#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 */
int64_t ts_delta; /* delta between SystemClock.getNanos and our timestamp */
+static int64_t sys_to_rt_delta; /* delta between system and realtime clocks */
+
/* 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];
}
-void build_sensor_report_maps(int dev_num)
+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;
+ }
+}
+
+
+void build_sensor_report_maps (int dev_num)
{
/*
* Read sysfs files from a iio device's scan_element directory, and
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 c;
int ret;
struct timespec target_time;
- int64_t timestamp, period;
+ int64_t timestamp, period, start, stop;
if (s < 0 || s >= sensor_count) {
ALOGE("Invalid sensor handle!\n");
}
num_fields = get_field_count(s);
- sample_size = num_fields * sizeof(float);
+ sample_size = sizeof(int64_t) + num_fields * sizeof(float);
/*
* Each condition variable is associated to a mutex that has to be
/* Check and honor termination requests */
while (sensor_info[s].thread_data_fd[1] != -1) {
-
+ start = get_timestamp();
/* Read values through sysfs */
for (c=0; c<num_fields; c++) {
data.data[c] = acquire_immediate_value(s, c);
if (sensor_info[s].thread_data_fd[1] == -1)
goto exit;
}
+ stop = get_timestamp();
+ data.timestamp = start/2 + stop/2;
/* If the sample looks good */
if (sensor_info[s].ops.finalize(s, &data)) {
/* Pipe it for transmission to poll loop */
ret = write( sensor_info[s].thread_data_fd[1],
- data.data, sample_size);
+ &data.timestamp, sample_size);
+
if (ret != sample_size)
ALOGE("S%d acquisition thread: tried to write %d, ret: %d\n",
s, sample_size, ret);
/* Prepare the report timestamp field for the first event, see set_report_ts method */
sensor_info[s].report_ts = 0;
ts_delta = load_timestamp_sys_clock() - get_timestamp_monotonic();
+ sys_to_rt_delta = get_timestamp_realtime - load_timestamp_sys_clock();
/* If we want to activate gyro calibrated and gyro uncalibrated is activated
sensor_info[s].event_count = 0;
sensor_info[s].meta_data_pending = 0;
+ if (enabled && (sensor_info[s].quirks & QUIRK_NOISY))
+ /* Initialize filtering data if required */
+ setup_noise_filtering(s);
+
if (!is_poll_sensor) {
/* Stop sampling */
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;
- if (sensor_info[s].history_sum) {
- free(sensor_info[s].history_sum);
- sensor_info[s].history_sum = NULL;
- }
- }
+ /* Release any filtering data we may have accumulated */
+ release_noise_filtering_data(s);
return 0;
}
}
}
+
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;
+ int64_t ts = 0;
+ int ts_offset = 0; /* Offset of iio timestamp, if provided */
/* There's an incoming report on the specified iio device char dev fd */
return -1;
}
-
-
- 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("Sensor %d report available (%d bytes)\n", s,
sr_offset);
- set_report_ts(s, get_timestamp());
sensor_info[s].report_pending = DATA_TRIGGER;
sensor_info[s].report_initialized = 1;
+ set_report_ts(s, get_timestamp());
+
+ 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])
+ 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);
+ return 0;
+ }
+
+ ALOGV("Driver timestamp on iio device %d: ts=%lld\n", dev_num, ts);
+
+ for (s=0; s<MAX_SENSORS; s++)
+ if (sensor_info[s].dev_num == dev_num && sensor_info[s].enabled)
+ set_report_ts(s, ts - sys_to_rt_delta);
+
return 0;
}
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,
+ current_sample,
expected_len);
+ memcpy(×tamp, current_sample, sizeof(int64_t));
+ memcpy(sensor_info[s].report_buffer, sizeof(int64_t) + current_sample,
+ expected_len - sizeof(int64_t));
+
if (len == expected_len) {
- set_report_ts(s, get_timestamp());
+ set_report_ts(s, timestamp);
sensor_info[s].report_pending = DATA_SYSFS;
}
}
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 ? (1000000.0f / max_delay_us) : 1;
+ float min_supported_rate = max_delay_us ? (1000000.0 / max_delay_us) : 1;
float max_supported_rate =
- (min_delay_us && min_delay_us != -1) ? (1000000.0f / min_delay_us) : 0;
+ (min_delay_us && min_delay_us != -1) ? (1000000.0 / min_delay_us) : 0;
char freqs_buf[100];
char* cursor;
int n;
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