#include "utils.h"
#include "transform.h"
#include "calibration.h"
+#include "description.h"
/* Currently active sensors count, per device */
static int poll_sensors_per_dev[MAX_DEVICES]; /* poll-mode sensors */
*/
int s = (int) param;
- int report_fd;
int num_fields;
struct sensors_event_t data = {0};
int c;
- int sampling_rate;
int ret;
struct timespec entry_time;
struct timespec target_time;
goto exit;
- period = 1000000000LL / sensor_info[s].sampling_rate;
+ period = (int64_t) (1000000000.0/ sensor_info[s].sampling_rate);
time_add(&target_time, &entry_time, period);
int sensor_activate(int s, int enabled)
{
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;
/* If we want to activate gyro calibrated and gyro uncalibrated is activated
/* 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(dev_num, sensor_info[s].trigger_name);
enable_buffer(dev_num, 1);
}
}
close(dev_fd);
device_fd[dev_num] = -1;
}
+
+ /* If we recorded a trail of samples for filtering, delete it */
+ if (sensor_info[s].history) {
+ free(sensor_info[s].history);
+ sensor_info[s].history = NULL;
+ sensor_info[s].history_size = 0;
+ }
return 0;
}
unsigned char *target;
unsigned char *source;
int size;
- int ts;
+ int64_t ts;
/* There's an incoming report on the specified iio device char dev fd */
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) {
sensor_info[s].report_ts = ts;
sensor_info[s].report_pending = 1;
+ sensor_info[s].report_initialized = 1;
}
return 0;
}
+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 (!sensor_info[s].enable_count)
+ continue;
+
+ /* If the sensor can generate duplicates, leave it alone */
+ if (!(sensor_info[s].quirks & QUIRK_TERSE_DRIVER))
+ continue;
+
+ /* If we haven't seen a sample, there's nothing to duplicate */
+ if (!sensor_info[s].report_initialized)
+ continue;
+
+ /* If a sample was recently buffered, leave it alone too */
+ if (sensor_info[s].report_pending)
+ continue;
+
+ /* We also need a valid sampling rate to be configured */
+ if (!sensor_info[s].sampling_rate)
+ continue;
+
+ period = (int64_t) (1000000000.0/ sensor_info[s].sampling_rate);
+
+ current_ts = get_timestamp();
+ target_ts = sensor_info[s].report_ts + period;
+
+ if (target_ts <= current_ts) {
+ /* Mark the sensor for event generation */
+ sensor_info[s].report_ts = current_ts;
+ sensor_info[s].report_pending = 1;
+ }
+ }
+}
+
+
static void integrate_thread_report (uint32_t tag)
{
int s = tag - THREAD_REPORT_TAG_BASE;
}
+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 have have to deal with "terse" drivers 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 (sensor_info[s].enable_count &&
+ (sensor_info[s].quirks & QUIRK_TERSE_DRIVER) &&
+ sensor_info[s].sampling_rate) {
+ period = (int64_t) (1000000000.0 /
+ sensor_info[s].sampling_rate);
+
+ if (sensor_info[s].report_ts + period < target_ts)
+ target_ts = sensor_info[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()) / 1000000;
+
+ /*
+ * If the target timestamp is very close or already behind us, wait
+ * nonetheless for a millisecond in order to a) avoid busy loops, and
+ * b) give a chance for the driver to report data before we repeat the
+ * last received sample.
+ */
+ if (ms_to_wait <= 0)
+ return 1;
+
+ 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;
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;
}
+ /* Synthetize duplicate samples if needed */
+ synthetize_duplicate_samples();
+
ALOGV("%d fds signalled\n", nfds);
/* For each of the signalled sources */
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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