#include <utils/Log.h>
#include <cutils/properties.h>
#include <hardware/sensors.h>
+#include "calibration.h"
#include "common.h"
+#include "description.h"
#include "transform.h"
#include "utils.h"
+#include "filtering.h"
/*----------------------------------------------------------------------------*/
#define GRAVITY 9.80665f
/* 720 LSG = 1G */
-#define LSG (1024.0f)
-#define NUMOFACCDATA (8.0f)
+#define LSG (1024.0)
+#define NUMOFACCDATA (8.0)
/* conversion of acceleration data to SI units (m/s^2) */
#define CONVERT_A (GRAVITY_EARTH / LSG / NUMOFACCDATA)
#define CONVERT_A_Z(x) ((float(x)/1000) * (GRAVITY * 1.0))
/* conversion of magnetic data to uT units */
-#define CONVERT_M (1.0f/6.6f)
+#define CONVERT_M (1.0/6.6)
#define CONVERT_M_X (-CONVERT_M)
#define CONVERT_M_Y (-CONVERT_M)
#define CONVERT_M_Z (CONVERT_M)
+#define CONVERT_GAUSS_TO_MICROTESLA(x) ((x) * 100 )
+
/* conversion of orientation data to degree units */
-#define CONVERT_O (1.0f/64.0f)
+#define CONVERT_O (1.0/64)
#define CONVERT_O_A (CONVERT_O)
#define CONVERT_O_P (CONVERT_O)
#define CONVERT_O_R (-CONVERT_O)
/*conversion of gyro data to SI units (radian/sec) */
-#define CONVERT_GYRO ((2000.0f/32767.0f)*((float)M_PI / 180.0f))
+#define CONVERT_GYRO (2000.0/32767*M_PI/180)
#define CONVERT_GYRO_X (-CONVERT_GYRO)
#define CONVERT_GYRO_Y (-CONVERT_GYRO)
#define CONVERT_GYRO_Z (CONVERT_GYRO)
}
}
-// Platform sensor orientation
+/* Platform sensor orientation */
#define DEF_ORIENT_ACCEL_X -1
#define DEF_ORIENT_ACCEL_Y -1
#define DEF_ORIENT_ACCEL_Z -1
#define DEF_ORIENT_GYRO_Y 1
#define DEF_ORIENT_GYRO_Z 1
-// G to m/s2
+/* G to m/s2 */
#define CONVERT_FROM_VTF16(s,d,x) (convert_from_vtf_format(s,d,x))
#define CONVERT_A_G_VTF16E14_X(s,d,x) (DEF_ORIENT_ACCEL_X *\
convert_from_vtf_format(s,d,x)*GRAVITY)
#define CONVERT_A_G_VTF16E14_Z(s,d,x) (DEF_ORIENT_ACCEL_Z *\
convert_from_vtf_format(s,d,x)*GRAVITY)
-// Degree/sec to radian/sec
+/* Degree/sec to radian/sec */
#define CONVERT_G_D_VTF16E14_X(s,d,x) (DEF_ORIENT_GYRO_X *\
convert_from_vtf_format(s,d,x) * \
- ((float)M_PI/180.0f))
+ M_PI/180)
#define CONVERT_G_D_VTF16E14_Y(s,d,x) (DEF_ORIENT_GYRO_Y *\
convert_from_vtf_format(s,d,x) * \
- ((float)M_PI/180.0f))
+ M_PI/180)
#define CONVERT_G_D_VTF16E14_Z(s,d,x) (DEF_ORIENT_GYRO_Z *\
convert_from_vtf_format(s,d,x) * \
- ((float)M_PI/180.0f))
+ M_PI/180)
-// Milli gauss to micro tesla
+/* Milli gauss to micro tesla */
#define CONVERT_M_MG_VTF16E14_X(s,d,x) (convert_from_vtf_format(s,d,x)/10)
#define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x)/10)
#define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x)/10)
-#define DATA_BYTES 2
-#define ACC_EXPONENT -2
-#define GYRO_EXPONENT -1
-#define MAGN_EXPONENT 0
-#define INC_EXPONENT -1
-#define ROT_EXPONENT -8
/*----------------------------------------------------------------------------*/
static int64_t sample_as_int64(unsigned char* sample, struct datum_info_t* type)
{
- uint16_t u16;
- uint32_t u32;
uint64_t u64;
int i;
int zeroed_bits = type->storagebits - type->realbits;
+ uint64_t sign_mask;
+ uint64_t value_mask;
u64 = 0;
for (i=0; i<type->storagebits/8; i++)
u64 = (u64 << 8) | sample[i];
else
- for (i=type->storagebits/8; i>=0; i--)
+ for (i=type->storagebits/8 - 1; i>=0; i--)
u64 = (u64 << 8) | sample[i];
u64 = (u64 >> type->shift) & (~0ULL >> zeroed_bits);
if (type->sign == 'u')
return (int64_t) u64; /* We don't handle unsigned 64 bits int */
+ /* Signed integer */
+
switch (type->realbits) {
+ case 0 ... 1:
+ return 0;
+
case 8:
return (int64_t) (int8_t) u64;
case 64:
return (int64_t) u64;
+
+ default:
+ sign_mask = 1 << (type->realbits-1);
+ value_mask = sign_mask - 1;
+
+ if (u64 & sign_mask)
+ /* Negative value: return 2-complement */
+ return - ((~u64 & value_mask) + 1);
+ else
+ return (int64_t) u64; /* Positive value */
}
+}
- ALOGE("Unhandled sample storage size\n");
- return 0;
+
+static void reorder_fields(float* data, unsigned char map[MAX_CHANNELS])
+{
+ int i;
+ float temp[MAX_CHANNELS];
+
+ for (i=0; i<MAX_CHANNELS; i++)
+ temp[i] = data[map[i]];
+
+ for (i=0; i<MAX_CHANNELS; i++)
+ data[i] = temp[i];
}
-static void finalize_sample_default(int s, struct sensors_event_t* data)
+static void clamp_gyro_readings_to_zero (int s, struct sensors_event_t* data)
+{
+ float x, y, z;
+ float near_zero;
+
+ x = data->data[0];
+ y = data->data[1];
+ z = data->data[2];
+
+
+ /* If we're calibrated, don't filter out as much */
+ if (sensor[s].cal_level > 0)
+ near_zero = 0.02; /* rad/s */
+ else
+ near_zero = 0.1;
+
+ /* If motion on all axes is small enough */
+ if (fabs(x) < near_zero && fabs(y) < near_zero && fabs(z) < near_zero) {
+
+ /*
+ * Report that we're not moving at all... but not exactly zero
+ * as composite sensors (orientation, rotation vector) don't
+ * seem to react very well to it.
+ */
+
+ data->data[0] *= 0.000001;
+ data->data[1] *= 0.000001;
+ data->data[2] *= 0.000001;
+ }
+}
+
+static void process_event_gyro_uncal(int s, int i, struct sensors_event_t* data)
+{
+ struct gyro_cal_t* gyro_data;
+
+ if (sensor[s].type == SENSOR_TYPE_GYROSCOPE) {
+ gyro_data = (struct gyro_cal_t*) sensor[s].cal_data;
+
+ memcpy(&sensor[i].sample, data, sizeof(struct sensors_event_t));
+
+ sensor[i].sample.type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED;
+ sensor[i].sample.sensor = s;
+
+ sensor[i].sample.data[0] = data->data[0] + gyro_data->bias_x;
+ sensor[i].sample.data[1] = data->data[1] + gyro_data->bias_y;
+ sensor[i].sample.data[2] = data->data[2] + gyro_data->bias_z;
+
+ sensor[i].sample.uncalibrated_gyro.bias[0] = gyro_data->bias_x;
+ sensor[i].sample.uncalibrated_gyro.bias[1] = gyro_data->bias_y;
+ sensor[i].sample.uncalibrated_gyro.bias[2] = gyro_data->bias_z;
+
+ sensor[i].report_pending = 1;
+ }
+}
+
+static void process_event(int s, struct sensors_event_t* data)
+{
+ /*
+ * This gets the real event (post process - calibration, filtering & co.)
+ * and makes it into a virtual one.
+ * The specific processing function for each sensor will populate the
+ * necessary fields and set up the report pending flag.
+ */
+
+ int i;
+
+ /* Go through out virtual sensors and check if we can use this event */
+ for (i = 0; i < sensor_count; i++) {
+ switch (sensor[i].type) {
+ case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
+ process_event_gyro_uncal(s, i, data);
+ break;
+
+ default:
+ break;
+ }
+ }
+}
+
+static int finalize_sample_default (int s, struct sensors_event_t* data)
{
- int i = sensor_info[s].catalog_index;
- int sensor_type = sensor_catalog[i].type;
+ /* Swap fields if we have a custom channel ordering on this sensor */
+ if (sensor[s].quirks & QUIRK_FIELD_ORDERING)
+ reorder_fields(data->data, sensor[s].order);
- switch (sensor_type) {
+ sensor[s].event_count++;
+ switch (sensor[s].type) {
case SENSOR_TYPE_ACCELEROMETER:
+ /* Always consider the accelerometer accurate */
+ data->acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;
+ if (sensor[s].quirks & QUIRK_NOISY)
+ denoise(s, data);
+ break;
+
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ calibrate_compass (data, &sensor[s]);
+ if (sensor[s].quirks & QUIRK_NOISY)
+ denoise(s, data);
+ break;
+
+ case SENSOR_TYPE_GYROSCOPE:
+
/*
- * Invert x axis orientation from SI units - see
- * /hardware/libhardware/include/hardware/sensors.h
- * for a discussion of what Android expects
+ * Report medium accuracy by default ; higher accuracy
+ * levels will be reported once, and if, we achieve
+ * calibration.
*/
- data->data[0] = -data->data[0];
+ data->gyro.status = SENSOR_STATUS_ACCURACY_MEDIUM;
+
+ /*
+ * We're only trying to calibrate data from continuously
+ * firing gyroscope drivers, as motion based ones use
+ * movement thresholds that may lead us to incorrectly
+ * estimate bias.
+ */
+ if (sensor[s].selected_trigger !=
+ sensor[s].motion_trigger_name)
+ calibrate_gyro(data, &sensor[s]);
+
+ /*
+ * For noisy sensors drop a few samples to make sure we
+ * have at least GYRO_MIN_SAMPLES events in the
+ * filtering queue. This improves mean and std dev.
+ */
+ if (sensor[s].quirks & QUIRK_NOISY) {
+ if (sensor[s].selected_trigger !=
+ sensor[s].motion_trigger_name &&
+ sensor[s].event_count<GYRO_MIN_SAMPLES)
+ return 0;
+
+ denoise(s, data);
+ }
+
+ /* Clamp near zero moves to (0,0,0) if appropriate */
+ clamp_gyro_readings_to_zero(s, data);
break;
- case SENSOR_TYPE_GYROSCOPE:
- /* Limit drift */
- if ( fabs(data->data[0]) < 0.1 &&
- fabs(data->data[1]) < 0.1 &&
- fabs(data->data[2]) < 0.1) {
- data->data[0] = 0;
- data->data[1] = 0;
- data->data[2] = 0;
- }
+ case SENSOR_TYPE_LIGHT:
+ case SENSOR_TYPE_AMBIENT_TEMPERATURE:
+ case SENSOR_TYPE_TEMPERATURE:
+ /* Only keep two decimals for these readings */
+ data->data[0] = 0.01 * ((int) (data->data[0] * 100));
+
+ /* ... fall through ... */
+
+ case SENSOR_TYPE_PROXIMITY:
+ /*
+ * These are on change sensors ; drop the sample if it
+ * has the same value as the previously reported one.
+ */
+ if (data->data[0] == sensor[s].prev_val)
+ return 0;
+
+ sensor[s].prev_val = data->data[0];
break;
}
+ /* If there are active virtual sensors depending on this one - process the event */
+ if (sensor[s].ref_count)
+ process_event(s, data);
+ /* We will drop samples if the sensor is not directly enabled */
+ if (!sensor[s].directly_enabled)
+ return 0;
+
+ return 1; /* Return sample to Android */
}
static float transform_sample_default(int s, int c, unsigned char* sample_data)
{
- struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
+ struct datum_info_t* sample_type = &sensor[s].channel[c].type_info;
int64_t s64 = sample_as_int64(sample_data, sample_type);
+ float scale = sensor[s].scale ?
+ sensor[s].scale : sensor[s].channel[c].scale;
+
+ /* In case correction has been requested using properties, apply it */
+ scale *= sensor[s].channel[c].opt_scale;
/* Apply default scaling rules */
- return (sensor_info[s].offset + s64) * sensor_info[s].scale;
+ return (sensor[s].offset + s64) * scale;
}
-static void finalize_sample_ISH(int s, struct sensors_event_t* data)
+static int finalize_sample_ISH (int s, struct sensors_event_t* data)
{
- int i = sensor_info[s].catalog_index;
- int sensor_type = sensor_catalog[i].type;
float pitch, roll, yaw;
- if (sensor_type == SENSOR_TYPE_ORIENTATION) {
+ /* Swap fields if we have a custom channel ordering on this sensor */
+ if (sensor[s].quirks & QUIRK_FIELD_ORDERING)
+ reorder_fields(data->data, sensor[s].order);
+
+ if (sensor[s].type == SENSOR_TYPE_ORIENTATION) {
pitch = data->data[0];
roll = data->data[1];
data->data[1] = -pitch;
data->data[2] = -roll;
}
+
+ /* Add this event to our global records, for filtering purposes */
+ record_sample(s, data);
+
+ return 1; /* Return sample to Android */
}
-static float transform_sample_ISH(int s, int c, unsigned char* sample_data)
+static float transform_sample_ISH (int s, int c, unsigned char* sample_data)
{
- struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
+ struct datum_info_t* sample_type = &sensor[s].channel[c].type_info;
int val = (int) sample_as_int64(sample_data, sample_type);
- int i = sensor_info[s].catalog_index;
- int sensor_type = sensor_catalog[i].type;
+ float correction;
+ int data_bytes = (sample_type->realbits)/8;
+ int exponent = sensor[s].offset;
- switch (sensor_type) {
+ /* In case correction has been requested using properties, apply it */
+ correction = sensor[s].channel[c].opt_scale;
+
+ switch (sensor[s].type) {
case SENSOR_TYPE_ACCELEROMETER:
switch (c) {
case 0:
- return CONVERT_A_G_VTF16E14_X(
- DATA_BYTES, ACC_EXPONENT, val);
+ return correction *
+ CONVERT_A_G_VTF16E14_X(
+ data_bytes, exponent, val);
case 1:
- return CONVERT_A_G_VTF16E14_Y(
- DATA_BYTES, ACC_EXPONENT, val);
+ return correction *
+ CONVERT_A_G_VTF16E14_Y(
+ data_bytes, exponent, val);
case 2:
- return CONVERT_A_G_VTF16E14_Z(
- DATA_BYTES, ACC_EXPONENT, val);
+ return correction *
+ CONVERT_A_G_VTF16E14_Z(
+ data_bytes, exponent, val);
}
break;
case SENSOR_TYPE_GYROSCOPE:
switch (c) {
case 0:
- return CONVERT_G_D_VTF16E14_X(
- DATA_BYTES, GYRO_EXPONENT, val);
+ return correction *
+ CONVERT_G_D_VTF16E14_X(
+ data_bytes, exponent, val);
case 1:
- return CONVERT_G_D_VTF16E14_Y(
- DATA_BYTES, GYRO_EXPONENT, val);
+ return correction *
+ CONVERT_G_D_VTF16E14_Y(
+ data_bytes, exponent, val);
case 2:
- return CONVERT_G_D_VTF16E14_Z(
- DATA_BYTES, GYRO_EXPONENT, val);
+ return correction *
+ CONVERT_G_D_VTF16E14_Z(
+ data_bytes, exponent, val);
}
break;
case SENSOR_TYPE_MAGNETIC_FIELD:
switch (c) {
case 0:
- return CONVERT_M_MG_VTF16E14_X(
- DATA_BYTES, MAGN_EXPONENT, val);
+ return correction *
+ CONVERT_M_MG_VTF16E14_X(
+ data_bytes, exponent, val);
case 1:
- return CONVERT_M_MG_VTF16E14_Y(
- DATA_BYTES, MAGN_EXPONENT, val);
+ return correction *
+ CONVERT_M_MG_VTF16E14_Y(
+ data_bytes, exponent, val);
case 2:
- return CONVERT_M_MG_VTF16E14_Z(
- DATA_BYTES, MAGN_EXPONENT, val);
+ return correction *
+ CONVERT_M_MG_VTF16E14_Z(
+ data_bytes, exponent, val);
}
break;
+ case SENSOR_TYPE_LIGHT:
+ return (float) val;
+
case SENSOR_TYPE_ORIENTATION:
- return convert_from_vtf_format(DATA_BYTES, INC_EXPONENT,
- val);
+ return correction * convert_from_vtf_format(
+ data_bytes, exponent, val);
case SENSOR_TYPE_ROTATION_VECTOR:
- return convert_from_vtf_format(DATA_BYTES, ROT_EXPONENT,
- val);
+ return correction * convert_from_vtf_format(
+ data_bytes, exponent, val);
}
return 0;
{
char prop_name[PROP_NAME_MAX];
char prop_val[PROP_VALUE_MAX];
- int i = sensor_info[s].catalog_index;
+ int i = sensor[s].catalog_index;
const char *prefix = sensor_catalog[i].tag;
sprintf(prop_name, PROP_BASE, prefix, "transform");
if (property_get(prop_name, prop_val, "")) {
if (!strcmp(prop_val, "ISH")) {
ALOGI( "Using Intel Sensor Hub semantics on %s\n",
- sensor_info[s].friendly_name);
+ sensor[s].friendly_name);
- sensor_info[s].ops.transform = transform_sample_ISH;
- sensor_info[s].ops.finalize = finalize_sample_ISH;
+ sensor[s].ops.transform = transform_sample_ISH;
+ sensor[s].ops.finalize = finalize_sample_ISH;
return;
}
}
- sensor_info[s].ops.transform = transform_sample_default;
- sensor_info[s].ops.finalize = finalize_sample_default;
+ sensor[s].ops.transform = transform_sample_default;
+ sensor[s].ops.finalize = finalize_sample_default;
}
char sysfs_path[PATH_MAX];
float val;
int ret;
- int dev_num = sensor_info[s].dev_num;
- int i = sensor_info[s].catalog_index;
+ int dev_num = sensor[s].dev_num;
+ int i = sensor[s].catalog_index;
const char* raw_path = sensor_catalog[i].channel[c].raw_path;
const char* input_path = sensor_catalog[i].channel[c].input_path;
- float scale = sensor_info[s].scale;
- float offset = sensor_info[s].offset;
+ float scale = sensor[s].scale ?
+ sensor[s].scale : sensor[s].channel[c].scale;
+ float offset = sensor[s].offset;
+ int sensor_type = sensor_catalog[i].type;
+ float correction;
+
+ /* In case correction has been requested using properties, apply it */
+ correction = sensor[s].channel[c].opt_scale;
/* Acquire a sample value for sensor s / channel c through sysfs */
ret = sysfs_read_float(sysfs_path, &val);
if (!ret) {
- return val;
+ return val * correction;
}
};
if (ret == -1)
return 0;
- return (val + offset) * scale;
+ /*
+ * There is no transform ops defined yet for raw sysfs values.
+ * Use this function to perform transformation as well.
+ */
+ if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD)
+ return CONVERT_GAUSS_TO_MICROTESLA ((val + offset) * scale) *
+ correction;
+
+ return (val + offset) * scale * correction;
}
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