/*
* 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.
*/
#define LOG_TAG "Sensors"
#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 <string.h>
#include <linux/input.h>
#include <cutils/atomic.h>
#include <utils/Log.h>
#include "sensors.h"
#if defined SENSORHAL_ACC_ADXL346
#include "AdxlSensor.h"
#elif defined SENSORHAL_ACC_KXTF9
#include "KionixSensor.h"
#else
#error "Sensor configuration ERROR: No sensor is defined."
#endif
#include "AkmSensor.h"
/*****************************************************************************/
#define DELAY_OUT_TIME 0x7FFFFFFF
#define LIGHT_SENSOR_POLLTIME 2000000000
#define SENSORS_ACCELERATION (1<<ID_A)
#define SENSORS_MAGNETIC_FIELD (1<<ID_M)
#define SENSORS_ORIENTATION (1<<ID_O)
#define SENSORS_ACCELERATION_HANDLE 0
#define SENSORS_MAGNETIC_FIELD_HANDLE 1
#define SENSORS_ORIENTATION_HANDLE 2
/*****************************************************************************/
/* The SENSORS Module */
static const struct sensor_t sSensorList[] = {
{ "AK8975 3-axis Magnetic field sensor",
"Asahi Kasei Microdevices",
1,
SENSORS_MAGNETIC_FIELD_HANDLE,
SENSOR_TYPE_MAGNETIC_FIELD, 1228.8f,
CONVERT_M, 0.35f, 10000, 0, 0, 0, 0, 0, 0, { } },
#ifdef SENSORHAL_ACC_ADXL346
{ "Analog Devices ADXL345/6 3-axis Accelerometer",
"ADI",
1, SENSORS_ACCELERATION_HANDLE,
SENSOR_TYPE_ACCELEROMETER, (GRAVITY_EARTH * 16.0f),
(GRAVITY_EARTH * 16.0f) / 4096.0f, 0.145f, 10000, 0, 0, 0, 0, 0, 0, { } },
{ "AK8975 Orientation sensor",
"Asahi Kasei Microdevices",
1, SENSORS_ORIENTATION_HANDLE,
SENSOR_TYPE_ORIENTATION, 360.0f,
CONVERT_O, 0.495f, 10000, 0, 0, 0, 0, 0, 0, { } }
#endif
#ifdef SENSORHAL_ACC_KXTF9
{ "Kionix KXTF9 3-axis Accelerometer",
"Kionix",
1, SENSORS_ACCELERATION_HANDLE,
SENSOR_TYPE_ACCELEROMETER, (GRAVITY_EARTH * 2.0f),
(GRAVITY_EARTH) / 1024.0f, 0.7f, 10000, 0, 0, 0, 0, 0, 0, { } },
{ "AK8975 Orientation sensor",
"Asahi Kasei Microdevices",
1, SENSORS_ORIENTATION_HANDLE,
SENSOR_TYPE_ORIENTATION, 360.0f,
CONVERT_O, 1.05f, 10000, 0, 0, 0, 0, 0, 0, { } }
#endif
};
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 = "AKM Sensor module",
.author = "Asahi Kasei Microdevices",
.methods = &sensors_module_methods,
.dso = NULL,
.reserved = {0},
},
.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 setDelay_sub(int handle, int64_t ns);
int pollEvents(sensors_event_t* data, int count);
private:
enum {
acc = 0,
akm = 1,
numSensorDrivers,
numFds,
};
static const size_t wake = numFds - 1;
static const char WAKE_MESSAGE = 'W';
struct pollfd mPollFds[numFds];
int mWritePipeFd;
SensorBase* mSensors[numSensorDrivers];
/* These function will be different depends on
* which sensor is implemented in AKMD program.
*/
int handleToDriver(int handle);
int proxy_enable(int handle, int enabled);
int proxy_setDelay(int handle, int64_t ns);
};
/*****************************************************************************/
sensors_poll_context_t::sensors_poll_context_t()
{
#ifdef SENSORHAL_ACC_ADXL346
mSensors[acc] = new AdxlSensor();
#endif
#ifdef SENSORHAL_ACC_KXTF9
mSensors[acc] = new KionixSensor();
#endif
mPollFds[acc].fd = mSensors[acc]->getFd();
mPollFds[acc].events = POLLIN;
mPollFds[acc].revents = 0;
mSensors[akm] = new AkmSensor();
mPollFds[akm].fd = mSensors[akm]->getFd();
mPollFds[akm].events = POLLIN;
mPollFds[akm].revents = 0;
int wakeFds[2];
int result = pipe(wakeFds);
ALOGE_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;
}
sensors_poll_context_t::~sensors_poll_context_t() {
for (int i=0 ; i<numSensorDrivers ; i++) {
delete mSensors[i];
}
close(mPollFds[wake].fd);
close(mWritePipeFd);
}
int sensors_poll_context_t::handleToDriver(int handle) {
switch (handle) {
case ID_A:
return acc;
case ID_M:
case ID_O:
return akm;
}
return -EINVAL;
}
int sensors_poll_context_t::activate(int handle, int enabled) {
int drv = handleToDriver(handle);
int err;
switch (handle) {
case ID_A:
case ID_M:
/* No dependencies */
break;
case ID_O:
/* These sensors depend on ID_A and ID_M */
mSensors[handleToDriver(ID_A)]->setEnable(ID_A, enabled);
mSensors[handleToDriver(ID_M)]->setEnable(ID_M, enabled);
break;
default:
return -EINVAL;
}
err = mSensors[drv]->setEnable(handle, enabled);
if (enabled && !err) {
const char wakeMessage(WAKE_MESSAGE);
int result = write(mWritePipeFd, &wakeMessage, 1);
ALOGE_IF(result<0, "error sending wake message (%s)", strerror(errno));
}
return err;
}
int sensors_poll_context_t::setDelay(int handle, int64_t ns) {
switch (handle) {
case ID_A:
case ID_M:
/* No dependencies */
break;
case ID_O:
/* These sensors depend on ID_A and ID_M */
setDelay_sub(ID_A, ns);
setDelay_sub(ID_M, ns);
break;
default:
return -EINVAL;
}
return setDelay_sub(handle, ns);
}
int sensors_poll_context_t::setDelay_sub(int handle, int64_t ns) {
int drv = handleToDriver(handle);
int en = mSensors[drv]->getEnable(handle);
int64_t cur = mSensors[drv]->getDelay(handle);
int err = 0;
if (en <= 1) {
/* no dependencies */
if (cur != ns) {
err = mSensors[drv]->setDelay(handle, ns);
}
} else {
/* has dependencies, choose shorter interval */
if (cur > ns) {
err = mSensors[drv]->setDelay(handle, ns);
}
}
return err;
}
int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count)
{
int nbEvents = 0;
int n = 0;
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;
}
if ((0 != nb) && (acc == i)) {
((AkmSensor*)(mSensors[akm]))->setAccel(&data[nb-1]);
}
count -= nb;
nbEvents += nb;
data += nb;
}
}
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
n = poll(mPollFds, numFds, nbEvents ? 0 : -1);
if (n<0) {
ALOGE("poll() failed (%s)", strerror(errno));
return -errno;
}
if (mPollFds[wake].revents & POLLIN) {
char msg;
int result = read(mPollFds[wake].fd, &msg, 1);
ALOGE_IF(result<0, "error reading from wake pipe (%s)", strerror(errno));
ALOGE_IF(msg != WAKE_MESSAGE, "unknown message on wake queue (0x%02x)", int(msg));
mPollFds[wake].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)
{
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) {
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) {
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) {
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)
{
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;
}