#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 */
static int active_poll_sensors; /* Number of enabled poll-mode sensors */
+int64_t ts_delta; /* delta between SystemClock.getNanos and our timestamp */
+
/* 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);
}
*/
int dev_num = sensor_info[s].dev_num;
- int catalog_index = sensor_info[s].catalog_index;
- int sensor_type = sensor_catalog[catalog_index].type;
/* 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);
- 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 */
- switch (sensor_type) {
+ sensor_info[s].enabled = 1;
+
+ switch (sensor_info[s].type) {
case SENSOR_TYPE_MAGNETIC_FIELD:
compass_read_data(&sensor_info[s]);
break;
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 (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD)
+ if (sensor_info[s].type == SENSOR_TYPE_MAGNETIC_FIELD)
compass_store_data(&sensor_info[s]);
+
+ if(sensor_info[s].type == SENSOR_TYPE_GYROSCOPE ||
+ sensor_info[s].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
+ gyro_store_data(&sensor_info[s]);
}
/* If uncalibrated type and pair is already active don't adjust counters */
- if (sensor_type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
- sensor_info[sensor_info[s].pair_idx].enable_count != 0)
+ if (sensor_info[s].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
+ sensor_info[sensor_info[s].pair_idx].enabled != 0)
return 0;
/* We changed the state of a sensor - adjust per iio device counters */
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_info[s].type) {
case SENSOR_TYPE_ACCELEROMETER: /* m/s^2 */
case SENSOR_TYPE_MAGNETIC_FIELD: /* micro-tesla */
case SENSOR_TYPE_ORIENTATION: /* degrees */
}
-
static void* acquisition_routine (void* param)
{
/*
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
pthread_mutex_lock(&thread_release_mutex[s]);
/* Pinpoint the moment we start sampling */
- timestamp = get_timestamp();
+ timestamp = get_timestamp_monotonic();
/* 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);
/* 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], POLLING_CLOCK);
+ 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);
/* 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();
+
/* If we want to activate gyro calibrated and gyro uncalibrated is activated
* Deactivate gyro uncalibrated - Uncalibrated releases handler
* Deactivate gyro calibrated - Calibrated releases handler
* Reactivate gyro uncalibrated - Uncalibrated has handler */
- if (sensor_catalog[sensor_info[s].catalog_index].type == SENSOR_TYPE_GYROSCOPE &&
- sensor_info[s].pair_idx && sensor_info[sensor_info[s].pair_idx].enable_count != 0) {
+ if (sensor_info[s].type == SENSOR_TYPE_GYROSCOPE &&
+ 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);
if (ret <= 0)
return ret;
+ 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) {
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;
}
* to request fairly high event rates. Favor continuous triggers if the
* sensor is an accelerometer and uses a sampling rate of at least 25.
*/
- int catalog_index = sensor_info[s].catalog_index;
- if (sensor_catalog[catalog_index].type != SENSOR_TYPE_ACCELEROMETER)
+ if (sensor_info[s].type != SENSOR_TYPE_ACCELEROMETER)
return 0;
if (sensor_info[s].sampling_rate < 25)
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 ||
- is_fast_accelerometer(s))
+ is_fast_accelerometer(s) ||
+ (sensor_info[s].quirks & QUIRK_FORCE_CONTINUOUS))
)
return; /* Nope */
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].quirks & QUIRK_CONTINUOUS_DRIVER) &&
sensor_info[s].selected_trigger !=
sensor_info[s].motion_trigger_name)
candidate[candidate_count++] = s;
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;
+ int catalog_index = sensor_info[s].catalog_index;
+ int is_accel = (sensor_catalog[catalog_index].type == SENSOR_TYPE_ACCELEROMETER);
/*
* A bit of a hack to please a bunch of cts tests. They
REPORTING_MODE(sensor_desc[s].flags) == SENSOR_FLAG_CONTINUOUS_MODE)
{
period = (int64_t) (1000000000LL / sensor_info[s].sampling_rate);
- maxTs = sensor_info[s].report_ts + period;
+ 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)
+
+static int integrate_device_report (int dev_num)
{
int len;
int s,c;
unsigned char *target;
unsigned char *source;
int size;
- int64_t ts;
+ 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;
}
- ts = get_timestamp();
-
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, ts);
- sensor_info[s].report_pending = 1;
+ 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;
}
-static int propagate_sensor_report(int s, struct sensors_event_t *data)
+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;
/* Only return uncalibrated event if also gyro active */
- if (sensor_type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
- sensor_info[sensor_info[s].pair_idx].enable_count != 0)
+ if (sensor_info[s].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
+ sensor_info[sensor_info[s].pair_idx].enabled != 0)
return 0;
memset(data, 0, sizeof(sensors_event_t));
data->version = sizeof(sensors_event_t);
data->sensor = s;
- data->type = sensor_type;
+ data->type = sensor_info[s].type;
data->timestamp = sensor_info[s].report_ts;
- ALOGV("Sample on sensor %d (type %d):\n", s, sensor_type);
+ ALOGV("Sample on sensor %d (type %d):\n", s, sensor_info[s].type);
current_sample = sensor_info[s].report_buffer;
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 */
- if ( sensor_info[s].selected_trigger !=
- sensor_info[s].motion_trigger_name)
+ if (sensor_info[s].selected_trigger !=
+ sensor_info[s].motion_trigger_name)
continue;
/* If we haven't seen a sample, there's nothing to duplicate */
if (target_ts <= current_ts) {
/* Mark the sensor for event generation */
set_report_ts(s, current_ts);
- sensor_info[s].report_pending = 1;
+ sensor_info[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,
+ 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());
- sensor_info[s].report_pending = 1;
+ set_report_ts(s, timestamp);
+ sensor_info[s].report_pending = DATA_SYSFS;
}
}
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.
+ * 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 (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) {
for (s=0; s<sensor_count && returned_events < count; s++) {
if (sensor_info[s].report_pending) {
event_count = 0;
- /* Lower flag */
- sensor_info[s].report_pending = 0;
/* Report this event if it looks OK */
event_count = propagate_sensor_report(s, &data[returned_events]);
+ /* Lower flag */
+ sensor_info[s].report_pending = 0;
+
/* Duplicate only if both cal & uncal are active */
- if (sensor_catalog[sensor_info[s].catalog_index].type == SENSOR_TYPE_GYROSCOPE &&
- sensor_info[s].pair_idx && sensor_info[sensor_info[s].pair_idx].enable_count != 0) {
+ if (sensor_info[s].type == SENSOR_TYPE_GYROSCOPE &&
+ 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],
}
+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_info[s].quirks & QUIRK_TERSE_DRIVER) &&
+ sensor_info[s].selected_trigger ==
+ sensor_info[s].motion_trigger_name)
+ setup_trigger(s, sensor_info[s].init_trigger_name);
+}
+
+
int sensor_set_delay(int s, int64_t ns)
{
/* Set the rate at which a specific sensor should report 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 (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;
sysfs_write_float(sysfs_path, new_sampling_rate);
- /* Switch back to continuous sampling for accelerometer based games */
- if (is_fast_accelerometer(s) && sensor_info[s].selected_trigger !=
- sensor_info[s].init_trigger_name)
- setup_trigger(s, sensor_info[s].init_trigger_name);
+ /* 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);
{
/* 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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