/*
- * Copyright (C) 2014 Intel Corporation.
+ * Copyright (C) 2014-2015 Intel Corporation.
*/
#include <stdlib.h>
#include "enumeration.h"
#include "description.h"
#include "utils.h"
+#include "transform.h"
#define IIO_SENSOR_HAL_VERSION 1
+#define MIN_ON_CHANGE_SAMPLING_PERIOD_US 200000 /* For on change sensors (temperature, proximity, ALS, etc.) report we support 5 Hz max (0.2 s min period) */
+#define MAX_ON_CHANGE_SAMPLING_PERIOD_US 10000000 /* 0.1 Hz min (10 s max period)*/
+#define ANDROID_MAX_FREQ 1000 /* 1000 Hz - This is how much Android requests for the fastest frequency */
+
/*
* About properties
*
* properties values happen to have its iio device name set to bmg160.
*/
-static int sensor_get_st_prop (int s, const char* sel, char val[MAX_NAME_SIZE])
+int sensor_get_st_prop (int s, const char* sel, char val[MAX_NAME_SIZE])
{
char prop_name[PROP_NAME_MAX];
char prop_val[PROP_VALUE_MAX];
int i = sensor[s].catalog_index;
const char *prefix = sensor_catalog[i].tag;
+ const char *shorthand = sensor_catalog[i].shorthand;
/* First try most specialized form, like ro.iio.anglvel.bmg160.name */
return 0;
}
+ if (shorthand[0] != '\0') {
+ /* Try with shorthand instead of prefix */
+ snprintf(prop_name, PROP_NAME_MAX, PROP_BASE, shorthand, extended_sel);
+
+ if (property_get(prop_name, prop_val, "")) {
+ strncpy(val, prop_val, MAX_NAME_SIZE-1);
+ val[MAX_NAME_SIZE-1] = '\0';
+ return 0;
+ }
+ }
/* Fall back to simple form, like ro.iio.anglvel.name */
- sprintf(prop_name, PROP_BASE, prefix, sel);
+ snprintf(prop_name, PROP_NAME_MAX, PROP_BASE, prefix, sel);
if (property_get(prop_name, prop_val, "")) {
strncpy(val, prop_val, MAX_NAME_SIZE-1);
switch (sensor[s].type) {
case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
- strcpy(buf, sensor[sensor[s].base_idx[0]].friendly_name);
+ strcpy(buf, sensor[sensor[s].base[0]].friendly_name);
snprintf(sensor[s].friendly_name,
MAX_NAME_SIZE,
"%s %s", "Uncalibrated", buf);
switch (sensor[s].type) {
case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
- return sensor[sensor[s].base_idx[0]].vendor_name;
+ return sensor[sensor[s].base[0]].vendor_name;
break;
default:
return IIO_SENSOR_HAL_VERSION;
}
-
-float sensor_get_max_range (int s)
+void sensor_update_max_range(int s)
{
- if (sensor[s].is_virtual) {
- switch (sensor[s].type) {
- case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
- case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
- return sensor[sensor[s].base_idx[0]].max_range;
+ if (sensor[s].max_range)
+ return;
- default:
- return 0.0;
+ if (sensor[s].num_channels && sensor[s].channel[0].type_info.realbits) {
+ switch (sensor[s].type) {
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ sensor[s].max_range = (1ULL << sensor[s].channel[0].type_info.realbits) *
+ CONVERT_MICROTESLA_TO_GAUSS(sensor[s].resolution) +
+ (sensor[s].offset || sensor[s].channel[0].offset);
+ sensor[s].max_range = CONVERT_GAUSS_TO_MICROTESLA(sensor[s].max_range);
+ break;
+ case SENSOR_TYPE_PROXIMITY:
+ break;
+ default:
+ sensor[s].max_range = (1ULL << sensor[s].channel[0].type_info.realbits) *
+ sensor[s].resolution + (sensor[s].offset || sensor[s].channel[0].offset);
+ break;
}
}
- if (sensor[s].max_range != 0.0 ||
- !sensor_get_fl_prop(s, "max_range", &sensor[s].max_range))
- return sensor[s].max_range;
-
- /* Try returning a sensible value given the sensor type */
-
- /* We should cap returned samples accordingly... */
-
- switch (sensor[s].type) {
+ if (!sensor[s].max_range) {
+ /* Try returning a sensible value given the sensor type */
+ /* We should cap returned samples accordingly... */
+ switch (sensor[s].type) {
case SENSOR_TYPE_ACCELEROMETER: /* m/s^2 */
- return 50;
-
+ sensor[s].max_range = 50;
+ break;
case SENSOR_TYPE_MAGNETIC_FIELD: /* micro-tesla */
- return 500;
-
+ sensor[s].max_range = 500;
+ break;
case SENSOR_TYPE_ORIENTATION: /* degrees */
- return 360;
-
+ sensor[s].max_range = 360;
+ break;
case SENSOR_TYPE_GYROSCOPE: /* radians/s */
- return 10;
-
+ sensor[s].max_range = 10;
+ break;
case SENSOR_TYPE_LIGHT: /* SI lux units */
- return 50000;
-
+ sensor[s].max_range = 50000;
+ break;
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 */
- return 100;
+ sensor[s].max_range = 100;
+ break;
+ }
+ }
- default:
- return 0;
+ if (sensor[s].max_range)
+ sensor_desc[s].maxRange = sensor[s].max_range;
+}
+
+float sensor_get_max_range (int s)
+{
+ if (sensor[s].is_virtual) {
+ switch (sensor[s].type) {
+ case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
+ case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
+ return sensor[sensor[s].base[0]].max_range;
+
+ default:
+ return 0.0;
}
+ }
+
+ if (sensor[s].max_range != 0.0 ||
+ !sensor_get_fl_prop(s, "max_range", &sensor[s].max_range))
+ return sensor[s].max_range;
+
+ return 0;
}
-static float sensor_get_min_freq (int s)
+float sensor_get_min_freq (int s)
{
/*
* Check if a low cap has been specified for this sensor sampling rate.
}
-static float sensor_get_max_freq (int s)
+float sensor_get_max_freq (int s)
{
float max_freq;
if (!sensor_get_fl_prop(s, "max_freq", &max_freq))
return max_freq;
- return 1000;
+ return ANDROID_MAX_FREQ;
}
int sensor_get_cal_steps (int s)
switch (sensor[s].type) {
case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
- return sensor[sensor[s].base_idx[0]].resolution;
+ return sensor[sensor[s].base[0]].resolution;
default:
return 0;
}
if (sensor[s].resolution != 0.0 ||
- !sensor_get_fl_prop(s, "resolution", &sensor[s].resolution))
- return sensor[s].resolution;
+ !sensor_get_fl_prop(s, "resolution", &sensor[s].resolution)) {
+ return sensor[s].resolution;
+ }
- return 0;
+ sensor[s].resolution = sensor[s].scale;
+ if (!sensor[s].resolution && sensor[s].num_channels)
+ sensor[s].resolution = sensor[s].channel[0].scale;
+
+ if (sensor[s].type == SENSOR_TYPE_MAGNETIC_FIELD)
+ sensor[s].resolution = CONVERT_GAUSS_TO_MICROTESLA(sensor[s].resolution);
+
+ return sensor[s].resolution ? : 1;
}
switch (sensor[s].type) {
case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
- return sensor[sensor[s].base_idx[0]].power;
+ return sensor[sensor[s].base[0]].power;
default:
return 0;
if (strstr(quirks_buf, "noisy"))
sensor[s].quirks |= QUIRK_NOISY;
+ if (strstr(quirks_buf, "biased"))
+ sensor[s].quirks |= QUIRK_BIASED;
+
+ if (strstr(quirks_buf, "spotty"))
+ sensor[s].quirks |= QUIRK_SPOTTY;
+
+ if (strstr(quirks_buf, "no-event"))
+ sensor[s].quirks |= QUIRK_NO_EVENT_MODE;
+
+ if (strstr(quirks_buf, "no-trig"))
+ sensor[s].quirks |= QUIRK_NO_TRIG_MODE;
+
+ if (strstr(quirks_buf, "no-poll"))
+ sensor[s].quirks |= QUIRK_NO_POLL_MODE;
+
+ if (strstr(quirks_buf, "hrtimer"))
+ sensor[s].quirks |= QUIRK_HRTIMER;
+
+ if (strstr(quirks_buf, "secondary"))
+ sensor[s].quirks |= QUIRK_SECONDARY;
+
sensor[s].quirks |= QUIRK_ALREADY_DECODED;
}
return 1; /* OK to use modified ordering map */
}
-char* sensor_get_string_type (int s)
+int sensor_get_available_frequencies (int s)
+{
+ int dev_num = sensor[s].dev_num, err, i;
+ char avail_sysfs_path[PATH_MAX], freqs_buf[100];
+ char *p, *end;
+ float f;
+
+ sensor[s].avail_freqs_count = 0;
+ sensor[s].avail_freqs = 0;
+
+ sprintf(avail_sysfs_path, DEVICE_AVAIL_FREQ_PATH, dev_num);
+
+ err = sysfs_read_str(avail_sysfs_path, freqs_buf, sizeof(freqs_buf));
+ if (err < 0)
+ return 0;
+
+ for (p = freqs_buf, f = strtof(p, &end); p != end; p = end, f = strtof(p, &end))
+ sensor[s].avail_freqs_count++;
+
+ if (sensor[s].avail_freqs_count) {
+ sensor[s].avail_freqs = (float*) calloc(sensor[s].avail_freqs_count, sizeof(float));
+
+ for (p = freqs_buf, f = strtof(p, &end), i = 0; p != end; p = end, f = strtof(p, &end), i++)
+ sensor[s].avail_freqs[i] = f;
+ }
+
+ return 0;
+}
+
+int sensor_get_mounting_matrix (int s, float mm[9])
{
+ int dev_num = sensor[s].dev_num, err, i;
+ char mm_path[PATH_MAX], mm_buf[100];
+ char *tmp1 = mm_buf, *tmp2;
+
switch (sensor[s].type) {
case SENSOR_TYPE_ACCELEROMETER:
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ case SENSOR_TYPE_GYROSCOPE:
+ case SENSOR_TYPE_PROXIMITY:
+ break;
+ default:
+ return 0;
+ }
+
+ sprintf(mm_path, MOUNTING_MATRIX_PATH, dev_num);
+
+ err = sysfs_read_str(mm_path, mm_buf, sizeof(mm_buf));
+ if (err < 0)
+ return 0;
+
+ for(i = 0; i < 9; i++) {
+ float f;
+
+ f = strtof(tmp1, &tmp2);
+ if (!f && tmp1 == tmp2)
+ return 0;
+ mm[i] = f;
+ tmp1 = tmp2 + 1;
+ }
+
+ /*
+ * For proximity sensors, interpret a negative final z value as a hint that the sensor is back mounted. In that case, mark the sensor as secondary to
+ * ensure that it gets listed after other sensors of same type that would be front-mounted. Most applications will only ask for the default proximity
+ * sensor and it makes more sense to point to, say, the IR based proximity sensor rather than SAR based one if we have both, as on SoFIA LTE MRD boards.
+ */
+ if (sensor[s].type == SENSOR_TYPE_PROXIMITY) {
+ if (mm[8] < 0) {
+ sensor[s].quirks |= QUIRK_SECONDARY;
+ }
+ return 0;
+ }
+
+ ALOGI("%s: %f %f %f %f %f %f %f %f %f\n", __func__, mm[0], mm[1], mm[2], mm[3], mm[4], mm[5], mm[6], mm[7], mm[8]);
+ return 1;
+}
+
+
+char* sensor_get_string_type (int s)
+{
+ switch (sensor_desc[s].type) {
+ case SENSOR_TYPE_ACCELEROMETER:
return SENSOR_STRING_TYPE_ACCELEROMETER;
case SENSOR_TYPE_MAGNETIC_FIELD:
return SENSOR_STRING_TYPE_MAGNETIC_FIELD;
+ case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
+ return SENSOR_STRING_TYPE_MAGNETIC_FIELD_UNCALIBRATED;
+
case SENSOR_TYPE_ORIENTATION:
return SENSOR_STRING_TYPE_ORIENTATION;
}
}
+
flag_t sensor_get_flags (int s)
{
- flag_t flags = 0x0;
-
- switch (sensor[s].type) {
- case SENSOR_TYPE_ACCELEROMETER:
- case SENSOR_TYPE_MAGNETIC_FIELD:
- case SENSOR_TYPE_ORIENTATION:
- case SENSOR_TYPE_GYROSCOPE:
- case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
- case SENSOR_TYPE_PRESSURE:
- flags |= SENSOR_FLAG_CONTINUOUS_MODE;
- break;
+ flag_t flags = 0;
+ switch (sensor_desc[s].type) {
case SENSOR_TYPE_LIGHT:
case SENSOR_TYPE_AMBIENT_TEMPERATURE:
case SENSOR_TYPE_TEMPERATURE:
case SENSOR_TYPE_RELATIVE_HUMIDITY:
+ case SENSOR_TYPE_STEP_COUNTER:
flags |= SENSOR_FLAG_ON_CHANGE_MODE;
break;
flags |= SENSOR_FLAG_WAKE_UP;
flags |= SENSOR_FLAG_ON_CHANGE_MODE;
break;
-
+ case SENSOR_TYPE_STEP_DETECTOR:
+ flags |= SENSOR_FLAG_SPECIAL_REPORTING_MODE;
+ break;
default:
- ALOGI("Unknown sensor");
+ break;
}
return flags;
}
-int get_cdd_freq (int s, int must)
+
+static int get_cdd_freq (int s, int must)
{
- switch (sensor[s].type) {
+ switch (sensor_desc[s].type) {
case SENSOR_TYPE_ACCELEROMETER:
return (must ? 100 : 200); /* must 100 Hz, should 200 Hz, CDD compliant */
+
case SENSOR_TYPE_GYROSCOPE:
- case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
return (must ? 200 : 200); /* must 200 Hz, should 200 Hz, CDD compliant */
+
case SENSOR_TYPE_MAGNETIC_FIELD:
return (must ? 10 : 50); /* must 10 Hz, should 50 Hz, CDD compliant */
+
case SENSOR_TYPE_LIGHT:
case SENSOR_TYPE_AMBIENT_TEMPERATURE:
case SENSOR_TYPE_TEMPERATURE:
return (must ? 1 : 2); /* must 1 Hz, should 2Hz, not mentioned in CDD */
+
default:
- return 0;
+ return 1; /* Use 1 Hz by default, e.g. for proximity */
}
}
-/* This value is defined only for continuous mode and on-change sensors. It is the delay between
- * two sensor events corresponding to the lowest frequency that this sensor supports. When lower
- * frequencies are requested through batch()/setDelay() the events will be generated at this
- * frequency instead. It can be used by the framework or applications to estimate when the batch
- * FIFO may be full.
- *
- * NOTE: 1) period_ns is in nanoseconds where as maxDelay/minDelay are in microseconds.
- * continuous, on-change: maximum sampling period allowed in microseconds.
- * one-shot, special : 0
- * 2) maxDelay should always fit within a 32 bit signed integer. It is declared as 64 bit
- * on 64 bit architectures only for binary compatibility reasons.
- * Availability: SENSORS_DEVICE_API_VERSION_1_3
+/*
+ * This value is defined only for continuous mode and on-change sensors. It is the delay between two sensor events corresponding to the lowest frequency that
+ * this sensor supports. When lower frequencies are requested through batch()/setDelay() the events will be generated at this frequency instead. It can be used
+ * by the framework or applications to estimate when the batch FIFO may be full. maxDelay should always fit within a 32 bit signed integer. It is declared as
+ * 64 bit on 64 bit architectures only for binary compatibility reasons. Availability: SENSORS_DEVICE_API_VERSION_1_3
*/
max_delay_t sensor_get_max_delay (int s)
{
- char avail_sysfs_path[PATH_MAX];
- int dev_num = sensor[s].dev_num;
- char freqs_buf[100];
- char* cursor;
- float min_supported_rate = 1000;
+ int dev_num = sensor[s].dev_num, i;
+ float min_supported_rate;
float rate_cap;
- float sr;
- /* continuous, on-change: maximum sampling period allowed in microseconds.
+ /*
+ * continuous, on-change: maximum sampling period allowed in microseconds.
* one-shot, special : 0
*/
- if (REPORTING_MODE(sensor_desc[s].flags) == SENSOR_FLAG_ONE_SHOT_MODE ||
- REPORTING_MODE(sensor_desc[s].flags) == SENSOR_FLAG_SPECIAL_REPORTING_MODE)
- return 0;
+ switch (REPORTING_MODE(sensor_desc[s].flags)) {
+ case SENSOR_FLAG_ONE_SHOT_MODE:
+ case SENSOR_FLAG_SPECIAL_REPORTING_MODE:
+ return 0;
+
+ case SENSOR_FLAG_ON_CHANGE_MODE:
+ return MAX_ON_CHANGE_SAMPLING_PERIOD_US;
+
+ default:
+ break;
+ }
if (sensor[s].is_virtual) {
switch (sensor[s].type) {
case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
- return sensor_desc[sensor[s].base_idx[0]].maxDelay;
+ return sensor_desc[sensor[s].base[0]].maxDelay;
default:
return 0;
}
}
- sprintf(avail_sysfs_path, DEVICE_AVAIL_FREQ_PATH, dev_num);
-
- if (sysfs_read_str(avail_sysfs_path, freqs_buf, sizeof(freqs_buf)) < 0) {
- /* If poll mode sensor */
- if (!sensor[s].num_channels) {
- /* The must rate */
- min_supported_rate = get_cdd_freq(s, 1);
- }
- } else {
- cursor = freqs_buf;
- while (*cursor && cursor[0]) {
- /* Decode a single value */
- sr = strtod(cursor, NULL);
+ switch (sensor[s].mode) {
+ case MODE_TRIGGER:
+ /* For interrupt-based devices, obey the list of supported sampling rates */
+ if (sensor[s].avail_freqs_count) {
+ min_supported_rate = 1000;
+ for (i = 0; i < sensor[s].avail_freqs_count; i++) {
+ if (sensor[s].avail_freqs[i] < min_supported_rate)
+ min_supported_rate = sensor[s].avail_freqs[i];
+ }
+ break;
+ }
+ /* Fall through ... */
- if (sr < min_supported_rate)
- min_supported_rate = sr;
-
- /* Skip digits */
- while (cursor[0] && !isspace(cursor[0]))
- cursor++;
-
- /* Skip spaces */
- while (cursor[0] && isspace(cursor[0]))
- cursor++;
- }
+ default:
+ /* Report 1 Hz */
+ min_supported_rate = 1;
+ break;
}
/* Check if a minimum rate was specified for this sensor */
return 0;
/* Return microseconds */
- return (max_delay_t)(1000000.0 / min_supported_rate);
+ return (max_delay_t) (1000000.0 / min_supported_rate);
}
-/* this value depends on the reporting mode:
- *
- * continuous: minimum sample period allowed in microseconds
- * on-change : 0
- * one-shot :-1
- * special : 0, unless otherwise noted
- */
-int32_t sensor_get_min_delay(int s)
+float sensor_get_max_static_freq(int s)
{
- char avail_sysfs_path[PATH_MAX];
- int dev_num = sensor[s].dev_num;
- char freqs_buf[100];
- char* cursor;
+ float max_from_prop = sensor_get_max_freq(s);
+
+ /* If we have max specified via a property use it */
+ if (max_from_prop != ANDROID_MAX_FREQ) {
+ return max_from_prop;
+ } else {
+ /* The should rate */
+ return get_cdd_freq(s, 0);
+ }
+}
+
+int32_t sensor_get_min_delay (int s)
+{
+ int dev_num = sensor[s].dev_num, i;
float max_supported_rate = 0;
- float sr;
+ float max_from_prop = sensor_get_max_freq(s);
- /* continuous: minimum sampling period allowed in microseconds.
- * on-change, special : 0
- * one-shot :-1
+ /* continuous, on change: minimum sampling period allowed in microseconds.
+ * special : 0, unless otherwise noted
+ * one-shot:-1
*/
- if (REPORTING_MODE(sensor_desc[s].flags) == SENSOR_FLAG_ON_CHANGE_MODE ||
- REPORTING_MODE(sensor_desc[s].flags) == SENSOR_FLAG_SPECIAL_REPORTING_MODE)
- return 0;
+ switch (REPORTING_MODE(sensor_desc[s].flags)) {
+ case SENSOR_FLAG_ON_CHANGE_MODE:
+ return MIN_ON_CHANGE_SAMPLING_PERIOD_US;
- if (REPORTING_MODE(sensor_desc[s].flags) == SENSOR_FLAG_ONE_SHOT_MODE)
- return -1;
+ case SENSOR_FLAG_SPECIAL_REPORTING_MODE:
+ return 0;
+
+ case SENSOR_FLAG_ONE_SHOT_MODE:
+ return -1;
+
+ default:
+ break;
+ }
if (sensor[s].is_virtual) {
switch (sensor[s].type) {
case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
- return sensor_desc[sensor[s].base_idx[0]].minDelay;
+ return sensor_desc[sensor[s].base[0]].minDelay;
default:
return 0;
}
}
- sprintf(avail_sysfs_path, DEVICE_AVAIL_FREQ_PATH, dev_num);
-
- if (sysfs_read_str(avail_sysfs_path, freqs_buf, sizeof(freqs_buf)) < 0) {
- /* If poll mode sensor */
- if (!sensor[s].num_channels) {
- /* The should rate */
- max_supported_rate = get_cdd_freq(s, 0);
+ if (!sensor[s].avail_freqs_count) {
+ if (sensor[s].mode == MODE_POLL) {
+ /* If we have max specified via a property use it */
+ if (max_from_prop != ANDROID_MAX_FREQ)
+ max_supported_rate = max_from_prop;
+ else
+ /* The should rate */
+ max_supported_rate = get_cdd_freq(s, 0);
}
} else {
- cursor = freqs_buf;
- while (*cursor && cursor[0]) {
-
- /* Decode a single value */
- sr = strtod(cursor, NULL);
-
- if (sr > max_supported_rate && sr <= sensor_get_max_freq(s))
- max_supported_rate = sr;
-
- /* Skip digits */
- while (cursor[0] && !isspace(cursor[0]))
- cursor++;
-
- /* Skip spaces */
- while (cursor[0] && isspace(cursor[0]))
- cursor++;
+ for (i = 0; i < sensor[s].avail_freqs_count; i++) {
+ if (sensor[s].avail_freqs[i] > max_supported_rate &&
+ sensor[s].avail_freqs[i] <= max_from_prop) {
+ max_supported_rate = sensor[s].avail_freqs[i];
+ }
}
}
return 0;
/* Return microseconds */
- return (int32_t)(1000000.0 / max_supported_rate);
+ return (int32_t) (1000000.0 / max_supported_rate);
}
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