From 8f588313abf068f0eca3819651a63ce769324ab7 Mon Sep 17 00:00:00 2001 From: Paul Kocialkowski Date: Sat, 21 Dec 2013 17:21:26 +0100 Subject: Herring Sensors Signed-off-by: Paul Kocialkowski --- sensors/kr3dm.c | 375 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 375 insertions(+) create mode 100644 sensors/kr3dm.c (limited to 'sensors/kr3dm.c') 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 + * + * 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 . + */ + +#include +#include +#include +#include +#include + +#include +#include + +#define LOG_TAG "herring_sensors" +#include + +#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, +}; -- cgit v1.1