1 files changed, 293 insertions, 0 deletions
diff --git a/sensors/bma250.c b/sensors/bma250.c
new file mode 100644
index 0000000..09d2f84
--- /dev/null
+++ b/sensors/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 <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "piranha_sensors"
+#include <utils/Log.h>
+
+#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;
+
+	LOGD("%s(%p, %p)", __func__, handlers, device);
+
+	if (handlers == NULL)
+		return -EINVAL;
+
+	input_fd = input_open("accelerometer");
+	if (input_fd < 0) {
+		LOGE("%s: Unable to open input", __func__);
+		goto error;
+	}
+
+	rc = sysfs_path_prefix("accelerometer", (char *) &path);
+	if (rc < 0 || path[0] == '\0') {
+		LOGE("%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;
+
+	LOGD("%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;
+
+	LOGD("%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) {
+		LOGE("%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;
+
+	LOGD("%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) {
+		LOGE("%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;
+
+//	LOGD("%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) {
+		LOGE("%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 -EINVAL;
+		}
+
+		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,
+};