transform.c

   1 /*
   2  * Copyright (C) 2014 Intel Corporation.
   3  */
   4
   5 #include <stdlib.h>
   6 #include <math.h>
   7 #include <utils/Log.h>
   8 #include <cutils/properties.h>
   9 #include <hardware/sensors.h>
  10 #include "common.h"
  11 #include "transform.h"
  12 #include "utils.h"
  13 #include "calibration.h"
  14
  15 /*----------------------------------------------------------------------------*/
  16
  17 /* Macros related to Intel Sensor Hub */
  18
  19 #define GRAVITY 9.80665f
  20
  21 /* 720 LSG = 1G */
  22 #define LSG                         (1024.0f)
  23 #define NUMOFACCDATA                (8.0f)
  24
  25 /* conversion of acceleration data to SI units (m/s^2) */
  26 #define CONVERT_A                   (GRAVITY_EARTH / LSG / NUMOFACCDATA)
  27 #define CONVERT_A_X(x)              ((float(x)/1000) * (GRAVITY * -1.0))
  28 #define CONVERT_A_Y(x)              ((float(x)/1000) * (GRAVITY * 1.0))
  29 #define CONVERT_A_Z(x)              ((float(x)/1000) * (GRAVITY * 1.0))
  30
  31 /* conversion of magnetic data to uT units */
  32 #define CONVERT_M                   (1.0f/6.6f)
  33 #define CONVERT_M_X                 (-CONVERT_M)
  34 #define CONVERT_M_Y                 (-CONVERT_M)
  35 #define CONVERT_M_Z                 (CONVERT_M)
  36
  37 #define CONVERT_GAUSS_TO_MICROTESLA(x)        ( (x) * 100 )
  38
  39 /* conversion of orientation data to degree units */
  40 #define CONVERT_O                   (1.0f/64.0f)
  41 #define CONVERT_O_A                 (CONVERT_O)
  42 #define CONVERT_O_P                 (CONVERT_O)
  43 #define CONVERT_O_R                 (-CONVERT_O)
  44
  45 /*conversion of gyro data to SI units (radian/sec) */
  46 #define CONVERT_GYRO                ((2000.0f/32767.0f)*((float)M_PI / 180.0f))
  47 #define CONVERT_GYRO_X              (-CONVERT_GYRO)
  48 #define CONVERT_GYRO_Y              (-CONVERT_GYRO)
  49 #define CONVERT_GYRO_Z              (CONVERT_GYRO)
  50
  51 #define BIT(x) (1 << (x))
  52
  53 inline unsigned int set_bit_range(int start, int end)
  54 {
  55     int i;
  56     unsigned int value = 0;
  57
  58     for (i = start; i < end; ++i)
  59         value |= BIT(i);
  60     return value;
  61 }
  62
  63 inline float convert_from_vtf_format(int size, int exponent, unsigned int value)
  64 {
  65     int divider=1;
  66     int i;
  67     float sample;
  68     int mul = 1.0;
  69
  70     value = value & set_bit_range(0, size*8);
  71     if (value & BIT(size*8-1)) {
  72         value =  ((1LL << (size*8)) - value);
  73         mul = -1.0;
  74     }
  75     sample = value * 1.0;
  76     if (exponent < 0) {
  77         exponent = abs(exponent);
  78         for (i = 0; i < exponent; ++i) {
  79             divider = divider*10;
  80         }
  81         return mul * sample/divider;
  82     } else {
  83         return mul * sample * pow(10.0, exponent);
  84     }
  85 }
  86
  87 // Platform sensor orientation
  88 #define DEF_ORIENT_ACCEL_X                   -1
  89 #define DEF_ORIENT_ACCEL_Y                   -1
  90 #define DEF_ORIENT_ACCEL_Z                   -1
  91
  92 #define DEF_ORIENT_GYRO_X                   1
  93 #define DEF_ORIENT_GYRO_Y                   1
  94 #define DEF_ORIENT_GYRO_Z                   1
  95
  96 // G to m/s2
  97 #define CONVERT_FROM_VTF16(s,d,x)      (convert_from_vtf_format(s,d,x))
  98 #define CONVERT_A_G_VTF16E14_X(s,d,x)  (DEF_ORIENT_ACCEL_X *\
  99                                         convert_from_vtf_format(s,d,x)*GRAVITY)
 100 #define CONVERT_A_G_VTF16E14_Y(s,d,x)  (DEF_ORIENT_ACCEL_Y *\
 101                                         convert_from_vtf_format(s,d,x)*GRAVITY)
 102 #define CONVERT_A_G_VTF16E14_Z(s,d,x)  (DEF_ORIENT_ACCEL_Z *\
 103                                         convert_from_vtf_format(s,d,x)*GRAVITY)
 104
 105 // Degree/sec to radian/sec
 106 #define CONVERT_G_D_VTF16E14_X(s,d,x)  (DEF_ORIENT_GYRO_X *\
 107                                         convert_from_vtf_format(s,d,x) * \
 108                                         ((float)M_PI/180.0f))
 109 #define CONVERT_G_D_VTF16E14_Y(s,d,x)  (DEF_ORIENT_GYRO_Y *\
 110                                         convert_from_vtf_format(s,d,x) * \
 111                                         ((float)M_PI/180.0f))
 112 #define CONVERT_G_D_VTF16E14_Z(s,d,x)  (DEF_ORIENT_GYRO_Z *\
 113                                         convert_from_vtf_format(s,d,x) * \
 114                                         ((float)M_PI/180.0f))
 115
 116 // Milli gauss to micro tesla
 117 #define CONVERT_M_MG_VTF16E14_X(s,d,x) (convert_from_vtf_format(s,d,x)/10)
 118 #define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x)/10)
 119 #define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x)/10)
 120
 121
 122 /*----------------------------------------------------------------------------*/
 123
 124 static int64_t sample_as_int64(unsigned char* sample, struct datum_info_t* type)
 125 {
 126         uint16_t u16;
 127         uint32_t u32;
 128         uint64_t u64;
 129         int i;
 130         int zeroed_bits = type->storagebits - type->realbits;
 131
 132         u64 = 0;
 133
 134         if (type->endianness == 'b')
 135                 for (i=0; i<type->storagebits/8; i++)
 136                         u64 = (u64 << 8) | sample[i];
 137         else
 138                 for (i=type->storagebits/8 - 1; i>=0; i--)
 139                         u64 = (u64 << 8) | sample[i];
 140
 141         u64 = (u64 >> type->shift) & (~0ULL >> zeroed_bits);
 142
 143         if (type->sign == 'u')
 144                 return (int64_t) u64; /* We don't handle unsigned 64 bits int */
 145
 146         switch (type->realbits) {
 147                 case 8:
 148                         return (int64_t) (int8_t) u64;
 149
 150                 case 12:
 151                         return (int64_t)  (u64 >>  11) ?
 152                                         (((int64_t)-1) ^ 0xfff) | u64 : u64;
 153
 154                 case 16:
 155                         return (int64_t) (int16_t) u64;
 156
 157                 case 32:
 158                         return (int64_t) (int32_t) u64;
 159
 160                 case 64:
 161                         return (int64_t) u64;
 162         }
 163
 164         ALOGE("Unhandled sample storage size\n");
 165         return 0;
 166 }
 167
 168
 169 static int finalize_sample_default(int s, struct sensors_event_t* data)
 170 {
 171         int i           = sensor_info[s].catalog_index;
 172         int sensor_type = sensor_catalog[i].type;
 173
 174         switch (sensor_type) {
 175                 case SENSOR_TYPE_ACCELEROMETER:
 176                         break;
 177
 178                 case SENSOR_TYPE_MAGNETIC_FIELD:
 179                         calibrate_compass (data, &sensor_info[s], get_timestamp());
 180                         break;
 181
 182                 case SENSOR_TYPE_GYROSCOPE:
 183                         calibrate_gyro(data, &sensor_info[s]);
 184                         break;
 185
 186                 case SENSOR_TYPE_LIGHT:
 187                 case SENSOR_TYPE_AMBIENT_TEMPERATURE:
 188                 case SENSOR_TYPE_TEMPERATURE:
 189                         /* Only keep two decimals for these readings */
 190                         data->data[0] = 0.01 * ((int) (data->data[0] * 100));
 191
 192                         /*
 193                          * These are on change sensors ; drop the sample if it
 194                          * has the same value as the previously reported one.
 195                          */
 196                         if (data->data[0] == sensor_info[s].prev_val)
 197                                 return 0;
 198
 199                         sensor_info[s].prev_val = data->data[0];
 200                         break;
 201         }
 202
 203         return 1; /* Return sample to Android */
 204 }
 205
 206
 207 static float transform_sample_default(int s, int c, unsigned char* sample_data)
 208 {
 209         struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
 210         int64_t              s64 = sample_as_int64(sample_data, sample_type);
 211         float scale = sensor_info[s].scale ?
 212                         sensor_info[s].scale : sensor_info[s].channel[c].scale;
 213
 214         /* In case correction has been requested using properties, apply it */
 215         scale *= sensor_info[s].channel[c].opt_scale;
 216
 217         /* Apply default scaling rules */
 218         return (sensor_info[s].offset + s64) * scale;
 219 }
 220
 221
 222 static int finalize_sample_ISH(int s, struct sensors_event_t* data)
 223 {
 224         int i           = sensor_info[s].catalog_index;
 225         int sensor_type = sensor_catalog[i].type;
 226         float pitch, roll, yaw;
 227
 228         if (sensor_type == SENSOR_TYPE_ORIENTATION) {
 229
 230                 pitch = data->data[0];
 231                 roll = data->data[1];
 232                 yaw = data->data[2];
 233
 234                 data->data[0] = 360.0 - yaw;
 235                 data->data[1] = -pitch;
 236                 data->data[2] = -roll;
 237         }
 238
 239         return 1; /* Return sample to Android */
 240 }
 241
 242
 243 static float transform_sample_ISH(int s, int c, unsigned char* sample_data)
 244 {
 245         struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
 246         int val         = (int) sample_as_int64(sample_data, sample_type);
 247         int i           = sensor_info[s].catalog_index;
 248         int sensor_type = sensor_catalog[i].type;
 249         float correction;
 250         int data_bytes  = (sample_type->realbits)/8;
 251         int exponent    = sensor_info[s].offset;
 252
 253         /* In case correction has been requested using properties, apply it */
 254         correction = sensor_info[s].channel[c].opt_scale;
 255
 256         switch (sensor_type) {
 257                 case SENSOR_TYPE_ACCELEROMETER:
 258                         switch (c) {
 259                                 case 0:
 260                                         return  correction *
 261                                                 CONVERT_A_G_VTF16E14_X(
 262                                                 data_bytes, exponent, val);
 263
 264                                 case 1:
 265                                         return  correction *
 266                                                 CONVERT_A_G_VTF16E14_Y(
 267                                                 data_bytes, exponent, val);
 268
 269                                 case 2:
 270                                         return  correction *
 271                                                 CONVERT_A_G_VTF16E14_Z(
 272                                                 data_bytes, exponent, val);
 273                         }
 274                         break;
 275
 276
 277                 case SENSOR_TYPE_GYROSCOPE:
 278                         switch (c) {
 279                                 case 0:
 280                                         return  correction *
 281                                                 CONVERT_G_D_VTF16E14_X(
 282                                                 data_bytes, exponent, val);
 283
 284                                 case 1:
 285                                         return  correction *
 286                                                 CONVERT_G_D_VTF16E14_Y(
 287                                                 data_bytes, exponent, val);
 288
 289                                 case 2:
 290                                         return  correction *
 291                                                 CONVERT_G_D_VTF16E14_Z(
 292                                                 data_bytes, exponent, val);
 293                         }
 294                         break;
 295
 296                 case SENSOR_TYPE_MAGNETIC_FIELD:
 297                         switch (c) {
 298                                 case 0:
 299                                         return  correction *
 300                                                 CONVERT_M_MG_VTF16E14_X(
 301                                                 data_bytes, exponent, val);
 302
 303                                 case 1:
 304                                         return  correction *
 305                                                 CONVERT_M_MG_VTF16E14_Y(
 306                                                 data_bytes, exponent, val);
 307
 308                                 case 2:
 309                                         return  correction *
 310                                                 CONVERT_M_MG_VTF16E14_Z(
 311                                                 data_bytes, exponent, val);
 312                         }
 313                         break;
 314
 315                 case SENSOR_TYPE_LIGHT:
 316                                 return (float) val;
 317
 318                 case SENSOR_TYPE_ORIENTATION:
 319                         return  correction * convert_from_vtf_format(
 320                                                 data_bytes, exponent, val);
 321
 322                 case SENSOR_TYPE_ROTATION_VECTOR:
 323                         return  correction * convert_from_vtf_format(
 324                                                 data_bytes, exponent, val);
 325         }
 326
 327         return 0;
 328 }
 329
 330
 331 void select_transform (int s)
 332 {
 333         char prop_name[PROP_NAME_MAX];
 334         char prop_val[PROP_VALUE_MAX];
 335         int i                   = sensor_info[s].catalog_index;
 336         const char *prefix      = sensor_catalog[i].tag;
 337
 338         sprintf(prop_name, PROP_BASE, prefix, "transform");
 339
 340         if (property_get(prop_name, prop_val, "")) {
 341                 if (!strcmp(prop_val, "ISH")) {
 342                         ALOGI(  "Using Intel Sensor Hub semantics on %s\n",
 343                                 sensor_info[s].friendly_name);
 344
 345                         sensor_info[s].ops.transform = transform_sample_ISH;
 346                         sensor_info[s].ops.finalize = finalize_sample_ISH;
 347                         return;
 348                 }
 349         }
 350
 351         sensor_info[s].ops.transform = transform_sample_default;
 352         sensor_info[s].ops.finalize = finalize_sample_default;
 353 }
 354
 355
 356 float acquire_immediate_value(int s, int c)
 357 {
 358         char sysfs_path[PATH_MAX];
 359         float val;
 360         int ret;
 361         int dev_num = sensor_info[s].dev_num;
 362         int i = sensor_info[s].catalog_index;
 363         const char* raw_path = sensor_catalog[i].channel[c].raw_path;
 364         const char* input_path = sensor_catalog[i].channel[c].input_path;
 365         float scale = sensor_info[s].scale ?
 366                         sensor_info[s].scale : sensor_info[s].channel[c].scale;
 367         float offset = sensor_info[s].offset;
 368         int sensor_type = sensor_catalog[i].type;
 369         float correction;
 370
 371         /* In case correction has been requested using properties, apply it */
 372         correction = sensor_info[s].channel[c].opt_scale;
 373
 374         /* Acquire a sample value for sensor s / channel c through sysfs */
 375
 376         if (input_path[0]) {
 377                 sprintf(sysfs_path, BASE_PATH "%s", dev_num, input_path);
 378                 ret = sysfs_read_float(sysfs_path, &val);
 379
 380                 if (!ret) {
 381                         return val * correction;
 382                 }
 383         };
 384
 385         if (!raw_path[0])
 386                 return 0;
 387
 388         sprintf(sysfs_path, BASE_PATH "%s", dev_num, raw_path);
 389         ret = sysfs_read_float(sysfs_path, &val);
 390
 391         if (ret == -1)
 392                 return 0;
 393
 394         /*
 395         There is no transform ops defined yet for Raw sysfs values
 396         Use this function to perform transformation as well.
 397         */
 398         if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD)
 399                 return  CONVERT_GAUSS_TO_MICROTESLA ((val + offset) * scale) *
 400                         correction;
 401
 402         return (val + offset) * scale * correction;
 403 }