2 * Copyright (C) 2014 Intel Corporation.
9 #include <hardware/sensors.h>
10 #include "enumeration.h"
11 #include "description.h"
13 #include "transform.h"
14 #include "description.h"
16 #include "calibration.h"
19 * This table maps syfs entries in scan_elements directories to sensor types,
20 * and will also be used to determine other sysfs names as well as the iio
21 * device number associated to a specific sensor.
25 * We duplicate entries for the uncalibrated types after their respective base
26 * sensor. This is because all sensor entries must have an associated catalog entry
27 * and also because when only the uncal sensor is active it needs to take it's data
28 * from the same iio device as the base one.
31 struct sensor_catalog_entry_t sensor_catalog[] = {
32 DECLARE_SENSOR3("accel", SENSOR_TYPE_ACCELEROMETER, "x", "y", "z")
33 DECLARE_SENSOR3("anglvel", SENSOR_TYPE_GYROSCOPE, "x", "y", "z")
34 DECLARE_SENSOR3("magn", SENSOR_TYPE_MAGNETIC_FIELD, "x", "y", "z")
35 DECLARE_SENSOR1("intensity", SENSOR_TYPE_LIGHT, "both" )
36 DECLARE_SENSOR0("illuminance",SENSOR_TYPE_LIGHT )
37 DECLARE_SENSOR3("incli", SENSOR_TYPE_ORIENTATION, "x", "y", "z")
38 DECLARE_SENSOR4("rot", SENSOR_TYPE_ROTATION_VECTOR,
39 "quat_x", "quat_y", "quat_z", "quat_w")
40 DECLARE_SENSOR0("temp", SENSOR_TYPE_AMBIENT_TEMPERATURE )
41 DECLARE_SENSOR0("proximity", SENSOR_TYPE_PROXIMITY )
42 DECLARE_VIRTUAL(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED )
45 #define CATALOG_SIZE ARRAY_SIZE(sensor_catalog)
47 /* ACPI PLD (physical location of device) definitions, as used with sensors */
52 /* We equate sensor handles to indices in these tables */
54 struct sensor_t sensor_desc[MAX_SENSORS]; /* Android-level descriptors */
55 struct sensor_info_t sensor[MAX_SENSORS]; /* Internal descriptors */
56 int sensor_count; /* Detected sensors */
59 static void setup_properties_from_pld (int s, int panel, int rotation,
63 * Generate suitable order and opt_scale directives from the PLD panel
64 * and rotation codes we got. This can later be superseded by the usual
65 * properties if necessary. Eventually we'll need to replace these
66 * mechanisms by a less convoluted one, such as a 3x3 placement matrix.
73 int angle = rotation * 45;
75 /* Only deal with 3 axis chips for now */
79 if (panel == PANEL_BACK) {
80 /* Chip placed on the back panel ; negate x and z */
86 case 90: /* 90° clockwise: negate y then swap x,y */
91 case 180: /* Upside down: negate x and y */
96 case 270: /* 90° counter clockwise: negate x then swap x,y */
103 sensor[s].order[0] = 1;
104 sensor[s].order[1] = 0;
105 sensor[s].order[2] = 2;
106 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
109 sensor[s].channel[0].opt_scale = x;
110 sensor[s].channel[1].opt_scale = y;
111 sensor[s].channel[2].opt_scale = z;
115 static int is_valid_pld (int panel, int rotation)
117 if (panel != PANEL_FRONT && panel != PANEL_BACK) {
118 ALOGW("Unhandled PLD panel spec: %d\n", panel);
122 /* Only deal with 90° rotations for now */
123 if (rotation < 0 || rotation > 7 || (rotation & 1)) {
124 ALOGW("Unhandled PLD rotation spec: %d\n", rotation);
132 static int read_pld_from_properties (int s, int* panel, int* rotation)
136 if (sensor_get_prop(s, "panel", &p))
139 if (sensor_get_prop(s, "rotation", &r))
142 if (!is_valid_pld(p, r))
148 ALOGI("S%d PLD from properties: panel=%d, rotation=%d\n", s, p, r);
154 static int read_pld_from_sysfs (int s, int dev_num, int* panel, int* rotation)
156 char sysfs_path[PATH_MAX];
159 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/panel", dev_num);
161 if (sysfs_read_int(sysfs_path, &p))
164 sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/rotation", dev_num);
166 if (sysfs_read_int(sysfs_path, &r))
169 if (!is_valid_pld(p, r))
175 ALOGI("S%d PLD from sysfs: panel=%d, rotation=%d\n", s, p, r);
181 static void decode_placement_information (int dev_num, int num_channels, int s)
184 * See if we have optional "physical location of device" ACPI tags.
185 * We're only interested in panel and rotation specifiers. Use the
186 * .panel and .rotation properties in priority, and the actual ACPI
187 * values as a second source.
193 if (read_pld_from_properties(s, &panel, &rotation) &&
194 read_pld_from_sysfs(s, dev_num, &panel, &rotation))
195 return; /* No PLD data available */
197 /* Map that to field ordering and scaling mechanisms */
198 setup_properties_from_pld(s, panel, rotation, num_channels);
202 static void populate_descriptors (int s, int sensor_type)
204 /* Initialize Android-visible descriptor */
205 sensor_desc[s].name = sensor_get_name(s);
206 sensor_desc[s].vendor = sensor_get_vendor(s);
207 sensor_desc[s].version = sensor_get_version(s);
208 sensor_desc[s].handle = s;
209 sensor_desc[s].type = sensor_type;
211 sensor_desc[s].maxRange = sensor_get_max_range(s);
212 sensor_desc[s].resolution = sensor_get_resolution(s);
213 sensor_desc[s].power = sensor_get_power(s);
214 sensor_desc[s].stringType = sensor_get_string_type(s);
216 /* None of our supported sensors requires a special permission */
217 sensor_desc[s].requiredPermission = "";
219 sensor_desc[s].flags = sensor_get_flags(s);
220 sensor_desc[s].minDelay = sensor_get_min_delay(s);
221 sensor_desc[s].maxDelay = sensor_get_max_delay(s);
223 ALOGV("Sensor %d (%s) type(%d) minD(%d) maxD(%d) flags(%2.2x)\n",
224 s, sensor[s].friendly_name, sensor_desc[s].type,
225 sensor_desc[s].minDelay, sensor_desc[s].maxDelay,
226 sensor_desc[s].flags);
228 /* We currently do not implement batching */
229 sensor_desc[s].fifoReservedEventCount = 0;
230 sensor_desc[s].fifoMaxEventCount = 0;
234 static void add_virtual_sensor (int catalog_index)
239 if (sensor_count == MAX_SENSORS) {
240 ALOGE("Too many sensors!\n");
244 sensor_type = sensor_catalog[catalog_index].type;
248 sensor[s].is_virtual = 1;
249 sensor[s].catalog_index = catalog_index;
250 sensor[s].type = sensor_type;
252 populate_descriptors(s, sensor_type);
254 /* Initialize fields related to sysfs reads offloading */
255 sensor[s].thread_data_fd[0] = -1;
256 sensor[s].thread_data_fd[1] = -1;
257 sensor[s].acquisition_thread = -1;
263 static void add_sensor (int dev_num, int catalog_index, int use_polling)
268 char sysfs_path[PATH_MAX];
275 char suffix[MAX_NAME_SIZE + 8];
277 if (sensor_count == MAX_SENSORS) {
278 ALOGE("Too many sensors!\n");
282 sensor_type = sensor_catalog[catalog_index].type;
285 * At this point we could check that the expected sysfs attributes are
286 * present ; that would enable having multiple catalog entries with the
287 * same sensor type, accomodating different sets of sysfs attributes.
292 sensor[s].dev_num = dev_num;
293 sensor[s].catalog_index = catalog_index;
294 sensor[s].type = sensor_type;
296 num_channels = sensor_catalog[catalog_index].num_channels;
299 sensor[s].num_channels = 0;
301 sensor[s].num_channels = num_channels;
303 prefix = sensor_catalog[catalog_index].tag;
306 * receiving the illumination sensor calibration inputs from
307 * the Android properties and setting it within sysfs
309 if (sensor_type == SENSOR_TYPE_LIGHT) {
310 retval = sensor_get_illumincalib(s);
312 sprintf(sysfs_path, ILLUMINATION_CALIBPATH, dev_num);
313 sysfs_write_int(sysfs_path, retval);
317 /* Read name attribute, if available */
318 sprintf(sysfs_path, NAME_PATH, dev_num);
319 sysfs_read_str(sysfs_path, sensor[s].internal_name, MAX_NAME_SIZE);
321 /* See if we have general offsets and scale values for this sensor */
323 sprintf(sysfs_path, SENSOR_OFFSET_PATH, dev_num, prefix);
324 sysfs_read_float(sysfs_path, &sensor[s].offset);
326 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
327 if (!sensor_get_fl_prop(s, "scale", &scale)) {
329 * There is a chip preferred scale specified,
330 * so try to store it in sensor's scale file
332 if (sysfs_write_float(sysfs_path, scale) == -1 && errno == ENOENT) {
333 ALOGE("Failed to store scale[%f] into %s - file is missing", scale, sysfs_path);
334 /* Store failed, try to store the scale into channel specific file */
335 for (c = 0; c < num_channels; c++)
337 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
338 sensor_catalog[catalog_index].channel[c].scale_path);
339 if (sysfs_write_float(sysfs_path, scale) == -1)
340 ALOGE("Failed to store scale[%f] into %s", scale, sysfs_path);
345 sprintf(sysfs_path, SENSOR_SCALE_PATH, dev_num, prefix);
346 if (!sysfs_read_float(sysfs_path, &scale)) {
347 sensor[s].scale = scale;
348 ALOGI("Scale path:%s scale:%f dev_num:%d\n",
349 sysfs_path, scale, dev_num);
353 /* Read channel specific scale if any*/
354 for (c = 0; c < num_channels; c++)
356 sprintf(sysfs_path, BASE_PATH "%s", dev_num,
357 sensor_catalog[catalog_index].channel[c].scale_path);
359 if (!sysfs_read_float(sysfs_path, &scale)) {
360 sensor[s].channel[c].scale = scale;
363 ALOGI( "Scale path:%s "
364 "channel scale:%f dev_num:%d\n",
365 sysfs_path, scale, dev_num);
370 /* Set default scaling - if num_channels is zero, we have one channel */
372 sensor[s].channel[0].opt_scale = 1;
374 for (c = 1; c < num_channels; c++)
375 sensor[s].channel[c].opt_scale = 1;
377 /* Read ACPI _PLD attributes for this sensor, if there are any */
378 decode_placement_information(dev_num, num_channels, s);
381 * See if we have optional correction scaling factors for each of the
382 * channels of this sensor. These would be expressed using properties
383 * like iio.accel.y.opt_scale = -1. In case of a single channel we also
384 * support things such as iio.temp.opt_scale = -1. Note that this works
385 * for all types of sensors, and whatever transform is selected, on top
386 * of any previous conversions.
390 for (c = 0; c < num_channels; c++) {
391 ch_name = sensor_catalog[catalog_index].channel[c].name;
392 sprintf(suffix, "%s.opt_scale", ch_name);
393 if (!sensor_get_fl_prop(s, suffix, &opt_scale))
394 sensor[s].channel[c].opt_scale = opt_scale;
397 if (!sensor_get_fl_prop(s, "opt_scale", &opt_scale))
398 sensor[s].channel[0].opt_scale = opt_scale;
400 populate_descriptors(s, sensor_type);
402 /* Populate the quirks array */
403 sensor_get_quirks(s);
405 if (sensor[s].internal_name[0] == '\0') {
407 * In case the kernel-mode driver doesn't expose a name for
408 * the iio device, use (null)-dev%d as the trigger name...
409 * This can be considered a kernel-mode iio driver bug.
411 ALOGW("Using null trigger on sensor %d (dev %d)\n", s, dev_num);
412 strcpy(sensor[s].internal_name, "(null)");
415 switch (sensor_type) {
416 case SENSOR_TYPE_GYROSCOPE:
417 sensor[s].cal_data = malloc(sizeof(struct gyro_cal_t));
420 case SENSOR_TYPE_MAGNETIC_FIELD:
421 sensor[s].cal_data = malloc(sizeof(struct compass_cal_t));
425 sensor[s].max_cal_level = sensor_get_cal_steps(s);
427 /* Select one of the available sensor sample processing styles */
430 /* Initialize fields related to sysfs reads offloading */
431 sensor[s].thread_data_fd[0] = -1;
432 sensor[s].thread_data_fd[1] = -1;
433 sensor[s].acquisition_thread = -1;
435 /* Check if we have a special ordering property on this sensor */
436 if (sensor_get_order(s, sensor[s].order))
437 sensor[s].quirks |= QUIRK_FIELD_ORDERING;
443 static void discover_poll_sensors (int dev_num, char map[CATALOG_SIZE])
445 char base_dir[PATH_MAX];
451 memset(map, 0, CATALOG_SIZE);
453 snprintf(base_dir, sizeof(base_dir), BASE_PATH, dev_num);
455 dir = opendir(base_dir);
460 /* Enumerate entries in this iio device's base folder */
462 while ((d = readdir(dir))) {
463 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
466 /* If the name matches a catalog entry, flag it */
467 for (i = 0; i < CATALOG_SIZE; i++) {
468 /* No discovery for virtual sensors */
469 if (sensor_catalog[i].is_virtual)
471 for (c=0; c<sensor_catalog[i].num_channels; c++)
472 if (!strcmp(d->d_name,sensor_catalog[i].channel[c].raw_path) ||
473 !strcmp(d->d_name, sensor_catalog[i].channel[c].input_path)) {
484 static void discover_trig_sensors (int dev_num, char map[CATALOG_SIZE])
486 char scan_elem_dir[PATH_MAX];
491 memset(map, 0, CATALOG_SIZE);
493 /* Enumerate entries in this iio device's scan_elements folder */
495 snprintf(scan_elem_dir, sizeof(scan_elem_dir), CHANNEL_PATH, dev_num);
497 dir = opendir(scan_elem_dir);
502 while ((d = readdir(dir))) {
503 if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
506 /* Compare en entry to known ones and create matching sensors */
508 for (i = 0; i<CATALOG_SIZE; i++) {
509 /* No discovery for virtual sensors */
510 if (sensor_catalog[i].is_virtual)
512 if (!strcmp(d->d_name,
513 sensor_catalog[i].channel[0].en_path)) {
524 static void orientation_sensor_check (void)
527 * If we have accel + gyro + magn but no rotation vector sensor,
528 * SensorService replaces the HAL provided orientation sensor by the
529 * AOSP version... provided we report one. So initialize a virtual
530 * orientation sensor with zero values, which will get replaced. See:
531 * frameworks/native/services/sensorservice/SensorService.cpp, looking
532 * for SENSOR_TYPE_ROTATION_VECTOR; that code should presumably fall
533 * back to mUserSensorList.add instead of replaceAt, but accommodate it.
542 int catalog_size = CATALOG_SIZE;
544 for (i=0; i<sensor_count; i++)
545 switch (sensor[i].type) {
546 case SENSOR_TYPE_ACCELEROMETER:
549 case SENSOR_TYPE_GYROSCOPE:
552 case SENSOR_TYPE_MAGNETIC_FIELD:
555 case SENSOR_TYPE_ORIENTATION:
558 case SENSOR_TYPE_ROTATION_VECTOR:
563 if (has_acc && has_gyr && has_mag && !has_rot && !has_ori)
564 for (i=0; i<catalog_size; i++)
565 if (sensor_catalog[i].type == SENSOR_TYPE_ORIENTATION) {
566 ALOGI("Adding placeholder orientation sensor");
573 static void propose_new_trigger (int s, char trigger_name[MAX_NAME_SIZE],
577 * A new trigger has been enumerated for this sensor. Check if it makes
578 * sense to use it over the currently selected one, and select it if it
579 * is so. The format is something like sensor_name-dev0.
582 const char *suffix = trigger_name + sensor_name_len + 1;
584 /* dev is the default, and lowest priority; no need to update */
585 if (!memcmp(suffix, "dev", 3))
588 /* If we found any-motion trigger, record it */
590 if (!memcmp(suffix, "any-motion-", 11)) {
591 strcpy(sensor[s].motion_trigger_name, trigger_name);
596 * It's neither the default "dev" nor an "any-motion" one. Make sure we
597 * use this though, as we may not have any other indication of the name
598 * of the trigger to use with this sensor.
600 strcpy(sensor[s].init_trigger_name, trigger_name);
604 static void update_sensor_matching_trigger_name (char name[MAX_NAME_SIZE])
607 * Check if we have a sensor matching the specified trigger name,
608 * which should then begin with the sensor name, and end with a number
609 * equal to the iio device number the sensor is associated to. If so,
610 * update the string we're going to write to trigger/current_trigger
611 * when enabling this sensor.
621 * First determine the iio device number this trigger refers to. We
622 * expect the last few characters (typically one) of the trigger name
623 * to be this number, so perform a few checks.
625 len = strnlen(name, MAX_NAME_SIZE);
630 cursor = name + len - 1;
632 if (!isdigit(*cursor))
635 while (len && isdigit(*cursor)) {
640 dev_num = atoi(cursor+1);
642 /* See if that matches a sensor */
643 for (s=0; s<sensor_count; s++)
644 if (sensor[s].dev_num == dev_num) {
646 sensor_name_len = strlen(sensor[s].internal_name);
649 sensor[s].internal_name,
651 /* Switch to new trigger if appropriate */
652 propose_new_trigger(s, name, sensor_name_len);
657 static void setup_trigger_names (void)
659 char filename[PATH_MAX];
660 char buf[MAX_NAME_SIZE];
666 /* By default, use the name-dev convention that most drivers use */
667 for (s=0; s<sensor_count; s++)
668 snprintf(sensor[s].init_trigger_name,
669 MAX_NAME_SIZE, "%s-dev%d",
670 sensor[s].internal_name, sensor[s].dev_num);
672 /* Now have a look to /sys/bus/iio/devices/triggerX entries */
674 for (trigger=0; trigger<MAX_TRIGGERS; trigger++) {
676 snprintf(filename, sizeof(filename), TRIGGER_FILE_PATH,trigger);
678 ret = sysfs_read_str(filename, buf, sizeof(buf));
683 /* Record initial and any-motion triggers names */
684 update_sensor_matching_trigger_name(buf);
688 * Certain drivers expose only motion triggers even though they should
689 * be continous. For these, use the default trigger name as the motion
690 * trigger. The code generating intermediate events is dependent on
691 * motion_trigger_name being set to a non empty string.
694 for (s=0; s<sensor_count; s++)
695 if ((sensor[s].quirks & QUIRK_TERSE_DRIVER) &&
696 sensor[s].motion_trigger_name[0] == '\0')
697 strcpy( sensor[s].motion_trigger_name,
698 sensor[s].init_trigger_name);
700 for (s=0; s<sensor_count; s++)
701 if (sensor[s].num_channels) {
702 ALOGI("Sensor %d (%s) default trigger: %s\n", s,
703 sensor[s].friendly_name,
704 sensor[s].init_trigger_name);
705 if (sensor[s].motion_trigger_name[0])
706 ALOGI("Sensor %d (%s) motion trigger: %s\n",
707 s, sensor[s].friendly_name,
708 sensor[s].motion_trigger_name);
713 static void uncalibrated_gyro_check (void)
715 unsigned int has_gyr = 0;
716 unsigned int dev_num;
721 int catalog_size = CATALOG_SIZE; /* Avoid GCC sign comparison warning */
723 if (sensor_count == MAX_SENSORS)
725 /* Checking to see if we have a gyroscope - we can only have uncal if we have the base sensor */
726 for (i=0; i < sensor_count; i++)
727 if (sensor[i].type == SENSOR_TYPE_GYROSCOPE) {
734 uncal_idx = sensor_count;
735 sensor[uncal_idx].base_count = 1;
736 sensor[uncal_idx].base[0] = cal_idx;
738 for (i=0; i<catalog_size; i++)
739 if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
740 add_virtual_sensor(i);
747 void enumerate_sensors (void)
750 * Discover supported sensors and allocate control structures for them.
751 * Multiple sensors can potentially rely on a single iio device (each
752 * using their own channels). We can't have multiple sensors of the same
753 * type on the same device. In case of detection as both a poll-mode
754 * and trigger-based sensor, use the trigger usage mode.
756 char poll_sensors[CATALOG_SIZE];
757 char trig_sensors[CATALOG_SIZE];
762 for (dev_num=0; dev_num<MAX_DEVICES; dev_num++) {
765 discover_poll_sensors(dev_num, poll_sensors);
766 discover_trig_sensors(dev_num, trig_sensors);
768 for (i=0; i<CATALOG_SIZE; i++)
769 if (trig_sensors[i]) {
770 add_sensor(dev_num, i, 0);
775 add_sensor(dev_num, i, 1);
778 build_sensor_report_maps(dev_num);
782 ALOGI("Discovered %d sensors\n", sensor_count);
784 /* Set up default - as well as custom - trigger names */
785 setup_trigger_names();
787 /* Make sure Android fall backs to its own orientation sensor */
788 orientation_sensor_check();
791 * Create the uncalibrated counterpart to the compensated gyroscope.
792 * This is is a new sensor type in Android 4.4.
795 uncalibrated_gyro_check();
799 void delete_enumeration_data (void)
802 for (i = 0; i < sensor_count; i++)
803 if (sensor[i].cal_data) {
804 free(sensor[i].cal_data);
805 sensor[i].cal_data = NULL;
806 sensor[i].cal_level = 0;
809 /* Reset sensor count */
814 int get_sensors_list (__attribute__((unused)) struct sensors_module_t* module,
815 struct sensor_t const** list)