/*
* 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.primary.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_AK8975
#pragma message("HAL:build Invensense compass cal with AK8975 on primary bus")
#define USE_MPL_COMPASS_HAL (1)
#define COMPASS_NAME "INV_AK8975"
#endif
/******************************************************************************/
CompassSensor::CompassSensor()
: SensorBase(COMPASS_NAME, NULL),
mCompassTimestamp(0),
mCompassInputReader(8),
mCoilsResetFd(0)
{
FILE *fptr;
VFUNC_LOG;
mYasCompass = false;
if(!strcmp(dev_name, "USE_SYSFS")) {
char sensor_name[20];
find_name_by_sensor_type("in_magn_x_raw", "iio:device", sensor_name);
strncpy(dev_full_name, sensor_name,
sizeof(dev_full_name) / sizeof(dev_full_name[0]));
if(!strncmp(dev_full_name, "yas", 3)) {
mYasCompass = true;
}
} else {
#ifdef COMPASS_YAS53x
/* for YAS53x compasses, dev_name is just a prefix,
we need to find the actual name */
if (fill_dev_full_name_by_prefix(dev_name,
dev_full_name, sizeof(dev_full_name) / sizeof(dev_full_name[0]))) {
LOGE("Cannot find Yamaha device with prefix name '%s' - "
"magnetometer will likely not work.", dev_name);
} else {
mYasCompass = true;
}
#else
strncpy(dev_full_name, dev_name,
sizeof(dev_full_name) / sizeof(dev_full_name[0]));
#endif
}
if (inv_init_sysfs_attributes()) {
LOGE("Error Instantiating Compass\n");
return;
}
if (!strcmp(dev_full_name, "INV_COMPASS")) {
mI2CBus = COMPASS_BUS_SECONDARY;
} else {
mI2CBus = COMPASS_BUS_PRIMARY;
}
memset(mCachedCompassData, 0, sizeof(mCachedCompassData));
if (!isIntegrated()) {
enable(ID_M, 0);
}
LOGV_IF(SYSFS_VERBOSE, "HAL:compass name: %s", dev_full_name);
enable_iio_sysfs();
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
compassSysFs.compass_orient, getTimestamp());
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)) {
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(mYasCompass) {
mCoilsResetFd = fopen(compassSysFs.compass_attr_1, "r+");
if (fptr == NULL) {
LOGE("HAL:Could not open compass overunderflow");
}
}
}
void CompassSensor::enable_iio_sysfs()
{
VFUNC_LOG;
int tempFd = 0;
char iio_device_node[MAX_CHIP_ID_LEN];
FILE *tempFp = NULL;
const char* compass = dev_full_name;
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
1, compassSysFs.in_timestamp_en, getTimestamp());
write_sysfs_int(compassSysFs.in_timestamp_en, 1);
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
IIO_BUFFER_LENGTH, compassSysFs.buffer_length, getTimestamp());
tempFp = fopen(compassSysFs.buffer_length, "w");
if (tempFp == NULL) {
LOGE("HAL:could not open buffer length");
} else {
if (fprintf(tempFp, "%d", IIO_BUFFER_LENGTH) < 0 || fclose(tempFp) < 0) {
LOGE("HAL:could not write buffer length");
}
}
sprintf(iio_device_node, "%s%d", "/dev/iio:device",
find_type_by_name(compass, "iio:device"));
compass_fd = open(iio_device_node, O_RDONLY);
int res = errno;
if (compass_fd < 0) {
LOGE("HAL:could not open '%s' iio device node in path '%s' - "
"error '%s' (%d)",
compass, iio_device_node, strerror(res), res);
} else {
LOGV_IF(EXTRA_VERBOSE,
"HAL:iio %s, compass_fd opened : %d", compass, compass_fd);
}
/* TODO: need further tests for optimization to reduce context-switch
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo 1 > %s (%lld)",
compassSysFs.compass_x_fifo_enable, getTimestamp());
tempFd = open(compassSysFs.compass_x_fifo_enable, O_RDWR);
res = errno;
if (tempFd > 0) {
res = enable_sysfs_sensor(tempFd, 1);
} else {
LOGE("HAL:open of %s failed with '%s' (%d)",
compassSysFs.compass_x_fifo_enable, strerror(res), res);
}
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo 1 > %s (%lld)",
compassSysFs.compass_y_fifo_enable, getTimestamp());
tempFd = open(compassSysFs.compass_y_fifo_enable, O_RDWR);
res = errno;
if (tempFd > 0) {
res = enable_sysfs_sensor(tempFd, 1);
} else {
LOGE("HAL:open of %s failed with '%s' (%d)",
compassSysFs.compass_y_fifo_enable, strerror(res), res);
}
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo 1 > %s (%lld)",
compassSysFs.compass_z_fifo_enable, getTimestamp());
tempFd = open(compassSysFs.compass_z_fifo_enable, O_RDWR);
res = errno;
if (tempFd > 0) {
res = enable_sysfs_sensor(tempFd, 1);
} else {
LOGE("HAL:open of %s failed with '%s' (%d)",
compassSysFs.compass_z_fifo_enable, strerror(res), res);
}
*/
}
CompassSensor::~CompassSensor()
{
VFUNC_LOG;
free(pathP);
if( compass_fd > 0)
close(compass_fd);
if(mYasCompass) {
if( mCoilsResetFd != NULL )
fclose(mCoilsResetFd);
}
}
int CompassSensor::getFd(void) const
{
VHANDLER_LOG;
LOGI_IF(0, "HAL:compass_fd=%d", compass_fd);
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;
mEnable = en;
int tempFd;
int res = 0;
/* reset master enable */
res = masterEnable(0);
if (res < 0) {
return res;
}
if (en) {
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, compassSysFs.compass_x_fifo_enable, getTimestamp());
res = write_sysfs_int(compassSysFs.compass_x_fifo_enable, en);
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, compassSysFs.compass_y_fifo_enable, getTimestamp());
res += write_sysfs_int(compassSysFs.compass_y_fifo_enable, en);
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, compassSysFs.compass_z_fifo_enable, getTimestamp());
res += write_sysfs_int(compassSysFs.compass_z_fifo_enable, en);
res = masterEnable(en);
if (res < en) {
return res;
}
}
return res;
}
int CompassSensor::masterEnable(int en)
{
VFUNC_LOG;
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
en, compassSysFs.chip_enable, getTimestamp());
return write_sysfs_int(compassSysFs.chip_enable, en);
}
int CompassSensor::setDelay(int32_t handle, int64_t ns)
{
VFUNC_LOG;
int tempFd;
int res;
mDelay = ns;
if (ns == 0)
return -1;
tempFd = open(compassSysFs.compass_rate, O_RDWR);
LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)",
1000000000.f / ns, compassSysFs.compass_rate, getTimestamp());
res = write_attribute_sensor(tempFd, 1000000000.f / ns);
if(res < 0) {
LOGE("HAL:Compass update delay error");
}
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) {
VFUNC_LOG;
int i;
char *rdata = mIIOBuffer;
size_t rsize = read(compass_fd, rdata, (8 * mEnable + 8) * 1);
if (!mEnable) {
rsize = read(compass_fd, rdata, (8 + 8) * IIO_BUFFER_LENGTH);
// LOGI("clear buffer with size: %d", rsize);
}
/*
LOGI("get one sample of AMI IIO data with size: %d", rsize);
LOGI_IF(mEnable, "compass x/y/z: %d/%d/%d", *((short *) (rdata + 0)),
*((short *) (rdata + 2)), *((short *) (rdata + 4)));
*/
if (mEnable) {
for (i = 0; i < 3; i++) {
data[i] = *((short *) (rdata + i * 2));
}
*timestamp = *((long long *) (rdata + 8 * mEnable));
}
return mEnable;
}
/**
* @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 = dev_full_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;
mMinDelay = list->minDelay;
return;
}
if(!strcmp(compass, "compass")
|| !strcmp(compass, "INV_AK8975")
|| !strncmp(compass, "ak89xx", 2)) {
list->maxRange = COMPASS_AKM8975_RANGE;
list->resolution = COMPASS_AKM8975_RESOLUTION;
list->power = COMPASS_AKM8975_POWER;
list->minDelay = COMPASS_AKM8975_MINDELAY;
mMinDelay = list->minDelay;
return;
}
if(!strcmp(compass, "ami306")) {
list->maxRange = COMPASS_AMI306_RANGE;
list->resolution = COMPASS_AMI306_RESOLUTION;
list->power = COMPASS_AMI306_POWER;
list->minDelay = COMPASS_AMI306_MINDELAY;
mMinDelay = list->minDelay;
return;
}
if(!strcmp(compass, "yas530")
|| !strcmp(compass, "yas532")
|| !strcmp(compass, "yas533")) {
list->maxRange = COMPASS_YAS53x_RANGE;
list->resolution = COMPASS_YAS53x_RESOLUTION;
list->power = COMPASS_YAS53x_POWER;
list->minDelay = COMPASS_YAS53x_MINDELAY;
mMinDelay = list->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;
mMinDelay = list->minDelay;
}
/* Read sysfs entry to determine whether overflow had happend
then write to sysfs to reset to zero */
int CompassSensor::checkCoilsReset()
{
int result=-1;
VFUNC_LOG;
if(mCoilsResetFd != NULL) {
int attr;
rewind(mCoilsResetFd);
fscanf(mCoilsResetFd, "%d", &attr);
if(attr == 0)
return 0;
else {
LOGV_IF(SYSFS_VERBOSE, "HAL:overflow detected");
rewind(mCoilsResetFd);
if(fprintf(mCoilsResetFd, "%d", 0) < 0)
LOGE("HAL:could not write overunderflow");
else
return 1;
}
} else {
LOGE("HAL:could not read overunderflow");
}
return result;
}
int CompassSensor::inv_init_sysfs_attributes(void)
{
VFUNC_LOG;
unsigned char i = 0;
char sysfs_path[MAX_SYSFS_NAME_LEN], tbuf[2];
char *sptr;
char **dptr;
int num;
const char* compass = dev_full_name;
pathP = (char*)malloc(
sizeof(char[COMPASS_MAX_SYSFS_ATTRB][MAX_SYSFS_NAME_LEN]));
sptr = pathP;
dptr = (char**)&compassSysFs;
if (sptr == NULL)
return -1;
do {
*dptr++ = sptr;
sptr += sizeof(char[MAX_SYSFS_NAME_LEN]);
} while (++i < COMPASS_MAX_SYSFS_ATTRB);
// get proper (in absolute/relative) IIO path & build sysfs paths
sprintf(sysfs_path, "%s%d", "/sys/bus/iio/devices/iio:device",
find_type_by_name(compass, "iio:device"));
#if defined COMPASS_AK8975
inv_get_input_number(compass, &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 /* IIO */
sprintf(compassSysFs.chip_enable, "%s%s", sysfs_path, "/buffer/enable");
sprintf(compassSysFs.in_timestamp_en, "%s%s", sysfs_path, "/scan_elements/in_timestamp_en");
sprintf(compassSysFs.buffer_length, "%s%s", sysfs_path, "/buffer/length");
sprintf(compassSysFs.compass_x_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_magn_x_en");
sprintf(compassSysFs.compass_y_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_magn_y_en");
sprintf(compassSysFs.compass_z_fifo_enable, "%s%s", sysfs_path, "/scan_elements/in_magn_z_en");
sprintf(compassSysFs.compass_rate, "%s%s", sysfs_path, "/sampling_frequency");
sprintf(compassSysFs.compass_scale, "%s%s", sysfs_path, "/in_magn_scale");
sprintf(compassSysFs.compass_orient, "%s%s", sysfs_path, "/compass_matrix");
if(mYasCompass) {
sprintf(compassSysFs.compass_attr_1, "%s%s", sysfs_path, "/overunderflow");
}
#endif
#if 0
// test print sysfs paths
dptr = (char**)&compassSysFs;
LOGI("sysfs path base: %s", sysfs_path);
for (i = 0; i < COMPASS_MAX_SYSFS_ATTRB; i++) {
LOGE("HAL:sysfs path: %s", *dptr++);
}
#endif
return 0;
}
int CompassSensor::isYasCompass(void)
{
return mYasCompass;
}