#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 poll_fd; /* epoll instance covering all enabled 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);
}
ALOGI("Enabling 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 > 1)
+ if (sensor_info[s].enabled)
return 0; /* The sensor was, and remains, in use */
+ sensor_info[s].enabled = 1;
+
switch (sensor_info[s].type) {
case SENSOR_TYPE_MAGNETIC_FIELD:
compass_read_data(&sensor_info[s]);
break;
}
} else {
- if (sensor_info[s].enable_count == 0)
- return -1; /* Spurious disable call */
+ if (sensor_info[s].enabled == 0)
+ return 0; /* 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_info[s].enabled = 0;
/* Sensor disabled, lower report available flag */
sensor_info[s].report_pending = 0;
/* If uncalibrated type and pair is already active don't adjust counters */
if (sensor_info[s].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
- sensor_info[sensor_info[s].pair_idx].enable_count != 0)
+ sensor_info[sensor_info[s].pair_idx].enabled != 0)
return 0;
/* We changed the state of a sensor - adjust per iio device counters */
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);
* Reactivate gyro uncalibrated - Uncalibrated has handler */
if (sensor_info[s].type == SENSOR_TYPE_GYROSCOPE &&
- sensor_info[s].pair_idx && sensor_info[sensor_info[s].pair_idx].enable_count != 0) {
+ sensor_info[s].pair_idx && sensor_info[sensor_info[s].pair_idx].enabled != 0) {
sensor_activate(sensor_info[s].pair_idx, 0);
ret = sensor_activate(s, enabled);
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;
}
for (s=0; s<MAX_SENSORS; s++)
if (sensor_info[s].dev_num == dev_num &&
- sensor_info[s].enable_count &&
+ sensor_info[s].enabled &&
sensor_info[s].num_channels &&
(!sensor_info[s].motion_trigger_name[0] ||
!sensor_info[s].report_initialized ||
for (s=0; s<MAX_SENSORS; s++)
if (sensor_info[s].dev_num == dev_num &&
- sensor_info[s].enable_count &&
+ sensor_info[s].enabled &&
sensor_info[s].num_channels &&
sensor_info[s].selected_trigger !=
sensor_info[s].motion_trigger_name)
* 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;
{
period = (int64_t) (1000000000LL / sensor_info[s].sampling_rate);
maxTs = sensor_info[s].report_ts + (is_accel ? 1 : THRESHOLD) * period;
+ /* If we're too far behind get back on track */
+ if (ts - maxTs >= MAX_DELAY)
+ maxTs = ts;
sensor_info[s].report_ts = (ts < maxTs ? ts : maxTs);
} else {
sensor_info[s].report_ts = ts;
}
}
+
static int integrate_device_report (int dev_num)
{
int len;
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);
if (len == -1) {
for (s=0; s<MAX_SENSORS; s++)
if (sensor_info[s].dev_num == dev_num &&
- sensor_info[s].enable_count) {
+ sensor_info[s].enabled) {
sr_offset = 0;
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 == ts_offset + (int) sizeof(int64_t))
+ 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);
+
return 0;
}
/* Only return uncalibrated event if also gyro active */
if (sensor_info[s].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
- sensor_info[sensor_info[s].pair_idx].enable_count != 0)
+ sensor_info[sensor_info[s].pair_idx].enabled != 0)
return 0;
memset(data, 0, sizeof(sensors_event_t));
for (s=0; s<sensor_count; s++) {
/* Ignore disabled sensors */
- if (!sensor_info[s].enable_count)
+ if (!sensor_info[s].enabled)
continue;
/* If the sensor is continuously firing, leave it alone */
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;
}
}
* duplicate events. Check deadline for the nearest upcoming event.
*/
for (s=0; s<sensor_count; s++)
- if (sensor_info[s].enable_count &&
+ if (sensor_info[s].enabled &&
sensor_info[s].selected_trigger ==
sensor_info[s].motion_trigger_name &&
sensor_info[s].sampling_rate) {
/* Duplicate only if both cal & uncal are active */
if (sensor_info[s].type == SENSOR_TYPE_GYROSCOPE &&
- sensor_info[s].pair_idx && sensor_info[sensor_info[s].pair_idx].enable_count != 0) {
+ sensor_info[s].pair_idx && sensor_info[sensor_info[s].pair_idx].enabled != 0) {
struct gyro_cal* gyro_data = (struct gyro_cal*) sensor_info[s].cal_data;
memcpy(&data[returned_events + event_count], &data[returned_events],
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;
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].enabled &&
sensor_info[n].sampling_rate > new_sampling_rate)
new_sampling_rate= sensor_info[n].sampling_rate;
{
/* If one shot or not enabled return -EINVAL */
if (sensor_desc[s].flags & SENSOR_FLAG_ONE_SHOT_MODE ||
- sensor_info[s].enable_count == 0)
+ sensor_info[s].enabled == 0)
return -EINVAL;
sensor_info[s].meta_data_pending++;
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