/*
- * Copyright (C) 2014 Intel Corporation.
+ * Copyright (C) 2014-2015 Intel Corporation.
*/
#include <stdlib.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 "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 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 */
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)
{
* Adjust counters based on sensor enable action. Return values are:
* 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[s].dev_num;
ALOGI("Enabling sensor %d (iio device %d: %s)\n", s, dev_num, sensor[s].friendly_name);
switch (sensor[s].type) {
+ case SENSOR_TYPE_ACCELEROMETER:
+ accel_cal_init(s);
+ break;
+
case SENSOR_TYPE_MAGNETIC_FIELD:
- compass_read_data(&sensor[s]);
+ compass_read_data(s);
break;
case SENSOR_TYPE_GYROSCOPE:
- gyro_cal_init(&sensor[s]);
+ gyro_cal_init(s);
break;
}
} else {
/* Sensor disabled, lower report available flag */
sensor[s].report_pending = 0;
- if (sensor[s].type == SENSOR_TYPE_MAGNETIC_FIELD)
- compass_store_data(&sensor[s]);
+ /* Save calibration data to persistent storage */
+ switch (sensor[s].type) {
+ case SENSOR_TYPE_ACCELEROMETER:
+ accel_cal_store(s);
+ break;
+
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ compass_store_data(s);
+ break;
- if (sensor[s].type == SENSOR_TYPE_GYROSCOPE)
- gyro_store_data(&sensor[s]);
+ case SENSOR_TYPE_GYROSCOPE:
+ gyro_store_data(s);
+ break;
+ }
}
/* We changed the state of a sensor: adjust device ref counts */
- if (!sensor[s].is_polling) {
-
- 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;
- }
-
- if (enabled) {
- active_poll_sensors++;
- poll_sensors_per_dev[dev_num]++;
+ } else {
+ active_poll_sensors--;
+ poll_sensors_per_dev[dev_num]--;
+ return 1;
+ }
+ 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)
{
+ *field_size = sizeof(float);
+
switch (sensor[s].type) {
case SENSOR_TYPE_ACCELEROMETER: /* m/s^2 */
case SENSOR_TYPE_MAGNETIC_FIELD: /* micro-tesla */
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;
+ 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 */
int ret;
struct timespec target_time;
int64_t timestamp, period, start, stop;
+ size_t field_size;
if (s < 0 || s >= sensor_count) {
ALOGE("Invalid sensor handle!\n");
data.sensor = s;
data.type = sensor[s].type;
- num_fields = get_field_count(s);
+ 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
/* 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[s].thread_data_fd[1] == -1)
/* 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[s].acquisition_thread, NULL, acquisition_routine, (void*) (size_t) s);
return 0;
/* If we're dealing with a poll-mode sensor */
- if (sensor[s].is_polling) {
+ 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;
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].sampling_rate > arb_sampling_rate) {
+ 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].sampling_rate, arb_sampling_rate);
- arb_sampling_rate = sensor[n].sampling_rate;
+ sensor[n].semi_arbitrated_rate, arb_sampling_rate);
+ arb_sampling_rate = sensor[n].semi_arbitrated_rate;
}
sensor[s].sampling_rate = arb_sampling_rate;
* that ended up being used after arbitration.
*/
- int i, j, base, user;
+ int i, j, base;
if (sensor[s].is_virtual) {
/* Take care of downwards dependencies */
{
char device_name[PATH_MAX];
struct epoll_event ev = {0};
- int dev_fd;
- int ret;
+ 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[s].is_virtual)
return sensor_activate_virtual(s, enabled, from_virtual);
sensor[s].event_count = 0;
sensor[s].meta_data_pending = 0;
- if (enabled && (sensor[s].quirks & QUIRK_NOISY))
+ if (enabled)
setup_noise_filtering(s); /* Initialize filtering data if required */
- if (!sensor[s].is_polling) {
+ if (sensor[s].mode == MODE_TRIGGER) {
/* Stop sampling */
enable_buffer(dev_num, 0);
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);
+ }
}
/*
dev_fd = device_fd[dev_num];
if (!enabled) {
- if (sensor[s].is_polling)
+ 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]) {
device_fd[dev_num] = -1;
}
+ 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);
ALOGV("Opened %s: fd=%d\n", device_name, dev_fd);
- if (!sensor[s].is_polling) {
+ if (sensor[s].mode == MODE_TRIGGER) {
/* Add this iio device fd to the set of watched fds */
ev.events = EPOLLIN;
}
/* Note: poll-mode fds are not readable */
+ } else if (sensor[s].mode == MODE_EVENT) {
+ event_fd = events_fd[dev_num];
+
+ 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);
+
+ /* Add this event fd to the set of watched fds */
+ ev.events = EPOLLIN;
+ ev.data.u32 = dev_num;
+
+ 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;
+ }
}
}
/* Ensure that on-change sensors send at least one event after enable */
- sensor[s].prev_val = -1;
+ 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[s].is_polling)
+ if (sensor[s].mode == MODE_POLL)
start_acquisition_thread(s);
/* Reevaluate sampling rates of linked sensors */
int s;
for (s=0; s<MAX_SENSORS; s++)
- if (sensor[s].dev_num == dev_num && is_enabled(s))
- set_report_ts(s, ts);
+ 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;
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;
}
- len = read(device_fd[dev_num], buf, expected_dev_report_size[dev_num]);
+ 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));
}
/* Align on a 64 bits boundary */
- ts_offset = (ts_offset + 7)/8*8;
+ 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])
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)
{
memcpy(data, &sensor[s].sample, sizeof(sensors_event_t));
data->sensor = s;
- data->type = sensor[s].type;
+ data->type = sensor_desc[s].type; /* sensor_desc[s].type can differ from sensor[s].type ; internal types are remapped */
return 1;
}
{
/* There's a sensor report pending for this sensor ; transmit it */
- 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;
ALOGV("Sample on sensor %d (type %d):\n", s, sensor[s].type);
- if (sensor[s].is_polling) {
+ 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;
data->version = sizeof(sensors_event_t);
data->sensor = s;
- data->type = sensor[s].type;
+ 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;
+
+ }
+ 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;
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:
{
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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