1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
|
/*
* 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 "smdk4x12_sensors"
#include <utils/Log.h>
#include "smdk4x12_sensors.h"
struct lsm330dlc_gyroscope_data {
char path_enable[PATH_MAX];
char path_delay[PATH_MAX];
sensors_vec_t gyro;
};
int lsm330dlc_gyroscope_init(struct smdk4x12_sensors_handlers *handlers,
struct smdk4x12_sensors_device *device)
{
struct lsm330dlc_gyroscope_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 lsm330dlc_gyroscope_data *) calloc(1, sizeof(struct lsm330dlc_gyroscope_data));
input_fd = input_open("gyro_sensor");
if (input_fd < 0) {
ALOGE("%s: Unable to open input", __func__);
goto error;
}
rc = sysfs_path_prefix("gyro_sensor", (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 lsm330dlc_gyroscope_deinit(struct smdk4x12_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 lsm330dlc_gyroscope_activate(struct smdk4x12_sensors_handlers *handlers)
{
struct lsm330dlc_gyroscope_data *data;
int rc;
ALOGD("%s(%p)", __func__, handlers);
if (handlers == NULL || handlers->data == NULL)
return -EINVAL;
data = (struct lsm330dlc_gyroscope_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 lsm330dlc_gyroscope_deactivate(struct smdk4x12_sensors_handlers *handlers)
{
struct lsm330dlc_gyroscope_data *data;
int rc;
ALOGD("%s(%p)", __func__, handlers);
if (handlers == NULL || handlers->data == NULL)
return -EINVAL;
data = (struct lsm330dlc_gyroscope_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 lsm330dlc_gyroscope_set_delay(struct smdk4x12_sensors_handlers *handlers, int64_t delay)
{
struct lsm330dlc_gyroscope_data *data;
int rc;
ALOGD("%s(%p, %" PRId64 ")", __func__, handlers, delay);
if (handlers == NULL || handlers->data == NULL)
return -EINVAL;
data = (struct lsm330dlc_gyroscope_data *) handlers->data;
rc = sysfs_value_write(data->path_delay, delay);
if (rc < 0) {
ALOGE("%s: Unable to write sysfs value", __func__);
return -1;
}
return 0;
}
float lsm330dlc_gyroscope_convert(int value)
{
return value * (70.0f / 4000.0f) * (3.1415926535f / 180.0f);
}
int lsm330dlc_gyroscope_get_data(struct smdk4x12_sensors_handlers *handlers,
struct sensors_event_t *event)
{
struct lsm330dlc_gyroscope_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 lsm330dlc_gyroscope_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;
event->gyro.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_RX:
event->gyro.x = lsm330dlc_gyroscope_convert(input_event.value);
break;
case REL_RY:
event->gyro.y = lsm330dlc_gyroscope_convert(input_event.value);
break;
case REL_RZ:
event->gyro.z = lsm330dlc_gyroscope_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 smdk4x12_sensors_handlers lsm330dlc_gyroscope = {
.name = "LSM330DLC Gyroscope",
.handle = SENSOR_TYPE_GYROSCOPE,
.init = lsm330dlc_gyroscope_init,
.deinit = lsm330dlc_gyroscope_deinit,
.activate = lsm330dlc_gyroscope_activate,
.deactivate = lsm330dlc_gyroscope_deactivate,
.set_delay = lsm330dlc_gyroscope_set_delay,
.get_data = lsm330dlc_gyroscope_get_data,
.activated = 0,
.needed = 0,
.poll_fd = -1,
.data = NULL,
};
|