1 files changed, 372 insertions, 0 deletions
diff --git a/sensors/orientationd/orientationd.c b/sensors/orientationd/orientationd.c
new file mode 100644
index 0000000..7cc9f0a
--- /dev/null
+++ b/sensors/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;
+}