#include <ctype.h>
#include <fcntl.h>
#include <pthread.h>
+#include <time.h>
#include <sys/epoll.h>
#include <sys/socket.h>
#include <utils/Log.h>
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
+#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 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);
- sprintf(sysfs_path, TRIGGER_PATH, dev_num);
+ if (trigger_val[0] != '\n')
+ ALOGI("Setting S%d (%s) trigger to %s\n", s,
+ sensor_info[s].friendly_name, trigger_val);
+
+ while (ret == -1 && attempts) {
+ ret = sysfs_write_str(sysfs_path, trigger_val);
+ attempts--;
+ }
- return sysfs_write_str(sysfs_path, 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;
}
/* 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++) {
*/
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)
{
/*
* Bionic does not provide pthread_cancel / pthread_testcancel...
*/
- int s = (int) param;
- int num_fields;
+ int s = (int) (size_t) param;
+ 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 = 1000000000LL / sensor_info[s].sampling_rate;
-
- 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 */
ret = pthread_create( &sensor_info[s].acquisition_thread,
NULL,
acquisition_routine,
- (void*) s);
+ (void*) (size_t) s);
}
int sensor_activate(int s, int enabled)
{
char device_name[PATH_MAX];
- char trigger_name[MAX_NAME_SIZE + 16];
struct epoll_event ev = {0};
int dev_fd;
int ret;
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;
+ 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
* Activate gyro calibrated - Calibrated has 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);
/* 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]) {
- sprintf(trigger_name, "%s-dev%d",
- sensor_info[s].internal_name, dev_num);
/* Start sampling */
- setup_trigger(dev_num, 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 integrate_device_report(int dev_num)
+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.
+ */
+
+ if (sensor_info[s].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) ||
+ (sensor_info[s].quirks & QUIRK_FORCE_CONTINUOUS))
+ )
+ 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].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);
+}
+
+/* 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);
+
+ /*
+ * 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 + (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)
{
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("Read %d bytes from iio device %d\n", len, dev_num);
+ /* Map device report to sensor reports */
+
for (s=0; s<MAX_SENSORS; s++)
if (sensor_info[s].dev_num == dev_num &&
sensor_info[s].enable_count) {
ALOGV("Sensor %d report available (%d bytes)\n", s,
sr_offset);
- sensor_info[s].report_ts = 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;
}
+ /* Tentatively switch to an any-motion trigger if conditions are met */
+ enable_motion_trigger(dev_num);
+
return 0;
}
-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;
}
+static void synthetize_duplicate_samples (void)
+{
+ /*
+ * Some sensor types (ex: gyroscope) are defined as continuously firing
+ * by Android, despite the fact that we can be dealing with iio drivers
+ * that only report events for new samples. For these we generate
+ * reports periodically, duplicating the last data we got from the
+ * driver. This is not necessary for polling sensors.
+ */
+
+ int s;
+ int64_t current_ts;
+ int64_t target_ts;
+ int64_t period;
+
+ for (s=0; s<sensor_count; s++) {
+
+ /* Ignore disabled sensors */
+ if (!sensor_info[s].enable_count)
+ continue;
+
+ /* 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 (!sensor_info[s].report_initialized)
+ continue;
+
+ /* If a sample was recently buffered, leave it alone too */
+ if (sensor_info[s].report_pending)
+ continue;
+
+ /* We also need a valid sampling rate to be configured */
+ if (!sensor_info[s].sampling_rate)
+ continue;
+
+ period = (int64_t) (1000000000.0/ sensor_info[s].sampling_rate);
+
+ current_ts = get_timestamp();
+ target_ts = sensor_info[s].report_ts + period;
+
+ if (target_ts <= current_ts) {
+ /* Mark the sensor for event generation */
+ set_report_ts(s, current_ts);
+ sensor_info[s].report_pending = DATA_DUPLICATE;
+ }
+ }
+}
+
+
static void integrate_thread_report (uint32_t tag)
{
int s = tag - THREAD_REPORT_TAG_BASE;
expected_len);
if (len == expected_len) {
- sensor_info[s].report_ts = get_timestamp();
- sensor_info[s].report_pending = 1;
+ set_report_ts(s, get_timestamp());
+ sensor_info[s].report_pending = DATA_SYSFS;
}
}
+static int get_poll_wait_timeout (void)
+{
+ /*
+ * Compute an appropriate timeout value, in ms, for the epoll_wait
+ * call that's going to await for iio device reports and incoming
+ * reports from our sensor sysfs data reader threads.
+ */
+
+ int s;
+ int64_t target_ts = INT64_MAX;
+ int64_t ms_to_wait;
+ int64_t period;
+
+ /*
+ * 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].selected_trigger ==
+ sensor_info[s].motion_trigger_name &&
+ sensor_info[s].sampling_rate) {
+ period = (int64_t) (1000000000.0 /
+ sensor_info[s].sampling_rate);
+
+ if (sensor_info[s].report_ts + period < target_ts)
+ target_ts = sensor_info[s].report_ts + period;
+ }
+
+ /* If we don't have such a driver to deal with */
+ if (target_ts == INT64_MAX)
+ return -1; /* Infinite wait */
+
+ ms_to_wait = (target_ts - get_timestamp()) / 1000000;
+
+ /* If the target timestamp is already behind us, don't wait */
+ if (ms_to_wait < 1)
+ return 0;
+
+ return ms_to_wait;
+}
+
+
int sensor_poll(struct sensors_event_t* data, int count)
{
int s;
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 */
- 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;
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;
}
* 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;
ALOGV("Awaiting sensor data\n");
- nfds = epoll_wait(poll_fd, ev, MAX_DEVICES, -1);
+ nfds = epoll_wait(poll_fd, ev, MAX_DEVICES, get_poll_wait_timeout());
if (nfds == -1) {
- ALOGI("epoll_wait returned -1 (%s)\n", strerror(errno));
+ ALOGE("epoll_wait returned -1 (%s)\n", strerror(errno));
goto await_event;
}
}
+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;
- 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;
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) {
+ 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;
}
}
-
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);
+ /* 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)
{
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