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 #define CONVERT_GAUSS_TO_MICROTESLA(x) ((x) * 100)
46 /* Conversion of orientation data to degree units */
47 #define CONVERT_O (1.0 / 64)
48 #define CONVERT_O_A (CONVERT_O)
49 #define CONVERT_O_P (CONVERT_O)
50 #define CONVERT_O_R (-CONVERT_O)
52 /* Conversion of gyro data to SI units (radian/sec) */
53 #define CONVERT_GYRO (2000.0 / 32767 * M_PI / 180)
54 #define CONVERT_GYRO_X (-CONVERT_GYRO)
55 #define CONVERT_GYRO_Y (-CONVERT_GYRO)
56 #define CONVERT_GYRO_Z (CONVERT_GYRO)
58 #define BIT(x) (1 << (x))
60 #define PROXIMITY_THRESHOLD 1
62 inline unsigned int set_bit_range (int start, int end)
65 unsigned int value = 0;
67 for (i = start; i < end; ++i)
73 inline float convert_from_vtf_format (int size, int exponent, unsigned int value)
80 value = value & set_bit_range(0, size * 8);
82 if (value & BIT(size*8-1)) {
83 value = ((1LL << (size * 8)) - value);
90 exponent = abs(exponent);
91 for (i = 0; i < exponent; ++i)
92 divider = divider * 10;
94 return mul * sample/divider;
97 return mul * sample * pow(10.0, exponent);
100 /* Platform sensor orientation */
101 #define DEF_ORIENT_ACCEL_X -1
102 #define DEF_ORIENT_ACCEL_Y -1
103 #define DEF_ORIENT_ACCEL_Z -1
105 #define DEF_ORIENT_GYRO_X 1
106 #define DEF_ORIENT_GYRO_Y 1
107 #define DEF_ORIENT_GYRO_Z 1
110 #define CONVERT_FROM_VTF16(s,d,x) convert_from_vtf_format(s,d,x)
111 #define CONVERT_A_G_VTF16E14_X(s,d,x) (DEF_ORIENT_ACCEL_X * convert_from_vtf_format(s,d,x) * GRAVITY)
112 #define CONVERT_A_G_VTF16E14_Y(s,d,x) (DEF_ORIENT_ACCEL_Y * convert_from_vtf_format(s,d,x) * GRAVITY)
113 #define CONVERT_A_G_VTF16E14_Z(s,d,x) (DEF_ORIENT_ACCEL_Z * convert_from_vtf_format(s,d,x) * GRAVITY)
115 /* Degree/sec to radian/sec */
116 #define CONVERT_G_D_VTF16E14_X(s,d,x) (DEF_ORIENT_GYRO_X * convert_from_vtf_format(s,d,x) * M_PI / 180)
117 #define CONVERT_G_D_VTF16E14_Y(s,d,x) (DEF_ORIENT_GYRO_Y * convert_from_vtf_format(s,d,x) * M_PI / 180)
118 #define CONVERT_G_D_VTF16E14_Z(s,d,x) (DEF_ORIENT_GYRO_Z * convert_from_vtf_format(s,d,x) * M_PI / 180)
120 /* Milli gauss to micro tesla */
121 #define CONVERT_M_MG_VTF16E14_X(s,d,x) (convert_from_vtf_format(s,d,x) / 10)
122 #define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x) / 10)
123 #define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x) / 10)
126 static int64_t sample_as_int64 (unsigned char* sample, datum_info_t* type)
130 int zeroed_bits = type->storagebits - type->realbits;
136 if (type->endianness == 'b')
137 for (i=0; i<type->storagebits/8; i++)
138 u64 = (u64 << 8) | sample[i];
140 for (i=type->storagebits/8 - 1; i>=0; i--)
141 u64 = (u64 << 8) | sample[i];
143 u64 = (u64 >> type->shift) & (~0ULL >> zeroed_bits);
145 if (type->sign == 'u')
146 return (int64_t) u64; /* We don't handle unsigned 64 bits int */
150 switch (type->realbits) {
155 return (int64_t) (int8_t) u64;
158 return (int64_t) (int16_t) u64;
161 return (int64_t) (int32_t) u64;
164 return (int64_t) u64;
167 sign_mask = 1 << (type->realbits-1);
168 value_mask = sign_mask - 1;
171 return - ((~u64 & value_mask) + 1); /* Negative value: return 2-complement */
173 return (int64_t) u64; /* Positive value */
178 static void reorder_fields (float* data, unsigned char map[MAX_CHANNELS])
181 float temp[MAX_CHANNELS];
183 for (i=0; i<MAX_CHANNELS; i++)
184 temp[i] = data[map[i]];
186 for (i=0; i<MAX_CHANNELS; i++)
191 static void clamp_gyro_readings_to_zero (int s, sensors_event_t* data)
200 /* If we're calibrated, don't filter out as much */
201 if (sensor[s].cal_level > 0)
202 near_zero = 0.02; /* rad/s */
206 /* If motion on all axes is small enough */
207 if (fabs(x) < near_zero && fabs(y) < near_zero && fabs(z) < near_zero) {
210 * Report that we're not moving at all... but not exactly zero as composite sensors (orientation, rotation vector) don't
211 * seem to react very well to it.
214 data->data[0] *= 0.000001;
215 data->data[1] *= 0.000001;
216 data->data[2] *= 0.000001;
221 static void process_event_gyro_uncal (int s, int i, sensors_event_t* data)
223 gyro_cal_t* gyro_data;
225 if (sensor[s].type == SENSOR_TYPE_GYROSCOPE) {
226 gyro_data = (gyro_cal_t*) sensor[s].cal_data;
228 memcpy(&sensor[i].sample, data, sizeof(sensors_event_t));
230 sensor[i].sample.type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED;
231 sensor[i].sample.sensor = s;
233 sensor[i].sample.data[0] = data->data[0] + gyro_data->bias_x;
234 sensor[i].sample.data[1] = data->data[1] + gyro_data->bias_y;
235 sensor[i].sample.data[2] = data->data[2] + gyro_data->bias_z;
237 sensor[i].sample.uncalibrated_gyro.bias[0] = gyro_data->bias_x;
238 sensor[i].sample.uncalibrated_gyro.bias[1] = gyro_data->bias_y;
239 sensor[i].sample.uncalibrated_gyro.bias[2] = gyro_data->bias_z;
241 sensor[i].report_pending = 1;
245 static void process_event_magn_uncal (int s, int i, sensors_event_t* data)
247 compass_cal_t* magn_data;
249 if (sensor[s].type == SENSOR_TYPE_MAGNETIC_FIELD) {
250 magn_data = (compass_cal_t*) sensor[s].cal_data;
252 memcpy(&sensor[i].sample, data, sizeof(sensors_event_t));
254 sensor[i].sample.type = SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED;
255 sensor[i].sample.sensor = s;
257 sensor[i].sample.data[0] = data->data[0] + magn_data->offset[0][0];
258 sensor[i].sample.data[1] = data->data[1] + magn_data->offset[1][0];
259 sensor[i].sample.data[2] = data->data[2] + magn_data->offset[2][0];
261 sensor[i].sample.uncalibrated_magnetic.bias[0] = magn_data->offset[0][0];
262 sensor[i].sample.uncalibrated_magnetic.bias[1] = magn_data->offset[1][0];
263 sensor[i].sample.uncalibrated_magnetic.bias[2] = magn_data->offset[2][0];
265 sensor[i].report_pending = 1;
269 static void process_event (int s, sensors_event_t* data)
272 * This gets the real event (post process - calibration, filtering & co.) and makes it into a virtual one.
273 * The specific processing function for each sensor will populate the necessary fields and set up the report pending flag.
278 /* Go through out virtual sensors and check if we can use this event */
279 for (i = 0; i < sensor_count; i++)
280 switch (sensor[i].type) {
281 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
282 process_event_gyro_uncal(s, i, data);
284 case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
285 process_event_magn_uncal(s, i, data);
293 static int finalize_sample_default (int s, sensors_event_t* data)
295 /* Swap fields if we have a custom channel ordering on this sensor */
296 if (sensor[s].quirks & QUIRK_FIELD_ORDERING)
297 reorder_fields(data->data, sensor[s].order);
299 sensor[s].event_count++;
301 switch (sensor[s].type) {
302 case SENSOR_TYPE_ACCELEROMETER:
303 /* Always consider the accelerometer accurate */
304 data->acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;
305 if (sensor[s].quirks & QUIRK_BIASED)
306 calibrate_accel(s, data);
310 case SENSOR_TYPE_MAGNETIC_FIELD:
311 calibrate_compass (s, data);
315 case SENSOR_TYPE_GYROSCOPE:
317 /* Report medium accuracy by default ; higher accuracy levels will be reported once, and if, we achieve calibration. */
318 data->gyro.status = SENSOR_STATUS_ACCURACY_MEDIUM;
321 * We're only trying to calibrate data from continuously firing gyroscope drivers, as motion based ones use
322 * movement thresholds that may lead us to incorrectly estimate bias.
324 if (sensor[s].selected_trigger !=
325 sensor[s].motion_trigger_name)
326 calibrate_gyro(s, data);
329 * For noisy sensors drop a few samples to make sure we have at least GYRO_MIN_SAMPLES events in the
330 * filtering queue. This improves mean and std dev.
332 if (sensor[s].filter_type) {
333 if (sensor[s].selected_trigger !=
334 sensor[s].motion_trigger_name &&
335 sensor[s].event_count < GYRO_MIN_SAMPLES)
341 /* Clamp near zero moves to (0,0,0) if appropriate */
342 clamp_gyro_readings_to_zero(s, data);
345 case SENSOR_TYPE_PROXIMITY:
347 * See iio spec for in_proximity* - depending on the device
348 * this value is either in meters either unit-less and cannot
349 * be translated to SI units. Where the translation is not possible
350 * lower values indicate something is close and higher ones indicate distance.
352 if (data->data[0] > PROXIMITY_THRESHOLD)
353 data->data[0] = PROXIMITY_THRESHOLD;
355 /* ... fall through ... */
356 case SENSOR_TYPE_LIGHT:
357 case SENSOR_TYPE_AMBIENT_TEMPERATURE:
358 case SENSOR_TYPE_TEMPERATURE:
359 case SENSOR_TYPE_INTERNAL_ILLUMINANCE:
360 case SENSOR_TYPE_INTERNAL_INTENSITY:
361 /* Only keep two decimals for these readings */
362 data->data[0] = 0.01 * ((int) (data->data[0] * 100));
364 /* These are on change sensors ; drop the sample if it has the same value as the previously reported one. */
365 if (data->data[0] == sensor[s].prev_val.data)
368 sensor[s].prev_val.data = data->data[0];
370 case SENSOR_TYPE_STEP_COUNTER:
371 if (data->u64.step_counter == sensor[s].prev_val.data64)
373 sensor[s].prev_val.data64 = data->u64.data[0];
378 /* If there are active virtual sensors depending on this one - process the event */
379 if (sensor[s].ref_count)
380 process_event(s, data);
383 return 1; /* Return sample to Android */
387 static float transform_sample_default (int s, int c, unsigned char* sample_data)
389 datum_info_t* sample_type = &sensor[s].channel[c].type_info;
390 int64_t s64 = sample_as_int64(sample_data, sample_type);
391 float scale = sensor[s].scale ? sensor[s].scale : sensor[s].channel[c].scale;
393 /* In case correction has been requested using properties, apply it */
394 scale *= sensor[s].channel[c].opt_scale;
396 /* Apply default scaling rules */
397 return (sensor[s].offset + s64) * scale;
401 static int finalize_sample_ISH (int s, sensors_event_t* data)
403 float pitch, roll, yaw;
405 /* Swap fields if we have a custom channel ordering on this sensor */
406 if (sensor[s].quirks & QUIRK_FIELD_ORDERING)
407 reorder_fields(data->data, sensor[s].order);
409 if (sensor[s].type == SENSOR_TYPE_ORIENTATION) {
411 pitch = data->data[0];
412 roll = data->data[1];
415 data->data[0] = 360.0 - yaw;
416 data->data[1] = -pitch;
417 data->data[2] = -roll;
420 /* Add this event to our global records, for filtering purposes */
421 record_sample(s, data);
423 return 1; /* Return sample to Android */
427 static float transform_sample_ISH (int s, int c, unsigned char* sample_data)
429 datum_info_t* sample_type = &sensor[s].channel[c].type_info;
430 int val = (int) sample_as_int64(sample_data, sample_type);
432 int data_bytes = (sample_type->realbits)/8;
433 int exponent = sensor[s].offset;
435 /* In case correction has been requested using properties, apply it */
436 correction = sensor[s].channel[c].opt_scale;
438 switch (sensor_desc[s].type) {
439 case SENSOR_TYPE_ACCELEROMETER:
442 return correction * CONVERT_A_G_VTF16E14_X(data_bytes, exponent, val);
445 return correction * CONVERT_A_G_VTF16E14_Y(data_bytes, exponent, val);
448 return correction * CONVERT_A_G_VTF16E14_Z(data_bytes, exponent, val);
452 case SENSOR_TYPE_GYROSCOPE:
455 return correction * CONVERT_G_D_VTF16E14_X(data_bytes, exponent, val);
458 return correction * CONVERT_G_D_VTF16E14_Y(data_bytes, exponent, val);
461 return correction * CONVERT_G_D_VTF16E14_Z(data_bytes, exponent, val);
465 case SENSOR_TYPE_MAGNETIC_FIELD:
468 return correction * CONVERT_M_MG_VTF16E14_X(data_bytes, exponent, val);
471 return correction * CONVERT_M_MG_VTF16E14_Y(data_bytes, exponent, val);
474 return correction * CONVERT_M_MG_VTF16E14_Z(data_bytes, exponent, val);
478 case SENSOR_TYPE_LIGHT:
481 case SENSOR_TYPE_ORIENTATION:
482 return correction * convert_from_vtf_format(data_bytes, exponent, val);
484 case SENSOR_TYPE_ROTATION_VECTOR:
485 return correction * convert_from_vtf_format(data_bytes, exponent, val);
492 void select_transform (int s)
494 char prop_name[PROP_NAME_MAX];
495 char prop_val[PROP_VALUE_MAX];
496 int i = sensor[s].catalog_index;
497 const char *prefix = sensor_catalog[i].tag;
499 sprintf(prop_name, PROP_BASE, prefix, "transform");
501 if (property_get(prop_name, prop_val, ""))
502 if (!strcmp(prop_val, "ISH")) {
503 ALOGI( "Using Intel Sensor Hub semantics on %s\n", sensor[s].friendly_name);
505 sensor[s].ops.transform = transform_sample_ISH;
506 sensor[s].ops.finalize = finalize_sample_ISH;
510 sensor[s].ops.transform = transform_sample_default;
511 sensor[s].ops.finalize = finalize_sample_default;
515 float acquire_immediate_float_value (int s, int c)
517 char sysfs_path[PATH_MAX];
520 int dev_num = sensor[s].dev_num;
521 int i = sensor[s].catalog_index;
522 const char* raw_path = sensor_catalog[i].channel[c].raw_path;
523 const char* input_path = sensor_catalog[i].channel[c].input_path;
524 float scale = sensor[s].scale ? sensor[s].scale : sensor[s].channel[c].scale;
525 float offset = sensor[s].offset;
526 int sensor_type = sensor_catalog[i].type;
529 /* In case correction has been requested using properties, apply it */
530 correction = sensor[s].channel[c].opt_scale;
532 /* Acquire a sample value for sensor s / channel c through sysfs */
534 if (sensor[s].channel[c].input_path_present) {
535 sprintf(sysfs_path, BASE_PATH "%s", dev_num, input_path);
536 ret = sysfs_read_float(sysfs_path, &val);
539 return val * correction;
542 if (!sensor[s].channel[c].raw_path_present)
545 sprintf(sysfs_path, BASE_PATH "%s", dev_num, raw_path);
546 ret = sysfs_read_float(sysfs_path, &val);
552 * There is no transform ops defined yet for raw sysfs values.
553 * Use this function to perform transformation as well.
555 if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD)
556 return CONVERT_GAUSS_TO_MICROTESLA ((val + offset) * scale) * correction;
558 return (val + offset) * scale * correction;
561 uint64_t acquire_immediate_uint64_value (int s, int c)
563 char sysfs_path[PATH_MAX];
566 int dev_num = sensor[s].dev_num;
567 int i = sensor[s].catalog_index;
568 const char* raw_path = sensor_catalog[i].channel[c].raw_path;
569 const char* input_path = sensor_catalog[i].channel[c].input_path;
570 float scale = sensor[s].scale ? sensor[s].scale : sensor[s].channel[c].scale;
571 float offset = sensor[s].offset;
572 int sensor_type = sensor_catalog[i].type;
575 /* In case correction has been requested using properties, apply it */
576 correction = sensor[s].channel[c].opt_scale;
578 /* Acquire a sample value for sensor s / channel c through sysfs */
580 if (sensor[s].channel[c].input_path_present) {
581 sprintf(sysfs_path, BASE_PATH "%s", dev_num, input_path);
582 ret = sysfs_read_uint64(sysfs_path, &val);
585 return val * correction;
588 if (!sensor[s].channel[c].raw_path_present)
591 sprintf(sysfs_path, BASE_PATH "%s", dev_num, raw_path);
592 ret = sysfs_read_uint64(sysfs_path, &val);
597 return (val + offset) * scale * correction;