static int active_poll_sensors; /* Number of enabled poll-mode sensors */
+int64_t ts_delta; /* delta between SystemClock.getNanos and our timestamp */
+
/* We use pthread condition variables to get worker threads out of sleep */
-static pthread_cond_t thread_release_cond [MAX_SENSORS];
-static pthread_mutex_t thread_release_mutex [MAX_SENSORS];
+static pthread_condattr_t thread_cond_attr [MAX_SENSORS];
+static pthread_cond_t thread_release_cond [MAX_SENSORS];
+static pthread_mutex_t thread_release_mutex [MAX_SENSORS];
/*
* We associate tags to each of our poll set entries. These tags have the
* */
#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 void setup_trigger (int s, const char* trigger_val)
+static int setup_trigger (int s, const char* trigger_val)
{
char sysfs_path[PATH_MAX];
+ int ret = -1, attempts = 5;
sprintf(sysfs_path, TRIGGER_PATH, sensor_info[s].dev_num);
ALOGI("Setting S%d (%s) trigger to %s\n", s,
sensor_info[s].friendly_name, trigger_val);
- sysfs_write_str(sysfs_path, trigger_val);
+ while (ret == -1 && attempts) {
+ ret = sysfs_write_str(sysfs_path, trigger_val);
+ attempts--;
+ }
- sensor_info[s].selected_trigger = trigger_val;
+ if (ret != -1)
+ sensor_info[s].selected_trigger = trigger_val;
+ else
+ ALOGE("Setting S%d (%s) trigger to %s FAILED.\n", s,
+ sensor_info[s].friendly_name, trigger_val);
+ return ret;
}
*/
int dev_num = sensor_info[s].dev_num;
- int catalog_index = sensor_info[s].catalog_index;
- int sensor_type = sensor_catalog[catalog_index].type;
/* Refcount per sensor, in terms of enable count */
if (enabled) {
if (sensor_info[s].enable_count > 1)
return 0; /* The sensor was, and remains, in use */
- switch (sensor_type) {
+ switch (sensor_info[s].type) {
case SENSOR_TYPE_MAGNETIC_FIELD:
compass_read_data(&sensor_info[s]);
break;
/* Sensor disabled, lower report available flag */
sensor_info[s].report_pending = 0;
- if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD)
+ if (sensor_info[s].type == SENSOR_TYPE_MAGNETIC_FIELD)
compass_store_data(&sensor_info[s]);
+
+ if(sensor_info[s].type == SENSOR_TYPE_GYROSCOPE ||
+ sensor_info[s].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
+ gyro_store_data(&sensor_info[s]);
}
/* If uncalibrated type and pair is already active don't adjust counters */
- if (sensor_type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
+ if (sensor_info[s].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
sensor_info[sensor_info[s].pair_idx].enable_count != 0)
return 0;
static int get_field_count (int s)
{
- int catalog_index = sensor_info[s].catalog_index;
- int sensor_type = sensor_catalog[catalog_index].type;
-
- switch (sensor_type) {
+ switch (sensor_info[s].type) {
case SENSOR_TYPE_ACCELEROMETER: /* m/s^2 */
case SENSOR_TYPE_MAGNETIC_FIELD: /* micro-tesla */
case SENSOR_TYPE_ORIENTATION: /* degrees */
}
-static void time_add(struct timespec *out, struct timespec *in, int64_t ns)
-{
- int64_t target_ts = 1000000000LL * in->tv_sec + in->tv_nsec + ns;
-
- out->tv_sec = target_ts / 1000000000;
- out->tv_nsec = target_ts % 1000000000;
-}
-
-
static void* acquisition_routine (void* param)
{
/*
*/
int s = (int) (size_t) param;
- int num_fields;
+ int num_fields, sample_size;
struct sensors_event_t data = {0};
int c;
int ret;
- struct timespec entry_time;
struct timespec target_time;
- int64_t period;
-
- ALOGV("Entering data acquisition thread for sensor %d\n", s);
+ int64_t timestamp, period;
if (s < 0 || s >= sensor_count) {
ALOGE("Invalid sensor handle!\n");
return NULL;
}
- if (!sensor_info[s].sampling_rate) {
- ALOGE("Zero rate in acquisition routine for sensor %d\n", s);
+ ALOGI("Entering data acquisition thread S%d (%s): rate(%f), ts(%lld)\n", s,
+ sensor_info[s].friendly_name, sensor_info[s].sampling_rate, sensor_info[s].report_ts);
+
+ if (sensor_info[s].sampling_rate <= 0) {
+ ALOGE("Non-positive rate in acquisition routine for sensor %d: %f\n",
+ s, sensor_info[s].sampling_rate);
return NULL;
}
num_fields = get_field_count(s);
+ sample_size = num_fields * sizeof(float);
/*
* Each condition variable is associated to a mutex that has to be
*/
pthread_mutex_lock(&thread_release_mutex[s]);
- while (1) {
- /* Pinpoint the moment we start sampling */
- clock_gettime(CLOCK_REALTIME, &entry_time);
+ /* Pinpoint the moment we start sampling */
+ timestamp = get_timestamp_monotonic();
- ALOGV("Acquiring sample data for sensor %d through sysfs\n", s);
+ /* Check and honor termination requests */
+ while (sensor_info[s].thread_data_fd[1] != -1) {
/* Read values through sysfs */
for (c=0; c<num_fields; c++) {
data.data[c] = acquire_immediate_value(s, c);
-
/* Check and honor termination requests */
if (sensor_info[s].thread_data_fd[1] == -1)
goto exit;
-
- ALOGV("\tfield %d: %f\n", c, data.data[c]);
-
}
/* If the sample looks good */
/* Pipe it for transmission to poll loop */
ret = write( sensor_info[s].thread_data_fd[1],
- data.data,
- num_fields * sizeof(float));
+ data.data, sample_size);
+ if (ret != sample_size)
+ ALOGE("S%d acquisition thread: tried to write %d, ret: %d\n",
+ s, sample_size, ret);
}
/* Check and honor termination requests */
if (sensor_info[s].thread_data_fd[1] == -1)
goto exit;
+ /* Recalculate period asumming sensor_info[s].sampling_rate
+ * can be changed dynamically during the thread run */
+ if (sensor_info[s].sampling_rate <= 0) {
+ ALOGE("Non-positive rate in acquisition routine for sensor %d: %f\n",
+ s, sensor_info[s].sampling_rate);
+ goto exit;
+ }
- period = (int64_t) (1000000000.0/ sensor_info[s].sampling_rate);
- period = period * OVERHEAD_THRESHOLD;
- time_add(&target_time, &entry_time, period);
+ period = (int64_t) (1000000000LL / sensor_info[s].sampling_rate);
+ timestamp += period;
+ set_timestamp(&target_time, timestamp);
/*
* Wait until the sampling time elapses, or a rate change is
ret = pthread_cond_timedwait( &thread_release_cond[s],
&thread_release_mutex[s],
&target_time);
-
- /* Check and honor termination requests */
- if (sensor_info[s].thread_data_fd[1] == -1)
- goto exit;
}
exit:
ALOGV("Initializing acquisition context for sensor %d\n", s);
/* Create condition variable and mutex for quick thread release */
- ret = pthread_cond_init(&thread_release_cond[s], NULL);
+ ret = pthread_condattr_init(&thread_cond_attr[s]);
+ ret = pthread_condattr_setclock(&thread_cond_attr[s], CLOCK_MONOTONIC);
+ ret = pthread_cond_init(&thread_release_cond[s], &thread_cond_attr[s]);
ret = pthread_mutex_init(&thread_release_mutex[s], NULL);
/* Create a pipe for inter thread communication */
/* Prepare the report timestamp field for the first event, see set_report_ts method */
sensor_info[s].report_ts = 0;
+ ts_delta = load_timestamp_sys_clock() - get_timestamp_monotonic();
+
/* If we want to activate gyro calibrated and gyro uncalibrated is activated
* Deactivate gyro uncalibrated - Uncalibrated releases handler
* Deactivate gyro calibrated - Calibrated releases handler
* Reactivate gyro uncalibrated - Uncalibrated has handler */
- if (sensor_catalog[sensor_info[s].catalog_index].type == SENSOR_TYPE_GYROSCOPE &&
+ if (sensor_info[s].type == SENSOR_TYPE_GYROSCOPE &&
sensor_info[s].pair_idx && sensor_info[sensor_info[s].pair_idx].enable_count != 0) {
sensor_activate(sensor_info[s].pair_idx, 0);
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;
* 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)
+ if (sensor_info[s].type != SENSOR_TYPE_ACCELEROMETER)
return 0;
if (sensor_info[s].sampling_rate < 25)
sensor_info[s].num_channels &&
(!sensor_info[s].motion_trigger_name[0] ||
!sensor_info[s].report_initialized ||
- is_fast_accelerometer(s))
+ is_fast_accelerometer(s) ||
+ (sensor_info[s].quirks & QUIRK_FORCE_CONTINUOUS))
)
return; /* Nope */
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;
enable_buffer(dev_num, 1);
}
+/* CTS acceptable thresholds:
+ * EventGapVerification.java: (th <= 1.8)
+ * FrequencyVerification.java: (0.9)*(expected freq) => (th <= 1.1111)
+ */
+#define THRESHOLD 1.10
void set_report_ts(int s, int64_t ts)
{
int64_t maxTs, period;
+ int catalog_index = sensor_info[s].catalog_index;
+ int is_accel = (sensor_catalog[catalog_index].type == SENSOR_TYPE_ACCELEROMETER);
- if (sensor_info[s].report_ts && sensor_info[s].sampling_rate) {
+ /*
+ * 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;
+ maxTs = sensor_info[s].report_ts + (is_accel ? 1 : THRESHOLD) * 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)
+static int integrate_device_report (int dev_num)
{
int len;
int s,c;
unsigned char *target;
unsigned char *source;
int size;
- int64_t ts;
/* There's an incoming report on the specified iio device char dev fd */
return -1;
}
- ts = get_timestamp();
+
len = read(device_fd[dev_num], buf, MAX_SENSOR_REPORT_SIZE);
ALOGV("Sensor %d report available (%d bytes)\n", s,
sr_offset);
- set_report_ts(s, ts);
- sensor_info[s].report_pending = 1;
+ set_report_ts(s, get_timestamp());
+ sensor_info[s].report_pending = DATA_TRIGGER;
sensor_info[s].report_initialized = 1;
}
}
-static int propagate_sensor_report(int s, struct sensors_event_t *data)
+static int propagate_sensor_report (int s, struct sensors_event_t *data)
{
/* There's a sensor report pending for this sensor ; transmit it */
- int catalog_index = sensor_info[s].catalog_index;
- int sensor_type = sensor_catalog[catalog_index].type;
int num_fields = get_field_count(s);
int c;
unsigned char* current_sample;
/* Only return uncalibrated event if also gyro active */
- if (sensor_type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
+ if (sensor_info[s].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
sensor_info[sensor_info[s].pair_idx].enable_count != 0)
return 0;
data->version = sizeof(sensors_event_t);
data->sensor = s;
- data->type = sensor_type;
+ data->type = sensor_info[s].type;
data->timestamp = sensor_info[s].report_ts;
- ALOGV("Sample on sensor %d (type %d):\n", s, sensor_type);
+ ALOGV("Sample on sensor %d (type %d):\n", s, sensor_info[s].type);
current_sample = sensor_info[s].report_buffer;
if (!sensor_info[s].enable_count)
continue;
- /* If the sensor can generate duplicates, leave it alone */
- if (!(sensor_info[s].quirks & QUIRK_TERSE_DRIVER) &&
- sensor_info[s].selected_trigger !=
- sensor_info[s].motion_trigger_name)
+ /* 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 */
set_report_ts(s, current_ts);
- sensor_info[s].report_pending = 1;
+ sensor_info[s].report_pending = DATA_DUPLICATE;
}
}
}
if (len == expected_len) {
set_report_ts(s, get_timestamp());
- sensor_info[s].report_pending = 1;
+ sensor_info[s].report_pending = DATA_SYSFS;
}
}
int64_t period;
/*
- * Check if have have to deal with "terse" drivers that only send events
- * when there is motion, despite the fact that the associated Android
- * sensor type is continuous rather than on-change. In that case we have
- * to duplicate events. Check deadline for the nearest upcoming event.
+ * Check if we're dealing with a driver that only send events when
+ * there is motion, despite the fact that the associated Android sensor
+ * type is continuous rather than on-change. In that case we have to
+ * duplicate events. Check deadline for the nearest upcoming event.
*/
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) {
+ 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);
returned_events = 0;
/* Check our sensor collection for available reports */
- for (s=0; s<sensor_count && returned_events < count; s++)
+ for (s=0; s<sensor_count && returned_events < count; s++) {
if (sensor_info[s].report_pending) {
event_count = 0;
- /* Lower flag */
- sensor_info[s].report_pending = 0;
/* Report this event if it looks OK */
event_count = propagate_sensor_report(s, &data[returned_events]);
+ /* Lower flag */
+ sensor_info[s].report_pending = 0;
+
/* Duplicate only if both cal & uncal are active */
- if (sensor_catalog[sensor_info[s].catalog_index].type == SENSOR_TYPE_GYROSCOPE &&
+ if (sensor_info[s].type == SENSOR_TYPE_GYROSCOPE &&
sensor_info[s].pair_idx && sensor_info[sensor_info[s].pair_idx].enable_count != 0) {
struct gyro_cal* gyro_data = (struct gyro_cal*) sensor_info[s].cal_data;
* value for a 'on change' sensor, silently drop it.
*/
}
-
+ while (sensor_info[s].meta_data_pending) {
+ /* See sensors.h on these */
+ data[returned_events].version = META_DATA_VERSION;
+ data[returned_events].sensor = 0;
+ data[returned_events].type = SENSOR_TYPE_META_DATA;
+ data[returned_events].reserved0 = 0;
+ data[returned_events].timestamp = 0;
+ data[returned_events].meta_data.sensor = s;
+ data[returned_events].meta_data.what = META_DATA_FLUSH_COMPLETE;
+ returned_events++;
+ sensor_info[s].meta_data_pending--;
+ }
+ }
if (returned_events)
return returned_events;
}
+static void tentative_switch_trigger (int s)
+{
+ /*
+ * Under certain situations it may be beneficial to use an alternate
+ * trigger:
+ *
+ * - for applications using the accelerometer with high sampling rates,
+ * prefer the continuous trigger over the any-motion one, to avoid
+ * jumps related to motion thresholds
+ */
+
+ if (is_fast_accelerometer(s) &&
+ !(sensor_info[s].quirks & QUIRK_TERSE_DRIVER) &&
+ sensor_info[s].selected_trigger ==
+ sensor_info[s].motion_trigger_name)
+ setup_trigger(s, sensor_info[s].init_trigger_name);
+}
+
+
int sensor_set_delay(int s, int64_t ns)
{
/* Set the rate at which a specific sensor should report events */
float cur_sampling_rate; /* Currently used sampling rate */
int per_sensor_sampling_rate;
int per_device_sampling_rate;
- int32_t min_delay = sensor_desc[s].minDelay;
- float max_supported_rate = (min_delay != 0 && min_delay != -1) ? (1000000.0f / min_delay) : 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;
float sr;
- if (!ns) {
- ALOGE("Rejecting zero delay request on sensor %d\n", s);
+ if (ns <= 0) {
+ ALOGE("Rejecting non-positive delay request on sensor %d, required delay: %lld\n", s, ns);
return -EINVAL;
}
new_sampling_rate = 1000000000LL/ns;
+ ALOGV("Entering set delay S%d (%s): old rate(%f), new rate(%f)\n",
+ s, sensor_info[s].friendly_name, sensor_info[s].sampling_rate,
+ new_sampling_rate);
+
/*
* 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) {
}
}
-
if (max_supported_rate &&
new_sampling_rate > max_supported_rate) {
new_sampling_rate = max_supported_rate;
}
-
/* If the desired rate is already active we're all set */
if (new_sampling_rate == cur_sampling_rate)
return 0;
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);
+ /* Check if it makes sense to use an alternate trigger */
+ tentative_switch_trigger(s);
if (trig_sensors_per_dev[dev_num])
enable_buffer(dev_num, 1);
return 0;
}
+int sensor_flush (int s)
+{
+ /* If one shot or not enabled return -EINVAL */
+ if (sensor_desc[s].flags & SENSOR_FLAG_ONE_SHOT_MODE ||
+ sensor_info[s].enable_count == 0)
+ return -EINVAL;
+
+ sensor_info[s].meta_data_pending++;
+ return 0;
+}
int allocate_control_data (void)
{
OSDN Git Service
