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-rw-r--r--sensors/bma250.c260
1 files changed, 260 insertions, 0 deletions
diff --git a/sensors/bma250.c b/sensors/bma250.c
new file mode 100644
index 0000000..91d7fc0
--- /dev/null
+++ b/sensors/bma250.c
@@ -0,0 +1,260 @@
+/*
+ * 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 "piranha_sensors"
+#include <utils/Log.h>
+
+#include "piranha_sensors.h"
+
+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;
+
+ data = (struct bma250_data *) calloc(1, sizeof(struct bma250_data));
+
+ 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;
+ }
+
+ 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 (data != NULL)
+ free(data);
+
+ if (input_fd >= 0)
+ close(input_fd);
+
+ handlers->poll_fd = -1;
+ handlers->data = NULL;
+
+ return -1;
+}
+
+int bma250_deinit(struct piranha_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 bma250_activate(struct piranha_sensors_handlers *handlers)
+{
+ struct bma250_data *data;
+ int rc;
+
+ ALOGD("%s(%p)", __func__, handlers);
+
+ if (handlers == NULL || handlers->data == NULL)
+ return -EINVAL;
+
+ data = (struct bma250_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 bma250_deactivate(struct piranha_sensors_handlers *handlers)
+{
+ struct bma250_data *data;
+ int rc;
+
+ ALOGD("%s(%p)", __func__, handlers);
+
+ if (handlers == NULL || handlers->data == NULL)
+ return -EINVAL;
+
+ data = (struct bma250_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 bma250_set_delay(struct piranha_sensors_handlers *handlers, long int delay)
+{
+ struct bma250_data *data;
+ int d;
+ int rc;
+
+ ALOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+ if (handlers == NULL || handlers->data == NULL)
+ return -EINVAL;
+
+ data = (struct bma250_data *) handlers->data;
+
+ if (delay < 10000000)
+ d = 10;
+ else
+ d = delay / 1000000;
+
+ rc = sysfs_value_write(data->path_delay, d);
+ if (rc < 0) {
+ ALOGE("%s: Unable to write sysfs value", __func__);
+ return -1;
+ }
+
+ return 0;
+}
+
+float bma250_convert(int value)
+{
+ return 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 rc;
+
+// ALOGD("%s(%p, %p)", __func__, handlers, event);
+
+ 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;
+
+ memset(event, 0, sizeof(struct sensors_event_t));
+ 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;
+
+ do {
+ rc = read(input_fd, &input_event, sizeof(input_event));
+ if (rc < (int) sizeof(input_event))
+ break;
+
+ if (input_event.type == EV_ABS) {
+ switch (input_event.code) {
+ case ABS_X:
+ event->acceleration.x = bma250_convert(input_event.value);
+ break;
+ case ABS_Y:
+ event->acceleration.y = bma250_convert(input_event.value);
+ break;
+ case ABS_Z:
+ event->acceleration.z = bma250_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->acceleration.x = event->acceleration.x;
+ data->acceleration.y = event->acceleration.y;
+ 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,
+ .needed = 0,
+ .poll_fd = -1,
+ .data = NULL,
+};