From c9541c3d21b7f1ada9c37fb65d9abace51cdcdc5 Mon Sep 17 00:00:00 2001 From: Paul Kocialkowski Date: Fri, 6 Sep 2013 09:58:44 -0400 Subject: espresso-common: add opensource sensor hal Change-Id: I45912eb1b0820d4045704fdfa77769dd26b6b22c --- libsensors/bma250.c | 293 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 293 insertions(+) create mode 100644 libsensors/bma250.c (limited to 'libsensors/bma250.c') diff --git a/libsensors/bma250.c b/libsensors/bma250.c new file mode 100644 index 0000000..ce851d7 --- /dev/null +++ b/libsensors/bma250.c @@ -0,0 +1,293 @@ +/* + * 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 + +#include +#include + +#define LOG_TAG "piranha_sensors" +#include + +#include "piranha_sensors.h" + +#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 bma250_data { + char path_enable[PATH_MAX]; + char path_delay[PATH_MAX]; + + sensors_vec_t acceleration; +}; + +int bma250_init(struct piranha_sensors_handlers *handlers, struct piranha_sensors_device *device) +{ + struct bma250_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; + + input_fd = input_open("accelerometer"); + if (input_fd < 0) { + ALOGE("%s: Unable to open input", __func__); + goto error; + } + + rc = sysfs_path_prefix("accelerometer", (char *) &path); + if (rc < 0 || path[0] == '\0') { + ALOGE("%s: Unable to open sysfs", __func__); + goto error; + } + + data = (struct bma250_data *) calloc(1, sizeof(struct bma250_data)); + + snprintf(data->path_enable, PATH_MAX, "%s/enable", path); + snprintf(data->path_delay, PATH_MAX, "%s/delay", path); + + handlers->poll_fd = input_fd; + handlers->data = (void *) data; + + return 0; + +error: + if (input_fd >= 0) + close(input_fd); + + if (data != NULL) + free(data); + + handlers->poll_fd = -1; + handlers->data = NULL; + + return -1; +} + +int bma250_deinit(struct piranha_sensors_handlers *handlers) +{ + int input_fd; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL) + return -EINVAL; + + input_fd = handlers->poll_fd; + if (input_fd >= 0) + close(input_fd); + + handlers->poll_fd = -1; + + if (handlers->data != NULL) + free(handlers->data); + + handlers->data = NULL; + + return 0; +} + +int bma250_activate(struct piranha_sensors_handlers *handlers) +{ + struct bma250_data *data; + char enable[] = "1\n"; + int fd; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct bma250_data *) handlers->data; + + fd = open(data->path_enable, O_WRONLY); + if (fd < 0) { + ALOGE("%s: Unable to open enable path", __func__); + return -1; + } + + write(fd, &enable, sizeof(enable)); + close(fd); + + handlers->activated = 1; + + return 0; +} + +int bma250_deactivate(struct piranha_sensors_handlers *handlers) +{ + struct bma250_data *data; + char enable[] = "0\n"; + int fd; + + ALOGD("%s(%p)", __func__, handlers); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct bma250_data *) handlers->data; + + fd = open(data->path_enable, O_WRONLY); + if (fd < 0) { + ALOGE("%s: Unable to open enable path", __func__); + return -1; + } + + write(fd, &enable, sizeof(enable)); + close(fd); + + handlers->activated = 0; + + return 0; +} + +int bma250_set_delay(struct piranha_sensors_handlers *handlers, int64_t delay) +{ + struct bma250_data *data; + char *value = NULL; + int d; + int c; + int fd; + +// ALOGD("%s(%p, %ld)", __func__, handlers, (long int) delay); + + if (handlers == NULL || handlers->data == NULL) + return -EINVAL; + + data = (struct bma250_data *) handlers->data; + + if (delay < 1000000) + d = 0; + else + d = (int) (delay / 1000000); + + c = asprintf(&value, "%d\n", d); + + fd = open(data->path_delay, O_WRONLY); + if (fd < 0) { + ALOGE("%s: Unable to open delay path", __func__); + return -1; + } + + write(fd, value, c); + close(fd); + + if (value != NULL) + free(value); + + return 0; +} + +float bma250_acceleration(int value) +{ + return (float) (value * GRAVITY_EARTH) / 256.0f; +} + +int bma250_get_data(struct piranha_sensors_handlers *handlers, + struct sensors_event_t *event) +{ + struct bma250_data *data; + struct input_event input_event; + int input_fd; + int flag; + int rc; + + if (handlers == NULL || handlers->data == NULL || event == NULL) + return -EINVAL; + + data = (struct bma250_data *) handlers->data; + + input_fd = handlers->poll_fd; + if (input_fd < 0) + return -EINVAL; + + event->version = sizeof(struct sensors_event_t); + event->sensor = handlers->handle; + event->type = handlers->handle; + + event->acceleration.x = data->acceleration.x; + event->acceleration.y = data->acceleration.y; + event->acceleration.z = data->acceleration.z; + event->acceleration.status = SENSOR_STATUS_ACCURACY_MEDIUM; + + flag = 0; + while ((flag & FLAG_ALL) != FLAG_ALL) { + rc = read(input_fd, &input_event, sizeof(input_event)); + if (rc < (int) sizeof(input_event)) { + if (flag & FLAG_ALL) + break; + else + return -1; + } + + if (input_event.type != EV_ABS) + continue; + + switch (input_event.code) { + case ABS_X: + flag |= FLAG_X; + event->acceleration.x = bma250_acceleration(input_event.value); + break; + case ABS_Y: + flag |= FLAG_Y; + event->acceleration.y = bma250_acceleration(input_event.value); + break; + case ABS_Z: + flag |= FLAG_Z; + event->acceleration.z = bma250_acceleration(input_event.value); + break; + default: + continue; + } + event->timestamp = input_timestamp(&input_event); + } + + if (data->acceleration.x != event->acceleration.x) + data->acceleration.x = event->acceleration.x; + if (data->acceleration.y != event->acceleration.y) + data->acceleration.y = event->acceleration.y; + if (data->acceleration.z != event->acceleration.z) + data->acceleration.z = event->acceleration.z; + + return 0; +} + +struct piranha_sensors_handlers bma250 = { + .name = "BMA250", + .handle = SENSOR_TYPE_ACCELEROMETER, + .init = bma250_init, + .deinit = bma250_deinit, + .activate = bma250_activate, + .deactivate = bma250_deactivate, + .set_delay = bma250_set_delay, + .get_data = bma250_get_data, + .activated = 0, + .poll_fd = -1, + .data = NULL, +}; -- cgit v1.1