2 * Copyright (C) 2014-2015 Intel Corporation.
8 #include <cutils/properties.h>
9 #include <hardware/sensors.h>
10 #include "calibration.h"
12 #include "description.h"
13 #include "transform.h"
15 #include "filtering.h"
16 #include "enumeration.h"
18 #define GYRO_MIN_SAMPLES 5 /* Drop first few gyro samples after enable */
21 /*----------------------------------------------------------------------------*/
24 /* Macros related to Intel Sensor Hub */
26 #define GRAVITY 9.80665
30 #define NUMOFACCDATA 8.0
32 /* Conversion of acceleration data to SI units (m/s^2) */
33 #define CONVERT_A (GRAVITY_EARTH / LSG / NUMOFACCDATA)
34 #define CONVERT_A_X(x) ((float(x) / 1000) * (GRAVITY * -1.0))
35 #define CONVERT_A_Y(x) ((float(x) / 1000) * (GRAVITY * 1.0))
36 #define CONVERT_A_Z(x) ((float(x) / 1000) * (GRAVITY * 1.0))
38 /* Conversion of magnetic data to uT units */
39 #define CONVERT_M (1.0 / 6.6)
40 #define CONVERT_M_X (-CONVERT_M)
41 #define CONVERT_M_Y (-CONVERT_M)
42 #define CONVERT_M_Z (CONVERT_M)
44 /* Conversion of orientation data to degree units */
45 #define CONVERT_O (1.0 / 64)
46 #define CONVERT_O_A (CONVERT_O)
47 #define CONVERT_O_P (CONVERT_O)
48 #define CONVERT_O_R (-CONVERT_O)
50 /* Conversion of gyro data to SI units (radian/sec) */
51 #define CONVERT_GYRO (2000.0 / 32767 * M_PI / 180)
52 #define CONVERT_GYRO_X (-CONVERT_GYRO)
53 #define CONVERT_GYRO_Y (-CONVERT_GYRO)
54 #define CONVERT_GYRO_Z (CONVERT_GYRO)
56 #define BIT(x) (1 << (x))
58 #define PROXIMITY_THRESHOLD 1
60 inline unsigned int set_bit_range (int start, int end)
63 unsigned int value = 0;
65 for (i = start; i < end; ++i)
71 inline float convert_from_vtf_format (int size, int exponent, unsigned int value)
78 value = value & set_bit_range(0, size * 8);
80 if (value & BIT(size*8-1)) {
81 value = ((1LL << (size * 8)) - value);
88 exponent = abs(exponent);
89 for (i = 0; i < exponent; ++i)
90 divider = divider * 10;
92 return mul * sample/divider;
95 return mul * sample * pow(10.0, exponent);
98 /* Platform sensor orientation */
99 #define DEF_ORIENT_ACCEL_X -1
100 #define DEF_ORIENT_ACCEL_Y -1
101 #define DEF_ORIENT_ACCEL_Z -1
103 #define DEF_ORIENT_GYRO_X 1
104 #define DEF_ORIENT_GYRO_Y 1
105 #define DEF_ORIENT_GYRO_Z 1
108 #define CONVERT_FROM_VTF16(s,d,x) convert_from_vtf_format(s,d,x)
109 #define CONVERT_A_G_VTF16E14_X(s,d,x) (DEF_ORIENT_ACCEL_X * convert_from_vtf_format(s,d,x) * GRAVITY)
110 #define CONVERT_A_G_VTF16E14_Y(s,d,x) (DEF_ORIENT_ACCEL_Y * convert_from_vtf_format(s,d,x) * GRAVITY)
111 #define CONVERT_A_G_VTF16E14_Z(s,d,x) (DEF_ORIENT_ACCEL_Z * convert_from_vtf_format(s,d,x) * GRAVITY)
113 /* Degree/sec to radian/sec */
114 #define CONVERT_G_D_VTF16E14_X(s,d,x) (DEF_ORIENT_GYRO_X * convert_from_vtf_format(s,d,x) * M_PI / 180)
115 #define CONVERT_G_D_VTF16E14_Y(s,d,x) (DEF_ORIENT_GYRO_Y * convert_from_vtf_format(s,d,x) * M_PI / 180)
116 #define CONVERT_G_D_VTF16E14_Z(s,d,x) (DEF_ORIENT_GYRO_Z * convert_from_vtf_format(s,d,x) * M_PI / 180)
118 /* Milli gauss to micro tesla */
119 #define CONVERT_M_MG_VTF16E14_X(s,d,x) (convert_from_vtf_format(s,d,x) / 10)
120 #define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x) / 10)
121 #define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x) / 10)
124 static int64_t sample_as_int64 (unsigned char* sample, datum_info_t* type)
128 int zeroed_bits = type->storagebits - type->realbits;
134 if (type->endianness == 'b')
135 for (i=0; i<type->storagebits/8; i++)
136 u64 = (u64 << 8) | sample[i];
138 for (i=type->storagebits/8 - 1; i>=0; i--)
139 u64 = (u64 << 8) | sample[i];
141 u64 = (u64 >> type->shift) & (~0ULL >> zeroed_bits);
143 if (type->sign == 'u')
144 return (int64_t) u64; /* We don't handle unsigned 64 bits int */
148 switch (type->realbits) {
153 return (int64_t) (int8_t) u64;
156 return (int64_t) (int16_t) u64;
159 return (int64_t) (int32_t) u64;
162 return (int64_t) u64;
165 sign_mask = 1 << (type->realbits-1);
166 value_mask = sign_mask - 1;
169 return - ((~u64 & value_mask) + 1); /* Negative value: return 2-complement */
171 return (int64_t) u64; /* Positive value */
176 static void reorder_fields (float* data, unsigned char map[MAX_CHANNELS])
179 float temp[MAX_CHANNELS];
181 for (i=0; i<MAX_CHANNELS; i++)
182 temp[i] = data[map[i]];
184 for (i=0; i<MAX_CHANNELS; i++)
188 static void mount_correction (float* data, float mm[9])
194 temp[i] = data[0] * mm[i * 3] + data[1] * mm[i * 3 + 1] + data[2] * mm[i * 3 + 2];
200 static void clamp_gyro_readings_to_zero (int s, sensors_event_t* data)
209 /* If we're calibrated, don't filter out as much */
210 if (sensor[s].cal_level > 0)
211 near_zero = 0.02; /* rad/s */
215 /* If motion on all axes is small enough */
216 if (fabs(x) < near_zero && fabs(y) < near_zero && fabs(z) < near_zero) {
219 * Report that we're not moving at all... but not exactly zero as composite sensors (orientation, rotation vector) don't
220 * seem to react very well to it.
223 data->data[0] *= 0.000001;
224 data->data[1] *= 0.000001;
225 data->data[2] *= 0.000001;
230 static void process_event_gyro_uncal (int s, int i, sensors_event_t* data)
232 gyro_cal_t* gyro_data;
234 if (sensor[s].type == SENSOR_TYPE_GYROSCOPE) {
235 gyro_data = (gyro_cal_t*) sensor[s].cal_data;
237 memcpy(&sensor[i].sample, data, sizeof(sensors_event_t));
239 sensor[i].sample.type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED;
240 sensor[i].sample.sensor = s;
242 sensor[i].sample.data[0] = data->data[0] + gyro_data->bias_x;
243 sensor[i].sample.data[1] = data->data[1] + gyro_data->bias_y;
244 sensor[i].sample.data[2] = data->data[2] + gyro_data->bias_z;
246 sensor[i].sample.uncalibrated_gyro.bias[0] = gyro_data->bias_x;
247 sensor[i].sample.uncalibrated_gyro.bias[1] = gyro_data->bias_y;
248 sensor[i].sample.uncalibrated_gyro.bias[2] = gyro_data->bias_z;
250 sensor[i].report_pending = 1;
254 static void process_event_magn_uncal (int s, int i, sensors_event_t* data)
256 compass_cal_t* magn_data;
258 if (sensor[s].type == SENSOR_TYPE_MAGNETIC_FIELD) {
259 magn_data = (compass_cal_t*) sensor[s].cal_data;
261 memcpy(&sensor[i].sample, data, sizeof(sensors_event_t));
263 sensor[i].sample.type = SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED;
264 sensor[i].sample.sensor = s;
266 sensor[i].sample.data[0] = data->data[0] + magn_data->offset[0][0];
267 sensor[i].sample.data[1] = data->data[1] + magn_data->offset[1][0];
268 sensor[i].sample.data[2] = data->data[2] + magn_data->offset[2][0];
270 sensor[i].sample.uncalibrated_magnetic.bias[0] = magn_data->offset[0][0];
271 sensor[i].sample.uncalibrated_magnetic.bias[1] = magn_data->offset[1][0];
272 sensor[i].sample.uncalibrated_magnetic.bias[2] = magn_data->offset[2][0];
274 sensor[i].report_pending = 1;
278 static void process_event (int s, sensors_event_t* data)
281 * This gets the real event (post process - calibration, filtering & co.) and makes it into a virtual one.
282 * The specific processing function for each sensor will populate the necessary fields and set up the report pending flag.
287 /* Go through out virtual sensors and check if we can use this event */
288 for (i = 0; i < sensor_count; i++)
289 switch (sensor[i].type) {
290 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
291 process_event_gyro_uncal(s, i, data);
293 case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
294 process_event_magn_uncal(s, i, data);
302 static int finalize_sample_default (int s, sensors_event_t* data)
304 /* Swap fields if we have a custom channel ordering on this sensor */
305 if (sensor[s].quirks & QUIRK_FIELD_ORDERING)
306 reorder_fields(data->data, sensor[s].order);
307 if (sensor[s].quirks & QUIRK_MOUNTING_MATRIX)
308 mount_correction(data->data, sensor[s].mounting_matrix);
310 sensor[s].event_count++;
312 switch (sensor[s].type) {
313 case SENSOR_TYPE_ACCELEROMETER:
314 /* Always consider the accelerometer accurate */
315 data->acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;
316 if (sensor[s].quirks & QUIRK_BIASED)
317 calibrate_accel(s, data);
321 case SENSOR_TYPE_MAGNETIC_FIELD:
322 calibrate_compass (s, data);
326 case SENSOR_TYPE_GYROSCOPE:
328 /* Report medium accuracy by default ; higher accuracy levels will be reported once, and if, we achieve calibration. */
329 data->gyro.status = SENSOR_STATUS_ACCURACY_MEDIUM;
332 * We're only trying to calibrate data from continuously firing gyroscope drivers, as motion based ones use
333 * movement thresholds that may lead us to incorrectly estimate bias.
335 if (sensor[s].selected_trigger !=
336 sensor[s].motion_trigger_name)
337 calibrate_gyro(s, data);
340 * For noisy sensors drop a few samples to make sure we have at least GYRO_MIN_SAMPLES events in the
341 * filtering queue. This improves mean and std dev.
343 if (sensor[s].filter_type) {
344 if (sensor[s].selected_trigger !=
345 sensor[s].motion_trigger_name &&
346 sensor[s].event_count < GYRO_MIN_SAMPLES)
352 /* Clamp near zero moves to (0,0,0) if appropriate */
353 clamp_gyro_readings_to_zero(s, data);
356 case SENSOR_TYPE_PROXIMITY:
358 * See iio spec for in_proximity* - depending on the device
359 * this value is either in meters either unit-less and cannot
360 * be translated to SI units. Where the translation is not possible
361 * lower values indicate something is close and higher ones indicate distance.
363 if (data->data[0] > PROXIMITY_THRESHOLD)
364 data->data[0] = PROXIMITY_THRESHOLD;
366 /* ... fall through ... */
367 case SENSOR_TYPE_LIGHT:
368 case SENSOR_TYPE_AMBIENT_TEMPERATURE:
369 case SENSOR_TYPE_TEMPERATURE:
370 case SENSOR_TYPE_INTERNAL_ILLUMINANCE:
371 case SENSOR_TYPE_INTERNAL_INTENSITY:
372 /* Only keep two decimals for these readings */
373 data->data[0] = 0.01 * ((int) (data->data[0] * 100));
375 /* These are on change sensors ; drop the sample if it has the same value as the previously reported one. */
376 if (data->data[0] == sensor[s].prev_val.data)
379 sensor[s].prev_val.data = data->data[0];
381 case SENSOR_TYPE_STEP_COUNTER:
382 if (data->u64.step_counter == sensor[s].prev_val.data64)
384 sensor[s].prev_val.data64 = data->u64.data[0];
389 /* If there are active virtual sensors depending on this one - process the event */
390 if (sensor[s].ref_count)
391 process_event(s, data);
394 return 1; /* Return sample to Android */
398 static float transform_sample_default (int s, int c, unsigned char* sample_data)
400 datum_info_t* sample_type = &sensor[s].channel[c].type_info;
401 int64_t s64 = sample_as_int64(sample_data, sample_type);
402 float scale = sensor[s].scale ? sensor[s].scale : sensor[s].channel[c].scale;
404 /* In case correction has been requested using properties, apply it */
405 float correction = sensor[s].channel[c].opt_scale;
407 /* Correlated with "acquire_immediate_value" method */
408 if (sensor[s].type == SENSOR_TYPE_MAGNETIC_FIELD)
409 return CONVERT_GAUSS_TO_MICROTESLA((sensor[s].offset + s64) * scale) * correction;
411 /* Apply default scaling rules */
412 return (sensor[s].offset + s64) * scale * correction;
416 static int finalize_sample_ISH (int s, sensors_event_t* data)
418 float pitch, roll, yaw;
420 /* Swap fields if we have a custom channel ordering on this sensor */
421 if (sensor[s].quirks & QUIRK_FIELD_ORDERING)
422 reorder_fields(data->data, sensor[s].order);
424 if (sensor[s].type == SENSOR_TYPE_ORIENTATION) {
426 pitch = data->data[0];
427 roll = data->data[1];
430 data->data[0] = 360.0 - yaw;
431 data->data[1] = -pitch;
432 data->data[2] = -roll;
435 /* Add this event to our global records, for filtering purposes */
436 record_sample(s, data);
438 return 1; /* Return sample to Android */
442 static float transform_sample_ISH (int s, int c, unsigned char* sample_data)
444 datum_info_t* sample_type = &sensor[s].channel[c].type_info;
445 int val = (int) sample_as_int64(sample_data, sample_type);
447 int data_bytes = (sample_type->realbits)/8;
448 int exponent = sensor[s].offset;
450 /* In case correction has been requested using properties, apply it */
451 correction = sensor[s].channel[c].opt_scale;
453 switch (sensor_desc[s].type) {
454 case SENSOR_TYPE_ACCELEROMETER:
457 return correction * CONVERT_A_G_VTF16E14_X(data_bytes, exponent, val);
460 return correction * CONVERT_A_G_VTF16E14_Y(data_bytes, exponent, val);
463 return correction * CONVERT_A_G_VTF16E14_Z(data_bytes, exponent, val);
467 case SENSOR_TYPE_GYROSCOPE:
470 return correction * CONVERT_G_D_VTF16E14_X(data_bytes, exponent, val);
473 return correction * CONVERT_G_D_VTF16E14_Y(data_bytes, exponent, val);
476 return correction * CONVERT_G_D_VTF16E14_Z(data_bytes, exponent, val);
480 case SENSOR_TYPE_MAGNETIC_FIELD:
483 return correction * CONVERT_M_MG_VTF16E14_X(data_bytes, exponent, val);
486 return correction * CONVERT_M_MG_VTF16E14_Y(data_bytes, exponent, val);
489 return correction * CONVERT_M_MG_VTF16E14_Z(data_bytes, exponent, val);
493 case SENSOR_TYPE_LIGHT:
496 case SENSOR_TYPE_ORIENTATION:
497 return correction * convert_from_vtf_format(data_bytes, exponent, val);
499 case SENSOR_TYPE_ROTATION_VECTOR:
500 return correction * convert_from_vtf_format(data_bytes, exponent, val);
507 void select_transform (int s)
509 char prop_name[PROP_NAME_MAX];
510 char prop_val[PROP_VALUE_MAX];
511 int i = sensor[s].catalog_index;
512 const char *prefix = sensor_catalog[i].tag;
514 sprintf(prop_name, PROP_BASE, prefix, "transform");
516 if (property_get(prop_name, prop_val, ""))
517 if (!strcmp(prop_val, "ISH")) {
518 ALOGI( "Using Intel Sensor Hub semantics on %s\n", sensor[s].friendly_name);
520 sensor[s].ops.transform = transform_sample_ISH;
521 sensor[s].ops.finalize = finalize_sample_ISH;
525 sensor[s].ops.transform = transform_sample_default;
526 sensor[s].ops.finalize = finalize_sample_default;
530 float acquire_immediate_float_value (int s, int c)
532 char sysfs_path[PATH_MAX];
535 int dev_num = sensor[s].dev_num;
536 int i = sensor[s].catalog_index;
537 const char* raw_path = sensor_catalog[i].channel[c].raw_path;
538 const char* input_path = sensor_catalog[i].channel[c].input_path;
539 float scale = sensor[s].scale ? sensor[s].scale : sensor[s].channel[c].scale;
540 float offset = sensor[s].offset;
543 /* In case correction has been requested using properties, apply it */
544 correction = sensor[s].channel[c].opt_scale;
546 /* Acquire a sample value for sensor s / channel c through sysfs */
548 if (sensor[s].channel[c].input_path_present) {
549 sprintf(sysfs_path, BASE_PATH "%s", dev_num, input_path);
550 ret = sysfs_read_float(sysfs_path, &val);
553 if (sensor[s].type == SENSOR_TYPE_MAGNETIC_FIELD)
554 return CONVERT_GAUSS_TO_MICROTESLA (val * correction);
555 return val * correction;
559 if (!sensor[s].channel[c].raw_path_present)
562 sprintf(sysfs_path, BASE_PATH "%s", dev_num, raw_path);
563 ret = sysfs_read_float(sysfs_path, &val);
569 * There is no transform ops defined yet for raw sysfs values.
570 * Use this function to perform transformation as well.
572 if (sensor[s].type == SENSOR_TYPE_MAGNETIC_FIELD)
573 return CONVERT_GAUSS_TO_MICROTESLA ((val + offset) * scale) * correction;
575 return (val + offset) * scale * correction;
578 uint64_t acquire_immediate_uint64_value (int s, int c)
580 char sysfs_path[PATH_MAX];
583 int dev_num = sensor[s].dev_num;
584 int i = sensor[s].catalog_index;
585 const char* raw_path = sensor_catalog[i].channel[c].raw_path;
586 const char* input_path = sensor_catalog[i].channel[c].input_path;
587 float scale = sensor[s].scale ? sensor[s].scale : sensor[s].channel[c].scale;
588 float offset = sensor[s].offset;
589 int sensor_type = sensor_catalog[i].type;
592 /* In case correction has been requested using properties, apply it */
593 correction = sensor[s].channel[c].opt_scale;
595 /* Acquire a sample value for sensor s / channel c through sysfs */
597 if (sensor[s].channel[c].input_path_present) {
598 sprintf(sysfs_path, BASE_PATH "%s", dev_num, input_path);
599 ret = sysfs_read_uint64(sysfs_path, &val);
602 return val * correction;
605 if (!sensor[s].channel[c].raw_path_present)
608 sprintf(sysfs_path, BASE_PATH "%s", dev_num, raw_path);
609 ret = sysfs_read_uint64(sysfs_path, &val);
614 return (val + offset) * scale * correction;