/*
- * Copyright (C) 2014 Intel Corporation.
+ * Copyright (C) 2014-2015 Intel Corporation.
*/
#include <stdlib.h>
#include <fcntl.h>
#include <pthread.h>
#include <time.h>
+#include <math.h>
#include <sys/epoll.h>
+#include <sys/ioctl.h>
#include <sys/socket.h>
#include <utils/Log.h>
#include <hardware/sensors.h>
+#include <linux/ioctl.h>
#include "control.h"
#include "enumeration.h"
#include "utils.h"
#include "transform.h"
#include "calibration.h"
#include "description.h"
-
+#include "filtering.h"
+#include <linux/iio/events.h>
/* Currently active sensors count, per device */
-static int poll_sensors_per_dev[MAX_DEVICES]; /* poll-mode sensors */
-static int trig_sensors_per_dev[MAX_DEVICES]; /* trigger, event based */
-
-static int device_fd[MAX_DEVICES]; /* fd on the /dev/iio:deviceX file */
+static int poll_sensors_per_dev[MAX_DEVICES]; /* poll-mode sensors */
+static int trig_sensors_per_dev[MAX_DEVICES]; /* trigger, event based */
-static int poll_fd; /* epoll instance covering all enabled sensors */
+static int device_fd[MAX_DEVICES]; /* fd on the /dev/iio:deviceX file */
+static int events_fd[MAX_DEVICES]; /* fd on the /sys/bus/iio/devices/iio:deviceX/events/<event_name> file */
+static int has_iio_ts[MAX_DEVICES]; /* ts channel available on this iio dev */
+static int expected_dev_report_size[MAX_DEVICES]; /* expected iio scan len */
+static int poll_fd; /* epoll instance covering all enabled sensors */
-static int active_poll_sensors; /* Number of enabled poll-mode sensors */
+static int active_poll_sensors; /* Number of enabled poll-mode sensors */
/* We use pthread condition variables to get worker threads out of sleep */
static pthread_condattr_t thread_cond_attr [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
- * following values:
+ * We associate tags to each of our poll set entries. These tags have the following values:
* - a iio device number if the fd is a iio character device fd
- * - THREAD_REPORT_TAG_BASE + sensor handle if the fd is the receiving end of a
- * pipe used by a sysfs data acquisition thread
- * */
-#define THREAD_REPORT_TAG_BASE 0x00010000
+ * - THREAD_REPORT_TAG_BASE + sensor handle if the fd is the receiving end of a pipe used by a sysfs data acquisition thread
+ */
+#define THREAD_REPORT_TAG_BASE 1000
-#define ENABLE_BUFFER_RETRIES 10
-#define ENABLE_BUFFER_RETRY_DELAY_MS 10
+/* If buffer enable fails, we may want to retry a few times before giving up */
+#define ENABLE_BUFFER_RETRIES 3
+#define ENABLE_BUFFER_RETRY_DELAY_MS 10
-static int enable_buffer(int dev_num, int enabled)
+
+inline int is_enabled (int s)
{
- char sysfs_path[PATH_MAX];
- int ret, retries, millisec;
- struct timespec req = {0};
+ return sensor[s].directly_enabled || sensor[s].ref_count;
+}
- 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);
+static int check_state_change (int s, int enabled, int from_virtual)
+{
+ if (enabled) {
+ if (sensor[s].directly_enabled)
+ return 0; /* We're being enabled but already were directly activated: no change. */
- while (retries--) {
- /* Low level, non-multiplexed, enable/disable routine */
- ret = sysfs_write_int(sysfs_path, enabled);
- if (ret > 0)
- break;
+ if (!from_virtual)
+ sensor[s].directly_enabled = 1; /* We're being directly enabled */
- ALOGE("Failed enabling buffer, retrying");
- nanosleep(&req, (struct timespec *)NULL);
+ if (sensor[s].ref_count)
+ return 0; /* We were already indirectly enabled */
+
+ return 1; /* Do continue enabling this sensor */
}
- if (ret < 0) {
- ALOGE("Could not enable buffer\n");
- return -EIO;
+ if (!is_enabled(s))
+ return 0; /* We are being disabled but already were: no change */
+
+ if (from_virtual && sensor[s].directly_enabled)
+ return 0; /* We're indirectly disabled but the base is still active */
+
+ sensor[s].directly_enabled = 0; /* We're now directly disabled */
+
+ if (!from_virtual && sensor[s].ref_count)
+ return 0; /* We still have ref counts */
+
+ return 1; /* Do continue disabling this sensor */
+}
+
+
+static int enable_buffer (int dev_num, int enabled)
+{
+ char sysfs_path[PATH_MAX];
+ int retries = ENABLE_BUFFER_RETRIES;
+
+ sprintf(sysfs_path, ENABLE_PATH, dev_num);
+
+ while (retries) {
+ /* Low level, non-multiplexed, enable/disable routine */
+ if (sysfs_write_int(sysfs_path, enabled) > 0)
+ return 0;
+
+ ALOGE("Failed enabling buffer on dev%d, retrying", dev_num);
+ usleep(ENABLE_BUFFER_RETRY_DELAY_MS*1000);
+ retries--;
}
- return 0;
+ ALOGE("Could not enable buffer\n");
+ return -EIO;
}
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, sensor[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);
+ ALOGI("Setting S%d (%s) trigger to %s\n", s, sensor[s].friendly_name, trigger_val);
while (ret == -1 && attempts) {
ret = sysfs_write_str(sysfs_path, trigger_val);
}
if (ret != -1)
- sensor_info[s].selected_trigger = trigger_val;
+ sensor[s].selected_trigger = trigger_val;
else
- ALOGE("Setting S%d (%s) trigger to %s FAILED.\n", s,
- sensor_info[s].friendly_name, trigger_val);
+ ALOGE("Setting S%d (%s) trigger to %s FAILED.\n", s, sensor[s].friendly_name, trigger_val);
return ret;
}
+static int enable_event(int dev_num, const char *name, int enabled)
+{
+ char sysfs_path[PATH_MAX];
+
+ sprintf(sysfs_path, EVENTS_PATH "%s", dev_num, name);
+ return sysfs_write_int(sysfs_path, enabled);
+}
+
+static int enable_sensor(int dev_num, const char *tag, int enabled)
+{
+ char sysfs_path[PATH_MAX];
+
+ sprintf(sysfs_path, SENSOR_ENABLE_PATH, dev_num, tag);
+ return sysfs_write_int(sysfs_path, enabled);
+}
+
+static void enable_iio_timestamp (int dev_num, int known_channels)
+{
+ /* Check if we have a dedicated iio timestamp channel */
+
+ char spec_buf[MAX_TYPE_SPEC_LEN];
+ char sysfs_path[PATH_MAX];
+ int n;
+
+ sprintf(sysfs_path, CHANNEL_PATH "%s", dev_num, "in_timestamp_type");
+
+ n = sysfs_read_str(sysfs_path, spec_buf, sizeof(spec_buf));
+
+ if (n <= 0)
+ return;
+
+ if (strcmp(spec_buf, "le:s64/64>>0"))
+ return;
+
+ /* OK, type is int64_t as expected, in little endian representation */
+
+ sprintf(sysfs_path, CHANNEL_PATH"%s", dev_num, "in_timestamp_index");
+
+ if (sysfs_read_int(sysfs_path, &n))
+ return;
+
+ /* Check that the timestamp comes after the other fields we read */
+ if (n != known_channels)
+ return;
+
+ /* Try enabling that channel */
+ sprintf(sysfs_path, CHANNEL_PATH "%s", dev_num, "in_timestamp_en");
+
+ sysfs_write_int(sysfs_path, 1);
+
+ if (sysfs_read_int(sysfs_path, &n))
+ return;
+
+ if (n) {
+ ALOGI("Detected timestamp channel on iio device %d\n", dev_num);
+ has_iio_ts[dev_num] = 1;
+ }
+}
+
-void build_sensor_report_maps(int dev_num)
+static int decode_type_spec (const char type_buf[MAX_TYPE_SPEC_LEN], datum_info_t *type_info)
+{
+ /* Return size in bytes for this type specification, or -1 in error */
+ char sign;
+ char endianness;
+ unsigned int realbits, storagebits, shift;
+ int tokens;
+
+ /* Valid specs: "le:u10/16>>0", "le:s16/32>>0" or "le:s32/32>>0" */
+
+ tokens = sscanf(type_buf, "%ce:%c%u/%u>>%u", &endianness, &sign, &realbits, &storagebits, &shift);
+
+ if (tokens != 5 || (endianness != 'b' && endianness != 'l') || (sign != 'u' && sign != 's') ||
+ realbits > storagebits || (storagebits != 16 && storagebits != 32 && storagebits != 64)) {
+ ALOGE("Invalid iio channel type spec: %s\n", type_buf);
+ return -1;
+ }
+
+ type_info->endianness = endianness;
+ type_info->sign = sign;
+ type_info->realbits = (short) realbits;
+ type_info->storagebits = (short) storagebits;
+ type_info->shift = (short) shift;
+
+ return storagebits / 8;
+}
+
+
+void build_sensor_report_maps (int dev_num)
{
/*
- * Read sysfs files from a iio device's scan_element directory, and
- * build a couple of tables from that data. These tables will tell, for
- * each sensor, where to gather relevant data in a device report, i.e.
- * the structure that we read from the /dev/iio:deviceX file in order to
- * sensor report, itself being the data that we return to Android when a
- * sensor poll completes. The mapping should be straightforward in the
- * case where we have a single sensor active per iio device but, this is
- * not the general case. In general several sensors can be handled
- * through a single iio device, and the _en, _index and _type syfs
- * entries all concur to paint a picture of what the structure of the
+ * Read sysfs files from a iio device's scan_element directory, and build a couple of tables from that data. These tables will tell, for
+ * each sensor, where to gather relevant data in a device report, i.e. the structure that we read from the /dev/iio:deviceX file in order to
+ * sensor report, itself being the data that we return to Android when a sensor poll completes. The mapping should be straightforward in the
+ * case where we have a single sensor active per iio device but, this is not the general case. In general several sensors can be handled
+ * through a single iio device, and the _en, _index and _type syfs entries all concur to paint a picture of what the structure of the
* device report is.
*/
int ch_index;
char* ch_spec;
char spec_buf[MAX_TYPE_SPEC_LEN];
- struct datum_info_t* ch_info;
+ datum_info_t* ch_info;
int size;
char sysfs_path[PATH_MAX];
int known_channels;
/* For each sensor that is linked to this device */
for (s=0; s<sensor_count; s++) {
- if (sensor_info[s].dev_num != dev_num)
+ if (sensor[s].dev_num != dev_num)
continue;
- i = sensor_info[s].catalog_index;
+ i = sensor[s].catalog_index;
/* Read channel details through sysfs attributes */
- for (c=0; c<sensor_info[s].num_channels; c++) {
+ for (c=0; c<sensor[s].num_channels; c++) {
/* Read _type file */
- sprintf(sysfs_path, CHANNEL_PATH "%s",
- sensor_info[s].dev_num,
- sensor_catalog[i].channel[c].type_path);
+ sprintf(sysfs_path, CHANNEL_PATH "%s", sensor[s].dev_num, sensor_catalog[i].channel[c].type_path);
- n = sysfs_read_str(sysfs_path, spec_buf,
- sizeof(spec_buf));
+ n = sysfs_read_str(sysfs_path, spec_buf, sizeof(spec_buf));
if (n == -1) {
- ALOGW( "Failed to read type: %s\n",
- sysfs_path);
+ ALOGW( "Failed to read type: %s\n", sysfs_path);
continue;
- }
+ }
- ch_spec = sensor_info[s].channel[c].type_spec;
+ ch_spec = sensor[s].channel[c].type_spec;
memcpy(ch_spec, spec_buf, sizeof(spec_buf));
- ch_info = &sensor_info[s].channel[c].type_info;
+ ch_info = &sensor[s].channel[c].type_info;
size = decode_type_spec(ch_spec, ch_info);
/* Read _index file */
- sprintf(sysfs_path, CHANNEL_PATH "%s",
- sensor_info[s].dev_num,
- sensor_catalog[i].channel[c].index_path);
+ sprintf(sysfs_path, CHANNEL_PATH "%s", sensor[s].dev_num, sensor_catalog[i].channel[c].index_path);
n = sysfs_read_int(sysfs_path, &ch_index);
if (n == -1) {
- ALOGW( "Failed to read index: %s\n",
- sysfs_path);
+ ALOGW( "Failed to read index: %s\n", sysfs_path);
continue;
- }
+ }
if (ch_index >= MAX_SENSORS) {
ALOGE("Index out of bounds!: %s\n", sysfs_path);
setup_trigger(s, "\n");
/* Turn on channels we're aware of */
- for (c=0;c<sensor_info[s].num_channels; c++) {
- sprintf(sysfs_path, CHANNEL_PATH "%s",
- sensor_info[s].dev_num,
- sensor_catalog[i].channel[c].en_path);
+ for (c=0;c<sensor[s].num_channels; c++) {
+ sprintf(sysfs_path, CHANNEL_PATH "%s", sensor[s].dev_num, sensor_catalog[i].channel[c].en_path);
sysfs_write_int(sysfs_path, 1);
}
}
ALOGI("Found %d channels on iio device %d\n", known_channels, dev_num);
/*
- * Now that we know which channels are defined, their sizes and their
- * ordering, update channels offsets within device report. Note: there
- * is a possibility that several sensors share the same index, with
- * their data fields being isolated by masking and shifting as specified
- * through the real bits and shift values in type attributes. This case
- * is not currently supported. Also, the code below assumes no hole in
- * the sequence of indices, so it is dependent on discovery of all
- * sensors.
+ * Now that we know which channels are defined, their sizes and their ordering, update channels offsets within device report. Note: there
+ * is a possibility that several sensors share the same index, with their data fields being isolated by masking and shifting as specified
+ * through the real bits and shift values in type attributes. This case is not currently supported. Also, the code below assumes no hole in
+ * the sequence of indices, so it is dependent on discovery of all sensors.
*/
offset = 0;
+
for (i=0; i<MAX_SENSORS * MAX_CHANNELS; i++) {
s = sensor_handle_from_index[i];
c = channel_number_from_index[i];
if (!size)
continue;
- ALOGI("S%d C%d : offset %d, size %d, type %s\n",
- s, c, offset, size, sensor_info[s].channel[c].type_spec);
+ ALOGI("S%d C%d : offset %d, size %d, type %s\n", s, c, offset, size, sensor[s].channel[c].type_spec);
- sensor_info[s].channel[c].offset = offset;
- sensor_info[s].channel[c].size = size;
+ sensor[s].channel[c].offset = offset;
+ sensor[s].channel[c].size = size;
offset += size;
}
+
+ /* Enable the timestamp channel if there is one available */
+ enable_iio_timestamp(dev_num, known_channels);
+
+ /* Add padding and timestamp size if it's enabled on this iio device */
+ if (has_iio_ts[dev_num])
+ offset = (offset+7)/8*8 + sizeof(int64_t);
+
+ expected_dev_report_size[dev_num] = offset;
+ ALOGI("Expecting %d scan length on iio dev %d\n", offset, dev_num);
+
+ if (expected_dev_report_size[dev_num] > MAX_DEVICE_REPORT_SIZE) {
+ ALOGE("Unexpectedly large scan buffer on iio dev%d: %d bytes\n", dev_num, expected_dev_report_size[dev_num]);
+
+ expected_dev_report_size[dev_num] = MAX_DEVICE_REPORT_SIZE;
+ }
}
-int adjust_counters (int s, int enabled)
+int adjust_counters (int s, int enabled, int from_virtual)
{
/*
* Adjust counters based on sensor enable action. Return values are:
- * -1 if there's an inconsistency: abort action in this case
* 0 if the operation was completed and we're all set
* 1 if we toggled the state of the sensor and there's work left
+ * -1 in case of an error
*/
- int dev_num = sensor_info[s].dev_num;
- int catalog_index = sensor_info[s].catalog_index;
- int sensor_type = sensor_catalog[catalog_index].type;
+ int dev_num = sensor[s].dev_num;
- /* Refcount per sensor, in terms of enable count */
- if (enabled) {
- ALOGI("Enabling sensor %d (iio device %d: %s)\n",
- s, dev_num, sensor_info[s].friendly_name);
+ if (!check_state_change(s, enabled, from_virtual))
+ return 0; /* The state of the sensor remains the same: we're done */
- sensor_info[s].enable_count++;
+ if (enabled) {
+ ALOGI("Enabling sensor %d (iio device %d: %s)\n", s, dev_num, sensor[s].friendly_name);
- if (sensor_info[s].enable_count > 1)
- return 0; /* The sensor was, and remains, in use */
+ switch (sensor[s].type) {
+ case SENSOR_TYPE_ACCELEROMETER:
+ accel_cal_init(s);
+ break;
- switch (sensor_type) {
case SENSOR_TYPE_MAGNETIC_FIELD:
- compass_read_data(&sensor_info[s]);
+ compass_read_data(s);
break;
case SENSOR_TYPE_GYROSCOPE:
- case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
- gyro_cal_init(&sensor_info[s]);
+ gyro_cal_init(s);
break;
}
} else {
- if (sensor_info[s].enable_count == 0)
- return -1; /* Spurious disable call */
-
- ALOGI("Disabling sensor %d (iio device %d: %s)\n", s, dev_num,
- sensor_info[s].friendly_name);
-
- sensor_info[s].enable_count--;
-
- if (sensor_info[s].enable_count > 0)
- return 0; /* The sensor was, and remains, in use */
+ ALOGI("Disabling sensor %d (iio device %d: %s)\n", s, dev_num, sensor[s].friendly_name);
/* Sensor disabled, lower report available flag */
- sensor_info[s].report_pending = 0;
-
- if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD)
- compass_store_data(&sensor_info[s]);
- }
+ sensor[s].report_pending = 0;
+ /* Save calibration data to persistent storage */
+ switch (sensor[s].type) {
+ case SENSOR_TYPE_ACCELEROMETER:
+ accel_cal_store(s);
+ break;
- /* If uncalibrated type and pair is already active don't adjust counters */
- if (sensor_type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
- sensor_info[sensor_info[s].pair_idx].enable_count != 0)
- return 0;
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ compass_store_data(s);
+ break;
- /* We changed the state of a sensor - adjust per iio device counters */
+ case SENSOR_TYPE_GYROSCOPE:
+ gyro_store_data(s);
+ break;
+ }
+ }
- /* If this is a regular event-driven sensor */
- if (sensor_info[s].num_channels) {
+ /* We changed the state of a sensor: adjust device ref counts */
- if (enabled)
- trig_sensors_per_dev[dev_num]++;
- else
- trig_sensors_per_dev[dev_num]--;
+ switch(sensor[s].mode) {
+ case MODE_TRIGGER:
+ if (enabled)
+ trig_sensors_per_dev[dev_num]++;
+ else
+ trig_sensors_per_dev[dev_num]--;
+ return 1;
+ case MODE_POLL:
+ if (enabled) {
+ active_poll_sensors++;
+ poll_sensors_per_dev[dev_num]++;
+ return 1;
+ } else {
+ active_poll_sensors--;
+ poll_sensors_per_dev[dev_num]--;
return 1;
}
-
- if (enabled) {
- active_poll_sensors++;
- poll_sensors_per_dev[dev_num]++;
+ case MODE_EVENT:
return 1;
+ default:
+ /* Invalid sensor mode */
+ return -1;
}
-
- active_poll_sensors--;
- poll_sensors_per_dev[dev_num]--;
- return 1;
}
-static int get_field_count (int s)
+static int get_field_count (int s, size_t *field_size)
{
- int catalog_index = sensor_info[s].catalog_index;
- int sensor_type = sensor_catalog[catalog_index].type;
+ *field_size = sizeof(float);
- switch (sensor_type) {
+ switch (sensor[s].type) {
case SENSOR_TYPE_ACCELEROMETER: /* m/s^2 */
case SENSOR_TYPE_MAGNETIC_FIELD: /* micro-tesla */
case SENSOR_TYPE_ORIENTATION: /* degrees */
case SENSOR_TYPE_GYROSCOPE: /* radians/s */
return 3;
+ case SENSOR_TYPE_INTERNAL_INTENSITY:
+ case SENSOR_TYPE_INTERNAL_ILLUMINANCE:
case SENSOR_TYPE_LIGHT: /* SI lux units */
case SENSOR_TYPE_AMBIENT_TEMPERATURE: /* °C */
case SENSOR_TYPE_TEMPERATURE: /* °C */
case SENSOR_TYPE_PROXIMITY: /* centimeters */
case SENSOR_TYPE_PRESSURE: /* hecto-pascal */
case SENSOR_TYPE_RELATIVE_HUMIDITY: /* percent */
+ case SENSOR_TYPE_STEP_DETECTOR: /* event: always 1 */
return 1;
case SENSOR_TYPE_ROTATION_VECTOR:
- return 4;
+ return 4;
+ case SENSOR_TYPE_STEP_COUNTER: /* number of steps */
+ *field_size = sizeof(uint64_t);
+ return 1;
default:
ALOGE("Unknown sensor type!\n");
return 0; /* Drop sample */
}
}
+/*
+ * CTS acceptable thresholds:
+ * EventGapVerification.java: (th <= 1.8)
+ * FrequencyVerification.java: (0.9)*(expected freq) => (th <= 1.1111)
+ */
+#define THRESHOLD 1.10
+#define MAX_DELAY 500000000 /* 500 ms */
+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[s].report_ts && sensor[s].sampling_rate &&
+ REPORTING_MODE(sensor_desc[s].flags) == SENSOR_FLAG_CONTINUOUS_MODE)
+ {
+ period = (int64_t) (1000000000.0 / sensor[s].sampling_rate);
+ maxTs = sensor[s].report_ts + THRESHOLD * period;
+ /* If we're too far behind get back on track */
+ if (ts - maxTs >= MAX_DELAY)
+ maxTs = ts;
+ sensor[s].report_ts = (ts < maxTs ? ts : maxTs);
+ } else {
+ sensor[s].report_ts = ts;
+ }
+}
static void* acquisition_routine (void* param)
{
/*
- * Data acquisition routine run in a dedicated thread, covering a single
- * sensor. This loop will periodically retrieve sampling data through
- * sysfs, then package it as a sample and transfer it to our master poll
- * loop through a report fd. Checks for a cancellation signal quite
- * frequently, as the thread may be disposed of at any time. Note that
- * Bionic does not provide pthread_cancel / pthread_testcancel...
+ * Data acquisition routine run in a dedicated thread, covering a single sensor. This loop will periodically retrieve sampling data through
+ * sysfs, then package it as a sample and transfer it to our master poll loop through a report fd. Checks for a cancellation signal quite
+ * frequently, as the thread may be disposed of at any time. Note that Bionic does not provide pthread_cancel / pthread_testcancel...
*/
int s = (int) (size_t) param;
- int num_fields, sample_size;
- struct sensors_event_t data = {0};
+ int num_fields;
+ sensors_event_t data = {0};
int c;
int ret;
struct timespec target_time;
- int64_t timestamp, period;
+ int64_t timestamp, period, start, stop;
+ size_t field_size;
if (s < 0 || s >= sensor_count) {
ALOGE("Invalid sensor handle!\n");
return NULL;
}
- 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);
+ ALOGI("Entering S%d (%s) data acquisition thread: rate:%g\n", s, sensor[s].friendly_name, sensor[s].sampling_rate);
- 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);
+ if (sensor[s].sampling_rate <= 0) {
+ ALOGE("Invalid rate in acquisition routine for sensor %d: %g\n", s, sensor[s].sampling_rate);
return NULL;
}
- num_fields = get_field_count(s);
- sample_size = num_fields * sizeof(float);
+ /* Initialize data fields that will be shared by all sensor reports */
+ data.version = sizeof(sensors_event_t);
+ data.sensor = s;
+ data.type = sensor[s].type;
+
+ num_fields = get_field_count(s, &field_size);
/*
- * Each condition variable is associated to a mutex that has to be
- * locked by the thread that's waiting on it. We use these condition
- * variables to get the acquisition threads out of sleep quickly after
- * the sampling rate is adjusted, or the sensor is disabled.
+ * Each condition variable is associated to a mutex that has to be locked by the thread that's waiting on it. We use these condition
+ * variables to get the acquisition threads out of sleep quickly after the sampling rate is adjusted, or the sensor is disabled.
*/
pthread_mutex_lock(&thread_release_mutex[s]);
/* Pinpoint the moment we start sampling */
- timestamp = get_timestamp();
+ timestamp = get_timestamp_monotonic();
/* Check and honor termination requests */
- while (sensor_info[s].thread_data_fd[1] != -1) {
+ while (sensor[s].thread_data_fd[1] != -1) {
+ start = get_timestamp_boot();
/* Read values through sysfs */
for (c=0; c<num_fields; c++) {
- data.data[c] = acquire_immediate_value(s, c);
+ if (field_size == sizeof(uint64_t))
+ data.u64.data[c] = acquire_immediate_uint64_value(s, c);
+ else
+ data.data[c] = acquire_immediate_float_value(s, c);
+
/* Check and honor termination requests */
- if (sensor_info[s].thread_data_fd[1] == -1)
+ if (sensor[s].thread_data_fd[1] == -1)
goto exit;
}
-
+ stop = get_timestamp_boot();
+ set_report_ts(s, start/2 + stop/2);
+ data.timestamp = sensor[s].report_ts;
/* If the sample looks good */
- if (sensor_info[s].ops.finalize(s, &data)) {
+ if (sensor[s].ops.finalize(s, &data)) {
/* Pipe it for transmission to poll loop */
- ret = write( sensor_info[s].thread_data_fd[1],
- data.data, sample_size);
- if (ret != sample_size)
- ALOGE("S%d acquisition thread: tried to write %d, ret: %d\n",
- s, sample_size, ret);
+ ret = write(sensor[s].thread_data_fd[1], &data, sizeof(sensors_event_t));
+
+ if (ret != sizeof(sensors_event_t))
+ ALOGE("S%d write failure: wrote %d, got %d\n", s, sizeof(sensors_event_t), ret);
}
/* Check and honor termination requests */
- if (sensor_info[s].thread_data_fd[1] == -1)
+ if (sensor[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);
+ /* Recalculate period assuming sensor[s].sampling_rate can be changed dynamically during the thread run */
+ if (sensor[s].sampling_rate <= 0) {
+ ALOGE("Unexpected sampling rate for sensor %d: %g\n", s, sensor[s].sampling_rate);
goto exit;
}
- period = (int64_t) (1000000000LL / sensor_info[s].sampling_rate);
+ period = (int64_t) (1000000000.0 / sensor[s].sampling_rate);
timestamp += period;
set_timestamp(&target_time, timestamp);
- /*
- * Wait until the sampling time elapses, or a rate change is
- * signaled, or a thread exit is requested.
- */
- ret = pthread_cond_timedwait( &thread_release_cond[s],
- &thread_release_mutex[s],
- &target_time);
+ /* Wait until the sampling time elapses, or a rate change is signaled, or a thread exit is requested */
+ ret = pthread_cond_timedwait(&thread_release_cond[s], &thread_release_mutex[s], &target_time);
}
exit:
/* Create condition variable and mutex for quick thread release */
ret = pthread_condattr_init(&thread_cond_attr[s]);
- ret = pthread_condattr_setclock(&thread_cond_attr[s], POLLING_CLOCK);
+ 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 = pipe(sensor_info[s].thread_data_fd);
+ ret = pipe(sensor[s].thread_data_fd);
- incoming_data_fd = sensor_info[s].thread_data_fd[0];
+ incoming_data_fd = sensor[s].thread_data_fd[0];
ev.events = EPOLLIN;
ev.data.u32 = THREAD_REPORT_TAG_BASE + s;
/* Add incoming side of pipe to our poll set, with a suitable tag */
ret = epoll_ctl(poll_fd, EPOLL_CTL_ADD, incoming_data_fd , &ev);
+ if (ret == -1) {
+ ALOGE("Failed adding %d to poll set (%s)\n",
+ incoming_data_fd, strerror(errno));
+ }
/* Create and start worker thread */
- ret = pthread_create( &sensor_info[s].acquisition_thread,
- NULL,
- acquisition_routine,
- (void*) (size_t) s);
+ ret = pthread_create(&sensor[s].acquisition_thread, NULL, acquisition_routine, (void*) (size_t) s);
}
static void stop_acquisition_thread (int s)
{
- int incoming_data_fd = sensor_info[s].thread_data_fd[0];
- int outgoing_data_fd = sensor_info[s].thread_data_fd[1];
+ int incoming_data_fd = sensor[s].thread_data_fd[0];
+ int outgoing_data_fd = sensor[s].thread_data_fd[1];
ALOGV("Tearing down acquisition context for sensor %d\n", s);
epoll_ctl(poll_fd, EPOLL_CTL_DEL, incoming_data_fd, NULL);
/* Mark the pipe ends as invalid ; that's a cheap exit flag */
- sensor_info[s].thread_data_fd[0] = -1;
- sensor_info[s].thread_data_fd[1] = -1;
+ sensor[s].thread_data_fd[0] = -1;
+ sensor[s].thread_data_fd[1] = -1;
/* Close both sides of our pipe */
close(incoming_data_fd);
/* Stop acquisition thread and clean up thread handle */
pthread_cond_signal(&thread_release_cond[s]);
- pthread_join(sensor_info[s].acquisition_thread, NULL);
+ pthread_join(sensor[s].acquisition_thread, NULL);
/* Clean up our sensor descriptor */
- sensor_info[s].acquisition_thread = -1;
+ sensor[s].acquisition_thread = -1;
/* Delete condition variable and mutex */
pthread_cond_destroy(&thread_release_cond[s]);
}
-int sensor_activate(int s, int enabled)
+static int is_fast_accelerometer (int s)
{
- char device_name[PATH_MAX];
- 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;
+ /*
+ * 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.
+ */
- /* Prepare the report timestamp field for the first event, see set_report_ts method */
- sensor_info[s].report_ts = 0;
+ if (sensor[s].type != SENSOR_TYPE_ACCELEROMETER)
+ return 0;
+
+ if (sensor[s].sampling_rate < 25)
+ return 0;
+
+ return 1;
+}
+
+
+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[s].quirks & QUIRK_TERSE_DRIVER) && sensor[s].selected_trigger == sensor[s].motion_trigger_name)
+ setup_trigger(s, sensor[s].init_trigger_name);
+}
+
+
+static float get_group_max_sampling_rate (int s)
+{
+ /* Review the sampling rates of linked sensors and return the maximum */
+
+ int i, vi;
+
+ float arbitrated_rate = 0;
+
+ if (is_enabled(s))
+ arbitrated_rate = sensor[s].requested_rate;
+
+ /* If any of the currently active sensors built on top of this one need a higher sampling rate, switch to this rate */
+ for (i = 0; i < sensor_count; i++)
+ for (vi = 0; vi < sensor[i].base_count; vi++)
+ if (sensor[i].base[vi] == s && is_enabled(i) && sensor[i].requested_rate > arbitrated_rate) /* If sensor i depends on sensor s */
+ arbitrated_rate = sensor[i].requested_rate;
+
+ /* If any of the currently active sensors we rely on is using a higher sampling rate, switch to this rate */
+ for (vi = 0; vi < sensor[s].base_count; vi++) {
+ i = sensor[s].base[vi];
+ if (is_enabled(i) && sensor[i].requested_rate > arbitrated_rate)
+ arbitrated_rate = sensor[i].requested_rate;
+ }
+
+ return arbitrated_rate;
+}
+
+
+static int sensor_set_rate (int s, float requested_rate)
+{
+ /* Set the rate at which a specific sensor should report events. See Android sensors.h for indication on sensor trigger modes */
+
+ char sysfs_path[PATH_MAX];
+ char avail_sysfs_path[PATH_MAX];
+ int dev_num = sensor[s].dev_num;
+ int i = sensor[s].catalog_index;
+ const char *prefix = sensor_catalog[i].tag;
+ int per_sensor_sampling_rate;
+ int per_device_sampling_rate;
+ char freqs_buf[100];
+ char* cursor;
+ int n;
+ float sr;
+ float group_max_sampling_rate;
+ float cur_sampling_rate; /* Currently used sampling rate */
+ float arb_sampling_rate; /* Granted sampling rate after arbitration */
+
+ ALOGV("Sampling rate %g requested on sensor %d (%s)\n", requested_rate, s, sensor[s].friendly_name);
+
+ sensor[s].requested_rate = requested_rate;
+
+ arb_sampling_rate = requested_rate;
+
+ if (arb_sampling_rate < sensor[s].min_supported_rate) {
+ ALOGV("Sampling rate %g too low for %s, using %g instead\n", arb_sampling_rate, sensor[s].friendly_name, sensor[s].min_supported_rate);
+ arb_sampling_rate = sensor[s].min_supported_rate;
+ }
+
+ /* If one of the linked sensors uses a higher rate, adopt it */
+ group_max_sampling_rate = get_group_max_sampling_rate(s);
+
+ if (arb_sampling_rate < group_max_sampling_rate) {
+ ALOGV("Using %s sampling rate to %g too due to dependency\n", sensor[s].friendly_name, arb_sampling_rate);
+ arb_sampling_rate = group_max_sampling_rate;
+ }
+
+ if (sensor[s].max_supported_rate && arb_sampling_rate > sensor[s].max_supported_rate) {
+ ALOGV("Sampling rate %g too high for %s, using %g instead\n", arb_sampling_rate, sensor[s].friendly_name, sensor[s].max_supported_rate);
+ arb_sampling_rate = sensor[s].max_supported_rate;
+ }
+
+ sensor[s].sampling_rate = arb_sampling_rate;
+
+ /* If the sensor is virtual, we're done */
+ if (sensor[s].is_virtual)
+ return 0;
+
+ /* If we're dealing with a poll-mode sensor */
+ if (sensor[s].mode == MODE_POLL) {
+ if (is_enabled(s))
+ pthread_cond_signal(&thread_release_cond[s]); /* Wake up thread so the new sampling rate gets used */
+ return 0;
+ }
+
+ sprintf(sysfs_path, SENSOR_SAMPLING_PATH, dev_num, prefix);
+
+ if (sysfs_read_float(sysfs_path, &cur_sampling_rate) != -1) {
+ per_sensor_sampling_rate = 1;
+ per_device_sampling_rate = 0;
+ } else {
+ per_sensor_sampling_rate = 0;
+
+ sprintf(sysfs_path, DEVICE_SAMPLING_PATH, dev_num);
+
+ if (sysfs_read_float(sysfs_path, &cur_sampling_rate) != -1)
+ per_device_sampling_rate = 1;
+ else
+ per_device_sampling_rate = 0;
+ }
+
+ if (!per_sensor_sampling_rate && !per_device_sampling_rate) {
+ ALOGE("No way to adjust sampling rate on sensor %d\n", s);
+ return -ENOSYS;
+ }
+
+ /* Check if we have contraints on allowed sampling rates */
+
+ sprintf(avail_sysfs_path, DEVICE_AVAIL_FREQ_PATH, dev_num);
+
+ if (sysfs_read_str(avail_sysfs_path, freqs_buf, sizeof(freqs_buf)) > 0) {
+ cursor = freqs_buf;
+
+ /* Decode allowed sampling rates string, ex: "10 20 50 100" */
+
+ /* While we're not at the end of the string */
+ while (*cursor && cursor[0]) {
+
+ /* Decode a single value */
+ sr = strtod(cursor, NULL);
+
+ /* If this matches the selected rate, we're happy. Have some tolerance for rounding errors and avoid needless jumps to higher rates */
+ if (fabs(arb_sampling_rate - sr) <= 0.001) {
+ arb_sampling_rate = sr;
+ break;
+ }
+
+ /*
+ * If we reached a higher value than the desired rate, adjust selected rate so it matches the first higher available one and
+ * stop parsing - this makes the assumption that rates are sorted by increasing value in the allowed frequencies string.
+ */
+ if (sr > arb_sampling_rate) {
+ arb_sampling_rate = sr;
+ break;
+ }
+
+ /* Skip digits */
+ while (cursor[0] && !isspace(cursor[0]))
+ cursor++;
+
+ /* Skip spaces */
+ while (cursor[0] && isspace(cursor[0]))
+ cursor++;
+ }
+ }
+
+ if (sensor[s].max_supported_rate &&
+ arb_sampling_rate > sensor[s].max_supported_rate) {
+ arb_sampling_rate = sensor[s].max_supported_rate;
+ }
+
+ /* Record the rate that was agreed upon with the sensor taken in isolation ; this avoid uncontrolled ripple effects between colocated sensor rates */
+ sensor[s].semi_arbitrated_rate = arb_sampling_rate;
+
+ /* Coordinate with others active sensors on the same device, if any */
+ if (per_device_sampling_rate)
+ for (n=0; n<sensor_count; n++)
+ if (n != s && sensor[n].dev_num == dev_num && sensor[n].num_channels && is_enabled(n) &&
+ sensor[n].semi_arbitrated_rate > arb_sampling_rate) {
+ ALOGV("Sampling rate shared between %s and %s, using %g instead of %g\n", sensor[s].friendly_name, sensor[n].friendly_name,
+ sensor[n].semi_arbitrated_rate, arb_sampling_rate);
+ arb_sampling_rate = sensor[n].semi_arbitrated_rate;
+ }
+
+ sensor[s].sampling_rate = arb_sampling_rate;
+
+ /* Update actual sampling rate field for this sensor and others which may be sharing the same sampling rate */
+ if (per_device_sampling_rate)
+ for (n=0; n<sensor_count; n++)
+ if (sensor[n].dev_num == dev_num && n != s && sensor[n].num_channels)
+ sensor[n].sampling_rate = arb_sampling_rate;
+
+ /* If the desired rate is already active we're all set */
+ if (arb_sampling_rate == cur_sampling_rate)
+ return 0;
+
+ ALOGI("Sensor %d (%s) sampling rate set to %g\n", s, sensor[s].friendly_name, arb_sampling_rate);
+
+ if (trig_sensors_per_dev[dev_num])
+ enable_buffer(dev_num, 0);
+
+ sysfs_write_float(sysfs_path, arb_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;
+}
+
+
+static void reapply_sampling_rates (int s)
+{
+ /*
+ * The specified sensor was either enabled or disabled. Other sensors in the same group may have constraints related to this sensor
+ * sampling rate on their own sampling rate, so reevaluate them by retrying to use their requested sampling rate, rather than the one
+ * that ended up being used after arbitration.
+ */
+
+ int i, j, base;
+
+ if (sensor[s].is_virtual) {
+ /* Take care of downwards dependencies */
+ for (i=0; i<sensor[s].base_count; i++) {
+ base = sensor[s].base[i];
+ sensor_set_rate(base, sensor[base].requested_rate);
+ }
+ return;
+ }
+
+ /* Upwards too */
+ for (i=0; i<sensor_count; i++)
+ for (j=0; j<sensor[i].base_count; j++)
+ if (sensor[i].base[j] == s) /* If sensor i depends on sensor s */
+ sensor_set_rate(i, sensor[i].requested_rate);
+}
+
+
+static int sensor_activate_virtual (int s, int enabled, int from_virtual)
+{
+ int i, base;
+
+ sensor[s].event_count = 0;
+ sensor[s].meta_data_pending = 0;
+
+ if (!check_state_change(s, enabled, from_virtual))
+ return 0; /* The state of the sensor remains the same ; we're done */
+
+ if (enabled)
+ ALOGI("Enabling sensor %d (%s)\n", s, sensor[s].friendly_name);
+ else
+ ALOGI("Disabling sensor %d (%s)\n", s, sensor[s].friendly_name);
+
+ sensor[s].report_pending = 0;
+
+ for (i=0; i<sensor[s].base_count; i++) {
+
+ base = sensor[s].base[i];
+ sensor_activate(base, enabled, 1);
+
+ if (enabled)
+ sensor[base].ref_count++;
+ else
+ sensor[base].ref_count--;
+ }
+
+ /* Reevaluate sampling rates of linked sensors */
+ reapply_sampling_rates(s);
+ return 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
- * Reactivate gyro uncalibrated - Uncalibrated gets data from calibrated */
- /* If we want to deactivate gyro calibrated and gyro uncalibrated is active
- * Deactivate gyro uncalibrated - Uncalibrated no longer gets data from handler
- * Deactivate gyro calibrated - Calibrated releases handler
- * Reactivate gyro uncalibrated - Uncalibrated has handler */
+int sensor_activate (int s, int enabled, int from_virtual)
+{
+ char device_name[PATH_MAX];
+ struct epoll_event ev = {0};
+ int dev_fd, event_fd;
+ int ret, c, d;
+ int dev_num = sensor[s].dev_num;
+ size_t field_size;
+ int catalog_index = sensor[s].catalog_index;
- if (sensor_catalog[sensor_info[s].catalog_index].type == SENSOR_TYPE_GYROSCOPE &&
- sensor_info[s].pair_idx && sensor_info[sensor_info[s].pair_idx].enable_count != 0) {
+ if (sensor[s].is_virtual)
+ return sensor_activate_virtual(s, enabled, from_virtual);
- sensor_activate(sensor_info[s].pair_idx, 0);
- ret = sensor_activate(s, enabled);
- sensor_activate(sensor_info[s].pair_idx, 1);
- return ret;
- }
+ /* Prepare the report timestamp field for the first event, see set_report_ts method */
+ sensor[s].report_ts = 0;
- ret = adjust_counters(s, enabled);
+ ret = adjust_counters(s, enabled, from_virtual);
/* If the operation was neutral in terms of state, we're done */
if (ret <= 0)
return ret;
+ sensor[s].event_count = 0;
+ sensor[s].meta_data_pending = 0;
- if (!is_poll_sensor) {
+ if (enabled)
+ setup_noise_filtering(s); /* Initialize filtering data if required */
+
+ if (sensor[s].mode == MODE_TRIGGER) {
/* Stop sampling */
enable_buffer(dev_num, 0);
if (trig_sensors_per_dev[dev_num]) {
/* Start sampling */
- setup_trigger(s, sensor_info[s].init_trigger_name);
+ setup_trigger(s, sensor[s].init_trigger_name);
enable_buffer(dev_num, 1);
}
+ } else if (sensor[s].mode == MODE_POLL) {
+ if (sensor[s].needs_enable) {
+ enable_sensor(dev_num, sensor_catalog[catalog_index].tag, enabled);
+ }
}
/*
- * Make sure we have a fd on the character device ; conversely, close
- * the fd if no one is using associated sensors anymore. The assumption
- * here is that the underlying driver will power on the relevant
- * hardware block while someone holds a fd on the device.
+ * Make sure we have a fd on the character device ; conversely, close the fd if no one is using associated sensors anymore. The assumption
+ * here is that the underlying driver will power on the relevant hardware block while someone holds a fd on the device.
*/
dev_fd = device_fd[dev_num];
if (!enabled) {
- if (is_poll_sensor)
+ if (sensor[s].mode == MODE_POLL)
stop_acquisition_thread(s);
- if (dev_fd != -1 && !poll_sensors_per_dev[dev_num] &&
- !trig_sensors_per_dev[dev_num]) {
- /*
- * Stop watching this fd. This should be a no-op
- * in case this fd was not in the poll set.
- */
+ if (dev_fd != -1 && !poll_sensors_per_dev[dev_num] && !trig_sensors_per_dev[dev_num]) {
+ /* Stop watching this fd. This should be a no-op in case this fd was not in the poll set. */
epoll_ctl(poll_fd, EPOLL_CTL_DEL, dev_fd, NULL);
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;
+ if (sensor[s].mode == MODE_EVENT) {
+ event_fd = events_fd[dev_num];
+
+ for (c = 0; c < sensor_catalog[catalog_index].num_channels; c++) {
+ for (d = 0; d < sensor_catalog[catalog_index].channel[c].num_events; d++)
+ enable_event(dev_num, sensor_catalog[catalog_index].channel[c].event[d].ev_en_path, enabled);
}
+
+ epoll_ctl(poll_fd, EPOLL_CTL_DEL, event_fd, NULL);
+ close(event_fd);
+ events_fd[dev_num] = -1;
+
}
+ /* Release any filtering data we may have accumulated */
+ release_noise_filtering_data(s);
+
+ /* Reevaluate sampling rates of linked sensors */
+ reapply_sampling_rates(s);
return 0;
}
device_fd[dev_num] = dev_fd;
if (dev_fd == -1) {
- ALOGE("Could not open fd on %s (%s)\n",
- device_name, strerror(errno));
- adjust_counters(s, 0);
+ ALOGE("Could not open fd on %s (%s)\n", device_name, strerror(errno));
+ adjust_counters(s, 0, from_virtual);
return -1;
}
ALOGV("Opened %s: fd=%d\n", device_name, dev_fd);
- if (!is_poll_sensor) {
+ if (sensor[s].mode == MODE_TRIGGER) {
/* Add this iio device fd to the set of watched fds */
ev.events = EPOLLIN;
ret = epoll_ctl(poll_fd, EPOLL_CTL_ADD, dev_fd, &ev);
if (ret == -1) {
- ALOGE( "Failed adding %d to poll set (%s)\n",
- dev_fd, strerror(errno));
+ ALOGE("Failed adding %d to poll set (%s)\n", dev_fd, strerror(errno));
return -1;
}
/* Note: poll-mode fds are not readable */
- }
- }
+ } else if (sensor[s].mode == MODE_EVENT) {
+ event_fd = events_fd[dev_num];
- /* Ensure that on-change sensors send at least one event after enable */
- sensor_info[s].prev_val = -1;
+ ret = ioctl(dev_fd, IIO_GET_EVENT_FD_IOCTL, &event_fd);
+ if (ret == -1 || event_fd == -1) {
+ ALOGE("Failed to retrieve event_fd from %d (%s)\n", dev_fd, strerror(errno));
+ return -1;
+ }
+ events_fd[dev_num] = event_fd;
+ ALOGV("Opened fd=%d to receive events\n", event_fd);
- if (is_poll_sensor)
- start_acquisition_thread(s);
+ /* Add this event fd to the set of watched fds */
+ ev.events = EPOLLIN;
+ ev.data.u32 = dev_num;
- return 0;
-}
+ ret = epoll_ctl(poll_fd, EPOLL_CTL_ADD, event_fd, &ev);
+ if (ret == -1) {
+ ALOGE("Failed adding %d to poll set (%s)\n", event_fd, strerror(errno));
+ return -1;
+ }
+ for (c = 0; c < sensor_catalog[catalog_index].num_channels; c++) {
+ int d;
+ for (d = 0; d < sensor_catalog[catalog_index].channel[c].num_events; d++)
+ enable_event(dev_num, sensor_catalog[catalog_index].channel[c].event[d].ev_en_path, enabled);
+ }
+ if (!poll_sensors_per_dev[dev_num] && !trig_sensors_per_dev[dev_num]) {
+ close(dev_fd);
+ device_fd[dev_num] = -1;
+ }
+ }
+ }
-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;
+ /* Ensure that on-change sensors send at least one event after enable */
+ get_field_count(s, &field_size);
+ if (field_size == sizeof(uint64_t))
+ sensor[s].prev_val.data64 = -1;
+ else
+ sensor[s].prev_val.data = -1;
- if (sensor_catalog[catalog_index].type != SENSOR_TYPE_ACCELEROMETER)
- return 0;
+ if (sensor[s].mode == MODE_POLL)
+ start_acquisition_thread(s);
- if (sensor_info[s].sampling_rate < 25)
- return 0;
+ /* Reevaluate sampling rates of linked sensors */
+ reapply_sampling_rates(s);
- return 1;
+ return 0;
}
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
+ * 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.
*/
/* 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))
- )
+ if (sensor[s].dev_num == dev_num && is_enabled(s) && sensor[s].num_channels &&
+ (!sensor[s].motion_trigger_name[0] || !sensor[s].report_initialized || is_fast_accelerometer(s) ||
+ (sensor[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].quirks & QUIRK_CONTINUOUS_DRIVER) &&
- sensor_info[s].selected_trigger !=
- sensor_info[s].motion_trigger_name)
+ if (sensor[s].dev_num == dev_num && is_enabled(s) && sensor[s].num_channels && sensor[s].selected_trigger != sensor[s].motion_trigger_name)
candidate[candidate_count++] = s;
if (!candidate_count)
for (i=0; i<candidate_count; i++) {
s = candidate[i];
- setup_trigger(s, sensor_info[s].motion_trigger_name);
+ setup_trigger(s, sensor[s].motion_trigger_name);
}
enable_buffer(dev_num, 1);
}
-void set_report_ts(int s, int64_t ts)
+static void stamp_reports (int dev_num, int64_t ts)
{
- int64_t maxTs, period;
+ int s;
- /*
- * 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;
- }
+ for (s=0; s<MAX_SENSORS; s++)
+ if (sensor[s].dev_num == dev_num && is_enabled(s) && sensor[s].mode != MODE_POLL) {
+ if (sensor[s].quirks & QUIRK_SPOTTY)
+ set_report_ts(s, ts);
+ else
+ sensor[s].report_ts = ts;
+ }
}
-static int integrate_device_report(int dev_num)
+
+static int integrate_device_report_from_dev(int dev_num, int fd)
{
int len;
int s,c;
- unsigned char buf[MAX_SENSOR_REPORT_SIZE] = { 0 };
+ unsigned char buf[MAX_DEVICE_REPORT_SIZE] = { 0 };
int sr_offset;
unsigned char *target;
unsigned char *source;
int size;
- int64_t ts;
+ int64_t ts = 0;
+ int ts_offset = 0; /* Offset of iio timestamp, if provided */
+ int64_t boot_to_rt_delta;
/* There's an incoming report on the specified iio device char dev fd */
-
- if (dev_num < 0 || dev_num >= MAX_DEVICES) {
- ALOGE("Event reported on unexpected iio device %d\n", dev_num);
- return -1;
- }
-
- if (device_fd[dev_num] == -1) {
+ if (fd == -1) {
ALOGE("Ignoring stale report on iio device %d\n", dev_num);
return -1;
}
- ts = get_timestamp();
-
- len = read(device_fd[dev_num], buf, MAX_SENSOR_REPORT_SIZE);
+ len = read(fd, buf, expected_dev_report_size[dev_num]);
if (len == -1) {
- ALOGE("Could not read report from iio device %d (%s)\n",
- dev_num, strerror(errno));
+ ALOGE("Could not read report from iio device %d (%s)\n", dev_num, strerror(errno));
return -1;
}
/* 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) {
+ if (sensor[s].dev_num == dev_num && is_enabled(s)) {
sr_offset = 0;
/* Copy data from device to sensor report buffer */
- for (c=0; c<sensor_info[s].num_channels; c++) {
+ for (c=0; c<sensor[s].num_channels; c++) {
- target = sensor_info[s].report_buffer +
- sr_offset;
+ target = sensor[s].report_buffer + sr_offset;
- source = buf + sensor_info[s].channel[c].offset;
+ source = buf + sensor[s].channel[c].offset;
- size = sensor_info[s].channel[c].size;
+ size = sensor[s].channel[c].size;
memcpy(target, source, size);
sr_offset += size;
}
- ALOGV("Sensor %d report available (%d bytes)\n", s,
- sr_offset);
+ ALOGV("Sensor %d report available (%d bytes)\n", s, sr_offset);
+
+ sensor[s].report_pending = DATA_TRIGGER;
+ sensor[s].report_initialized = 1;
- set_report_ts(s, ts);
- sensor_info[s].report_pending = 1;
- sensor_info[s].report_initialized = 1;
+ ts_offset += sr_offset;
}
/* Tentatively switch to an any-motion trigger if conditions are met */
enable_motion_trigger(dev_num);
+ /* If no iio timestamp channel was detected for this device, bail out */
+ if (!has_iio_ts[dev_num]) {
+ stamp_reports(dev_num, get_timestamp_boot());
+ return 0;
+ }
+
+ /* Don't trust the timestamp channel in any-motion mode */
+ for (s=0; s<MAX_SENSORS; s++)
+ if (sensor[s].dev_num == dev_num && is_enabled(s) && sensor[s].selected_trigger == sensor[s].motion_trigger_name) {
+ stamp_reports(dev_num, get_timestamp_boot());
+ return 0;
+ }
+
+ /* Align on a 64 bits boundary */
+ ts_offset = expected_dev_report_size[dev_num] - sizeof(int64_t);
+
+ /* If we read an amount of data consistent with timestamp presence */
+ if (len == expected_dev_report_size[dev_num])
+ ts = *(int64_t*) (buf + ts_offset);
+
+ if (ts == 0) {
+ ALOGV("Unreliable timestamp channel on iio dev %d\n", dev_num);
+ stamp_reports(dev_num, get_timestamp_boot());
+ return 0;
+ }
+
+ ALOGV("Driver timestamp on iio device %d: ts=%lld\n", dev_num, ts);
+
+ boot_to_rt_delta = get_timestamp_boot() - get_timestamp_realtime();
+
+ stamp_reports(dev_num, ts + boot_to_rt_delta);
+
+ return 0;
+}
+
+static int integrate_device_report_from_event(int dev_num, int fd)
+{
+ int len, s;
+ int64_t ts;
+ struct iio_event_data event;
+
+ /* There's an incoming report on the specified iio device char dev fd */
+ if (fd == -1) {
+ ALOGE("Ignoring stale report on event fd %d of device %d\n",
+ fd, dev_num);
+ return -1;
+ }
+
+ len = read(fd, &event, sizeof(event));
+
+ if (len == -1) {
+ ALOGE("Could not read event from fd %d of device %d (%s)\n",
+ fd, dev_num, strerror(errno));
+ return -1;
+ }
+
+ ts = event.timestamp;
+
+ ALOGV("Read event %lld from fd %d of iio device %d\n", event.id, fd, dev_num);
+
+ /* Map device report to sensor reports */
+ for (s = 0; s < MAX_SENSORS; s++)
+ if (sensor[s].dev_num == dev_num &&
+ is_enabled(s)) {
+ sensor[s].event_id = event.id;
+ sensor[s].report_ts = ts;
+ sensor[s].report_pending = 1;
+ sensor[s].report_initialized = 1;
+ ALOGV("Sensor %d report available (1 byte)\n", s);
+ }
return 0;
}
+static int integrate_device_report(int dev_num)
+{
+ int ret = 0;
+
+ if (dev_num < 0 || dev_num >= MAX_DEVICES) {
+ ALOGE("Event reported on unexpected iio device %d\n", dev_num);
+ return -1;
+ }
+
+ if (events_fd[dev_num] != -1) {
+ ret = integrate_device_report_from_event(dev_num, events_fd[dev_num]);
+ if (ret < 0)
+ return ret;
+ }
+
+ if (device_fd[dev_num] != -1)
+ ret = integrate_device_report_from_dev(dev_num, device_fd[dev_num]);
+
+ return ret;
+}
+
+static int propagate_vsensor_report (int s, sensors_event_t *data)
+{
+ /* There's a new report stored in sensor.sample for this sensor; transmit it */
+
+ memcpy(data, &sensor[s].sample, sizeof(sensors_event_t));
+
+ data->sensor = s;
+ data->type = sensor_desc[s].type; /* sensor_desc[s].type can differ from sensor[s].type ; internal types are remapped */
+ return 1;
+}
-static int propagate_sensor_report(int s, struct sensors_event_t *data)
+
+static int propagate_sensor_report (int s, 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);
+ size_t field_size;
+ int num_fields = get_field_count(s, &field_size);
int c;
unsigned char* current_sample;
+ int ret;
/* If there's nothing to return... we're done */
if (!num_fields)
return 0;
+ ALOGV("Sample on sensor %d (type %d):\n", s, sensor[s].type);
- /* Only return uncalibrated event if also gyro active */
- if (sensor_type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED &&
- sensor_info[sensor_info[s].pair_idx].enable_count != 0)
+ if (sensor[s].mode == MODE_POLL) {
+ /* We received a good sample but we're not directly enabled so we'll drop */
+ if (!sensor[s].directly_enabled)
return 0;
+ /* Use the data provided by the acquisition thread */
+ ALOGV("Reporting data from worker thread for S%d\n", s);
+ memcpy(data, &sensor[s].sample, sizeof(sensors_event_t));
+ data->timestamp = sensor[s].report_ts;
+ return 1;
+ }
memset(data, 0, sizeof(sensors_event_t));
data->version = sizeof(sensors_event_t);
data->sensor = s;
- data->type = sensor_type;
- data->timestamp = sensor_info[s].report_ts;
-
- ALOGV("Sample on sensor %d (type %d):\n", s, sensor_type);
-
- current_sample = sensor_info[s].report_buffer;
+ data->type = sensor_desc[s].type; /* sensor_desc[s].type can differ from sensor[s].type ; internal types are remapped */
+ data->timestamp = sensor[s].report_ts;
+
+ if (sensor[s].mode == MODE_EVENT) {
+ ALOGV("Reporting event\n");
+ /* Android requires events to return 1.0 */
+ int dir = IIO_EVENT_CODE_EXTRACT_DIR(sensor[s].event_id);
+ switch (sensor[s].type) {
+ case SENSOR_TYPE_PROXIMITY:
+ if (dir == IIO_EV_DIR_FALLING)
+ data->data[0] = 0.0;
+ else
+ data->data[0] = 1.0;
+ break;
+ default:
+ data->data[0] = 1.0;
+ break;
- /* If this is a poll sensor */
- if (!sensor_info[s].num_channels) {
- /* Use the data provided by the acquisition thread */
- ALOGV("Reporting data from worker thread for S%d\n", s);
- memcpy(data->data, current_sample, num_fields * sizeof(float));
+ }
+ data->data[1] = 0.0;
+ data->data[2] = 0.0;
return 1;
}
/* Convert the data into the expected Android-level format */
+
+ current_sample = sensor[s].report_buffer;
+
for (c=0; c<num_fields; c++) {
- data->data[c] = sensor_info[s].ops.transform
- (s, c, current_sample);
+ data->data[c] = sensor[s].ops.transform (s, c, current_sample);
- ALOGV("\tfield %d: %f\n", c, data->data[c]);
- current_sample += sensor_info[s].channel[c].size;
+ ALOGV("\tfield %d: %g\n", c, data->data[c]);
+ current_sample += sensor[s].channel[c].size;
}
- /*
- * The finalize routine, in addition to its late sample processing duty,
- * has the final say on whether or not the sample gets sent to Android.
- */
- return sensor_info[s].ops.finalize(s, data);
+ ret = sensor[s].ops.finalize(s, data);
+
+ /* We will drop samples if the sensor is not directly enabled */
+ if (!sensor[s].directly_enabled)
+ return 0;
+
+ /* The finalize routine, in addition to its late sample processing duty, has the final say on whether or not the sample gets sent to Android */
+ return ret;
}
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.
+ * 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;
for (s=0; s<sensor_count; s++) {
/* Ignore disabled sensors */
- if (!sensor_info[s].enable_count)
+ if (!is_enabled(s))
continue;
/* If the sensor is continuously firing, leave it alone */
- if ( sensor_info[s].selected_trigger !=
- sensor_info[s].motion_trigger_name)
+ if (sensor[s].selected_trigger != sensor[s].motion_trigger_name)
continue;
/* If we haven't seen a sample, there's nothing to duplicate */
- if (!sensor_info[s].report_initialized)
+ if (!sensor[s].report_initialized)
continue;
/* If a sample was recently buffered, leave it alone too */
- if (sensor_info[s].report_pending)
+ if (sensor[s].report_pending)
continue;
/* We also need a valid sampling rate to be configured */
- if (!sensor_info[s].sampling_rate)
+ if (!sensor[s].sampling_rate)
continue;
- period = (int64_t) (1000000000.0/ sensor_info[s].sampling_rate);
+ period = (int64_t) (1000000000.0 / sensor[s].sampling_rate);
- current_ts = get_timestamp();
- target_ts = sensor_info[s].report_ts + period;
+ current_ts = get_timestamp_boot();
+ target_ts = sensor[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 = 1;
+ sensor[s].report_pending = DATA_DUPLICATE;
}
}
}
{
int s = tag - THREAD_REPORT_TAG_BASE;
int len;
- int expected_len;
-
- expected_len = get_field_count(s) * sizeof(float);
- len = read(sensor_info[s].thread_data_fd[0],
- sensor_info[s].report_buffer,
- expected_len);
+ len = read(sensor[s].thread_data_fd[0], &sensor[s].sample, sizeof(sensors_event_t));
- if (len == expected_len) {
- set_report_ts(s, get_timestamp());
- sensor_info[s].report_pending = 1;
- }
+ if (len == sizeof(sensors_event_t))
+ sensor[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.
+ * 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 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].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 (is_enabled(s) && sensor[s].selected_trigger == sensor[s].motion_trigger_name && sensor[s].sampling_rate) {
+ period = (int64_t) (1000000000.0 / sensor[s].sampling_rate);
+
+ if (sensor[s].report_ts + period < target_ts)
+ target_ts = sensor[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;
+ ms_to_wait = (target_ts - get_timestamp_boot()) / 1000000;
/* If the target timestamp is already behind us, don't wait */
if (ms_to_wait < 1)
}
-int sensor_poll(struct sensors_event_t* data, int count)
+int sensor_poll (sensors_event_t* data, int count)
{
int s;
int i;
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 */
/* Check our sensor collection for available reports */
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]);
-
- /* Duplicate only if both cal & uncal are active */
- if (sensor_catalog[sensor_info[s].catalog_index].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[uncal_start + i].type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED;
- data[uncal_start + i].sensor = sensor_info[s].pair_idx;
+ if (sensor[s].report_pending) {
+ event_count = 0;
- 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;
+ if (sensor[s].is_virtual)
+ event_count = propagate_vsensor_report(s, &data[returned_events]);
+ else
+ /* Report this event if it looks OK */
+ event_count = propagate_sensor_report(s, &data[returned_events]);
- 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;
- }
- sensor_info[sensor_info[s].pair_idx].report_pending = 0;
+ /* Lower flag */
+ sensor[s].report_pending = 0;
returned_events += event_count;
+
/*
- * If the sample was deemed invalid or unreportable,
- * e.g. had the same value as the previously reported
+ * If the sample was deemed invalid or unreportable, e.g. had the same value as the previously reported
* value for a 'on change' sensor, silently drop it.
*/
}
- while (sensor_info[s].meta_data_pending) {
+
+ while (sensor[s].meta_data_pending) {
/* See sensors.h on these */
data[returned_events].version = META_DATA_VERSION;
data[returned_events].sensor = 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--;
+ sensor[s].meta_data_pending--;
}
}
+
if (returned_events)
return returned_events;
}
-int sensor_set_delay(int s, int64_t ns)
+int sensor_set_delay (int s, int64_t ns)
{
- /* Set the rate at which a specific sensor should report events */
-
- /* See Android sensors.h for indication on sensor trigger modes */
-
- char sysfs_path[PATH_MAX];
- char avail_sysfs_path[PATH_MAX];
- int dev_num = sensor_info[s].dev_num;
- int i = sensor_info[s].catalog_index;
- const char *prefix = sensor_catalog[i].tag;
- float new_sampling_rate; /* Granted sampling rate after arbitration */
- float cur_sampling_rate; /* Currently used sampling rate */
- int per_sensor_sampling_rate;
- int per_device_sampling_rate;
- 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;
+ float requested_sampling_rate;
if (ns <= 0) {
- ALOGE("Rejecting non-positive delay request on sensor %d, required delay: %lld\n", s, ns);
+ ALOGE("Invalid delay requested on sensor %d: %lld\n", s, ns);
return -EINVAL;
}
- new_sampling_rate = 1000000000LL/ns;
+ requested_sampling_rate = 1000000000.0 / 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);
+ ALOGV("Entering set delay S%d (%s): current rate: %g, requested: %g\n", s, sensor[s].friendly_name, sensor[s].sampling_rate, requested_sampling_rate);
/*
- * Artificially limit ourselves to 1 Hz or higher. This is mostly to
- * avoid setting up the stage for divisions by zero.
+ * Only try to adjust the low level sampling rate if it's different from the current one, as set by the HAL. This saves a few sysfs
+ * reads and writes as well as buffer enable/disable operations, since at the iio level most drivers require the buffer to be turned off
+ * in order to accept a sampling rate change. Of course that implies that this field has to be kept up to date and that only this library
+ * is changing the sampling rate.
*/
- 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;
-
- /* If we're dealing with a poll-mode sensor */
- if (!sensor_info[s].num_channels) {
- /* Interrupt current sleep so the new sampling gets used */
- pthread_cond_signal(&thread_release_cond[s]);
- return 0;
- }
-
- sprintf(sysfs_path, SENSOR_SAMPLING_PATH, dev_num, prefix);
-
- if (sysfs_read_float(sysfs_path, &cur_sampling_rate) != -1) {
- per_sensor_sampling_rate = 1;
- per_device_sampling_rate = 0;
- } else {
- per_sensor_sampling_rate = 0;
-
- sprintf(sysfs_path, DEVICE_SAMPLING_PATH, dev_num);
- if (sysfs_read_float(sysfs_path, &cur_sampling_rate) != -1)
- per_device_sampling_rate = 1;
- else
- per_device_sampling_rate = 0;
- }
-
- if (!per_sensor_sampling_rate && !per_device_sampling_rate) {
- ALOGE("No way to adjust sampling rate on sensor %d\n", s);
- return -ENOSYS;
- }
-
- /* Coordinate with others active sensors on the same device, if any */
- if (per_device_sampling_rate)
- for (n=0; n<sensor_count; n++)
- if (n != s && sensor_info[n].dev_num == dev_num &&
- sensor_info[n].num_channels &&
- sensor_info[n].enable_count &&
- sensor_info[n].sampling_rate > new_sampling_rate)
- new_sampling_rate= sensor_info[n].sampling_rate;
-
- /* Check if we have contraints on allowed sampling rates */
-
- sprintf(avail_sysfs_path, DEVICE_AVAIL_FREQ_PATH, dev_num);
-
- if (sysfs_read_str(avail_sysfs_path, freqs_buf, sizeof(freqs_buf)) > 0){
- cursor = freqs_buf;
-
- /* Decode allowed sampling rates string, ex: "10 20 50 100" */
-
- /* While we're not at the end of the string */
- while (*cursor && cursor[0]) {
-
- /* Decode a single value */
- sr = strtod(cursor, NULL);
-
- /* If this matches the selected rate, we're happy */
- if (new_sampling_rate == sr)
- break;
-
- /*
- * If we reached a higher value than the desired rate,
- * adjust selected rate so it matches the first higher
- * available one and stop parsing - this makes the
- * assumption that rates are sorted by increasing value
- * in the allowed frequencies string.
- */
- if (sr > new_sampling_rate) {
- new_sampling_rate = sr;
- break;
- }
-
- /* Skip digits */
- while (cursor[0] && !isspace(cursor[0]))
- cursor++;
-
- /* Skip spaces */
- while (cursor[0] && isspace(cursor[0]))
- cursor++;
- }
- }
-
-
- 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;
-
- ALOGI("Sensor %d sampling rate set to %g\n", s, new_sampling_rate);
-
- if (trig_sensors_per_dev[dev_num])
- enable_buffer(dev_num, 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);
-
- if (trig_sensors_per_dev[dev_num])
- enable_buffer(dev_num, 1);
+ if (requested_sampling_rate != sensor[s].sampling_rate)
+ return sensor_set_rate(s, requested_sampling_rate);
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)
+ if (sensor_desc[s].flags & SENSOR_FLAG_ONE_SHOT_MODE || !is_enabled(s))
return -EINVAL;
- sensor_info[s].meta_data_pending++;
+ sensor[s].meta_data_pending++;
return 0;
}
+
int allocate_control_data (void)
{
int i;
- for (i=0; i<MAX_DEVICES; i++)
+ for (i=0; i<MAX_DEVICES; i++) {
device_fd[i] = -1;
+ events_fd[i] = -1;
+ }
poll_fd = epoll_create(MAX_DEVICES);
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