#include "description.h"
#include "control.h"
#include "calibration.h"
+#include "filtering.h"
/*
* This table maps syfs entries in scan_elements directories to sensor types,
#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 This can later be superseded by the usual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, "opt_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].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 ||
- sensor_catalog[catalog_index].type == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
+ 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;
}
}
}
-static void uncalibrated_gyro_check (void)
+static int is_continuous (int s)
{
- unsigned int has_gyr = 0;
- unsigned int dev_num;
- int i, c;
- unsigned int is_poll_sensor;
+ /* Is sensor s of the continous trigger type kind? */
- int cal_idx = 0;
- int uncal_idx = 0;
+ int catalog_index = sensor_info[s].catalog_index;
+ int sensor_type = sensor_catalog[catalog_index].type;
- /* 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;
- }
+ 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)
+{
/*
- * 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.
+ * 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.
*/
- 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 */
+ const char *suffix = trigger_name + sensor_name_len + 1;
- /* 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;
- }
- strncpy(sensor_info[uncal_idx].trigger_name,
- sensor_info[cal_idx].trigger_name,
- MAX_NAME_SIZE);
- sensor_info[uncal_idx].pair_idx = cal_idx;
- sensor_info[cal_idx].pair_idx = uncal_idx;
- break;
- }
+ /* 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])
{
/*
int dev_num;
int len;
char* cursor;
+ int sensor_name_len;
/*
* First determine the iio device number this trigger refers to. We
/* See if that matches a sensor */
for (s=0; s<sensor_count; s++)
- if (sensor_info[s].dev_num == dev_num &&
- !strncmp(name, sensor_info[s].internal_name,
- strlen(sensor_info[s].internal_name))) {
- /* Update sensor structure and return */
- strcpy(sensor_info[s].trigger_name, name);
- return;
- }
+ 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);
+ }
}
/* By default, use the name-dev convention that most drivers use */
for (s=0; s<sensor_count; s++)
- snprintf(sensor_info[s].trigger_name, MAX_NAME_SIZE, "%s-dev%d",
- sensor_info[s].internal_name, sensor_info[s].dev_num);
+ 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 */
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) using iio trigger %s\n", s,
+ ALOGI( "Sensor %d (%s) default trigger: %s\n", s,
sensor_info[s].friendly_name,
- sensor_info[s].trigger_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)
{
/* 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 */
+ /*
+ * 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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