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-rw-r--r--libsensors/orientationd/input.c125
-rw-r--r--libsensors/orientationd/orientationd.c372
-rw-r--r--libsensors/orientationd/orientationd.h50
-rw-r--r--libsensors/orientationd/vector.c61
4 files changed, 608 insertions, 0 deletions
diff --git a/libsensors/orientationd/input.c b/libsensors/orientationd/input.c
new file mode 100644
index 0000000..eea1494
--- /dev/null
+++ b/libsensors/orientationd/input.c
@@ -0,0 +1,125 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <errno.h>
+
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include "orientationd.h"
+
+int64_t input_timestamp(struct input_event *event)
+{
+ if (event == NULL)
+ return -1;
+
+ return event->time.tv_sec*1000000000LL + event->time.tv_usec*1000;
+}
+
+int input_open(char *name, int write)
+{
+ 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, write ? O_RDWR : 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;
+}
diff --git a/libsensors/orientationd/orientationd.c b/libsensors/orientationd/orientationd.c
new file mode 100644
index 0000000..7cc9f0a
--- /dev/null
+++ b/libsensors/orientationd/orientationd.c
@@ -0,0 +1,372 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski
+ *
+ * Orientation calculation based on AK8975_FS:
+ * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
+ *
+ * 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 <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <errno.h>
+#include <poll.h>
+#include <math.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+
+#include "orientationd.h"
+
+#include <hardware/sensors.h>
+
+#define ABS_CONTROL_REPORT (ABS_THROTTLE)
+
+#define FLAG_X (1 << 0)
+#define FLAG_Y (1 << 1)
+#define FLAG_Z (1 << 2)
+#define FLAG_ALL (FLAG_X | FLAG_Y | FLAG_Z)
+
+struct sensor_device {
+ char *name;
+ int handle;
+ float (*get_data)(int value);
+ int (*set_data)(float value);
+
+ int fd;
+};
+
+struct sensor_data {
+ vector v;
+ int flags;
+};
+
+float rad2deg(float v)
+{
+ return (v * 180.0f / 3.1415926535f);
+}
+
+void orientation_calculate(vector *a, vector *m, vector *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->x = rad2deg(azimuth);
+ o->y = rad2deg(pitch);
+ o->z = rad2deg(roll);
+
+ if (o->x < 0)
+ o->x += 360.0f;
+}
+
+float bma250_acceleration(int value)
+{
+ return (float) (value * GRAVITY_EARTH) / 256.0f;
+}
+
+float yas530c_magnetic(int value)
+{
+ return (float) value / 1000.0f;
+}
+
+int yas_orientation(float value)
+{
+ return (int) (value * 1000);
+}
+
+struct sensor_device bma250_device = {
+ .name = "accelerometer",
+ .handle = SENSOR_TYPE_ACCELEROMETER,
+ .get_data = bma250_acceleration,
+ .set_data = NULL,
+ .fd = -1,
+};
+
+struct sensor_device yas530c_device = {
+ .name = "geomagnetic",
+ .handle = SENSOR_TYPE_MAGNETIC_FIELD,
+ .get_data = yas530c_magnetic,
+ .set_data = NULL,
+ .fd = -1,
+};
+
+struct sensor_device yas_orientation_device = {
+ .name = "orientation",
+ .handle = SENSOR_TYPE_ORIENTATION,
+ .get_data = NULL,
+ .set_data = yas_orientation,
+ .fd = -1,
+};
+
+struct sensor_device *sensor_devices[] = {
+ &bma250_device,
+ &yas530c_device,
+ &yas_orientation_device,
+};
+
+int sensors_devices_count = sizeof(sensor_devices) / sizeof(struct sensor_device *);
+
+int sensor_device_open(struct sensor_device *dev)
+{
+ int fd;
+
+ if (dev == NULL || dev->name == NULL)
+ return -EINVAL;
+
+ printf("Opening %s\n", dev->name);
+
+ fd = input_open(dev->name, dev->handle == SENSOR_TYPE_ORIENTATION ? 1 : 0);
+ if (fd < 0)
+ return -1;
+
+ dev->fd = fd;
+
+ return 0;
+}
+
+void sensor_device_close(struct sensor_device *dev)
+{
+ if (dev == NULL || dev->fd < 0)
+ return;
+
+ close(dev->fd);
+ dev->fd = -1;
+}
+
+struct sensor_device *sensor_device_find_handle(int handle)
+{
+ int i;
+
+ for (i=0 ; i < sensors_devices_count ; i++) {
+ if (sensor_devices[i]->handle == handle)
+ return sensor_devices[i];
+ }
+
+ return NULL;
+}
+
+struct sensor_device *sensor_device_find_fd(int fd)
+{
+ int i;
+
+ for (i=0 ; i < sensors_devices_count ; i++) {
+ if (sensor_devices[i]->fd == fd)
+ return sensor_devices[i];
+ }
+
+ return NULL;
+}
+
+int sensor_device_get_data(struct sensor_device *dev, struct sensor_data *d,
+ struct input_event *e)
+{
+ if (dev == NULL || d == NULL || e == NULL || dev->get_data == NULL)
+ return -EINVAL;
+
+ if (e->type == EV_ABS) {
+ switch (e->code) {
+ case ABS_X:
+ d->v.x = dev->get_data(e->value);
+ d->flags |= FLAG_X;
+ return 0;
+ case ABS_Y:
+ d->v.y = dev->get_data(e->value);
+ d->flags |= FLAG_Y;
+ return 0;
+ case ABS_Z:
+ d->v.z = dev->get_data(e->value);
+ d->flags |= FLAG_Z;
+ return 0;
+ }
+ }
+
+ return -1;
+}
+
+int sensor_device_set_data(struct sensor_device *dev, struct sensor_data *d)
+{
+ struct input_event event;
+
+ if (dev == NULL || d == NULL || dev->set_data == NULL)
+ return -EINVAL;
+
+ event.type = EV_ABS;
+ event.code = ABS_X;
+ event.value = dev->set_data(d->v.x);
+ gettimeofday(&event.time, NULL);
+ write(dev->fd, &event, sizeof(event));
+
+ event.type = EV_ABS;
+ event.code = ABS_Y;
+ event.value = dev->set_data(d->v.y);
+ gettimeofday(&event.time, NULL);
+ write(dev->fd, &event, sizeof(event));
+
+ event.type = EV_ABS;
+ event.code = ABS_Z;
+ event.value = dev->set_data(d->v.z);
+ gettimeofday(&event.time, NULL);
+ write(dev->fd, &event, sizeof(event));
+
+ event.type = EV_SYN;
+ event.code = SYN_REPORT;
+ event.value = 0;
+ gettimeofday(&event.time, NULL);
+ write(dev->fd, &event, sizeof(event));
+
+ return 0;
+}
+
+int sensor_device_control(struct sensor_device *dev, struct input_event *e)
+{
+ int enabled;
+
+ if (dev == NULL || e == NULL)
+ return -EINVAL;
+
+ if (e->type == EV_ABS && e->code == ABS_CONTROL_REPORT) {
+ enabled = e->value & (1 << 16);
+ if (enabled)
+ return 1;
+ else
+ return 0;
+ }
+
+ return -1;
+}
+
+int main(int argc, char *argv[])
+{
+ struct input_event event;
+ struct sensor_data a, m, o;
+
+ struct sensor_device *dev;
+ struct pollfd *poll_fds;
+
+ int enabled, data;
+ int index;
+
+ int rc, c, i;
+
+ memset(&a, 0, sizeof(a));
+ memset(&m, 0, sizeof(m));
+ memset(&o, 0, sizeof(o));
+
+ poll_fds = (struct pollfd *) calloc(1, sizeof(struct pollfd) * sensors_devices_count);
+
+ index = -1;
+ c = 0;
+
+ for (i=0 ; i < sensors_devices_count ; i++) {
+ rc = sensor_device_open(sensor_devices[i]);
+ if (rc < 0)
+ continue;
+
+ poll_fds[c].fd = sensor_devices[i]->fd;
+ poll_fds[c].events = POLLIN;
+
+ if (sensor_devices[i]->handle == SENSOR_TYPE_ORIENTATION && index < 0)
+ index = c;
+
+ c++;
+ }
+
+ if (c <= 0 || index <= 0)
+ goto exit;
+
+ printf("Starting main loop\n");
+
+ enabled = 0;
+ while (1) {
+ data = 0;
+
+ if (enabled)
+ rc = poll(poll_fds, c, -1);
+ else
+ rc = poll(&poll_fds[index], 1, -1);
+
+ if (rc < 0)
+ goto exit;
+
+ for (i=0 ; i < c ; i++) {
+ if (poll_fds[i].revents & POLLIN) {
+ dev = sensor_device_find_fd(poll_fds[i].fd);
+ if (dev == NULL)
+ continue;
+
+ read(dev->fd, &event, sizeof(event));
+
+ switch (dev->handle) {
+ case SENSOR_TYPE_ACCELEROMETER:
+ rc = sensor_device_get_data(dev, &a, &event);
+ if (rc >= 0)
+ data = 1;
+ break;
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ rc = sensor_device_get_data(dev, &m, &event);
+ if (rc >= 0)
+ data = 1;
+ break;
+ case SENSOR_TYPE_ORIENTATION:
+ rc = sensor_device_control(dev, &event);
+ if (rc == 1)
+ enabled = 1;
+ else if (rc == 0)
+ enabled = 0;
+ break;
+ }
+ }
+
+ if (data && a.flags & FLAG_ALL && m.flags & FLAG_ALL) {
+ dev = sensor_device_find_handle(SENSOR_TYPE_ORIENTATION);
+ if (dev == NULL)
+ continue;
+
+ orientation_calculate(&a.v, &m.v, &o.v);
+ sensor_device_set_data(dev, &o);
+ }
+ }
+ }
+
+
+exit:
+ for (i=0 ; i < sensors_devices_count ; i++)
+ sensor_device_close(sensor_devices[i]);
+
+ while (1) {
+ sleep(3600);
+ }
+
+ return 0;
+}
diff --git a/libsensors/orientationd/orientationd.h b/libsensors/orientationd/orientationd.h
new file mode 100644
index 0000000..41aad5e
--- /dev/null
+++ b/libsensors/orientationd/orientationd.h
@@ -0,0 +1,50 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#include <linux/input.h>
+
+#ifndef _ORIENTATION_H_
+#define _ORIENTATION_H_
+
+/*
+ * Vector
+ */
+
+struct vector {
+ float x;
+ float y;
+ float z;
+
+};
+
+typedef struct vector vector;
+
+void vector_add(vector *v, vector *a);
+void vector_multiply(vector *v, float k);
+void vector_cross(vector *v, vector *c, vector *out);
+float vector_scalar(vector *v, vector *d);
+float vector_length(vector *v);
+
+/*
+ * Input
+ */
+
+int64_t input_timestamp(struct input_event *event);
+int input_open(char *name, int write);
+int sysfs_path_prefix(char *name, char *path_prefix);
+
+#endif
diff --git a/libsensors/orientationd/vector.c b/libsensors/orientationd/vector.c
new file mode 100644
index 0000000..ee8ba49
--- /dev/null
+++ b/libsensors/orientationd/vector.c
@@ -0,0 +1,61 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+
+#include "orientationd.h"
+
+void vector_copy(vector *in, vector *out)
+{
+ out->x = in->x;
+ out->y = in->y;
+ out->z = in ->z;
+}
+
+void vector_add(vector *v, vector *a)
+{
+ v->x += a->x;
+ v->y += a->y;
+ v->z += a->z;
+}
+
+void vector_multiply(vector *v, float k)
+{
+ v->x *= k;
+ v->y *= k;
+ v->z *= k;
+}
+
+void vector_cross(vector *v, vector *c, vector *out)
+{
+ struct vector t;
+
+ t.x = v->x * c->z - v->z * c->y;
+ t.y = v->z * c->x - v->x * c->z;
+ t.y = v->y * c->y - v->y * c->x;
+ vector_copy(&t, out);
+}
+
+float vector_scalar(vector *v, vector *d)
+{
+ return v->x * d->x + v->y * d->y + v->z * d->z;
+}
+
+float vector_length(vector *v)
+{
+ return sqrtf(vector_scalar(v, v));
+}
generated by cgit v1.1 at 2024-12-22 22:10:30 +0000