sensors: hardware abstraction layer for native sensor support
This is the alternative sensor solution for platforms without
separate sensor processor, such as 8x10, 8x30, etc
Change-Id: I26f092f2728079aaec5b9d662f8e19fb9cdc4a50
diff --git a/AccelSensor.h b/AccelSensor.h
new file mode 100644
index 0000000..34b9c94
--- /dev/null
+++ b/AccelSensor.h
@@ -0,0 +1,54 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_ACCEL_SENSOR_H
+#define ANDROID_ACCEL_SENSOR_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#include "SensorBase.h"
+#include "InputEventReader.h"
+
+/*****************************************************************************/
+
+struct input_event;
+
+class AccelSensor : public SensorBase {
+ int mEnabled;
+ InputEventCircularReader mInputReader;
+ sensors_event_t mPendingEvent;
+ bool mHasPendingEvent;
+ char input_sysfs_path[PATH_MAX];
+ int input_sysfs_path_len;
+ int64_t mEnabledTime;
+
+ int setInitialState();
+
+public:
+ AccelSensor();
+ virtual ~AccelSensor();
+ virtual int readEvents(sensors_event_t* data, int count);
+ virtual bool hasPendingEvents() const;
+ virtual int setDelay(int32_t handle, int64_t ns);
+ virtual int enable(int32_t handle, int enabled);
+};
+
+/*****************************************************************************/
+
+#endif // ANDROID_ACCEL_SENSOR_H
diff --git a/AkmSensor.cpp b/AkmSensor.cpp
new file mode 100644
index 0000000..dd17afc
--- /dev/null
+++ b/AkmSensor.cpp
@@ -0,0 +1,299 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+#include <linux/akm8975.h>
+#include <cutils/log.h>
+#include "AkmSensor.h"
+#include "sensors.h"
+
+#define SENSOR_STATE_MASK (0x7FFF)
+
+#define AKM_DEVICE_NAME "/dev/akm8975_aot"
+
+#define ID_A SENSORS_ACCELERATION_HANDLE
+#define ID_M SENSORS_MAGNETIC_FIELD_HANDLE
+#define ID_O SENSORS_ORIENTATION_HANDLE
+
+#define EVENT_TYPE_ACCEL_X REL_X
+#define EVENT_TYPE_ACCEL_Y REL_Y
+#define EVENT_TYPE_ACCEL_Z REL_Z
+
+#define EVENT_TYPE_YAW REL_RX
+#define EVENT_TYPE_PITCH REL_RY
+#define EVENT_TYPE_ROLL REL_RZ
+#define EVENT_TYPE_ORIENT_STATUS REL_HWHEEL
+
+#define EVENT_TYPE_MAGV_X REL_DIAL
+#define EVENT_TYPE_MAGV_Y REL_WHEEL
+#define EVENT_TYPE_MAGV_Z REL_MISC
+
+// 1024 LSG = 1G
+#define LSG (1024.0f)
+#define MAX_RANGE_A (2*GRAVITY_EARTH)
+// conversion of acceleration data to SI units (m/s^2)
+#define CONVERT_A (GRAVITY_EARTH / LSG)
+#define CONVERT_A_X (CONVERT_A)
+#define CONVERT_A_Y (CONVERT_A)
+#define CONVERT_A_Z (CONVERT_A)
+
+// conversion of magnetic data to uT units
+#define CONVERT_M (1.0f/16.0f)
+#define CONVERT_M_X (CONVERT_M)
+#define CONVERT_M_Y (CONVERT_M)
+#define CONVERT_M_Z (CONVERT_M)
+
+#define CONVERT_O (1.0f/64.0f)
+#define CONVERT_O_Y (CONVERT_O)
+#define CONVERT_O_P (CONVERT_O)
+#define CONVERT_O_R (-CONVERT_O)
+
+/*****************************************************************************/
+
+AkmSensor::AkmSensor()
+ : SensorBase(AKM_DEVICE_NAME, "compass"),
+ mEnabled(0),
+ mPendingMask(0),
+ mInputReader(32)
+{
+ memset(mPendingEvents, 0, sizeof(mPendingEvents));
+
+ mPendingEvents[Accelerometer].version = sizeof(sensors_event_t);
+ mPendingEvents[Accelerometer].sensor = ID_A;
+ mPendingEvents[Accelerometer].type = SENSOR_TYPE_ACCELEROMETER;
+ mPendingEvents[Accelerometer].acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;
+
+ mPendingEvents[MagneticField].version = sizeof(sensors_event_t);
+ mPendingEvents[MagneticField].sensor = ID_M;
+ mPendingEvents[MagneticField].type = SENSOR_TYPE_MAGNETIC_FIELD;
+ mPendingEvents[MagneticField].magnetic.status = SENSOR_STATUS_ACCURACY_HIGH;
+
+ mPendingEvents[Orientation ].version = sizeof(sensors_event_t);
+ mPendingEvents[Orientation ].sensor = ID_O;
+ mPendingEvents[Orientation ].type = SENSOR_TYPE_ORIENTATION;
+ mPendingEvents[Orientation ].orientation.status = SENSOR_STATUS_ACCURACY_HIGH;
+
+ for (int i=0 ; i<numSensors ; i++)
+ mDelays[i] = 200000000; // 200 ms by default
+
+ // read the actual value of all sensors if they're enabled already
+ struct input_absinfo absinfo;
+ short flags = 0;
+
+ open_device();
+
+ if (!ioctl(dev_fd, ECS_IOCTL_APP_GET_AFLAG, &flags)) {
+ if (flags) {
+ mEnabled |= 1<<Accelerometer;
+ }
+ }
+ if (!ioctl(dev_fd, ECS_IOCTL_APP_GET_MVFLAG, &flags)) {
+ if (flags) {
+ mEnabled |= 1<<MagneticField;
+ }
+ }
+ if (!ioctl(dev_fd, ECS_IOCTL_APP_GET_MFLAG, &flags)) {
+ if (flags) {
+ mEnabled |= 1<<Orientation;
+ }
+ }
+ if (!mEnabled) {
+ close_device();
+ }
+}
+
+AkmSensor::~AkmSensor() {
+}
+
+int AkmSensor::enable(int32_t handle, int en)
+{
+ int what = -1;
+ switch (handle) {
+ case ID_A: what = Accelerometer; break;
+ case ID_M: what = MagneticField; break;
+ case ID_O: what = Orientation; break;
+ }
+
+ if (uint32_t(what) >= numSensors)
+ return -EINVAL;
+
+ int newState = en ? 1 : 0;
+ int err = 0;
+
+ if ((uint32_t(newState)<<what) != (mEnabled & (1<<what))) {
+ if (!mEnabled) {
+ open_device();
+ }
+ int cmd;
+ switch (what) {
+ case Accelerometer: cmd = ECS_IOCTL_APP_SET_AFLAG; break;
+ case MagneticField: cmd = ECS_IOCTL_APP_SET_MVFLAG; break;
+ case Orientation: cmd = ECS_IOCTL_APP_SET_MFLAG; break;
+ }
+ short flags = newState;
+ err = ioctl(dev_fd, cmd, &flags);
+ err = err<0 ? -errno : 0;
+ ALOGE_IF(err, "ECS_IOCTL_APP_SET_XXX failed (%s)", strerror(-err));
+ if (!err) {
+ mEnabled &= ~(1<<what);
+ mEnabled |= (uint32_t(flags)<<what);
+ update_delay();
+ }
+ if (!mEnabled) {
+ close_device();
+ }
+ }
+ return err;
+}
+
+int AkmSensor::setDelay(int32_t handle, int64_t ns)
+{
+#ifdef ECS_IOCTL_APP_SET_DELAY
+ int what = -1;
+ switch (handle) {
+ case ID_A: what = Accelerometer; break;
+ case ID_M: what = MagneticField; break;
+ case ID_O: what = Orientation; break;
+ }
+
+ if (uint32_t(what) >= numSensors)
+ return -EINVAL;
+
+ if (ns < 0)
+ return -EINVAL;
+
+ mDelays[what] = ns;
+ return update_delay();
+#else
+ return -1;
+#endif
+}
+
+int AkmSensor::update_delay()
+{
+ if (mEnabled) {
+ uint64_t wanted = -1LLU;
+ for (int i=0 ; i<numSensors ; i++) {
+ if (mEnabled & (1<<i)) {
+ uint64_t ns = mDelays[i];
+ wanted = wanted < ns ? wanted : ns;
+ }
+ }
+ short delay = int64_t(wanted) / 1000000;
+ if (ioctl(dev_fd, ECS_IOCTL_APP_SET_DELAY, &delay)) {
+ return -errno;
+ }
+ }
+ return 0;
+}
+
+int AkmSensor::readEvents(sensors_event_t* data, int count)
+{
+ if (count < 1)
+ return -EINVAL;
+
+ ssize_t n = mInputReader.fill(data_fd);
+ if (n < 0)
+ return n;
+
+ int numEventReceived = 0;
+ input_event const* event;
+
+ while (count && mInputReader.readEvent(&event)) {
+ int type = event->type;
+ if (type == EV_REL) {
+ processEvent(event->code, event->value);
+ mInputReader.next();
+ } else if (type == EV_SYN) {
+ int64_t time = timevalToNano(event->time);
+ for (int j=0 ; count && mPendingMask && j<numSensors ; j++) {
+ if (mPendingMask & (1<<j)) {
+ mPendingMask &= ~(1<<j);
+ mPendingEvents[j].timestamp = time;
+ if (mEnabled & (1<<j)) {
+ *data++ = mPendingEvents[j];
+ count--;
+ numEventReceived++;
+ }
+ }
+ }
+ if (!mPendingMask) {
+ mInputReader.next();
+ }
+ } else {
+ ALOGE("AkmSensor: unknown event (type=%d, code=%d)",
+ type, event->code);
+ mInputReader.next();
+ }
+ }
+
+ return numEventReceived;
+}
+
+void AkmSensor::processEvent(int code, int value)
+{
+ switch (code) {
+ case EVENT_TYPE_ACCEL_X:
+ mPendingMask |= 1<<Accelerometer;
+ mPendingEvents[Accelerometer].acceleration.x = value * CONVERT_A_X;
+ break;
+ case EVENT_TYPE_ACCEL_Y:
+ mPendingMask |= 1<<Accelerometer;
+ mPendingEvents[Accelerometer].acceleration.y = value * CONVERT_A_Y;
+ break;
+ case EVENT_TYPE_ACCEL_Z:
+ mPendingMask |= 1<<Accelerometer;
+ mPendingEvents[Accelerometer].acceleration.z = value * CONVERT_A_Z;
+ break;
+
+ case EVENT_TYPE_MAGV_X:
+ mPendingMask |= 1<<MagneticField;
+ mPendingEvents[MagneticField].magnetic.x = value * CONVERT_M_X;
+ break;
+ case EVENT_TYPE_MAGV_Y:
+ mPendingMask |= 1<<MagneticField;
+ mPendingEvents[MagneticField].magnetic.y = value * CONVERT_M_Y;
+ break;
+ case EVENT_TYPE_MAGV_Z:
+ mPendingMask |= 1<<MagneticField;
+ mPendingEvents[MagneticField].magnetic.z = value * CONVERT_M_Z;
+ break;
+
+ case EVENT_TYPE_YAW:
+ mPendingMask |= 1<<Orientation;
+ mPendingEvents[Orientation].orientation.azimuth = value * CONVERT_O_Y;
+ break;
+ case EVENT_TYPE_PITCH:
+ mPendingMask |= 1<<Orientation;
+ mPendingEvents[Orientation].orientation.pitch = value * CONVERT_O_P;
+ break;
+ case EVENT_TYPE_ROLL:
+ mPendingMask |= 1<<Orientation;
+ mPendingEvents[Orientation].orientation.roll = value * CONVERT_O_R;
+ break;
+ case EVENT_TYPE_ORIENT_STATUS:
+ mPendingMask |= 1<<Orientation;
+ mPendingEvents[Orientation].orientation.status =
+ uint8_t(value & SENSOR_STATE_MASK);
+ break;
+ }
+}
diff --git a/AkmSensor.h b/AkmSensor.h
new file mode 100644
index 0000000..8c81ae5
--- /dev/null
+++ b/AkmSensor.h
@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_AKM_SENSOR_H
+#define ANDROID_AKM_SENSOR_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#include "SensorBase.h"
+#include "InputEventReader.h"
+
+/*****************************************************************************/
+
+struct input_event;
+
+class AkmSensor : public SensorBase {
+public:
+ AkmSensor();
+ virtual ~AkmSensor();
+
+ enum {
+ Accelerometer = 0,
+ MagneticField = 1,
+ Orientation = 2,
+ numSensors
+ };
+
+ virtual int setDelay(int32_t handle, int64_t ns);
+ virtual int enable(int32_t handle, int enabled);
+ virtual int readEvents(sensors_event_t* data, int count);
+ void processEvent(int code, int value);
+
+private:
+ int update_delay();
+ uint32_t mEnabled;
+ uint32_t mPendingMask;
+ InputEventCircularReader mInputReader;
+ sensors_event_t mPendingEvents[numSensors];
+ uint64_t mDelays[numSensors];
+};
+
+/*****************************************************************************/
+
+#endif // ANDROID_AKM_SENSOR_H
diff --git a/Android.mk b/Android.mk
new file mode 100644
index 0000000..6a02c72
--- /dev/null
+++ b/Android.mk
@@ -0,0 +1,33 @@
+ifneq ($(BUILD_TINY_ANDROID),true)
+LOCAL_PATH := $(call my-dir)
+
+# HAL module implemenation stored in
+include $(CLEAR_VARS)
+
+LOCAL_MODULE := sensors.msm8930
+
+LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
+
+LOCAL_MODULE_TAGS := optional
+
+LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\"
+ifeq ($(call is-board-platform,msm8960),true)
+ LOCAL_CFLAGS += -DTARGET_8930
+endif
+
+LOCAL_SRC_FILES := \
+ sensors.cpp \
+ SensorBase.cpp \
+ LightSensor.cpp \
+ ProximitySensor.cpp \
+ AkmSensor.cpp \
+ Lis3dh.cpp \
+ Mpu3050.cpp \
+ Bmp180.cpp \
+ InputEventReader.cpp
+
+LOCAL_SHARED_LIBRARIES := liblog libcutils libdl
+
+include $(BUILD_SHARED_LIBRARY)
+
+endif #BUILD_TINY_ANDROID
diff --git a/Bmp180.cpp b/Bmp180.cpp
new file mode 100644
index 0000000..f43b6d0
--- /dev/null
+++ b/Bmp180.cpp
@@ -0,0 +1,178 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+#include <cutils/log.h>
+
+#include "PressureSensor.h"
+#include "sensors.h"
+
+#define FETCH_FULL_EVENT_BEFORE_RETURN 1
+
+#define EVENT_TYPE_PRESSURE ABS_PRESSURE
+
+#define CONVERT_PRESSURE (0.01)
+
+#define IGNORE_EVENT_TIME 0
+
+/*****************************************************************************/
+
+PressureSensor::PressureSensor()
+ : SensorBase(NULL, "barometer_sensor"),
+ mEnabled(0),
+ mInputReader(4),
+ mHasPendingEvent(false),
+ mEnabledTime(0)
+{
+ mPendingEvent.version = sizeof(sensors_event_t);
+ mPendingEvent.sensor = SENSORS_PRESSURE_HANDLE;
+ mPendingEvent.type = SENSOR_TYPE_PRESSURE;
+ memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
+
+ if (data_fd) {
+ strcpy(input_sysfs_path, "/sys/class/input/");
+ strcat(input_sysfs_path, input_name);
+ strcat(input_sysfs_path, "/device/device/");
+ input_sysfs_path_len = strlen(input_sysfs_path);
+ enable(0, 1);
+ }
+}
+
+PressureSensor::~PressureSensor() {
+ if (mEnabled) {
+ enable(0, 0);
+ }
+}
+
+int PressureSensor::setInitialState() {
+ struct input_absinfo absinfo;
+ float value;
+ if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_PRESSURE), &absinfo)) {
+ value = absinfo.value;
+ mPendingEvent.pressure = value * CONVERT_PRESSURE;
+ mHasPendingEvent = true;
+ }
+ return 0;
+}
+
+int PressureSensor::enable(int32_t, int en) {
+ int flags = en ? 1 : 0;
+ if (flags != mEnabled) {
+ int fd;
+ strcpy(&input_sysfs_path[input_sysfs_path_len], "enable");
+ fd = open(input_sysfs_path, O_RDWR);
+ if (fd >= 0) {
+ char buf[2];
+ int err;
+ buf[1] = 0;
+ if (flags) {
+ buf[0] = '1';
+ mEnabledTime = getTimestamp() + IGNORE_EVENT_TIME;
+ } else {
+ buf[0] = '0';
+ }
+ err = write(fd, buf, sizeof(buf));
+ close(fd);
+ mEnabled = flags;
+ setInitialState();
+ return 0;
+ }
+ return -1;
+ }
+ return 0;
+}
+
+bool PressureSensor::hasPendingEvents() const {
+ return mHasPendingEvent;
+}
+
+int PressureSensor::setDelay(int32_t handle, int64_t delay_ns)
+{
+ int fd;
+ strcpy(&input_sysfs_path[input_sysfs_path_len], "poll_delay");
+ fd = open(input_sysfs_path, O_RDWR);
+ if (fd >= 0) {
+ char buf[80];
+ sprintf(buf, "%lld", delay_ns);
+ write(fd, buf, strlen(buf)+1);
+ close(fd);
+ return 0;
+ }
+ return -1;
+}
+
+int PressureSensor::readEvents(sensors_event_t* data, int count)
+{
+ if (count < 1)
+ return -EINVAL;
+
+ if (mHasPendingEvent) {
+ mHasPendingEvent = false;
+ mPendingEvent.timestamp = getTimestamp();
+ *data = mPendingEvent;
+ return mEnabled ? 1 : 0;
+ }
+
+ ssize_t n = mInputReader.fill(data_fd);
+ if (n < 0)
+ return n;
+
+ int numEventReceived = 0;
+ input_event const* event;
+
+#if FETCH_FULL_EVENT_BEFORE_RETURN
+again:
+#endif
+ while (count && mInputReader.readEvent(&event)) {
+ int type = event->type;
+ if (type == EV_ABS) {
+ float value = event->value;
+ mPendingEvent.pressure = value * CONVERT_PRESSURE;
+ } else if (type == EV_SYN) {
+ mPendingEvent.timestamp = timevalToNano(event->time);
+ if (mEnabled) {
+ if (mPendingEvent.timestamp >= mEnabledTime) {
+ *data++ = mPendingEvent;
+ numEventReceived++;
+ }
+ count--;
+ }
+ } else {
+ ALOGE("PressureSensor: unknown event (type=%d, code=%d)",
+ type, event->code);
+ }
+ mInputReader.next();
+ }
+
+#if FETCH_FULL_EVENT_BEFORE_RETURN
+ /* if we didn't read a complete event, see if we can fill and
+ try again instead of returning with nothing and redoing poll. */
+ if (numEventReceived == 0 && mEnabled == 1) {
+ n = mInputReader.fill(data_fd);
+ if (n)
+ goto again;
+ }
+#endif
+
+ return numEventReceived;
+}
+
diff --git a/GyroSensor.h b/GyroSensor.h
new file mode 100644
index 0000000..cf398fd
--- /dev/null
+++ b/GyroSensor.h
@@ -0,0 +1,54 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GYRO_SENSOR_H
+#define ANDROID_GYRO_SENSOR_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#include "SensorBase.h"
+#include "InputEventReader.h"
+
+/*****************************************************************************/
+
+struct input_event;
+
+class GyroSensor : public SensorBase {
+ int mEnabled;
+ InputEventCircularReader mInputReader;
+ sensors_event_t mPendingEvent;
+ bool mHasPendingEvent;
+ char input_sysfs_path[PATH_MAX];
+ int input_sysfs_path_len;
+ int64_t mEnabledTime;
+
+ int setInitialState();
+
+public:
+ GyroSensor();
+ virtual ~GyroSensor();
+ virtual int readEvents(sensors_event_t* data, int count);
+ virtual bool hasPendingEvents() const;
+ virtual int setDelay(int32_t handle, int64_t ns);
+ virtual int enable(int32_t handle, int enabled);
+};
+
+/*****************************************************************************/
+
+#endif // ANDROID_GYRO_SENSOR_H
diff --git a/InputEventReader.cpp b/InputEventReader.cpp
new file mode 100644
index 0000000..1014f29
--- /dev/null
+++ b/InputEventReader.cpp
@@ -0,0 +1,88 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <stdint.h>
+#include <errno.h>
+#include <unistd.h>
+#include <poll.h>
+
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#include <linux/input.h>
+
+#include <cutils/log.h>
+
+#include "InputEventReader.h"
+
+/*****************************************************************************/
+
+struct input_event;
+
+InputEventCircularReader::InputEventCircularReader(size_t numEvents)
+ : mBuffer(new input_event[numEvents * 2]),
+ mBufferEnd(mBuffer + numEvents),
+ mHead(mBuffer),
+ mCurr(mBuffer),
+ mFreeSpace(numEvents)
+{
+}
+
+InputEventCircularReader::~InputEventCircularReader()
+{
+ delete [] mBuffer;
+}
+
+ssize_t InputEventCircularReader::fill(int fd)
+{
+ size_t numEventsRead = 0;
+ if (mFreeSpace) {
+ const ssize_t nread = read(fd, mHead, mFreeSpace * sizeof(input_event));
+ if (nread<0 || nread % sizeof(input_event)) {
+ // we got a partial event!!
+ return nread<0 ? -errno : -EINVAL;
+ }
+
+ numEventsRead = nread / sizeof(input_event);
+ if (numEventsRead) {
+ mHead += numEventsRead;
+ mFreeSpace -= numEventsRead;
+ if (mHead > mBufferEnd) {
+ size_t s = mHead - mBufferEnd;
+ memcpy(mBuffer, mBufferEnd, s * sizeof(input_event));
+ mHead = mBuffer + s;
+ }
+ }
+ }
+
+ return numEventsRead;
+}
+
+ssize_t InputEventCircularReader::readEvent(input_event const** events)
+{
+ *events = mCurr;
+ ssize_t available = (mBufferEnd - mBuffer) - mFreeSpace;
+ return available ? 1 : 0;
+}
+
+void InputEventCircularReader::next()
+{
+ mCurr++;
+ mFreeSpace++;
+ if (mCurr >= mBufferEnd) {
+ mCurr = mBuffer;
+ }
+}
diff --git a/InputEventReader.h b/InputEventReader.h
new file mode 100644
index 0000000..254c00e
--- /dev/null
+++ b/InputEventReader.h
@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_INPUT_EVENT_READER_H
+#define ANDROID_INPUT_EVENT_READER_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+/*****************************************************************************/
+
+struct input_event;
+
+class InputEventCircularReader
+{
+ struct input_event* const mBuffer;
+ struct input_event* const mBufferEnd;
+ struct input_event* mHead;
+ struct input_event* mCurr;
+ ssize_t mFreeSpace;
+
+public:
+ InputEventCircularReader(size_t numEvents);
+ ~InputEventCircularReader();
+ ssize_t fill(int fd);
+ ssize_t readEvent(input_event const** events);
+ void next();
+};
+
+/*****************************************************************************/
+
+#endif // ANDROID_INPUT_EVENT_READER_H
diff --git a/LightSensor.cpp b/LightSensor.cpp
new file mode 100644
index 0000000..a97e3fd
--- /dev/null
+++ b/LightSensor.cpp
@@ -0,0 +1,148 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+#include <cutils/log.h>
+
+#include "sensors.h"
+#include "LightSensor.h"
+
+#define EVENT_TYPE_LIGHT ABS_MISC
+/*****************************************************************************/
+
+LightSensor::LightSensor()
+ : SensorBase(NULL, "lightsensor-level"),
+ mEnabled(0),
+ mInputReader(4),
+ mHasPendingEvent(false)
+{
+ mPendingEvent.version = sizeof(sensors_event_t);
+ mPendingEvent.sensor = SENSORS_LIGHT_HANDLE;
+ mPendingEvent.type = SENSOR_TYPE_LIGHT;
+ memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
+
+ if (data_fd) {
+ strcpy(input_sysfs_path, "/sys/class/input/");
+ strcat(input_sysfs_path, input_name);
+ strcat(input_sysfs_path, "/device/");
+ input_sysfs_path_len = strlen(input_sysfs_path);
+ enable(0, 1);
+ }
+}
+
+LightSensor::~LightSensor() {
+ if (mEnabled) {
+ enable(0, 0);
+ }
+}
+
+int LightSensor::setDelay(int32_t handle, int64_t ns)
+{
+ int fd;
+ strcpy(&input_sysfs_path[input_sysfs_path_len], "poll_delay");
+ fd = open(input_sysfs_path, O_RDWR);
+ if (fd >= 0) {
+ char buf[80];
+ sprintf(buf, "%lld", ns);
+ write(fd, buf, strlen(buf)+1);
+ close(fd);
+ return 0;
+ }
+ return -1;
+}
+
+int LightSensor::enable(int32_t handle, int en)
+{
+ int flags = en ? 1 : 0;
+ if (flags != mEnabled) {
+ int fd;
+ strcpy(&input_sysfs_path[input_sysfs_path_len], "enable");
+ fd = open(input_sysfs_path, O_RDWR);
+ if (fd >= 0) {
+ char buf[2];
+ int err;
+ buf[1] = 0;
+ if (flags) {
+ buf[0] = '1';
+ } else {
+ buf[0] = '0';
+ }
+ err = write(fd, buf, sizeof(buf));
+ close(fd);
+ mEnabled = flags;
+ return 0;
+ }
+ return -1;
+ }
+ return 0;
+}
+
+bool LightSensor::hasPendingEvents() const {
+ return mHasPendingEvent;
+}
+
+int LightSensor::readEvents(sensors_event_t* data, int count)
+{
+ if (count < 1)
+ return -EINVAL;
+
+ if (mHasPendingEvent) {
+ mHasPendingEvent = false;
+ mPendingEvent.timestamp = getTimestamp();
+ *data = mPendingEvent;
+ return mEnabled ? 1 : 0;
+ }
+
+ ssize_t n = mInputReader.fill(data_fd);
+ if (n < 0)
+ return n;
+
+ int numEventReceived = 0;
+ input_event const* event;
+
+ while (count && mInputReader.readEvent(&event)) {
+ int type = event->type;
+ if (type == EV_ABS) {
+ if (event->code == EVENT_TYPE_LIGHT) {
+ // Convert adc value to lux assuming:
+ // I = 10 * log(Ev) uA
+ // R = 47kOhm
+ // Max adc value 4095 = 3.3V
+ // 1/4 of light reaches sensor
+ mPendingEvent.light = powf(10, event->value * (330.0f / 4095.0f / 47.0f)) * 4;
+ }
+ } else if (type == EV_SYN) {
+ mPendingEvent.timestamp = timevalToNano(event->time);
+ if (mEnabled) {
+ *data++ = mPendingEvent;
+ count--;
+ numEventReceived++;
+ }
+ } else {
+ ALOGE("LightSensor: unknown event (type=%d, code=%d)",
+ type, event->code);
+ }
+ mInputReader.next();
+ }
+
+ return numEventReceived;
+}
diff --git a/LightSensor.h b/LightSensor.h
new file mode 100644
index 0000000..c2a55c9
--- /dev/null
+++ b/LightSensor.h
@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_LIGHT_SENSOR_H
+#define ANDROID_LIGHT_SENSOR_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#include "SensorBase.h"
+#include "InputEventReader.h"
+
+/*****************************************************************************/
+
+struct input_event;
+
+class LightSensor : public SensorBase {
+ int mEnabled;
+ InputEventCircularReader mInputReader;
+ sensors_event_t mPendingEvent;
+ bool mHasPendingEvent;
+ char input_sysfs_path[PATH_MAX];
+ int input_sysfs_path_len;
+
+ int setInitialState();
+
+public:
+ LightSensor();
+ virtual ~LightSensor();
+ virtual int readEvents(sensors_event_t* data, int count);
+ virtual bool hasPendingEvents() const;
+ virtual int setDelay(int32_t handle, int64_t ns);
+ virtual int enable(int32_t handle, int enabled);
+};
+
+/*****************************************************************************/
+
+#endif // ANDROID_LIGHT_SENSOR_H
diff --git a/Lis3dh.cpp b/Lis3dh.cpp
new file mode 100644
index 0000000..b8e2590
--- /dev/null
+++ b/Lis3dh.cpp
@@ -0,0 +1,203 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+#include <cutils/log.h>
+
+#include "AccelSensor.h"
+#include "sensors.h"
+
+#define FETCH_FULL_EVENT_BEFORE_RETURN 1
+#define IGNORE_EVENT_TIME 10000000
+
+#define EVENT_TYPE_ACCEL_X ABS_X
+#define EVENT_TYPE_ACCEL_Y ABS_Y
+#define EVENT_TYPE_ACCEL_Z ABS_Z
+
+#define LIS3DH_CONVERT ((GRAVITY_EARTH) / 1024)
+#define CONVERT_ACCEL_X LIS3DH_CONVERT
+#define CONVERT_ACCEL_Y LIS3DH_CONVERT
+#define CONVERT_ACCEL_Z LIS3DH_CONVERT
+
+/*****************************************************************************/
+
+AccelSensor::AccelSensor()
+ : SensorBase(NULL, "lis3dh_acc"),
+ mEnabled(0),
+ mInputReader(4),
+ mHasPendingEvent(false),
+ mEnabledTime(0)
+{
+ mPendingEvent.version = sizeof(sensors_event_t);
+ mPendingEvent.sensor = SENSORS_ACCELERATION_HANDLE;
+ mPendingEvent.type = SENSOR_TYPE_ACCELEROMETER;
+ memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
+
+ if (data_fd) {
+ strcpy(input_sysfs_path, "/sys/class/input/");
+ strcat(input_sysfs_path, input_name);
+ strcat(input_sysfs_path, "/device/device/");
+ input_sysfs_path_len = strlen(input_sysfs_path);
+ enable(0, 1);
+ }
+}
+
+AccelSensor::~AccelSensor() {
+ if (mEnabled) {
+ enable(0, 0);
+ }
+}
+
+int AccelSensor::setInitialState() {
+ struct input_absinfo absinfo_x;
+ struct input_absinfo absinfo_y;
+ struct input_absinfo absinfo_z;
+ float value;
+ if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_X), &absinfo_x) &&
+ !ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_Y), &absinfo_y) &&
+ !ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_Z), &absinfo_z)) {
+ value = absinfo_x.value;
+ mPendingEvent.data[0] = value * CONVERT_ACCEL_X;
+ value = absinfo_y.value;
+ mPendingEvent.data[1] = value * CONVERT_ACCEL_Y;
+ value = absinfo_z.value;
+ mPendingEvent.data[2] = value * CONVERT_ACCEL_Z;
+ mHasPendingEvent = true;
+ }
+ return 0;
+}
+
+int AccelSensor::enable(int32_t, int en) {
+ int flags = en ? 1 : 0;
+ if (flags != mEnabled) {
+#if 1
+ int fd;
+ strcpy(&input_sysfs_path[input_sysfs_path_len], "enable");
+ fd = open(input_sysfs_path, O_RDWR);
+ if (fd >= 0) {
+ char buf[2];
+ int err;
+ buf[1] = 0;
+ if (flags) {
+ buf[0] = '1';
+ mEnabledTime = getTimestamp() + IGNORE_EVENT_TIME;
+ } else {
+ buf[0] = '0';
+ }
+ err = write(fd, buf, sizeof(buf));
+ close(fd);
+ mEnabled = flags;
+ setInitialState();
+ return 0;
+ }
+ ALOGE("lis3dh: failed to open %s", input_sysfs_path);
+ return -1;
+#else
+ mEnabled = flags;
+ setInitialState();
+#endif
+ }
+ return 0;
+}
+
+bool AccelSensor::hasPendingEvents() const {
+ return mHasPendingEvent;
+}
+
+int AccelSensor::setDelay(int32_t handle, int64_t delay_ns)
+{
+ int fd;
+ int delay_ms = delay_ns / 1000000;
+ strcpy(&input_sysfs_path[input_sysfs_path_len], "pollrate_ms");
+ fd = open(input_sysfs_path, O_RDWR);
+ if (fd >= 0) {
+ char buf[80];
+ sprintf(buf, "%d", delay_ms);
+ write(fd, buf, strlen(buf)+1);
+ close(fd);
+ return 0;
+ }
+ return -1;
+}
+
+int AccelSensor::readEvents(sensors_event_t* data, int count)
+{
+ if (count < 1)
+ return -EINVAL;
+
+ if (mHasPendingEvent) {
+ mHasPendingEvent = false;
+ mPendingEvent.timestamp = getTimestamp();
+ *data = mPendingEvent;
+ return mEnabled ? 1 : 0;
+ }
+
+ ssize_t n = mInputReader.fill(data_fd);
+ if (n < 0)
+ return n;
+
+ int numEventReceived = 0;
+ input_event const* event;
+
+#if FETCH_FULL_EVENT_BEFORE_RETURN
+again:
+#endif
+ while (count && mInputReader.readEvent(&event)) {
+ int type = event->type;
+ if (type == EV_ABS) {
+ float value = event->value;
+ if (event->code == EVENT_TYPE_ACCEL_X) {
+ mPendingEvent.data[0] = value * CONVERT_ACCEL_X;
+ } else if (event->code == EVENT_TYPE_ACCEL_Y) {
+ mPendingEvent.data[1] = value * CONVERT_ACCEL_Y;
+ } else if (event->code == EVENT_TYPE_ACCEL_Z) {
+ mPendingEvent.data[2] = value * CONVERT_ACCEL_Z;
+ }
+ } else if (type == EV_SYN) {
+ mPendingEvent.timestamp = timevalToNano(event->time);
+ if (mEnabled) {
+ if (mPendingEvent.timestamp >= mEnabledTime) {
+ *data++ = mPendingEvent;
+ numEventReceived++;
+ }
+ count--;
+ }
+ } else {
+ ALOGE("AccelSensor: unknown event (type=%d, code=%d)",
+ type, event->code);
+ }
+ mInputReader.next();
+ }
+
+#if FETCH_FULL_EVENT_BEFORE_RETURN
+ /* if we didn't read a complete event, see if we can fill and
+ try again instead of returning with nothing and redoing poll. */
+ if (numEventReceived == 0 && mEnabled == 1) {
+ n = mInputReader.fill(data_fd);
+ if (n)
+ goto again;
+ }
+#endif
+
+ return numEventReceived;
+}
+
diff --git a/Mpu3050.cpp b/Mpu3050.cpp
new file mode 100644
index 0000000..a9c5b14
--- /dev/null
+++ b/Mpu3050.cpp
@@ -0,0 +1,202 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+#include <cutils/log.h>
+
+#include "GyroSensor.h"
+#include "sensors.h"
+
+#define FETCH_FULL_EVENT_BEFORE_RETURN 1
+#define IGNORE_EVENT_TIME 350000000
+
+#define EVENT_TYPE_GYRO_X ABS_X
+#define EVENT_TYPE_GYRO_Y ABS_Y
+#define EVENT_TYPE_GYRO_Z ABS_Z
+
+#define MPU3050_CONVERT (M_PI / (180 * 16.4))
+#define CONVERT_GYRO_X (-MPU3050_CONVERT)
+#define CONVERT_GYRO_Y ( MPU3050_CONVERT)
+#define CONVERT_GYRO_Z (-MPU3050_CONVERT)
+
+/*****************************************************************************/
+
+GyroSensor::GyroSensor()
+ : SensorBase(NULL, "MPU3050"),
+ mEnabled(0),
+ mInputReader(4),
+ mHasPendingEvent(false),
+ mEnabledTime(0)
+{
+ mPendingEvent.version = sizeof(sensors_event_t);
+ mPendingEvent.sensor = SENSORS_GYROSCOPE_HANDLE;
+ mPendingEvent.type = SENSOR_TYPE_GYROSCOPE;
+ memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
+
+ if (data_fd) {
+ strcpy(input_sysfs_path, "/sys/class/input/");
+ strcat(input_sysfs_path, input_name);
+ strcat(input_sysfs_path, "/device/device/");
+ input_sysfs_path_len = strlen(input_sysfs_path);
+ enable(0, 1);
+ }
+}
+
+GyroSensor::~GyroSensor() {
+ if (mEnabled) {
+ enable(0, 0);
+ }
+}
+
+int GyroSensor::setInitialState() {
+ struct input_absinfo absinfo_x;
+ struct input_absinfo absinfo_y;
+ struct input_absinfo absinfo_z;
+ float value;
+ if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_x) &&
+ !ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_Y), &absinfo_y) &&
+ !ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_Z), &absinfo_z)) {
+ value = absinfo_x.value;
+ mPendingEvent.data[0] = value * CONVERT_GYRO_X;
+ value = absinfo_y.value;
+ mPendingEvent.data[1] = value * CONVERT_GYRO_Y;
+ value = absinfo_z.value;
+ mPendingEvent.data[2] = value * CONVERT_GYRO_Z;
+ mHasPendingEvent = true;
+ }
+ return 0;
+}
+
+int GyroSensor::enable(int32_t, int en) {
+ int flags = en ? 1 : 0;
+ if (flags != mEnabled) {
+#if 0
+ int fd;
+ strcpy(&input_sysfs_path[input_sysfs_path_len], "enable");
+ fd = open(input_sysfs_path, O_RDWR);
+ if (fd >= 0) {
+ char buf[2];
+ int err;
+ buf[1] = 0;
+ if (flags) {
+ buf[0] = '1';
+ mEnabledTime = getTimestamp() + IGNORE_EVENT_TIME;
+ } else {
+ buf[0] = '0';
+ }
+ err = write(fd, buf, sizeof(buf));
+ close(fd);
+ mEnabled = flags;
+ setInitialState();
+ return 0;
+ }
+ return -1;
+#else
+ mEnabled = flags;
+ setInitialState();
+#endif
+ }
+ return 0;
+}
+
+bool GyroSensor::hasPendingEvents() const {
+ return mHasPendingEvent;
+}
+
+int GyroSensor::setDelay(int32_t handle, int64_t delay_ns)
+{
+ int fd;
+ int delay_ms = delay_ns / 1000000;
+ strcpy(&input_sysfs_path[input_sysfs_path_len], "pollrate_ms");
+ fd = open(input_sysfs_path, O_RDWR);
+ if (fd >= 0) {
+ char buf[80];
+ sprintf(buf, "%d", delay_ms);
+ write(fd, buf, strlen(buf)+1);
+ close(fd);
+ return 0;
+ }
+ return -1;
+}
+
+int GyroSensor::readEvents(sensors_event_t* data, int count)
+{
+ if (count < 1)
+ return -EINVAL;
+
+ if (mHasPendingEvent) {
+ mHasPendingEvent = false;
+ mPendingEvent.timestamp = getTimestamp();
+ *data = mPendingEvent;
+ return mEnabled ? 1 : 0;
+ }
+
+ ssize_t n = mInputReader.fill(data_fd);
+ if (n < 0)
+ return n;
+
+ int numEventReceived = 0;
+ input_event const* event;
+
+#if FETCH_FULL_EVENT_BEFORE_RETURN
+again:
+#endif
+ while (count && mInputReader.readEvent(&event)) {
+ int type = event->type;
+ if (type == EV_ABS) {
+ float value = event->value;
+ if (event->code == EVENT_TYPE_GYRO_X) {
+ mPendingEvent.data[0] = value * CONVERT_GYRO_X;
+ } else if (event->code == EVENT_TYPE_GYRO_Y) {
+ mPendingEvent.data[1] = value * CONVERT_GYRO_Y;
+ } else if (event->code == EVENT_TYPE_GYRO_Z) {
+ mPendingEvent.data[2] = value * CONVERT_GYRO_Z;
+ }
+ } else if (type == EV_SYN) {
+ mPendingEvent.timestamp = timevalToNano(event->time);
+ if (mEnabled) {
+ if (mPendingEvent.timestamp >= mEnabledTime) {
+ *data++ = mPendingEvent;
+ numEventReceived++;
+ }
+ count--;
+ }
+ } else {
+ ALOGE("GyroSensor: unknown event (type=%d, code=%d)",
+ type, event->code);
+ }
+ mInputReader.next();
+ }
+
+#if FETCH_FULL_EVENT_BEFORE_RETURN
+ /* if we didn't read a complete event, see if we can fill and
+ try again instead of returning with nothing and redoing poll. */
+ if (numEventReceived == 0 && mEnabled == 1) {
+ n = mInputReader.fill(data_fd);
+ if (n)
+ goto again;
+ }
+#endif
+
+ return numEventReceived;
+}
+
diff --git a/PressureSensor.h b/PressureSensor.h
new file mode 100644
index 0000000..11b15d7
--- /dev/null
+++ b/PressureSensor.h
@@ -0,0 +1,54 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_PRESSURE_SENSOR_H
+#define ANDROID_PRESSURE_SENSOR_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#include "SensorBase.h"
+#include "InputEventReader.h"
+
+/*****************************************************************************/
+
+struct input_event;
+
+class PressureSensor : public SensorBase {
+ int mEnabled;
+ InputEventCircularReader mInputReader;
+ sensors_event_t mPendingEvent;
+ bool mHasPendingEvent;
+ char input_sysfs_path[PATH_MAX];
+ int input_sysfs_path_len;
+ int64_t mEnabledTime;
+
+ int setInitialState();
+
+public:
+ PressureSensor();
+ virtual ~PressureSensor();
+ virtual int readEvents(sensors_event_t* data, int count);
+ virtual bool hasPendingEvents() const;
+ virtual int setDelay(int32_t handle, int64_t ns);
+ virtual int enable(int32_t handle, int enabled);
+};
+
+/*****************************************************************************/
+
+#endif // ANDROID_PRESSURE_SENSOR_H
diff --git a/ProximitySensor.cpp b/ProximitySensor.cpp
new file mode 100644
index 0000000..fbd4bb4
--- /dev/null
+++ b/ProximitySensor.cpp
@@ -0,0 +1,148 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+
+#include <cutils/log.h>
+
+#include "ProximitySensor.h"
+#include "sensors.h"
+
+#define EVENT_TYPE_PROXIMITY ABS_DISTANCE
+
+#define PROXIMITY_THRESHOLD 5.0f
+/*****************************************************************************/
+
+ProximitySensor::ProximitySensor()
+ : SensorBase(NULL, "proximity"),
+ mEnabled(0),
+ mInputReader(4),
+ mHasPendingEvent(false)
+{
+ mPendingEvent.version = sizeof(sensors_event_t);
+ mPendingEvent.sensor = SENSORS_PROXIMITY_HANDLE;
+ mPendingEvent.type = SENSOR_TYPE_PROXIMITY;
+ memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
+
+ if (data_fd) {
+ strcpy(input_sysfs_path, "/sys/class/input/");
+ strcat(input_sysfs_path, input_name);
+ strcat(input_sysfs_path, "/device/");
+ input_sysfs_path_len = strlen(input_sysfs_path);
+ enable(0, 1);
+ }
+}
+
+ProximitySensor::~ProximitySensor() {
+ if (mEnabled) {
+ enable(0, 0);
+ }
+}
+
+int ProximitySensor::setInitialState() {
+ struct input_absinfo absinfo;
+ if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_PROXIMITY), &absinfo)) {
+ // make sure to report an event immediately
+ mHasPendingEvent = true;
+ mPendingEvent.distance = indexToValue(absinfo.value);
+ }
+ return 0;
+}
+
+int ProximitySensor::enable(int32_t, int en) {
+ int flags = en ? 1 : 0;
+ if (flags != mEnabled) {
+ int fd;
+ strcpy(&input_sysfs_path[input_sysfs_path_len], "enable");
+ fd = open(input_sysfs_path, O_RDWR);
+ if (fd >= 0) {
+ char buf[2];
+ buf[1] = 0;
+ if (flags) {
+ buf[0] = '1';
+ } else {
+ buf[0] = '0';
+ }
+ write(fd, buf, sizeof(buf));
+ close(fd);
+ mEnabled = flags;
+ setInitialState();
+ return 0;
+ }
+ return -1;
+ }
+ return 0;
+}
+
+bool ProximitySensor::hasPendingEvents() const {
+ return mHasPendingEvent;
+}
+
+int ProximitySensor::readEvents(sensors_event_t* data, int count)
+{
+ if (count < 1)
+ return -EINVAL;
+
+ if (mHasPendingEvent) {
+ mHasPendingEvent = false;
+ mPendingEvent.timestamp = getTimestamp();
+ *data = mPendingEvent;
+ return mEnabled ? 1 : 0;
+ }
+
+ ssize_t n = mInputReader.fill(data_fd);
+ if (n < 0)
+ return n;
+
+ int numEventReceived = 0;
+ input_event const* event;
+
+ while (count && mInputReader.readEvent(&event)) {
+ int type = event->type;
+ if (type == EV_ABS) {
+ if (event->code == EVENT_TYPE_PROXIMITY) {
+ if (event->value != -1) {
+ // FIXME: not sure why we're getting -1 sometimes
+ mPendingEvent.distance = indexToValue(event->value);
+ }
+ }
+ } else if (type == EV_SYN) {
+ mPendingEvent.timestamp = timevalToNano(event->time);
+ if (mEnabled) {
+ *data++ = mPendingEvent;
+ count--;
+ numEventReceived++;
+ }
+ } else {
+ ALOGE("ProximitySensor: unknown event (type=%d, code=%d)",
+ type, event->code);
+ }
+ mInputReader.next();
+ }
+
+ return numEventReceived;
+}
+
+float ProximitySensor::indexToValue(size_t index) const
+{
+ return index * PROXIMITY_THRESHOLD;
+}
diff --git a/ProximitySensor.h b/ProximitySensor.h
new file mode 100644
index 0000000..ff1cd46
--- /dev/null
+++ b/ProximitySensor.h
@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_PROXIMITY_SENSOR_H
+#define ANDROID_PROXIMITY_SENSOR_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#include "SensorBase.h"
+#include "InputEventReader.h"
+
+/*****************************************************************************/
+
+struct input_event;
+
+class ProximitySensor : public SensorBase {
+ int mEnabled;
+ InputEventCircularReader mInputReader;
+ sensors_event_t mPendingEvent;
+ bool mHasPendingEvent;
+ char input_sysfs_path[PATH_MAX];
+ int input_sysfs_path_len;
+
+ int setInitialState();
+ float indexToValue(size_t index) const;
+
+public:
+ ProximitySensor();
+ virtual ~ProximitySensor();
+ virtual int readEvents(sensors_event_t* data, int count);
+ virtual bool hasPendingEvents() const;
+ virtual int enable(int32_t handle, int enabled);
+};
+
+/*****************************************************************************/
+
+#endif // ANDROID_PROXIMITY_SENSOR_H
diff --git a/SensorBase.cpp b/SensorBase.cpp
new file mode 100644
index 0000000..79b1ee2
--- /dev/null
+++ b/SensorBase.cpp
@@ -0,0 +1,128 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <sys/select.h>
+
+#include <cutils/log.h>
+
+#include <linux/input.h>
+
+#include "SensorBase.h"
+
+/*****************************************************************************/
+
+SensorBase::SensorBase(
+ const char* dev_name,
+ const char* data_name)
+ : dev_name(dev_name), data_name(data_name),
+ dev_fd(-1), data_fd(-1)
+{
+ if (data_name) {
+ data_fd = openInput(data_name);
+ }
+}
+
+SensorBase::~SensorBase() {
+ if (data_fd >= 0) {
+ close(data_fd);
+ }
+ if (dev_fd >= 0) {
+ close(dev_fd);
+ }
+}
+
+int SensorBase::open_device() {
+ if (dev_fd<0 && dev_name) {
+ dev_fd = open(dev_name, O_RDONLY);
+ ALOGE_IF(dev_fd<0, "Couldn't open %s (%s)", dev_name, strerror(errno));
+ }
+ return 0;
+}
+
+int SensorBase::close_device() {
+ if (dev_fd >= 0) {
+ close(dev_fd);
+ dev_fd = -1;
+ }
+ return 0;
+}
+
+int SensorBase::getFd() const {
+ if (!data_name) {
+ return dev_fd;
+ }
+ return data_fd;
+}
+
+int SensorBase::setDelay(int32_t handle, int64_t ns) {
+ return 0;
+}
+
+bool SensorBase::hasPendingEvents() const {
+ return false;
+}
+
+int64_t SensorBase::getTimestamp() {
+ struct timespec t;
+ t.tv_sec = t.tv_nsec = 0;
+ clock_gettime(CLOCK_MONOTONIC, &t);
+ return int64_t(t.tv_sec)*1000000000LL + t.tv_nsec;
+}
+
+int SensorBase::openInput(const char* inputName) {
+ int fd = -1;
+ const char *dirname = "/dev/input";
+ char devname[PATH_MAX];
+ char *filename;
+ DIR *dir;
+ struct dirent *de;
+ dir = opendir(dirname);
+ if(dir == NULL)
+ return -1;
+ strcpy(devname, dirname);
+ filename = devname + strlen(devname);
+ *filename++ = '/';
+ while((de = readdir(dir))) {
+ if(de->d_name[0] == '.' &&
+ (de->d_name[1] == '\0' ||
+ (de->d_name[1] == '.' && de->d_name[2] == '\0')))
+ continue;
+ strcpy(filename, de->d_name);
+ fd = open(devname, O_RDONLY);
+ if (fd>=0) {
+ char name[80];
+ if (ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name) < 1) {
+ name[0] = '\0';
+ }
+ if (!strcmp(name, inputName)) {
+ strcpy(input_name, filename);
+ break;
+ } else {
+ close(fd);
+ fd = -1;
+ }
+ }
+ }
+ closedir(dir);
+ ALOGE_IF(fd<0, "couldn't find '%s' input device", inputName);
+ return fd;
+}
diff --git a/SensorBase.h b/SensorBase.h
new file mode 100644
index 0000000..e7b69c8
--- /dev/null
+++ b/SensorBase.h
@@ -0,0 +1,68 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_SENSOR_BASE_H
+#define ANDROID_SENSOR_BASE_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+#include <linux/input.h>
+
+#include <hardware/hardware.h>
+#include <hardware/sensors.h>
+
+/*****************************************************************************/
+
+struct sensors_event_t;
+
+class SensorBase {
+protected:
+ const char* dev_name;
+ const char* data_name;
+ char input_name[PATH_MAX];
+ int dev_fd;
+ int data_fd;
+
+ int openInput(const char* inputName);
+ static int64_t getTimestamp();
+
+
+ static int64_t timevalToNano(timeval const& t) {
+ return t.tv_sec*1000000000LL + t.tv_usec*1000;
+ }
+
+ int open_device();
+ int close_device();
+
+public:
+ SensorBase(
+ const char* dev_name,
+ const char* data_name);
+
+ virtual ~SensorBase();
+
+ virtual int readEvents(sensors_event_t* data, int count) = 0;
+ virtual bool hasPendingEvents() const;
+ virtual int getFd() const;
+ virtual int setDelay(int32_t handle, int64_t ns);
+ virtual int enable(int32_t handle, int enabled) = 0;
+};
+
+/*****************************************************************************/
+
+#endif // ANDROID_SENSOR_BASE_H
diff --git a/sensors.cpp b/sensors.cpp
new file mode 100644
index 0000000..0cc5447
--- /dev/null
+++ b/sensors.cpp
@@ -0,0 +1,390 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "Sensors"
+
+#include <hardware/sensors.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <dirent.h>
+#include <math.h>
+#include <poll.h>
+#include <pthread.h>
+#include <stdlib.h>
+#include <linux/input.h>
+#include <utils/Atomic.h>
+#include <utils/Log.h>
+
+#include "sensors.h"
+#include "AccelSensor.h"
+#include "LightSensor.h"
+#include "ProximitySensor.h"
+#include "AkmSensor.h"
+#include "GyroSensor.h"
+#include "PressureSensor.h"
+
+/*****************************************************************************/
+
+/* The SENSORS Module */
+static const struct sensor_t sSensorList[] = {
+ /* Accelerometer */
+ {
+ "lis3dh_acc",
+ "ST Micro",
+ 1, /* hw/sw version */
+ SENSORS_ACCELERATION_HANDLE,
+ SENSOR_TYPE_ACCELEROMETER,
+ (2.0f * 9.81f),
+ (9.81f / 1024),
+ 0.2f, /* mA */
+ 2000, /* microseconds */
+ { }
+ },
+
+ /* magnetic field sensor */
+ {
+ "AK8975",
+ "Asahi Kasei Microdevices",
+ 1,
+ SENSORS_MAGNETIC_FIELD_HANDLE,
+ SENSOR_TYPE_MAGNETIC_FIELD,
+ 2000.0f,
+ (1.0f/16.0f),
+ 6.8f,
+ 16667,
+ { }
+ },
+
+ /* orientation sensor */
+ {
+ "AK8975",
+ "Asahi Kasei Microdevices",
+ 1,
+ SENSORS_ORIENTATION_HANDLE,
+ SENSOR_TYPE_ORIENTATION,
+ 360.0f,
+ (1.0f/64.0f),
+ 7.8f,
+ 16667 ,
+ { }
+ },
+
+ /* light sensor name */
+ {
+ "TSL27713FN",
+ "Taos",
+ 1,
+ SENSORS_LIGHT_HANDLE,
+ SENSOR_TYPE_LIGHT,
+ (powf(10, (280.0f / 47.0f)) * 4),
+ 1.0f,
+ 0.75f,
+ 0,
+ { }
+ },
+
+ /* proximity sensor */
+ {
+ "TSL27713FN",
+ "Taos",
+ 1,
+ SENSORS_PROXIMITY_HANDLE,
+ SENSOR_TYPE_PROXIMITY,
+ 5.0f,
+ 5.0f,
+ 0.75f,
+ 0,
+ { }
+ },
+
+ /* gyro scope */
+ {
+ "MPU3050",
+ "Invensense",
+ 1,
+ SENSORS_GYROSCOPE_HANDLE,
+ SENSOR_TYPE_GYROSCOPE,
+ 35.0f,
+ 0.06f,
+ 0.2f,
+ 2000,
+ { }
+ },
+
+ /* barometer */
+ {
+ "bmp180",
+ "Bosch",
+ 1,
+ SENSORS_PRESSURE_HANDLE,
+ SENSOR_TYPE_PRESSURE,
+ 1100.0f,
+ 0.01f,
+ 0.67f,
+ 20000,
+ { }
+ }
+};
+
+
+static int open_sensors(const struct hw_module_t* module, const char* id,
+ struct hw_device_t** device);
+
+
+static int sensors__get_sensors_list(struct sensors_module_t* module,
+ struct sensor_t const** list)
+{
+ *list = sSensorList;
+ return ARRAY_SIZE(sSensorList);
+}
+
+static struct hw_module_methods_t sensors_module_methods = {
+ open: open_sensors
+};
+
+struct sensors_module_t HAL_MODULE_INFO_SYM = {
+ common: {
+ tag: HARDWARE_MODULE_TAG,
+ version_major: 1,
+ version_minor: 0,
+ id: SENSORS_HARDWARE_MODULE_ID,
+ name: "Quic Sensor module",
+ author: "Quic",
+ methods: &sensors_module_methods,
+ },
+ get_sensors_list: sensors__get_sensors_list,
+};
+
+struct sensors_poll_context_t {
+ struct sensors_poll_device_t device; // must be first
+
+ sensors_poll_context_t();
+ ~sensors_poll_context_t();
+ int activate(int handle, int enabled);
+ int setDelay(int handle, int64_t ns);
+ int pollEvents(sensors_event_t* data, int count);
+
+private:
+ enum {
+ light = 0,
+ proximity = 1,
+ compass = 2,
+ gyro = 3,
+ accel = 4,
+ pressure = 5,
+ numSensorDrivers,
+ numFds,
+ };
+
+ static const size_t wake = numFds - 1;
+ static const char WAKE_MESSAGE = 'W';
+ struct pollfd mPollFds[numFds];
+ int mWritePipeFd;
+ SensorBase* mSensors[numSensorDrivers];
+
+ int handleToDriver(int handle) const {
+ switch (handle) {
+ case SENSORS_ACCELERATION_HANDLE:
+ return accel;
+ case SENSORS_MAGNETIC_FIELD_HANDLE:
+ case SENSORS_ORIENTATION_HANDLE:
+ return compass;
+ case SENSORS_PROXIMITY_HANDLE:
+ return proximity;
+ case SENSORS_LIGHT_HANDLE:
+ return light;
+ case SENSORS_GYROSCOPE_HANDLE:
+ return gyro;
+ case SENSORS_PRESSURE_HANDLE:
+ return pressure;
+ }
+ return -EINVAL;
+ }
+};
+
+/*****************************************************************************/
+
+sensors_poll_context_t::sensors_poll_context_t()
+{
+ mSensors[light] = new LightSensor();
+ mPollFds[light].fd = mSensors[light]->getFd();
+ mPollFds[light].events = POLLIN;
+ mPollFds[light].revents = 0;
+
+ mSensors[proximity] = new ProximitySensor();
+ mPollFds[proximity].fd = mSensors[proximity]->getFd();
+ mPollFds[proximity].events = POLLIN;
+ mPollFds[proximity].revents = 0;
+
+ mSensors[compass] = new AkmSensor();
+ mPollFds[compass].fd = mSensors[compass]->getFd();
+ mPollFds[compass].events = POLLIN;
+ mPollFds[compass].revents = 0;
+
+ mSensors[gyro] = new GyroSensor();
+ mPollFds[gyro].fd = mSensors[gyro]->getFd();
+ mPollFds[gyro].events = POLLIN;
+ mPollFds[gyro].revents = 0;
+
+ mSensors[accel] = new AccelSensor();
+ mPollFds[accel].fd = mSensors[accel]->getFd();
+ mPollFds[accel].events = POLLIN;
+ mPollFds[accel].revents = 0;
+
+ mSensors[pressure] = new PressureSensor();
+ mPollFds[pressure].fd = mSensors[pressure]->getFd();
+ mPollFds[pressure].events = POLLIN;
+ mPollFds[pressure].revents = 0;
+
+ int wakeFds[2];
+ int result = pipe(wakeFds);
+ ALOGE_IF(result<0, "error creating wake pipe (%s)", strerror(errno));
+ fcntl(wakeFds[0], F_SETFL, O_NONBLOCK);
+ fcntl(wakeFds[1], F_SETFL, O_NONBLOCK);
+ mWritePipeFd = wakeFds[1];
+
+ mPollFds[wake].fd = wakeFds[0];
+ mPollFds[wake].events = POLLIN;
+ mPollFds[wake].revents = 0;
+}
+
+sensors_poll_context_t::~sensors_poll_context_t() {
+ for (int i=0 ; i<numSensorDrivers ; i++) {
+ delete mSensors[i];
+ }
+ close(mPollFds[wake].fd);
+ close(mWritePipeFd);
+}
+
+int sensors_poll_context_t::activate(int handle, int enabled) {
+ int index = handleToDriver(handle);
+ if (index < 0) return index;
+ int err = mSensors[index]->enable(handle, enabled);
+ if (enabled && !err) {
+ const char wakeMessage(WAKE_MESSAGE);
+ int result = write(mWritePipeFd, &wakeMessage, 1);
+ ALOGE_IF(result<0, "error sending wake message (%s)", strerror(errno));
+ }
+ return err;
+}
+
+int sensors_poll_context_t::setDelay(int handle, int64_t ns) {
+
+ int index = handleToDriver(handle);
+ if (index < 0) return index;
+ return mSensors[index]->setDelay(handle, ns);
+}
+
+int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count)
+{
+ int nbEvents = 0;
+ int n = 0;
+
+ do {
+ // see if we have some leftover from the last poll()
+ for (int i=0 ; count && i<numSensorDrivers ; i++) {
+ SensorBase* const sensor(mSensors[i]);
+ if ((mPollFds[i].revents & POLLIN) || (sensor->hasPendingEvents())) {
+ int nb = sensor->readEvents(data, count);
+ if (nb < count) {
+ // no more data for this sensor
+ mPollFds[i].revents = 0;
+ }
+ count -= nb;
+ nbEvents += nb;
+ data += nb;
+ }
+ }
+
+ if (count) {
+ // we still have some room, so try to see if we can get
+ // some events immediately or just wait if we don't have
+ // anything to return
+ do {
+ n = poll(mPollFds, numFds, nbEvents ? 0 : -1);
+ } while (n < 0 && errno == EINTR);
+ if (n<0) {
+ ALOGE("poll() failed (%s)", strerror(errno));
+ return -errno;
+ }
+ if (mPollFds[wake].revents & POLLIN) {
+ char msg;
+ int result = read(mPollFds[wake].fd, &msg, 1);
+ ALOGE_IF(result<0, "error reading from wake pipe (%s)", strerror(errno));
+ ALOGE_IF(msg != WAKE_MESSAGE, "unknown message on wake queue (0x%02x)", int(msg));
+ mPollFds[wake].revents = 0;
+ }
+ }
+ // if we have events and space, go read them
+ } while (n && count);
+
+ return nbEvents;
+}
+
+/*****************************************************************************/
+
+static int poll__close(struct hw_device_t *dev)
+{
+ sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
+ if (ctx) {
+ delete ctx;
+ }
+ return 0;
+}
+
+static int poll__activate(struct sensors_poll_device_t *dev,
+ int handle, int enabled) {
+ sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
+ return ctx->activate(handle, enabled);
+}
+
+static int poll__setDelay(struct sensors_poll_device_t *dev,
+ int handle, int64_t ns) {
+ sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
+ return ctx->setDelay(handle, ns);
+}
+
+static int poll__poll(struct sensors_poll_device_t *dev,
+ sensors_event_t* data, int count) {
+ sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
+ return ctx->pollEvents(data, count);
+}
+
+/*****************************************************************************/
+
+/** Open a new instance of a sensor device using name */
+static int open_sensors(const struct hw_module_t* module, const char* id,
+ struct hw_device_t** device)
+{
+ int status = -EINVAL;
+ sensors_poll_context_t *dev = new sensors_poll_context_t();
+
+ memset(&dev->device, 0, sizeof(sensors_poll_device_t));
+
+ dev->device.common.tag = HARDWARE_DEVICE_TAG;
+ dev->device.common.version = 0;
+ dev->device.common.module = const_cast<hw_module_t*>(module);
+ dev->device.common.close = poll__close;
+ dev->device.activate = poll__activate;
+ dev->device.setDelay = poll__setDelay;
+ dev->device.poll = poll__poll;
+
+ *device = &dev->device.common;
+ status = 0;
+
+ return status;
+}
+
diff --git a/sensors.h b/sensors.h
new file mode 100644
index 0000000..b2210e1
--- /dev/null
+++ b/sensors.h
@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_SENSORS_H
+#define ANDROID_SENSORS_H
+
+#include <stdint.h>
+#include <errno.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#include <linux/input.h>
+
+#include <hardware/hardware.h>
+#include <hardware/sensors.h>
+
+__BEGIN_DECLS
+
+/*****************************************************************************/
+
+#define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0]))
+
+#define SENSORS_ACCELERATION_HANDLE 0
+#define SENSORS_MAGNETIC_FIELD_HANDLE 1
+#define SENSORS_ORIENTATION_HANDLE 2
+#define SENSORS_LIGHT_HANDLE 3
+#define SENSORS_PROXIMITY_HANDLE 4
+#define SENSORS_GYROSCOPE_HANDLE 5
+#define SENSORS_PRESSURE_HANDLE 6
+
+/*****************************************************************************/
+
+__END_DECLS
+
+#endif // ANDROID_SENSORS_H