Nick Vaccaro | c3d4ca9 | 2013-12-05 17:24:12 -0800 | [diff] [blame] | 1 | /* |
Nick Vaccaro | a73d574 | 2014-03-27 12:31:34 -0700 | [diff] [blame] | 2 | * Copyright (C) 2014 Invensense, Inc. |
Nick Vaccaro | c3d4ca9 | 2013-12-05 17:24:12 -0800 | [diff] [blame] | 3 | * |
| 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | * you may not use this file except in compliance with the License. |
| 6 | * You may obtain a copy of the License at |
| 7 | * |
| 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | * |
| 10 | * Unless required by applicable law or agreed to in writing, software |
| 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | * See the License for the specific language governing permissions and |
| 14 | * limitations under the License. |
| 15 | */ |
| 16 | |
| 17 | #define FUNC_LOG LOGV("%s", __PRETTY_FUNCTION__) |
| 18 | |
| 19 | #include <hardware/sensors.h> |
| 20 | #include <fcntl.h> |
| 21 | #include <errno.h> |
| 22 | #include <dirent.h> |
| 23 | #include <math.h> |
| 24 | #include <poll.h> |
| 25 | #include <pthread.h> |
| 26 | #include <stdlib.h> |
| 27 | |
| 28 | #include <linux/input.h> |
| 29 | |
| 30 | #include <utils/Atomic.h> |
| 31 | #include <utils/Log.h> |
| 32 | |
| 33 | #include "sensors.h" |
| 34 | #include "MPLSensor.h" |
| 35 | |
| 36 | /* |
| 37 | * Vendor-defined Accel Load Calibration File Method |
| 38 | * @param[out] Accel bias, length 3. In HW units scaled by 2^16 in body frame |
| 39 | * @return '0' for a successful load, '1' otherwise |
| 40 | * example: int AccelLoadConfig(long* offset); |
| 41 | * End of Vendor-defined Accel Load Cal Method |
| 42 | */ |
| 43 | |
| 44 | /*****************************************************************************/ |
| 45 | /* The SENSORS Module */ |
| 46 | |
| 47 | #ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION |
| 48 | #define LOCAL_SENSORS (NumSensors + 1) |
| 49 | #else |
| 50 | #define LOCAL_SENSORS (NumSensors) |
| 51 | #endif |
| 52 | |
| 53 | static struct sensor_t sSensorList[LOCAL_SENSORS]; |
| 54 | static int sensors = (sizeof(sSensorList) / sizeof(sensor_t)); |
| 55 | |
| 56 | static int open_sensors(const struct hw_module_t* module, const char* id, |
| 57 | struct hw_device_t** device); |
| 58 | |
| 59 | static int sensors__get_sensors_list(struct sensors_module_t* module, |
| 60 | struct sensor_t const** list) |
| 61 | { |
| 62 | *list = sSensorList; |
| 63 | return sensors; |
| 64 | } |
| 65 | |
| 66 | static struct hw_module_methods_t sensors_module_methods = { |
| 67 | open: open_sensors |
| 68 | }; |
| 69 | |
| 70 | struct sensors_module_t HAL_MODULE_INFO_SYM = { |
| 71 | common: { |
| 72 | tag: HARDWARE_MODULE_TAG, |
| 73 | version_major: 1, |
| 74 | version_minor: 0, |
| 75 | id: SENSORS_HARDWARE_MODULE_ID, |
| 76 | name: "Invensense module", |
| 77 | author: "Invensense Inc.", |
| 78 | methods: &sensors_module_methods, |
| 79 | dso: NULL, |
| 80 | reserved: {0} |
| 81 | }, |
| 82 | get_sensors_list: sensors__get_sensors_list, |
| 83 | }; |
| 84 | |
| 85 | struct sensors_poll_context_t { |
| 86 | sensors_poll_device_1_t device; // must be first |
| 87 | |
| 88 | sensors_poll_context_t(); |
| 89 | ~sensors_poll_context_t(); |
| 90 | int activate(int handle, int enabled); |
| 91 | int setDelay(int handle, int64_t ns); |
| 92 | int pollEvents(sensors_event_t* data, int count); |
| 93 | int query(int what, int *value); |
| 94 | int batch(int handle, int flags, int64_t period_ns, int64_t timeout); |
| 95 | #if defined ANDROID_KITKAT |
| 96 | int flush(int handle); |
| 97 | #endif |
| 98 | |
| 99 | private: |
| 100 | enum { |
| 101 | mpl = 0, |
| 102 | compass, |
| 103 | dmpOrient, |
| 104 | dmpSign, |
| 105 | dmpPed, |
Nick Vaccaro | a73d574 | 2014-03-27 12:31:34 -0700 | [diff] [blame] | 106 | numSensorDrivers, |
Nick Vaccaro | c3d4ca9 | 2013-12-05 17:24:12 -0800 | [diff] [blame] | 107 | numFds, |
| 108 | }; |
| 109 | |
| 110 | struct pollfd mPollFds[numFds]; |
| 111 | SensorBase *mSensor; |
| 112 | CompassSensor *mCompassSensor; |
Nick Vaccaro | c3d4ca9 | 2013-12-05 17:24:12 -0800 | [diff] [blame] | 113 | }; |
| 114 | |
| 115 | /******************************************************************************/ |
| 116 | |
| 117 | sensors_poll_context_t::sensors_poll_context_t() { |
| 118 | VFUNC_LOG; |
| 119 | |
| 120 | /* TODO: Handle external pressure sensor */ |
| 121 | mCompassSensor = new CompassSensor(); |
| 122 | MPLSensor *mplSensor = new MPLSensor(mCompassSensor); |
| 123 | |
| 124 | /* For Vendor-defined Accel Calibration File Load |
| 125 | * Use the Following Constructor and Pass Your Load Cal File Function |
| 126 | * |
| 127 | * MPLSensor *mplSensor = new MPLSensor(mCompassSensor, AccelLoadConfig); |
| 128 | */ |
| 129 | |
| 130 | // populate the sensor list |
| 131 | sensors = |
| 132 | mplSensor->populateSensorList(sSensorList, sizeof(sSensorList)); |
| 133 | |
| 134 | mSensor = mplSensor; |
| 135 | mPollFds[mpl].fd = mSensor->getFd(); |
| 136 | mPollFds[mpl].events = POLLIN; |
| 137 | mPollFds[mpl].revents = 0; |
| 138 | |
| 139 | mPollFds[compass].fd = mCompassSensor->getFd(); |
| 140 | mPollFds[compass].events = POLLIN; |
| 141 | mPollFds[compass].revents = 0; |
| 142 | |
| 143 | mPollFds[dmpOrient].fd = ((MPLSensor*) mSensor)->getDmpOrientFd(); |
| 144 | mPollFds[dmpOrient].events = POLLPRI; |
| 145 | mPollFds[dmpOrient].revents = 0; |
| 146 | |
| 147 | mPollFds[dmpSign].fd = ((MPLSensor*) mSensor)->getDmpSignificantMotionFd(); |
| 148 | mPollFds[dmpSign].events = POLLPRI; |
| 149 | mPollFds[dmpSign].revents = 0; |
| 150 | |
| 151 | mPollFds[dmpPed].fd = ((MPLSensor*) mSensor)->getDmpPedometerFd(); |
| 152 | mPollFds[dmpPed].events = POLLPRI; |
Nick Vaccaro | a73d574 | 2014-03-27 12:31:34 -0700 | [diff] [blame] | 153 | mPollFds[dmpPed].revents = 0; |
Nick Vaccaro | c3d4ca9 | 2013-12-05 17:24:12 -0800 | [diff] [blame] | 154 | } |
| 155 | |
| 156 | sensors_poll_context_t::~sensors_poll_context_t() { |
| 157 | FUNC_LOG; |
| 158 | delete mSensor; |
| 159 | delete mCompassSensor; |
| 160 | for (int i = 0; i < numSensorDrivers; i++) { |
| 161 | close(mPollFds[i].fd); |
| 162 | } |
Nick Vaccaro | c3d4ca9 | 2013-12-05 17:24:12 -0800 | [diff] [blame] | 163 | } |
| 164 | |
| 165 | int sensors_poll_context_t::activate(int handle, int enabled) { |
| 166 | FUNC_LOG; |
| 167 | |
| 168 | int err; |
Nick Vaccaro | a73d574 | 2014-03-27 12:31:34 -0700 | [diff] [blame] | 169 | err = mSensor->enable(handle, enabled); |
Nick Vaccaro | c3d4ca9 | 2013-12-05 17:24:12 -0800 | [diff] [blame] | 170 | return err; |
| 171 | } |
| 172 | |
| 173 | int sensors_poll_context_t::setDelay(int handle, int64_t ns) |
| 174 | { |
| 175 | FUNC_LOG; |
| 176 | return mSensor->setDelay(handle, ns); |
| 177 | } |
| 178 | |
| 179 | int sensors_poll_context_t::pollEvents(sensors_event_t *data, int count) |
| 180 | { |
| 181 | VHANDLER_LOG; |
| 182 | |
| 183 | int nbEvents = 0; |
| 184 | int nb, polltime = -1; |
| 185 | |
| 186 | polltime = ((MPLSensor*) mSensor)->getStepCountPollTime(); |
| 187 | |
| 188 | // look for new events |
| 189 | nb = poll(mPollFds, numSensorDrivers, polltime); |
| 190 | LOGI_IF(0, "poll nb=%d, count=%d, pt=%d", nb, count, polltime); |
| 191 | if (nb > 0) { |
| 192 | for (int i = 0; count && i < numSensorDrivers; i++) { |
| 193 | if (mPollFds[i].revents & (POLLIN | POLLPRI)) { |
| 194 | nb = 0; |
| 195 | if (i == mpl) { |
| 196 | ((MPLSensor*) mSensor)->buildMpuEvent(); |
| 197 | mPollFds[i].revents = 0; |
| 198 | } else if (i == compass) { |
| 199 | ((MPLSensor*) mSensor)->buildCompassEvent(); |
| 200 | mPollFds[i].revents = 0; |
| 201 | } else if (i == dmpOrient) { |
| 202 | nb = ((MPLSensor*)mSensor)-> |
| 203 | readDmpOrientEvents(data, count); |
| 204 | mPollFds[dmpOrient].revents= 0; |
| 205 | if (isDmpScreenAutoRotationEnabled() && nb > 0) { |
| 206 | count -= nb; |
| 207 | nbEvents += nb; |
| 208 | data += nb; |
| 209 | } |
| 210 | } else if (i == dmpSign) { |
| 211 | nb = ((MPLSensor*) mSensor)-> |
| 212 | readDmpSignificantMotionEvents(data, count); |
| 213 | mPollFds[i].revents = 0; |
| 214 | count -= nb; |
| 215 | nbEvents += nb; |
| 216 | data += nb; |
| 217 | } else if (i == dmpPed) { |
| 218 | nb = ((MPLSensor*) mSensor)->readDmpPedometerEvents( |
| 219 | data, count, ID_P, 0); |
| 220 | mPollFds[i].revents = 0; |
| 221 | count -= nb; |
| 222 | nbEvents += nb; |
| 223 | data += nb; |
| 224 | } |
| 225 | if(nb == 0) { |
| 226 | nb = ((MPLSensor*) mSensor)->readEvents(data, count); |
| 227 | LOGI_IF(0, "sensors_mpl:readEvents() - " |
| 228 | "i=%d, nb=%d, count=%d, nbEvents=%d, " |
| 229 | "data->timestamp=%lld, data->data[0]=%f,", |
| 230 | i, nb, count, nbEvents, data->timestamp, |
| 231 | data->data[0]); |
| 232 | if (nb > 0) { |
| 233 | count -= nb; |
| 234 | nbEvents += nb; |
| 235 | data += nb; |
| 236 | } |
| 237 | } |
| 238 | } |
| 239 | } |
| 240 | |
| 241 | /* to see if any step counter events */ |
| 242 | if(((MPLSensor*) mSensor)->hasStepCountPendingEvents() == true) { |
| 243 | nb = 0; |
| 244 | nb = ((MPLSensor*) mSensor)->readDmpPedometerEvents( |
| 245 | data, count, ID_SC, 0); |
| 246 | LOGI_IF(SensorBase::HANDLER_DATA, "sensors_mpl:readStepCount() - " |
| 247 | "nb=%d, count=%d, nbEvents=%d, data->timestamp=%lld, ", |
| 248 | nb, count, nbEvents, data->timestamp); |
| 249 | if (nb > 0) { |
| 250 | count -= nb; |
| 251 | nbEvents += nb; |
| 252 | data += nb; |
| 253 | } |
| 254 | } |
| 255 | } else if(nb == 0) { |
| 256 | /* to see if any step counter events */ |
| 257 | if(((MPLSensor*) mSensor)->hasStepCountPendingEvents() == true) { |
| 258 | nb = 0; |
| 259 | nb = ((MPLSensor*) mSensor)->readDmpPedometerEvents( |
| 260 | data, count, ID_SC, 0); |
| 261 | LOGI_IF(SensorBase::HANDLER_DATA, "sensors_mpl:readStepCount() - " |
| 262 | "nb=%d, count=%d, nbEvents=%d, data->timestamp=%lld, ", |
| 263 | nb, count, nbEvents, data->timestamp); |
| 264 | if (nb > 0) { |
| 265 | count -= nb; |
| 266 | nbEvents += nb; |
| 267 | data += nb; |
| 268 | } |
| 269 | } |
| 270 | |
| 271 | if (mPollFds[numSensorDrivers].revents & POLLIN) { |
| 272 | char msg; |
| 273 | int result = read(mPollFds[numSensorDrivers].fd, &msg, 1); |
| 274 | LOGE_IF(result < 0, |
| 275 | "error reading from wake pipe (%s)", strerror(errno)); |
| 276 | mPollFds[numSensorDrivers].revents = 0; |
| 277 | } |
| 278 | } |
| 279 | return nbEvents; |
| 280 | } |
| 281 | |
| 282 | int sensors_poll_context_t::query(int what, int* value) |
| 283 | { |
| 284 | FUNC_LOG; |
| 285 | return mSensor->query(what, value); |
| 286 | } |
| 287 | |
| 288 | int sensors_poll_context_t::batch(int handle, int flags, int64_t period_ns, |
| 289 | int64_t timeout) |
| 290 | { |
| 291 | FUNC_LOG; |
| 292 | return mSensor->batch(handle, flags, period_ns, timeout); |
| 293 | } |
| 294 | |
| 295 | #if defined ANDROID_KITKAT |
| 296 | int sensors_poll_context_t::flush(int handle) |
| 297 | { |
| 298 | FUNC_LOG; |
| 299 | return mSensor->flush(handle); |
| 300 | } |
| 301 | #endif |
| 302 | |
| 303 | /******************************************************************************/ |
| 304 | |
| 305 | static int poll__close(struct hw_device_t *dev) |
| 306 | { |
| 307 | FUNC_LOG; |
| 308 | sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; |
| 309 | if (ctx) { |
| 310 | delete ctx; |
| 311 | } |
| 312 | return 0; |
| 313 | } |
| 314 | |
| 315 | static int poll__activate(struct sensors_poll_device_t *dev, |
| 316 | int handle, int enabled) |
| 317 | { |
| 318 | sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; |
| 319 | return ctx->activate(handle, enabled); |
| 320 | } |
| 321 | |
| 322 | static int poll__setDelay(struct sensors_poll_device_t *dev, |
| 323 | int handle, int64_t ns) |
| 324 | { |
| 325 | sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; |
| 326 | int s= ctx->setDelay(handle, ns); |
| 327 | return s; |
| 328 | } |
| 329 | |
| 330 | static int poll__poll(struct sensors_poll_device_t *dev, |
| 331 | sensors_event_t* data, int count) |
| 332 | { |
| 333 | sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; |
| 334 | return ctx->pollEvents(data, count); |
| 335 | } |
| 336 | |
| 337 | static int poll__query(struct sensors_poll_device_1 *dev, |
| 338 | int what, int *value) |
| 339 | { |
| 340 | sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; |
| 341 | return ctx->query(what, value); |
| 342 | } |
| 343 | |
| 344 | static int poll__batch(struct sensors_poll_device_1 *dev, |
| 345 | int handle, int flags, int64_t period_ns, int64_t timeout) |
| 346 | { |
| 347 | sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; |
| 348 | return ctx->batch(handle, flags, period_ns, timeout); |
| 349 | } |
| 350 | |
| 351 | #if defined ANDROID_KITKAT |
| 352 | static int poll__flush(struct sensors_poll_device_1 *dev, |
| 353 | int handle) |
| 354 | { |
| 355 | sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev; |
| 356 | return ctx->flush(handle); |
| 357 | } |
| 358 | #endif |
| 359 | /******************************************************************************/ |
| 360 | |
| 361 | /** Open a new instance of a sensor device using name */ |
| 362 | static int open_sensors(const struct hw_module_t* module, const char* id, |
| 363 | struct hw_device_t** device) |
| 364 | { |
| 365 | FUNC_LOG; |
| 366 | int status = -EINVAL; |
| 367 | sensors_poll_context_t *dev = new sensors_poll_context_t(); |
| 368 | |
| 369 | memset(&dev->device, 0, sizeof(sensors_poll_device_1)); |
| 370 | |
| 371 | dev->device.common.tag = HARDWARE_DEVICE_TAG; |
| 372 | #if defined ANDROID_KITKAT |
| 373 | dev->device.common.version = SENSORS_DEVICE_API_VERSION_1_1; |
| 374 | dev->device.flush = poll__flush; |
| 375 | #else |
| 376 | dev->device.common.version = SENSORS_DEVICE_API_VERSION_1_0; |
| 377 | #endif |
| 378 | dev->device.common.module = const_cast<hw_module_t*>(module); |
| 379 | dev->device.common.close = poll__close; |
| 380 | dev->device.activate = poll__activate; |
| 381 | dev->device.setDelay = poll__setDelay; |
| 382 | dev->device.poll = poll__poll; |
| 383 | dev->device.batch = poll__batch; |
| 384 | |
| 385 | *device = &dev->device.common; |
| 386 | status = 0; |
| 387 | |
| 388 | return status; |
| 389 | } |