#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 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 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 */
+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_mutex_t thread_release_mutex [MAX_SENSORS];
/*
- * We associate tags to each of our poll set entries. These tags have the
- * following values:
+ * 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
+ * - 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 THREAD_REPORT_TAG_BASE 1000
-#define ENABLE_BUFFER_RETRIES 10
-#define ENABLE_BUFFER_RETRY_DELAY_MS 10
+/* If buffer enable fails, we may want to retry a few times before giving up */
+#define ENABLE_BUFFER_RETRIES 3
+#define ENABLE_BUFFER_RETRY_DELAY_MS 10
inline int is_enabled (int s)
{
if (enabled) {
if (sensor[s].directly_enabled)
- /*
- * We're being enabled but already were
- * directly activated: no change.
- */
- return 0;
+ return 0; /* We're being enabled but already were directly activated: no change. */
if (!from_virtual)
- /* We're being directly enabled */
- sensor[s].directly_enabled = 1;
+ sensor[s].directly_enabled = 1; /* We're being directly enabled */
if (sensor[s].ref_count)
- /* We were already indirectly enabled */
- return 0;
+ return 0; /* We were already indirectly enabled */
- return 1; /* Do continue enabling this sensor */
+ return 1; /* Do continue enabling this sensor */
}
if (!is_enabled(s))
- /* We are being disabled but already were: no change */
- return 0;
+ return 0; /* We are being disabled but already were: no change */
if (from_virtual && sensor[s].directly_enabled)
- /* We're indirectly disabled but the base is still active */
- return 0;
+ return 0; /* We're indirectly disabled but the base is still active */
- /* 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;
- }
+ sensor[s].directly_enabled = 0; /* We're now directly disabled */
- /*If perhaps we are from virtual but we're disabling it*/
- sensor[s].directly_enabled = 0;
+ if (!from_virtual && sensor[s].ref_count)
+ return 0; /* We still have ref counts */
- return 1; /* Do continue disabling this sensor */
+ return 1; /* Do continue disabling this sensor */
}
-static int enable_buffer(int dev_num, int enabled)
+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;
+ int retries = ENABLE_BUFFER_RETRIES;
sprintf(sysfs_path, ENABLE_PATH, dev_num);
- while (retries--) {
+ 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 (sysfs_write_int(sysfs_path, enabled) > 0)
+ return 0;
- if (ret < 0) {
- ALOGE("Could not enable buffer\n");
- return -EIO;
+ ALOGE("Failed enabling buffer on dev%d, retrying", dev_num);
+ usleep(ENABLE_BUFFER_RETRY_DELAY_MS*1000);
+ retries--;
}
- return 0;
+ ALOGE("Could not enable buffer\n");
+ return -EIO;
}
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);
+ 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);
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);
+ ALOGE("Setting S%d (%s) trigger to %s FAILED.\n", s, sensor[s].friendly_name, trigger_val);
return ret;
}
}
-static int decode_type_spec (const char type_buf[MAX_TYPE_SPEC_LEN],
- struct datum_info_t *type_info)
+static int decode_type_spec (const char type_buf[MAX_TYPE_SPEC_LEN], datum_info_t *type_info)
{
/* Return size in bytes for this type specification, or -1 in error */
char sign;
/* 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);
+ 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)) {
+ 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;
- }
+ }
type_info->endianness = endianness;
type_info->sign = sign;
void build_sensor_report_maps (int dev_num)
{
/*
- * Read sysfs files from a iio device's scan_element directory, and
- * build a couple of tables from that data. These tables will tell, for
- * each sensor, where to gather relevant data in a device report, i.e.
- * the structure that we read from the /dev/iio:deviceX file in order to
- * sensor report, itself being the data that we return to Android when a
- * sensor poll completes. The mapping should be straightforward in the
- * case where we have a single sensor active per iio device but, this is
- * not the general case. In general several sensors can be handled
- * through a single iio device, and the _en, _index and _type syfs
- * entries all concur to paint a picture of what the structure of the
+ * Read sysfs files from a iio device's scan_element directory, and build a couple of tables from that data. These tables will tell, for
+ * each sensor, where to gather relevant data in a device report, i.e. the structure that we read from the /dev/iio:deviceX file in order to
+ * sensor report, itself being the data that we return to Android when a sensor poll completes. The mapping should be straightforward in the
+ * case where we have a single sensor active per iio device but, this is not the general case. In general several sensors can be handled
+ * through a single iio device, and the _en, _index and _type syfs entries all concur to paint a picture of what the structure of the
* device report is.
*/
int ch_index;
char* ch_spec;
char spec_buf[MAX_TYPE_SPEC_LEN];
- struct datum_info_t* ch_info;
+ datum_info_t* ch_info;
int size;
char sysfs_path[PATH_MAX];
int known_channels;
for (c=0; c<sensor[s].num_channels; c++) {
/* Read _type file */
- sprintf(sysfs_path, CHANNEL_PATH "%s",
- sensor[s].dev_num,
- sensor_catalog[i].channel[c].type_path);
+ sprintf(sysfs_path, CHANNEL_PATH "%s", sensor[s].dev_num, sensor_catalog[i].channel[c].type_path);
- n = sysfs_read_str(sysfs_path, spec_buf,
- sizeof(spec_buf));
+ n = sysfs_read_str(sysfs_path, spec_buf, sizeof(spec_buf));
if (n == -1) {
- ALOGW( "Failed to read type: %s\n",
- sysfs_path);
+ ALOGW( "Failed to read type: %s\n", sysfs_path);
continue;
- }
+ }
ch_spec = sensor[s].channel[c].type_spec;
size = decode_type_spec(ch_spec, ch_info);
/* Read _index file */
- sprintf(sysfs_path, CHANNEL_PATH "%s",
- sensor[s].dev_num,
- sensor_catalog[i].channel[c].index_path);
+ sprintf(sysfs_path, CHANNEL_PATH "%s", sensor[s].dev_num, sensor_catalog[i].channel[c].index_path);
n = sysfs_read_int(sysfs_path, &ch_index);
if (n == -1) {
- ALOGW( "Failed to read index: %s\n",
- sysfs_path);
+ ALOGW( "Failed to read index: %s\n", sysfs_path);
continue;
- }
+ }
if (ch_index >= MAX_SENSORS) {
ALOGE("Index out of bounds!: %s\n", sysfs_path);
/* Turn on channels we're aware of */
for (c=0;c<sensor[s].num_channels; c++) {
- sprintf(sysfs_path, CHANNEL_PATH "%s",
- sensor[s].dev_num,
- sensor_catalog[i].channel[c].en_path);
+ sprintf(sysfs_path, CHANNEL_PATH "%s", sensor[s].dev_num, sensor_catalog[i].channel[c].en_path);
sysfs_write_int(sysfs_path, 1);
}
}
ALOGI("Found %d channels on iio device %d\n", known_channels, dev_num);
/*
- * Now that we know which channels are defined, their sizes and their
- * ordering, update channels offsets within device report. Note: there
- * is a possibility that several sensors share the same index, with
- * their data fields being isolated by masking and shifting as specified
- * through the real bits and shift values in type attributes. This case
- * is not currently supported. Also, the code below assumes no hole in
- * the sequence of indices, so it is dependent on discovery of all
- * sensors.
+ * Now that we know which channels are defined, their sizes and their ordering, update channels offsets within device report. Note: there
+ * is a possibility that several sensors share the same index, with their data fields being isolated by masking and shifting as specified
+ * through the real bits and shift values in type attributes. This case is not currently supported. Also, the code below assumes no hole in
+ * the sequence of indices, so it is dependent on discovery of all sensors.
*/
offset = 0;
+
for (i=0; i<MAX_SENSORS * MAX_CHANNELS; i++) {
s = sensor_handle_from_index[i];
c = channel_number_from_index[i];
if (!size)
continue;
- ALOGI("S%d C%d : offset %d, size %d, type %s\n",
- s, c, offset, size, sensor[s].channel[c].type_spec);
+ ALOGI("S%d C%d : offset %d, size %d, type %s\n", s, c, offset, size, sensor[s].channel[c].type_spec);
sensor[s].channel[c].offset = offset;
sensor[s].channel[c].size = size;
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]);
+ 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 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;
+ return 0; /* The state of the sensor remains the same: we're done */
if (enabled) {
- ALOGI("Enabling sensor %d (iio device %d: %s)\n",
- s, dev_num, sensor[s].friendly_name);
+ ALOGI("Enabling sensor %d (iio device %d: %s)\n", s, dev_num, sensor[s].friendly_name);
switch (sensor[s].type) {
case SENSOR_TYPE_MAGNETIC_FIELD:
break;
}
} else {
- ALOGI("Disabling sensor %d (iio device %d: %s)\n", s, dev_num,
- sensor[s].friendly_name);
+ ALOGI("Disabling sensor %d (iio device %d: %s)\n", s, dev_num, sensor[s].friendly_name);
/* Sensor disabled, lower report available flag */
sensor[s].report_pending = 0;
/* We changed the state of a sensor: adjust device ref counts */
- if (sensor[s].num_channels) {
+ if (!sensor[s].is_polling) {
if (enabled)
trig_sensors_per_dev[dev_num]++;
static void* acquisition_routine (void* param)
{
/*
- * Data acquisition routine run in a dedicated thread, covering a single
- * sensor. This loop will periodically retrieve sampling data through
- * sysfs, then package it as a sample and transfer it to our master poll
- * loop through a report fd. Checks for a cancellation signal quite
- * frequently, as the thread may be disposed of at any time. Note that
- * Bionic does not provide pthread_cancel / pthread_testcancel...
+ * Data acquisition routine run in a dedicated thread, covering a single sensor. This loop will periodically retrieve sampling data through
+ * sysfs, then package it as a sample and transfer it to our master poll loop through a report fd. Checks for a cancellation signal quite
+ * frequently, as the thread may be disposed of at any time. Note that Bionic does not provide pthread_cancel / pthread_testcancel...
*/
int s = (int) (size_t) param;
int num_fields, sample_size;
- struct sensors_event_t data = {0};
+ sensors_event_t data = {0};
int c;
int ret;
struct timespec target_time;
return NULL;
}
- ALOGI("Entering data acquisition thread S%d (%s), rate:%g\n",
- s, sensor[s].friendly_name, sensor[s].sampling_rate);
+ ALOGI("Entering S%d (%s) data acquisition thread: 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);
+ ALOGE("Invalid rate in acquisition routine for sensor %d: %g\n", s, sensor[s].sampling_rate);
return NULL;
}
sample_size = sizeof(int64_t) + num_fields * sizeof(float);
/*
- * 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.
+ * 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]);
/* 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);
+
/* Check and honor termination requests */
if (sensor[s].thread_data_fd[1] == -1)
goto exit;
if (sensor[s].ops.finalize(s, &data)) {
/* Pipe it for transmission to poll loop */
- ret = write( sensor[s].thread_data_fd[1],
- &data.timestamp, sample_size);
+ ret = write(sensor[s].thread_data_fd[1], &data.timestamp, sample_size);
if (ret != sample_size)
- ALOGE("S%d write failure: wrote %d, got %d\n",
- s, sample_size, ret);
+ ALOGE("S%d write failure: wrote %d, got %d\n", s, sample_size, ret);
}
/* Check and honor termination requests */
if (sensor[s].thread_data_fd[1] == -1)
goto exit;
- /* Recalculate period asumming sensor[s].sampling_rate
- * can be changed dynamically during the thread run */
+ /* Recalculate period assuming 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);
+ ALOGE("Unexpected sampling rate for sensor %d: %g\n", s, sensor[s].sampling_rate);
goto exit;
}
- period = (int64_t) (1000000000LL / sensor[s].sampling_rate);
+ period = (int64_t) (1000000000.0 / 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);
+ /* 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:
ret = epoll_ctl(poll_fd, EPOLL_CTL_ADD, incoming_data_fd , &ev);
/* Create and start worker thread */
- ret = pthread_create( &sensor[s].acquisition_thread,
- NULL,
- acquisition_routine,
- (void*) (size_t) s);
+ ret = pthread_create(&sensor[s].acquisition_thread, NULL, acquisition_routine, (void*) (size_t) 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.
+ * 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)
static void tentative_switch_trigger (int s)
{
/*
- * Under certain situations it may be beneficial to use an alternate
- * trigger:
+ * 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
+ * - 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)
+ 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)
+static float get_group_max_sampling_rate (int s)
{
- /* Set the rate at which a specific sensor should report events */
- /* See Android sensors.h for indication on sensor trigger modes */
+ /* Review the sampling rates of linked sensors and return the maximum */
+
+ int i, vi;
+
+ float arbitrated_rate = 0;
+
+ if (is_enabled(s))
+ arbitrated_rate = sensor[s].requested_rate;
+
+ /* If any of the currently active sensors built on top of this one need a higher sampling rate, switch to this rate */
+ for (i = 0; i < sensor_count; i++)
+ for (vi = 0; vi < sensor[i].base_count; vi++)
+ if (sensor[i].base[vi] == s && is_enabled(i) && sensor[i].requested_rate > arbitrated_rate) /* If sensor i depends on sensor s */
+ arbitrated_rate = sensor[i].requested_rate;
+
+ /* If any of the currently active sensors we rely on is using a higher sampling rate, switch to this rate */
+ for (vi = 0; vi < sensor[s].base_count; vi++) {
+ i = sensor[s].base[vi];
+ if (is_enabled(i) && sensor[i].requested_rate > arbitrated_rate)
+ arbitrated_rate = sensor[i].requested_rate;
+ }
+
+ return arbitrated_rate;
+}
+
+
+static int sensor_set_rate (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];
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 group_max_sampling_rate;
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);
+ 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);
+ if (arb_sampling_rate < sensor[s].min_supported_rate) {
+ ALOGV("Sampling rate %g too low for %s, using %g instead\n", arb_sampling_rate, sensor[s].friendly_name, sensor[s].min_supported_rate);
+ arb_sampling_rate = sensor[s].min_supported_rate;
+ }
+
+ /* If one of the linked sensors uses a higher rate, adopt it */
+ group_max_sampling_rate = get_group_max_sampling_rate(s);
- arb_sampling_rate = min_supported_rate;
+ if (arb_sampling_rate < group_max_sampling_rate) {
+ ALOGV("Using %s sampling rate to %g too due to dependency\n", sensor[s].friendly_name, arb_sampling_rate);
+ arb_sampling_rate = group_max_sampling_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;
+ if (sensor[s].max_supported_rate && arb_sampling_rate > sensor[s].max_supported_rate) {
+ ALOGV("Sampling rate %g too high for %s, using %g instead\n", arb_sampling_rate, sensor[s].friendly_name, sensor[s].max_supported_rate);
+ arb_sampling_rate = sensor[s].max_supported_rate;
}
sensor[s].sampling_rate = arb_sampling_rate;
+ /* If the sensor is virtual, we're done */
+ if (sensor[s].is_virtual)
+ return 0;
+
/* If we're dealing with a poll-mode sensor */
- if (!sensor[s].num_channels) {
+ if (sensor[s].is_polling) {
if (is_enabled(s))
- /* Wake up thread so the new sampling rate gets used */
- pthread_cond_signal(&thread_release_cond[s]);
+ pthread_cond_signal(&thread_release_cond[s]); /* Wake up thread so the new sampling rate gets used */
return 0;
}
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){
+ 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" */
/* 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 this matches the selected rate, we're happy. Have some tolerance for 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 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;
}
}
- if (max_supported_rate &&
- arb_sampling_rate > max_supported_rate) {
- arb_sampling_rate = max_supported_rate;
+ if (sensor[s].max_supported_rate &&
+ arb_sampling_rate > sensor[s].max_supported_rate) {
+ arb_sampling_rate = sensor[s].max_supported_rate;
}
+ /* 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(n) && sensor[n].sampling_rate > arb_sampling_rate) {
+ ALOGV("Sampling rate shared between %s and %s, using %g instead of %g\n", sensor[s].friendly_name, sensor[n].friendly_name,
+ sensor[n].sampling_rate, arb_sampling_rate);
+ arb_sampling_rate = sensor[n].sampling_rate;
+ }
+
+ sensor[s].sampling_rate = arb_sampling_rate;
+
+ /* Update actual sampling rate field for this sensor and others which may be sharing the same sampling rate */
+ if (per_device_sampling_rate)
+ for (n=0; n<sensor_count; n++)
+ if (sensor[n].dev_num == dev_num && n != s && sensor[n].num_channels)
+ sensor[n].sampling_rate = arb_sampling_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);
+ 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);
}
-/*
- * 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)
+static void reapply_sampling_rates (int s)
{
- int i, vidx;
-
- float arbitrated_rate = 0;
+ /*
+ * The specified sensor was either enabled or disabled. Other sensors in the same group may have constraints related to this sensor
+ * sampling rate on their own sampling rate, so reevaluate them by retrying to use their requested sampling rate, rather than the one
+ * that ended up being used after arbitration.
+ */
- if (sensor[s].directly_enabled)
- arbitrated_rate = sensor[s].requested_rate;
+ int i, j, base, user;
- 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;
+ if (sensor[s].is_virtual) {
+ /* Take care of downwards dependencies */
+ for (i=0; i<sensor[s].base_count; i++) {
+ base = sensor[s].base[i];
+ sensor_set_rate(base, sensor[base].requested_rate);
}
+ return;
+ }
- return setup_delay_sysfs(s, arbitrated_rate);
+ /* Upwards too */
+ for (i=0; i<sensor_count; i++)
+ for (j=0; j<sensor[i].base_count; j++)
+ if (sensor[i].base[j] == s) /* If sensor i depends on sensor s */
+ sensor_set_rate(i, sensor[i].requested_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)
+static int sensor_activate_virtual (int s, int enabled, int from_virtual)
{
- int i;
+ int i, base;
- if (!sensor[s].is_virtual) {
- return arbitrate_bases(s);
+ sensor[s].event_count = 0;
+ sensor[s].meta_data_pending = 0;
+
+ if (!check_state_change(s, enabled, from_virtual))
+ return 0; /* The state of the sensor remains the same ; we're done */
+
+ if (enabled)
+ ALOGI("Enabling sensor %d (%s)\n", s, sensor[s].friendly_name);
+ else
+ ALOGI("Disabling sensor %d (%s)\n", s, sensor[s].friendly_name);
+
+ sensor[s].report_pending = 0;
+
+ for (i=0; i<sensor[s].base_count; i++) {
+
+ base = sensor[s].base[i];
+ sensor_activate(base, enabled, 1);
+
+ if (enabled)
+ sensor[base].ref_count++;
+ else
+ sensor[base].ref_count--;
}
- /* Is virtual sensor - go through bases */
- for (i = 0; i < sensor[s].base_count; i++)
- arbitrate_bases(sensor[s].base[i]);
+ /* Reevaluate sampling rates of linked sensors */
+ reapply_sampling_rates(s);
return 0;
}
int dev_fd;
int ret;
int dev_num = sensor[s].dev_num;
- int is_poll_sensor = !sensor[s].num_channels;
- if (sensor[s].is_virtual) {
- sensor_activate_virtual(s, enabled, from_virtual);
- arbitrate_delays(s);
- return 0;
- }
+ if (sensor[s].is_virtual)
+ return sensor_activate_virtual(s, enabled, from_virtual);
/* Prepare the report timestamp field for the first event, see set_report_ts method */
sensor[s].report_ts = 0;
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);
+ setup_noise_filtering(s); /* Initialize filtering data if required */
- if (!is_poll_sensor) {
+ if (!sensor[s].is_polling) {
/* Stop sampling */
enable_buffer(dev_num, 0);
}
/*
- * Make sure we have a fd on the character device ; conversely, close
- * the fd if no one is using associated sensors anymore. The assumption
- * here is that the underlying driver will power on the relevant
- * hardware block while someone holds a fd on the device.
+ * Make sure we have a fd on the character device ; conversely, close the fd if no one is using associated sensors anymore. The assumption
+ * here is that the underlying driver will power on the relevant hardware block while someone holds a fd on the device.
*/
dev_fd = device_fd[dev_num];
if (!enabled) {
- if (is_poll_sensor)
+ if (sensor[s].is_polling)
stop_acquisition_thread(s);
- if (dev_fd != -1 && !poll_sensors_per_dev[dev_num] &&
- !trig_sensors_per_dev[dev_num]) {
- /*
- * Stop watching this fd. This should be a no-op
- * in case this fd was not in the poll set.
- */
+ if (dev_fd != -1 && !poll_sensors_per_dev[dev_num] && !trig_sensors_per_dev[dev_num]) {
+ /* Stop watching this fd. This should be a no-op in case this fd was not in the poll set. */
epoll_ctl(poll_fd, EPOLL_CTL_DEL, dev_fd, NULL);
close(dev_fd);
device_fd[dev_num] = -1;
- }
+ }
/* Release any filtering data we may have accumulated */
release_noise_filtering_data(s);
+ /* Reevaluate sampling rates of linked sensors */
+ reapply_sampling_rates(s);
return 0;
}
device_fd[dev_num] = dev_fd;
if (dev_fd == -1) {
- ALOGE("Could not open fd on %s (%s)\n",
- device_name, strerror(errno));
+ ALOGE("Could not open fd on %s (%s)\n", device_name, strerror(errno));
adjust_counters(s, 0, from_virtual);
return -1;
}
ALOGV("Opened %s: fd=%d\n", device_name, dev_fd);
- if (!is_poll_sensor) {
+ if (!sensor[s].is_polling) {
/* Add this iio device fd to the set of watched fds */
ev.events = EPOLLIN;
ret = epoll_ctl(poll_fd, EPOLL_CTL_ADD, dev_fd, &ev);
if (ret == -1) {
- ALOGE( "Failed adding %d to poll set (%s)\n",
- dev_fd, strerror(errno));
+ ALOGE("Failed adding %d to poll set (%s)\n", dev_fd, strerror(errno));
return -1;
}
/* Ensure that on-change sensors send at least one event after enable */
sensor[s].prev_val = -1;
- if (is_poll_sensor)
+ if (sensor[s].is_polling)
start_acquisition_thread(s);
+ /* Reevaluate sampling rates of linked sensors */
+ reapply_sampling_rates(s);
+
return 0;
}
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
+ * 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.
*/
/* 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))
- )
+ 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)
+ 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)
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);
+ period = (int64_t) (1000000000.0 / 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)
int s;
for (s=0; s<MAX_SENSORS; s++)
- if (sensor[s].dev_num == dev_num &&
- is_enabled(s))
- set_report_ts(s, ts);
+ if (sensor[s].dev_num == dev_num && is_enabled(s))
+ set_report_ts(s, ts);
}
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",
- dev_num, strerror(errno));
+ ALOGE("Could not read report from iio device %d (%s)\n", dev_num, strerror(errno));
return -1;
}
/* Map device report to sensor reports */
for (s=0; s<MAX_SENSORS; s++)
- if (sensor[s].dev_num == dev_num &&
- is_enabled(s)) {
+ 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[s].num_channels; c++) {
- target = sensor[s].report_buffer +
- sr_offset;
+ target = sensor[s].report_buffer + sr_offset;
source = buf + sensor[s].channel[c].offset;
sr_offset += size;
}
- ALOGV("Sensor %d report available (%d bytes)\n", s,
- sr_offset);
+ ALOGV("Sensor %d report available (%d bytes)\n", s, sr_offset);
sensor[s].report_pending = DATA_TRIGGER;
sensor[s].report_initialized = 1;
/* 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;
- }
+ 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;
}
-static int propagate_vsensor_report (int s, struct sensors_event_t *data)
+static int propagate_vsensor_report (int s, 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));
+ memcpy(data, &sensor[s].sample, sizeof(sensors_event_t));
data->sensor = s;
data->type = sensor[s].type;
}
-static int propagate_sensor_report (int s, struct sensors_event_t *data)
+static int propagate_sensor_report (int s, sensors_event_t *data)
{
/* There's a sensor report pending for this sensor ; transmit it */
current_sample = sensor[s].report_buffer;
/* If this is a poll sensor */
- if (!sensor[s].num_channels) {
+ if (sensor[s].is_polling) {
/* 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[s].ops.transform
- (s, c, current_sample);
+ data->data[c] = sensor[s].ops.transform (s, c, current_sample);
- ALOGV("\tfield %d: %f\n", c, data->data[c]);
+ ALOGV("\tfield %d: %g\n", c, data->data[c]);
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.
- */
+ /* 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[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.
+ * 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;
continue;
/* If the sensor is continuously firing, leave it alone */
- if (sensor[s].selected_trigger !=
- sensor[s].motion_trigger_name)
+ 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].sampling_rate)
continue;
- period = (int64_t) (1000000000.0/ sensor[s].sampling_rate);
+ period = (int64_t) (1000000000.0 / sensor[s].sampling_rate);
current_ts = get_timestamp_boot();
target_ts = sensor[s].report_ts + period;
expected_len = sizeof(int64_t) + get_field_count(s) * sizeof(float);
- len = read(sensor[s].thread_data_fd[0],
- current_sample,
- expected_len);
+ 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));
+ memcpy(sensor[s].report_buffer, sizeof(int64_t) + current_sample, expected_len - sizeof(int64_t));
if (len == expected_len) {
set_report_ts(s, timestamp);
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.
+ * 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 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.
+ * 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 (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;
}
-int sensor_poll (struct sensors_event_t* data, int count)
+int sensor_poll (sensors_event_t* data, int count)
{
int s;
int i;
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[s].report_pending) {
event_count = 0;
if (sensor[s].is_virtual)
event_count = propagate_vsensor_report(s, &data[returned_events]);
- else {
+ else
/* Report this event if it looks OK */
event_count = propagate_sensor_report(s, &data[returned_events]);
- }
/* Lower flag */
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
+ * 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;
sensor[s].meta_data_pending--;
}
}
+
if (returned_events)
return returned_events;
return -EINVAL;
}
- requested_sampling_rate = 1000000000.0/ns;
+ requested_sampling_rate = 1000000000.0 / ns;
- 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);
+ ALOGV("Entering set delay S%d (%s): current rate: %g, requested: %g\n", s, sensor[s].friendly_name, sensor[s].sampling_rate, requested_sampling_rate);
- sensor[s].requested_rate = requested_sampling_rate;
+ /*
+ * Only try to adjust the low level sampling rate if it's different from the current one, as set by the HAL. This saves a few sysfs
+ * reads and writes as well as buffer enable/disable operations, since at the iio level most drivers require the buffer to be turned off
+ * in order to accept a sampling rate change. Of course that implies that this field has to be kept up to date and that only this library
+ * is changing the sampling rate.
+ */
- return arbitrate_delays(s);
+ if (requested_sampling_rate != sensor[s].sampling_rate)
+ return sensor_set_rate(s, requested_sampling_rate);
+
+ return 0;
}
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