2 * Copyright (C) 2014 Intel Corporation.
8 #include <cutils/properties.h>
9 #include <hardware/sensors.h>
11 #include "transform.h"
14 /*----------------------------------------------------------------------------*/
16 /* Macros related to Intel Sensor Hub */
18 #define GRAVITY 9.80665f
22 #define NUMOFACCDATA (8.0f)
24 /* conversion of acceleration data to SI units (m/s^2) */
25 #define CONVERT_A (GRAVITY_EARTH / LSG / NUMOFACCDATA)
26 #define CONVERT_A_X(x) ((float(x)/1000) * (GRAVITY * -1.0))
27 #define CONVERT_A_Y(x) ((float(x)/1000) * (GRAVITY * 1.0))
28 #define CONVERT_A_Z(x) ((float(x)/1000) * (GRAVITY * 1.0))
30 /* conversion of magnetic data to uT units */
31 #define CONVERT_M (1.0f/6.6f)
32 #define CONVERT_M_X (-CONVERT_M)
33 #define CONVERT_M_Y (-CONVERT_M)
34 #define CONVERT_M_Z (CONVERT_M)
36 /* conversion of orientation data to degree units */
37 #define CONVERT_O (1.0f/64.0f)
38 #define CONVERT_O_A (CONVERT_O)
39 #define CONVERT_O_P (CONVERT_O)
40 #define CONVERT_O_R (-CONVERT_O)
42 /*conversion of gyro data to SI units (radian/sec) */
43 #define CONVERT_GYRO ((2000.0f/32767.0f)*((float)M_PI / 180.0f))
44 #define CONVERT_GYRO_X (-CONVERT_GYRO)
45 #define CONVERT_GYRO_Y (-CONVERT_GYRO)
46 #define CONVERT_GYRO_Z (CONVERT_GYRO)
48 #define BIT(x) (1 << (x))
50 inline unsigned int set_bit_range(int start, int end)
53 unsigned int value = 0;
55 for (i = start; i < end; ++i)
60 inline float convert_from_vtf_format(int size, int exponent, unsigned int value)
67 value = value & set_bit_range(0, size*8);
68 if (value & BIT(size*8-1)) {
69 value = ((1LL << (size*8)) - value);
74 exponent = abs(exponent);
75 for (i = 0; i < exponent; ++i) {
78 return mul * sample/divider;
80 return mul * sample * pow(10.0, exponent);
84 // Platform sensor orientation
85 #define DEF_ORIENT_ACCEL_X -1
86 #define DEF_ORIENT_ACCEL_Y -1
87 #define DEF_ORIENT_ACCEL_Z -1
89 #define DEF_ORIENT_GYRO_X 1
90 #define DEF_ORIENT_GYRO_Y 1
91 #define DEF_ORIENT_GYRO_Z 1
94 #define CONVERT_FROM_VTF16(s,d,x) (convert_from_vtf_format(s,d,x))
95 #define CONVERT_A_G_VTF16E14_X(s,d,x) (DEF_ORIENT_ACCEL_X *\
96 convert_from_vtf_format(s,d,x)*GRAVITY)
97 #define CONVERT_A_G_VTF16E14_Y(s,d,x) (DEF_ORIENT_ACCEL_Y *\
98 convert_from_vtf_format(s,d,x)*GRAVITY)
99 #define CONVERT_A_G_VTF16E14_Z(s,d,x) (DEF_ORIENT_ACCEL_Z *\
100 convert_from_vtf_format(s,d,x)*GRAVITY)
102 // Degree/sec to radian/sec
103 #define CONVERT_G_D_VTF16E14_X(s,d,x) (DEF_ORIENT_GYRO_X *\
104 convert_from_vtf_format(s,d,x) * \
105 ((float)M_PI/180.0f))
106 #define CONVERT_G_D_VTF16E14_Y(s,d,x) (DEF_ORIENT_GYRO_Y *\
107 convert_from_vtf_format(s,d,x) * \
108 ((float)M_PI/180.0f))
109 #define CONVERT_G_D_VTF16E14_Z(s,d,x) (DEF_ORIENT_GYRO_Z *\
110 convert_from_vtf_format(s,d,x) * \
111 ((float)M_PI/180.0f))
113 // Milli gauss to micro tesla
114 #define CONVERT_M_MG_VTF16E14_X(s,d,x) (convert_from_vtf_format(s,d,x)/10)
115 #define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x)/10)
116 #define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x)/10)
119 #define ACC_EXPONENT -2
120 #define GYRO_EXPONENT -1
121 #define MAGN_EXPONENT 0
122 #define INC_EXPONENT -1
123 #define ROT_EXPONENT -8
125 /*----------------------------------------------------------------------------*/
127 static int64_t sample_as_int64(unsigned char* sample, struct datum_info_t* type)
134 switch (type->storagebits) {
138 if (type->endianness == 'b')
140 u64 = (u64 << 8) | sample[i];
143 u64 = (u64 << 8) | sample[i];
145 if (type->sign == 'u')
146 return (int64_t) (u64 >> type->shift);
148 return ((int64_t) u64) >> type->shift;
151 if (type->endianness == 'b')
152 u32 = (sample[0] << 24) | (sample[1] << 16) |
153 (sample[2] << 8) | sample[3];
155 u32 = (sample[3] << 24) | (sample[2] << 16) |
156 (sample[1] << 8) | sample[0];
158 if (type->sign == 'u')
159 return u32 >> type->shift;
161 return ((int32_t) u32) >> type->shift;
164 if (type->endianness == 'b')
165 u16 = (sample[0] << 8) | sample[1];
167 u16 = (sample[1] << 8) | sample[0];
169 if (type->sign == 'u')
170 return u16 >> type->shift;
172 return ((int16_t) u16) >> type->shift;
175 ALOGE("Unhandled sample storage size\n");
180 static void finalize_sample_default(int s, struct sensors_event_t* data)
182 int i = sensor_info[s].catalog_index;
183 int sensor_type = sensor_catalog[i].type;
185 switch (sensor_type) {
186 case SENSOR_TYPE_ACCELEROMETER:
188 * Invert x axis orientation from SI units - see
189 * /hardware/libhardware/include/hardware/sensors.h
190 * for a discussion of what Android expects
192 data->data[0] = -data->data[0];
195 case SENSOR_TYPE_GYROSCOPE:
197 if ( fabs(data->data[0]) < 0.1 &&
198 fabs(data->data[1]) < 0.1 &&
199 fabs(data->data[2]) < 0.1) {
209 static float transform_sample_default(int s, int c, unsigned char* sample_data)
211 struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
212 int64_t s64 = sample_as_int64(sample_data, sample_type);
214 /* Apply default scaling rules */
215 return (sensor_info[s].offset + s64) * sensor_info[s].scale;
219 static void finalize_sample_ISH(int s, struct sensors_event_t* data)
221 int i = sensor_info[s].catalog_index;
222 int sensor_type = sensor_catalog[i].type;
223 float pitch, roll, yaw;
225 if (sensor_type == SENSOR_TYPE_ORIENTATION) {
227 pitch = data->data[0];
228 roll = data->data[1];
231 data->data[0] = 360.0 - yaw;
232 data->data[1] = -pitch;
233 data->data[2] = -roll;
238 static float transform_sample_ISH(int s, int c, unsigned char* sample_data)
240 struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
241 int val = (int) sample_as_int64(sample_data, sample_type);
242 int i = sensor_info[s].catalog_index;
243 int sensor_type = sensor_catalog[i].type;
245 switch (sensor_type) {
246 case SENSOR_TYPE_ACCELEROMETER:
249 return CONVERT_A_G_VTF16E14_X(
250 DATA_BYTES, ACC_EXPONENT, val);
253 return CONVERT_A_G_VTF16E14_Y(
254 DATA_BYTES, ACC_EXPONENT, val);
257 return CONVERT_A_G_VTF16E14_Z(
258 DATA_BYTES, ACC_EXPONENT, val);
263 case SENSOR_TYPE_GYROSCOPE:
266 return CONVERT_G_D_VTF16E14_X(
267 DATA_BYTES, GYRO_EXPONENT, val);
270 return CONVERT_G_D_VTF16E14_Y(
271 DATA_BYTES, GYRO_EXPONENT, val);
274 return CONVERT_G_D_VTF16E14_Z(
275 DATA_BYTES, GYRO_EXPONENT, val);
279 case SENSOR_TYPE_MAGNETIC_FIELD:
282 return CONVERT_M_MG_VTF16E14_X(
283 DATA_BYTES, MAGN_EXPONENT, val);
286 return CONVERT_M_MG_VTF16E14_Y(
287 DATA_BYTES, MAGN_EXPONENT, val);
290 return CONVERT_M_MG_VTF16E14_Z(
291 DATA_BYTES, MAGN_EXPONENT, val);
295 case SENSOR_TYPE_ORIENTATION:
296 return convert_from_vtf_format(DATA_BYTES, INC_EXPONENT,
299 case SENSOR_TYPE_ROTATION_VECTOR:
300 return convert_from_vtf_format(DATA_BYTES, ROT_EXPONENT,
308 void select_transform (int s)
310 char prop_name[PROP_NAME_MAX];
311 char prop_val[PROP_VALUE_MAX];
312 int i = sensor_info[s].catalog_index;
313 const char *prefix = sensor_catalog[i].tag;
315 sprintf(prop_name, PROP_BASE, prefix, "transform");
317 if (property_get(prop_name, prop_val, "")) {
318 if (!strcmp(prop_val, "ISH")) {
319 ALOGI( "Using Intel Sensor Hub semantics on %s\n",
320 sensor_info[s].friendly_name);
322 sensor_info[s].ops.transform = transform_sample_ISH;
323 sensor_info[s].ops.finalize = finalize_sample_ISH;
328 sensor_info[s].ops.transform = transform_sample_default;
329 sensor_info[s].ops.finalize = finalize_sample_default;