#include "description.h"
#include "control.h"
#include "calibration.h"
-#include "filtering.h"
/*
* This table maps syfs entries in scan_elements directories to sensor types,
* from the same iio device as the base one.
*/
-struct sensor_catalog_entry_t sensor_catalog[] = {
+sensor_catalog_entry_t sensor_catalog[] = {
DECLARE_SENSOR3("accel", SENSOR_TYPE_ACCELEROMETER, "x", "y", "z")
DECLARE_SENSOR3("anglvel", SENSOR_TYPE_GYROSCOPE, "x", "y", "z")
DECLARE_SENSOR3("magn", SENSOR_TYPE_MAGNETIC_FIELD, "x", "y", "z")
"quat_x", "quat_y", "quat_z", "quat_w")
DECLARE_SENSOR0("temp", SENSOR_TYPE_AMBIENT_TEMPERATURE )
DECLARE_SENSOR0("proximity", SENSOR_TYPE_PROXIMITY )
- DECLARE_SENSOR3("anglvel", SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, "x", "y", "z")
+ DECLARE_VIRTUAL(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED )
};
#define CATALOG_SIZE ARRAY_SIZE(sensor_catalog)
/* We equate sensor handles to indices in these tables */
-struct sensor_t sensor_desc[MAX_SENSORS]; /* Android-level descriptors */
-struct sensor_info_t sensor_info[MAX_SENSORS]; /* Internal descriptors */
-int sensor_count; /* Detected sensors */
+struct sensor_t sensor_desc[MAX_SENSORS]; /* Android-level descriptors */
+sensor_info_t sensor[MAX_SENSORS]; /* Internal descriptors */
+int sensor_count; /* Detected sensors */
-static void setup_properties_from_pld(int s, int panel, int rotation,
- int num_channels)
+static void setup_properties_from_pld (int s, int panel, int rotation,
+ int num_channels)
{
/*
* Generate suitable order and opt_scale directives from the PLD panel
}
if (xy_swap) {
- sensor_info[s].order[0] = 1;
- sensor_info[s].order[1] = 0;
- sensor_info[s].order[2] = 2;
- sensor_info[s].quirks |= QUIRK_FIELD_ORDERING;
+ sensor[s].order[0] = 1;
+ sensor[s].order[1] = 0;
+ sensor[s].order[2] = 2;
+ sensor[s].quirks |= QUIRK_FIELD_ORDERING;
}
- sensor_info[s].channel[0].opt_scale = x;
- sensor_info[s].channel[1].opt_scale = y;
- sensor_info[s].channel[2].opt_scale = z;
+ sensor[s].channel[0].opt_scale = x;
+ sensor[s].channel[1].opt_scale = y;
+ sensor[s].channel[2].opt_scale = z;
}
}
+static void populate_descriptors (int s, int sensor_type)
+{
+ int32_t min_delay_us;
+ max_delay_t max_delay_us;
+
+ /* Initialize Android-visible descriptor */
+ sensor_desc[s].name = sensor_get_name(s);
+ sensor_desc[s].vendor = sensor_get_vendor(s);
+ sensor_desc[s].version = sensor_get_version(s);
+ sensor_desc[s].handle = s;
+ sensor_desc[s].type = sensor_type;
+
+ sensor_desc[s].maxRange = sensor_get_max_range(s);
+ sensor_desc[s].resolution = sensor_get_resolution(s);
+ sensor_desc[s].power = sensor_get_power(s);
+ sensor_desc[s].stringType = sensor_get_string_type(s);
+
+ /* None of our supported sensors requires a special permission */
+ sensor_desc[s].requiredPermission = "";
+
+ sensor_desc[s].flags = sensor_get_flags(s);
+ sensor_desc[s].minDelay = sensor_get_min_delay(s);
+ sensor_desc[s].maxDelay = sensor_get_max_delay(s);
+
+ ALOGV("Sensor %d (%s) type(%d) minD(%d) maxD(%d) flags(%2.2x)\n",
+ s, sensor[s].friendly_name, sensor_desc[s].type,
+ sensor_desc[s].minDelay, sensor_desc[s].maxDelay,
+ sensor_desc[s].flags);
+
+ /* We currently do not implement batching */
+ sensor_desc[s].fifoReservedEventCount = 0;
+ sensor_desc[s].fifoMaxEventCount = 0;
+
+ min_delay_us = sensor_desc[s].minDelay;
+ max_delay_us = sensor_desc[s].maxDelay;
+
+ sensor[s].min_supported_rate = max_delay_us ? 1000000.0 / max_delay_us : 1;
+ sensor[s].max_supported_rate = min_delay_us && min_delay_us != -1 ? 1000000.0 / min_delay_us : 0;
+}
+
+
+static void add_virtual_sensor (int catalog_index)
+{
+ int s;
+ int sensor_type;
+
+ if (sensor_count == MAX_SENSORS) {
+ ALOGE("Too many sensors!\n");
+ return;
+ }
+
+ sensor_type = sensor_catalog[catalog_index].type;
+
+ s = sensor_count;
+
+ sensor[s].is_virtual = 1;
+ sensor[s].catalog_index = catalog_index;
+ sensor[s].type = sensor_type;
+
+ populate_descriptors(s, sensor_type);
+
+ /* Initialize fields related to sysfs reads offloading */
+ sensor[s].thread_data_fd[0] = -1;
+ sensor[s].thread_data_fd[1] = -1;
+ sensor[s].acquisition_thread = -1;
+
+ sensor_count++;
+}
+
+
static void add_sensor (int dev_num, int catalog_index, int use_polling)
{
int s;
s = sensor_count;
- sensor_info[s].dev_num = dev_num;
- sensor_info[s].catalog_index = catalog_index;
- sensor_info[s].type = sensor_type;
+ sensor[s].dev_num = dev_num;
+ sensor[s].catalog_index = catalog_index;
+ sensor[s].type = sensor_type;
num_channels = sensor_catalog[catalog_index].num_channels;
if (use_polling)
- sensor_info[s].num_channels = 0;
+ sensor[s].num_channels = 0;
else
- sensor_info[s].num_channels = num_channels;
+ sensor[s].num_channels = num_channels;
prefix = sensor_catalog[catalog_index].tag;
/* Read name attribute, if available */
sprintf(sysfs_path, NAME_PATH, dev_num);
- sysfs_read_str(sysfs_path, sensor_info[s].internal_name, MAX_NAME_SIZE);
+ sysfs_read_str(sysfs_path, sensor[s].internal_name, MAX_NAME_SIZE);
/* See if we have general offsets and scale values for this sensor */
sprintf(sysfs_path, SENSOR_OFFSET_PATH, dev_num, prefix);
- sysfs_read_float(sysfs_path, &sensor_info[s].offset);
+ sysfs_read_float(sysfs_path, &sensor[s].offset);
+
+ sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
+ if (!sensor_get_fl_prop(s, "scale", &scale)) {
+ /*
+ * There is a chip preferred scale specified,
+ * so try to store it in sensor's scale file
+ */
+ if (sysfs_write_float(sysfs_path, scale) == -1 && errno == ENOENT) {
+ ALOGE("Failed to store scale[%g] into %s - file is missing", scale, sysfs_path);
+ /* Store failed, try to store the scale into channel specific file */
+ for (c = 0; c < num_channels; c++)
+ {
+ sprintf(sysfs_path, BASE_PATH "%s", dev_num,
+ sensor_catalog[catalog_index].channel[c].scale_path);
+ if (sysfs_write_float(sysfs_path, scale) == -1)
+ ALOGE("Failed to store scale[%g] into %s", scale, sysfs_path);
+ }
+ }
+ }
sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
if (!sysfs_read_float(sysfs_path, &scale)) {
- sensor_info[s].scale = scale;
- ALOGI("Scale path:%s scale:%f dev_num:%d\n",
+ sensor[s].scale = scale;
+ ALOGV("Scale path:%s scale:%g dev_num:%d\n",
sysfs_path, scale, dev_num);
} else {
- sensor_info[s].scale = 1;
+ sensor[s].scale = 1;
/* Read channel specific scale if any*/
for (c = 0; c < num_channels; c++)
sensor_catalog[catalog_index].channel[c].scale_path);
if (!sysfs_read_float(sysfs_path, &scale)) {
- sensor_info[s].channel[c].scale = scale;
- sensor_info[s].scale = 0;
+ sensor[s].channel[c].scale = scale;
+ sensor[s].scale = 0;
- ALOGI( "Scale path:%s "
- "channel scale:%f dev_num:%d\n",
+ ALOGV( "Scale path:%s "
+ "channel scale:%g dev_num:%d\n",
sysfs_path, scale, dev_num);
}
}
/* Set default scaling - if num_channels is zero, we have one channel */
- sensor_info[s].channel[0].opt_scale = 1;
+ sensor[s].channel[0].opt_scale = 1;
for (c = 1; c < num_channels; c++)
- sensor_info[s].channel[c].opt_scale = 1;
+ sensor[s].channel[c].opt_scale = 1;
/* Read ACPI _PLD attributes for this sensor, if there are any */
decode_placement_information(dev_num, num_channels, s);
ch_name = sensor_catalog[catalog_index].channel[c].name;
sprintf(suffix, "%s.opt_scale", ch_name);
if (!sensor_get_fl_prop(s, suffix, &opt_scale))
- sensor_info[s].channel[c].opt_scale = opt_scale;
+ sensor[s].channel[c].opt_scale = opt_scale;
}
} else
if (!sensor_get_fl_prop(s, "opt_scale", &opt_scale))
- sensor_info[s].channel[0].opt_scale = opt_scale;
-
- /* Initialize Android-visible descriptor */
- sensor_desc[s].name = sensor_get_name(s);
- sensor_desc[s].vendor = sensor_get_vendor(s);
- sensor_desc[s].version = sensor_get_version(s);
- sensor_desc[s].handle = s;
- sensor_desc[s].type = sensor_type;
- sensor_desc[s].maxRange = sensor_get_max_range(s);
- sensor_desc[s].resolution = sensor_get_resolution(s);
- sensor_desc[s].power = sensor_get_power(s);
- sensor_desc[s].stringType = sensor_get_string_type(s);
+ sensor[s].channel[0].opt_scale = opt_scale;
- /* None of our supported sensors requires a special permission.
- * If this will be the case we should implement a sensor_get_perm
- */
- sensor_desc[s].requiredPermission = "";
- sensor_desc[s].flags = sensor_get_flags(s);
- sensor_desc[s].minDelay = sensor_get_min_delay(s);
- sensor_desc[s].maxDelay = sensor_get_max_delay(s);
- ALOGI("Sensor %d (%s) type(%d) minD(%d) maxD(%d) flags(%2.2x)\n",
- s, sensor_info[s].friendly_name, sensor_desc[s].type,
- sensor_desc[s].minDelay, sensor_desc[s].maxDelay, sensor_desc[s].flags);
+ populate_descriptors(s, sensor_type);
- /* We currently do not implement batching when we'll so
- * these should be overriden appropriately
- */
- sensor_desc[s].fifoReservedEventCount = 0;
- sensor_desc[s].fifoMaxEventCount = 0;
+ /* Populate the quirks array */
+ sensor_get_quirks(s);
- if (sensor_info[s].internal_name[0] == '\0') {
+ if (sensor[s].internal_name[0] == '\0') {
/*
* In case the kernel-mode driver doesn't expose a name for
* the iio device, use (null)-dev%d as the trigger name...
* This can be considered a kernel-mode iio driver bug.
*/
ALOGW("Using null trigger on sensor %d (dev %d)\n", s, dev_num);
- strcpy(sensor_info[s].internal_name, "(null)");
+ strcpy(sensor[s].internal_name, "(null)");
}
- if (sensor_type == SENSOR_TYPE_GYROSCOPE ||
- sensor_type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
- struct gyro_cal* calibration_data = calloc(1, sizeof(struct gyro_cal));
- sensor_info[s].cal_data = calibration_data;
- denoise_median_init(s, 7, 3);
- }
+ switch (sensor_type) {
+ case SENSOR_TYPE_GYROSCOPE:
+ sensor[s].cal_data = malloc(sizeof(gyro_cal_t));
+ break;
- if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD) {
- struct compass_cal* calibration_data = calloc(1, sizeof(struct compass_cal));
- sensor_info[s].cal_data = calibration_data;
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ sensor[s].cal_data = malloc(sizeof(compass_cal_t));
+ break;
}
+ sensor[s].max_cal_level = sensor_get_cal_steps(s);
+
/* Select one of the available sensor sample processing styles */
select_transform(s);
/* Initialize fields related to sysfs reads offloading */
- sensor_info[s].thread_data_fd[0] = -1;
- sensor_info[s].thread_data_fd[1] = -1;
- sensor_info[s].acquisition_thread = -1;
-
- sensor_info[s].meta_data_pending = 0;
+ sensor[s].thread_data_fd[0] = -1;
+ sensor[s].thread_data_fd[1] = -1;
+ sensor[s].acquisition_thread = -1;
/* Check if we have a special ordering property on this sensor */
- if (sensor_get_order(s, sensor_info[s].order))
- sensor_info[s].quirks |= QUIRK_FIELD_ORDERING;
+ if (sensor_get_order(s, sensor[s].order))
+ sensor[s].quirks |= QUIRK_FIELD_ORDERING;
sensor_count++;
}
continue;
/* If the name matches a catalog entry, flag it */
- for (i = 0; i<CATALOG_SIZE; i++) {
- /* This will be added separately later */
- if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
+ for (i = 0; i < CATALOG_SIZE; i++) {
+ /* No discovery for virtual sensors */
+ if (sensor_catalog[i].is_virtual)
continue;
for (c=0; c<sensor_catalog[i].num_channels; c++)
if (!strcmp(d->d_name,sensor_catalog[i].channel[c].raw_path) ||
/* Compare en entry to known ones and create matching sensors */
for (i = 0; i<CATALOG_SIZE; i++) {
- if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
+ /* No discovery for virtual sensors */
+ if (sensor_catalog[i].is_virtual)
continue;
if (!strcmp(d->d_name,
sensor_catalog[i].channel[0].en_path)) {
}
-static void orientation_sensor_check(void)
+static void orientation_sensor_check (void)
{
/*
* If we have accel + gyro + magn but no rotation vector sensor,
int catalog_size = CATALOG_SIZE;
for (i=0; i<sensor_count; i++)
- switch (sensor_info[i].type) {
+ switch (sensor[i].type) {
case SENSOR_TYPE_ACCELEROMETER:
has_acc = 1;
break;
}
}
+
static void propose_new_trigger (int s, char trigger_name[MAX_NAME_SIZE],
int sensor_name_len)
{
/* If we found any-motion trigger, record it */
if (!memcmp(suffix, "any-motion-", 11)) {
- strcpy(sensor_info[s].motion_trigger_name, trigger_name);
+ strcpy(sensor[s].motion_trigger_name, trigger_name);
return;
}
* use this though, as we may not have any other indication of the name
* of the trigger to use with this sensor.
*/
- strcpy(sensor_info[s].init_trigger_name, trigger_name);
+ strcpy(sensor[s].init_trigger_name, trigger_name);
}
/* See if that matches a sensor */
for (s=0; s<sensor_count; s++)
- if (sensor_info[s].dev_num == dev_num) {
+ if (sensor[s].dev_num == dev_num) {
- sensor_name_len = strlen(sensor_info[s].internal_name);
+ sensor_name_len = strlen(sensor[s].internal_name);
if (!strncmp(name,
- sensor_info[s].internal_name,
+ sensor[s].internal_name,
sensor_name_len))
/* Switch to new trigger if appropriate */
propose_new_trigger(s, name, sensor_name_len);
/* By default, use the name-dev convention that most drivers use */
for (s=0; s<sensor_count; s++)
- snprintf(sensor_info[s].init_trigger_name,
+ snprintf(sensor[s].init_trigger_name,
MAX_NAME_SIZE, "%s-dev%d",
- sensor_info[s].internal_name, sensor_info[s].dev_num);
+ sensor[s].internal_name, sensor[s].dev_num);
/* Now have a look to /sys/bus/iio/devices/triggerX entries */
*/
for (s=0; s<sensor_count; s++)
- if ((sensor_info[s].quirks & QUIRK_TERSE_DRIVER) &&
- sensor_info[s].motion_trigger_name[0] == '\0')
- strcpy( sensor_info[s].motion_trigger_name,
- sensor_info[s].init_trigger_name);
+ if ((sensor[s].quirks & QUIRK_TERSE_DRIVER) &&
+ sensor[s].motion_trigger_name[0] == '\0')
+ strcpy( sensor[s].motion_trigger_name,
+ sensor[s].init_trigger_name);
for (s=0; s<sensor_count; s++)
- if (sensor_info[s].num_channels) {
+ if (sensor[s].num_channels) {
ALOGI("Sensor %d (%s) default trigger: %s\n", s,
- sensor_info[s].friendly_name,
- sensor_info[s].init_trigger_name);
- if (sensor_info[s].motion_trigger_name[0])
+ sensor[s].friendly_name,
+ sensor[s].init_trigger_name);
+ if (sensor[s].motion_trigger_name[0])
ALOGI("Sensor %d (%s) motion trigger: %s\n",
- s, sensor_info[s].friendly_name,
- sensor_info[s].motion_trigger_name);
+ s, sensor[s].friendly_name,
+ sensor[s].motion_trigger_name);
}
}
+
static void uncalibrated_gyro_check (void)
{
unsigned int has_gyr = 0;
unsigned int dev_num;
- int i, c;
- unsigned int is_poll_sensor;
- char buf[MAX_NAME_SIZE];
+ int i;
int cal_idx = 0;
int uncal_idx = 0;
int catalog_size = CATALOG_SIZE; /* Avoid GCC sign comparison warning */
+ if (sensor_count == MAX_SENSORS)
+ return;
/* Checking to see if we have a gyroscope - we can only have uncal if we have the base sensor */
for (i=0; i < sensor_count; i++)
- if (sensor_info[i].type == SENSOR_TYPE_GYROSCOPE) {
+ if (sensor[i].type == SENSOR_TYPE_GYROSCOPE) {
has_gyr=1;
- dev_num = sensor_info[i].dev_num;
- is_poll_sensor = !sensor_info[i].num_channels;
cal_idx = i;
break;
}
- /*
- * If we have a gyro we can add the uncalibrated sensor of the same type and
- * on the same dev_num. We will save indexes for easy finding and also save the
- * channel specific information.
- */
- if (has_gyr)
+ if (has_gyr) {
+ uncal_idx = sensor_count;
+ sensor[uncal_idx].base_count = 1;
+ sensor[uncal_idx].base[0] = cal_idx;
+
for (i=0; i<catalog_size; i++)
if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
- add_sensor(dev_num, i, is_poll_sensor);
-
- uncal_idx = sensor_count - 1; /* Just added uncalibrated sensor */
-
- /* Similar to build_sensor_report_maps */
- for (c = 0; c < sensor_info[uncal_idx].num_channels; c++)
- {
- memcpy( &(sensor_info[uncal_idx].channel[c].type_spec),
- &(sensor_info[cal_idx].channel[c].type_spec),
- sizeof(sensor_info[uncal_idx].channel[c].type_spec));
- sensor_info[uncal_idx].channel[c].type_info = sensor_info[cal_idx].channel[c].type_info;
- sensor_info[uncal_idx].channel[c].offset = sensor_info[cal_idx].channel[c].offset;
- sensor_info[uncal_idx].channel[c].size = sensor_info[cal_idx].channel[c].size;
- }
- sensor_info[uncal_idx].pair_idx = cal_idx;
- sensor_info[cal_idx].pair_idx = uncal_idx;
- strncpy(sensor_info[uncal_idx].init_trigger_name,
- sensor_info[cal_idx].init_trigger_name,
- MAX_NAME_SIZE);
- strncpy(sensor_info[uncal_idx].motion_trigger_name,
- sensor_info[cal_idx].motion_trigger_name,
- MAX_NAME_SIZE);
-
- /* Add "Uncalibrated " prefix to sensor name */
- strcpy(buf, sensor_info[cal_idx].friendly_name);
- snprintf(sensor_info[uncal_idx].friendly_name,
- MAX_NAME_SIZE,
- "%s %s", "Uncalibrated", buf);
+ add_virtual_sensor(i);
break;
}
+ }
}
+
void enumerate_sensors (void)
{
/*
* Create the uncalibrated counterpart to the compensated gyroscope.
* This is is a new sensor type in Android 4.4.
*/
- uncalibrated_gyro_check();
+
+ uncalibrated_gyro_check();
}
{
int i;
for (i = 0; i < sensor_count; i++)
- switch (sensor_info[i].type) {
- case SENSOR_TYPE_MAGNETIC_FIELD:
- if (sensor_info[i].cal_data != NULL) {
- free(sensor_info[i].cal_data);
- sensor_info[i].cal_data = NULL;
- sensor_info[i].cal_level = 0;
- }
- break;
- case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
- case SENSOR_TYPE_GYROSCOPE:
- if (sensor_info[i].cal_data != NULL) {
- free(sensor_info[i].cal_data);
- sensor_info[i].cal_data = NULL;
- sensor_info[i].cal_level = 0;
- }
- break;
- if (sensor_info[i].filter != NULL) {
- denoise_median_release(i);
- }
- default:
- break;
- }
+ if (sensor[i].cal_data) {
+ free(sensor[i].cal_data);
+ sensor[i].cal_data = NULL;
+ sensor[i].cal_level = 0;
+ }
+
/* Reset sensor count */
sensor_count = 0;
}
-int get_sensors_list( struct sensors_module_t* module,
- struct sensor_t const** list)
+int get_sensors_list (__attribute__((unused)) struct sensors_module_t* module,
+ struct sensor_t const** list)
{
*list = sensor_desc;
return sensor_count;
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