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 #define CONVERT_GAUSS_TO_MICROTESLA(x) ( (x) * 100 )
38 /* conversion of orientation data to degree units */
39 #define CONVERT_O (1.0f/64.0f)
40 #define CONVERT_O_A (CONVERT_O)
41 #define CONVERT_O_P (CONVERT_O)
42 #define CONVERT_O_R (-CONVERT_O)
44 /*conversion of gyro data to SI units (radian/sec) */
45 #define CONVERT_GYRO ((2000.0f/32767.0f)*((float)M_PI / 180.0f))
46 #define CONVERT_GYRO_X (-CONVERT_GYRO)
47 #define CONVERT_GYRO_Y (-CONVERT_GYRO)
48 #define CONVERT_GYRO_Z (CONVERT_GYRO)
50 #define BIT(x) (1 << (x))
52 inline unsigned int set_bit_range(int start, int end)
55 unsigned int value = 0;
57 for (i = start; i < end; ++i)
62 inline float convert_from_vtf_format(int size, int exponent, unsigned int value)
69 value = value & set_bit_range(0, size*8);
70 if (value & BIT(size*8-1)) {
71 value = ((1LL << (size*8)) - value);
76 exponent = abs(exponent);
77 for (i = 0; i < exponent; ++i) {
80 return mul * sample/divider;
82 return mul * sample * pow(10.0, exponent);
86 // Platform sensor orientation
87 #define DEF_ORIENT_ACCEL_X -1
88 #define DEF_ORIENT_ACCEL_Y -1
89 #define DEF_ORIENT_ACCEL_Z -1
91 #define DEF_ORIENT_GYRO_X 1
92 #define DEF_ORIENT_GYRO_Y 1
93 #define DEF_ORIENT_GYRO_Z 1
96 #define CONVERT_FROM_VTF16(s,d,x) (convert_from_vtf_format(s,d,x))
97 #define CONVERT_A_G_VTF16E14_X(s,d,x) (DEF_ORIENT_ACCEL_X *\
98 convert_from_vtf_format(s,d,x)*GRAVITY)
99 #define CONVERT_A_G_VTF16E14_Y(s,d,x) (DEF_ORIENT_ACCEL_Y *\
100 convert_from_vtf_format(s,d,x)*GRAVITY)
101 #define CONVERT_A_G_VTF16E14_Z(s,d,x) (DEF_ORIENT_ACCEL_Z *\
102 convert_from_vtf_format(s,d,x)*GRAVITY)
104 // Degree/sec to radian/sec
105 #define CONVERT_G_D_VTF16E14_X(s,d,x) (DEF_ORIENT_GYRO_X *\
106 convert_from_vtf_format(s,d,x) * \
107 ((float)M_PI/180.0f))
108 #define CONVERT_G_D_VTF16E14_Y(s,d,x) (DEF_ORIENT_GYRO_Y *\
109 convert_from_vtf_format(s,d,x) * \
110 ((float)M_PI/180.0f))
111 #define CONVERT_G_D_VTF16E14_Z(s,d,x) (DEF_ORIENT_GYRO_Z *\
112 convert_from_vtf_format(s,d,x) * \
113 ((float)M_PI/180.0f))
115 // Milli gauss to micro tesla
116 #define CONVERT_M_MG_VTF16E14_X(s,d,x) (convert_from_vtf_format(s,d,x)/10)
117 #define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x)/10)
118 #define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x)/10)
121 #define ACC_EXPONENT -2
122 #define GYRO_EXPONENT -1
123 #define MAGN_EXPONENT 0
124 #define INC_EXPONENT -1
125 #define ROT_EXPONENT -8
127 /*----------------------------------------------------------------------------*/
129 static int64_t sample_as_int64(unsigned char* sample, struct datum_info_t* type)
135 int zeroed_bits = type->storagebits - type->realbits;
139 if (type->endianness == 'b')
140 for (i=0; i<type->storagebits/8; i++)
141 u64 = (u64 << 8) | sample[i];
143 for (i=type->storagebits/8 - 1; i>=0; i--)
144 u64 = (u64 << 8) | sample[i];
146 u64 = (u64 >> type->shift) & (~0ULL >> zeroed_bits);
148 if (type->sign == 'u')
149 return (int64_t) u64; /* We don't handle unsigned 64 bits int */
151 switch (type->realbits) {
153 return (int64_t) (int8_t) u64;
156 return (int64_t) (u64 >> 11) ?
157 (((int64_t)-1) ^ 0xfff) | u64 : u64;
160 return (int64_t) (int16_t) u64;
163 return (int64_t) (int32_t) u64;
166 return (int64_t) u64;
169 ALOGE("Unhandled sample storage size\n");
174 static void finalize_sample_default(int s, struct sensors_event_t* data)
176 int i = sensor_info[s].catalog_index;
177 int sensor_type = sensor_catalog[i].type;
180 switch (sensor_type) {
181 case SENSOR_TYPE_ACCELEROMETER:
183 * Invert x and z axes orientation from SI units - see
184 * /hardware/libhardware/include/hardware/sensors.h
185 * for a discussion of what Android expects
196 case SENSOR_TYPE_MAGNETIC_FIELD:
206 case SENSOR_TYPE_GYROSCOPE:
212 if (fabs(x) < 0.1 && fabs(y) < 0.1 && fabs(z) < 0.1)
220 case SENSOR_TYPE_AMBIENT_TEMPERATURE:
221 case SENSOR_TYPE_TEMPERATURE:
222 /* Only keep two decimals for temperature readings */
223 data->data[0] = 0.01 * ((int) (data->data[0] * 100));
229 static float transform_sample_default(int s, int c, unsigned char* sample_data)
231 struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
232 int64_t s64 = sample_as_int64(sample_data, sample_type);
234 /* Apply default scaling rules */
235 return (sensor_info[s].offset + s64) * sensor_info[s].scale;
239 static void finalize_sample_ISH(int s, struct sensors_event_t* data)
241 int i = sensor_info[s].catalog_index;
242 int sensor_type = sensor_catalog[i].type;
243 float pitch, roll, yaw;
245 if (sensor_type == SENSOR_TYPE_ORIENTATION) {
247 pitch = data->data[0];
248 roll = data->data[1];
251 data->data[0] = 360.0 - yaw;
252 data->data[1] = -pitch;
253 data->data[2] = -roll;
258 static float transform_sample_ISH(int s, int c, unsigned char* sample_data)
260 struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
261 int val = (int) sample_as_int64(sample_data, sample_type);
262 int i = sensor_info[s].catalog_index;
263 int sensor_type = sensor_catalog[i].type;
265 switch (sensor_type) {
266 case SENSOR_TYPE_ACCELEROMETER:
269 return CONVERT_A_G_VTF16E14_X(
270 DATA_BYTES, ACC_EXPONENT, val);
273 return CONVERT_A_G_VTF16E14_Y(
274 DATA_BYTES, ACC_EXPONENT, val);
277 return CONVERT_A_G_VTF16E14_Z(
278 DATA_BYTES, ACC_EXPONENT, val);
283 case SENSOR_TYPE_GYROSCOPE:
286 return CONVERT_G_D_VTF16E14_X(
287 DATA_BYTES, GYRO_EXPONENT, val);
290 return CONVERT_G_D_VTF16E14_Y(
291 DATA_BYTES, GYRO_EXPONENT, val);
294 return CONVERT_G_D_VTF16E14_Z(
295 DATA_BYTES, GYRO_EXPONENT, val);
299 case SENSOR_TYPE_MAGNETIC_FIELD:
302 return CONVERT_M_MG_VTF16E14_X(
303 DATA_BYTES, MAGN_EXPONENT, val);
306 return CONVERT_M_MG_VTF16E14_Y(
307 DATA_BYTES, MAGN_EXPONENT, val);
310 return CONVERT_M_MG_VTF16E14_Z(
311 DATA_BYTES, MAGN_EXPONENT, val);
315 case SENSOR_TYPE_ORIENTATION:
316 return convert_from_vtf_format(DATA_BYTES, INC_EXPONENT,
319 case SENSOR_TYPE_ROTATION_VECTOR:
320 return convert_from_vtf_format(DATA_BYTES, ROT_EXPONENT,
328 void select_transform (int s)
330 char prop_name[PROP_NAME_MAX];
331 char prop_val[PROP_VALUE_MAX];
332 int i = sensor_info[s].catalog_index;
333 const char *prefix = sensor_catalog[i].tag;
335 sprintf(prop_name, PROP_BASE, prefix, "transform");
337 if (property_get(prop_name, prop_val, "")) {
338 if (!strcmp(prop_val, "ISH")) {
339 ALOGI( "Using Intel Sensor Hub semantics on %s\n",
340 sensor_info[s].friendly_name);
342 sensor_info[s].ops.transform = transform_sample_ISH;
343 sensor_info[s].ops.finalize = finalize_sample_ISH;
348 sensor_info[s].ops.transform = transform_sample_default;
349 sensor_info[s].ops.finalize = finalize_sample_default;
353 float acquire_immediate_value(int s, int c)
355 char sysfs_path[PATH_MAX];
358 int dev_num = sensor_info[s].dev_num;
359 int i = sensor_info[s].catalog_index;
360 const char* raw_path = sensor_catalog[i].channel[c].raw_path;
361 const char* input_path = sensor_catalog[i].channel[c].input_path;
362 float scale = sensor_info[s].scale;
363 float offset = sensor_info[s].offset;
364 int sensor_type = sensor_catalog[i].type;
366 /* Acquire a sample value for sensor s / channel c through sysfs */
369 sprintf(sysfs_path, BASE_PATH "%s", dev_num, input_path);
370 ret = sysfs_read_float(sysfs_path, &val);
380 sprintf(sysfs_path, BASE_PATH "%s", dev_num, raw_path);
381 ret = sysfs_read_float(sysfs_path, &val);
387 There is no transform ops defined yet for Raw sysfs values
388 Use this function to perform transformation as well.
390 if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD)
391 return CONVERT_GAUSS_TO_MICROTESLA ((val + offset) * scale); //Gauss to MicroTesla
393 return (val + offset) * scale;