enumeration.c

   1 /*
   2  * Copyright (C) 2014 Intel Corporation.
   3  */
   4
   5 #include <ctype.h>
   6 #include <dirent.h>
   7 #include <stdlib.h>
   8 #include <utils/Log.h>
   9 #include <hardware/sensors.h>
  10 #include "enumeration.h"
  11 #include "description.h"
  12 #include "utils.h"
  13 #include "transform.h"
  14 #include "description.h"
  15 #include "control.h"
  16 #include "calibration.h"
  17 #include "filtering.h"
  18
  19 /*
  20  * This table maps syfs entries in scan_elements directories to sensor types,
  21  * and will also be used to determine other sysfs names as well as the iio
  22  * device number associated to a specific sensor.
  23  */
  24
  25  /*
  26   * We duplicate entries for the uncalibrated types after their respective base
  27   * sensor. This is because all sensor entries must have an associated catalog entry
  28   * and also because when only the uncal sensor is active it needs to take it's data
  29   * from the same iio device as the base one.
  30   */
  31
  32 struct sensor_catalog_entry_t sensor_catalog[] = {
  33         DECLARE_SENSOR3("accel",      SENSOR_TYPE_ACCELEROMETER,  "x", "y", "z")
  34         DECLARE_SENSOR3("anglvel",    SENSOR_TYPE_GYROSCOPE,      "x", "y", "z")
  35         DECLARE_SENSOR3("magn",       SENSOR_TYPE_MAGNETIC_FIELD, "x", "y", "z")
  36         DECLARE_SENSOR1("intensity",  SENSOR_TYPE_LIGHT,          "both"       )
  37         DECLARE_SENSOR0("illuminance",SENSOR_TYPE_LIGHT                        )
  38         DECLARE_SENSOR3("incli",      SENSOR_TYPE_ORIENTATION,    "x", "y", "z")
  39         DECLARE_SENSOR4("rot",        SENSOR_TYPE_ROTATION_VECTOR,
  40                                          "quat_x", "quat_y", "quat_z", "quat_w")
  41         DECLARE_SENSOR0("temp",       SENSOR_TYPE_AMBIENT_TEMPERATURE          )
  42         DECLARE_SENSOR0("proximity",  SENSOR_TYPE_PROXIMITY                    )
  43         DECLARE_SENSOR3("anglvel",      SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, "x", "y", "z")
  44 };
  45
  46 #define CATALOG_SIZE    ARRAY_SIZE(sensor_catalog)
  47
  48 /* ACPI PLD (physical location of device) definitions, as used with sensors */
  49
  50 #define PANEL_FRONT     4
  51 #define PANEL_BACK      5
  52
  53 /* We equate sensor handles to indices in these tables */
  54
  55 struct sensor_t      sensor_desc[MAX_SENSORS];  /* Android-level descriptors */
  56 struct sensor_info_t sensor_info[MAX_SENSORS];  /* Internal descriptors      */
  57 int sensor_count;                               /* Detected sensors          */
  58
  59
  60 static void setup_properties_from_pld(int s, int panel, int rotation,
  61                                       int num_channels)
  62 {
  63         /*
  64          * Generate suitable order and opt_scale directives from the PLD panel
  65          * and rotation codes we got. This can later be superseded by the usual
  66          * properties if necessary. Eventually we'll need to replace these
  67          * mechanisms by a less convoluted one, such as a 3x3 placement matrix.
  68          */
  69
  70         int x = 1;
  71         int y = 1;
  72         int z = 1;
  73         int xy_swap = 0;
  74         int angle = rotation * 45;
  75
  76         /* Only deal with 3 axis chips for now */
  77         if (num_channels < 3)
  78                 return;
  79
  80         if (panel == PANEL_BACK) {
  81                 /* Chip placed on the back panel ; negate x and z */
  82                 x = -x;
  83                 z = -z;
  84         }
  85
  86         switch (angle) {
  87                 case 90: /* 90° clockwise: negate y then swap x,y */
  88                         xy_swap = 1;
  89                         y = -y;
  90                         break;
  91
  92                 case 180: /* Upside down: negate x and y */
  93                         x = -x;
  94                         y = -y;
  95                         break;
  96
  97                 case 270: /* 90° counter clockwise: negate x then swap x,y */
  98                         x = -x;
  99                         xy_swap = 1;
 100                         break;
 101         }
 102
 103         if (xy_swap) {
 104                 sensor_info[s].order[0] = 1;
 105                 sensor_info[s].order[1] = 0;
 106                 sensor_info[s].order[2] = 2;
 107                 sensor_info[s].quirks |= QUIRK_FIELD_ORDERING;
 108         }
 109
 110         sensor_info[s].channel[0].opt_scale = x;
 111         sensor_info[s].channel[1].opt_scale = y;
 112         sensor_info[s].channel[2].opt_scale = z;
 113 }
 114
 115
 116 static int is_valid_pld (int panel, int rotation)
 117 {
 118         if (panel != PANEL_FRONT && panel != PANEL_BACK) {
 119                 ALOGW("Unhandled PLD panel spec: %d\n", panel);
 120                 return 0;
 121         }
 122
 123         /* Only deal with 90° rotations for now */
 124         if (rotation < 0 || rotation > 7 || (rotation & 1)) {
 125                 ALOGW("Unhandled PLD rotation spec: %d\n", rotation);
 126                 return 0;
 127         }
 128
 129         return 1;
 130 }
 131
 132
 133 static int read_pld_from_properties (int s, int* panel, int* rotation)
 134 {
 135         int p, r;
 136
 137         if (sensor_get_prop(s, "panel", &p))
 138                 return -1;
 139
 140         if (sensor_get_prop(s, "rotation", &r))
 141                 return -1;
 142
 143         if (!is_valid_pld(p, r))
 144                 return -1;
 145
 146         *panel = p;
 147         *rotation = r;
 148
 149         ALOGI("S%d PLD from properties: panel=%d, rotation=%d\n", s, p, r);
 150
 151         return 0;
 152 }
 153
 154
 155 static int read_pld_from_sysfs (int s, int dev_num, int* panel, int* rotation)
 156 {
 157         char sysfs_path[PATH_MAX];
 158         int p,r;
 159
 160         sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/panel", dev_num);
 161
 162         if (sysfs_read_int(sysfs_path, &p))
 163                 return -1;
 164
 165         sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/rotation", dev_num);
 166
 167         if (sysfs_read_int(sysfs_path, &r))
 168                 return -1;
 169
 170         if (!is_valid_pld(p, r))
 171                 return -1;
 172
 173         *panel = p;
 174         *rotation = r;
 175
 176         ALOGI("S%d PLD from sysfs: panel=%d, rotation=%d\n", s, p, r);
 177
 178         return 0;
 179 }
 180
 181
 182 static void decode_placement_information (int dev_num, int num_channels, int s)
 183 {
 184         /*
 185          * See if we have optional "physical location of device" ACPI tags.
 186          * We're only interested in panel and rotation specifiers. Use the
 187          * .panel and .rotation properties in priority, and the actual ACPI
 188          * values as a second source.
 189          */
 190
 191         int panel;
 192         int rotation;
 193
 194         if (read_pld_from_properties(s, &panel, &rotation) &&
 195                 read_pld_from_sysfs(s, dev_num, &panel, &rotation))
 196                         return; /* No PLD data available */
 197
 198         /* Map that to field ordering and scaling mechanisms */
 199         setup_properties_from_pld(s, panel, rotation, num_channels);
 200 }
 201
 202
 203 static void add_sensor (int dev_num, int catalog_index, int use_polling)
 204 {
 205         int s;
 206         int sensor_type;
 207         int retval;
 208         char sysfs_path[PATH_MAX];
 209         const char* prefix;
 210         float scale;
 211         int c;
 212         float opt_scale;
 213         const char* ch_name;
 214         int num_channels;
 215         char suffix[MAX_NAME_SIZE + 8];
 216
 217         if (sensor_count == MAX_SENSORS) {
 218                 ALOGE("Too many sensors!\n");
 219                 return;
 220         }
 221
 222         sensor_type = sensor_catalog[catalog_index].type;
 223
 224         /*
 225          * At this point we could check that the expected sysfs attributes are
 226          * present ; that would enable having multiple catalog entries with the
 227          * same sensor type, accomodating different sets of sysfs attributes.
 228          */
 229
 230         s = sensor_count;
 231
 232         sensor_info[s].dev_num          = dev_num;
 233         sensor_info[s].catalog_index    = catalog_index;
 234         sensor_info[s].type             = sensor_type;
 235
 236         num_channels = sensor_catalog[catalog_index].num_channels;
 237
 238         if (use_polling)
 239                 sensor_info[s].num_channels = 0;
 240         else
 241                 sensor_info[s].num_channels = num_channels;
 242
 243         prefix = sensor_catalog[catalog_index].tag;
 244
 245         /*
 246          * receiving the illumination sensor calibration inputs from
 247          * the Android properties and setting it within sysfs
 248          */
 249         if (sensor_type == SENSOR_TYPE_LIGHT) {
 250                 retval = sensor_get_illumincalib(s);
 251                 if (retval > 0) {
 252                         sprintf(sysfs_path, ILLUMINATION_CALIBPATH, dev_num);
 253                         sysfs_write_int(sysfs_path, retval);
 254                 }
 255         }
 256
 257         /* Read name attribute, if available */
 258         sprintf(sysfs_path, NAME_PATH, dev_num);
 259         sysfs_read_str(sysfs_path, sensor_info[s].internal_name, MAX_NAME_SIZE);
 260
 261         /* See if we have general offsets and scale values for this sensor */
 262
 263         sprintf(sysfs_path, SENSOR_OFFSET_PATH, dev_num, prefix);
 264         sysfs_read_float(sysfs_path, &sensor_info[s].offset);
 265
 266         sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
 267         if (!sysfs_read_float(sysfs_path, &scale)) {
 268                 sensor_info[s].scale = scale;
 269                 ALOGI("Scale path:%s scale:%f dev_num:%d\n",
 270                                         sysfs_path, scale, dev_num);
 271         } else {
 272                 sensor_info[s].scale = 1;
 273
 274                 /* Read channel specific scale if any*/
 275                 for (c = 0; c < num_channels; c++)
 276                 {
 277                         sprintf(sysfs_path, BASE_PATH "%s", dev_num,
 278                            sensor_catalog[catalog_index].channel[c].scale_path);
 279
 280                         if (!sysfs_read_float(sysfs_path, &scale)) {
 281                                 sensor_info[s].channel[c].scale = scale;
 282                                 sensor_info[s].scale = 0;
 283
 284                                 ALOGI(  "Scale path:%s "
 285                                         "channel scale:%f dev_num:%d\n",
 286                                         sysfs_path, scale, dev_num);
 287                         }
 288                 }
 289         }
 290
 291         /* Set default scaling - if num_channels is zero, we have one channel */
 292
 293         sensor_info[s].channel[0].opt_scale = 1;
 294
 295         for (c = 1; c < num_channels; c++)
 296                 sensor_info[s].channel[c].opt_scale = 1;
 297
 298         /* Read ACPI _PLD attributes for this sensor, if there are any */
 299         decode_placement_information(dev_num, num_channels, s);
 300
 301         /*
 302          * See if we have optional correction scaling factors for each of the
 303          * channels of this sensor. These would be expressed using properties
 304          * like iio.accel.y.opt_scale = -1. In case of a single channel we also
 305          * support things such as iio.temp.opt_scale = -1. Note that this works
 306          * for all types of sensors, and whatever transform is selected, on top
 307          * of any previous conversions.
 308          */
 309
 310         if (num_channels) {
 311                 for (c = 0; c < num_channels; c++) {
 312                         ch_name = sensor_catalog[catalog_index].channel[c].name;
 313                         sprintf(suffix, "%s.opt_scale", ch_name);
 314                         if (!sensor_get_fl_prop(s, suffix, &opt_scale))
 315                                 sensor_info[s].channel[c].opt_scale = opt_scale;
 316                 }
 317         } else
 318                 if (!sensor_get_fl_prop(s, "opt_scale", &opt_scale))
 319                         sensor_info[s].channel[0].opt_scale = opt_scale;
 320
 321         /* Initialize Android-visible descriptor */
 322         sensor_desc[s].name             = sensor_get_name(s);
 323         sensor_desc[s].vendor           = sensor_get_vendor(s);
 324         sensor_desc[s].version          = sensor_get_version(s);
 325         sensor_desc[s].handle           = s;
 326         sensor_desc[s].type             = sensor_type;
 327         sensor_desc[s].maxRange         = sensor_get_max_range(s);
 328         sensor_desc[s].resolution       = sensor_get_resolution(s);
 329         sensor_desc[s].power            = sensor_get_power(s);
 330         sensor_desc[s].stringType = sensor_get_string_type(s);
 331
 332         /* None of our supported sensors requires a special permission.
 333         *  If this will be the case we should implement a sensor_get_perm
 334         */
 335         sensor_desc[s].requiredPermission = "";
 336         sensor_desc[s].flags = sensor_get_flags(s);
 337         sensor_desc[s].minDelay = sensor_get_min_delay(s);
 338         sensor_desc[s].maxDelay = sensor_get_max_delay(s);
 339         ALOGI("Sensor %d (%s) type(%d) minD(%d) maxD(%d) flags(%2.2x)\n",
 340                 s, sensor_info[s].friendly_name, sensor_desc[s].type,
 341                 sensor_desc[s].minDelay, sensor_desc[s].maxDelay, sensor_desc[s].flags);
 342
 343         /* We currently do not implement batching when we'll so
 344          * these should be overriden appropriately
 345          */
 346         sensor_desc[s].fifoReservedEventCount = 0;
 347         sensor_desc[s].fifoMaxEventCount = 0;
 348
 349         if (sensor_info[s].internal_name[0] == '\0') {
 350                 /*
 351                  * In case the kernel-mode driver doesn't expose a name for
 352                  * the iio device, use (null)-dev%d as the trigger name...
 353                  * This can be considered a kernel-mode iio driver bug.
 354                  */
 355                 ALOGW("Using null trigger on sensor %d (dev %d)\n", s, dev_num);
 356                 strcpy(sensor_info[s].internal_name, "(null)");
 357         }
 358
 359         if (sensor_type == SENSOR_TYPE_GYROSCOPE ||
 360                 sensor_type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
 361                 struct gyro_cal* calibration_data = calloc(1, sizeof(struct gyro_cal));
 362                 sensor_info[s].cal_data = calibration_data;
 363                 denoise_median_init(s, 3, 7);
 364         }
 365
 366         if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD) {
 367                 struct compass_cal* calibration_data = calloc(1, sizeof(struct compass_cal));
 368                 sensor_info[s].cal_data = calibration_data;
 369         }
 370
 371         /* Select one of the available sensor sample processing styles */
 372         select_transform(s);
 373
 374         /* Initialize fields related to sysfs reads offloading */
 375         sensor_info[s].thread_data_fd[0]  = -1;
 376         sensor_info[s].thread_data_fd[1]  = -1;
 377         sensor_info[s].acquisition_thread = -1;
 378
 379         /* Check if we have a special ordering property on this sensor */
 380         if (sensor_get_order(s, sensor_info[s].order))
 381                 sensor_info[s].quirks |= QUIRK_FIELD_ORDERING;
 382
 383         sensor_count++;
 384 }
 385
 386
 387 static void discover_poll_sensors (int dev_num, char map[CATALOG_SIZE])
 388 {
 389         char base_dir[PATH_MAX];
 390         DIR *dir;
 391         struct dirent *d;
 392         unsigned int i;
 393         int c;
 394
 395         memset(map, 0, CATALOG_SIZE);
 396
 397         snprintf(base_dir, sizeof(base_dir), BASE_PATH, dev_num);
 398
 399         dir = opendir(base_dir);
 400         if (!dir) {
 401                 return;
 402         }
 403
 404         /* Enumerate entries in this iio device's base folder */
 405
 406         while ((d = readdir(dir))) {
 407                 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
 408                         continue;
 409
 410                 /* If the name matches a catalog entry, flag it */
 411                 for (i = 0; i<CATALOG_SIZE; i++) {
 412                 /* This will be added separately later */
 413                 if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
 414                         continue;
 415                 for (c=0; c<sensor_catalog[i].num_channels; c++)
 416                         if (!strcmp(d->d_name,sensor_catalog[i].channel[c].raw_path) ||
 417                                 !strcmp(d->d_name, sensor_catalog[i].channel[c].input_path)) {
 418                                         map[i] = 1;
 419                                         break;
 420                         }
 421                 }
 422         }
 423
 424         closedir(dir);
 425 }
 426
 427
 428 static void discover_trig_sensors (int dev_num, char map[CATALOG_SIZE])
 429 {
 430         char scan_elem_dir[PATH_MAX];
 431         DIR *dir;
 432         struct dirent *d;
 433         unsigned int i;
 434
 435         memset(map, 0, CATALOG_SIZE);
 436
 437         /* Enumerate entries in this iio device's scan_elements folder */
 438
 439         snprintf(scan_elem_dir, sizeof(scan_elem_dir), CHANNEL_PATH, dev_num);
 440
 441         dir = opendir(scan_elem_dir);
 442         if (!dir) {
 443                 return;
 444         }
 445
 446         while ((d = readdir(dir))) {
 447                 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
 448                         continue;
 449
 450                 /* Compare en entry to known ones and create matching sensors */
 451
 452                 for (i = 0; i<CATALOG_SIZE; i++) {
 453                         if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
 454                                 continue;
 455                         if (!strcmp(d->d_name,
 456                                         sensor_catalog[i].channel[0].en_path)) {
 457                                         map[i] = 1;
 458                                         break;
 459                         }
 460                 }
 461         }
 462
 463         closedir(dir);
 464 }
 465
 466
 467 static void orientation_sensor_check(void)
 468 {
 469         /*
 470          * If we have accel + gyro + magn but no rotation vector sensor,
 471          * SensorService replaces the HAL provided orientation sensor by the
 472          * AOSP version... provided we report one. So initialize a virtual
 473          * orientation sensor with zero values, which will get replaced. See:
 474          * frameworks/native/services/sensorservice/SensorService.cpp, looking
 475          * for SENSOR_TYPE_ROTATION_VECTOR; that code should presumably fall
 476          * back to mUserSensorList.add instead of replaceAt, but accommodate it.
 477          */
 478
 479         int i;
 480         int has_acc = 0;
 481         int has_gyr = 0;
 482         int has_mag = 0;
 483         int has_rot = 0;
 484         int has_ori = 0;
 485         int catalog_size = CATALOG_SIZE;
 486
 487         for (i=0; i<sensor_count; i++)
 488                 switch (sensor_info[i].type) {
 489                         case SENSOR_TYPE_ACCELEROMETER:
 490                                 has_acc = 1;
 491                                 break;
 492                         case SENSOR_TYPE_GYROSCOPE:
 493                                 has_gyr = 1;
 494                                 break;
 495                         case SENSOR_TYPE_MAGNETIC_FIELD:
 496                                 has_mag = 1;
 497                                 break;
 498                         case SENSOR_TYPE_ORIENTATION:
 499                                 has_ori = 1;
 500                                 break;
 501                         case SENSOR_TYPE_ROTATION_VECTOR:
 502                                 has_rot = 1;
 503                                 break;
 504                 }
 505
 506         if (has_acc && has_gyr && has_mag && !has_rot && !has_ori)
 507                 for (i=0; i<catalog_size; i++)
 508                         if (sensor_catalog[i].type == SENSOR_TYPE_ORIENTATION) {
 509                                 ALOGI("Adding placeholder orientation sensor");
 510                                 add_sensor(0, i, 1);
 511                                 break;
 512                         }
 513 }
 514
 515 static void propose_new_trigger (int s, char trigger_name[MAX_NAME_SIZE],
 516                                  int sensor_name_len)
 517 {
 518         /*
 519          * A new trigger has been enumerated for this sensor. Check if it makes
 520          * sense to use it over the currently selected one, and select it if it
 521          * is so. The format is something like sensor_name-dev0.
 522          */
 523
 524         const char *suffix = trigger_name + sensor_name_len + 1;
 525
 526         /* dev is the default, and lowest priority; no need to update */
 527         if (!memcmp(suffix, "dev", 3))
 528                 return;
 529
 530         /* If we found any-motion trigger, record it */
 531
 532         if (!memcmp(suffix, "any-motion-", 11)) {
 533                 strcpy(sensor_info[s].motion_trigger_name, trigger_name);
 534                 return;
 535         }
 536
 537         /*
 538          * It's neither the default "dev" nor an "any-motion" one. Make sure we
 539          * use this though, as we may not have any other indication of the name
 540          * of the trigger to use with this sensor.
 541          */
 542         strcpy(sensor_info[s].init_trigger_name, trigger_name);
 543 }
 544
 545
 546 static void update_sensor_matching_trigger_name (char name[MAX_NAME_SIZE])
 547 {
 548         /*
 549          * Check if we have a sensor matching the specified trigger name,
 550          * which should then begin with the sensor name, and end with a number
 551          * equal to the iio device number the sensor is associated to. If so,
 552          * update the string we're going to write to trigger/current_trigger
 553          * when enabling this sensor.
 554          */
 555
 556         int s;
 557         int dev_num;
 558         int len;
 559         char* cursor;
 560         int sensor_name_len;
 561
 562         /*
 563          * First determine the iio device number this trigger refers to. We
 564          * expect the last few characters (typically one) of the trigger name
 565          * to be this number, so perform a few checks.
 566          */
 567         len = strnlen(name, MAX_NAME_SIZE);
 568
 569         if (len < 2)
 570                 return;
 571
 572         cursor = name + len - 1;
 573
 574         if (!isdigit(*cursor))
 575                 return;
 576
 577         while (len && isdigit(*cursor)) {
 578                 len--;
 579                 cursor--;
 580         }
 581
 582         dev_num = atoi(cursor+1);
 583
 584         /* See if that matches a sensor */
 585         for (s=0; s<sensor_count; s++)
 586                 if (sensor_info[s].dev_num == dev_num) {
 587
 588                         sensor_name_len = strlen(sensor_info[s].internal_name);
 589
 590                         if (!strncmp(name,
 591                                      sensor_info[s].internal_name,
 592                                      sensor_name_len))
 593                                 /* Switch to new trigger if appropriate */
 594                                 propose_new_trigger(s, name, sensor_name_len);
 595                 }
 596 }
 597
 598
 599 static void setup_trigger_names (void)
 600 {
 601         char filename[PATH_MAX];
 602         char buf[MAX_NAME_SIZE];
 603         int len;
 604         int s;
 605         int trigger;
 606         int ret;
 607
 608         /* By default, use the name-dev convention that most drivers use */
 609         for (s=0; s<sensor_count; s++)
 610                 snprintf(sensor_info[s].init_trigger_name,
 611                          MAX_NAME_SIZE, "%s-dev%d",
 612                          sensor_info[s].internal_name, sensor_info[s].dev_num);
 613
 614         /* Now have a look to /sys/bus/iio/devices/triggerX entries */
 615
 616         for (trigger=0; trigger<MAX_TRIGGERS; trigger++) {
 617
 618                 snprintf(filename, sizeof(filename), TRIGGER_FILE_PATH,trigger);
 619
 620                 ret = sysfs_read_str(filename, buf, sizeof(buf));
 621
 622                 if (ret < 0)
 623                         break;
 624
 625                 /* Record initial and any-motion triggers names */
 626                 update_sensor_matching_trigger_name(buf);
 627         }
 628
 629         /*
 630          * Certain drivers expose only motion triggers even though they should
 631          * be continous. For these, use the default trigger name as the motion
 632          * trigger. The code generating intermediate events is dependent on
 633          * motion_trigger_name being set to a non empty string.
 634          */
 635
 636         for (s=0; s<sensor_count; s++)
 637                 if ((sensor_info[s].quirks & QUIRK_TERSE_DRIVER) &&
 638                     sensor_info[s].motion_trigger_name[0] == '\0')
 639                         strcpy( sensor_info[s].motion_trigger_name,
 640                                 sensor_info[s].init_trigger_name);
 641
 642         for (s=0; s<sensor_count; s++)
 643                 if (sensor_info[s].num_channels) {
 644                         ALOGI("Sensor %d (%s) default trigger: %s\n", s,
 645                                 sensor_info[s].friendly_name,
 646                                 sensor_info[s].init_trigger_name);
 647                         if (sensor_info[s].motion_trigger_name[0])
 648                                 ALOGI("Sensor %d (%s) motion trigger: %s\n",
 649                                 s, sensor_info[s].friendly_name,
 650                                 sensor_info[s].motion_trigger_name);
 651                 }
 652 }
 653
 654 static void uncalibrated_gyro_check (void)
 655 {
 656         unsigned int has_gyr = 0;
 657         unsigned int dev_num;
 658         int i, c;
 659         unsigned int is_poll_sensor;
 660         char buf[MAX_NAME_SIZE];
 661
 662         int cal_idx = 0;
 663         int uncal_idx = 0;
 664         int catalog_size = CATALOG_SIZE; /* Avoid GCC sign comparison warning */
 665
 666         /* Checking to see if we have a gyroscope - we can only have uncal if we have the base sensor */
 667         for (i=0; i < sensor_count; i++)
 668                 if (sensor_info[i].type == SENSOR_TYPE_GYROSCOPE) {
 669                         has_gyr=1;
 670                         dev_num = sensor_info[i].dev_num;
 671                         is_poll_sensor = !sensor_info[i].num_channels;
 672                         cal_idx = i;
 673                         break;
 674                 }
 675
 676         /*
 677          * If we have a gyro we can add the uncalibrated sensor of the same type and
 678          * on the same dev_num. We will save indexes for easy finding and also save the
 679          * channel specific information.
 680          */
 681         if (has_gyr)
 682                 for (i=0; i<catalog_size; i++)
 683                         if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
 684                                 add_sensor(dev_num, i, is_poll_sensor);
 685
 686                                 uncal_idx = sensor_count - 1; /* Just added uncalibrated sensor */
 687
 688                                 /* Similar to build_sensor_report_maps */
 689                                 for (c = 0; c < sensor_info[uncal_idx].num_channels; c++)
 690                                 {
 691                                         memcpy( &(sensor_info[uncal_idx].channel[c].type_spec),
 692                                                 &(sensor_info[cal_idx].channel[c].type_spec),
 693                                                 sizeof(sensor_info[uncal_idx].channel[c].type_spec));
 694                                         sensor_info[uncal_idx].channel[c].type_info = sensor_info[cal_idx].channel[c].type_info;
 695                                         sensor_info[uncal_idx].channel[c].offset    = sensor_info[cal_idx].channel[c].offset;
 696                                         sensor_info[uncal_idx].channel[c].size      = sensor_info[cal_idx].channel[c].size;
 697                                 }
 698                                 sensor_info[uncal_idx].pair_idx = cal_idx;
 699                                 sensor_info[cal_idx].pair_idx = uncal_idx;
 700                                 strncpy(sensor_info[uncal_idx].init_trigger_name,
 701                                         sensor_info[cal_idx].init_trigger_name,
 702                                         MAX_NAME_SIZE);
 703                                 strncpy(sensor_info[uncal_idx].motion_trigger_name,
 704                                         sensor_info[cal_idx].motion_trigger_name,
 705                                         MAX_NAME_SIZE);
 706
 707                                 /* Add "Uncalibrated " prefix to sensor name */
 708                                 strcpy(buf, sensor_info[cal_idx].friendly_name);
 709                                 snprintf(sensor_info[uncal_idx].friendly_name,
 710                                          MAX_NAME_SIZE,
 711                                          "%s %s", "Uncalibrated", buf);
 712                                 break;
 713                         }
 714 }
 715
 716 void enumerate_sensors (void)
 717 {
 718         /*
 719          * Discover supported sensors and allocate control structures for them.
 720          * Multiple sensors can potentially rely on a single iio device (each
 721          * using their own channels). We can't have multiple sensors of the same
 722          * type on the same device. In case of detection as both a poll-mode
 723          * and trigger-based sensor, use the trigger usage mode.
 724          */
 725         char poll_sensors[CATALOG_SIZE];
 726         char trig_sensors[CATALOG_SIZE];
 727         int dev_num;
 728         unsigned int i;
 729         int trig_found;
 730
 731         for (dev_num=0; dev_num<MAX_DEVICES; dev_num++) {
 732                 trig_found = 0;
 733
 734                 discover_poll_sensors(dev_num, poll_sensors);
 735                 discover_trig_sensors(dev_num, trig_sensors);
 736
 737                 for (i=0; i<CATALOG_SIZE; i++)
 738                         if (trig_sensors[i]) {
 739                                 add_sensor(dev_num, i, 0);
 740                                 trig_found = 1;
 741                         }
 742                         else
 743                                 if (poll_sensors[i])
 744                                         add_sensor(dev_num, i, 1);
 745
 746                 if (trig_found) {
 747                         build_sensor_report_maps(dev_num);
 748                 }
 749         }
 750
 751         ALOGI("Discovered %d sensors\n", sensor_count);
 752
 753         /* Set up default - as well as custom - trigger names */
 754         setup_trigger_names();
 755
 756         /* Make sure Android fall backs to its own orientation sensor */
 757         orientation_sensor_check();
 758
 759         /*
 760          * Create the uncalibrated counterpart to the compensated gyroscope.
 761          * This is is a new sensor type in Android 4.4.
 762          */
 763         uncalibrated_gyro_check();
 764 }
 765
 766
 767 void delete_enumeration_data (void)
 768 {
 769         int i;
 770         for (i = 0; i < sensor_count; i++)
 771         switch (sensor_info[i].type) {
 772                 case SENSOR_TYPE_MAGNETIC_FIELD:
 773                         if (sensor_info[i].cal_data != NULL) {
 774                                 free(sensor_info[i].cal_data);
 775                                 sensor_info[i].cal_data = NULL;
 776                                 sensor_info[i].cal_level = 0;
 777                         }
 778                         break;
 779                 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
 780                 case SENSOR_TYPE_GYROSCOPE:
 781                         if (sensor_info[i].cal_data != NULL) {
 782                                 free(sensor_info[i].cal_data);
 783                                 sensor_info[i].cal_data = NULL;
 784                                 sensor_info[i].cal_level = 0;
 785                         }
 786                         break;
 787                         if (sensor_info[i].filter != NULL) {
 788                                 denoise_median_release(i);
 789                         }
 790                 default:
 791                         break;
 792         }
 793         /* Reset sensor count */
 794         sensor_count = 0;
 795 }
 796
 797
 798 int get_sensors_list(   struct sensors_module_t* module,
 799                         struct sensor_t const** list)
 800 {
 801         *list = sensor_desc;
 802         return sensor_count;
 803 }
 804