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authorArve Hjønnevåg <arve@android.com>2011-06-14 20:47:06 -0700
committerArve Hjønnevåg <arve@android.com>2011-06-16 20:29:17 -0700
commitc36be782a8744d37f459193b7695adfd84d988f2 (patch)
treedc13ce5336922b4a1767863b943bd4e89d88f9a4
parent4a98d285001c23787a0f104c23fd8c5547991317 (diff)
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Add sensors hal
Only the sensors from the invensense library are inclueded fro now. Change-Id: I997d38eb722e2e5c0b44168db8c70282fab407a6
-rw-r--r--device.mk3
-rw-r--r--libsensors/Android.mk39
-rw-r--r--libsensors/sensors.cpp370
-rw-r--r--ueventd.tuna.rc7
4 files changed, 419 insertions, 0 deletions
diff --git a/device.mk b/device.mk
index 9be833c..2dee368 100644
--- a/device.mk
+++ b/device.mk
@@ -32,6 +32,9 @@ PRODUCT_AAPT_CONFIG := normal hdpi xhdpi
# PRODUCT_PACKAGES := \
# liblights.tuna
+PRODUCT_PACKAGES := \
+ sensors.tuna
+
PRODUCT_COPY_FILES := \
$(LOCAL_KERNEL):kernel \
device/samsung/tuna/init.tuna.rc:root/init.tuna.rc \
diff --git a/libsensors/Android.mk b/libsensors/Android.mk
new file mode 100644
index 0000000..6eb9556
--- /dev/null
+++ b/libsensors/Android.mk
@@ -0,0 +1,39 @@
+# Copyright (C) 2008 The Android Open Source Project
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+LOCAL_PATH := $(call my-dir)
+
+ifneq ($(TARGET_SIMULATOR),true)
+
+# HAL module implemenation stored in
+# hw/<SENSORS_HARDWARE_MODULE_ID>.<ro.product.board>.so
+include $(CLEAR_VARS)
+
+LOCAL_MODULE := sensors.tuna
+
+LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
+
+LOCAL_MODULE_TAGS := optional
+
+LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\"
+LOCAL_C_INCLUDES += vendor/invensense/libsensors
+LOCAL_SRC_FILES := \
+ sensors.cpp
+
+LOCAL_SHARED_LIBRARIES := libinvensense_hal libcutils libutils libdl
+
+include $(BUILD_SHARED_LIBRARY)
+
+endif # !TARGET_SIMULATOR
diff --git a/libsensors/sensors.cpp b/libsensors/sensors.cpp
new file mode 100644
index 0000000..44697bf
--- /dev/null
+++ b/libsensors/sensors.cpp
@@ -0,0 +1,370 @@
+
+/*
+ * Copyright (C) 2011 Invensense, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**********Removed the gesture related code from this file for Google code check modified by Meenakshi Ramamoorthi on May 31st **********/
+
+#define LOG_NDEBUG 0
+#define LOG_TAG "Sensors"
+#define FUNC_LOG LOGV("%s", __PRETTY_FUNCTION__)
+
+#include <hardware/sensors.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <dirent.h>
+#include <math.h>
+#include <poll.h>
+#include <pthread.h>
+#include <stdlib.h>
+
+#include <linux/input.h>
+
+#include <utils/Atomic.h>
+#include <utils/Log.h>
+
+#include "sensors.h"
+
+#include "MPLSensor.h"
+
+/*****************************************************************************/
+
+#define DELAY_OUT_TIME 0x7FFFFFFF
+
+#define LIGHT_SENSOR_POLLTIME 2000000000
+
+#define SENSORS_ROTATION_VECTOR (1<<ID_RV)
+#define SENSORS_LINEAR_ACCEL (1<<ID_LA)
+#define SENSORS_GRAVITY (1<<ID_GR)
+#define SENSORS_GYROSCOPE (1<<ID_GY)
+#define SENSORS_ACCELERATION (1<<ID_A)
+#define SENSORS_MAGNETIC_FIELD (1<<ID_M)
+#define SENSORS_ORIENTATION (1<<ID_O)
+
+#define SENSORS_ROTATION_VECTOR_HANDLE (ID_RV)
+#define SENSORS_LINEAR_ACCEL_HANDLE (ID_LA)
+#define SENSORS_GRAVITY_HANDLE (ID_GR)
+#define SENSORS_GYROSCOPE_HANDLE (ID_GY)
+#define SENSORS_ACCELERATION_HANDLE (ID_A)
+#define SENSORS_MAGNETIC_FIELD_HANDLE (ID_M)
+#define SENSORS_ORIENTATION_HANDLE (ID_O)
+
+
+#define AKM_FTRACE 0
+#define AKM_DEBUG 0
+#define AKM_DATA 0
+
+/*****************************************************************************/
+
+/* The SENSORS Module */
+static const struct sensor_t sSensorList[] = {
+ { "MPL rotation vector",
+ "Invensense",
+ 1, SENSORS_ROTATION_VECTOR_HANDLE,
+ SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 20000,{ } },
+ { "MPL linear accel",
+ "Invensense",
+ 1, SENSORS_LINEAR_ACCEL_HANDLE,
+ SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 20000,{ } },
+ { "MPL gravity",
+ "Invensense",
+ 1, SENSORS_GRAVITY_HANDLE,
+ SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 20000,{ } },
+ { "MPL Gyro",
+ "Invensense",
+ 1, SENSORS_GYROSCOPE_HANDLE,
+ SENSOR_TYPE_GYROSCOPE, 10240.0f, 1.0f, 0.5f, 20000,{ } },
+ { "MPL accel",
+ "Invensense",
+ 1, SENSORS_ACCELERATION_HANDLE,
+ SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 20000,{ } },
+ { "MPL magnetic field",
+ "Invensense",
+ 1, SENSORS_MAGNETIC_FIELD_HANDLE,
+ SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 20000,{ } },
+ { "MPL Orientation (android deprecated format)",
+ "Invensense",
+ 1, SENSORS_ORIENTATION_HANDLE,
+ SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 20000,{ } },
+
+
+};
+
+
+static int open_sensors(const struct hw_module_t* module, const char* id,
+ struct hw_device_t** device);
+
+
+static int sensors__get_sensors_list(struct sensors_module_t* module,
+ struct sensor_t const** list)
+{
+ *list = sSensorList;
+ return ARRAY_SIZE(sSensorList);
+}
+
+static struct hw_module_methods_t sensors_module_methods = {
+ open: open_sensors
+};
+
+struct sensors_module_t HAL_MODULE_INFO_SYM = {
+ common: {
+ tag: HARDWARE_MODULE_TAG,
+ version_major: 1,
+ version_minor: 0,
+ id: SENSORS_HARDWARE_MODULE_ID,
+ name: "Invensense module",
+ author: "Invensense Inc.",
+ methods: &sensors_module_methods,
+ },
+ get_sensors_list: sensors__get_sensors_list,
+};
+
+struct sensors_poll_context_t {
+ struct sensors_poll_device_t device; // must be first
+
+ sensors_poll_context_t();
+ ~sensors_poll_context_t();
+ int activate(int handle, int enabled);
+ int setDelay(int handle, int64_t ns);
+ int pollEvents(sensors_event_t* data, int count);
+
+private:
+ enum {
+ mpl = 0, //all mpl entries must be consecutive and in this order
+ mpl_accel,
+ mpl_timer,
+ numSensorDrivers, // wake pipe goes here
+ mpl_power, //special handle for MPL pm interaction
+ numFds,
+ };
+
+ static const size_t wake = numFds - 2;
+ static const char WAKE_MESSAGE = 'W';
+ struct pollfd mPollFds[numFds];
+ int mWritePipeFd;
+ SensorBase* mSensors[numSensorDrivers];
+
+ int handleToDriver(int handle) const {
+ switch (handle) {
+ case ID_RV:
+ case ID_LA:
+ case ID_GR:
+ case ID_GY:
+ case ID_A:
+ case ID_M:
+ case ID_O:
+ return mpl;
+ }
+ return -EINVAL;
+ }
+};
+
+/*****************************************************************************/
+
+sensors_poll_context_t::sensors_poll_context_t()
+{
+ FUNC_LOG;
+ MPLSensor* p_mplsen = new MPLSensor();
+ setCallbackObject(p_mplsen); //setup the callback object for handing mpl callbacks
+
+ mSensors[mpl] = p_mplsen;
+ mPollFds[mpl].fd = mSensors[mpl]->getFd();
+ mPollFds[mpl].events = POLLIN;
+ mPollFds[mpl].revents = 0;
+
+ mSensors[mpl_accel] = mSensors[mpl];
+ mPollFds[mpl_accel].fd = ((MPLSensor*)mSensors[mpl])->getAccelFd();
+ mPollFds[mpl_accel].events = POLLIN;
+ mPollFds[mpl_accel].revents = 0;
+
+ mSensors[mpl_timer] = mSensors[mpl];
+ mPollFds[mpl_timer].fd = ((MPLSensor*)mSensors[mpl])->getTimerFd();
+ mPollFds[mpl_timer].events = POLLIN;
+ mPollFds[mpl_timer].revents = 0;
+
+ int wakeFds[2];
+ int result = pipe(wakeFds);
+ LOGE_IF(result<0, "error creating wake pipe (%s)", strerror(errno));
+ fcntl(wakeFds[0], F_SETFL, O_NONBLOCK);
+ fcntl(wakeFds[1], F_SETFL, O_NONBLOCK);
+ mWritePipeFd = wakeFds[1];
+
+ mPollFds[wake].fd = wakeFds[0];
+ mPollFds[wake].events = POLLIN;
+ mPollFds[wake].revents = 0;
+
+ //setup MPL pm interaction handle
+ mPollFds[mpl_power].fd = ((MPLSensor*)mSensors[mpl])->getPowerFd();
+ mPollFds[mpl_power].events = POLLIN;
+ mPollFds[mpl_power].revents = 0;
+}
+
+sensors_poll_context_t::~sensors_poll_context_t()
+{
+ FUNC_LOG;
+ for (int i=0 ; i<numSensorDrivers ; i++) {
+ delete mSensors[i];
+ }
+ close(mPollFds[wake].fd);
+ close(mWritePipeFd);
+}
+
+int sensors_poll_context_t::activate(int handle, int enabled)
+{
+ FUNC_LOG;
+ int index = handleToDriver(handle);
+ if (index < 0) return index;
+ int err = mSensors[index]->enable(handle, enabled);
+ if (!err) {
+ const char wakeMessage(WAKE_MESSAGE);
+ int result = write(mWritePipeFd, &wakeMessage, 1);
+ LOGE_IF(result<0, "error sending wake message (%s)", strerror(errno));
+ }
+ return err;
+}
+
+int sensors_poll_context_t::setDelay(int handle, int64_t ns)
+{
+ FUNC_LOG;
+ int index = handleToDriver(handle);
+ if (index < 0) return index;
+ return mSensors[index]->setDelay(handle, ns);
+}
+
+int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count)
+{
+ //FUNC_LOG;
+ int nbEvents = 0;
+ int n = 0;
+ int polltime = -1;
+
+ do {
+ // see if we have some leftover from the last poll()
+ for (int i=0 ; count && i<numSensorDrivers ; i++) {
+ SensorBase* const sensor(mSensors[i]);
+ if ((mPollFds[i].revents & POLLIN) || (sensor->hasPendingEvents())) {
+ int nb = sensor->readEvents(data, count);
+ if (nb < count) {
+ // no more data for this sensor
+ mPollFds[i].revents = 0;
+ }
+ count -= nb;
+ nbEvents += nb;
+ data += nb;
+
+ //special handling for the mpl, which has multiple handles
+ if(i==mpl) {
+ i+=2; //skip accel and timer
+ mPollFds[mpl_accel].revents = 0;
+ mPollFds[mpl_timer].revents = 0;
+ }
+ if(i==mpl_accel) {
+ i+=1; //skip timer
+ mPollFds[mpl_timer].revents = 0;
+ }
+ }
+ }
+
+ if (count) {
+ // we still have some room, so try to see if we can get
+ // some events immediately or just wait if we don't have
+ // anything to return
+ int i;
+
+ n = poll(mPollFds, numFds, nbEvents ? 0 : polltime);
+ if (n<0) {
+ LOGE("poll() failed (%s)", strerror(errno));
+ return -errno;
+ }
+ if (mPollFds[wake].revents & POLLIN) {
+ char msg;
+ int result = read(mPollFds[wake].fd, &msg, 1);
+ LOGE_IF(result<0, "error reading from wake pipe (%s)", strerror(errno));
+ LOGE_IF(msg != WAKE_MESSAGE, "unknown message on wake queue (0x%02x)", int(msg));
+ mPollFds[wake].revents = 0;
+ }
+ if(mPollFds[mpl_power].revents & POLLIN) {
+ ((MPLSensor*)mSensors[mpl])->handlePowerEvent();
+ mPollFds[mpl_power].revents = 0;
+ }
+ }
+ // if we have events and space, go read them
+ } while (n && count);
+
+ return nbEvents;
+}
+
+/*****************************************************************************/
+
+static int poll__close(struct hw_device_t *dev)
+{
+ FUNC_LOG;
+ sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
+ if (ctx) {
+ delete ctx;
+ }
+ return 0;
+}
+
+static int poll__activate(struct sensors_poll_device_t *dev,
+ int handle, int enabled)
+{
+ FUNC_LOG;
+ sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
+ return ctx->activate(handle, enabled);
+}
+
+static int poll__setDelay(struct sensors_poll_device_t *dev,
+ int handle, int64_t ns)
+{
+ FUNC_LOG;
+ sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
+ return ctx->setDelay(handle, ns);
+}
+
+static int poll__poll(struct sensors_poll_device_t *dev,
+ sensors_event_t* data, int count)
+{
+ //FUNC_LOG;
+ sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
+ return ctx->pollEvents(data, count);
+}
+
+/*****************************************************************************/
+
+/** Open a new instance of a sensor device using name */
+static int open_sensors(const struct hw_module_t* module, const char* id,
+ struct hw_device_t** device)
+{
+ FUNC_LOG;
+ int status = -EINVAL;
+ sensors_poll_context_t *dev = new sensors_poll_context_t();
+
+ memset(&dev->device, 0, sizeof(sensors_poll_device_t));
+
+ dev->device.common.tag = HARDWARE_DEVICE_TAG;
+ dev->device.common.version = 0;
+ dev->device.common.module = const_cast<hw_module_t*>(module);
+ dev->device.common.close = poll__close;
+ dev->device.activate = poll__activate;
+ dev->device.setDelay = poll__setDelay;
+ dev->device.poll = poll__poll;
+
+ *device = &dev->device.common;
+ status = 0;
+
+ return status;
+}
+
+
diff --git a/ueventd.tuna.rc b/ueventd.tuna.rc
index f0ddbd8..4c8d83d 100644
--- a/ueventd.tuna.rc
+++ b/ueventd.tuna.rc
@@ -5,3 +5,10 @@
#for SYSLINK
/dev/rpmsg-omx0 0666 system system
/dev/rpmsg-omx1 0666 system system
+
+#for Sensors
+/dev/mpu 0660 system system
+/dev/mpuirq 0660 system system
+/dev/accelirq 0660 system system
+/dev/compassirq 0660 system system
+/dev/timerirq 0660 system system