sensors.cpp - fp2-dev/platform/hardware/qcom/sensors - Gitiles

 /*
  * 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;
 }
	/*
	* 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;
	}