diff options
30 files changed, 3419 insertions, 1870 deletions
diff --git a/device_base.mk b/device_base.mk index ee654ef..3e8ef63 100644 --- a/device_base.mk +++ b/device_base.mk @@ -120,7 +120,7 @@ PRODUCT_PACKAGES += \ lights.s5pc110 \ hwcomposer.s5pc110 \ sensors.herring \ - power.s5pc110 + power.s5pc110 # Torch PRODUCT_PACKAGES += \ diff --git a/libsensors/AkmSensor.cpp b/libsensors/AkmSensor.cpp deleted file mode 100644 index ce28dbf..0000000 --- a/libsensors/AkmSensor.cpp +++ /dev/null @@ -1,306 +0,0 @@ -/* - * 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 <dlfcn.h> - -#include "ak8973b.h" - -#include <cutils/log.h> - -#include "AkmSensor.h" - -/*****************************************************************************/ - -int (*akm_is_sensor_enabled)(uint32_t sensor_type); -int (*akm_enable_sensor)(uint32_t sensor_type); -int (*akm_disable_sensor)(uint32_t sensor_type); -int (*akm_set_delay)(uint32_t sensor_type, uint64_t delay); - -int stub_is_sensor_enabled(uint32_t sensor_type) { - return 0; -} - -int stub_enable_disable_sensor(uint32_t sensor_type) { - return -ENODEV; -} - -int stub_set_delay(uint32_t sensor_type, uint64_t delay) { - return -ENODEV; -} - -AkmSensor::AkmSensor() -: SensorBase(NULL, NULL), - mEnabled(0), - mPendingMask(0), - mInputReader(32) -{ - /* Open the library before opening the input device. The library - * creates a uinput device. - */ - if (loadAKMLibrary() == 0) { - data_name = "compass"; - data_fd = openInput("compass"); - } - - 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; - - // read the actual value of all sensors if they're enabled already - struct input_absinfo absinfo; - short flags = 0; - - if (akm_is_sensor_enabled(SENSOR_TYPE_ACCELEROMETER)) { - mEnabled |= 1<<Accelerometer; - if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_X), &absinfo)) { - mPendingEvents[Accelerometer].acceleration.x = absinfo.value * CONVERT_A_X; - } - if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_Y), &absinfo)) { - mPendingEvents[Accelerometer].acceleration.y = absinfo.value * CONVERT_A_Y; - } - if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_Z), &absinfo)) { - mPendingEvents[Accelerometer].acceleration.z = absinfo.value * CONVERT_A_Z; - } - } - if (akm_is_sensor_enabled(SENSOR_TYPE_MAGNETIC_FIELD)) { - mEnabled |= 1<<MagneticField; - if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_MAGV_X), &absinfo)) { - mPendingEvents[MagneticField].magnetic.x = absinfo.value * CONVERT_M_X; - } - if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_MAGV_Y), &absinfo)) { - mPendingEvents[MagneticField].magnetic.y = absinfo.value * CONVERT_M_Y; - } - if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_MAGV_Z), &absinfo)) { - mPendingEvents[MagneticField].magnetic.z = absinfo.value * CONVERT_M_Z; - } - } - if (akm_is_sensor_enabled(SENSOR_TYPE_ORIENTATION)) { - mEnabled |= 1<<Orientation; - if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_YAW), &absinfo)) { - mPendingEvents[Orientation].orientation.azimuth = absinfo.value; - } - if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_PITCH), &absinfo)) { - mPendingEvents[Orientation].orientation.pitch = absinfo.value; - } - if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ROLL), &absinfo)) { - mPendingEvents[Orientation].orientation.roll = -absinfo.value; - } - if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ORIENT_STATUS), &absinfo)) { - mPendingEvents[Orientation].orientation.status = uint8_t(absinfo.value & SENSOR_STATE_MASK); - } - } - - // disable temperature sensor, since it is not supported - akm_disable_sensor(SENSOR_TYPE_TEMPERATURE); -} - -AkmSensor::~AkmSensor() -{ - if (mLibAKM) { - unsigned ref = ::dlclose(mLibAKM); - } -} - -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))) { - uint32_t sensor_type; - switch (what) { - case Accelerometer: sensor_type = SENSOR_TYPE_ACCELEROMETER; break; - case MagneticField: sensor_type = SENSOR_TYPE_MAGNETIC_FIELD; break; - case Orientation: sensor_type = SENSOR_TYPE_ORIENTATION; break; - } - short flags = newState; - if (en) - err = akm_enable_sensor(sensor_type); - else - err = akm_disable_sensor(sensor_type); - - ALOGE_IF(err, "Could not change sensor state (%s)", strerror(-err)); - if (!err) { - mEnabled &= ~(1<<what); - mEnabled |= (uint32_t(flags)<<what); - } - } - return err; -} - -int AkmSensor::setDelay(int32_t handle, int64_t ns) -{ - uint32_t sensor_type = 0; - - if (ns < 0) - return -EINVAL; - - switch (handle) { - case ID_A: sensor_type = SENSOR_TYPE_ACCELEROMETER; break; - case ID_M: sensor_type = SENSOR_TYPE_MAGNETIC_FIELD; break; - case ID_O: sensor_type = SENSOR_TYPE_ORIENTATION; break; - } - - if (sensor_type == 0) - return -EINVAL; - - return akm_set_delay(sensor_type, ns); -} - -int AkmSensor::loadAKMLibrary() -{ - mLibAKM = dlopen("libakm.so", RTLD_NOW); - - if (!mLibAKM) { - akm_is_sensor_enabled = stub_is_sensor_enabled; - akm_enable_sensor = stub_enable_disable_sensor; - akm_disable_sensor = stub_enable_disable_sensor; - akm_set_delay = stub_set_delay; - ALOGE("AkmSensor: unable to load AKM Library, %s", dlerror()); - return -ENOENT; - } - - *(void **)&akm_is_sensor_enabled = dlsym(mLibAKM, "akm_is_sensor_enabled"); - *(void **)&akm_enable_sensor = dlsym(mLibAKM, "akm_enable_sensor"); - *(void **)&akm_disable_sensor = dlsym(mLibAKM, "akm_disable_sensor"); - *(void **)&akm_set_delay = dlsym(mLibAKM, "akm_set_delay"); - - 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_A; - 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: - uint8_t status = uint8_t(value & SENSOR_STATE_MASK); - if (status == 4) - status = 0; - mPendingMask |= 1<<Orientation; - mPendingEvents[Orientation].orientation.status = status; - break; - } -} diff --git a/libsensors/AkmSensor.h b/libsensors/AkmSensor.h deleted file mode 100644 index 44214e0..0000000 --- a/libsensors/AkmSensor.h +++ /dev/null @@ -1,62 +0,0 @@ -/* - * 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 "sensors.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 loadAKMLibrary(); - void *mLibAKM; - uint32_t mEnabled; - uint32_t mPendingMask; - InputEventCircularReader mInputReader; - sensors_event_t mPendingEvents[numSensors]; -}; - -/*****************************************************************************/ - -#endif // ANDROID_AKM_SENSOR_H diff --git a/libsensors/Android.mk b/libsensors/Android.mk deleted file mode 100644 index b451d4a..0000000 --- a/libsensors/Android.mk +++ /dev/null @@ -1,40 +0,0 @@ -# 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. - - -LOCAL_PATH := $(call my-dir) - -# HAL module implemenation stored in -# hw/<SENSORS_HARDWARE_MODULE_ID>.<ro.product.board>.so -include $(CLEAR_VARS) - -LOCAL_MODULE := sensors.herring - -LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw - -LOCAL_MODULE_TAGS := optional - -LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\" -LOCAL_SRC_FILES := \ - sensors.cpp \ - SensorBase.cpp \ - LightSensor.cpp \ - ProximitySensor.cpp \ - AkmSensor.cpp \ - GyroSensor.cpp \ - InputEventReader.cpp - -LOCAL_SHARED_LIBRARIES := liblog libcutils libdl - -include $(BUILD_SHARED_LIBRARY) diff --git a/libsensors/GyroSensor.cpp b/libsensors/GyroSensor.cpp deleted file mode 100644 index c54235d..0000000 --- a/libsensors/GyroSensor.cpp +++ /dev/null @@ -1,185 +0,0 @@ -/* - * 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" - -#define FETCH_FULL_EVENT_BEFORE_RETURN 1 -#define IGNORE_EVENT_TIME 350000000 -/*****************************************************************************/ - -GyroSensor::GyroSensor() - : SensorBase(NULL, "gyro"), - mEnabled(0), - mInputReader(4), - mHasPendingEvent(false), - mEnabledTime(0) -{ - mPendingEvent.version = sizeof(sensors_event_t); - mPendingEvent.sensor = ID_GY; - 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/"); - 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_X), &absinfo_y) && - !ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_z)) { - value = absinfo_x.value; - mPendingEvent.data[0] = value * CONVERT_GYRO_X; - value = absinfo_x.value; - mPendingEvent.data[1] = value * CONVERT_GYRO_Y; - value = absinfo_x.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) { - 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 GyroSensor::hasPendingEvents() const { - return mHasPendingEvent; -} - -int GyroSensor::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 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_REL) { - 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/libsensors/GyroSensor.h b/libsensors/GyroSensor.h deleted file mode 100644 index e8997de..0000000 --- a/libsensors/GyroSensor.h +++ /dev/null @@ -1,55 +0,0 @@ -/* - * 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 "sensors.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/libsensors/InputEventReader.cpp b/libsensors/InputEventReader.cpp deleted file mode 100644 index 1014f29..0000000 --- a/libsensors/InputEventReader.cpp +++ /dev/null @@ -1,88 +0,0 @@ -/* - * 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/libsensors/InputEventReader.h b/libsensors/InputEventReader.h deleted file mode 100644 index 180aade..0000000 --- a/libsensors/InputEventReader.h +++ /dev/null @@ -1,47 +0,0 @@ -/* - * 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/libsensors/LightSensor.cpp b/libsensors/LightSensor.cpp deleted file mode 100644 index fe0b8b3..0000000 --- a/libsensors/LightSensor.cpp +++ /dev/null @@ -1,146 +0,0 @@ -/* - * 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 "LightSensor.h" - -/*****************************************************************************/ - -LightSensor::LightSensor() - : SensorBase(NULL, "lightsensor-level"), - mEnabled(0), - mInputReader(4), - mHasPendingEvent(false) -{ - mPendingEvent.version = sizeof(sensors_event_t); - mPendingEvent.sensor = ID_L; - 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/libsensors/LightSensor.h b/libsensors/LightSensor.h deleted file mode 100644 index 79e0ccf..0000000 --- a/libsensors/LightSensor.h +++ /dev/null @@ -1,54 +0,0 @@ -/* - * 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 "sensors.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/libsensors/ProximitySensor.cpp b/libsensors/ProximitySensor.cpp deleted file mode 100644 index 77a7f3c..0000000 --- a/libsensors/ProximitySensor.cpp +++ /dev/null @@ -1,144 +0,0 @@ -/* - * 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" - -/*****************************************************************************/ - -ProximitySensor::ProximitySensor() - : SensorBase(NULL, "proximity"), - mEnabled(0), - mInputReader(4), - mHasPendingEvent(false) -{ - mPendingEvent.version = sizeof(sensors_event_t); - mPendingEvent.sensor = ID_P; - 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_GP2A; -} diff --git a/libsensors/ProximitySensor.h b/libsensors/ProximitySensor.h deleted file mode 100644 index 08ea49c..0000000 --- a/libsensors/ProximitySensor.h +++ /dev/null @@ -1,54 +0,0 @@ -/* - * 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 "sensors.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/libsensors/SensorBase.cpp b/libsensors/SensorBase.cpp deleted file mode 100644 index 79b1ee2..0000000 --- a/libsensors/SensorBase.cpp +++ /dev/null @@ -1,128 +0,0 @@ -/* - * 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/libsensors/SensorBase.h b/libsensors/SensorBase.h deleted file mode 100644 index bb4d055..0000000 --- a/libsensors/SensorBase.h +++ /dev/null @@ -1,65 +0,0 @@ -/* - * 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> - - -/*****************************************************************************/ - -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/libsensors/ak8973b.h b/libsensors/ak8973b.h deleted file mode 100644 index 9b7ab60..0000000 --- a/libsensors/ak8973b.h +++ /dev/null @@ -1,51 +0,0 @@ -/* - * Definitions for akm8973 compass chip. - */ -#ifndef AKM8973_H -#define AKM8973_H - -#include <linux/ioctl.h> - -#define AKM8973_I2C_NAME "ak8973b" - -#define AKMIO 0xA1 - -/* IOCTLs for AKM library */ -#define ECS_IOCTL_WRITE _IOW(AKMIO, 0x01, char*) -#define ECS_IOCTL_READ _IOWR(AKMIO, 0x02, char*) -#define ECS_IOCTL_RESET _IO(AKMIO, 0x03) -#define ECS_IOCTL_SET_MODE _IOW(AKMIO, 0x04, short) -#define ECS_IOCTL_GETDATA _IOR(AKMIO, 0x05, char[SENSOR_DATA_SIZE]) -#define ECS_IOCTL_SET_YPR _IOW(AKMIO, 0x06, short[12]) -#define ECS_IOCTL_GET_OPEN_STATUS _IOR(AKMIO, 0x07, int) -#define ECS_IOCTL_GET_CLOSE_STATUS _IOR(AKMIO, 0x08, int) -#define ECS_IOCTL_GET_DELAY _IOR(AKMIO, 0x30, int64_t) -#define ECS_IOCTL_GET_PROJECT_NAME _IOR(AKMIO, 0x0D, char[64]) -#define ECS_IOCTL_GET_MATRIX _IOR(AKMIO, 0x0E, short [4][3][3]) - -/* IOCTLs for APPs */ -#define ECS_IOCTL_APP_SET_MODE _IOW(AKMIO, 0x10, short) -#define ECS_IOCTL_APP_SET_MFLAG _IOW(AKMIO, 0x11, short) -#define ECS_IOCTL_APP_GET_MFLAG _IOW(AKMIO, 0x12, short) -#define ECS_IOCTL_APP_SET_AFLAG _IOW(AKMIO, 0x13, short) -#define ECS_IOCTL_APP_GET_AFLAG _IOR(AKMIO, 0x14, short) -#define ECS_IOCTL_APP_SET_TFLAG _IOR(AKMIO, 0x15, short) -#define ECS_IOCTL_APP_GET_TFLAG _IOR(AKMIO, 0x16, short) -#define ECS_IOCTL_APP_RESET_PEDOMETER _IO(AKMIO, 0x17) -#define ECS_IOCTL_APP_SET_DELAY _IOW(AKMIO, 0x18, int64_t) -#define ECS_IOCTL_APP_GET_DELAY ECS_IOCTL_GET_DELAY - -/* Set raw magnetic vector flag */ -#define ECS_IOCTL_APP_SET_MVFLAG _IOW(AKMIO, 0x19, short) - -/* Get raw magnetic vector flag */ -#define ECS_IOCTL_APP_GET_MVFLAG _IOR(AKMIO, 0x1A, short) - -struct akm8973_platform_data { - short layouts[4][3][3]; - char project_name[64]; - int gpio_RST; - int gpio_INT; -}; - -#endif diff --git a/libsensors/sensors.cpp b/libsensors/sensors.cpp deleted file mode 100644 index 850cbf9..0000000 --- a/libsensors/sensors.cpp +++ /dev/null @@ -1,329 +0,0 @@ -/* - * 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 <linux/akm8973.h> - -#include <utils/Atomic.h> -#include <utils/Log.h> - -#include "sensors.h" - -#include "LightSensor.h" -#include "ProximitySensor.h" -#include "AkmSensor.h" -#include "GyroSensor.h" - -/*****************************************************************************/ - -#define DELAY_OUT_TIME 0x7FFFFFFF - -#define LIGHT_SENSOR_POLLTIME 2000000000 - - -#define SENSORS_ACCELERATION (1<<ID_A) -#define SENSORS_MAGNETIC_FIELD (1<<ID_M) -#define SENSORS_ORIENTATION (1<<ID_O) -#define SENSORS_LIGHT (1<<ID_L) -#define SENSORS_PROXIMITY (1<<ID_P) -#define SENSORS_GYROSCOPE (1<<ID_GY) - -#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 AKM_FTRACE 0 -#define AKM_DEBUG 0 -#define AKM_DATA 0 - -/*****************************************************************************/ - -/* The SENSORS Module */ -static const struct sensor_t sSensorList[] = { - { "KR3DM 3-axis Accelerometer", - "STMicroelectronics", - 1, SENSORS_ACCELERATION_HANDLE, - SENSOR_TYPE_ACCELEROMETER, RANGE_A, CONVERT_A, 0.23f, 20000, { } }, - { "AK8973 3-axis Magnetic field sensor", - "Asahi Kasei Microdevices", - 1, SENSORS_MAGNETIC_FIELD_HANDLE, - SENSOR_TYPE_MAGNETIC_FIELD, 2000.0f, CONVERT_M, 6.8f, 16667, { } }, - { "AK8973 Orientation sensor", - "Asahi Kasei Microdevices", - 1, SENSORS_ORIENTATION_HANDLE, - SENSOR_TYPE_ORIENTATION, 360.0f, CONVERT_O, 7.8f, 16667, { } }, - { "GP2A Light sensor", - "Sharp", - 1, SENSORS_LIGHT_HANDLE, - SENSOR_TYPE_LIGHT, powf(10, (280.0f / 47.0f)) * 4, 1.0f, 0.75f, 0, { } }, - { "GP2A Proximity sensor", - "Sharp", - 1, SENSORS_PROXIMITY_HANDLE, - SENSOR_TYPE_PROXIMITY, 5.0f, 5.0f, 0.75f, 0, { } }, - { "K3G Gyroscope sensor", - "STMicroelectronics", - 1, SENSORS_GYROSCOPE_HANDLE, - SENSOR_TYPE_GYROSCOPE, RANGE_GYRO, CONVERT_GYRO, 6.1f, 1190, { } }, -}; - - -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: "Samsung Sensor module", - author: "Samsung Electronic Company", - 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, - akm = 2, - gyro = 3, - 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 ID_A: - case ID_M: - case ID_O: - return akm; - case ID_P: - return proximity; - case ID_L: - return light; - case ID_GY: - return gyro; - } - 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[akm] = new AkmSensor(); - mPollFds[akm].fd = mSensors[akm]->getFd(); - mPollFds[akm].events = POLLIN; - mPollFds[akm].revents = 0; - - mSensors[gyro] = new GyroSensor(); - mPollFds[gyro].fd = mSensors[gyro]->getFd(); - mPollFds[gyro].events = POLLIN; - mPollFds[gyro].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/libsensors/sensors.h b/libsensors/sensors.h deleted file mode 100644 index 4b12606..0000000 --- a/libsensors/sensors.h +++ /dev/null @@ -1,115 +0,0 @@ -/* - * 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 ID_A (0) -#define ID_M (1) -#define ID_O (2) -#define ID_L (3) -#define ID_P (4) -#define ID_GY (5) - -/*****************************************************************************/ - -/* - * The SENSORS Module - */ - -/* the GP2A is a binary proximity sensor that triggers around 5 cm on - * this hardware */ -#define PROXIMITY_THRESHOLD_GP2A 5.0f - -/*****************************************************************************/ - -#define AKM_DEVICE_NAME "/dev/akm8973_aot" - -#define EVENT_TYPE_ACCEL_X REL_Y -#define EVENT_TYPE_ACCEL_Y REL_X -#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_WHEEL - -/* For AK8973iB */ -#define EVENT_TYPE_MAGV_X REL_DIAL -#define EVENT_TYPE_MAGV_Y REL_HWHEEL -#define EVENT_TYPE_MAGV_Z REL_MISC - -#define EVENT_TYPE_PROXIMITY ABS_DISTANCE -#define EVENT_TYPE_LIGHT ABS_MISC - -#define EVENT_TYPE_GYRO_X REL_RY -#define EVENT_TYPE_GYRO_Y REL_RX -#define EVENT_TYPE_GYRO_Z REL_RZ - - -// 64 LSB = 1G for KR3DM -#define LSB (64.0f) -#define NUMOFACCDATA (8.0f) - -// conversion of acceleration data to SI units (m/s^2) -#define RANGE_A (2*GRAVITY_EARTH) -#define CONVERT_A (GRAVITY_EARTH / LSB / NUMOFACCDATA) -#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) - -/* conversion of orientation data to degree units */ -#define CONVERT_O (1.0f/64.0f) -#define CONVERT_O_A (CONVERT_O) -#define CONVERT_O_P (CONVERT_O) -#define CONVERT_O_R (-CONVERT_O) - -// conversion of gyro data to SI units (radian/sec) -#define RANGE_GYRO (2000.0f*(float)M_PI/180.0f) -#define CONVERT_GYRO ((70.0f / 1000.0f) * ((float)M_PI / 180.0f)) -#define CONVERT_GYRO_X (CONVERT_GYRO) -#define CONVERT_GYRO_Y (-CONVERT_GYRO) -#define CONVERT_GYRO_Z (CONVERT_GYRO) - -#define SENSOR_STATE_MASK (0x7FFF) - -/*****************************************************************************/ - -__END_DECLS - -#endif // ANDROID_SENSORS_H diff --git a/sensors/Android.mk b/sensors/Android.mk new file mode 100644 index 0000000..d3a5656 --- /dev/null +++ b/sensors/Android.mk @@ -0,0 +1,40 @@ +# Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr> +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see <http://www.gnu.org/licenses/>. + +LOCAL_PATH := $(call my-dir) + +include $(CLEAR_VARS) + +LOCAL_SRC_FILES := \ + herring_sensors.c \ + input.c \ + orientation.c \ + akm8973.c \ + kr3dm.c \ + gp2a_light.c \ + gp2a_proximity.c \ + k3g.c + +LOCAL_C_INCLUDES := \ + $(LOCAL_PATH) + +LOCAL_SHARED_LIBRARIES := libutils libcutils liblog libhardware +LOCAL_PRELINK_MODULE := false + +LOCAL_MODULE := sensors.herring +LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw +LOCAL_MODULE_TAGS := optional + +include $(BUILD_SHARED_LIBRARY) diff --git a/sensors/ak8973-reg.h b/sensors/ak8973-reg.h new file mode 100644 index 0000000..1582076 --- /dev/null +++ b/sensors/ak8973-reg.h @@ -0,0 +1,47 @@ +/* linux/drivers/misc/ak8973-reg.h + * + * Copyright (c) 2010 Samsung Electronics Co., Ltd. + * http://www.samsung.com/ + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License version 2 as + * published by the Free Software Foundation. +*/ +#ifndef __AK8973_REG__ +#define __AK8983_REG__ + +/* Compass device dependent definition */ +#define AK8973_MODE_MEASURE 0x00 /* Starts measurement. */ +#define AK8973_MODE_E2P_READ 0x02 /* E2P access mode (read). */ +#define AK8973_MODE_POWERDOWN 0x03 /* Power down mode */ + +/* Rx buffer size. i.e ST,TMPS,H1X,H1Y,H1Z*/ +#define SENSOR_DATA_SIZE 5 + +/* Read/Write buffer size.*/ +#define RWBUF_SIZE 16 + +/* AK8973 register address */ +#define AK8973_REG_ST 0xC0 +#define AK8973_REG_TMPS 0xC1 +#define AK8973_REG_H1X 0xC2 +#define AK8973_REG_H1Y 0xC3 +#define AK8973_REG_H1Z 0xC4 + +#define AK8973_REG_MS1 0xE0 +#define AK8973_REG_HXDA 0xE1 +#define AK8973_REG_HYDA 0xE2 +#define AK8973_REG_HZDA 0xE3 +#define AK8973_REG_HXGA 0xE4 +#define AK8973_REG_HYGA 0xE5 +#define AK8973_REG_HZGA 0xE6 + +#define AK8973_EEP_ETS 0x62 +#define AK8973_EEP_EVIR 0x63 +#define AK8973_EEP_EIHE 0x64 +#define AK8973_EEP_ETST 0x65 +#define AK8973_EEP_EHXGA 0x66 +#define AK8973_EEP_EHYGA 0x67 +#define AK8973_EEP_EHZGA 0x68 + +#endif /* __AK8983_REG__ */ diff --git a/sensors/ak8973.h b/sensors/ak8973.h new file mode 100644 index 0000000..3f6a28b --- /dev/null +++ b/sensors/ak8973.h @@ -0,0 +1,72 @@ +/* + * Copyright (C) 2010 Samsung Electronics. All rights reserved. + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * version 2 as published by the Free Software Foundation. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA + * 02110-1301 USA + */ +#ifndef AKM8973_H +#define AKM8973_H + +#include <linux/ioctl.h> + +#define AKM8973_I2C_NAME "ak8973" + +#define AKMIO 0xA1 + +/* IOCTLs for AKM library */ +/* WRITE and READ sizes don't include data. On WRITE, the first value is data + * size plus one and the second value is the register address. On READ + * the first value is the data size and second value is the register + * address and the data is written back into the buffer starting at + * the second byte (the length is unchanged). + */ +#define ECS_IOCTL_WRITE _IOW(AKMIO, 0x01, char[2]) +#define ECS_IOCTL_READ _IOWR(AKMIO, 0x02, char[2]) +#define ECS_IOCTL_RESET _IO(AKMIO, 0x03) +#define ECS_IOCTL_SET_MODE _IOW(AKMIO, 0x04, short) +#define ECS_IOCTL_GETDATA _IOR(AKMIO, 0x05, char[5]) +#define ECS_IOCTL_SET_YPR _IOW(AKMIO, 0x06, short[12]) +#define ECS_IOCTL_GET_OPEN_STATUS _IOR(AKMIO, 0x07, int) +#define ECS_IOCTL_GET_CLOSE_STATUS _IOR(AKMIO, 0x08, int) +#define ECS_IOCTL_GET_DELAY _IOR(AKMIO, 0x30, int64_t) +#define ECS_IOCTL_GET_PROJECT_NAME _IOR(AKMIO, 0x0D, char[64]) +#define ECS_IOCTL_GET_MATRIX _IOR(AKMIO, 0x0E, short[4][3][3]) + +/* IOCTLs for APPs */ +#define ECS_IOCTL_APP_SET_MODE _IOW(AKMIO, 0x10, short) +#define ECS_IOCTL_APP_SET_MFLAG _IOW(AKMIO, 0x11, short) +#define ECS_IOCTL_APP_GET_MFLAG _IOR(AKMIO, 0x12, short) +#define ECS_IOCTL_APP_SET_AFLAG _IOW(AKMIO, 0x13, short) +#define ECS_IOCTL_APP_GET_AFLAG _IOR(AKMIO, 0x14, short) +#define ECS_IOCTL_APP_SET_TFLAG _IOW(AKMIO, 0x15, short) +#define ECS_IOCTL_APP_GET_TFLAG _IOR(AKMIO, 0x16, short) +#define ECS_IOCTL_APP_RESET_PEDOMETER _IO(AKMIO, 0x17) +#define ECS_IOCTL_APP_SET_DELAY _IOW(AKMIO, 0x18, int64_t) +#define ECS_IOCTL_APP_GET_DELAY ECS_IOCTL_GET_DELAY + +/* Set raw magnetic vector flag */ +#define ECS_IOCTL_APP_SET_MVFLAG _IOW(AKMIO, 0x19, short) + +/* Get raw magnetic vector flag */ +#define ECS_IOCTL_APP_GET_MVFLAG _IOR(AKMIO, 0x1A, short) + +#ifdef __KERNEL__ +struct akm8973_platform_data { + int reset_line; + int reset_asserted; + int gpio_data_ready_int; +}; +#endif + +#endif diff --git a/sensors/akm8973.c b/sensors/akm8973.c new file mode 100644 index 0000000..509c365 --- /dev/null +++ b/sensors/akm8973.c @@ -0,0 +1,960 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr> + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + */ + +#include <stdlib.h> +#include <unistd.h> +#include <stdint.h> +#include <fcntl.h> +#include <errno.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "herring_sensors" +#include <utils/Log.h> + +#include "herring_sensors.h" +#include "ak8973-reg.h" +#include "ak8973.h" + +#define AKM8973_CONFIG_PATH "/data/misc/akmd_set.txt" + +struct akm8973_data { + struct herring_sensors_handlers *orientation_sensor; + + sensors_vec_t magnetic; + unsigned char magnetic_data[4][3]; + int magnetic_data_count; + int magnetic_data_index; + + unsigned char magnetic_extrema[2][3]; + unsigned char gain_indexes[3]; + unsigned char hdac[3]; + int ho[3]; + + long int delay; + int device_fd; + int uinput_fd; + + pthread_t thread; + pthread_mutex_t mutex; + int thread_continue; +}; + +// This AKM8973 implementation is based on intuitive understanding of how the +// AKM8973 data is translated to SI units. +// +// Different parameters are used to properly configure and interpret the data: +// * Hardware gain, which is stored in the chip's EEPROM and is a factory +// setting that shouldn't be changed. We don't have to deal with this value at +// all for our computation. +// * Software gain, that is a factory setting we use to determine the +// coefficient to use at some point in the final equation. +// * Hardware DAC offset (HDAC) that we can tune in order to be able to see +// variations of the raw values. This value is not a linear representation +// of the offset! See page 22 of the AKM8973 datasheet for further details. +// * Software offset (HO) that we can tune in order to have the maximum final +// value at ~45uT and the minimal final value at ~-45uT for each axis. +// +// The final equation used to determine usable values from the raw input data +// was found to be: +// out = ((in - 128 - HO / 16) * k / 16 +// +// * out: Final value in uT units +// * in: Raw value as received from the sensor +// * HO: HO software offset +// * k: Coefficient that is determined from the software gain +// +// When no software calibration is used, we can translate HDAC to HO using the +// following formulas: +// if HDAC < 128: HO = HDAC * -1 * 16 * 16 +// if HDAC >= 128: HO = (HDAC - 128) * 16 * 16 + +// Constant gain-specific coefficients used in the final formula +float akm8973_gain_coefficient[] = { + 16.33f, + 16.28f, + 16.24f, + 16.18f, + 16.14f, + 16.10f, + 16.04f, + 16.00f, + 15.96f, + 15.90f, + 15.86f, + 15.82f, + 15.76f, + 15.72f, + 15.69f, + 15.65f, +}; + +int akm8973_gain_coefficient_count = sizeof(akm8973_gain_coefficient) / + sizeof(float); + +int akm8973_hdac(struct akm8973_data *data) +{ + char i2c_data[RWBUF_SIZE] = { 0 }; + int device_fd; + int rc; + + if (data == NULL) + return -EINVAL; + + device_fd = data->device_fd; + if (device_fd < 0) + return -1; + + i2c_data[0] = 4; + i2c_data[1] = AK8973_REG_HXDA; + i2c_data[2] = data->hdac[0]; + i2c_data[3] = data->hdac[1]; + i2c_data[4] = data->hdac[2]; + + rc = ioctl(device_fd, ECS_IOCTL_WRITE, &i2c_data); + if (rc < 0) { + ALOGE("%s: Unable to write akm8973 data", __func__); + return -1; + } + + return 0; +} + +int akm8973_magnetic_extrema(struct akm8973_data *data, int index) +{ + int gain_index; + + if (data == NULL || index < 0 || index >= 3) + return -EINVAL; + + gain_index = data->gain_indexes[index]; + if (gain_index < 0 || gain_index >= akm8973_gain_coefficient_count) + return -1; + + // Calculate the extrema from HO (software offset) + data->magnetic_extrema[0][index] = (unsigned char) ((int) ((16.0f * -45.0f) / akm8973_gain_coefficient[gain_index] + 128 + data->ho[index] / 16.0f + 10.0f) & 0xff); + data->magnetic_extrema[1][index] = (unsigned char) ((int) ((16.0f * 45.0f) / akm8973_gain_coefficient[gain_index] + 128 + data->ho[index] / 16.0f - 10.0f) & 0xff); + + return 0; +} + +int akm8973_config_read(struct akm8973_data *data) +{ + char buffer[256] = { 0 }; + int config_fd = -1; + int offset = 0; + int length; + int count; + int value; + char *p; + int rc; + + if (data == NULL) + return -EINVAL; + + config_fd = open(AKM8973_CONFIG_PATH, O_RDONLY); + if (config_fd < 0) { + ALOGE("%s: Unable to open akm8973 config %d %s", __func__, errno, strerror(errno)); + goto error; + } + + rc = 0; + + do { + lseek(config_fd, offset, SEEK_SET); + + length = read(config_fd, buffer, sizeof(buffer)); + if (length <= 0) + break; + + p = strchr((const char *) &buffer, '\n'); + if (p != NULL) { + offset += (int) p - (int) buffer + 1; + *p = '\0'; + } else if ((size_t) length < sizeof(buffer)) { + buffer[length] = '\0'; + } + + count = sscanf((char const *) &buffer, "HSUC_HDAC_FORM0.x = %d", &value); + if (count == 1) { + data->hdac[0] = (unsigned char) (value & 0xff); + rc |= 1; + } + + count = sscanf((char const *) &buffer, "HSUC_HDAC_FORM0.y = %d", &value); + if (count == 1) { + data->hdac[1] = (unsigned char) (value & 0xff); + rc |= 1; + } + + count = sscanf((char const *) &buffer, "HSUC_HDAC_FORM0.z = %d", &value); + if (count == 1) { + data->hdac[2] = (unsigned char) (value & 0xff); + rc |= 1; + } + + count = sscanf((char const *) &buffer, "HSUC_HO_FORM0.x = %d", &value); + if (count == 1) { + data->ho[0] = value; + rc |= akm8973_magnetic_extrema(data, 0); + } + + count = sscanf((char const *) &buffer, "HSUC_HO_FORM0.y = %d", &value); + if (count == 1) { + data->ho[1] = value; + rc |= akm8973_magnetic_extrema(data, 1); + } + + count = sscanf((char const *) &buffer, "HSUC_HO_FORM0.z = %d", &value); + if (count == 1) { + data->ho[2] = value; + rc |= akm8973_magnetic_extrema(data, 2); + } + } while (p != NULL && length > 0); + + goto complete; + +error: + rc = -1; + +complete: + if (config_fd >= 0) + close(config_fd); + + return rc; +} + +int akm8973_config_write(struct akm8973_data *data) +{ + char buffer[256] = { 0 }; + int config_fd = -1; + int length; + int value; + int rc; + + if (data == NULL) + return -EINVAL; + + config_fd = open(AKM8973_CONFIG_PATH, O_WRONLY | O_TRUNC | O_CREAT, 0664); + if (config_fd < 0) { + ALOGE("%s: Unable to open akm8973 config", __func__); + goto error; + } + + value = (int) data->hdac[0]; + length = snprintf((char *) &buffer, sizeof(buffer), "HSUC_HDAC_FORM0.x = %d\n", value); + + rc = write(config_fd, buffer, length); + if (rc < length) { + ALOGE("%s: Unable to write akm8973 config", __func__); + goto error; + } + + value = (int) data->hdac[1]; + length = snprintf((char *) &buffer, sizeof(buffer), "HSUC_HDAC_FORM0.y = %d\n", value); + + rc = write(config_fd, buffer, length); + if (rc < length) { + ALOGE("%s: Unable to write akm8973 config", __func__); + goto error; + } + + value = (int) data->hdac[2]; + length = snprintf((char *) &buffer, sizeof(buffer), "HSUC_HDAC_FORM0.z = %d\n", value); + + rc = write(config_fd, buffer, length); + if (rc < length) { + ALOGE("%s: Unable to write akm8973 config", __func__); + goto error; + } + + value = (int) data->ho[0]; + length = snprintf((char *) &buffer, sizeof(buffer), "HSUC_HO_FORM0.x = %d\n", value); + + rc = write(config_fd, buffer, length); + if (rc < length) { + ALOGE("%s: Unable to write akm8973 config", __func__); + goto error; + } + + value = (int) data->ho[1]; + length = snprintf((char *) &buffer, sizeof(buffer), "HSUC_HO_FORM0.y = %d\n", value); + + rc = write(config_fd, buffer, length); + if (rc < length) { + ALOGE("%s: Unable to write akm8973 config", __func__); + goto error; + } + + value = (int) data->ho[2]; + length = snprintf((char *) &buffer, sizeof(buffer), "HSUC_HO_FORM0.z = %d\n", value); + + rc = write(config_fd, buffer, length); + if (rc < length) { + ALOGE("%s: Unable to write akm8973 config", __func__); + goto error; + } + + rc = 0; + goto complete; + +error: + rc = -1; + +complete: + if (config_fd >= 0) + close(config_fd); + + return rc; +} + +int akm8973_hdac_calibration(struct akm8973_data *data, + unsigned char *magnetic_data, size_t magnetic_data_size) +{ + unsigned char value; + int update; + int rc; + int i; + + if (data == NULL || magnetic_data == NULL || magnetic_data_size < 3) + return -EINVAL; + + update = 0; + + for (i = 0; i < 3; i++) { + // Transform non-linear HDAC to a linear value + if (data->hdac[i] == 0) + value = 0x80; + else if (data->hdac[i] < 0x80) + value = 0x80 - data->hdac[i]; + else + value = data->hdac[i]; + + // Adjust the (linear) HDAC offset if the value is out of range. + // The correct range is [50;205] (in raw magnetic data). + + if (magnetic_data[i] < 50 ) { + if (value > (0xff - 4)) + continue; + + if (magnetic_data[i] < 10) + value += 4; + else if (magnetic_data[i] < 20) + value += 3; + else if (magnetic_data[i] < 30) + value += 2; + else + value += 1; + + update = 1; + } + + if (magnetic_data[i] > 205) { + if (value < (0x00 + 4)) + continue; + + if (magnetic_data[i] > 245) + value -= 4; + else if (magnetic_data[i] > 235) + value -= 3; + else if (magnetic_data[i] > 225) + value -= 2; + else + value -= 1; + + update = 1; + } + + if (update) { + // When the HDAC (hardware offset) value is changed, the HO value and magnetic extrema become irrelevant. + // We can calculate HO (software offset) from HDAC but it'll need to be finely tuned later on. + + data->magnetic_extrema[0][i] = 0; + data->magnetic_extrema[1][i] = 0; + + // Transform linear value to non-linear HDAC + if (value == 0x80) { + data->hdac[i] = 0; + data->ho[i] = 0; + } else if (value < 0x80) { + data->hdac[i] = 0x80 - value; + data->ho[i] = data->hdac[i] * -1 * 16 * 16; + } else { + data->hdac[i] = value; + data->ho[i] = (data->hdac[i] - 128) * 16 * 16; + } + } + } + + if (update) { + rc = akm8973_hdac(data); + if (rc < 0) { + ALOGE("%s: Unable to set akm8973 HDAC", __func__); + return -1; + } + } + + return 0; +} + +int akm8973_ho_calibration(struct akm8973_data *data, + unsigned char *magnetic_data, size_t magnetic_data_size) +{ + float ho[2]; + int gain_index; + int i; + + if (data == NULL || magnetic_data == NULL || magnetic_data_size < 3) + return -EINVAL; + + // Update the extrema from the current raw magnetic data + for (i = 0; i < 3; i++) { + if (magnetic_data[i] < data->magnetic_extrema[0][i] || data->magnetic_extrema[0][i] == 0) + data->magnetic_extrema[0][i] = magnetic_data[i]; + if (magnetic_data[i] > data->magnetic_extrema[1][i] || data->magnetic_extrema[1][i] == 0) + data->magnetic_extrema[1][i] = magnetic_data[i]; + } + + // Calculate HO (software offset) + if (data->magnetic_data_count % 10 == 0) { + for (i = 0; i < 3; i++) { + gain_index = data->gain_indexes[i]; + if (gain_index < 0 || gain_index >= akm8973_gain_coefficient_count) + continue; + + // Calculate offset for minimum to be at -45uT + ho[0] = ((float) (data->magnetic_extrema[0][i] - 0x80) + (16.0f * 45.0f) / akm8973_gain_coefficient[gain_index] ) * 16.0f; + // Calculate offset for maximum to be at +45uT + ho[1] = ((float) (data->magnetic_extrema[1][i] - 0x80) - (16.0f * 45.0f) / akm8973_gain_coefficient[gain_index] ) * 16.0f; + // Average offset to make everyone (mostly) happy + data->ho[i] = (int) (ho[0] + ho[1]) / 2.0f; + } + } + + return 0; +} + +int akm8973_magnetic_axis(struct akm8973_data *data, int index, float *axis) +{ + float value; + int count; + int gain_index; + int i; + + if (data == NULL || axis == NULL || index < 0 || index >= 3) + return -EINVAL; + + count = data->magnetic_data_count >= 4 ? 4 : data->magnetic_data_count; + value = 0; + + // Average the last 4 (or less) raw magnetic values + for (i = 0; i < count; i++) + value += (float) data->magnetic_data[i][index]; + value /= count; + + gain_index = data->gain_indexes[index]; + if (gain_index < 0 || gain_index >= akm8973_gain_coefficient_count) + return -1; + + // Formula to get the magnetic field in uT from the raw magnetic value, HO and coefficient from gain + *axis = ((value - 128 - ((float) data->ho[index] / 16.0f)) * akm8973_gain_coefficient[gain_index]) / 16.0f; + + return 0; +} + +int akm8973_magnetic(struct akm8973_data *data) +{ + int rc; + + if (data == NULL) + return -EINVAL; + + rc = 0; + rc |= akm8973_magnetic_axis(data, 0, &data->magnetic.x); + rc |= akm8973_magnetic_axis(data, 1, &data->magnetic.y); + rc |= akm8973_magnetic_axis(data, 2, &data->magnetic.z); + + return rc; +} + +void *akm8973_thread(void *thread_data) +{ + struct herring_sensors_handlers *handlers = NULL; + struct akm8973_data *data = NULL; + struct input_event event; + struct timeval time; + char i2c_data[SENSOR_DATA_SIZE] = { 0 }; + unsigned char magnetic_data[3] = { 0 }; + int index; + int value; + short mode; + long int before, after; + int diff; + int device_fd; + int uinput_fd; + int rc; + int i, j; + + if (thread_data == NULL) + return NULL; + + handlers = (struct herring_sensors_handlers *) thread_data; + if (handlers->data == NULL) + return NULL; + + data = (struct akm8973_data *) handlers->data; + + device_fd = data->device_fd; + if (device_fd < 0) + return NULL; + + uinput_fd = data->uinput_fd; + if (uinput_fd < 0) + return NULL; + + while (data->thread_continue) { + pthread_mutex_lock(&data->mutex); + if (!data->thread_continue) + break; + + while (handlers->activated) { + gettimeofday(&time, NULL); + before = timestamp(&time); + + mode = AK8973_MODE_MEASURE; + rc = ioctl(device_fd, ECS_IOCTL_SET_MODE, &mode); + if (rc < 0) { + ALOGE("%s: Unable to set akm8973 mode", __func__); + goto next; + } + + memset(&i2c_data, 0, sizeof(i2c_data)); + rc = ioctl(device_fd, ECS_IOCTL_GETDATA, &i2c_data); + if (rc < 0) { + ALOGE("%s: Unable to get akm8973 data", __func__); + goto next; + } + + if (!(i2c_data[0] & 0x01)) { + ALOGE("%s: akm8973 data is not ready", __func__); + goto next; + } + + magnetic_data[0] = (unsigned char) i2c_data[2]; + magnetic_data[1] = (unsigned char) i2c_data[3]; + magnetic_data[2] = (unsigned char) i2c_data[4]; + + rc = akm8973_hdac_calibration(data, (unsigned char *) &magnetic_data, sizeof(magnetic_data)); + if (rc < 0) { + ALOGE("%s: Unable to calibrate akm8973 HDAC", __func__); + goto next; + } + + index = data->magnetic_data_index; + + data->magnetic_data[index][0] = magnetic_data[0]; + data->magnetic_data[index][1] = magnetic_data[1]; + data->magnetic_data[index][2] = magnetic_data[2]; + + data->magnetic_data_index = (index + 1) % 4; + data->magnetic_data_count++; + + rc = akm8973_ho_calibration(data, (unsigned char *) &magnetic_data, sizeof(magnetic_data)); + if (rc < 0) { + ALOGE("%s: Unable to calibrate akm8973 HO", __func__); + goto next; + } + + rc = akm8973_magnetic(data); + if (rc < 0) { + ALOGE("%s: Unable to get akm8973 magnetic", __func__); + goto next; + } + + input_event_set(&event, EV_REL, REL_X, (int) (data->magnetic.x * 1000)); + write(uinput_fd, &event, sizeof(event)); + input_event_set(&event, EV_REL, REL_Y, (int) (data->magnetic.y * 1000)); + write(uinput_fd, &event, sizeof(event)); + input_event_set(&event, EV_REL, REL_Z, (int) (data->magnetic.z * 1000)); + write(uinput_fd, &event, sizeof(event)); + input_event_set(&event, EV_SYN, 0, 0); + write(uinput_fd, &event, sizeof(event)); + +next: + gettimeofday(&time, NULL); + after = timestamp(&time); + + diff = (int) (data->delay - (after - before)) / 1000; + if (diff <= 0) + continue; + + usleep(diff); + } + } + return NULL; +} + +int akm8973_init(struct herring_sensors_handlers *handlers, + struct herring_sensors_device *device) +{ + struct akm8973_data *data = NULL; + pthread_attr_t thread_attr; + char i2c_data[RWBUF_SIZE] = { 0 }; + char mode; + int device_fd = -1; + int uinput_fd = -1; + int input_fd = -1; + int rc; + int i; + + ALOGD("%s(%p, %p)", __func__, handlers, device); + + if (handlers == NULL || device == NULL) + return -EINVAL; + + data = (struct akm8973_data *) calloc(1, sizeof(struct akm8973_data)); + + for (i = 0; i < device->handlers_count; i++) { + if (device->handlers[i] == NULL) + continue; + + if (device->handlers[i]->handle == SENSOR_TYPE_ORIENTATION) + data->orientation_sensor = device->handlers[i]; + } + + device_fd = open("/dev/akm8973", O_RDONLY); + if (device_fd < 0) { + ALOGE("%s: Unable to open device", __func__); + goto error; + } + + rc = ioctl(device_fd, ECS_IOCTL_RESET, NULL); + if (rc < 0) { + ALOGE("%s: Unable to reset akm8973", __func__); + goto error; + } + + mode = AK8973_MODE_E2P_READ; + rc = ioctl(device_fd, ECS_IOCTL_SET_MODE, &mode); + if (rc < 0) { + ALOGE("%s: Unable to set akm8973 mode", __func__); + goto error; + } + + i2c_data[0] = 3; + i2c_data[1] = AK8973_EEP_EHXGA; + rc = ioctl(device_fd, ECS_IOCTL_READ, &i2c_data); + if (rc < 0) { + ALOGE("%s: Unable to read akm8973 EEPROM data", __func__); + goto error; + } + + data->gain_indexes[0] = (i2c_data[1] & 0xf0) >> 4; + data->gain_indexes[1] = (i2c_data[2] & 0xf0) >> 4; + data->gain_indexes[2] = (i2c_data[3] & 0xf0) >> 4; + + ALOGD("AKM8973 gain indexes are: (%d, %d, %d)", data->gain_indexes[0], + data->gain_indexes[1], data->gain_indexes[2]); + + mode = AK8973_MODE_POWERDOWN; + rc = ioctl(device_fd, ECS_IOCTL_SET_MODE, &mode); + if (rc < 0) { + ALOGE("%s: Unable to set akm8973 mode", __func__); + goto error; + } + + i2c_data[5] = i2c_data[1] & 0x0f; + i2c_data[6] = i2c_data[2] & 0x0f; + i2c_data[7] = i2c_data[3] & 0x0f; + + i2c_data[0] = 7; + i2c_data[1] = AK8973_REG_HXDA; + + i2c_data[2] = 0; + i2c_data[3] = 0; + i2c_data[4] = 0; + + rc = ioctl(device_fd, ECS_IOCTL_WRITE, &i2c_data); + if (rc < 0) { + ALOGE("%s: Unable to write akm8973 data", __func__); + goto error; + } + + uinput_fd = uinput_rel_create("magnetic"); + if (uinput_fd < 0) { + ALOGD("%s: Unable to create uinput", __func__); + goto error; + } + + input_fd = input_open("magnetic"); + if (input_fd < 0) { + ALOGE("%s: Unable to open magnetic input", __func__); + goto error; + } + + data->thread_continue = 1; + + pthread_mutex_init(&data->mutex, NULL); + pthread_mutex_lock(&data->mutex); + + pthread_attr_init(&thread_attr); + pthread_attr_setdetachstate(&thread_attr, PTHREAD_CREATE_DETACHED); + + rc = pthread_create(&data->thread, &thread_attr, akm8973_thread, (void *) handlers); + if (rc < 0) { + ALOGE("%s: Unable to create akm8973 thread", __func__); + pthread_mutex_destroy(&data->mutex); + goto error; + } + + data->device_fd = device_fd; + data->uinput_fd = uinput_fd; + handlers->poll_fd = input_fd; + handlers->data = (void *) data; + + return 0; + +error: + if (data != NULL) + free(data); + + if (uinput_fd >= 0) + close(uinput_fd); + + if (input_fd >= 0) + close(input_fd); + + if (device_fd >= 0) + close(device_fd); + + handlers->poll_fd = -1; + handlers->data = NULL; + + return -1; +} + +int akm8973_deinit(struct herring_sensors_handlers *handlers) +{ + struct akm8973_data *data = NULL; + char mode; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct akm8973_data *) handlers->data; + + handlers->activated = 0; + data->thread_continue = 0; + pthread_mutex_unlock(&data->mutex); + + pthread_mutex_destroy(&data->mutex); + + if (data->uinput_fd >= 0) { + uinput_destroy(data->uinput_fd); + close(data->uinput_fd); + } + data->uinput_fd = -1; + + if (handlers->poll_fd >= 0) + close(handlers->poll_fd); + handlers->poll_fd = -1; + + mode = AK8973_MODE_POWERDOWN; + rc = ioctl(data->device_fd, ECS_IOCTL_SET_MODE, &mode); + if (rc < 0) + ALOGE("%s: Unable to set akm8973 mode", __func__); + + if (data->device_fd >= 0) + close(data->device_fd); + data->device_fd = -1; + + free(handlers->data); + handlers->data = NULL; + + return 0; +} + +int akm8973_activate(struct herring_sensors_handlers *handlers) +{ + struct akm8973_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct akm8973_data *) handlers->data; + + rc = akm8973_config_read(data); + if (rc < 0) { + ALOGE("%s: Unable to read akm8973 config", __func__); + } else if (rc > 0) { + rc = akm8973_hdac(data); + if (rc < 0) { + ALOGE("%s: Unable to set akm8973 HDAC", __func__); + return -1; + } + } + + handlers->activated = 1; + pthread_mutex_unlock(&data->mutex); + + return 0; +} + +int akm8973_deactivate(struct herring_sensors_handlers *handlers) +{ + struct akm8973_data *data; + int device_fd; + char mode; + int empty; + int rc; + int i; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct akm8973_data *) handlers->data; + + empty = 1; + + for (i = 0; i < (ssize_t) sizeof(data->magnetic_extrema) / 2; i++) { + if (data->magnetic_extrema[0][i] != 0 || data->magnetic_extrema[1][i] != 0) { + empty = 0; + break; + } + } + + if (!empty) { + rc = akm8973_config_write(data); + if (rc < 0) + ALOGE("%s: Unable to write akm8973 config", __func__); + } + + device_fd = data->device_fd; + if (device_fd < 0) + return -1; + + mode = AK8973_MODE_POWERDOWN; + rc = ioctl(data->device_fd, ECS_IOCTL_SET_MODE, &mode); + if (rc < 0) + ALOGE("%s: Unable to set akm8973 mode", __func__); + + handlers->activated = 0; + + return 0; +} + +int akm8973_set_delay(struct herring_sensors_handlers *handlers, long int delay) +{ + struct akm8973_data *data; + + ALOGD("%s(%p, %ld)", __func__, handlers, delay); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct akm8973_data *) handlers->data; + + data->delay = delay; + + return 0; +} + +float akm8973_convert(int value) +{ + return (float) value / -1000.0f; +} + +int akm8973_get_data(struct herring_sensors_handlers *handlers, + struct sensors_event_t *event) +{ + struct akm8973_data *data; + struct input_event input_event; + int input_fd; + int rc; + +// ALOGD("%s(%p, %p)", __func__, handlers, event); + + if (handlers == NULL || handlers->data == NULL || event == NULL) + return -EINVAL; + + data = (struct akm8973_data *) handlers->data; + + input_fd = handlers->poll_fd; + if (input_fd < 0) + return -1; + + memset(event, 0, sizeof(struct sensors_event_t)); + event->version = sizeof(struct sensors_event_t); + event->sensor = handlers->handle; + event->type = handlers->handle; + + event->magnetic.status = SENSOR_STATUS_ACCURACY_MEDIUM; + + do { + rc = read(input_fd, &input_event, sizeof(input_event)); + if (rc < (int) sizeof(input_event)) + break; + + if (input_event.type == EV_REL) { + switch (input_event.code) { + case REL_X: + event->magnetic.y = akm8973_convert(input_event.value); + break; + case REL_Y: + event->magnetic.x = akm8973_convert(input_event.value); + break; + case REL_Z: + event->magnetic.z = akm8973_convert(input_event.value); + break; + default: + continue; + } + } else if (input_event.type == EV_SYN) { + if (input_event.code == SYN_REPORT) + event->timestamp = input_timestamp(&input_event); + } + } while (input_event.type != EV_SYN); + + if (data->orientation_sensor != NULL) + orientation_fill(data->orientation_sensor, NULL, &event->magnetic); + + return 0; +} + +struct herring_sensors_handlers akm8973 = { + .name = "AKM8973", + .handle = SENSOR_TYPE_MAGNETIC_FIELD, + .init = akm8973_init, + .deinit = akm8973_deinit, + .activate = akm8973_activate, + .deactivate = akm8973_deactivate, + .set_delay = akm8973_set_delay, + .get_data = akm8973_get_data, + .activated = 0, + .needed = 0, + .poll_fd = -1, + .data = NULL, +}; diff --git a/sensors/gp2a_light.c b/sensors/gp2a_light.c new file mode 100644 index 0000000..10388cd --- /dev/null +++ b/sensors/gp2a_light.c @@ -0,0 +1,239 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr> + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + */ + +#include <stdlib.h> +#include <unistd.h> +#include <stdint.h> +#include <fcntl.h> +#include <errno.h> +#include <math.h> +#include <sys/types.h> +#include <linux/ioctl.h> +#include <linux/input.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "herring_sensors" +#include <utils/Log.h> + +#include "herring_sensors.h" + +struct gp2a_light_data { + char path_enable[PATH_MAX]; + char path_delay[PATH_MAX]; +}; + +int gp2a_light_init(struct herring_sensors_handlers *handlers, + struct herring_sensors_device *device) +{ + struct gp2a_light_data *data = NULL; + char path[PATH_MAX] = { 0 }; + int input_fd = -1; + int rc; + + ALOGD("%s(%p, %p)", __func__, handlers, device); + + if (handlers == NULL) + return -EINVAL; + + data = (struct gp2a_light_data *) calloc(1, sizeof(struct gp2a_light_data)); + + input_fd = input_open("lightsensor-level"); + if (input_fd < 0) { + ALOGE("%s: Unable to open input", __func__); + goto error; + } + + rc = sysfs_path_prefix("lightsensor-level", (char *) &path); + if (rc < 0 || path[0] == '\0') { + ALOGE("%s: Unable to open sysfs", __func__); + goto error; + } + + snprintf(data->path_enable, PATH_MAX, "%s/enable", path); + snprintf(data->path_delay, PATH_MAX, "%s/poll_delay", path); + + handlers->poll_fd = input_fd; + handlers->data = (void *) data; + + return 0; + +error: + if (data != NULL) + free(data); + + if (input_fd >= 0) + close(input_fd); + + handlers->poll_fd = -1; + handlers->data = NULL; + + return -1; +} + +int gp2a_light_deinit(struct herring_sensors_handlers *handlers) +{ + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL) + return -EINVAL; + + if (handlers->poll_fd >= 0) + close(handlers->poll_fd); + handlers->poll_fd = -1; + + if (handlers->data != NULL) + free(handlers->data); + handlers->data = NULL; + + return 0; +} + +int gp2a_light_activate(struct herring_sensors_handlers *handlers) +{ + struct gp2a_light_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct gp2a_light_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 1); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int gp2a_light_deactivate(struct herring_sensors_handlers *handlers) +{ + struct gp2a_light_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct gp2a_light_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 0); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int gp2a_light_set_delay(struct herring_sensors_handlers *handlers, long int delay) +{ + struct gp2a_light_data *data; + int rc; + + ALOGD("%s(%p, %ld)", __func__, handlers, delay); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct gp2a_light_data *) handlers->data; + + rc = sysfs_value_write(data->path_delay, (int) delay); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + return 0; +} + +float gp2a_light_convert(int value) +{ + // Converting the raw value to lux units is done with: + // I = 10 * log(light) uA + // U = raw * 3300 / 4095 (max ADC value is 3.3V for 4095 LSB) + // R = 47kOhm + // => light = 10 ^ (I / 10) = 10 ^ (U / R / 10) + // => light = 10 ^ (raw * 330 / 4095 / 47) + // Only 1/4 of light reaches the sensor: + // => light = 4 * (10 ^ (raw * 330 / 4095 / 47)) + + return powf(10, value * (330.0f / 4095.0f / 47.0f)) * 4; +} + +int gp2a_light_get_data(struct herring_sensors_handlers *handlers, + struct sensors_event_t *event) +{ + struct input_event input_event; + int input_fd; + int rc; + +// ALOGD("%s(%p, %p)", __func__, handlers, event); + + if (handlers == NULL || event == NULL) + return -EINVAL; + + input_fd = handlers->poll_fd; + if (input_fd < 0) + return -EINVAL; + + memset(event, 0, sizeof(struct sensors_event_t)); + event->version = sizeof(struct sensors_event_t); + event->sensor = handlers->handle; + event->type = handlers->handle; + + do { + rc = read(input_fd, &input_event, sizeof(input_event)); + if (rc < (int) sizeof(input_event)) + break; + + if (input_event.type == EV_ABS) { + if (input_event.code == ABS_MISC) + event->light = gp2a_light_convert(input_event.value); + } else if (input_event.type == EV_SYN) { + if (input_event.code == SYN_REPORT) + event->timestamp = input_timestamp(&input_event); + } + } while (input_event.type != EV_SYN); + + return 0; +} + +struct herring_sensors_handlers gp2a_light = { + .name = "GP2A Light", + .handle = SENSOR_TYPE_LIGHT, + .init = gp2a_light_init, + .deinit = gp2a_light_deinit, + .activate = gp2a_light_activate, + .deactivate = gp2a_light_deactivate, + .set_delay = gp2a_light_set_delay, + .get_data = gp2a_light_get_data, + .activated = 0, + .needed = 0, + .poll_fd = -1, + .data = NULL, +}; diff --git a/sensors/gp2a_proximity.c b/sensors/gp2a_proximity.c new file mode 100644 index 0000000..b524814 --- /dev/null +++ b/sensors/gp2a_proximity.c @@ -0,0 +1,213 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr> + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + */ + +#include <stdlib.h> +#include <unistd.h> +#include <stdint.h> +#include <fcntl.h> +#include <errno.h> +#include <sys/types.h> +#include <linux/ioctl.h> +#include <linux/input.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "herring_sensors" +#include <utils/Log.h> + +#include "herring_sensors.h" + +struct gp2a_proximity_data { + char path_enable[PATH_MAX]; +}; + +int gp2a_proximity_init(struct herring_sensors_handlers *handlers, + struct herring_sensors_device *device) +{ + struct gp2a_proximity_data *data = NULL; + char path[PATH_MAX] = { 0 }; + int input_fd = -1; + int rc; + + ALOGD("%s(%p, %p)", __func__, handlers, device); + + if (handlers == NULL) + return -EINVAL; + + data = (struct gp2a_proximity_data *) calloc(1, sizeof(struct gp2a_proximity_data)); + + input_fd = input_open("proximity"); + if (input_fd < 0) { + ALOGE("%s: Unable to open input", __func__); + goto error; + } + + rc = sysfs_path_prefix("proximity", (char *) &path); + if (rc < 0 || path[0] == '\0') { + ALOGE("%s: Unable to open sysfs", __func__); + goto error; + } + + snprintf(data->path_enable, PATH_MAX, "%s/enable", path); + + handlers->poll_fd = input_fd; + handlers->data = (void *) data; + + return 0; + +error: + if (data != NULL) + free(data); + + if (input_fd >= 0) + close(input_fd); + + handlers->poll_fd = -1; + handlers->data = NULL; + + return -1; +} + +int gp2a_proximity_deinit(struct herring_sensors_handlers *handlers) +{ + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL) + return -EINVAL; + + if (handlers->poll_fd >= 0) + close(handlers->poll_fd); + handlers->poll_fd = -1; + + if (handlers->data != NULL) + free(handlers->data); + handlers->data = NULL; + + return 0; +} + +int gp2a_proximity_activate(struct herring_sensors_handlers *handlers) +{ + struct gp2a_proximity_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct gp2a_proximity_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 1); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int gp2a_proximity_deactivate(struct herring_sensors_handlers *handlers) +{ + struct gp2a_proximity_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct gp2a_proximity_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 0); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int gp2a_proximity_set_delay(struct herring_sensors_handlers *handlers, long int delay) +{ + ALOGD("%s(%p, %ld)", __func__, handlers, delay); + + return 0; +} + +float gp2a_proximity_convert(int value) +{ + return (float) value * 5.0f; +} + +int gp2a_proximity_get_data(struct herring_sensors_handlers *handlers, + struct sensors_event_t *event) +{ + struct input_event input_event; + int input_fd; + int rc; + +// ALOGD("%s(%p, %p)", __func__, handlers, event); + + if (handlers == NULL || event == NULL) + return -EINVAL; + + input_fd = handlers->poll_fd; + if (input_fd < 0) + return -EINVAL; + + memset(event, 0, sizeof(struct sensors_event_t)); + event->version = sizeof(struct sensors_event_t); + event->sensor = handlers->handle; + event->type = handlers->handle; + + do { + rc = read(input_fd, &input_event, sizeof(input_event)); + if (rc < (int) sizeof(input_event)) + break; + + if (input_event.type == EV_ABS) { + if (input_event.code == ABS_DISTANCE) + event->distance = gp2a_proximity_convert(input_event.value); + } else if (input_event.type == EV_SYN) { + if (input_event.code == SYN_REPORT) + event->timestamp = input_timestamp(&input_event); + } + } while (input_event.type != EV_SYN); + + return 0; +} + +struct herring_sensors_handlers gp2a_proximity = { + .name = "GP2A Proximity", + .handle = SENSOR_TYPE_PROXIMITY, + .init = gp2a_proximity_init, + .deinit = gp2a_proximity_deinit, + .activate = gp2a_proximity_activate, + .deactivate = gp2a_proximity_deactivate, + .set_delay = gp2a_proximity_set_delay, + .get_data = gp2a_proximity_get_data, + .activated = 0, + .needed = 0, + .poll_fd = -1, + .data = NULL, +}; diff --git a/sensors/herring_sensors.c b/sensors/herring_sensors.c new file mode 100644 index 0000000..362bbe1 --- /dev/null +++ b/sensors/herring_sensors.c @@ -0,0 +1,289 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr> + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + */ + +#include <stdlib.h> +#include <unistd.h> +#include <stdint.h> +#include <fcntl.h> +#include <errno.h> +#include <poll.h> +#include <sys/select.h> +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "herring_sensors" +#include <utils/Log.h> + +#include "herring_sensors.h" + +/* + * Sensors list + */ + +struct sensor_t herring_sensors[] = { + { "KR3DM Acceleration Sensor", "STMicroelectronics", 1, SENSOR_TYPE_ACCELEROMETER, + SENSOR_TYPE_ACCELEROMETER, 2 * GRAVITY_EARTH, GRAVITY_EARTH / 64.0f / 8.0f, 0.23f, 20000, {}, }, + { "AKM8973 Magnetic Sensor", "Asahi Kasei", 1, SENSOR_TYPE_MAGNETIC_FIELD, + SENSOR_TYPE_MAGNETIC_FIELD, 2000.0f, 1.0f / 16, 6.8f, 16667, {}, }, + { "Orientation Sensor", "Herring Sensors", 1, SENSOR_TYPE_ORIENTATION, + SENSOR_TYPE_ORIENTATION, 360.0f, 0.1f, 0.0f, 16667, {}, }, + { "GP2A Light Sensor", "Sharp", 1, SENSOR_TYPE_LIGHT, + SENSOR_TYPE_LIGHT, 3626657.75f, 1.0f, 0.75f, 0, {}, }, // 3626657.75 = (10 ^ (280.0f / 47.0f)) * 4 + { "GP2A Proximity Sensor", "Sharp", 1, SENSOR_TYPE_PROXIMITY, + SENSOR_TYPE_PROXIMITY, 5.0f, 5.0f, 0.75f, 0, {}, }, + { "K3G Gyroscope Sensor", "STMicroelectronics", 1, SENSOR_TYPE_GYROSCOPE, + SENSOR_TYPE_GYROSCOPE, 2000.0f * (3.1415926535f / 180.0f), (70.0f / 1000.0f) * (3.1415926535f / 180.0f), 6.1f, 1190, {}, }, +}; + +int herring_sensors_count = sizeof(herring_sensors) / sizeof(struct sensor_t); + +struct herring_sensors_handlers *herring_sensors_handlers[] = { + &kr3dm, + &akm8973, + &orientation, + &gp2a_light, + &gp2a_proximity, + &k3g, +}; + +int herring_sensors_handlers_count = sizeof(herring_sensors_handlers) / + sizeof(struct herring_sensors_handlers *); + +/* + * Herring Sensors + */ + +int herring_sensors_activate(struct sensors_poll_device_t *dev, int handle, + int enabled) +{ + struct herring_sensors_device *device; + int i; + + ALOGD("%s(%p, %d, %d)", __func__, dev, handle, enabled); + + if (dev == NULL) + return -EINVAL; + + device = (struct herring_sensors_device *) dev; + + if (device->handlers == NULL || device->handlers_count <= 0) + return -EINVAL; + + for (i = 0; i < device->handlers_count; i++) { + if (device->handlers[i] == NULL) + continue; + + if (device->handlers[i]->handle == handle) { + if (enabled && device->handlers[i]->activate != NULL) { + device->handlers[i]->needed |= HERRING_SENSORS_NEEDED_API; + if (device->handlers[i]->needed == HERRING_SENSORS_NEEDED_API) + return device->handlers[i]->activate(device->handlers[i]); + else + return 0; + } else if (!enabled && device->handlers[i]->deactivate != NULL) { + device->handlers[i]->needed &= ~HERRING_SENSORS_NEEDED_API; + if (device->handlers[i]->needed == 0) + return device->handlers[i]->deactivate(device->handlers[i]); + else + return 0; + } + } + } + + return -1; +} + +int herring_sensors_set_delay(struct sensors_poll_device_t *dev, int handle, + int64_t ns) +{ + struct herring_sensors_device *device; + int i; + + ALOGD("%s(%p, %d, %ld)", __func__, dev, handle, (long int) ns); + + if (dev == NULL) + return -EINVAL; + + device = (struct herring_sensors_device *) dev; + + if (device->handlers == NULL || device->handlers_count <= 0) + return -EINVAL; + + for (i = 0; i < device->handlers_count; i++) { + if (device->handlers[i] == NULL) + continue; + + if (device->handlers[i]->handle == handle && device->handlers[i]->set_delay != NULL) + return device->handlers[i]->set_delay(device->handlers[i], (long int) ns); + } + + return 0; +} + +int herring_sensors_poll(struct sensors_poll_device_t *dev, + struct sensors_event_t* data, int count) +{ + struct herring_sensors_device *device; + int i, j; + int c, n; + int poll_rc, rc; + +// ALOGD("%s(%p, %p, %d)", __func__, dev, data, count); + + if (dev == NULL) + return -EINVAL; + + device = (struct herring_sensors_device *) dev; + + if (device->handlers == NULL || device->handlers_count <= 0 || + device->poll_fds == NULL || device->poll_fds_count <= 0) + return -EINVAL; + + n = 0; + + do { + poll_rc = poll(device->poll_fds, device->poll_fds_count, n > 0 ? 0 : -1); + if (poll_rc < 0) + return -1; + + for (i = 0; i < device->poll_fds_count; i++) { + if (!(device->poll_fds[i].revents & POLLIN)) + continue; + + for (j = 0; j < device->handlers_count; j++) { + if (device->handlers[j] == NULL || device->handlers[j]->poll_fd != device->poll_fds[i].fd || device->handlers[j]->get_data == NULL) + continue; + + rc = device->handlers[j]->get_data(device->handlers[j], &data[n]); + if (rc < 0) { + device->poll_fds[i].revents = 0; + poll_rc = -1; + } else { + n++; + count--; + } + } + } + } while ((poll_rc > 0 || n < 1) && count > 0); + + return n; +} + +/* + * Interface + */ + +int herring_sensors_close(hw_device_t *device) +{ + struct herring_sensors_device *herring_sensors_device; + int i; + + ALOGD("%s(%p)", __func__, device); + + if (device == NULL) + return -EINVAL; + + herring_sensors_device = (struct herring_sensors_device *) device; + + if (herring_sensors_device->poll_fds != NULL) + free(herring_sensors_device->poll_fds); + + for (i = 0; i < herring_sensors_device->handlers_count; i++) { + if (herring_sensors_device->handlers[i] == NULL || herring_sensors_device->handlers[i]->deinit == NULL) + continue; + + herring_sensors_device->handlers[i]->deinit(herring_sensors_device->handlers[i]); + } + + free(device); + + return 0; +} + +int herring_sensors_open(const struct hw_module_t* module, const char *id, + struct hw_device_t** device) +{ + struct herring_sensors_device *herring_sensors_device; + int p, i; + + ALOGD("%s(%p, %s, %p)", __func__, module, id, device); + + if (module == NULL || device == NULL) + return -EINVAL; + + herring_sensors_device = (struct herring_sensors_device *) + calloc(1, sizeof(struct herring_sensors_device)); + herring_sensors_device->device.common.tag = HARDWARE_DEVICE_TAG; + herring_sensors_device->device.common.version = 0; + herring_sensors_device->device.common.module = (struct hw_module_t *) module; + herring_sensors_device->device.common.close = herring_sensors_close; + herring_sensors_device->device.activate = herring_sensors_activate; + herring_sensors_device->device.setDelay = herring_sensors_set_delay; + herring_sensors_device->device.poll = herring_sensors_poll; + herring_sensors_device->handlers = herring_sensors_handlers; + herring_sensors_device->handlers_count = herring_sensors_handlers_count; + herring_sensors_device->poll_fds = (struct pollfd *) + calloc(1, herring_sensors_handlers_count * sizeof(struct pollfd)); + + p = 0; + for (i = 0; i < herring_sensors_handlers_count; i++) { + if (herring_sensors_handlers[i] == NULL || herring_sensors_handlers[i]->init == NULL) + continue; + + herring_sensors_handlers[i]->init(herring_sensors_handlers[i], herring_sensors_device); + if (herring_sensors_handlers[i]->poll_fd >= 0) { + herring_sensors_device->poll_fds[p].fd = herring_sensors_handlers[i]->poll_fd; + herring_sensors_device->poll_fds[p].events = POLLIN; + p++; + } + } + + herring_sensors_device->poll_fds_count = p; + + *device = &(herring_sensors_device->device.common); + + return 0; +} + +int herring_sensors_get_sensors_list(struct sensors_module_t* module, + const struct sensor_t **sensors_p) +{ + ALOGD("%s(%p, %p)", __func__, module, sensors_p); + + if (sensors_p == NULL) + return -EINVAL; + + *sensors_p = herring_sensors; + return herring_sensors_count; +} + +struct hw_module_methods_t herring_sensors_module_methods = { + .open = herring_sensors_open, +}; + +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 = "Herring Sensors", + .author = "Paul Kocialkowski", + .methods = &herring_sensors_module_methods, + }, + .get_sensors_list = herring_sensors_get_sensors_list, +}; diff --git a/sensors/herring_sensors.h b/sensors/herring_sensors.h new file mode 100644 index 0000000..4037c23 --- /dev/null +++ b/sensors/herring_sensors.h @@ -0,0 +1,104 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr> + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + */ + +#include <stdint.h> +#include <poll.h> +#include <linux/input.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#ifndef _HERRING_SENSORS_H_ +#define _HERRING_SENSORS_H_ + +#define HERRING_SENSORS_NEEDED_API (1 << 0) +#define HERRING_SENSORS_NEEDED_ORIENTATION (1 << 1) + +struct herring_sensors_device; + +struct herring_sensors_handlers { + char *name; + int handle; + + int (*init)(struct herring_sensors_handlers *handlers, + struct herring_sensors_device *device); + int (*deinit)(struct herring_sensors_handlers *handlers); + int (*activate)(struct herring_sensors_handlers *handlers); + int (*deactivate)(struct herring_sensors_handlers *handlers); + int (*set_delay)(struct herring_sensors_handlers *handlers, + long int delay); + int (*get_data)(struct herring_sensors_handlers *handlers, + struct sensors_event_t *event); + + int activated; + int needed; + int poll_fd; + + void *data; +}; + +struct herring_sensors_device { + struct sensors_poll_device_t device; + + struct herring_sensors_handlers **handlers; + int handlers_count; + + struct pollfd *poll_fds; + int poll_fds_count; +}; + +extern struct herring_sensors_handlers *herring_sensors_handlers[]; +extern int herring_sensors_handlers_count; + +int herring_sensors_activate(struct sensors_poll_device_t *dev, int handle, + int enabled); +int herring_sensors_set_delay(struct sensors_poll_device_t *dev, int handle, + int64_t ns); +int herring_sensors_poll(struct sensors_poll_device_t *dev, + struct sensors_event_t* data, int count); + +/* + * Input + */ + +void input_event_set(struct input_event *event, int type, int code, int value); +long int timestamp(struct timeval *time); +long int input_timestamp(struct input_event *event); +int uinput_rel_create(const char *name); +void uinput_destroy(int uinput_fd); +int input_open(char *name); +int sysfs_path_prefix(char *name, char *path_prefix); +int sysfs_value_read(char *path); +int sysfs_value_write(char *path, int value); +int sysfs_string_read(char *path, char *buffer, size_t length); +int sysfs_string_write(char *path, char *buffer, size_t length); + +/* + * Sensors + */ + +int orientation_fill(struct herring_sensors_handlers *handlers, + sensors_vec_t *acceleration, sensors_vec_t *magnetic); + +extern struct herring_sensors_handlers kr3dm; +extern struct herring_sensors_handlers akm8973; +extern struct herring_sensors_handlers orientation; +extern struct herring_sensors_handlers gp2a_light; +extern struct herring_sensors_handlers gp2a_proximity; +extern struct herring_sensors_handlers k3g; + +#endif diff --git a/sensors/input.c b/sensors/input.c new file mode 100644 index 0000000..2022f21 --- /dev/null +++ b/sensors/input.c @@ -0,0 +1,335 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr> + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + */ + +#include <stdlib.h> +#include <unistd.h> +#include <stdint.h> +#include <fcntl.h> +#include <errno.h> +#include <dirent.h> +#include <linux/ioctl.h> +#include <linux/input.h> +#include <linux/uinput.h> + +#define LOG_TAG "herring_sensors" +#include <utils/Log.h> + +#include "herring_sensors.h" + +void input_event_set(struct input_event *event, int type, int code, int value) +{ + if (event == NULL) + return; + + memset(event, 0, sizeof(struct input_event)); + + event->type = type, + event->code = code; + event->value = value; + + gettimeofday(&event->time, NULL); +} + +long int timestamp(struct timeval *time) +{ + if (time == NULL) + return -1; + + return time->tv_sec * 1000000000LL + time->tv_usec * 1000; +} + +long int input_timestamp(struct input_event *event) +{ + if (event == NULL) + return -1; + + return timestamp(&event->time); +} + +int uinput_rel_create(const char *name) +{ + struct uinput_user_dev uinput_dev; + int uinput_fd; + int rc; + + if (name == NULL) + return -1; + + uinput_fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK); + if (uinput_fd < 0) { + ALOGE("%s: Unable to open uinput device", __func__); + goto error; + } + + memset(&uinput_dev, 0, sizeof(uinput_dev)); + + strncpy(uinput_dev.name, name, sizeof(uinput_dev.name)); + uinput_dev.id.bustype = BUS_I2C; + uinput_dev.id.vendor = 0; + uinput_dev.id.product = 0; + uinput_dev.id.version = 0; + + rc = 0; + rc |= ioctl(uinput_fd, UI_SET_EVBIT, EV_REL); + rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_X); + rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_Y); + rc |= ioctl(uinput_fd, UI_SET_RELBIT, REL_Z); + rc |= ioctl(uinput_fd, UI_SET_EVBIT, EV_SYN); + + if (rc < 0) { + ALOGE("%s: Unable to set uinput bits", __func__); + goto error; + } + + rc = write(uinput_fd, &uinput_dev, sizeof(uinput_dev)); + if (rc < 0) { + ALOGE("%s: Unable to write uinput device", __func__); + goto error; + } + + rc = ioctl(uinput_fd, UI_DEV_CREATE); + if (rc < 0) { + ALOGE("%s: Unable to create uinput device", __func__); + goto error; + } + + usleep(3000); + + return uinput_fd; + +error: + if (uinput_fd >= 0) + close(uinput_fd); + + return -1; +} + +void uinput_destroy(int uinput_fd) +{ + if (uinput_fd < 0) + return; + + ioctl(uinput_fd, UI_DEV_DESTROY); +} + +int input_open(char *name) +{ + DIR *d; + struct dirent *di; + + char input_name[80] = { 0 }; + char path[PATH_MAX]; + char *c; + int fd; + int rc; + + if (name == NULL) + return -EINVAL; + + d = opendir("/dev/input"); + if (d == NULL) + return -1; + + while ((di = readdir(d))) { + if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0) + continue; + + snprintf(path, PATH_MAX, "/dev/input/%s", di->d_name); + fd = open(path, O_RDONLY | O_NONBLOCK); + if (fd < 0) + continue; + + rc = ioctl(fd, EVIOCGNAME(sizeof(input_name) - 1), &input_name); + if (rc < 0) + continue; + + c = strstr((char *) &input_name, "\n"); + if (c != NULL) + *c = '\0'; + + if (strcmp(input_name, name) == 0) + return fd; + else + close(fd); + } + + return -1; +} + +int sysfs_path_prefix(char *name, char *path_prefix) +{ + DIR *d; + struct dirent *di; + + char input_name[80] = { 0 }; + char path[PATH_MAX]; + char *c; + int fd; + + if (name == NULL || path_prefix == NULL) + return -EINVAL; + + d = opendir("/sys/class/input"); + if (d == NULL) + return -1; + + while ((di = readdir(d))) { + if (di == NULL || strcmp(di->d_name, ".") == 0 || strcmp(di->d_name, "..") == 0) + continue; + + snprintf(path, PATH_MAX, "/sys/class/input/%s/name", di->d_name); + + fd = open(path, O_RDONLY); + if (fd < 0) + continue; + + read(fd, &input_name, sizeof(input_name)); + close(fd); + + c = strstr((char *) &input_name, "\n"); + if (c != NULL) + *c = '\0'; + + if (strcmp(input_name, name) == 0) { + snprintf(path_prefix, PATH_MAX, "/sys/class/input/%s", di->d_name); + return 0; + } + } + + return -1; +} + +int sysfs_value_read(char *path) +{ + char buffer[100]; + int value; + int fd = -1; + int rc; + + if (path == NULL) + return -1; + + fd = open(path, O_RDONLY); + if (fd < 0) + goto error; + + rc = read(fd, &buffer, sizeof(buffer)); + if (rc <= 0) + goto error; + + value = atoi(buffer); + goto complete; + +error: + value = -1; + +complete: + if (fd >= 0) + close(fd); + + return value; +} + +int sysfs_value_write(char *path, int value) +{ + char buffer[100]; + int fd = -1; + int rc; + + if (path == NULL) + return -1; + + fd = open(path, O_WRONLY); + if (fd < 0) + goto error; + + snprintf((char *) &buffer, sizeof(buffer), "%d\n", value); + + rc = write(fd, buffer, strlen(buffer)); + if (rc < (int) strlen(buffer)) + goto error; + + rc = 0; + goto complete; + +error: + rc = -1; + +complete: + if (fd >= 0) + close(fd); + + return rc; +} + +int sysfs_string_read(char *path, char *buffer, size_t length) +{ + int fd = -1; + int rc; + + if (path == NULL || buffer == NULL || length == 0) + return -1; + + fd = open(path, O_RDONLY); + if (fd < 0) + goto error; + + rc = read(fd, buffer, length); + if (rc <= 0) + goto error; + + rc = 0; + goto complete; + +error: + rc = -1; + +complete: + if (fd >= 0) + close(fd); + + return rc; +} + +int sysfs_string_write(char *path, char *buffer, size_t length) +{ + int fd = -1; + int rc; + + if (path == NULL || buffer == NULL || length == 0) + return -1; + + fd = open(path, O_WRONLY); + if (fd < 0) + goto error; + + rc = write(fd, buffer, length); + if (rc <= 0) + goto error; + + rc = 0; + goto complete; + +error: + rc = -1; + +complete: + if (fd >= 0) + close(fd); + + return rc; +} diff --git a/sensors/k3g.c b/sensors/k3g.c new file mode 100644 index 0000000..5f166f5 --- /dev/null +++ b/sensors/k3g.c @@ -0,0 +1,254 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr> + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + */ + +#include <stdlib.h> +#include <unistd.h> +#include <stdint.h> +#include <fcntl.h> +#include <errno.h> +#include <math.h> +#include <sys/types.h> +#include <linux/ioctl.h> +#include <linux/input.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "herring_sensors" +#include <utils/Log.h> + +#include "herring_sensors.h" + +struct k3g_data { + char path_enable[PATH_MAX]; + char path_delay[PATH_MAX]; + + sensors_vec_t gyro; +}; + +int k3g_init(struct herring_sensors_handlers *handlers, + struct herring_sensors_device *device) +{ + struct k3g_data *data = NULL; + char path[PATH_MAX] = { 0 }; + int input_fd = -1; + int rc; + + ALOGD("%s(%p, %p)", __func__, handlers, device); + + if (handlers == NULL) + return -EINVAL; + + data = (struct k3g_data *) calloc(1, sizeof(struct k3g_data)); + + input_fd = input_open("gyro"); + if (input_fd < 0) { + ALOGE("%s: Unable to open input", __func__); + goto error; + } + + rc = sysfs_path_prefix("gyro", (char *) &path); + if (rc < 0 || path[0] == '\0') { + ALOGE("%s: Unable to open sysfs", __func__); + goto error; + } + + snprintf(data->path_enable, PATH_MAX, "%s/enable", path); + snprintf(data->path_delay, PATH_MAX, "%s/poll_delay", path); + + handlers->poll_fd = input_fd; + handlers->data = (void *) data; + + return 0; + +error: + if (data != NULL) + free(data); + + if (input_fd >= 0) + close(input_fd); + + handlers->poll_fd = -1; + handlers->data = NULL; + + return -1; +} + +int k3g_deinit(struct herring_sensors_handlers *handlers) +{ + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL) + return -EINVAL; + + if (handlers->poll_fd >= 0) + close(handlers->poll_fd); + handlers->poll_fd = -1; + + if (handlers->data != NULL) + free(handlers->data); + handlers->data = NULL; + + return 0; +} + +int k3g_activate(struct herring_sensors_handlers *handlers) +{ + struct k3g_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct k3g_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 1); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int k3g_deactivate(struct herring_sensors_handlers *handlers) +{ + struct k3g_data *data; + int rc; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct k3g_data *) handlers->data; + + rc = sysfs_value_write(data->path_enable, 0); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + handlers->activated = 1; + + return 0; +} + +int k3g_set_delay(struct herring_sensors_handlers *handlers, long int delay) +{ + struct k3g_data *data; + int rc; + + ALOGD("%s(%p, %ld)", __func__, handlers, delay); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct k3g_data *) handlers->data; + + rc = sysfs_value_write(data->path_delay, (int) delay); + if (rc < 0) { + ALOGE("%s: Unable to write sysfs value", __func__); + return -1; + } + + return 0; +} + +float k3g_convert(int value) +{ + return value * (70.0f / 1000.0f) * (3.1415926535f / 180.0f); +} + +int k3g_get_data(struct herring_sensors_handlers *handlers, + struct sensors_event_t *event) +{ + struct k3g_data *data; + struct input_event input_event; + int input_fd; + int rc; + +// ALOGD("%s(%p, %p)", __func__, handlers, event); + + if (handlers == NULL || handlers->data == NULL || event == NULL) + return -EINVAL; + + data = (struct k3g_data *) handlers->data; + + input_fd = handlers->poll_fd; + if (input_fd < 0) + return -EINVAL; + + memset(event, 0, sizeof(struct sensors_event_t)); + event->version = sizeof(struct sensors_event_t); + event->sensor = handlers->handle; + event->type = handlers->handle; + + event->gyro.x = data->gyro.x; + event->gyro.y = data->gyro.y; + event->gyro.z = data->gyro.z; + + do { + rc = read(input_fd, &input_event, sizeof(input_event)); + if (rc < (int) sizeof(input_event)) + break; + + if (input_event.type == EV_REL) { + switch (input_event.code) { + case REL_RX: + event->gyro.y = k3g_convert(input_event.value * -1); + break; + case REL_RY: + event->gyro.x = k3g_convert(input_event.value); + break; + case REL_RZ: + event->gyro.z = k3g_convert(input_event.value); + break; + default: + continue; + } + } else if (input_event.type == EV_SYN) { + if (input_event.code == SYN_REPORT) + event->timestamp = input_timestamp(&input_event); + } + } while (input_event.type != EV_SYN); + + data->gyro.x = event->gyro.x; + data->gyro.y = event->gyro.y; + data->gyro.z = event->gyro.z; + + return 0; +} + +struct herring_sensors_handlers k3g = { + .name = "K3G", + .handle = SENSOR_TYPE_GYROSCOPE, + .init = k3g_init, + .deinit = k3g_deinit, + .activate = k3g_activate, + .deactivate = k3g_deactivate, + .set_delay = k3g_set_delay, + .get_data = k3g_get_data, + .activated = 0, + .needed = 0, + .poll_fd = -1, + .data = NULL, +}; diff --git a/sensors/kr3dm.c b/sensors/kr3dm.c new file mode 100644 index 0000000..c68c77d --- /dev/null +++ b/sensors/kr3dm.c @@ -0,0 +1,375 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr> + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + */ + +#include <stdlib.h> +#include <unistd.h> +#include <stdint.h> +#include <fcntl.h> +#include <errno.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "herring_sensors" +#include <utils/Log.h> + +#include "herring_sensors.h" +#include "kr3dm.h" + +struct kr3dm_data { + struct herring_sensors_handlers *orientation_sensor; + + long int delay; + int device_fd; + int uinput_fd; + + pthread_t thread; + pthread_mutex_t mutex; + int thread_continue; +}; + +void *kr3dm_thread(void *thread_data) +{ + struct herring_sensors_handlers *handlers = NULL; + struct kr3dm_data *data = NULL; + struct input_event event; + struct timeval time; + struct kr3dm_acceldata acceleration_data; + long int before, after; + int diff; + int device_fd; + int uinput_fd; + int rc; + + if (thread_data == NULL) + return NULL; + + handlers = (struct herring_sensors_handlers *) thread_data; + if (handlers->data == NULL) + return NULL; + + data = (struct kr3dm_data *) handlers->data; + + device_fd = data->device_fd; + if (device_fd < 0) + return NULL; + + uinput_fd = data->uinput_fd; + if (uinput_fd < 0) + return NULL; + + while (data->thread_continue) { + pthread_mutex_lock(&data->mutex); + if (!data->thread_continue) + break; + + while (handlers->activated) { + gettimeofday(&time, NULL); + before = timestamp(&time); + + memset(&acceleration_data, 0, sizeof(acceleration_data)); + + rc = ioctl(device_fd, KR3DM_IOCTL_READ_ACCEL_XYZ, &acceleration_data); + if (rc < 0) { + ALOGE("%s: Unable to get kr3dm data", __func__); + return NULL; + } + + input_event_set(&event, EV_REL, REL_X, (int) (acceleration_data.x * 1000)); + write(uinput_fd, &event, sizeof(event)); + input_event_set(&event, EV_REL, REL_Y, (int) (acceleration_data.y * 1000)); + write(uinput_fd, &event, sizeof(event)); + input_event_set(&event, EV_REL, REL_Z, (int) (acceleration_data.z * 1000)); + write(uinput_fd, &event, sizeof(event)); + input_event_set(&event, EV_SYN, 0, 0); + write(uinput_fd, &event, sizeof(event)); + +next: + gettimeofday(&time, NULL); + after = timestamp(&time); + + diff = (int) (data->delay - (after - before)) / 1000; + if (diff <= 0) + continue; + + usleep(diff); + } + } + return NULL; +} + +int kr3dm_init(struct herring_sensors_handlers *handlers, + struct herring_sensors_device *device) +{ + struct kr3dm_data *data = NULL; + pthread_attr_t thread_attr; + int device_fd = -1; + int uinput_fd = -1; + int input_fd = -1; + int rc; + int i; + + ALOGD("%s(%p, %p)", __func__, handlers, device); + + if (handlers == NULL || device == NULL) + return -EINVAL; + + data = (struct kr3dm_data *) calloc(1, sizeof(struct kr3dm_data)); + + for (i = 0; i < device->handlers_count; i++) { + if (device->handlers[i] == NULL) + continue; + + if (device->handlers[i]->handle == SENSOR_TYPE_ORIENTATION) + data->orientation_sensor = device->handlers[i]; + } + + device_fd = open("/dev/accelerometer", O_RDONLY); + if (device_fd < 0) { + ALOGE("%s: Unable to open device", __func__); + goto error; + } + + uinput_fd = uinput_rel_create("acceleration"); + if (uinput_fd < 0) { + ALOGD("%s: Unable to create uinput", __func__); + goto error; + } + + input_fd = input_open("acceleration"); + if (input_fd < 0) { + ALOGE("%s: Unable to open acceleration input", __func__); + goto error; + } + + data->thread_continue = 1; + + pthread_mutex_init(&data->mutex, NULL); + pthread_mutex_lock(&data->mutex); + + pthread_attr_init(&thread_attr); + pthread_attr_setdetachstate(&thread_attr, PTHREAD_CREATE_DETACHED); + + rc = pthread_create(&data->thread, &thread_attr, kr3dm_thread, (void *) handlers); + if (rc < 0) { + ALOGE("%s: Unable to create kr3dm thread", __func__); + pthread_mutex_destroy(&data->mutex); + goto error; + } + + data->device_fd = device_fd; + data->uinput_fd = uinput_fd; + handlers->poll_fd = input_fd; + handlers->data = (void *) data; + + return 0; + +error: + if (data != NULL) + free(data); + + if (uinput_fd >= 0) + close(uinput_fd); + + if (input_fd >= 0) + close(input_fd); + + if (device_fd >= 0) + close(device_fd); + + handlers->poll_fd = -1; + handlers->data = NULL; + + return -1; +} + +int kr3dm_deinit(struct herring_sensors_handlers *handlers) +{ + struct kr3dm_data *data = NULL; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct kr3dm_data *) handlers->data; + + handlers->activated = 0; + data->thread_continue = 0; + pthread_mutex_unlock(&data->mutex); + + pthread_mutex_destroy(&data->mutex); + + if (data->uinput_fd >= 0) { + uinput_destroy(data->uinput_fd); + close(data->uinput_fd); + } + data->uinput_fd = -1; + + if (handlers->poll_fd >= 0) + close(handlers->poll_fd); + handlers->poll_fd = -1; + + if (data->device_fd >= 0) + close(data->device_fd); + data->device_fd = -1; + + free(handlers->data); + handlers->data = NULL; + + return 0; +} + +int kr3dm_activate(struct herring_sensors_handlers *handlers) +{ + struct kr3dm_data *data; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct kr3dm_data *) handlers->data; + + handlers->activated = 1; + pthread_mutex_unlock(&data->mutex); + + return 0; +} + +int kr3dm_deactivate(struct herring_sensors_handlers *handlers) +{ + struct kr3dm_data *data; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct kr3dm_data *) handlers->data; + + handlers->activated = 0; + + return 0; +} + +int kr3dm_set_delay(struct herring_sensors_handlers *handlers, long int delay) +{ + struct kr3dm_data *data; + int64_t d; + int device_fd; + int rc; + + ALOGD("%s(%p, %ld)", __func__, handlers, delay); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct kr3dm_data *) handlers->data; + + device_fd = data->device_fd; + if (device_fd < 0) + return -1; + + d = (int64_t) delay; + rc = ioctl(device_fd, KR3DM_IOCTL_SET_DELAY, &d); + if (rc < 0) { + ALOGE("%s: Unable to set kr3dm delay", __func__); + return -1; + } + + data->delay = delay; + + return 0; +} + +float kr3dm_convert(int value) +{ + return (float) (value / 1000.0f) * GRAVITY_EARTH / 64.0f / 8.0f; +} + +int kr3dm_get_data(struct herring_sensors_handlers *handlers, + struct sensors_event_t *event) +{ + struct kr3dm_data *data; + struct input_event input_event; + int input_fd; + int rc; + +// ALOGD("%s(%p, %p)", __func__, handlers, event); + + if (handlers == NULL || handlers->data == NULL || event == NULL) + return -EINVAL; + + data = (struct kr3dm_data *) handlers->data; + + input_fd = handlers->poll_fd; + if (input_fd < 0) + return -1; + + memset(event, 0, sizeof(struct sensors_event_t)); + event->version = sizeof(struct sensors_event_t); + event->sensor = handlers->handle; + event->type = handlers->handle; + + event->magnetic.status = SENSOR_STATUS_ACCURACY_MEDIUM; + + do { + rc = read(input_fd, &input_event, sizeof(input_event)); + if (rc < (int) sizeof(input_event)) + break; + + if (input_event.type == EV_REL) { + switch (input_event.code) { + case REL_X: + event->acceleration.y = kr3dm_convert(input_event.value * -1); + break; + case REL_Y: + event->acceleration.x = kr3dm_convert(input_event.value); + break; + case REL_Z: + event->acceleration.z = kr3dm_convert(input_event.value); + break; + default: + continue; + } + } else if (input_event.type == EV_SYN) { + if (input_event.code == SYN_REPORT) + event->timestamp = input_timestamp(&input_event); + } + } while (input_event.type != EV_SYN); + + if (data->orientation_sensor != NULL) + orientation_fill(data->orientation_sensor, &event->acceleration, NULL); + + return 0; +} + +struct herring_sensors_handlers kr3dm = { + .name = "KR3DM", + .handle = SENSOR_TYPE_ACCELEROMETER, + .init = kr3dm_init, + .deinit = kr3dm_deinit, + .activate = kr3dm_activate, + .deactivate = kr3dm_deactivate, + .set_delay = kr3dm_set_delay, + .get_data = kr3dm_get_data, + .activated = 0, + .needed = 0, + .poll_fd = -1, + .data = NULL, +}; diff --git a/sensors/kr3dm.h b/sensors/kr3dm.h new file mode 100644 index 0000000..d404d28 --- /dev/null +++ b/sensors/kr3dm.h @@ -0,0 +1,46 @@ +/* + * STMicroelectronics kr3dm acceleration sensor driver + * + * Copyright (C) 2010 Samsung Electronics Co.Ltd + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + */ + +#ifndef __KR3DM_ACC_HEADER__ +#define __KR3DM__ACC_HEADER__ + +#include <linux/types.h> +#include <linux/ioctl.h> + +struct kr3dm_acceldata { + __s16 x; + __s16 y; + __s16 z; +}; + +/* dev info */ +#define ACC_DEV_NAME "accelerometer" + +/* kr3dm ioctl command label */ +#define KR3DM_IOCTL_BASE 'a' +#define KR3DM_IOCTL_SET_DELAY _IOW(KR3DM_IOCTL_BASE, 0, int64_t) +#define KR3DM_IOCTL_GET_DELAY _IOR(KR3DM_IOCTL_BASE, 1, int64_t) +#define KR3DM_IOCTL_READ_ACCEL_XYZ _IOR(KR3DM_IOCTL_BASE, 8, \ + struct kr3dm_acceldata) + +#ifdef __KERNEL__ +struct kr3dm_platform_data { + int gpio_acc_int; /* gpio for kr3dm int output */ + s8 *rotation; /* rotation matrix, if NULL assume Id */ +}; +#endif /* __KERNEL__ */ + +#endif diff --git a/sensors/orientation.c b/sensors/orientation.c new file mode 100644 index 0000000..40a7872 --- /dev/null +++ b/sensors/orientation.c @@ -0,0 +1,444 @@ +/* + * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr> + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + */ + +#include <stdlib.h> +#include <unistd.h> +#include <stddef.h> +#include <fcntl.h> +#include <errno.h> +#include <math.h> +#include <linux/ioctl.h> +#include <linux/uinput.h> +#include <linux/input.h> + +#include <hardware/sensors.h> +#include <hardware/hardware.h> + +#define LOG_TAG "herring_sensors" +#include <utils/Log.h> + +#include "herring_sensors.h" + +struct orientation_data { + struct herring_sensors_handlers *acceleration_sensor; + struct herring_sensors_handlers *magnetic_sensor; + + sensors_vec_t orientation; + sensors_vec_t acceleration; + sensors_vec_t magnetic; + + long int delay; + int uinput_fd; + + pthread_t thread; + pthread_mutex_t mutex; + int thread_continue; +}; + +static float rad2deg(float v) +{ + return (v * 180.0f / 3.1415926535f); +} + +static float vector_scalar(sensors_vec_t *v, sensors_vec_t *d) +{ + return v->x * d->x + v->y * d->y + v->z * d->z; +} + +static float vector_length(sensors_vec_t *v) +{ + return sqrtf(vector_scalar(v, v)); +} + +void orientation_calculate(sensors_vec_t *a, sensors_vec_t *m, sensors_vec_t *o) +{ + float azimuth, pitch, roll; + float la, sinp, cosp, sinr, cosr, x, y; + + if (a == NULL || m == NULL || o == NULL) + return; + + la = vector_length(a); + pitch = asinf(-(a->y) / la); + roll = asinf((a->x) / la); + + sinp = sinf(pitch); + cosp = cosf(pitch); + sinr = sinf(roll); + cosr = cosf(roll); + + y = -(m->x) * cosr + m->z * sinr; + x = m->x * sinp * sinr + m->y * cosp + m->z * sinp * cosr; + azimuth = atan2f(y, x); + + o->azimuth = rad2deg(azimuth); + o->pitch = rad2deg(pitch); + o->roll = rad2deg(roll); + + if (o->azimuth < 0) + o->azimuth += 360.0f; +} + +void *orientation_thread(void *thread_data) +{ + struct herring_sensors_handlers *handlers = NULL; + struct orientation_data *data = NULL; + struct input_event event; + struct timeval time; + long int before, after; + int diff; + int uinput_fd; + + if (thread_data == NULL) + return NULL; + + handlers = (struct herring_sensors_handlers *) thread_data; + if (handlers->data == NULL) + return NULL; + + data = (struct orientation_data *) handlers->data; + + uinput_fd = data->uinput_fd; + if (uinput_fd < 0) + return NULL; + + while (data->thread_continue) { + pthread_mutex_lock(&data->mutex); + if (!data->thread_continue) + break; + + while (handlers->activated) { + gettimeofday(&time, NULL); + before = timestamp(&time); + + orientation_calculate(&data->acceleration, &data->magnetic, &data->orientation); + + input_event_set(&event, EV_REL, REL_X, (int) (data->orientation.azimuth * 1000)); + write(uinput_fd, &event, sizeof(event)); + input_event_set(&event, EV_REL, REL_Y, (int) (data->orientation.pitch * 1000)); + write(uinput_fd, &event, sizeof(event)); + input_event_set(&event, EV_REL, REL_Z, (int) (data->orientation.roll * 1000)); + write(uinput_fd, &event, sizeof(event)); + input_event_set(&event, EV_SYN, 0, 0); + write(uinput_fd, &event, sizeof(event)); + + gettimeofday(&time, NULL); + after = timestamp(&time); + + diff = (int) (data->delay - (after - before)) / 1000; + if (diff <= 0) + continue; + + usleep(diff); + } + } + + return NULL; +} + +int orientation_fill(struct herring_sensors_handlers *handlers, + sensors_vec_t *acceleration, sensors_vec_t *magnetic) +{ + struct orientation_data *data; + +// ALOGD("%s(%p, %p, %p)", __func__, handlers, acceleration, magnetic); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct orientation_data *) handlers->data; + + if (acceleration != NULL) { + data->acceleration.x = acceleration->x; + data->acceleration.y = acceleration->y; + data->acceleration.z = acceleration->z; + } + + if (magnetic != NULL) { + data->magnetic.x = magnetic->x; + data->magnetic.y = magnetic->y; + data->magnetic.z = magnetic->z; + } + + return 0; +} + +int orientation_init(struct herring_sensors_handlers *handlers, + struct herring_sensors_device *device) +{ + struct orientation_data *data = NULL; + pthread_attr_t thread_attr; + int uinput_fd = -1; + int input_fd = -1; + int rc; + int i; + + ALOGD("%s(%p, %p)", __func__, handlers, device); + + if (handlers == NULL || device == NULL) + return -EINVAL; + + data = (struct orientation_data *) calloc(1, sizeof(struct orientation_data)); + + for (i = 0; i < device->handlers_count; i++) { + if (device->handlers[i] == NULL) + continue; + + if (device->handlers[i]->handle == SENSOR_TYPE_ACCELEROMETER) + data->acceleration_sensor = device->handlers[i]; + else if (device->handlers[i]->handle == SENSOR_TYPE_MAGNETIC_FIELD) + data->magnetic_sensor = device->handlers[i]; + } + + if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL) { + ALOGE("%s: Missing sensors for orientation", __func__); + goto error; + } + + uinput_fd = uinput_rel_create("orientation"); + if (uinput_fd < 0) { + ALOGD("%s: Unable to create uinput", __func__); + goto error; + } + + input_fd = input_open("orientation"); + if (input_fd < 0) { + ALOGE("%s: Unable to open orientation input", __func__); + goto error; + } + + data->thread_continue = 1; + + pthread_mutex_init(&data->mutex, NULL); + pthread_mutex_lock(&data->mutex); + + pthread_attr_init(&thread_attr); + pthread_attr_setdetachstate(&thread_attr, PTHREAD_CREATE_DETACHED); + + rc = pthread_create(&data->thread, &thread_attr, orientation_thread, (void *) handlers); + if (rc < 0) { + ALOGE("%s: Unable to create orientation thread", __func__); + pthread_mutex_destroy(&data->mutex); + goto error; + } + + data->uinput_fd = uinput_fd; + handlers->poll_fd = input_fd; + handlers->data = (void *) data; + + return 0; + +error: + if (data != NULL) + free(data); + + if (uinput_fd >= 0) + close(uinput_fd); + + if (input_fd >= 0) + close(input_fd); + + handlers->poll_fd = -1; + handlers->data = NULL; + + return -1; +} + +int orientation_deinit(struct herring_sensors_handlers *handlers) +{ + struct orientation_data *data; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct orientation_data *) handlers->data; + + handlers->activated = 0; + data->thread_continue = 0; + pthread_mutex_unlock(&data->mutex); + + pthread_mutex_destroy(&data->mutex); + + if (data->uinput_fd >= 0) { + uinput_destroy(data->uinput_fd); + close(data->uinput_fd); + } + data->uinput_fd = -1; + + if (handlers->poll_fd >= 0) + close(handlers->poll_fd); + handlers->poll_fd = -1; + + free(handlers->data); + handlers->data = NULL; + + return 0; +} + +int orientation_activate(struct herring_sensors_handlers *handlers) +{ + struct orientation_data *data; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct orientation_data *) handlers->data; + + if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL) + return -1; + + data->acceleration_sensor->needed |= HERRING_SENSORS_NEEDED_ORIENTATION; + if (data->acceleration_sensor->needed == HERRING_SENSORS_NEEDED_ORIENTATION) + data->acceleration_sensor->activate(data->acceleration_sensor); + + data->magnetic_sensor->needed |= HERRING_SENSORS_NEEDED_ORIENTATION; + if (data->magnetic_sensor->needed == HERRING_SENSORS_NEEDED_ORIENTATION) + data->magnetic_sensor->activate(data->magnetic_sensor); + + handlers->activated = 1; + pthread_mutex_unlock(&data->mutex); + + return 0; +} + +int orientation_deactivate(struct herring_sensors_handlers *handlers) +{ + struct orientation_data *data; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct orientation_data *) handlers->data; + + if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL) + return -1; + + data->acceleration_sensor->needed &= ~(HERRING_SENSORS_NEEDED_ORIENTATION); + if (data->acceleration_sensor->needed == 0) + data->acceleration_sensor->deactivate(data->acceleration_sensor); + + data->magnetic_sensor->needed &= ~(HERRING_SENSORS_NEEDED_ORIENTATION); + if (data->magnetic_sensor->needed == 0) + data->magnetic_sensor->deactivate(data->magnetic_sensor); + + handlers->activated = 0; + + return 0; +} + +int orientation_set_delay(struct herring_sensors_handlers *handlers, + long int delay) +{ + struct orientation_data *data; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct orientation_data *) handlers->data; + + if (data->acceleration_sensor == NULL || data->magnetic_sensor == NULL) + return -1; + + if (data->acceleration_sensor->needed == HERRING_SENSORS_NEEDED_ORIENTATION) + data->acceleration_sensor->set_delay(data->acceleration_sensor, delay); + + if (data->magnetic_sensor->needed == HERRING_SENSORS_NEEDED_ORIENTATION) + data->magnetic_sensor->set_delay(data->magnetic_sensor, delay); + + data->delay = delay; + + return 0; +} + +float orientation_convert(int value) +{ + return (float) value / 1000.0f; +} + +int orientation_get_data(struct herring_sensors_handlers *handlers, + struct sensors_event_t *event) +{ + struct input_event input_event; + int input_fd = -1; + int rc; + +// ALOGD("%s(%p, %p)", __func__, handlers, event); + + if (handlers == NULL || event == NULL) + return -EINVAL; + + input_fd = handlers->poll_fd; + if (input_fd < 0) + return -EINVAL; + + memset(event, 0, sizeof(struct sensors_event_t)); + event->version = sizeof(struct sensors_event_t); + event->sensor = handlers->handle; + event->type = handlers->handle; + + event->orientation.status = SENSOR_STATUS_ACCURACY_MEDIUM; + + do { + rc = read(input_fd, &input_event, sizeof(input_event)); + if (rc < (int) sizeof(input_event)) + break; + + if (input_event.type == EV_REL) { + switch (input_event.code) { + case REL_X: + event->orientation.azimuth = orientation_convert(input_event.value); + break; + case REL_Y: + event->orientation.pitch = orientation_convert(input_event.value); + break; + case REL_Z: + event->orientation.roll = orientation_convert(input_event.value); + break; + default: + continue; + } + } else if (input_event.type == EV_SYN) { + if (input_event.code == SYN_REPORT) + event->timestamp = input_timestamp(&input_event); + } + } while (input_event.type != EV_SYN); + + return 0; +} + +struct herring_sensors_handlers orientation = { + .name = "Orientation", + .handle = SENSOR_TYPE_ORIENTATION, + .init = orientation_init, + .deinit = orientation_deinit, + .activate = orientation_activate, + .deactivate = orientation_deactivate, + .set_delay = orientation_set_delay, + .get_data = orientation_get_data, + .activated = 0, + .needed = 0, + .poll_fd = -1, + .data = NULL, +}; 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