/*
- * Copyright (C) 2014 Intel Corporation.
+ * Copyright (C) 2014-2015 Intel Corporation.
*/
#include <stdlib.h>
#include "transform.h"
#include "utils.h"
#include "filtering.h"
+#include "enumeration.h"
+
+#define GYRO_MIN_SAMPLES 5 /* Drop first few gyro samples after enable */
+
/*----------------------------------------------------------------------------*/
+
/* Macros related to Intel Sensor Hub */
-#define GRAVITY 9.80665f
+#define GRAVITY 9.80665
/* 720 LSG = 1G */
-#define LSG (1024.0f)
-#define NUMOFACCDATA (8.0f)
-
-/* conversion of acceleration data to SI units (m/s^2) */
-#define CONVERT_A (GRAVITY_EARTH / LSG / NUMOFACCDATA)
-#define CONVERT_A_X(x) ((float(x)/1000) * (GRAVITY * -1.0))
-#define CONVERT_A_Y(x) ((float(x)/1000) * (GRAVITY * 1.0))
-#define CONVERT_A_Z(x) ((float(x)/1000) * (GRAVITY * 1.0))
-
-/* conversion of magnetic data to uT units */
-#define CONVERT_M (1.0f/6.6f)
-#define CONVERT_M_X (-CONVERT_M)
-#define CONVERT_M_Y (-CONVERT_M)
-#define CONVERT_M_Z (CONVERT_M)
-
-#define CONVERT_GAUSS_TO_MICROTESLA(x) ( (x) * 100 )
-
-/* conversion of orientation data to degree units */
-#define CONVERT_O (1.0f/64.0f)
-#define CONVERT_O_A (CONVERT_O)
-#define CONVERT_O_P (CONVERT_O)
-#define CONVERT_O_R (-CONVERT_O)
-
-/*conversion of gyro data to SI units (radian/sec) */
-#define CONVERT_GYRO ((2000.0f/32767.0f)*((float)M_PI / 180.0f))
-#define CONVERT_GYRO_X (-CONVERT_GYRO)
-#define CONVERT_GYRO_Y (-CONVERT_GYRO)
-#define CONVERT_GYRO_Z (CONVERT_GYRO)
+#define LSG 1024.0
+#define NUMOFACCDATA 8.0
+
+/* Conversion of acceleration data to SI units (m/s^2) */
+#define CONVERT_A (GRAVITY_EARTH / LSG / NUMOFACCDATA)
+#define CONVERT_A_X(x) ((float(x) / 1000) * (GRAVITY * -1.0))
+#define CONVERT_A_Y(x) ((float(x) / 1000) * (GRAVITY * 1.0))
+#define CONVERT_A_Z(x) ((float(x) / 1000) * (GRAVITY * 1.0))
+
+/* Conversion of magnetic data to uT units */
+#define CONVERT_M (1.0 / 6.6)
+#define CONVERT_M_X (-CONVERT_M)
+#define CONVERT_M_Y (-CONVERT_M)
+#define CONVERT_M_Z (CONVERT_M)
+
+#define CONVERT_GAUSS_TO_MICROTESLA(x) ((x) * 100)
+
+/* Conversion of orientation data to degree units */
+#define CONVERT_O (1.0 / 64)
+#define CONVERT_O_A (CONVERT_O)
+#define CONVERT_O_P (CONVERT_O)
+#define CONVERT_O_R (-CONVERT_O)
+
+/* Conversion of gyro data to SI units (radian/sec) */
+#define CONVERT_GYRO (2000.0 / 32767 * M_PI / 180)
+#define CONVERT_GYRO_X (-CONVERT_GYRO)
+#define CONVERT_GYRO_Y (-CONVERT_GYRO)
+#define CONVERT_GYRO_Z (CONVERT_GYRO)
#define BIT(x) (1 << (x))
-inline unsigned int set_bit_range(int start, int end)
+#define PROXIMITY_THRESHOLD 1
+
+inline unsigned int set_bit_range (int start, int end)
{
- int i;
- unsigned int value = 0;
+ int i;
+ unsigned int value = 0;
- for (i = start; i < end; ++i)
- value |= BIT(i);
- return value;
+ for (i = start; i < end; ++i)
+ value |= BIT(i);
+
+ return value;
}
-inline float convert_from_vtf_format(int size, int exponent, unsigned int value)
+inline float convert_from_vtf_format (int size, int exponent, unsigned int value)
{
- int divider=1;
- int i;
- float sample;
- int mul = 1.0;
-
- value = value & set_bit_range(0, size*8);
- if (value & BIT(size*8-1)) {
- value = ((1LL << (size*8)) - value);
- mul = -1.0;
- }
- sample = value * 1.0;
- if (exponent < 0) {
- exponent = abs(exponent);
- for (i = 0; i < exponent; ++i) {
- divider = divider*10;
- }
- return mul * sample/divider;
- } else {
- return mul * sample * pow(10.0, exponent);
- }
+ int divider = 1;
+ int i;
+ float sample;
+ float mul = 1.0;
+
+ value = value & set_bit_range(0, size * 8);
+
+ if (value & BIT(size*8-1)) {
+ value = ((1LL << (size * 8)) - value);
+ mul = -1.0;
+ }
+
+ sample = value * 1.0;
+
+ if (exponent < 0) {
+ exponent = abs(exponent);
+ for (i = 0; i < exponent; ++i)
+ divider = divider * 10;
+
+ return mul * sample/divider;
+ }
+
+ return mul * sample * pow(10.0, exponent);
}
-// Platform sensor orientation
-#define DEF_ORIENT_ACCEL_X -1
-#define DEF_ORIENT_ACCEL_Y -1
-#define DEF_ORIENT_ACCEL_Z -1
-
-#define DEF_ORIENT_GYRO_X 1
-#define DEF_ORIENT_GYRO_Y 1
-#define DEF_ORIENT_GYRO_Z 1
-
-// G to m/s2
-#define CONVERT_FROM_VTF16(s,d,x) (convert_from_vtf_format(s,d,x))
-#define CONVERT_A_G_VTF16E14_X(s,d,x) (DEF_ORIENT_ACCEL_X *\
- convert_from_vtf_format(s,d,x)*GRAVITY)
-#define CONVERT_A_G_VTF16E14_Y(s,d,x) (DEF_ORIENT_ACCEL_Y *\
- convert_from_vtf_format(s,d,x)*GRAVITY)
-#define CONVERT_A_G_VTF16E14_Z(s,d,x) (DEF_ORIENT_ACCEL_Z *\
- convert_from_vtf_format(s,d,x)*GRAVITY)
-
-// Degree/sec to radian/sec
-#define CONVERT_G_D_VTF16E14_X(s,d,x) (DEF_ORIENT_GYRO_X *\
- convert_from_vtf_format(s,d,x) * \
- ((float)M_PI/180.0f))
-#define CONVERT_G_D_VTF16E14_Y(s,d,x) (DEF_ORIENT_GYRO_Y *\
- convert_from_vtf_format(s,d,x) * \
- ((float)M_PI/180.0f))
-#define CONVERT_G_D_VTF16E14_Z(s,d,x) (DEF_ORIENT_GYRO_Z *\
- convert_from_vtf_format(s,d,x) * \
- ((float)M_PI/180.0f))
-
-// Milli gauss to micro tesla
-#define CONVERT_M_MG_VTF16E14_X(s,d,x) (convert_from_vtf_format(s,d,x)/10)
-#define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x)/10)
-#define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x)/10)
+/* Platform sensor orientation */
+#define DEF_ORIENT_ACCEL_X -1
+#define DEF_ORIENT_ACCEL_Y -1
+#define DEF_ORIENT_ACCEL_Z -1
+#define DEF_ORIENT_GYRO_X 1
+#define DEF_ORIENT_GYRO_Y 1
+#define DEF_ORIENT_GYRO_Z 1
-/*----------------------------------------------------------------------------*/
+/* G to m/s^2 */
+#define CONVERT_FROM_VTF16(s,d,x) convert_from_vtf_format(s,d,x)
+#define CONVERT_A_G_VTF16E14_X(s,d,x) (DEF_ORIENT_ACCEL_X * convert_from_vtf_format(s,d,x) * GRAVITY)
+#define CONVERT_A_G_VTF16E14_Y(s,d,x) (DEF_ORIENT_ACCEL_Y * convert_from_vtf_format(s,d,x) * GRAVITY)
+#define CONVERT_A_G_VTF16E14_Z(s,d,x) (DEF_ORIENT_ACCEL_Z * convert_from_vtf_format(s,d,x) * GRAVITY)
+
+/* Degree/sec to radian/sec */
+#define CONVERT_G_D_VTF16E14_X(s,d,x) (DEF_ORIENT_GYRO_X * convert_from_vtf_format(s,d,x) * M_PI / 180)
+#define CONVERT_G_D_VTF16E14_Y(s,d,x) (DEF_ORIENT_GYRO_Y * convert_from_vtf_format(s,d,x) * M_PI / 180)
+#define CONVERT_G_D_VTF16E14_Z(s,d,x) (DEF_ORIENT_GYRO_Z * convert_from_vtf_format(s,d,x) * M_PI / 180)
-static int64_t sample_as_int64(unsigned char* sample, struct datum_info_t* type)
+/* Milli gauss to micro tesla */
+#define CONVERT_M_MG_VTF16E14_X(s,d,x) (convert_from_vtf_format(s,d,x) / 10)
+#define CONVERT_M_MG_VTF16E14_Y(s,d,x) (convert_from_vtf_format(s,d,x) / 10)
+#define CONVERT_M_MG_VTF16E14_Z(s,d,x) (convert_from_vtf_format(s,d,x) / 10)
+
+
+static int64_t sample_as_int64 (unsigned char* sample, datum_info_t* type)
{
uint64_t u64;
int i;
value_mask = sign_mask - 1;
if (u64 & sign_mask)
- /* Negative value: return 2-complement */
- return - ((~u64 & value_mask) + 1);
+ return - ((~u64 & value_mask) + 1); /* Negative value: return 2-complement */
else
- return (int64_t) u64; /* Positive value */
+ return (int64_t) u64; /* Positive value */
}
}
-static void reorder_fields(float* data, unsigned char map[MAX_CHANNELS])
+static void reorder_fields (float* data, unsigned char map[MAX_CHANNELS])
{
int i;
float temp[MAX_CHANNELS];
data[i] = temp[i];
}
-
-static void denoise (struct sensor_info_t* si, struct sensors_event_t* data,
- int num_fields, int max_samples)
+static void mount_correction (float* data, float mm[9])
{
- /*
- * Smooth out incoming data using a moving average over a number of
- * samples. We accumulate one second worth of samples, or max_samples,
- * depending on which is lower.
- */
-
int i;
- int f;
- int sampling_rate = (int) si->sampling_rate;
- int history_size;
- int history_full = 0;
-
- /* Don't denoise anything if we have less than two samples per second */
- if (sampling_rate < 2)
- return;
-
- /* Restrict window size to the min of sampling_rate and max_samples */
- if (sampling_rate > max_samples)
- history_size = max_samples;
- else
- history_size = sampling_rate;
-
- /* Reset history if we're operating on an incorrect window size */
- if (si->history_size != history_size) {
- si->history_size = history_size;
- si->history_entries = 0;
- si->history_index = 0;
- si->history = (float*) realloc(si->history,
- si->history_size * num_fields * sizeof(float));
- if (si->history) {
- si->history_sum = (float*) realloc(si->history_sum,
- num_fields * sizeof(float));
- if (si->history_sum)
- memset(si->history_sum, 0, num_fields * sizeof(float));
- }
- }
+ float temp[3];
- if (!si->history || !si->history_sum)
- return; /* Unlikely, but still... */
+ for (i=0; i<3; i++)
+ temp[i] = data[0] * mm[i * 3] + data[1] * mm[i * 3 + 1] + data[2] * mm[i * 3 + 2];
- /* Update initialized samples count */
- if (si->history_entries < si->history_size)
- si->history_entries++;
- else
- history_full = 1;
-
- /* Record new sample and calculate the moving sum */
- for (f=0; f < num_fields; f++) {
- /**
- * A field is going to be overwritten if
- * history is full, so decrease the history sum
- */
- if (history_full)
- si->history_sum[f] -=
- si->history[si->history_index * num_fields + f];
-
- si->history[si->history_index * num_fields + f] = data->data[f];
- si->history_sum[f] += data->data[f];
-
- /* For now simply compute a mobile mean for each field */
- /* and output filtered data */
- data->data[f] = si->history_sum[f] / si->history_entries;
- }
-
- /* Update our rolling index (next evicted cell) */
- si->history_index = (si->history_index + 1) % si->history_size;
+ for (i=0; i<3; i++)
+ data[i] = temp[i];
}
-
-static void clamp_gyro_readings_to_zero (int s, struct sensors_event_t* data)
+static void clamp_gyro_readings_to_zero (int s, sensors_event_t* data)
{
float x, y, z;
float near_zero;
- switch (sensor_info[s].type) {
- case SENSOR_TYPE_GYROSCOPE:
- x = data->data[0];
- y = data->data[1];
- z = data->data[2];
- break;
-
- case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
- x = data->data[0] - data->uncalibrated_gyro.bias[0];
- y = data->data[1] - data->uncalibrated_gyro.bias[1];
- z = data->data[2] - data->uncalibrated_gyro.bias[2];
- break;
-
- default:
- return;
- }
+ x = data->data[0];
+ y = data->data[1];
+ z = data->data[2];
/* If we're calibrated, don't filter out as much */
- if (sensor_info[s].cal_level > 0)
+ if (sensor[s].cal_level > 0)
near_zero = 0.02; /* rad/s */
else
near_zero = 0.1;
if (fabs(x) < near_zero && fabs(y) < near_zero && fabs(z) < near_zero) {
/*
- * Report that we're not moving at all... but not exactly zero
- * as composite sensors (orientation, rotation vector) don't
+ * Report that we're not moving at all... but not exactly zero as composite sensors (orientation, rotation vector) don't
* seem to react very well to it.
*/
- switch (sensor_info[s].type) {
- case SENSOR_TYPE_GYROSCOPE:
- data->data[0] *= 0.000001;
- data->data[1] *= 0.000001;
- data->data[2] *= 0.000001;
- break;
+ data->data[0] *= 0.000001;
+ data->data[1] *= 0.000001;
+ data->data[2] *= 0.000001;
+ }
+}
+
+
+static void process_event_gyro_uncal (int s, int i, sensors_event_t* data)
+{
+ gyro_cal_t* gyro_data;
+
+ if (sensor[s].type == SENSOR_TYPE_GYROSCOPE) {
+ gyro_data = (gyro_cal_t*) sensor[s].cal_data;
+
+ memcpy(&sensor[i].sample, data, sizeof(sensors_event_t));
+
+ sensor[i].sample.type = SENSOR_TYPE_GYROSCOPE_UNCALIBRATED;
+ sensor[i].sample.sensor = s;
+
+ sensor[i].sample.data[0] = data->data[0] + gyro_data->bias_x;
+ sensor[i].sample.data[1] = data->data[1] + gyro_data->bias_y;
+ sensor[i].sample.data[2] = data->data[2] + gyro_data->bias_z;
+
+ sensor[i].sample.uncalibrated_gyro.bias[0] = gyro_data->bias_x;
+ sensor[i].sample.uncalibrated_gyro.bias[1] = gyro_data->bias_y;
+ sensor[i].sample.uncalibrated_gyro.bias[2] = gyro_data->bias_z;
+
+ sensor[i].report_pending = 1;
+ }
+}
+
+static void process_event_magn_uncal (int s, int i, sensors_event_t* data)
+{
+ compass_cal_t* magn_data;
+
+ if (sensor[s].type == SENSOR_TYPE_MAGNETIC_FIELD) {
+ magn_data = (compass_cal_t*) sensor[s].cal_data;
+
+ memcpy(&sensor[i].sample, data, sizeof(sensors_event_t));
+
+ sensor[i].sample.type = SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED;
+ sensor[i].sample.sensor = s;
+
+ sensor[i].sample.data[0] = data->data[0] + magn_data->offset[0][0];
+ sensor[i].sample.data[1] = data->data[1] + magn_data->offset[1][0];
+ sensor[i].sample.data[2] = data->data[2] + magn_data->offset[2][0];
+
+ sensor[i].sample.uncalibrated_magnetic.bias[0] = magn_data->offset[0][0];
+ sensor[i].sample.uncalibrated_magnetic.bias[1] = magn_data->offset[1][0];
+ sensor[i].sample.uncalibrated_magnetic.bias[2] = magn_data->offset[2][0];
+
+ sensor[i].report_pending = 1;
+ }
+}
+
+static void process_event (int s, sensors_event_t* data)
+{
+ /*
+ * This gets the real event (post process - calibration, filtering & co.) and makes it into a virtual one.
+ * The specific processing function for each sensor will populate the necessary fields and set up the report pending flag.
+ */
+
+ int i;
+
+ /* Go through out virtual sensors and check if we can use this event */
+ for (i = 0; i < sensor_count; i++)
+ switch (sensor[i].type) {
case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
- data->data[0]= data->uncalibrated_gyro.bias[0]
- + 0.000001 * x;
- data->data[1]= data->uncalibrated_gyro.bias[1]
- + 0.000001 * y;
- data->data[2]= data->uncalibrated_gyro.bias[2]
- + 0.000001 * z;
+ process_event_gyro_uncal(s, i, data);
+ break;
+ case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
+ process_event_magn_uncal(s, i, data);
+ break;
+ default:
break;
}
- }
}
-static int finalize_sample_default (int s, struct sensors_event_t* data)
+static int finalize_sample_default (int s, sensors_event_t* data)
{
/* Swap fields if we have a custom channel ordering on this sensor */
- if (sensor_info[s].quirks & QUIRK_FIELD_ORDERING)
- reorder_fields(data->data, sensor_info[s].order);
+ if (sensor[s].quirks & QUIRK_FIELD_ORDERING)
+ reorder_fields(data->data, sensor[s].order);
+ if (sensor[s].quirks & QUIRK_MOUNTING_MATRIX)
+ mount_correction(data->data, sensor[s].mounting_matrix);
+
+ sensor[s].event_count++;
- sensor_info[s].event_count++;
- switch (sensor_info[s].type) {
+ switch (sensor[s].type) {
case SENSOR_TYPE_ACCELEROMETER:
/* Always consider the accelerometer accurate */
data->acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;
- if (sensor_info[s].quirks & QUIRK_NOISY)
- denoise(&sensor_info[s], data, 3, 20);
+ if (sensor[s].quirks & QUIRK_BIASED)
+ calibrate_accel(s, data);
+ denoise(s, data);
break;
case SENSOR_TYPE_MAGNETIC_FIELD:
- calibrate_compass (data, &sensor_info[s], get_timestamp());
- if (sensor_info[s].quirks & QUIRK_NOISY)
- denoise(&sensor_info[s], data, 3, 30);
+ calibrate_compass (s, data);
+ denoise(s, data);
break;
case SENSOR_TYPE_GYROSCOPE:
- /*
- * Report medium accuracy by default ; higher accuracy
- * levels will be reported once, and if, we achieve
- * calibration.
- */
+ /* Report medium accuracy by default ; higher accuracy levels will be reported once, and if, we achieve calibration. */
data->gyro.status = SENSOR_STATUS_ACCURACY_MEDIUM;
- /* ... fall through */
-
- case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
-
/*
- * We're only trying to calibrate data from continuously
- * firing gyroscope drivers, as motion based ones use
- * movement thresholds that may lead us to incorrectly
- * estimate bias.
+ * We're only trying to calibrate data from continuously firing gyroscope drivers, as motion based ones use
+ * movement thresholds that may lead us to incorrectly estimate bias.
*/
- if (sensor_info[s].selected_trigger !=
- sensor_info[s].motion_trigger_name)
- calibrate_gyro(data, &sensor_info[s]);
-
- /* For noisy sensors we'll drop a very few number
- * of samples to make sure we have at least MIN_SAMPLES events
- * in the filtering queue. This is to make sure we are not sending
- * events that can disturb our mean or stddev.
+ if (sensor[s].selected_trigger !=
+ sensor[s].motion_trigger_name)
+ calibrate_gyro(s, data);
+
+ /*
+ * For noisy sensors drop a few samples to make sure we have at least GYRO_MIN_SAMPLES events in the
+ * filtering queue. This improves mean and std dev.
*/
- if (sensor_info[s].quirks & QUIRK_NOISY) {
- denoise_median(&sensor_info[s], data, 3);
- if((sensor_info[s].selected_trigger !=
- sensor_info[s].motion_trigger_name) &&
- sensor_info[s].event_count < MIN_SAMPLES)
+ if (sensor[s].filter_type) {
+ if (sensor[s].selected_trigger !=
+ sensor[s].motion_trigger_name &&
+ sensor[s].event_count < GYRO_MIN_SAMPLES)
return 0;
+
+ denoise(s, data);
}
/* Clamp near zero moves to (0,0,0) if appropriate */
clamp_gyro_readings_to_zero(s, data);
break;
+ case SENSOR_TYPE_PROXIMITY:
+ /*
+ * See iio spec for in_proximity* - depending on the device
+ * this value is either in meters either unit-less and cannot
+ * be translated to SI units. Where the translation is not possible
+ * lower values indicate something is close and higher ones indicate distance.
+ */
+ if (data->data[0] > PROXIMITY_THRESHOLD)
+ data->data[0] = PROXIMITY_THRESHOLD;
+
+ /* ... fall through ... */
case SENSOR_TYPE_LIGHT:
case SENSOR_TYPE_AMBIENT_TEMPERATURE:
case SENSOR_TYPE_TEMPERATURE:
+ case SENSOR_TYPE_INTERNAL_ILLUMINANCE:
+ case SENSOR_TYPE_INTERNAL_INTENSITY:
/* Only keep two decimals for these readings */
data->data[0] = 0.01 * ((int) (data->data[0] * 100));
- /* ... fall through ... */
-
- case SENSOR_TYPE_PROXIMITY:
- /*
- * These are on change sensors ; drop the sample if it
- * has the same value as the previously reported one.
- */
- if (data->data[0] == sensor_info[s].prev_val)
+ /* These are on change sensors ; drop the sample if it has the same value as the previously reported one. */
+ if (data->data[0] == sensor[s].prev_val.data)
return 0;
- sensor_info[s].prev_val = data->data[0];
+ sensor[s].prev_val.data = data->data[0];
break;
+ case SENSOR_TYPE_STEP_COUNTER:
+ if (data->u64.step_counter == sensor[s].prev_val.data64)
+ return 0;
+ sensor[s].prev_val.data64 = data->u64.data[0];
+ break;
+
}
- /* Add this event to our global records, for filtering purposes */
- record_sample(s, data);
+ /* If there are active virtual sensors depending on this one - process the event */
+ if (sensor[s].ref_count)
+ process_event(s, data);
+
return 1; /* Return sample to Android */
}
-static float transform_sample_default(int s, int c, unsigned char* sample_data)
+static float transform_sample_default (int s, int c, unsigned char* sample_data)
{
- struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
- int64_t s64 = sample_as_int64(sample_data, sample_type);
- float scale = sensor_info[s].scale ?
- sensor_info[s].scale : sensor_info[s].channel[c].scale;
+ datum_info_t* sample_type = &sensor[s].channel[c].type_info;
+ int64_t s64 = sample_as_int64(sample_data, sample_type);
+ float scale = sensor[s].scale ? sensor[s].scale : sensor[s].channel[c].scale;
/* In case correction has been requested using properties, apply it */
- scale *= sensor_info[s].channel[c].opt_scale;
+ float correction = sensor[s].channel[c].opt_scale;
+
+ /* Correlated with "acquire_immediate_value" method */
+ if (sensor[s].type == SENSOR_TYPE_MAGNETIC_FIELD)
+ return CONVERT_GAUSS_TO_MICROTESLA((sensor[s].offset + s64) * scale) * correction;
/* Apply default scaling rules */
- return (sensor_info[s].offset + s64) * scale;
+ return (sensor[s].offset + s64) * scale * correction;
}
-static int finalize_sample_ISH (int s, struct sensors_event_t* data)
+static int finalize_sample_ISH (int s, sensors_event_t* data)
{
float pitch, roll, yaw;
/* Swap fields if we have a custom channel ordering on this sensor */
- if (sensor_info[s].quirks & QUIRK_FIELD_ORDERING)
- reorder_fields(data->data, sensor_info[s].order);
+ if (sensor[s].quirks & QUIRK_FIELD_ORDERING)
+ reorder_fields(data->data, sensor[s].order);
- if (sensor_info[s].type == SENSOR_TYPE_ORIENTATION) {
+ if (sensor[s].type == SENSOR_TYPE_ORIENTATION) {
pitch = data->data[0];
roll = data->data[1];
static float transform_sample_ISH (int s, int c, unsigned char* sample_data)
{
- struct datum_info_t* sample_type = &sensor_info[s].channel[c].type_info;
+ datum_info_t* sample_type = &sensor[s].channel[c].type_info;
int val = (int) sample_as_int64(sample_data, sample_type);
float correction;
int data_bytes = (sample_type->realbits)/8;
- int exponent = sensor_info[s].offset;
+ int exponent = sensor[s].offset;
/* In case correction has been requested using properties, apply it */
- correction = sensor_info[s].channel[c].opt_scale;
+ correction = sensor[s].channel[c].opt_scale;
- switch (sensor_info[s].type) {
+ switch (sensor_desc[s].type) {
case SENSOR_TYPE_ACCELEROMETER:
switch (c) {
case 0:
- return correction *
- CONVERT_A_G_VTF16E14_X(
- data_bytes, exponent, val);
+ return correction * CONVERT_A_G_VTF16E14_X(data_bytes, exponent, val);
case 1:
- return correction *
- CONVERT_A_G_VTF16E14_Y(
- data_bytes, exponent, val);
+ return correction * CONVERT_A_G_VTF16E14_Y(data_bytes, exponent, val);
case 2:
- return correction *
- CONVERT_A_G_VTF16E14_Z(
- data_bytes, exponent, val);
+ return correction * CONVERT_A_G_VTF16E14_Z(data_bytes, exponent, val);
}
break;
-
case SENSOR_TYPE_GYROSCOPE:
switch (c) {
case 0:
- return correction *
- CONVERT_G_D_VTF16E14_X(
- data_bytes, exponent, val);
+ return correction * CONVERT_G_D_VTF16E14_X(data_bytes, exponent, val);
case 1:
- return correction *
- CONVERT_G_D_VTF16E14_Y(
- data_bytes, exponent, val);
+ return correction * CONVERT_G_D_VTF16E14_Y(data_bytes, exponent, val);
case 2:
- return correction *
- CONVERT_G_D_VTF16E14_Z(
- data_bytes, exponent, val);
+ return correction * CONVERT_G_D_VTF16E14_Z(data_bytes, exponent, val);
}
break;
case SENSOR_TYPE_MAGNETIC_FIELD:
switch (c) {
case 0:
- return correction *
- CONVERT_M_MG_VTF16E14_X(
- data_bytes, exponent, val);
+ return correction * CONVERT_M_MG_VTF16E14_X(data_bytes, exponent, val);
case 1:
- return correction *
- CONVERT_M_MG_VTF16E14_Y(
- data_bytes, exponent, val);
+ return correction * CONVERT_M_MG_VTF16E14_Y(data_bytes, exponent, val);
case 2:
- return correction *
- CONVERT_M_MG_VTF16E14_Z(
- data_bytes, exponent, val);
+ return correction * CONVERT_M_MG_VTF16E14_Z(data_bytes, exponent, val);
}
break;
case SENSOR_TYPE_LIGHT:
- return (float) val;
+ return (float) val;
case SENSOR_TYPE_ORIENTATION:
- return correction * convert_from_vtf_format(
- data_bytes, exponent, val);
+ return correction * convert_from_vtf_format(data_bytes, exponent, val);
case SENSOR_TYPE_ROTATION_VECTOR:
- return correction * convert_from_vtf_format(
- data_bytes, exponent, val);
+ return correction * convert_from_vtf_format(data_bytes, exponent, val);
}
return 0;
{
char prop_name[PROP_NAME_MAX];
char prop_val[PROP_VALUE_MAX];
- int i = sensor_info[s].catalog_index;
+ int i = sensor[s].catalog_index;
const char *prefix = sensor_catalog[i].tag;
sprintf(prop_name, PROP_BASE, prefix, "transform");
- if (property_get(prop_name, prop_val, "")) {
+ if (property_get(prop_name, prop_val, ""))
if (!strcmp(prop_val, "ISH")) {
- ALOGI( "Using Intel Sensor Hub semantics on %s\n",
- sensor_info[s].friendly_name);
+ ALOGI( "Using Intel Sensor Hub semantics on %s\n", sensor[s].friendly_name);
- sensor_info[s].ops.transform = transform_sample_ISH;
- sensor_info[s].ops.finalize = finalize_sample_ISH;
+ sensor[s].ops.transform = transform_sample_ISH;
+ sensor[s].ops.finalize = finalize_sample_ISH;
return;
}
- }
- sensor_info[s].ops.transform = transform_sample_default;
- sensor_info[s].ops.finalize = finalize_sample_default;
+ sensor[s].ops.transform = transform_sample_default;
+ sensor[s].ops.finalize = finalize_sample_default;
}
-float acquire_immediate_value(int s, int c)
+float acquire_immediate_float_value (int s, int c)
{
char sysfs_path[PATH_MAX];
float val;
int ret;
- int dev_num = sensor_info[s].dev_num;
- int i = sensor_info[s].catalog_index;
+ int dev_num = sensor[s].dev_num;
+ int i = sensor[s].catalog_index;
const char* raw_path = sensor_catalog[i].channel[c].raw_path;
const char* input_path = sensor_catalog[i].channel[c].input_path;
- float scale = sensor_info[s].scale ?
- sensor_info[s].scale : sensor_info[s].channel[c].scale;
- float offset = sensor_info[s].offset;
- int sensor_type = sensor_catalog[i].type;
+ float scale = sensor[s].scale ? sensor[s].scale : sensor[s].channel[c].scale;
+ float offset = sensor[s].offset;
float correction;
/* In case correction has been requested using properties, apply it */
- correction = sensor_info[s].channel[c].opt_scale;
+ correction = sensor[s].channel[c].opt_scale;
/* Acquire a sample value for sensor s / channel c through sysfs */
- if (input_path[0]) {
+ if (sensor[s].channel[c].input_path_present) {
sprintf(sysfs_path, BASE_PATH "%s", dev_num, input_path);
ret = sysfs_read_float(sysfs_path, &val);
- if (!ret) {
+ if (!ret)
return val * correction;
- }
- };
+ }
- if (!raw_path[0])
+ if (!sensor[s].channel[c].raw_path_present)
return 0;
sprintf(sysfs_path, BASE_PATH "%s", dev_num, raw_path);
return 0;
/*
- There is no transform ops defined yet for Raw sysfs values
- Use this function to perform transformation as well.
- */
- if (sensor_type == SENSOR_TYPE_MAGNETIC_FIELD)
- return CONVERT_GAUSS_TO_MICROTESLA ((val + offset) * scale) *
- correction;
+ * There is no transform ops defined yet for raw sysfs values.
+ * Use this function to perform transformation as well.
+ */
+ if (sensor[s].type == SENSOR_TYPE_MAGNETIC_FIELD)
+ return CONVERT_GAUSS_TO_MICROTESLA ((val + offset) * scale) * correction;
+
+ return (val + offset) * scale * correction;
+}
+
+uint64_t acquire_immediate_uint64_value (int s, int c)
+{
+ char sysfs_path[PATH_MAX];
+ uint64_t val;
+ int ret;
+ int dev_num = sensor[s].dev_num;
+ int i = sensor[s].catalog_index;
+ const char* raw_path = sensor_catalog[i].channel[c].raw_path;
+ const char* input_path = sensor_catalog[i].channel[c].input_path;
+ float scale = sensor[s].scale ? sensor[s].scale : sensor[s].channel[c].scale;
+ float offset = sensor[s].offset;
+ int sensor_type = sensor_catalog[i].type;
+ float correction;
+
+ /* In case correction has been requested using properties, apply it */
+ correction = sensor[s].channel[c].opt_scale;
+
+ /* Acquire a sample value for sensor s / channel c through sysfs */
+
+ if (sensor[s].channel[c].input_path_present) {
+ sprintf(sysfs_path, BASE_PATH "%s", dev_num, input_path);
+ ret = sysfs_read_uint64(sysfs_path, &val);
+
+ if (!ret)
+ return val * correction;
+ };
+
+ if (!sensor[s].channel[c].raw_path_present)
+ return 0;
+
+ sprintf(sysfs_path, BASE_PATH "%s", dev_num, raw_path);
+ ret = sysfs_read_uint64(sysfs_path, &val);
+
+ if (ret == -1)
+ return 0;
return (val + offset) * scale * correction;
}
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