/*
* Copyright (C) 2014 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.
*/
#include <MPLSupport.h>
#include <dirent.h>
#include <string.h>
#include <stdio.h>
#include "log.h"
#include "SensorBase.h"
#include <fcntl.h>
#include "ml_sysfs_helper.h"
#include "ml_load_dmp.h"
int inv_read_data(char *fname, long *data)
{
VFUNC_LOG;
char buf[sizeof(long) * 4];
int count, fd;
fd = open(fname, O_RDONLY);
if(fd < 0) {
LOGE("HAL:Error opening %s", fname);
return -1;
}
memset(buf, 0, sizeof(buf));
count = read_attribute_sensor(fd, buf, sizeof(buf));
if(count < 1) {
close(fd);
return -1;
} else {
count = sscanf(buf, "%ld", data);
if(count)
LOGV_IF(EXTRA_VERBOSE, "HAL:Data= %ld", *data);
}
close(fd);
return 0;
}
/* This one DOES NOT close FDs for you */
int read_attribute_sensor(int fd, char* data, unsigned int size)
{
VFUNC_LOG;
int count = 0;
if (fd > 0) {
count = pread(fd, data, size, 0);
if(count < 1) {
LOGE("HAL:read fails with error code=%d", count);
}
}
return count;
}
/**
* @brief Enable a sensor through the sysfs file descriptor
* provided.
* @note this function one closes FD after the write
* @param fd
* the file descriptor to write into
* @param en
* the value to write, typically 1 or 0
* @return the errno whenever applicable.
*/
int enable_sysfs_sensor(int fd, int en)
{
VFUNC_LOG;
int nb;
int err = 0;
char c = en ? '1' : '0';
nb = write(fd, &c, 1);
if (nb <= 0) {
err = errno;
LOGE("HAL:enable_sysfs_sensor - write %c returned %d (%s / %d)",
c, nb, strerror(err), err);
}
close(fd);
return -err;
}
/* This one closes FDs for you */
int write_attribute_sensor(int fd, long data)
{
VFUNC_LOG;
int num_b = 0;
if (fd >= 0) {
char buf[80];
sprintf(buf, "%ld", data);
num_b = write(fd, buf, strlen(buf) + 1);
if (num_b <= 0) {
int err = errno;
LOGE("HAL:write fd %d returned '%s' (%d)", fd, strerror(err), err);
} else {
LOGV_IF(EXTRA_VERBOSE, "HAL:fd=%d write attribute to %ld", fd, data);
}
close(fd);
}
return num_b;
}
/* This one DOES NOT close FDs for you */
int write_attribute_sensor_continuous(int fd, long data)
{
VFUNC_LOG;
int num_b = 0;
if (fd >= 0) {
char buf[80];
sprintf(buf, "%ld", data);
num_b = write(fd, buf, strlen(buf) + 1);
if (num_b <= 0) {
int err = errno;
LOGE("HAL:write fd %d returned '%s' (%d)", fd, strerror(err), err);
} else {
LOGV_IF(EXTRA_VERBOSE, "HAL:fd=%d write attribute to %ld", fd, data);
}
}
return num_b;
}
int read_sysfs_int(char *filename, int *var)
{
int res=0;
FILE *sysfsfp;
sysfsfp = fopen(filename, "r");
if (sysfsfp != NULL) {
if (fscanf(sysfsfp, "%d\n", var) < 0 || fclose(sysfsfp) < 0) {
res = errno;
LOGE("HAL:ERR open file %s to read with error %d", filename, res);
}
}
return -res;
}
int read_sysfs_int64(char *filename, int64_t *var)
{
int res=0;
FILE *sysfsfp;
sysfsfp = fopen(filename, "r");
if (sysfsfp != NULL) {
if (fscanf(sysfsfp, "%lld\n", var) < 0 || fclose(sysfsfp) < 0) {
res = errno;
LOGE("HAL:ERR open file %s to read with error %d", filename, res);
}
}
return -res;
}
void convert_long_to_hex_char(long* quat, unsigned char* hex, int numElement)
{
int bytePosition = 0;
for (int index = 0; index < numElement; index++) {
for (int i = 0; i < 4; i++) {
hex[bytePosition] = (int) ((quat[index] >> (4-1-i) * 8) & 0xFF);
//LOGI("e%d quat[%d]: %x", index, bytePosition, hex[bytePosition]);
bytePosition++;
}
}
return;
}
int write_sysfs_int(char *filename, int var)
{
int res=0;
FILE *sysfsfp;
sysfsfp = fopen(filename, "w");
if (sysfsfp != NULL) {
if (fprintf(sysfsfp, "%d\n", var) < 0 || fclose(sysfsfp) < 0) {
res = errno;
LOGE("HAL:ERR open file %s to write with error %d", filename, res);
}
}
return -res;
}
int write_sysfs_longlong(char *filename, int64_t var)
{
int res=0;
FILE *sysfsfp;
sysfsfp = fopen(filename, "w");
if (sysfsfp != NULL) {
if (fprintf(sysfsfp, "%lld\n", var) < 0 || fclose(sysfsfp) < 0) {
res = errno;
LOGE("HAL:ERR open file %s to write with error %d", filename, res);
}
}
return -res;
}
int fill_dev_full_name_by_prefix(const char* dev_prefix,
char *dev_full_name, int len)
{
char cand_name[20];
int prefix_len = strlen(dev_prefix);
strncpy(cand_name, dev_prefix, sizeof(cand_name) / sizeof(cand_name[0]));
// try adding a number, 0-9
for(int cand_postfix = 0; cand_postfix < 10; cand_postfix++) {
snprintf(&cand_name[prefix_len],
sizeof(cand_name) / sizeof(cand_name[0]),
"%d", cand_postfix);
int dev_num = find_type_by_name(cand_name, "iio:device");
if (dev_num != -ENODEV) {
strncpy(dev_full_name, cand_name, len);
return 0;
}
}
// try adding a small letter, a-z
for(char cand_postfix = 'a'; cand_postfix <= 'z'; cand_postfix++) {
snprintf(&cand_name[prefix_len],
sizeof(cand_name) / sizeof(cand_name[0]),
"%c", cand_postfix);
int dev_num = find_type_by_name(cand_name, "iio:device");
if (dev_num != -ENODEV) {
strncpy(dev_full_name, cand_name, len);
return 0;
}
}
// try adding a capital letter, A-Z
for(char cand_postfix = 'A'; cand_postfix <= 'Z'; cand_postfix++) {
snprintf(&cand_name[prefix_len],
sizeof(cand_name) / sizeof(cand_name[0]),
"%c", cand_postfix);
int dev_num = find_type_by_name(cand_name, "iio:device");
if (dev_num != -ENODEV) {
strncpy(dev_full_name, cand_name, len);
return 0;
}
}
return 1;
}
void dump_dmp_img(const char *outFile)
{
FILE *fp;
int i;
char sysfs_path[MAX_SYSFS_NAME_LEN];
char dmp_path[MAX_SYSFS_NAME_LEN];
inv_get_sysfs_path(sysfs_path);
sprintf(dmp_path, "%s%s", sysfs_path, "/dmp_firmware");
LOGI("HAL DEBUG:dump DMP image");
LOGI("HAL DEBUG:open %s\n", dmp_path);
LOGI("HAL DEBUG:write to %s", outFile);
read_dmp_img(dmp_path, (char *)outFile);
}
int read_sysfs_dir(bool fileMode, char *sysfs_path)
{
VFUNC_LOG;
int res = 0;
char full_path[MAX_SYSFS_NAME_LEN];
int fd;
char buf[sizeof(long) *4];
long data;
DIR *dp;
struct dirent *ep;
dp = opendir (sysfs_path);
if (dp != NULL)
{
LOGI("******************** System Sysfs Dump ***************************");
LOGV_IF(0,"HAL DEBUG: opened directory %s", sysfs_path);
while ((ep = readdir (dp))) {
if(ep != NULL) {
LOGV_IF(0,"file name %s", ep->d_name);
if(!strcmp(ep->d_name, ".") || !strcmp(ep->d_name, "..") ||
!strcmp(ep->d_name, "uevent") || !strcmp(ep->d_name, "dev") ||
!strcmp(ep->d_name, "self_test"))
continue;
sprintf(full_path, "%s%s%s", sysfs_path, "/", ep->d_name);
LOGV_IF(0,"HAL DEBUG: reading %s", full_path);
fd = open(full_path, O_RDONLY);
if (fd > -1) {
memset(buf, 0, sizeof(buf));
res = read_attribute_sensor(fd, buf, sizeof(buf));
close(fd);
if (res > 0) {
res = sscanf(buf, "%ld", &data);
if (res)
LOGI("HAL DEBUG:sysfs:cat %s = %ld", full_path, data);
} else {
LOGV_IF(0,"HAL DEBUG: error reading %s", full_path);
}
} else {
LOGV_IF(0,"HAL DEBUG: error opening %s", full_path);
}
close(fd);
}
}
closedir(dp);
} else{
LOGI("HAL DEBUG: could not open directory %s", sysfs_path);
}
return res;
}
int inv_float_to_q16(float *fdata, long *ldata)
{
if (!fdata || !ldata)
return -1;
ldata[0] = (long)(fdata[0] * 65536.f);
ldata[1] = (long)(fdata[1] * 65536.f);
ldata[2] = (long)(fdata[2] * 65536.f);
return 0;
}
int inv_long_to_q16(long *fdata, long *ldata)
{
if (!fdata || !ldata)
return -1;
ldata[0] = (fdata[1] * 65536.f);
ldata[1] = (fdata[2] * 65536.f);
ldata[2] = (fdata[3] * 65536.f);
return 0;
}
int inv_float_to_round(float *fdata, long *ldata)
{
if (!fdata || !ldata)
return -1;
ldata[0] = (long)fdata[0];
ldata[1] = (long)fdata[1];
ldata[2] = (long)fdata[2];
return 0;
}
int inv_float_to_round2(float *fdata, short *ldata)
{
if (!fdata || !ldata)
return -1;
ldata[0] = (short)fdata[0];
ldata[1] = (short)fdata[1];
ldata[2] = (short)fdata[2];
return 0;
}
int inv_long_to_float(long *ldata, float *fdata)
{
if (!ldata || !fdata)
return -1;
fdata[0] = (float)ldata[0];
fdata[1] = (float)ldata[1];
fdata[2] = (float)ldata[2];
return 0;
}