/* * Copyright (C) 2012 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. */ #define LOG_NDEBUG 0 #include <fcntl.h> #include <errno.h> #include <math.h> #include <unistd.h> #include <dirent.h> #include <sys/select.h> #include <cutils/log.h> #include <linux/input.h> #include <string.h> #include "CompassSensor.IIO.9150.h" #include "sensors.h" #include "MPLSupport.h" #include "sensor_params.h" #include "ml_sysfs_helper.h" #define COMPASS_MAX_SYSFS_ATTRB sizeof(compassSysFs) / sizeof(char*) #define COMPASS_NAME "USE_SYSFS" #if defined COMPASS_YAS53x #pragma message("HAL:build Invensense compass cal with YAS53x IIO on secondary bus") #define USE_MPL_COMPASS_HAL (1) #define COMPASS_NAME "INV_YAS530" #elif defined COMPASS_AK8975 #pragma message("HAL:build Invensense compass cal with AK8975 on primary bus") #define USE_MPL_COMPASS_HAL (1) #define COMPASS_NAME "INV_AK8975" #elif defined INVENSENSE_COMPASS_CAL # define COMPASS_NAME "USE_SYSFS" #pragma message("HAL:build Invensense compass cal with compass IIO on secondary bus") #define USE_MPL_COMPASS_HAL (1) #else #pragma message("HAL:build third party compass cal HAL") #define USE_MPL_COMPASS_HAL (0) // TODO: change to vendor's name #define COMPASS_NAME "AKM8975" #endif /*****************************************************************************/ CompassSensor::CompassSensor() : SensorBase(NULL, NULL), compass_fd(-1), mCompassTimestamp(0), mCompassInputReader(8) { VFUNC_LOG; if(!strcmp(COMPASS_NAME, "USE_SYSFS")) { int result = find_name_by_sensor_type("in_magn_scale", "iio:device", sensor_name); if(result) { LOGE("HAL:Cannot read secondary device name - (%d)", result); } dev_name = sensor_name; } LOGI_IF(PROCESS_VERBOSE, "HAL:Secondary Chip Id: %s", dev_name); if(inv_init_sysfs_attributes()) { LOGE("Error Instantiating Compass\n"); return; } memset(mCachedCompassData, 0, sizeof(mCachedCompassData)); LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)", compassSysFs.compass_orient, getTimestamp()); FILE *fptr; fptr = fopen(compassSysFs.compass_orient, "r"); if (fptr != NULL) { int om[9]; if (fscanf(fptr, "%d,%d,%d,%d,%d,%d,%d,%d,%d", &om[0], &om[1], &om[2], &om[3], &om[4], &om[5], &om[6], &om[7], &om[8]) < 0 || fclose(fptr) < 0) { LOGE("HAL:Could not read compass mounting matrix"); } else { LOGV_IF(EXTRA_VERBOSE, "HAL:compass mounting matrix: " "%+d %+d %+d %+d %+d %+d %+d %+d %+d", om[0], om[1], om[2], om[3], om[4], om[5], om[6], om[7], om[8]); mCompassOrientation[0] = om[0]; mCompassOrientation[1] = om[1]; mCompassOrientation[2] = om[2]; mCompassOrientation[3] = om[3]; mCompassOrientation[4] = om[4]; mCompassOrientation[5] = om[5]; mCompassOrientation[6] = om[6]; mCompassOrientation[7] = om[7]; mCompassOrientation[8] = om[8]; } } if (!isIntegrated()) { enable(ID_M, 0); } } CompassSensor::~CompassSensor() { VFUNC_LOG; free(pathP); if( compass_fd > 0) close(compass_fd); } int CompassSensor::getFd() const { VFUNC_LOG; return compass_fd; } /** * @brief This function will enable/disable sensor. * @param[in] handle * which sensor to enable/disable. * @param[in] en * en=1, enable; * en=0, disable * @return if the operation is successful. */ int CompassSensor::enable(int32_t handle, int en) { VFUNC_LOG; int res = 0; res = write_sysfs_int(compassSysFs.compass_enable, en); return res; } int CompassSensor::setDelay(int32_t handle, int64_t ns) { VFUNC_LOG; int tempFd; int res; LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)", 1000000000.f / ns, compassSysFs.compass_rate, getTimestamp()); mDelay = ns; if (ns == 0) return -1; tempFd = open(compassSysFs.compass_rate, O_RDWR); res = write_attribute_sensor(tempFd, 1000000000.f / ns); if(res < 0) { LOGE("HAL:Compass update delay error"); } return res; } int CompassSensor::turnOffCompassFifo(void) { int i, res = 0, tempFd; LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)", 0, compassSysFs.compass_fifo_enable, getTimestamp()); res += write_sysfs_int(compassSysFs.compass_fifo_enable, 0); return res; } int CompassSensor::turnOnCompassFifo(void) { int i, res = 0, tempFd; LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)", 1, compassSysFs.compass_fifo_enable, getTimestamp()); res += write_sysfs_int(compassSysFs.compass_fifo_enable, 1); return res; } /** @brief This function will return the state of the sensor. @return 1=enabled; 0=disabled **/ int CompassSensor::getEnable(int32_t handle) { VFUNC_LOG; return mEnable; } /* use for Invensense compass calibration */ #define COMPASS_EVENT_DEBUG (0) void CompassSensor::processCompassEvent(const input_event *event) { VHANDLER_LOG; switch (event->code) { case EVENT_TYPE_ICOMPASS_X: LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_X\n"); mCachedCompassData[0] = event->value; break; case EVENT_TYPE_ICOMPASS_Y: LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_Y\n"); mCachedCompassData[1] = event->value; break; case EVENT_TYPE_ICOMPASS_Z: LOGV_IF(COMPASS_EVENT_DEBUG, "EVENT_TYPE_ICOMPASS_Z\n"); mCachedCompassData[2] = event->value; break; } mCompassTimestamp = (int64_t)event->time.tv_sec * 1000000000L + event->time.tv_usec * 1000L; } void CompassSensor::getOrientationMatrix(signed char *orient) { VFUNC_LOG; memcpy(orient, mCompassOrientation, sizeof(mCompassOrientation)); } long CompassSensor::getSensitivity() { VFUNC_LOG; long sensitivity; LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)", compassSysFs.compass_scale, getTimestamp()); inv_read_data(compassSysFs.compass_scale, &sensitivity); return sensitivity; } /** @brief This function is called by sensors_mpl.cpp to read sensor data from the driver. @param[out] data sensor data is stored in this variable. Scaled such that 1 uT = 2^16 @para[in] timestamp data's timestamp @return 1, if 1 sample read, 0, if not, negative if error */ int CompassSensor::readSample(long *data, int64_t *timestamp) { VHANDLER_LOG; int numEventReceived = 0, done = 0; ssize_t n = mCompassInputReader.fill(compass_fd); if (n < 0) { LOGE("HAL:no compass events read"); return n; } input_event const* event; while (done == 0 && mCompassInputReader.readEvent(&event)) { int type = event->type; if (type == EV_REL) { processCompassEvent(event); } else if (type == EV_SYN) { *timestamp = mCompassTimestamp; memcpy(data, mCachedCompassData, sizeof(mCachedCompassData)); done = 1; } else { LOGE("HAL:Compass Sensor: unknown event (type=%d, code=%d)", type, event->code); } mCompassInputReader.next(); } return done; } /** * @brief This function will return the current delay for this sensor. * @return delay in nanoseconds. */ int64_t CompassSensor::getDelay(int32_t handle) { VFUNC_LOG; return mDelay; } void CompassSensor::fillList(struct sensor_t *list) { VFUNC_LOG; const char *compass = sensor_name; if (compass) { if(!strcmp(compass, "INV_COMPASS")) { list->maxRange = COMPASS_MPU9150_RANGE; list->resolution = COMPASS_MPU9150_RESOLUTION; list->power = COMPASS_MPU9150_POWER; list->minDelay = COMPASS_MPU9150_MINDELAY; return; } if(!strcmp(compass, "compass") || !strcmp(compass, "INV_AK8975") || !strncmp(compass, "AK89xx",2) || !strncmp(compass, "ak89xx",2)) { list->maxRange = COMPASS_AKM8975_RANGE; list->resolution = COMPASS_AKM8975_RESOLUTION; list->power = COMPASS_AKM8975_POWER; list->minDelay = COMPASS_AKM8975_MINDELAY; return; } if(!strcmp(compass, "compass") || !strncmp(compass, "mlx90399",3) || !strncmp(compass, "MLX90399",3)) { list->maxRange = COMPASS_MPU9350_RANGE; list->resolution = COMPASS_MPU9350_RESOLUTION; list->power = COMPASS_MPU9350_POWER; list->minDelay = COMPASS_MPU9350_MINDELAY; return; } if(!strcmp(compass, "INV_YAS530")) { list->maxRange = COMPASS_YAS53x_RANGE; list->resolution = COMPASS_YAS53x_RESOLUTION; list->power = COMPASS_YAS53x_POWER; list->minDelay = COMPASS_YAS53x_MINDELAY; return; } if(!strcmp(compass, "INV_AMI306")) { list->maxRange = COMPASS_AMI306_RANGE; list->resolution = COMPASS_AMI306_RESOLUTION; list->power = COMPASS_AMI306_POWER; list->minDelay = COMPASS_AMI306_MINDELAY; return; } } LOGE("HAL:unknown compass id %s -- " "params default to ak8975 and might be wrong.", compass); list->maxRange = COMPASS_AKM8975_RANGE; list->resolution = COMPASS_AKM8975_RESOLUTION; list->power = COMPASS_AKM8975_POWER; list->minDelay = COMPASS_AKM8975_MINDELAY; } int CompassSensor::inv_init_sysfs_attributes(void) { VFUNC_LOG; unsigned char i = 0; char sysfs_path[MAX_SYSFS_NAME_LEN]; char iio_trigger_path[MAX_SYSFS_NAME_LEN], tbuf[2]; char *sptr; char **dptr; int num; pathP = (char*)malloc( sizeof(char[COMPASS_MAX_SYSFS_ATTRB][MAX_SYSFS_NAME_LEN])); sptr = pathP; dptr = (char**)&compassSysFs; if (sptr == NULL) return -1; memset(sysfs_path, 0, sizeof(sysfs_path)); memset(iio_trigger_path, 0, sizeof(iio_trigger_path)); do { *dptr++ = sptr; memset(sptr, 0, sizeof(sptr)); sptr += sizeof(char[MAX_SYSFS_NAME_LEN]); } while (++i < COMPASS_MAX_SYSFS_ATTRB); // get proper (in absolute/relative) IIO path & build MPU's sysfs paths // inv_get_sysfs_abs_path(sysfs_path); inv_get_sysfs_path(sysfs_path); inv_get_iio_trigger_path(iio_trigger_path); if (strcmp(sysfs_path, "") == 0 || strcmp(iio_trigger_path, "") == 0) return 0; #if defined COMPASS_AK8975 inv_get_input_number(dev_name, &num); tbuf[0] = num + 0x30; tbuf[1] = 0; sprintf(sysfs_path, "%s%s", "sys/class/input/input", tbuf); strcat(sysfs_path, "/ak8975"); sprintf(compassSysFs.compass_enable, "%s%s", sysfs_path, "/enable"); sprintf(compassSysFs.compass_rate, "%s%s", sysfs_path, "/rate"); sprintf(compassSysFs.compass_scale, "%s%s", sysfs_path, "/scale"); sprintf(compassSysFs.compass_orient, "%s%s", sysfs_path, "/compass_matrix"); #else sprintf(compassSysFs.compass_enable, "%s%s", sysfs_path, "/compass_enable"); sprintf(compassSysFs.compass_fifo_enable, "%s%s", sysfs_path, "/compass_fifo_enable"); sprintf(compassSysFs.compass_rate, "%s%s", sysfs_path, "/compass_rate"); sprintf(compassSysFs.compass_scale, "%s%s", sysfs_path, "/in_magn_scale"); sprintf(compassSysFs.compass_orient, "%s%s", sysfs_path, "/compass_matrix"); #endif #if 0 // test print sysfs paths dptr = (char**)&compassSysFs; for (i = 0; i < COMPASS_MAX_SYSFS_ATTRB; i++) { LOGE("HAL:sysfs path: %s", *dptr++); } #endif return 0; }