/*
* Copyright (C) 2014 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;
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, compassSysFs.compass_enable, getTimestamp());
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")
|| !strcmp(compass, "AK8975")
|| !strcmp(compass, "ak8975")) {
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")
|| !strcmp(compass, "INV_AK8963")
|| !strcmp(compass, "AK8963")
|| !strcmp(compass, "ak8963")) {
list->maxRange = COMPASS_AKM8963_RANGE;
list->resolution = COMPASS_AKM8963_RESOLUTION;
list->power = COMPASS_AKM8963_POWER;
list->minDelay = COMPASS_AKM8963_MINDELAY;
return;
}
if(!strcmp(compass, "compass")
|| !strcmp(compass, "INV_AK09911")
|| !strcmp(compass, "AK09911")
|| !strcmp(compass, "ak09911")) {
list->maxRange = COMPASS_AKM9911_RANGE;
list->resolution = COMPASS_AKM9911_RESOLUTION;
list->power = COMPASS_AKM9911_POWER;
list->minDelay = COMPASS_AKM9911_MINDELAY;
return;
}
if(!strcmp(compass, "compass")
|| !strcmp(compass, "INV_AK09912")
|| !strcmp(compass, "AK09912")
|| !strcmp(compass, "ak09912")) {
list->maxRange = COMPASS_AKM9912_RANGE;
list->resolution = COMPASS_AKM9912_RESOLUTION;
list->power = COMPASS_AKM9912_POWER;
list->minDelay = COMPASS_AKM9912_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;
char sysfs_path[MAX_SYSFS_NAME_LEN];
char iio_trigger_path[MAX_SYSFS_NAME_LEN];
pathP = (char*)calloc(COMPASS_MAX_SYSFS_ATTRB,
sizeof(char[MAX_SYSFS_NAME_LEN]));
if (pathP == NULL)
return -1;
memset(sysfs_path, 0, sizeof(sysfs_path));
memset(iio_trigger_path, 0, sizeof(iio_trigger_path));
char *sptr = pathP;
char **dptr = reinterpret_cast<char **>(&compassSysFs);
for (size_t i = 0; i < COMPASS_MAX_SYSFS_ATTRB; i++) {
*dptr++ = sptr;
sptr += sizeof(char[MAX_SYSFS_NAME_LEN]);
}
// 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 defined COMPASS_AK8975
char tbuf[2];
int num;
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
return 0;
}