* Copyright (C) 2014 Intel Corporation.
*/
+#include <ctype.h>
#include <dirent.h>
#include <stdlib.h>
#include <utils/Log.h>
#include "description.h"
#include "control.h"
#include "calibration.h"
+#include "filtering.h"
/*
* This table maps syfs entries in scan_elements directories to sensor types,
* device number associated to a specific sensor.
*/
+ /*
+ * We duplicate entries for the uncalibrated types after their respective base
+ * sensor. This is because all sensor entries must have an associated catalog entry
+ * and also because when only the uncal sensor is active it needs to take it's data
+ * from the same iio device as the base one.
+ */
+
struct sensor_catalog_entry_t sensor_catalog[] = {
DECLARE_SENSOR3("accel", SENSOR_TYPE_ACCELEROMETER, "x", "y", "z")
DECLARE_SENSOR3("anglvel", SENSOR_TYPE_GYROSCOPE, "x", "y", "z")
DECLARE_SENSOR4("rot", SENSOR_TYPE_ROTATION_VECTOR,
"quat_x", "quat_y", "quat_z", "quat_w")
DECLARE_SENSOR0("temp", SENSOR_TYPE_AMBIENT_TEMPERATURE )
+ DECLARE_SENSOR0("proximity", SENSOR_TYPE_PROXIMITY )
+ DECLARE_SENSOR3("anglvel", SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, "x", "y", "z")
};
#define CATALOG_SIZE ARRAY_SIZE(sensor_catalog)
+/* ACPI PLD (physical location of device) definitions, as used with sensors */
+
+#define PANEL_FRONT 4
+#define PANEL_BACK 5
/* We equate sensor handles to indices in these tables */
int sensor_count; /* Detected sensors */
+static void setup_properties_from_pld(int s, int panel, int rotation,
+ int num_channels)
+{
+ /*
+ * Generate suitable order and opt_scale directives from the PLD panel
+ * and rotation codes we got. This can later be superseded by the usual
+ * properties if necessary. Eventually we'll need to replace these
+ * mechanisms by a less convoluted one, such as a 3x3 placement matrix.
+ */
+
+ int x = 1;
+ int y = 1;
+ int z = 1;
+ int xy_swap = 0;
+ int angle = rotation * 45;
+
+ /* Only deal with 3 axis chips for now */
+ if (num_channels < 3)
+ return;
+
+ if (panel == PANEL_BACK) {
+ /* Chip placed on the back panel ; negate x and z */
+ x = -x;
+ z = -z;
+ }
+
+ switch (angle) {
+ case 90: /* 90° clockwise: negate y then swap x,y */
+ xy_swap = 1;
+ y = -y;
+ break;
+
+ case 180: /* Upside down: negate x and y */
+ x = -x;
+ y = -y;
+ break;
+
+ case 270: /* 90° counter clockwise: negate x then swap x,y */
+ x = -x;
+ xy_swap = 1;
+ break;
+ }
+
+ if (xy_swap) {
+ sensor_info[s].order[0] = 1;
+ sensor_info[s].order[1] = 0;
+ sensor_info[s].order[2] = 2;
+ sensor_info[s].quirks |= QUIRK_FIELD_ORDERING;
+ }
+
+ sensor_info[s].channel[0].opt_scale = x;
+ sensor_info[s].channel[1].opt_scale = y;
+ sensor_info[s].channel[2].opt_scale = z;
+}
+
+
+static int is_valid_pld (int panel, int rotation)
+{
+ if (panel != PANEL_FRONT && panel != PANEL_BACK) {
+ ALOGW("Unhandled PLD panel spec: %d\n", panel);
+ return 0;
+ }
+
+ /* Only deal with 90° rotations for now */
+ if (rotation < 0 || rotation > 7 || (rotation & 1)) {
+ ALOGW("Unhandled PLD rotation spec: %d\n", rotation);
+ return 0;
+ }
+
+ return 1;
+}
+
+
+static int read_pld_from_properties (int s, int* panel, int* rotation)
+{
+ int p, r;
+
+ if (sensor_get_prop(s, "panel", &p))
+ return -1;
+
+ if (sensor_get_prop(s, "rotation", &r))
+ return -1;
+
+ if (!is_valid_pld(p, r))
+ return -1;
+
+ *panel = p;
+ *rotation = r;
+
+ ALOGI("S%d PLD from properties: panel=%d, rotation=%d\n", s, p, r);
+
+ return 0;
+}
+
+
+static int read_pld_from_sysfs (int s, int dev_num, int* panel, int* rotation)
+{
+ char sysfs_path[PATH_MAX];
+ int p,r;
+
+ sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/panel", dev_num);
+
+ if (sysfs_read_int(sysfs_path, &p))
+ return -1;
+
+ sprintf(sysfs_path, BASE_PATH "../firmware_node/pld/rotation", dev_num);
+
+ if (sysfs_read_int(sysfs_path, &r))
+ return -1;
+
+ if (!is_valid_pld(p, r))
+ return -1;
+
+ *panel = p;
+ *rotation = r;
+
+ ALOGI("S%d PLD from sysfs: panel=%d, rotation=%d\n", s, p, r);
+
+ return 0;
+}
+
+
+static void decode_placement_information (int dev_num, int num_channels, int s)
+{
+ /*
+ * See if we have optional "physical location of device" ACPI tags.
+ * We're only interested in panel and rotation specifiers. Use the
+ * .panel and .rotation properties in priority, and the actual ACPI
+ * values as a second source.
+ */
+
+ int panel;
+ int rotation;
+
+ if (read_pld_from_properties(s, &panel, &rotation) &&
+ read_pld_from_sysfs(s, dev_num, &panel, &rotation))
+ return; /* No PLD data available */
+
+ /* Map that to field ordering and scaling mechanisms */
+ setup_properties_from_pld(s, panel, rotation, num_channels);
+}
+
+
static void add_sensor (int dev_num, int catalog_index, int use_polling)
{
int s;
sensor_info[s].dev_num = dev_num;
sensor_info[s].catalog_index = catalog_index;
+ num_channels = sensor_catalog[catalog_index].num_channels;
+
if (use_polling)
sensor_info[s].num_channels = 0;
else
- sensor_info[s].num_channels =
- sensor_catalog[catalog_index].num_channels;
+ sensor_info[s].num_channels = num_channels;
prefix = sensor_catalog[catalog_index].tag;
sensor_info[s].scale = 1;
/* Read channel specific scale if any*/
- for (c = 0; c < sensor_catalog[catalog_index].num_channels; c++)
+ for (c = 0; c < num_channels; c++)
{
sprintf(sysfs_path, BASE_PATH "%s", dev_num,
sensor_catalog[catalog_index].channel[c].scale_path);
}
}
+ /* Set default scaling - if num_channels is zero, we have one channel */
+
+ sensor_info[s].channel[0].opt_scale = 1;
+
+ for (c = 1; c < num_channels; c++)
+ sensor_info[s].channel[c].opt_scale = 1;
+
+ /* Read ACPI _PLD attributes for this sensor, if there are any */
+ decode_placement_information(dev_num, num_channels, s);
+
/*
* See if we have optional correction scaling factors for each of the
* channels of this sensor. These would be expressed using properties
* for all types of sensors, and whatever transform is selected, on top
* of any previous conversions.
*/
- num_channels = sensor_catalog[catalog_index].num_channels;
if (num_channels) {
for (c = 0; c < num_channels; c++) {
- opt_scale = 1;
-
ch_name = sensor_catalog[catalog_index].channel[c].name;
sprintf(suffix, "%s.opt_scale", ch_name);
- sensor_get_fl_prop(s, suffix, &opt_scale);
-
- sensor_info[s].channel[c].opt_scale = opt_scale;
+ if (!sensor_get_fl_prop(s, suffix, &opt_scale))
+ sensor_info[s].channel[c].opt_scale = opt_scale;
}
- } else {
- opt_scale = 1;
- sensor_get_fl_prop(s, "scale", &opt_scale);
- sensor_info[s].channel[0].opt_scale = opt_scale;
- }
+ } else
+ if (!sensor_get_fl_prop(s, "opt_scale", &opt_scale))
+ sensor_info[s].channel[0].opt_scale = opt_scale;
/* Initialize Android-visible descriptor */
sensor_desc[s].name = sensor_get_name(s);
sensor_desc[s].maxRange = sensor_get_max_range(s);
sensor_desc[s].resolution = sensor_get_resolution(s);
sensor_desc[s].power = sensor_get_power(s);
+ sensor_desc[s].stringType = sensor_get_string_type(s);
+
+ /* None of our supported sensors requires a special permission.
+ * If this will be the case we should implement a sensor_get_perm
+ */
+ sensor_desc[s].requiredPermission = "";
+ sensor_desc[s].flags = sensor_get_flags(s);
+ sensor_desc[s].minDelay = sensor_get_min_delay(s);
+ sensor_desc[s].maxDelay = sensor_get_max_delay(s);
+ ALOGI("Sensor %d (%s) type(%d) minD(%ld) maxD(%ld) flags(%2.2x)\n",
+ s, sensor_info[s].friendly_name, sensor_desc[s].type,
+ sensor_desc[s].minDelay, sensor_desc[s].maxDelay, sensor_desc[s].flags);
+
+ /* We currently do not implement batching when we'll so
+ * these should be overriden appropriately
+ */
+ sensor_desc[s].fifoReservedEventCount = 0;
+ sensor_desc[s].fifoMaxEventCount = 0;
if (sensor_info[s].internal_name[0] == '\0') {
/*
strcpy(sensor_info[s].internal_name, "(null)");
}
- if (sensor_catalog[catalog_index].type == SENSOR_TYPE_GYROSCOPE) {
+ if (sensor_type == SENSOR_TYPE_GYROSCOPE ||
+ sensor_type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
struct gyro_cal* calibration_data = calloc(1, sizeof(struct gyro_cal));
sensor_info[s].cal_data = calibration_data;
+ struct filter* f_data = (struct filter*) calloc(1, sizeof(struct filter));
+ f_data->x_buff = (struct circ_buff*) calloc(1, sizeof (struct circ_buff));
+ f_data->y_buff = (struct circ_buff*) calloc(1, sizeof (struct circ_buff));
+ f_data->z_buff = (struct circ_buff*) calloc(1, sizeof (struct circ_buff));
+ f_data->x_buff->buff = (float*)calloc(SAMPLE_SIZE, sizeof(float));
+ f_data->y_buff->buff = (float*)calloc(SAMPLE_SIZE, sizeof(float));
+ f_data->z_buff->buff = (float*)calloc(SAMPLE_SIZE, sizeof(float));
+ f_data->x_buff->size = SAMPLE_SIZE;
+ f_data->y_buff->size = SAMPLE_SIZE;
+ f_data->z_buff->size = SAMPLE_SIZE;
+ sensor_info[s].filter = f_data;
}
- if (sensor_catalog[catalog_index].type == SENSOR_TYPE_MAGNETIC_FIELD) {
+ if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD) {
struct compass_cal* calibration_data = calloc(1, sizeof(struct compass_cal));
sensor_info[s].cal_data = calibration_data;
}
+
/* Select one of the available sensor sample processing styles */
select_transform(s);
+ /* Initialize fields related to sysfs reads offloading */
+ sensor_info[s].thread_data_fd[0] = -1;
+ sensor_info[s].thread_data_fd[1] = -1;
+ sensor_info[s].acquisition_thread = -1;
+
+ /* Check if we have a special ordering property on this sensor */
+ if (sensor_get_order(s, sensor_info[s].order))
+ sensor_info[s].quirks |= QUIRK_FIELD_ORDERING;
+
sensor_count++;
}
{
char base_dir[PATH_MAX];
DIR *dir;
- char sysfs_dir[PATH_MAX];
- struct sensor *sensor;
struct dirent *d;
unsigned int i;
int c;
dir = opendir(base_dir);
if (!dir) {
- return;
+ return;
}
/* Enumerate entries in this iio device's base folder */
if (!strcmp(d->d_name, ".") || !strcmp(d->d_name, ".."))
continue;
- /* If the name matches a catalog entry, flag it */
- for (i = 0; i<CATALOG_SIZE; i++)
- for (c=0; c<sensor_catalog[i].num_channels; c++)
- if (!strcmp(d->d_name,
- sensor_catalog[i].channel[c].raw_path) ||
- !strcmp(d->d_name,
- sensor_catalog[i].channel[c].input_path)) {
- map[i] = 1;
- break;
- }
+ /* If the name matches a catalog entry, flag it */
+ for (i = 0; i<CATALOG_SIZE; i++) {
+ /* This will be added separately later */
+ if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
+ continue;
+ for (c=0; c<sensor_catalog[i].num_channels; c++)
+ if (!strcmp(d->d_name,sensor_catalog[i].channel[c].raw_path) ||
+ !strcmp(d->d_name, sensor_catalog[i].channel[c].input_path)) {
+ map[i] = 1;
+ break;
+ }
+ }
}
closedir(dir);
{
char scan_elem_dir[PATH_MAX];
DIR *dir;
- char sysfs_dir[PATH_MAX];
- struct sensor *sensor;
struct dirent *d;
unsigned int i;
- memset(map, 0, CATALOG_SIZE);
+ memset(map, 0, CATALOG_SIZE);
/* Enumerate entries in this iio device's scan_elements folder */
dir = opendir(scan_elem_dir);
if (!dir) {
- return;
+ return;
}
while ((d = readdir(dir))) {
/* Compare en entry to known ones and create matching sensors */
- for (i = 0; i<CATALOG_SIZE; i++)
+ for (i = 0; i<CATALOG_SIZE; i++) {
+ if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED)
+ continue;
if (!strcmp(d->d_name,
- sensor_catalog[i].channel[0].en_path)) {
- map[i] = 1;
- break;
- }
+ sensor_catalog[i].channel[0].en_path)) {
+ map[i] = 1;
+ break;
+ }
+ }
}
closedir(dir);
}
}
+static int is_continuous (int s)
+{
+ /* Is sensor s of the continous trigger type kind? */
+
+ int catalog_index = sensor_info[s].catalog_index;
+ int sensor_type = sensor_catalog[catalog_index].type;
+
+ switch (sensor_type) {
+ case SENSOR_TYPE_ACCELEROMETER:
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ case SENSOR_TYPE_ORIENTATION:
+ case SENSOR_TYPE_GYROSCOPE:
+ case SENSOR_TYPE_PRESSURE:
+ case SENSOR_TYPE_GRAVITY:
+ case SENSOR_TYPE_LINEAR_ACCELERATION:
+ case SENSOR_TYPE_ROTATION_VECTOR:
+ case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
+ case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
+ case SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR:
+ return 1;
+
+ default:
+ return 0;
+ }
+}
+
+
+static void propose_new_trigger (int s, char trigger_name[MAX_NAME_SIZE],
+ int sensor_name_len)
+{
+ /*
+ * A new trigger has been enumerated for this sensor. Check if it makes
+ * sense to use it over the currently selected one, and select it if it
+ * is so. The format is something like sensor_name-dev0.
+ */
+
+ const char *suffix = trigger_name + sensor_name_len + 1;
+
+ /* dev is the default, and lowest priority; no need to update */
+ if (!memcmp(suffix, "dev", 3))
+ return;
+
+ /*
+ * If we found any-motion trigger, record it and force the sensor to
+ * automatic intermediate event generation mode, at least if it is of a
+ * continuously firing sensor type.
+ */
+
+ if (!memcmp(suffix, "any-motion-", 11) && is_continuous(s)) {
+ /* Update the any-motion trigger name to use for this sensor */
+ strcpy(sensor_info[s].motion_trigger_name, trigger_name);
+ return;
+ }
+
+ /* Update the initial trigger name to use for this sensor */
+ strcpy(sensor_info[s].init_trigger_name, trigger_name);
+}
+
+
+static void update_sensor_matching_trigger_name (char name[MAX_NAME_SIZE])
+{
+ /*
+ * Check if we have a sensor matching the specified trigger name,
+ * which should then begin with the sensor name, and end with a number
+ * equal to the iio device number the sensor is associated to. If so,
+ * update the string we're going to write to trigger/current_trigger
+ * when enabling this sensor.
+ */
+
+ int s;
+ int dev_num;
+ int len;
+ char* cursor;
+ int sensor_name_len;
+
+ /*
+ * First determine the iio device number this trigger refers to. We
+ * expect the last few characters (typically one) of the trigger name
+ * to be this number, so perform a few checks.
+ */
+ len = strnlen(name, MAX_NAME_SIZE);
+
+ if (len < 2)
+ return;
+
+ cursor = name + len - 1;
+
+ if (!isdigit(*cursor))
+ return;
+
+ while (len && isdigit(*cursor)) {
+ len--;
+ cursor--;
+ }
+
+ dev_num = atoi(cursor+1);
+
+ /* See if that matches a sensor */
+ for (s=0; s<sensor_count; s++)
+ if (sensor_info[s].dev_num == dev_num) {
+
+ sensor_name_len = strlen(sensor_info[s].internal_name);
+
+ if (!strncmp(name,
+ sensor_info[s].internal_name,
+ sensor_name_len))
+ /* Switch to new trigger if appropriate */
+ propose_new_trigger(s, name, sensor_name_len);
+ }
+}
+
+
+static void setup_trigger_names (void)
+{
+ char filename[PATH_MAX];
+ char buf[MAX_NAME_SIZE];
+ int len;
+ int s;
+ int trigger;
+ int ret;
+
+ /* By default, use the name-dev convention that most drivers use */
+ for (s=0; s<sensor_count; s++)
+ snprintf(sensor_info[s].init_trigger_name,
+ MAX_NAME_SIZE, "%s-dev%d",
+ sensor_info[s].internal_name, sensor_info[s].dev_num);
+
+ /* Now have a look to /sys/bus/iio/devices/triggerX entries */
+
+ for (trigger=0; trigger<MAX_TRIGGERS; trigger++) {
+
+ snprintf(filename, sizeof(filename), TRIGGER_FILE_PATH,trigger);
+
+ ret = sysfs_read_str(filename, buf, sizeof(buf));
+
+ if (ret < 0)
+ break;
+
+ /* Record initial and any-motion triggers names */
+ update_sensor_matching_trigger_name(buf);
+ }
+
+ for (s=0; s<sensor_count; s++)
+ if (sensor_info[s].num_channels) {
+ ALOGI( "Sensor %d (%s) default trigger: %s\n", s,
+ sensor_info[s].friendly_name,
+ sensor_info[s].init_trigger_name);
+ if (sensor_info[s].motion_trigger_name[0])
+ ALOGI( "Sensor %d (%s) motion trigger: %s\n",
+ s, sensor_info[s].friendly_name,
+ sensor_info[s].motion_trigger_name);
+ }
+}
+
+static void uncalibrated_gyro_check (void)
+{
+ unsigned int has_gyr = 0;
+ unsigned int dev_num;
+ int i, c;
+ unsigned int is_poll_sensor;
+ char buf[MAX_NAME_SIZE];
+
+ int cal_idx = 0;
+ int uncal_idx = 0;
+ int catalog_size = CATALOG_SIZE; /* Avoid GCC sign comparison warning */
+
+ /* Checking to see if we have a gyroscope - we can only have uncal if we have the base sensor */
+ for (i=0; i < sensor_count; i++)
+ if(sensor_catalog[sensor_info[i].catalog_index].type == SENSOR_TYPE_GYROSCOPE)
+ {
+ has_gyr=1;
+ dev_num = sensor_info[i].dev_num;
+ is_poll_sensor = !sensor_info[i].num_channels;
+ cal_idx = i;
+ break;
+ }
+
+ /*
+ * If we have a gyro we can add the uncalibrated sensor of the same type and
+ * on the same dev_num. We will save indexes for easy finding and also save the
+ * channel specific information.
+ */
+ if (has_gyr)
+ for (i=0; i<catalog_size; i++)
+ if (sensor_catalog[i].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
+ add_sensor(dev_num, i, is_poll_sensor);
+
+ uncal_idx = sensor_count - 1; /* Just added uncalibrated sensor */
+
+ /* Similar to build_sensor_report_maps */
+ for (c = 0; c < sensor_info[uncal_idx].num_channels; c++)
+ {
+ memcpy( &(sensor_info[uncal_idx].channel[c].type_spec),
+ &(sensor_info[cal_idx].channel[c].type_spec),
+ sizeof(sensor_info[uncal_idx].channel[c].type_spec));
+ sensor_info[uncal_idx].channel[c].type_info = sensor_info[cal_idx].channel[c].type_info;
+ sensor_info[uncal_idx].channel[c].offset = sensor_info[cal_idx].channel[c].offset;
+ sensor_info[uncal_idx].channel[c].size = sensor_info[cal_idx].channel[c].size;
+ }
+ sensor_info[uncal_idx].pair_idx = cal_idx;
+ sensor_info[cal_idx].pair_idx = uncal_idx;
+ strncpy(sensor_info[uncal_idx].init_trigger_name,
+ sensor_info[cal_idx].init_trigger_name,
+ MAX_NAME_SIZE);
+ strncpy(sensor_info[uncal_idx].motion_trigger_name,
+ sensor_info[cal_idx].motion_trigger_name,
+ MAX_NAME_SIZE);
+
+ /* Add "Uncalibrated " prefix to sensor name */
+ strcpy(buf, sensor_info[cal_idx].friendly_name);
+ snprintf(sensor_info[uncal_idx].friendly_name,
+ MAX_NAME_SIZE,
+ "%s %s", "Uncalibrated", buf);
+ break;
+ }
+}
void enumerate_sensors (void)
{
if (poll_sensors[i])
add_sensor(dev_num, i, 1);
- if (trig_found)
+ if (trig_found) {
build_sensor_report_maps(dev_num);
+ }
}
ALOGI("Discovered %d sensors\n", sensor_count);
+ /* Set up default - as well as custom - trigger names */
+ setup_trigger_names();
+
/* Make sure Android fall backs to its own orientation sensor */
orientation_sensor_check();
+
+ /*
+ * Create the uncalibrated counterpart to the compensated gyroscope.
+ * This is is a new sensor type in Android 4.4.
+ */
+ uncalibrated_gyro_check();
}
for (i = 0; i < sensor_count; i++)
switch (sensor_catalog[sensor_info[i].catalog_index].type) {
case SENSOR_TYPE_MAGNETIC_FIELD:
+ if (sensor_info[i].cal_data != NULL) {
+ free(sensor_info[i].cal_data);
+ sensor_info[i].cal_data = NULL;
+ sensor_info[i].cal_level = 0;
+ }
+ break;
+ case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
case SENSOR_TYPE_GYROSCOPE:
if (sensor_info[i].cal_data != NULL) {
free(sensor_info[i].cal_data);
sensor_info[i].cal_data = NULL;
- sensor_info[i].calibrated = 0;
+ sensor_info[i].cal_level = 0;
}
break;
+ if (sensor_info[i].filter != NULL) {
+ free(((struct filter*)sensor_info[i].filter)->x_buff->buff);
+ free(((struct filter*)sensor_info[i].filter)->y_buff->buff);
+ free(((struct filter*)sensor_info[i].filter)->z_buff->buff);
+ free(((struct filter*)sensor_info[i].filter)->x_buff);
+ free(((struct filter*)sensor_info[i].filter)->y_buff);
+ free(((struct filter*)sensor_info[i].filter)->z_buff);
+ free(sensor_info[i].filter);
+ sensor_info[i].filter = NULL;
+ }
default:
break;
}
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