2 * Copyright (C) 2014 Intel Corporation.
8 #include <cutils/properties.h>
9 #include <hardware/sensors.h>
10 #include "calibration.h"
12 #include "description.h"
13 #include "transform.h"
16 /*----------------------------------------------------------------------------*/
18 /* Macros related to Intel Sensor Hub */
20 #define GRAVITY 9.80665f
24 #define NUMOFACCDATA (8.0f)
26 /* conversion of acceleration data to SI units (m/s^2) */
27 #define CONVERT_A (GRAVITY_EARTH / LSG / NUMOFACCDATA)
28 #define CONVERT_A_X(x) ((float(x)/1000) * (GRAVITY * -1.0))
29 #define CONVERT_A_Y(x) ((float(x)/1000) * (GRAVITY * 1.0))
30 #define CONVERT_A_Z(x) ((float(x)/1000) * (GRAVITY * 1.0))
32 /* conversion of magnetic data to uT units */
33 #define CONVERT_M (1.0f/6.6f)
34 #define CONVERT_M_X (-CONVERT_M)
35 #define CONVERT_M_Y (-CONVERT_M)
36 #define CONVERT_M_Z (CONVERT_M)
38 #define CONVERT_GAUSS_TO_MICROTESLA(x) ( (x) * 100 )
40 /* conversion of orientation data to degree units */
41 #define CONVERT_O (1.0f/64.0f)
42 #define CONVERT_O_A (CONVERT_O)
43 #define CONVERT_O_P (CONVERT_O)
44 #define CONVERT_O_R (-CONVERT_O)
46 /*conversion of gyro data to SI units (radian/sec) */
47 #define CONVERT_GYRO ((2000.0f/32767.0f)*((float)M_PI / 180.0f))
48 #define CONVERT_GYRO_X (-CONVERT_GYRO)
49 #define CONVERT_GYRO_Y (-CONVERT_GYRO)
50 #define CONVERT_GYRO_Z (CONVERT_GYRO)
52 #define BIT(x) (1 << (x))
54 inline unsigned int set_bit_range(int start, int end)
57 unsigned int value = 0;
59 for (i = start; i < end; ++i)
64 inline float convert_from_vtf_format(int size, int exponent, unsigned int value)
71 value = value & set_bit_range(0, size*8);
72 if (value & BIT(size*8-1)) {
73 value = ((1LL << (size*8)) - value);
78 exponent = abs(exponent);
79 for (i = 0; i < exponent; ++i) {
82 return mul * sample/divider;
84 return mul * sample * pow(10.0, exponent);
88 // Platform sensor orientation
89 #define DEF_ORIENT_ACCEL_X -1
90 #define DEF_ORIENT_ACCEL_Y -1
91 #define DEF_ORIENT_ACCEL_Z -1
93 #define DEF_ORIENT_GYRO_X 1
94 #define DEF_ORIENT_GYRO_Y 1
95 #define DEF_ORIENT_GYRO_Z 1
98 #define CONVERT_FROM_VTF16(s,d,x) (convert_from_vtf_format(s,d,x))
99 #define CONVERT_A_G_VTF16E14_X(s,d,x) (DEF_ORIENT_ACCEL_X *\
100 convert_from_vtf_format(s,d,x)*GRAVITY)
101 #define CONVERT_A_G_VTF16E14_Y(s,d,x) (DEF_ORIENT_ACCEL_Y *\
102 convert_from_vtf_format(s,d,x)*GRAVITY)
103 #define CONVERT_A_G_VTF16E14_Z(s,d,x) (DEF_ORIENT_ACCEL_Z *\
104 convert_from_vtf_format(s,d,x)*GRAVITY)
106 // Degree/sec to radian/sec
107 #define CONVERT_G_D_VTF16E14_X(s,d,x) (DEF_ORIENT_GYRO_X *\
108 convert_from_vtf_format(s,d,x) * \
109 ((float)M_PI/180.0f))
110 #define CONVERT_G_D_VTF16E14_Y(s,d,x) (DEF_ORIENT_GYRO_Y *\
111 convert_from_vtf_format(s,d,x) * \
112 ((float)M_PI/180.0f))
113 #define CONVERT_G_D_VTF16E14_Z(s,d,x) (DEF_ORIENT_GYRO_Z *\
114 convert_from_vtf_format(s,d,x) * \
115 ((float)M_PI/180.0f))
117 // Milli gauss to micro tesla
118 #define CONVERT_M_MG_VTF16E14_X(s,d,x) (convert_from_vtf_format(s,d,x)/10)
119 #define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x)/10)
120 #define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x)/10)
123 /*----------------------------------------------------------------------------*/
125 static int64_t sample_as_int64(unsigned char* sample, struct datum_info_t* type)
129 int zeroed_bits = type->storagebits - type->realbits;
135 if (type->endianness == 'b')
136 for (i=0; i<type->storagebits/8; i++)
137 u64 = (u64 << 8) | sample[i];
139 for (i=type->storagebits/8 - 1; i>=0; i--)
140 u64 = (u64 << 8) | sample[i];
142 u64 = (u64 >> type->shift) & (~0ULL >> zeroed_bits);
144 if (type->sign == 'u')
145 return (int64_t) u64; /* We don't handle unsigned 64 bits int */
149 switch (type->realbits) {
154 return (int64_t) (int8_t) u64;
157 return (int64_t) (int16_t) u64;
160 return (int64_t) (int32_t) u64;
163 return (int64_t) u64;
166 sign_mask = 1 << (type->realbits-1);
167 value_mask = sign_mask - 1;
170 /* Negative value: return 2-complement */
171 return - ((~u64 & value_mask) + 1);
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 denoise (struct sensor_info_t* si, struct sensors_event_t* data,
192 int num_fields, int max_samples)
195 * Smooth out incoming data using a moving average over a number of
196 * samples. We accumulate one second worth of samples, or max_samples,
197 * depending on which is lower.
203 int sampling_rate = (int) si->sampling_rate;
206 /* Don't denoise anything if we have less than two samples per second */
207 if (sampling_rate < 2)
210 /* Restrict window size to the min of sampling_rate and max_samples */
211 if (sampling_rate > max_samples)
212 history_size = max_samples;
214 history_size = sampling_rate;
216 /* Reset history if we're operating on an incorrect window size */
217 if (si->history_size != history_size) {
218 si->history_size = history_size;
219 si->history_entries = 0;
220 si->history_index = 0;
221 si->history = (float*) realloc(si->history,
222 si->history_size * num_fields * sizeof(float));
226 return; /* Unlikely, but still... */
228 /* Update initialized samples count */
229 if (si->history_entries < si->history_size)
230 si->history_entries++;
232 /* Record new sample */
233 for (f=0; f < num_fields; f++)
234 si->history[si->history_index * num_fields + f] = data->data[f];
236 /* Update our rolling index (next evicted cell) */
237 si->history_index = (si->history_index + 1) % si->history_size;
239 /* For now simply compute a mobile mean for each field */
240 for (f=0; f < num_fields; f++) {
243 for (i=0; i < si->history_entries; i++)
244 total += si->history[i * num_fields + f];
246 /* Output filtered data */
247 data->data[f] = total / si->history_entries;
252 static int finalize_sample_default(int s, struct sensors_event_t* data)
254 int i = sensor_info[s].catalog_index;
255 int sensor_type = sensor_catalog[i].type;
257 /* Swap fields if we have a custom channel ordering on this sensor */
258 if (sensor_info[s].quirks & QUIRK_FIELD_ORDERING)
259 reorder_fields(data->data, sensor_info[s].order);
261 switch (sensor_type) {
262 case SENSOR_TYPE_ACCELEROMETER:
263 if (sensor_info[s].quirks & QUIRK_NOISY)
264 denoise(&sensor_info[s], data, 3, 20);
267 case SENSOR_TYPE_MAGNETIC_FIELD:
268 calibrate_compass (data, &sensor_info[s], get_timestamp());
269 if (sensor_info[s].quirks & QUIRK_NOISY)
270 denoise(&sensor_info[s], data, 3, 100);
273 case SENSOR_TYPE_GYROSCOPE:
274 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
275 calibrate_gyro(data, &sensor_info[s]);
276 if (sensor_info[s].quirks & QUIRK_NOISY)
277 denoise(&sensor_info[s], data, 3, 20);
280 case SENSOR_TYPE_LIGHT:
281 case SENSOR_TYPE_AMBIENT_TEMPERATURE:
282 case SENSOR_TYPE_TEMPERATURE:
283 /* Only keep two decimals for these readings */
284 data->data[0] = 0.01 * ((int) (data->data[0] * 100));
286 /* ... fall through ... */
288 case SENSOR_TYPE_PROXIMITY:
290 * These are on change sensors ; drop the sample if it
291 * has the same value as the previously reported one.
293 if (data->data[0] == sensor_info[s].prev_val)
296 sensor_info[s].prev_val = data->data[0];
300 return 1; /* Return sample to Android */
304 static float transform_sample_default(int s, int c, unsigned char* sample_data)
306 struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
307 int64_t s64 = sample_as_int64(sample_data, sample_type);
308 float scale = sensor_info[s].scale ?
309 sensor_info[s].scale : sensor_info[s].channel[c].scale;
311 /* In case correction has been requested using properties, apply it */
312 scale *= sensor_info[s].channel[c].opt_scale;
314 /* Apply default scaling rules */
315 return (sensor_info[s].offset + s64) * scale;
319 static int finalize_sample_ISH(int s, struct sensors_event_t* data)
321 int i = sensor_info[s].catalog_index;
322 int sensor_type = sensor_catalog[i].type;
323 float pitch, roll, yaw;
325 /* Swap fields if we have a custom channel ordering on this sensor */
326 if (sensor_info[s].quirks & QUIRK_FIELD_ORDERING)
327 reorder_fields(data->data, sensor_info[s].order);
329 if (sensor_type == SENSOR_TYPE_ORIENTATION) {
331 pitch = data->data[0];
332 roll = data->data[1];
335 data->data[0] = 360.0 - yaw;
336 data->data[1] = -pitch;
337 data->data[2] = -roll;
340 return 1; /* Return sample to Android */
344 static float transform_sample_ISH(int s, int c, unsigned char* sample_data)
346 struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
347 int val = (int) sample_as_int64(sample_data, sample_type);
348 int i = sensor_info[s].catalog_index;
349 int sensor_type = sensor_catalog[i].type;
351 int data_bytes = (sample_type->realbits)/8;
352 int exponent = sensor_info[s].offset;
354 /* In case correction has been requested using properties, apply it */
355 correction = sensor_info[s].channel[c].opt_scale;
357 switch (sensor_type) {
358 case SENSOR_TYPE_ACCELEROMETER:
362 CONVERT_A_G_VTF16E14_X(
363 data_bytes, exponent, val);
367 CONVERT_A_G_VTF16E14_Y(
368 data_bytes, exponent, val);
372 CONVERT_A_G_VTF16E14_Z(
373 data_bytes, exponent, val);
378 case SENSOR_TYPE_GYROSCOPE:
382 CONVERT_G_D_VTF16E14_X(
383 data_bytes, exponent, val);
387 CONVERT_G_D_VTF16E14_Y(
388 data_bytes, exponent, val);
392 CONVERT_G_D_VTF16E14_Z(
393 data_bytes, exponent, val);
397 case SENSOR_TYPE_MAGNETIC_FIELD:
401 CONVERT_M_MG_VTF16E14_X(
402 data_bytes, exponent, val);
406 CONVERT_M_MG_VTF16E14_Y(
407 data_bytes, exponent, val);
411 CONVERT_M_MG_VTF16E14_Z(
412 data_bytes, exponent, val);
416 case SENSOR_TYPE_LIGHT:
419 case SENSOR_TYPE_ORIENTATION:
420 return correction * convert_from_vtf_format(
421 data_bytes, exponent, val);
423 case SENSOR_TYPE_ROTATION_VECTOR:
424 return correction * convert_from_vtf_format(
425 data_bytes, exponent, val);
432 void select_transform (int s)
434 char prop_name[PROP_NAME_MAX];
435 char prop_val[PROP_VALUE_MAX];
436 int i = sensor_info[s].catalog_index;
437 const char *prefix = sensor_catalog[i].tag;
439 sprintf(prop_name, PROP_BASE, prefix, "transform");
441 if (property_get(prop_name, prop_val, "")) {
442 if (!strcmp(prop_val, "ISH")) {
443 ALOGI( "Using Intel Sensor Hub semantics on %s\n",
444 sensor_info[s].friendly_name);
446 sensor_info[s].ops.transform = transform_sample_ISH;
447 sensor_info[s].ops.finalize = finalize_sample_ISH;
452 sensor_info[s].ops.transform = transform_sample_default;
453 sensor_info[s].ops.finalize = finalize_sample_default;
457 float acquire_immediate_value(int s, int c)
459 char sysfs_path[PATH_MAX];
462 int dev_num = sensor_info[s].dev_num;
463 int i = sensor_info[s].catalog_index;
464 const char* raw_path = sensor_catalog[i].channel[c].raw_path;
465 const char* input_path = sensor_catalog[i].channel[c].input_path;
466 float scale = sensor_info[s].scale ?
467 sensor_info[s].scale : sensor_info[s].channel[c].scale;
468 float offset = sensor_info[s].offset;
469 int sensor_type = sensor_catalog[i].type;
472 /* In case correction has been requested using properties, apply it */
473 correction = sensor_info[s].channel[c].opt_scale;
475 /* Acquire a sample value for sensor s / channel c through sysfs */
478 sprintf(sysfs_path, BASE_PATH "%s", dev_num, input_path);
479 ret = sysfs_read_float(sysfs_path, &val);
482 return val * correction;
489 sprintf(sysfs_path, BASE_PATH "%s", dev_num, raw_path);
490 ret = sysfs_read_float(sysfs_path, &val);
496 There is no transform ops defined yet for Raw sysfs values
497 Use this function to perform transformation as well.
499 if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD)
500 return CONVERT_GAUSS_TO_MICROTESLA ((val + offset) * scale) *
503 return (val + offset) * scale * correction;