#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"
+/*----------------------------------------------------------------------------*/
+
+/* Macros related to Intel Sensor Hub */
+
+#define GRAVITY 9.80665f
+
+/* 720 LSG = 1G */
+#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_X(x) ((float(x)/1000) * (GRAVITY * -1.0))
+#define CONVERT_A_Y(x) ((float(x)/1000) * (GRAVITY * 1.0))
+#define CONVERT_A_Z(x) ((float(x)/1000) * (GRAVITY * 1.0))
+
+/* conversion of magnetic data to uT units */
+#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 (1.0/64)
+#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 (2000.0/32767*M_PI/180)
+#define CONVERT_GYRO_X (-CONVERT_GYRO)
+#define CONVERT_GYRO_Y (-CONVERT_GYRO)
+#define CONVERT_GYRO_Z (CONVERT_GYRO)
+
+#define BIT(x) (1 << (x))
+
+inline unsigned int set_bit_range(int start, int end)
+{
+ int i;
+ unsigned int value = 0;
+
+ for (i = start; i < end; ++i)
+ value |= BIT(i);
+ return value;
+}
+
+inline float convert_from_vtf_format(int size, int exponent, unsigned int value)
+{
+ int divider=1;
+ int i;
+ float sample;
+ int mul = 1.0;
+
+ value = value & set_bit_range(0, size*8);
+ if (value & BIT(size*8-1)) {
+ value = ((1LL << (size*8)) - value);
+ mul = -1.0;
+ }
+ sample = value * 1.0;
+ if (exponent < 0) {
+ exponent = abs(exponent);
+ for (i = 0; i < exponent; ++i) {
+ divider = divider*10;
+ }
+ return mul * sample/divider;
+ } else {
+ return mul * sample * pow(10.0, exponent);
+ }
+}
+
+/* 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_X 1
+#define DEF_ORIENT_GYRO_Y 1
+#define DEF_ORIENT_GYRO_Z 1
+
+/* 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_Y(s,d,x) (DEF_ORIENT_ACCEL_Y *\
+ 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 */
+#define CONVERT_G_D_VTF16E14_X(s,d,x) (DEF_ORIENT_GYRO_X *\
+ convert_from_vtf_format(s,d,x) * \
+ M_PI/180)
+#define CONVERT_G_D_VTF16E14_Y(s,d,x) (DEF_ORIENT_GYRO_Y *\
+ convert_from_vtf_format(s,d,x) * \
+ M_PI/180)
+#define CONVERT_G_D_VTF16E14_Z(s,d,x) (DEF_ORIENT_GYRO_Z *\
+ convert_from_vtf_format(s,d,x) * \
+ M_PI/180)
+
+/* 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)
+
+
+/*----------------------------------------------------------------------------*/
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;
- switch (type->storagebits) {
- case 64:
- u64 = 0;
+ u64 = 0;
- if (type->endianness == 'b')
- for (i=0; i<8; i++)
- u64 = (u64 << 8) | sample[i];
- else
- for (i=7; i>=0; i--)
- u64 = (u64 << 8) | sample[i];
+ if (type->endianness == 'b')
+ for (i=0; i<type->storagebits/8; i++)
+ u64 = (u64 << 8) | sample[i];
+ else
+ for (i=type->storagebits/8 - 1; i>=0; i--)
+ u64 = (u64 << 8) | sample[i];
- if (type->sign == 'u')
- return (int64_t) (u64 >> type->shift);
+ u64 = (u64 >> type->shift) & (~0ULL >> zeroed_bits);
- return ((int64_t) u64) >> type->shift;
+ if (type->sign == 'u')
+ return (int64_t) u64; /* We don't handle unsigned 64 bits int */
- case 32:
- if (type->endianness == 'b')
- u32 = (sample[0] << 24) | (sample[1] << 16) |
- (sample[2] << 8) | sample[3];
- else
- u32 = (sample[3] << 24) | (sample[2] << 16) |
- (sample[1] << 8) | sample[0];
+ /* Signed integer */
- if (type->sign == 'u')
- return u32 >> type->shift;
+ switch (type->realbits) {
+ case 0 ... 1:
+ return 0;
- return ((int32_t) u32) >> type->shift;
+ case 8:
+ return (int64_t) (int8_t) u64;
case 16:
- if (type->endianness == 'b')
- u16 = (sample[0] << 8) | sample[1];
+ return (int64_t) (int16_t) u64;
+
+ case 32:
+ return (int64_t) (int32_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
- u16 = (sample[1] << 8) | sample[0];
+ return (int64_t) u64; /* Positive value */
+ }
+}
+
+
+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 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) {
- if (type->sign == 'u')
- return u16 >> type->shift;
+ /*
+ * 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.
+ */
- return ((int16_t) u16) >> type->shift;
+ data->data[0] *= 0.000001;
+ data->data[1] *= 0.000001;
+ data->data[2] *= 0.000001;
}
+}
- ALOGE("Unhandled sample storage size\n");
- return 0;
+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;
-static void finalize_sample_default(int s, struct sensors_event_t* data)
+ /* 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 (abs(data->data[0]) < .05 && abs(data->data[1]) < .05
- && abs(data->data[2]) < .05) {
- 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)
{
+ float pitch, roll, yaw;
+
+ /* 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];
+ yaw = data->data[2];
+
+ data->data[0] = 360.0 - yaw;
+ 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[s].channel[c].type_info;
+ int val = (int) sample_as_int64(sample_data, sample_type);
+ float correction;
+ int data_bytes = (sample_type->realbits)/8;
+ int exponent = sensor[s].offset;
+
+ /* 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 correction *
+ CONVERT_A_G_VTF16E14_X(
+ data_bytes, exponent, val);
+
+ case 1:
+ return correction *
+ CONVERT_A_G_VTF16E14_Y(
+ data_bytes, exponent, val);
+
+ case 2:
+ return correction *
+ CONVERT_A_G_VTF16E14_Z(
+ data_bytes, exponent, val);
+ }
+ break;
+
+
+ case SENSOR_TYPE_GYROSCOPE:
+ switch (c) {
+ case 0:
+ return correction *
+ CONVERT_G_D_VTF16E14_X(
+ data_bytes, exponent, val);
+
+ case 1:
+ return correction *
+ CONVERT_G_D_VTF16E14_Y(
+ data_bytes, exponent, val);
+
+ case 2:
+ return correction *
+ CONVERT_G_D_VTF16E14_Z(
+ data_bytes, exponent, val);
+ }
+ break;
+
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ switch (c) {
+ case 0:
+ return correction *
+ CONVERT_M_MG_VTF16E14_X(
+ data_bytes, exponent, val);
+
+ case 1:
+ return correction *
+ CONVERT_M_MG_VTF16E14_Y(
+ data_bytes, exponent, val);
+
+ case 2:
+ return correction *
+ CONVERT_M_MG_VTF16E14_Z(
+ data_bytes, exponent, val);
+ }
+ break;
+
+ case SENSOR_TYPE_LIGHT:
+ return (float) val;
+
+ case SENSOR_TYPE_ORIENTATION:
+ return correction * convert_from_vtf_format(
+ data_bytes, exponent, val);
+
+ case SENSOR_TYPE_ROTATION_VECTOR:
+ 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;
+}
+
+
+float acquire_immediate_value(int s, int c)
+{
+ char sysfs_path[PATH_MAX];
+ float val;
+ int ret;
+ 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[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 */
+
+ if (input_path[0]) {
+ sprintf(sysfs_path, BASE_PATH "%s", dev_num, input_path);
+ ret = sysfs_read_float(sysfs_path, &val);
+
+ if (!ret) {
+ return val * correction;
+ }
+ };
+
+ if (!raw_path[0])
+ return 0;
+
+ sprintf(sysfs_path, BASE_PATH "%s", dev_num, raw_path);
+ ret = sysfs_read_float(sysfs_path, &val);
+
+ if (ret == -1)
+ return 0;
+
+ /*
+ * 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;
}