Add sensors hal

Only the sensors from the invensense library are inclueded fro now.

Change-Id: I997d38eb722e2e5c0b44168db8c70282fab407a6

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