/*
- * Copyright (C) 2014 Intel Corporation.
- */
+// Copyright (c) 2015 Intel Corporation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+*/
#ifndef __COMMON_H__
#define __COMMON_H__
-#define MAX_DEVICES 8 /* Check iio devices 0 to MAX_DEVICES-1 */
-#define MAX_SENSORS 10 /* We can handle as many sensors */
+#include <string.h>
+
+#define MAX_DEVICES 9 /* Check iio devices 0 to MAX_DEVICES-1 */
+#define MAX_SENSORS 12 /* We can handle as many sensors */
#define MAX_CHANNELS 4 /* We can handle as many channels per sensor */
+#define MAX_EVENTS 2 /* We can handle as many events per channel */
#define MAX_TRIGGERS 8 /* Check for triggers 0 to MAX_TRIGGERS-1 */
#define DEV_FILE_PATH "/dev/iio:device%d"
#define BASE_PATH "/sys/bus/iio/devices/iio:device%d/"
#define TRIGGER_FILE_PATH "/sys/bus/iio/devices/trigger%d/name"
+#define IIO_DEVICES "/sys/bus/iio/devices/"
#define CHANNEL_PATH BASE_PATH "scan_elements/"
#define ENABLE_PATH BASE_PATH "buffer/enable"
+#define BUFFER_LENGTH_PATH BASE_PATH "buffer/length"
#define NAME_PATH BASE_PATH "name"
#define TRIGGER_PATH BASE_PATH "trigger/current_trigger"
+#define EVENTS_PATH BASE_PATH "events/"
+#define SENSOR_ENABLE_PATH BASE_PATH "in_%s_en"
#define SENSOR_OFFSET_PATH BASE_PATH "in_%s_offset"
#define SENSOR_SCALE_PATH BASE_PATH "in_%s_scale"
#define SENSOR_SAMPLING_PATH BASE_PATH "in_%s_sampling_frequency"
#define DEVICE_SAMPLING_PATH BASE_PATH "sampling_frequency"
#define DEVICE_AVAIL_FREQ_PATH BASE_PATH "sampling_frequency_available"
#define ILLUMINATION_CALIBPATH BASE_PATH "in_illuminance_calibscale"
+#define SENSOR_CALIB_BIAS_PATH BASE_PATH "in_%s_calibbias"
+#define MOUNTING_MATRIX_PATH BASE_PATH "mounting_matrix"
+
+#define CONFIGFS_TRIGGER_PATH "/sys/kernel/config/iio/triggers/"
-#define PROP_BASE "ro.iio.%s.%s" /* Note: PROPERTY_KEY_MAX is small */
+#define PROP_BASE "ro.iio.%s.%s" /* Note: PROPERTY_KEY_MAX is small */
-#define MAX_EVENTS 1000 /* 1000 hz */
-#define MAX_TYPE_SPEC_LEN 32 /* Channel type spec len; ex: "le:u10/16>>0" */
+#define MAX_TYPE_SPEC_LEN 32 /* Channel type spec len; ex: "le:u10/16>>0" */
#define MAX_SENSOR_REPORT_SIZE 32 /* Sensor report buffer size */
+#define MAX_DEVICE_REPORT_SIZE 32 /* iio device scan buffer size */
-#define MAX_NAME_SIZE 32
+#define MAX_NAME_SIZE 64
+
+#define MAX_SENSOR_BASES 3 /* Max number of base sensors a sensor can rely on */
#define ARRAY_SIZE(x) sizeof(x)/sizeof(x[0])
+#define REPORTING_MODE(x) ((x) & 0x06)
-#ifdef __LP64__
- typedef uint64_t flag_t;
- typedef int64_t max_delay_t;
-#else
- typedef uint32_t flag_t;
- typedef int32_t max_delay_t;
-#endif
+#define FILTER_TYPE_NONE 0
+#define FILTER_TYPE_MOVING_AVERAGE 1
+#define FILTER_TYPE_MEDIAN 2
+
+#define MODE_AUTO 0 /* autodetect */
+#define MODE_POLL 1
+#define MODE_TRIGGER 2
+#define MODE_EVENT 3
-struct channel_descriptor_t
+
+typedef struct
+{
+ const char *type; /* event type; e.g: transition */
+ const char *dir; /* event direction; e.g: rising */
+
+ /* sysfs entries located in /sys/bus/iio/devices/iio:deviceX/events/ */
+ const char *ev_en_path;
+ const char *ev_value_path;
+}
+event_descriptor_t;
+
+
+typedef struct
{
const char *name; /* channel name ; ex: x */
const char *raw_path; /* _raw sysfs file name */
const char *input_path; /* _input sysfs file name */
const char *scale_path; /* _scale sysfs file name */
-};
-struct sensor_catalog_entry_t
+ const int num_events;
+ event_descriptor_t event[MAX_EVENTS];
+}
+channel_descriptor_t;
+
+
+typedef struct
{
- const char *tag; /* Prefix such as "accel", "gyro", "temp"... */
- const int type; /* Sensor type ; ex: SENSOR_TYPE_ACCELEROMETER */
+ const char *tag; /* Prefix such as "accel", "gyro", "temp"... */
+ const char *shorthand;
+ const int type; /* Sensor type ; ex: SENSOR_TYPE_ACCELEROMETER */
const int num_channels; /* Expected iio channels for this sensor */
- struct channel_descriptor_t channel[MAX_CHANNELS];
-};
+ const int is_virtual; /* Is the sensor virtual or not */
+ channel_descriptor_t channel[MAX_CHANNELS];
+}
+sensor_catalog_entry_t;
+
-struct datum_info_t
+typedef struct
{
char sign;
char endianness;
short realbits;
short storagebits;
short shift;
-};
+}
+datum_info_t;
+
-struct channel_info_t
+typedef struct
{
- int offset; /* Offset in bytes within the iio character device report */
- int size; /* Field size in bytes */
- float scale; /* scale for each channel */
- char type_spec[MAX_TYPE_SPEC_LEN]; /* From driver; ex: le:u10/16>>0 */
- struct datum_info_t type_info; /* Decoded contents of type spec */
- float opt_scale; /* Optional correction scale read from a property such
- * as iio.accel.x.scale, allowing late compensation of
- * problems such as misconfigured axes ; set to 1 by
- * default. Applied at the end of the scaling process.
+ int offset; /* Offset in bytes within the iio character device report */
+ int size; /* Field size in bytes */
+ float scale; /* Scale for each channel */
+ char type_spec[MAX_TYPE_SPEC_LEN]; /* From driver; ex: le:u10/16>>0 */
+ datum_info_t type_info; /* Decoded contents of type spec */
+ float opt_scale; /*
+ * Optional correction scale read from a property such as iio.accel.x.scale, allowing late compensation of
+ * problems such as misconfigured axes ; set to 1 by default. Applied at the end of the scaling process.
*/
-};
+ int raw_path_present; /* Flag signalling the presence of in_<sens>_<axis>_raw file */
+ int input_path_present; /* Flag signalling the presence of in_<sens>_input file */
+}
+channel_info_t;
-struct sample_ops_t
+
+typedef struct
{
/* Conversion function called once per channel */
- float (*transform)(int s, int c, unsigned char* sample_data);
+ float (*transform) (int s, int c, unsigned char* sample_data);
/* Function called once per sample */
- int (*finalize)(int s, struct sensors_event_t* data);
-};
+ int (*finalize) (int s, sensors_event_t* data);
+}
+sample_ops_t;
+
+
+/*
+ * Whenever we have sensor data recorded for a sensor in the associated
+ * sensor cell, its report_pending field is set to a non-zero value
+ * indicating how we got this data.
+ */
+#define DATA_TRIGGER 1 /* From /dev/iio:device fd */
+#define DATA_SYSFS 2 /* Through polling */
+#define DATA_DUPLICATE 3 /* Duplicate of triggered motion sample */
+
-struct sensor_info_t
+typedef struct
{
char friendly_name[MAX_NAME_SIZE]; /* ex: Accelerometer */
char internal_name[MAX_NAME_SIZE]; /* ex: accel_3d */
char vendor_name[MAX_NAME_SIZE]; /* ex: Intel */
char init_trigger_name[MAX_NAME_SIZE]; /* ex: accel-name-dev1 */
char motion_trigger_name[MAX_NAME_SIZE];/* ex: accel-any-motion-dev1 */
+ char hrtimer_trigger_name[MAX_NAME_SIZE]; /*ex: accel-hr-dev1 */
+ int trigger_nr; /* trigger number associated with this device */
float max_range;
float resolution;
float power;
/*
- * Currently active trigger - either a pointer to the initial (default)
- * trigger name buffer, or a pointer to the motion trigger name buffer,
- * or something else (typically NULL or a pointer to some static "\n".
- * This is used to determine if the conditions are met to switch from
- * the default trigger to the motion trigger for a sensor, or rather for
- * the interrupt-driven sensors associated to a given iio device.
+ * Currently active trigger - either a pointer to the initial (default) trigger name buffer, or a pointer to the motion trigger name buffer,
+ * or something else (typically NULL or a pointer to some static "\n". This is used to determine if the conditions are met to switch from
+ * the default trigger to the motion trigger for a sensor, or rather for the interrupt-driven sensors associated to a given iio device.
*/
const char* selected_trigger;
- float offset; /* (cooked = raw + offset) * scale */
- float scale; /*default: 1. when set to 0, use channel specific value*/
- float illumincalib; /* to set the calibration for the ALS */
+ float offset; /* (cooked = raw + offset) * scale */
+ float scale; /* default:1. when set to 0, use channel specific value */
+ float illumincalib; /* to set the calibration for the ALS */
- float sampling_rate; /* requested events / second */
+ float requested_rate; /* requested events / second */
+ float sampling_rate; /* setup events / second */
- int dev_num; /* Associated iio dev num, ex: 3 for /dev/iio:device3 */
- int enable_count;
+ float min_supported_rate;
+ float max_supported_rate;
- int catalog_index;/* Associated entry within the sensor_catalog array */
+ int dev_num; /* Associated iio dev num, ex: 3 for /dev/iio:device3 */
- int num_channels; /* Actual channel count ; 0 for poll mode sensors */
+ int catalog_index; /* Associated entry within the sensor_catalog array */
+ int type; /* Sensor type, such as SENSOR_TYPE_GYROSCOPE */
+
+ int num_channels; /* Actual channel count ; 0 for poll mode sensors */
+
+ int mode; /* Usage mode, ex: poll, trigger ... */
/*
- * The array below indicates where to gather report data for this
- * sensor inside the reports that we read from the iio character device.
- * It is updated whenever channels are enabled or disabled on the same
- * device. Channel size indicates the size in bytes of fields, and
- * should be zero for disabled channels. The type field indicates how a
- * specific channel data item is structured.
+ * The array below indicates where to gather report data for this sensor inside the reports that we read from the iio character device.
+ * It is updated whenever channels are enabled or disabled on the same device. Channel size indicates the size in bytes of fields, and
+ * should be zero for disabled channels. The type field indicates how a specific channel data item is structured.
*/
- struct channel_info_t channel[MAX_CHANNELS];
+ channel_info_t channel[MAX_CHANNELS];
/*
- * This flag is set if we acquired data from the sensor but did not
- * forward it to upper layers (i.e. Android) yet. If so, report_buffer
- * contains that data.
+ * This flag is set if we acquired data from the sensor but did not forward it to upper layers (i.e. Android) yet. If so, report_buffer
+ * contains that data. Valid values are 0: empty, 1: normal, 2: repeat of last acquired value after timeout.
*/
int report_pending;
+ /* This flag is set if we have a meta data event pending */
+ int meta_data_pending;
+
/*
- * Timestamp closely matching the date of sampling, preferably retrieved
- * from a iio channel alongside sample data. Value zero indicates that
- * we couldn't get such a closely correlated timestamp, and that one
- * has to be generated before the report gets sent up to Android.
+ * Timestamp closely matching the date of sampling, preferably retrieved from a iio channel alongside sample data. Value zero indicates that
+ * we couldn't get such a closely correlated timestamp, and that one has to be generated before the report gets sent up to Android.
*/
int64_t report_ts;
/* Whether or not the above buffer contains data from a device report */
int report_initialized;
- struct sample_ops_t ops;
+ /* Channel and sample finalization callbacks for this sensor */
+ sample_ops_t ops;
int cal_level; /* 0 means not calibrated */
- void* cal_data;
- float prev_val; /* Previously reported value, for on-change sensors */
+ /*
+ * Depending on the sensor, calibration may take too much time at higher levels. Allow optional capping to a certain level.
+ */
+ int max_cal_level;
+
+ void *cal_data; /* Sensor calibration data, e.g. for magnetometer */
+ void* filter; /* Filtering data for noisy sensors */
+ int filter_type;/* FILTER_ specification for this sensor ; default is FILTER_NONE */
+
+ /* Previously reported value, for on-change sensors */
+ union {
+ float data;
+ uint64_t data64;
+ } prev_val;
/*
- * Certain sensors expose their readings through sysfs files that have
- * a long response time (100-200 ms for ALS). Rather than block our
- * global control loop for several hundred ms each second, offload those
- * lengthy blocking reads to dedicated threads, which will then report
+ * Certain sensors expose their readings through sysfs files that have a long response time (100-200 ms for ALS). Rather than block our
+ * global control loop for several hundred ms each second, offload those lengthy blocking reads to dedicated threads, which will then report
* their data through a fd that we can add to our poll fd set.
*/
int thread_data_fd[2];
pthread_t acquisition_thread;
- /* For cal-uncal sensor pairs - index to the pair sensor in sensor_info */
- int pair_idx;
+ int base_count; /* How many base sensors is the sensor depending on */
+ int base[MAX_SENSOR_BASES];
uint32_t quirks; /* Bit mask expressing the need for special tweaks */
/* Note: we may have to explicitely serialize access to some fields */
+ int is_virtual; /* Composite sensor, exposed from data acquired through other sensors */
+
+ uint32_t ref_count; /* Dependency count - for a real sensor how many active virtual sensors are depending on it */
+
+ uint32_t directly_enabled; /* Flag showing if a sensor was enabled directly by Android */
/*
- * If the QUIRK_FIELD_ORDERING bit is set in quirks, the contents of
- * this array are used in the finalization stage to swap sample fields
- * before transmitting them to Android ; they form a mapping between
- * the indices of the input and output arrays: ex: 0123 is identity for
+ * Current sample for a virtual sensor - when a report is ready we'll keep the data here until it's finally processed. Can be modified for
+ * more than one at a later time.
+ */
+ sensors_event_t sample;
+ uint64_t event_id;
+
+ /*
+ * If the QUIRK_FIELD_ORDERING bit is set in quirks, the contents of this array are used in the finalization stage to swap sample fields
+ * before transmitting them to Android ; they form a mapping between the indices of the input and output arrays: ex: 0123 is identity for
* a sample containing 4 fields.
*/
unsigned char order[MAX_CHANNELS];
- /* A few variables used for data filtering */
- float *history; /* Working buffer containing recorded samples */
- int history_size; /* Number of recorded samples */
- int history_entries; /* How many of these are initialized */
- int history_index; /* Index of sample to evict next time */
-};
+ /*
+ * If the QUIRK_MOUNTING_MATRIX bit is set in quirks, the contents of this matrix is used to correct the sample values so that it takes
+ * into account the way the sensor has been mounted on the PCB.
+ */
+ float mounting_matrix[9];
+
+ /** Count of available frequencies */
+ int avail_freqs_count;
+
+ /** Array of available frequencies */
+ float* avail_freqs;
+
+ /*
+ * Event counter - will be used to check if we have a significant sample for noisy sensors. We want to make sure we do not send any wrong
+ * events before filtering kicks in. We can also use it for statistics.
+ */
+ uint64_t event_count;
+
+ /* Some polled sensors need to be first enabled so that they start
+ * computing a set of values in hardware (e.g step counter). Enabling
+ * is done through a sysfs attribute in_<tag>_en
+ */
+ int needs_enable;
+
+ float semi_arbitrated_rate; /* Arbitrated sampling rate before we considered other sensors co-located on the same iio device */
+}
+sensor_info_t;
+
/* Reference a few commonly used variables... */
-extern int sensor_count;
-extern struct sensor_t sensor_desc[MAX_SENSORS];
-extern struct sensor_info_t sensor_info[MAX_SENSORS];
-extern struct sensor_catalog_entry_t sensor_catalog[];
+extern int sensor_count;
+extern struct sensor_t sensor_desc[MAX_SENSORS];
+extern sensor_info_t sensor[MAX_SENSORS];
+extern sensor_catalog_entry_t sensor_catalog[];
+extern unsigned int catalog_size;
+
+/* Needed both in sensors and activity HALs */
+void check_trig_sensors (int i, char *sysfs_file, char map[catalog_size]);
+void check_poll_sensors (int i, char *sysfs_file, char map[catalog_size]);
+void check_event_sensors (int i, char *sysfs_file, char map[catalog_size]);
+void discover_sensors(int dev_num, char *sysfs_base_path, char map[catalog_size],
+ void (*discover_sensor)(int, char*, char*));
+
+/*
+ * Macros associating iio sysfs entries to to sensor types ; see
+ * linux/kernel/drivers/iio/industrialio-core.c and
+ * hardware/libhardware/include/hardware/sensor.h
+ */
+
+#define DECLARE_VOID_CHANNEL(tag) \
+ tag, \
+ "", \
+ "", \
+ "", \
+ "", \
+ "", \
+ "", \
+
+#define DECLARE_CHANNEL(tag, spacer, name) \
+ name, \
+ "in_"tag spacer name"_en", \
+ "in_"tag spacer name"_type", \
+ "in_"tag spacer name"_index", \
+ "in_"tag spacer name"_raw", \
+ "in_"tag spacer name"_input", \
+ "in_"tag spacer name"_scale", \
+ 0, {{0}},
+
+#define DECLARE_NAMED_CHANNEL(tag, name) DECLARE_CHANNEL(tag, "_", name)
+
+#define DECLARE_GENERIC_CHANNEL(tag) DECLARE_CHANNEL(tag, "", "")
+
+#define DECLARE_EVENT(tag, spacer1, name, spacer2, type, spacer3, dir) \
+ type, dir, \
+ "in_"tag spacer1 name spacer2 type spacer3 dir"_en", \
+ "in_"tag spacer1 name spacer2 type spacer3 dir"_value", \
+
+#define DECLARE_GENERIC_EVENT(tag, name, type, dir) \
+ DECLARE_EVENT(tag, "_", name, "_", type, "_", dir)
+#define DECLARE_NAMED_EVENT(tag, name) \
+ DECLARE_EVENT(tag, "_", name, "","","","")
#endif
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