#include <ctype.h>
#include <fcntl.h>
#include <pthread.h>
+#include <time.h>
#include <sys/epoll.h>
#include <sys/socket.h>
#include <utils/Log.h>
* */
#define THREAD_REPORT_TAG_BASE 0x00010000
+/* When polling try to compensate for the iio overhead in
+ * order to try to get a frequency closer to the advertised one
+ */
+#define OVERHEAD_THRESHOLD 0.97
+#define ENABLE_BUFFER_RETRIES 10
+#define ENABLE_BUFFER_RETRY_DELAY_MS 10
static int enable_buffer(int dev_num, int enabled)
{
char sysfs_path[PATH_MAX];
+ int ret, retries, millisec;
+ struct timespec req = {0};
+
+ retries = ENABLE_BUFFER_RETRIES;
+ millisec = ENABLE_BUFFER_RETRY_DELAY_MS;
+ req.tv_sec = 0;
+ req.tv_nsec = millisec * 1000000L;
sprintf(sysfs_path, ENABLE_PATH, dev_num);
- /* Low level, non-multiplexed, enable/disable routine */
- return sysfs_write_int(sysfs_path, enabled);
+ while (retries--) {
+ /* Low level, non-multiplexed, enable/disable routine */
+ ret = sysfs_write_int(sysfs_path, enabled);
+ if (ret > 0)
+ break;
+
+ ALOGE("Failed enabling buffer, retrying");
+ nanosleep(&req, (struct timespec *)NULL);
+ }
+
+ if (ret < 0) {
+ ALOGE("Could not enable buffer\n");
+ return -EIO;
+ }
+
+ return 0;
}
-static int setup_trigger(int dev_num, const char* trigger_val)
+static void setup_trigger (int s, const char* trigger_val)
{
char sysfs_path[PATH_MAX];
- sprintf(sysfs_path, TRIGGER_PATH, dev_num);
+ sprintf(sysfs_path, TRIGGER_PATH, sensor_info[s].dev_num);
+
+ if (trigger_val[0] != '\n')
+ ALOGI("Setting S%d (%s) trigger to %s\n", s,
+ sensor_info[s].friendly_name, trigger_val);
+
+ sysfs_write_str(sysfs_path, trigger_val);
- return sysfs_write_str(sysfs_path, trigger_val);
+ sensor_info[s].selected_trigger = trigger_val;
}
/* Stop sampling - if we are recovering from hal restart */
enable_buffer(dev_num, 0);
- setup_trigger(dev_num, "\n");
+ setup_trigger(s, "\n");
/* Turn on channels we're aware of */
for (c=0;c<sensor_info[s].num_channels; c++) {
* Bionic does not provide pthread_cancel / pthread_testcancel...
*/
- int s = (int) param;
+ int s = (int) (size_t) param;
int num_fields;
struct sensors_event_t data = {0};
int c;
struct timespec target_time;
int64_t period;
- ALOGV("Entering data acquisition thread for sensor %d\n", s);
+ ALOGI("Entering data acquisition thread S%d (%s): rate(%f), minDelay(%ld), maxDelay(%ld)\n",
+ s, sensor_info[s].friendly_name, sensor_info[s].sampling_rate,
+ sensor_desc[s].minDelay, sensor_desc[s].maxDelay);
if (s < 0 || s >= sensor_count) {
ALOGE("Invalid sensor handle!\n");
period = (int64_t) (1000000000.0/ sensor_info[s].sampling_rate);
-
+ period = period * OVERHEAD_THRESHOLD;
time_add(&target_time, &entry_time, period);
/*
ret = pthread_create( &sensor_info[s].acquisition_thread,
NULL,
acquisition_routine,
- (void*) s);
+ (void*) (size_t) s);
}
int dev_num = sensor_info[s].dev_num;
int is_poll_sensor = !sensor_info[s].num_channels;
+ /* Prepare the report timestamp field for the first event, see set_report_ts method */
+ sensor_info[s].report_ts = 0;
+
/* If we want to activate gyro calibrated and gyro uncalibrated is activated
* Deactivate gyro uncalibrated - Uncalibrated releases handler
* Activate gyro calibrated - Calibrated has handler
/* Stop sampling */
enable_buffer(dev_num, 0);
- setup_trigger(dev_num, "\n");
+ setup_trigger(s, "\n");
/* If there's at least one sensor enabled on this iio device */
if (trig_sensors_per_dev[dev_num]) {
/* Start sampling */
- setup_trigger(dev_num, sensor_info[s].trigger_name);
+ setup_trigger(s, sensor_info[s].init_trigger_name);
enable_buffer(dev_num, 1);
}
}
close(dev_fd);
device_fd[dev_num] = -1;
}
+
+ /* If we recorded a trail of samples for filtering, delete it */
+ if (sensor_info[s].history) {
+ free(sensor_info[s].history);
+ sensor_info[s].history = NULL;
+ sensor_info[s].history_size = 0;
+ if (sensor_info[s].history_sum) {
+ free(sensor_info[s].history_sum);
+ sensor_info[s].history_sum = NULL;
+ }
+ }
+
return 0;
}
}
+static int is_fast_accelerometer (int s)
+{
+ /*
+ * Some games don't react well to accelerometers using any-motion
+ * triggers. Even very low thresholds seem to trip them, and they tend
+ * to request fairly high event rates. Favor continuous triggers if the
+ * sensor is an accelerometer and uses a sampling rate of at least 25.
+ */
+ int catalog_index = sensor_info[s].catalog_index;
+
+ if (sensor_catalog[catalog_index].type != SENSOR_TYPE_ACCELEROMETER)
+ return 0;
+
+ if (sensor_info[s].sampling_rate < 25)
+ return 0;
+
+ return 1;
+}
+
+
+static void enable_motion_trigger (int dev_num)
+{
+ /*
+ * In the ideal case, we enumerate two triggers per iio device ; the
+ * default (periodically firing) trigger, and another one (the motion
+ * trigger) that only fires up when motion is detected. This second one
+ * allows for lesser energy consumption, but requires periodic sample
+ * duplication at the HAL level for sensors that Android defines as
+ * continuous. This "duplicate last sample" logic can only be engaged
+ * once we got a first sample for the driver, so we start with the
+ * default trigger when an iio device is first opened, then adjust the
+ * trigger when we got events for all active sensors. Unfortunately in
+ * the general case several sensors can be associated to a given iio
+ * device, they can independently be controlled, and we have to adjust
+ * the trigger in use at the iio device level depending on whether or
+ * not appropriate conditions are met at the sensor level.
+ */
+
+ int s;
+ int i;
+ int active_sensors = trig_sensors_per_dev[dev_num];
+ int candidate[MAX_SENSORS];
+ int candidate_count = 0;
+
+ if (!active_sensors)
+ return;
+
+ /* Check that all active sensors are ready to switch */
+
+ for (s=0; s<MAX_SENSORS; s++)
+ if (sensor_info[s].dev_num == dev_num &&
+ sensor_info[s].enable_count &&
+ sensor_info[s].num_channels &&
+ (!sensor_info[s].motion_trigger_name[0] ||
+ !sensor_info[s].report_initialized ||
+ is_fast_accelerometer(s))
+ )
+ return; /* Nope */
+
+ /* Record which particular sensors need to switch */
+
+ for (s=0; s<MAX_SENSORS; s++)
+ if (sensor_info[s].dev_num == dev_num &&
+ sensor_info[s].enable_count &&
+ sensor_info[s].num_channels &&
+ !(sensor_info[s].quirks & QUIRK_CONTINUOUS_DRIVER) &&
+ sensor_info[s].selected_trigger !=
+ sensor_info[s].motion_trigger_name)
+ candidate[candidate_count++] = s;
+
+ if (!candidate_count)
+ return;
+
+ /* Now engage the motion trigger for sensors which aren't using it */
+
+ enable_buffer(dev_num, 0);
+
+ for (i=0; i<candidate_count; i++) {
+ s = candidate[i];
+ setup_trigger(s, sensor_info[s].motion_trigger_name);
+ }
+
+ enable_buffer(dev_num, 1);
+}
+
+void set_report_ts(int s, int64_t ts)
+{
+ int64_t maxTs, period;
+
+ /*
+ * A bit of a hack to please a bunch of cts tests. They
+ * expect the timestamp to be exacly according to the set-up
+ * frequency but if we're simply getting the timestamp at hal level
+ * this may not be the case. Perhaps we'll get rid of this when
+ * we'll be reading the timestamp from the iio channel for all sensors
+ */
+ if (sensor_info[s].report_ts && sensor_info[s].sampling_rate &&
+ REPORTING_MODE(sensor_desc[s].flags) == SENSOR_FLAG_CONTINUOUS_MODE)
+ {
+ period = (int64_t) (1000000000LL / sensor_info[s].sampling_rate);
+ maxTs = sensor_info[s].report_ts + period;
+ sensor_info[s].report_ts = (ts < maxTs ? ts : maxTs);
+ } else {
+ sensor_info[s].report_ts = ts;
+ }
+}
+
static int integrate_device_report(int dev_num)
{
int len;
ALOGV("Sensor %d report available (%d bytes)\n", s,
sr_offset);
- sensor_info[s].report_ts = ts;
+ set_report_ts(s, ts);
sensor_info[s].report_pending = 1;
sensor_info[s].report_initialized = 1;
}
+ /* Tentatively switch to an any-motion trigger if conditions are met */
+ enable_motion_trigger(dev_num);
+
return 0;
}
if (!sensor_info[s].enable_count)
continue;
- /* If the sensor can generate duplicates, leave it alone */
- if (!(sensor_info[s].quirks & QUIRK_TERSE_DRIVER))
+ /* If the sensor is continuously firing, leave it alone */
+ if ( sensor_info[s].selected_trigger !=
+ sensor_info[s].motion_trigger_name)
continue;
/* If we haven't seen a sample, there's nothing to duplicate */
if (target_ts <= current_ts) {
/* Mark the sensor for event generation */
- sensor_info[s].report_ts = current_ts;
+ set_report_ts(s, current_ts);
sensor_info[s].report_pending = 1;
}
}
expected_len);
if (len == expected_len) {
- sensor_info[s].report_ts = get_timestamp();
+ set_report_ts(s, get_timestamp());
sensor_info[s].report_pending = 1;
}
}
*/
for (s=0; s<sensor_count; s++)
if (sensor_info[s].enable_count &&
- (sensor_info[s].quirks & QUIRK_TERSE_DRIVER) &&
+ sensor_info[s].selected_trigger ==
+ sensor_info[s].motion_trigger_name &&
sensor_info[s].sampling_rate) {
period = (int64_t) (1000000000.0 /
sensor_info[s].sampling_rate);
ms_to_wait = (target_ts - get_timestamp()) / 1000000;
- /*
- * If the target timestamp is very close or already behind us, wait
- * nonetheless for a millisecond in order to a) avoid busy loops, and
- * b) give a chance for the driver to report data before we repeat the
- * last received sample.
- */
- if (ms_to_wait <= 0)
- return 1;
+ /* If the target timestamp is already behind us, don't wait */
+ if (ms_to_wait < 1)
+ return 0;
return ms_to_wait;
}
struct epoll_event ev[MAX_DEVICES];
int returned_events;
int event_count;
+ int uncal_start;
/* Get one or more events from our collection of sensors */
return_available_sensor_reports:
+ /* Synthetize duplicate samples if needed */
+ synthetize_duplicate_samples();
+
returned_events = 0;
/* Check our sensor collection for available reports */
memcpy(&data[returned_events + event_count], &data[returned_events],
sizeof(struct sensors_event_t) * event_count);
+
+ uncal_start = returned_events + event_count;
for (i = 0; i < event_count; i++) {
- data[returned_events + i].type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED;
- data[returned_events + i].sensor = sensor_info[s].pair_idx;
+ data[uncal_start + i].type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED;
+ data[uncal_start + i].sensor = sensor_info[s].pair_idx;
- data[returned_events + i].data[0] = data[returned_events + i].data[0] + gyro_data->bias[0];
- data[returned_events + i].data[1] = data[returned_events + i].data[1] + gyro_data->bias[1];
- data[returned_events + i].data[2] = data[returned_events + i].data[2] + gyro_data->bias[2];
+ data[uncal_start + i].data[0] = data[returned_events + i].data[0] + gyro_data->bias_x;
+ data[uncal_start + i].data[1] = data[returned_events + i].data[1] + gyro_data->bias_y;
+ data[uncal_start + i].data[2] = data[returned_events + i].data[2] + gyro_data->bias_z;
- data[returned_events + i].uncalibrated_gyro.bias[0] = gyro_data->bias[0];
- data[returned_events + i].uncalibrated_gyro.bias[1] = gyro_data->bias[1];
- data[returned_events + i].uncalibrated_gyro.bias[2] = gyro_data->bias[2];
+ data[uncal_start + i].uncalibrated_gyro.bias[0] = gyro_data->bias_x;
+ data[uncal_start + i].uncalibrated_gyro.bias[1] = gyro_data->bias_y;
+ data[uncal_start + i].uncalibrated_gyro.bias[2] = gyro_data->bias_z;
}
event_count <<= 1;
}
goto await_event;
}
- /* Synthetize duplicate samples if needed */
- synthetize_duplicate_samples();
-
ALOGV("%d fds signalled\n", nfds);
/* For each of the signalled sources */
float cur_sampling_rate; /* Currently used sampling rate */
int per_sensor_sampling_rate;
int per_device_sampling_rate;
- float max_supported_rate = 0;
+ int32_t min_delay_us = sensor_desc[s].minDelay;
+ max_delay_t max_delay_us = sensor_desc[s].maxDelay;
+ float min_supported_rate = max_delay_us ? (1000000.0f / max_delay_us) : 1;
+ float max_supported_rate =
+ (min_delay_us && min_delay_us != -1) ? (1000000.0f / min_delay_us) : 0;
char freqs_buf[100];
char* cursor;
int n;
* Artificially limit ourselves to 1 Hz or higher. This is mostly to
* avoid setting up the stage for divisions by zero.
*/
- if (new_sampling_rate < 1)
- new_sampling_rate = 1;
+ if (new_sampling_rate < min_supported_rate)
+ new_sampling_rate = min_supported_rate;
+
+ if (max_supported_rate &&
+ new_sampling_rate > max_supported_rate) {
+ new_sampling_rate = max_supported_rate;
+ }
sensor_info[s].sampling_rate = new_sampling_rate;
/* Decode a single value */
sr = strtod(cursor, NULL);
- if (sr > max_supported_rate)
- max_supported_rate = sr;
-
/* If this matches the selected rate, we're happy */
if (new_sampling_rate == sr)
break;
sysfs_write_float(sysfs_path, new_sampling_rate);
+ /* Switch back to continuous sampling for accelerometer based games */
+ if (is_fast_accelerometer(s) && sensor_info[s].selected_trigger !=
+ sensor_info[s].init_trigger_name)
+ setup_trigger(s, sensor_info[s].init_trigger_name);
+
if (trig_sensors_per_dev[dev_num])
enable_buffer(dev_num, 1);
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