust sampling rate on sensor %d\n", s);
+ return -ENOSYS;
+ }
+
+ /* Coordinate with others active sensors on the same device, if any */
+ if (per_device_sampling_rate)
+ for (n=0; n<sensor_count; n++)
+ if (n != s && sensor[n].dev_num == dev_num &&
+ sensor[n].num_channels &&
+ is_enabled(s) &&
+ sensor[n].sampling_rate > arb_sampling_rate)
+ arb_sampling_rate = sensor[n].sampling_rate;
+
+ /* Check if we have contraints on allowed sampling rates */
+
+ sprintf(avail_sysfs_path, DEVICE_AVAIL_FREQ_PATH, dev_num);
+
+ if (sysfs_read_str(avail_sysfs_path, freqs_buf, sizeof(freqs_buf)) > 0){
+ cursor = freqs_buf;
+
+ /* Decode allowed sampling rates string, ex: "10 20 50 100" */
+
+ /* While we're not at the end of the string */
+ while (*cursor && cursor[0]) {
+
+ /* Decode a single value */
+ sr = strtod(cursor, NULL);
+
+ /*
+ * If this matches the selected rate, we're happy.
+ * Have some tolerance to counter rounding errors and
+ * avoid needless jumps to higher rates.
+ */
+ if (fabs(arb_sampling_rate - sr) <= 0.001) {
+ arb_sampling_rate = sr;
+ break;
+ }
+
+ /*
+ * If we reached a higher value than the desired rate,
+ * adjust selected rate so it matches the first higher
+ * available one and stop parsing - this makes the
+ * assumption that rates are sorted by increasing value
+ * in the allowed frequencies string.
+ */
+ if (sr > arb_sampling_rate) {
+ arb_sampling_rate = sr;
+ break;
+ }
+
+ /* Skip digits */
+ while (cursor[0] && !isspace(cursor[0]))
+ cursor++;
+
+ /* Skip spaces */
+ while (cursor[0] && isspace(cursor[0]))
+ cursor++;
+ }
+ }
+
+ if (max_supported_rate &&
+ arb_sampling_rate > max_supported_rate) {
+ arb_sampling_rate = max_supported_rate;
+ }
+
+ /* If the desired rate is already active we're all set */
+ if (arb_sampling_rate == cur_sampling_rate)
+ return 0;
+
+ ALOGI("Sensor %d (%s) sampling rate set to %g\n",
+ s, sensor[s].friendly_name, arb_sampling_rate);
+
+ if (trig_sensors_per_dev[dev_num])
+ enable_buffer(dev_num, 0);
+
+ sysfs_write_float(sysfs_path, arb_sampling_rate);
+
+ /* Check if it makes sense to use an alternate trigger */
+ tentative_switch_trigger(s);
+
+ if (trig_sensors_per_dev[dev_num])
+ enable_buffer(dev_num, 1);
+
+ return 0;
+}
+
+
+/*
+ * We go through all the virtual sensors of the base - and the base itself
+ * in order to recompute the maximum requested delay of the group and setup the base
+ * at that specific delay.
+ */
+static int arbitrate_bases (int s)
+{
+ int i, vidx;
+
+ float arbitrated_rate = 0;
+
+ if (sensor[s].directly_enabled)
+ arbitrated_rate = sensor[s].requested_rate;
+
+ for (i = 0; i < sensor_count; i++) {
+ for (vidx = 0; vidx < sensor[i].base_count; vidx++)
+ /* If we have a virtual sensor depending on this one - handle it */
+ if (sensor[i].base[vidx] == s &&
+ sensor[i].directly_enabled &&
+ sensor[i].requested_rate > arbitrated_rate)
+ arbitrated_rate = sensor[i].requested_rate;
+ }
+
+ return setup_delay_sysfs(s, arbitrated_rate);
+}
+
+
+/*
+ * Re-assesment for delays. We need to re-asses delays for all related groups
+ * of sensors everytime a sensor enables / disables / changes frequency.
+ */
+int arbitrate_delays (int s)
+{
+ int i;
+
+ if (!sensor[s].is_virtual) {
+ return arbitrate_bases(s);
+ }
+ /* Is virtual sensor - go through bases */
+ for (i = 0; i < sensor[s].base_count; i++)
+ arbitrate_bases(sensor[s].base[i]);
+
+ return 0;
}
-int sensor_activate(int s, int enabled)
+int sensor_activate (int s, int enabled, int from_virtual)
{
char device_name[PATH_MAX];
- char trigger_name[MAX_NAME_SIZE + 16];
- int c;
struct epoll_event ev = {0};
int dev_fd;
int ret;
- int dev_num = sensor_info[s].dev_num;
- int i = sensor_info[s].catalog_index;
- int is_poll_sensor = !sensor_info[s].num_channels;
+ int dev_num = sensor[s].dev_num;
+ int is_poll_sensor = !sensor[s].num_channels;
- ret = adjust_counters(s, enabled);
+ if (sensor[s].is_virtual) {
+ sensor_activate_virtual(s, enabled, from_virtual);
+ arbitrate_delays(s);
+ return 0;
+ }
+
+ /* Prepare the report timestamp field for the first event, see set_report_ts method */
+ sensor[s].report_ts = 0;
+
+ ret = adjust_counters(s, enabled, from_virtual);
/* If the operation was neutral in terms of state, we're done */
if (ret <= 0)
return ret;
+ arbitrate_delays(s);
+
+ sensor[s].event_count = 0;
+ sensor[s].meta_data_pending = 0;
+
+ if (enabled && (sensor[s].quirks & QUIRK_NOISY))
+ /* Initialize filtering data if required */
+ setup_noise_filtering(s);
+
if (!is_poll_sensor) {
/* Stop sampling */
enable_buffer(dev_num, 0);
- setup_trigger(dev_num, "\n");
+ setup_trigger(s, "\n");
/* If there's at least one sensor enabled on this iio device */
if (trig_sensors_per_dev[dev_num]) {
- sprintf(trigger_name, "%s-dev%d",
- sensor_info[s].internal_name, dev_num);
/* Start sampling */
- setup_trigger(dev_num, trigger_name);
+ setup_trigger(s, sensor[s].init_trigger_name);
enable_buffer(dev_num, 1);
}
}
close(dev_fd);
device_fd[dev_num] = -1;
}
+
+ /* Release any filtering data we may have accumulated */
+ release_noise_filtering_data(s);
+
return 0;
}
if (dev_fd == -1) {
ALOGE("Could not open fd on %s (%s)\n",
device_name, strerror(errno));
- adjust_counters(s, 0);
+ adjust_counters(s, 0, from_virtual);
return -1;
}
}
}
+ /* Ensure that on-change sensors send at least one event after enable */
+ sensor[s].prev_val = -1;
+
if (is_poll_sensor)
start_acquisition_thread(s);
}
-static int integrate_device_report(int dev_num)
+static void enable_motion_trigger (int dev_num)
+{
+ /*
+ * In the ideal case, we enumerate two triggers per iio device ; the
+ * default (periodically firing) trigger, and another one (the motion
+ * trigger) that only fires up when motion is detected. This second one
+ * allows for lesser energy consumption, but requires periodic sample
+ * duplication at the HAL level for sensors that Android defines as
+ * continuous. This "duplicate last sample" logic can only be engaged
+ * once we got a first sample for the driver, so we start with the
+ * default trigger when an iio device is first opened, then adjust the
+ * trigger when we got events for all active sensors. Unfortunately in
+ * the general case several sensors can be associated to a given iio
+ * device, they can independently be controlled, and we have to adjust
+ * the trigger in use at the iio device level depending on whether or
+ * not appropriate conditions are met at the sensor level.
+ */
+
+ int s;
+ int i;
+ int active_sensors = trig_sensors_per_dev[dev_num];
+ int candidate[MAX_SENSORS];
+ int candidate_count = 0;
+
+ if (!active_sensors)
+ return;
+
+ /* Check that all active sensors are ready to switch */
+
+ for (s=0; s<MAX_SENSORS; s++)
+ if (sensor[s].dev_num == dev_num &&
+ is_enabled(s) &&
+ sensor[s].num_channels &&
+ (!sensor[s].motion_trigger_name[0] ||
+ !sensor[s].report_initialized ||
+ is_fast_accelerometer(s) ||
+ (sensor[s].quirks & QUIRK_FORCE_CONTINUOUS))
+ )
+ return; /* Nope */
+
+ /* Record which particular sensors need to switch */
+
+ for (s=0; s<MAX_SENSORS; s++)
+ if (sensor[s].dev_num == dev_num &&
+ is_enabled(s) &&
+ sensor[s].num_channels &&
+ sensor[s].selected_trigger !=
+ sensor[s].motion_trigger_name)
+ candidate[candidate_count++] = s;
+
+ if (!candidate_count)
+ return;
+
+ /* Now engage the motion trigger for sensors which aren't using it */
+
+ enable_buffer(dev_num, 0);
+
+ for (i=0; i<candidate_count; i++) {
+ s = candidate[i];
+ setup_trigger(s, sensor[s].motion_trigger_name);
+ }
+
+ enable_buffer(dev_num, 1);
+}
+
+
+/*
+ * CTS acceptable thresholds:
+ * EventGapVerification.java: (th <= 1.8)
+ * FrequencyVerification.java: (0.9)*(expected freq) => (th <= 1.1111)
+ */
+#define THRESHOLD 1.10
+#define MAX_DELAY 500000000 /* 500 ms */
+
+void set_report_ts(int s, int64_t ts)
+{
+ int64_t maxTs, period;
+
+ /*
+ * A bit of a hack to please a bunch of cts tests. They
+ * expect the timestamp to be exacly according to the set-up
+ * frequency but if we're simply getting the timestamp at hal level
+ * this may not be the case. Perhaps we'll get rid of this when
+ * we'll be reading the timestamp from the iio channel for all sensors
+ */
+ if (sensor[s].report_ts && sensor[s].sampling_rate &&
+ REPORTING_MODE(sensor_desc[s].flags) == SENSOR_FLAG_CONTINUOUS_MODE)
+ {
+ period = (int64_t) (1000000000LL / sensor[s].sampling_rate);
+ maxTs = sensor[s].report_ts + THRESHOLD * period;
+ /* If we're too far behind get back on track */
+ if (ts - maxTs >= MAX_DELAY)
+ maxTs = ts;
+ sensor[s].report_ts = (ts < maxTs ? ts : maxTs);
+ } else {
+ sensor[s].report_ts = ts;
+ }
+}
+
+
+static void stamp_reports (int dev_num, int64_t ts)
+{
+ int s;
+
+ for (s=0; s<MAX_SENSORS; s++)
+ if (sensor[s].dev_num == dev_num &&
+ is_enabled(s))
+ set_report_ts(s, ts);
+}
+
+
+static int integrate_device_report (int dev_num)
{
int len;
int s,c;
- unsigned char buf[MAX_SENSOR_REPORT_SIZE] = { 0 };
+ unsigned char buf[MAX_DEVICE_REPORT_SIZE] = { 0 };
int sr_offset;
unsigned char *target;
unsigned char *source;
int size;
- int ts;
+ int64_t ts = 0;
+ int ts_offset = 0; /* Offset of iio timestamp, if provided */
+ int64_t boot_to_rt_delta;
/* There's an incoming report on the specified iio device char dev fd */
return -1;
}
- ts = get_timestamp();
-
- len = read(device_fd[dev_num], buf, MAX_SENSOR_REPORT_SIZE);
+ len = read(device_fd[dev_num], buf, expected_dev_report_size[dev_num]);
if (len == -1) {
ALOGE("Could not read report from iio device %d (%s)\n",
ALOGV("Read %d bytes from iio device %d\n", len, dev_num);
+ /* Map device report to sensor reports */
+
for (s=0; s<MAX_SENSORS; s++)
- if (sensor_info[s].dev_num == dev_num &&
- sensor_info[s].enable_count) {
+ if (sensor[s].dev_num == dev_num &&
+ is_enabled(s)) {
sr_offset = 0;
/* Copy data from device to sensor report buffer */
- for (c=0; c<sensor_info[s].num_channels; c++) {
+ for (c=0; c<sensor[s].num_channels; c++) {
- target = sensor_info[s].report_buffer +
+ target = sensor[s].report_buffer +
sr_offset;
- source = buf + sensor_info[s].channel[c].offset;
+ source = buf + sensor[s].channel[c].offset;
- size = sensor_info[s].channel[c].size;
+ size = sensor[s].channel[c].size;
memcpy(target, source, size);
ALOGV("Sensor %d report available (%d bytes)\n", s,
sr_offset);
- sensor_info[s].report_ts = ts;
- sensor_info[s].report_pending = 1;
+ sensor[s].report_pending = DATA_TRIGGER;
+ sensor[s].report_initialized = 1;
+
+ ts_offset += sr_offset;
}
+ /* Tentatively switch to an any-motion trigger if conditions are met */
+ enable_motion_trigger(dev_num);
+
+ /* If no iio timestamp channel was detected for this device, bail out */
+ if (!has_iio_ts[dev_num]) {
+ stamp_reports(dev_num, get_timestamp_boot());
+ return 0;
+ }
+
+ /* Don't trust the timestamp channel in any-motion mode */
+ for (s=0; s<MAX_SENSORS; s++)
+ if (sensor[s].dev_num == dev_num &&
+ is_enabled(s) &&
+ sensor[s].selected_trigger ==
+ sensor[s].motion_trigger_name) {
+ stamp_reports(dev_num, get_timestamp_boot());
+ return 0;
+ }
+
+ /* Align on a 64 bits boundary */
+ ts_offset = (ts_offset + 7)/8*8;
+
+ /* If we read an amount of data consistent with timestamp presence */
+ if (len == expected_dev_report_size[dev_num])
+ ts = *(int64_t*) (buf + ts_offset);
+
+ if (ts == 0) {
+ ALOGV("Unreliable timestamp channel on iio dev %d\n", dev_num);
+ stamp_reports(dev_num, get_timestamp_boot());
+ return 0;
+ }
+
+ ALOGV("Driver timestamp on iio device %d: ts=%lld\n", dev_num, ts);
+
+ boot_to_rt_delta = get_timestamp_boot() - get_timestamp_realtime();
+
+ stamp_reports(dev_num, ts + boot_to_rt_delta);
+
return 0;
}
-static int propagate_sensor_report(int s, struct sensors_event_t *data)
+static int propagate_vsensor_report (int s, struct sensors_event_t *data)
+{
+ /* There's a new report stored in sensor.sample for this sensor; transmit it */
+
+ memcpy(data, &sensor[s].sample, sizeof(struct sensors_event_t));
+
+ data->sensor = s;
+ data->type = sensor[s].type;
+ return 1;
+}
+
+
+static int propagate_sensor_report (int s, struct sensors_event_t *data)
{
/* There's a sensor report pending for this sensor ; transmit it */
- int catalog_index = sensor_info[s].catalog_index;
- int sensor_type = sensor_catalog[catalog_index].type;
int num_fields = get_field_count(s);
int c;
unsigned char* current_sample;
data->version = sizeof(sensors_event_t);
data->sensor = s;
- data->type = sensor_type;
- data->timestamp = sensor_info[s].report_ts;
+ data->type = sensor[s].type;
+ data->timestamp = sensor[s].report_ts;
- ALOGV("Sample on sensor %d (type %d):\n", s, sensor_type);
+ ALOGV("Sample on sensor %d (type %d):\n", s, sensor[s].type);
- current_sample = sensor_info[s].report_buffer;
+ current_sample = sensor[s].report_buffer;
/* If this is a poll sensor */
- if (!sensor_info[s].num_channels) {
+ if (!sensor[s].num_channels) {
/* Use the data provided by the acquisition thread */
ALOGV("Reporting data from worker thread for S%d\n", s);
memcpy(data->data, current_sample, num_fields * sizeof(float));
/* Convert the data into the expected Android-level format */
for (c=0; c<num_fields; c++) {
- data->data[c] = sensor_info[s].ops.transform
+ data->data[c] = sensor[s].ops.transform
(s, c, current_sample);
ALOGV("\tfield %d: %f\n", c, data->data[c]);
- current_sample += sensor_info[s].channel[c].size;
+ current_sample += sensor[s].channel[c].size;
}
/*
* The finalize routine, in addition to its late sample processing duty,
* has the final say on whether or not the sample gets sent to Android.
*/
- return sensor_info[s].ops.finalize(s, data);
+ return sensor[s].ops.finalize(s, data);
+}
+
+
+static void synthetize_duplicate_samples (void)
+{
+ /*
+ * Some sensor types (ex: gyroscope) are defined as continuously firing
+ * by Android, despite the fact that we can be dealing with iio drivers
+ * that only report events for new samples. For these we generate
+ * reports periodically, duplicating the last data we got from the
+ * driver. This is not necessary for polling sensors.
+ */
+
+ int s;
+ int64_t current_ts;
+ int64_t target_ts;
+ int64_t period;
+
+ for (s=0; s<sensor_count; s++) {
+
+ /* Ignore disabled sensors */
+ if (!is_enabled(s))
+ continue;
+
+ /* If the sensor is continuously firing, leave it alone */
+ if (sensor[s].selected_trigger !=
+ sensor[s].motion_trigger_name)
+ continue;
+
+ /* If we haven't seen a sample, there's nothing to duplicate */
+ if (!sensor[s].report_initialized)
+ continue;
+
+ /* If a sample was recently buffered, leave it alone too */
+ if (sensor[s].report_pending)
+ continue;
+
+ /* We also need a valid sampling rate to be configured */
+ if (!sensor[s].sampling_rate)
+ continue;
+
+ period = (int64_t) (1000000000.0/ sensor[s].sampling_rate);
+
+ current_ts = get_timestamp_boot();
+ target_ts = sensor[s].report_ts + period;
+
+ if (target_ts <= current_ts) {
+ /* Mark the sensor for event generation */
+ set_report_ts(s, current_ts);
+ sensor[s].report_pending = DATA_DUPLICATE;
+ }
+ }
}
int s = tag - THREAD_REPORT_TAG_BASE;
int len;
int expected_len;
+ int64_t timestamp;
+ unsigned char current_sample[MAX_SENSOR_REPORT_SIZE];
- expected_len = get_field_count(s) * sizeof(float);
+ expected_len = sizeof(int64_t) + get_field_count(s) * sizeof(float);
- len = read(sensor_info[s].thread_data_fd[0],
- sensor_info[s].report_buffer,
+ len = read(sensor[s].thread_data_fd[0],
+ current_sample,
expected_len);
+ memcpy(×tamp, current_sample, sizeof(int64_t));
+ memcpy(sensor[s].report_buffer, sizeof(int64_t) + current_sample,
+ expected_len - sizeof(int64_t));
+
if (len == expected_len) {
- sensor_info[s].report_ts = get_timestamp();
- sensor_info[s].report_pending = 1;
+ set_report_ts(s, timestamp);
+ sensor[s].report_pending = DATA_SYSFS;
}
}
-int sensor_poll(struct sensors_event_t* data, int count)
+static int get_poll_wait_timeout (void)
+{
+ /*
+ * Compute an appropriate timeout value, in ms, for the epoll_wait
+ * call that's going to await for iio device reports and incoming
+ * reports from our sensor sysfs data reader threads.
+ */
+
+ int s;
+ int64_t target_ts = INT64_MAX;
+ int64_t ms_to_wait;
+ int64_t period;
+
+ /*
+ * Check if we're dealing with a driver that only send events when
+ * there is motion, despite the fact that the associated Android sensor
+ * type is continuous rather than on-change. In that case we have to
+ * duplicate events. Check deadline for the nearest upcoming event.
+ */
+ for (s=0; s<sensor_count; s++)
+ if (is_enabled(s) &&
+ sensor[s].selected_trigger ==
+ sensor[s].motion_trigger_name &&
+ sensor[s].sampling_rate) {
+ period = (int64_t) (1000000000.0 /
+ sensor[s].sampling_rate);
+
+ if (sensor[s].report_ts + period < target_ts)
+ target_ts = sensor[s].report_ts + period;
+ }
+
+ /* If we don't have such a driver to deal with */
+ if (target_ts == INT64_MAX)
+ return -1; /* Infinite wait */
+
+ ms_to_wait = (target_ts - get_timestamp_boot()) / 1000000;
+
+ /* If the target timestamp is already behind us, don't wait */
+ if (ms_to_wait < 1)
+ return 0;
+
+ return ms_to_wait;
+}
+
+
+int sensor_poll (struct sensors_event_t* data, int count)
{
int s;
int i;
int nfds;
struct epoll_event ev[MAX_DEVICES];
- int64_t target_ts;
int returned_events;
+ int event_count;
+ int uncal_start;
/* Get one or more events from our collection of sensors */
-
return_available_sensor_reports:
- returned_events = 0;
+ /* Synthetize duplicate samples if needed */
+ synthetize_duplicate_samples();
+ returned_events = 0;
/* Check our sensor collection for available reports */
- for (s=0; s<sensor_count && returned_events<count; s++)
- if (sensor_info[s].report_pending) {
+ for (s=0; s<sensor_count && returned_events < count; s++) {
+ if (sensor[s].report_pending) {
+ event_count = 0;
+
+ if (sensor[s].is_virtual)
+ event_count = propagate_vsensor_report(s, &data[returned_events]);
+ else {
+ /* Report this event if it looks OK */
+ event_count = propagate_sensor_report(s, &data[returned_events]);
+ }
/* Lower flag */
- sensor_info[s].report_pending = 0;
-
- /* Report this event if it looks OK */
- returned_events +=
- propagate_sensor_report(s, &data[returned_events]);
-
+ sensor[s].report_pending = 0;
+ returned_events += event_count;
/*
* If the sample was deemed invalid or unreportable,
* e.g. had the same value as the previously reported
* value for a 'on change' sensor, silently drop it.
*/
}
-
+ while (sensor[s].meta_data_pending) {
+ /* See sensors.h on these */
+ data[returned_events].version = META_DATA_VERSION;
+ data[returned_events].sensor = 0;
+ data[returned_events].type = SENSOR_TYPE_META_DATA;
+ data[returned_events].reserved0 = 0;
+ data[returned_events].timestamp = 0;
+ data[returned_events].meta_data.sensor = s;
+ data[returned_events].meta_data.what = META_DATA_FLUSH_COMPLETE;
+ returned_events++;
+ sensor[s].meta_data_pending--;
+ }
+ }
if (returned_events)
return returned_events;
ALOGV("Awaiting sensor data\n");
- nfds = epoll_wait(poll_fd, ev, MAX_DEVICES, -1);
+ nfds = epoll_wait(poll_fd, ev, MAX_DEVICES, get_poll_wait_timeout());
if (nfds == -1) {
- ALOGI("epoll_wait returned -1 (%s)\n", strerror(errno));
+ ALOGE("epoll_wait returned -1 (%s)\n", strerror(errno));
goto await_event;
}
}
-int sensor_set_delay(int s, int64_t ns)
+int sensor_set_delay (int s, int64_t ns)
{
- /* Set the rate at which a specific sensor should report events */
+ float requested_sampling_rate;
- /* See Android sensors.h for indication on sensor trigger modes */
-
- char sysfs_path[PATH_MAX];
- char avail_sysfs_path[PATH_MAX];
- int dev_num = sensor_info[s].dev_num;
- int i = sensor_info[s].catalog_index;
- const char *prefix = sensor_catalog[i].tag;
- float new_sampling_rate; /* Granted sampling rate after arbitration */
- float cur_sampling_rate; /* Currently used sampling rate */
- int per_sensor_sampling_rate;
- int per_device_sampling_rate;
- float max_supported_rate = 0;
- char freqs_buf[100];
- char* cursor;
- int n;
- float sr;
-
- if (!ns) {
- ALOGE("Rejecting zero delay request on sensor %d\n", s);
+ if (ns <= 0) {
+ ALOGE("Invalid delay requested on sensor %d: %lld\n", s, ns);
return -EINVAL;
}
- new_sampling_rate = 1000000000LL/ns;
-
- /*
- * Artificially limit ourselves to 1 Hz or higher. This is mostly to
- * avoid setting up the stage for divisions by zero.
- */
- if (new_sampling_rate < 1)
- new_sampling_rate = 1;
-
- sensor_info[s].sampling_rate = new_sampling_rate;
-
- /* If we're dealing with a poll-mode sensor */
- if (!sensor_info[s].num_channels) {
- /* The new sampling rate will be used on next iteration */
- return 0;
- }
-
- sprintf(sysfs_path, SENSOR_SAMPLING_PATH, dev_num, prefix);
-
- if (sysfs_read_float(sysfs_path, &cur_sampling_rate) != -1) {
- per_sensor_sampling_rate = 1;
- per_device_sampling_rate = 0;
- } else {
- per_sensor_sampling_rate = 0;
-
- sprintf(sysfs_path, DEVICE_SAMPLING_PATH, dev_num);
-
- if (sysfs_read_float(sysfs_path, &cur_sampling_rate) != -1)
- per_device_sampling_rate = 1;
- else
- per_device_sampling_rate = 0;
- }
-
- if (!per_sensor_sampling_rate && !per_device_sampling_rate) {
- ALOGE("No way to adjust sampling rate on sensor %d\n", s);
- return -ENOSYS;
- }
-
- /* Coordinate with others active sensors on the same device, if any */
- if (per_device_sampling_rate)
- for (n=0; n<sensor_count; n++)
- if (n != s && sensor_info[n].dev_num == dev_num &&
- sensor_info[n].num_channels &&
- sensor_info[n].enable_count &&
- sensor_info[n].sampling_rate > new_sampling_rate)
- new_sampling_rate= sensor_info[n].sampling_rate;
+ requested_sampling_rate = 1000000000.0/ns;
- /* Check if we have contraints on allowed sampling rates */
-
- sprintf(avail_sysfs_path, DEVICE_AVAIL_FREQ_PATH, dev_num);
-
- if (sysfs_read_str(avail_sysfs_path, freqs_buf, sizeof(freqs_buf)) > 0){
- cursor = freqs_buf;
+ ALOGV("Entering set delay S%d (%s): current rate: %f, requested: %f\n",
+ s, sensor[s].friendly_name, sensor[s].sampling_rate,
+ requested_sampling_rate);
- /* Decode allowed sampling rates string, ex: "10 20 50 100" */
+ sensor[s].requested_rate = requested_sampling_rate;
- /* While we're not at the end of the string */
- while (*cursor && cursor[0]) {
-
- /* Decode a single value */
- sr = strtod(cursor, NULL);
-
- if (sr > max_supported_rate)
- max_supported_rate = sr;
-
- /* If this matches the selected rate, we're happy */
- if (new_sampling_rate == sr)
- break;
-
- /*
- * If we reached a higher value than the desired rate,
- * adjust selected rate so it matches the first higher
- * available one and stop parsing - this makes the
- * assumption that rates are sorted by increasing value
- * in the allowed frequencies string.
- */
- if (sr > new_sampling_rate) {
- new_sampling_rate = sr;
- break;
- }
-
- /* Skip digits */
- while (cursor[0] && !isspace(cursor[0]))
- cursor++;
-
- /* Skip spaces */
- while (cursor[0] && isspace(cursor[0]))
- cursor++;
- }
- }
-
-
- if (max_supported_rate &&
- new_sampling_rate > max_supported_rate) {
- new_sampling_rate = max_supported_rate;
- }
-
-
- /* If the desired rate is already active we're all set */
- if (new_sampling_rate == cur_sampling_rate)
- return 0;
-
- ALOGI("Sensor %d sampling rate set to %g\n", s, new_sampling_rate);
-
- if (trig_sensors_per_dev[dev_num])
- enable_buffer(dev_num, 0);
+ return arbitrate_delays(s);
+}
- sysfs_write_float(sysfs_path, new_sampling_rate);
- if (trig_sensors_per_dev[dev_num])
- enable_buffer(dev_num, 1);
+int sensor_flush (int s)
+{
+ /* If one shot or not enabled return -EINVAL */
+ if (sensor_desc[s].flags & SENSOR_FLAG_ONE_SHOT_MODE || !is_enabled(s))
+ return -EINVAL;
+ sensor[s].meta_data_pending++;
return 0;
}
int allocate_control_data (void)
{
int i;
- struct epoll_event ev = {0};
for (i=0; i<MAX_DEVICES; i++)
device_fd[i] = -1;
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