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add libsensors from source

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This commit is contained in:
Kolja Dummann 2011-06-30 21:04:59 +02:00
parent 71ca25064f
commit beed9bdd8a
17 changed files with 1928 additions and 0 deletions
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310
libsensors/AkmSensor.cpp Normal file
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/*
* 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.
*/
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <unistd.h>
#include <dirent.h>
#include <sys/select.h>
#include <dlfcn.h>
#include "ak8973b.h"
#include <cutils/log.h>
#include "AkmSensor.h"
#define LOG_NDEBUG 0
/*****************************************************************************/
int (*akm_is_sensor_enabled)(uint32_t sensor_type);
int (*akm_enable_sensor)(uint32_t sensor_type);
int (*akm_disable_sensor)(uint32_t sensor_type);
int (*akm_set_delay)(uint32_t sensor_type, uint64_t delay);
int stub_is_sensor_enabled(uint32_t sensor_type) {
return 0;
}
int stub_enable_disable_sensor(uint32_t sensor_type) {
return -ENODEV;
}
int stub_set_delay(uint32_t sensor_type, uint64_t delay) {
return -ENODEV;
}
AkmSensor::AkmSensor()
: SensorBase(NULL, NULL),
mEnabled(0),
mPendingMask(0),
mInputReader(32)
{
/* Open the library before opening the input device. The library
* creates a uinput device.
*/
if (loadAKMLibrary() == 0) {
data_name = "compass_sensor";
data_fd = openInput("compass_sensor");
}
memset(mPendingEvents, 0, sizeof(mPendingEvents));
mPendingEvents[Accelerometer].version = sizeof(sensors_event_t);
mPendingEvents[Accelerometer].sensor = ID_A;
mPendingEvents[Accelerometer].type = SENSOR_TYPE_ACCELEROMETER;
mPendingEvents[Accelerometer].acceleration.status = SENSOR_STATUS_ACCURACY_HIGH;
mPendingEvents[MagneticField].version = sizeof(sensors_event_t);
mPendingEvents[MagneticField].sensor = ID_M;
mPendingEvents[MagneticField].type = SENSOR_TYPE_MAGNETIC_FIELD;
mPendingEvents[MagneticField].magnetic.status = SENSOR_STATUS_ACCURACY_HIGH;
mPendingEvents[Orientation ].version = sizeof(sensors_event_t);
mPendingEvents[Orientation ].sensor = ID_O;
mPendingEvents[Orientation ].type = SENSOR_TYPE_ORIENTATION;
mPendingEvents[Orientation ].orientation.status = SENSOR_STATUS_ACCURACY_HIGH;
// read the actual value of all sensors if they're enabled already
struct input_absinfo absinfo;
short flags = 0;
if (akm_is_sensor_enabled(SENSOR_TYPE_ACCELEROMETER)) {
mEnabled |= 1<<Accelerometer;
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_X), &absinfo)) {
mPendingEvents[Accelerometer].acceleration.x = absinfo.value * CONVERT_A_X;
}
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_Y), &absinfo)) {
mPendingEvents[Accelerometer].acceleration.y = absinfo.value * CONVERT_A_Y;
}
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ACCEL_Z), &absinfo)) {
mPendingEvents[Accelerometer].acceleration.z = absinfo.value * CONVERT_A_Z;
}
}
if (akm_is_sensor_enabled(SENSOR_TYPE_MAGNETIC_FIELD)) {
mEnabled |= 1<<MagneticField;
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_MAGV_X), &absinfo)) {
mPendingEvents[MagneticField].magnetic.x = absinfo.value * CONVERT_M_X;
}
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_MAGV_Y), &absinfo)) {
mPendingEvents[MagneticField].magnetic.y = absinfo.value * CONVERT_M_Y;
}
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_MAGV_Z), &absinfo)) {
mPendingEvents[MagneticField].magnetic.z = absinfo.value * CONVERT_M_Z;
}
}
if (akm_is_sensor_enabled(SENSOR_TYPE_ORIENTATION)) {
mEnabled |= 1<<Orientation;
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_YAW), &absinfo)) {
mPendingEvents[Orientation].orientation.azimuth = absinfo.value;
}
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_PITCH), &absinfo)) {
mPendingEvents[Orientation].orientation.pitch = absinfo.value;
}
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ROLL), &absinfo)) {
mPendingEvents[Orientation].orientation.roll = -absinfo.value;
}
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_ORIENT_STATUS), &absinfo)) {
mPendingEvents[Orientation].orientation.status = uint8_t(absinfo.value & SENSOR_STATE_MASK);
}
}
// disable temperature sensor, since it is not supported
akm_disable_sensor(SENSOR_TYPE_TEMPERATURE);
}
AkmSensor::~AkmSensor()
{
if (mLibAKM) {
unsigned ref = ::dlclose(mLibAKM);
}
}
int AkmSensor::enable(int32_t handle, int en)
{
int what = -1;
switch (handle) {
case ID_A: what = Accelerometer; break;
case ID_M: what = MagneticField; break;
case ID_O: what = Orientation; break;
}
if (uint32_t(what) >= numSensors)
return -EINVAL;
int newState = en ? 1 : 0;
int err = 0;
if ((uint32_t(newState)<<what) != (mEnabled & (1<<what))) {
uint32_t sensor_type;
switch (what) {
case Accelerometer: sensor_type = SENSOR_TYPE_ACCELEROMETER; break;
case MagneticField: sensor_type = SENSOR_TYPE_MAGNETIC_FIELD; break;
case Orientation: sensor_type = SENSOR_TYPE_ORIENTATION; break;
}
short flags = newState;
if (en)
err = akm_enable_sensor(sensor_type);
else
err = akm_disable_sensor(sensor_type);
LOGE_IF(err, "Could not change sensor state (%s)", strerror(-err));
if (!err) {
mEnabled &= ~(1<<what);
mEnabled |= (uint32_t(flags)<<what);
}
}
return err;
}
int AkmSensor::setDelay(int32_t handle, int64_t ns)
{
uint32_t sensor_type = 0;
if (ns < 0)
return -EINVAL;
switch (handle) {
case ID_A: sensor_type = SENSOR_TYPE_ACCELEROMETER; break;
case ID_M: sensor_type = SENSOR_TYPE_MAGNETIC_FIELD; break;
case ID_O: sensor_type = SENSOR_TYPE_ORIENTATION; break;
}
if (sensor_type == 0)
return -EINVAL;
return akm_set_delay(sensor_type, ns);
}
int AkmSensor::loadAKMLibrary()
{
mLibAKM = dlopen("libakm.so", RTLD_NOW);
if (!mLibAKM) {
akm_is_sensor_enabled = stub_is_sensor_enabled;
akm_enable_sensor = stub_enable_disable_sensor;
akm_disable_sensor = stub_enable_disable_sensor;
akm_set_delay = stub_set_delay;
LOGE("AkmSensor: unable to load AKM Library, %s", dlerror());
return -ENOENT;
}
*(void **)&akm_is_sensor_enabled = dlsym(mLibAKM, "akm_is_sensor_enabled");
*(void **)&akm_enable_sensor = dlsym(mLibAKM, "akm_enable_sensor");
*(void **)&akm_disable_sensor = dlsym(mLibAKM, "akm_disable_sensor");
*(void **)&akm_set_delay = dlsym(mLibAKM, "akm_set_delay");
return 0;
}
int AkmSensor::readEvents(sensors_event_t* data, int count)
{
if (count < 1)
return -EINVAL;
ssize_t n = mInputReader.fill(data_fd);
if (n < 0)
return n;
int numEventReceived = 0;
input_event const* event;
while (count && mInputReader.readEvent(&event)) {
int type = event->type;
if (type == EV_REL) {
processEvent(event->code, event->value);
mInputReader.next();
} else if (type == EV_SYN) {
int64_t time = timevalToNano(event->time);
for (int j=0 ; count && mPendingMask && j<numSensors ; j++) {
if (mPendingMask & (1<<j)) {
mPendingMask &= ~(1<<j);
mPendingEvents[j].timestamp = time;
if (mEnabled & (1<<j)) {
*data++ = mPendingEvents[j];
count--;
numEventReceived++;
}
}
}
if (!mPendingMask) {
mInputReader.next();
}
} else {
LOGE("AkmSensor: unknown event (type=%d, code=%d)",
type, event->code);
mInputReader.next();
}
}
return numEventReceived;
}
void AkmSensor::processEvent(int code, int value)
{
switch (code) {
case EVENT_TYPE_ACCEL_X:
mPendingMask |= 1<<Accelerometer;
mPendingEvents[Accelerometer].acceleration.x = value * CONVERT_A_X;
break;
case EVENT_TYPE_ACCEL_Y:
mPendingMask |= 1<<Accelerometer;
mPendingEvents[Accelerometer].acceleration.y = value * CONVERT_A_Y;
break;
case EVENT_TYPE_ACCEL_Z:
mPendingMask |= 1<<Accelerometer;
mPendingEvents[Accelerometer].acceleration.z = value * CONVERT_A_Z;
break;
case EVENT_TYPE_MAGV_X:
LOGV("AkmSensor: EVENT_TYPE_MAGV_X value =%d", value);
mPendingMask |= 1<<MagneticField;
mPendingEvents[MagneticField].magnetic.x = value * CONVERT_M_X;
break;
case EVENT_TYPE_MAGV_Y:
LOGV("AkmSensor: EVENT_TYPE_MAGV_Y value =%d", value);
mPendingMask |= 1<<MagneticField;
mPendingEvents[MagneticField].magnetic.y = value * CONVERT_M_Y;
break;
case EVENT_TYPE_MAGV_Z:
LOGV("AkmSensor: EVENT_TYPE_MAGV_Z value =%d", value);
mPendingMask |= 1<<MagneticField;
mPendingEvents[MagneticField].magnetic.z = value * CONVERT_M_Z;
break;
case EVENT_TYPE_YAW:
mPendingMask |= 1<<Orientation;
mPendingEvents[Orientation].orientation.azimuth = value * CONVERT_O_A;
break;
case EVENT_TYPE_PITCH:
mPendingMask |= 1<<Orientation;
mPendingEvents[Orientation].orientation.pitch = value * CONVERT_O_P;
break;
case EVENT_TYPE_ROLL:
mPendingMask |= 1<<Orientation;
mPendingEvents[Orientation].orientation.roll = value * CONVERT_O_R;
break;
case EVENT_TYPE_ORIENT_STATUS:
uint8_t status = uint8_t(value & SENSOR_STATE_MASK);
if (status == 4)
status = 0;
mPendingMask |= 1<<Orientation;
mPendingEvents[Orientation].orientation.status = status;
break;
}
}

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libsensors/AkmSensor.h Normal file
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/*
* 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.
*/
#ifndef ANDROID_AKM_SENSOR_H
#define ANDROID_AKM_SENSOR_H
#include <stdint.h>
#include <errno.h>
#include <sys/cdefs.h>
#include <sys/types.h>
#include "sensors.h"
#include "SensorBase.h"
#include "InputEventReader.h"
/*****************************************************************************/
struct input_event;
class AkmSensor : public SensorBase {
public:
AkmSensor();
virtual ~AkmSensor();
enum {
Accelerometer = 0,
MagneticField = 1,
Orientation = 2,
numSensors
};
virtual int setDelay(int32_t handle, int64_t ns);
virtual int enable(int32_t handle, int enabled);
virtual int readEvents(sensors_event_t* data, int count);
void processEvent(int code, int value);
private:
int loadAKMLibrary();
void *mLibAKM;
uint32_t mEnabled;
uint32_t mPendingMask;
InputEventCircularReader mInputReader;
sensors_event_t mPendingEvents[numSensors];
};
/*****************************************************************************/
#endif // ANDROID_AKM_SENSOR_H

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libsensors/Android.mk Normal file
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# 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.
LOCAL_PATH := $(call my-dir)
ifneq ($(TARGET_SIMULATOR),true)
# HAL module implemenation, not prelinked, and stored in
# hw/<SENSORS_HARDWARE_MODULE_ID>.<ro.product.board>.so
include $(CLEAR_VARS)
LOCAL_MODULE := sensors.GT-I9100
LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
LOCAL_MODULE_TAGS := optional
LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\"
LOCAL_SRC_FILES := \
sensors.cpp \
SensorBase.cpp \
LightSensor.cpp \
ProximitySensor.cpp \
AkmSensor.cpp \
GyroSensor.cpp \
InputEventReader.cpp
LOCAL_SHARED_LIBRARIES := liblog libcutils libdl
LOCAL_PRELINK_MODULE := false
include $(BUILD_SHARED_LIBRARY)
endif # !TARGET_SIMULATOR

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libsensors/GyroSensor.cpp Normal file
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/*
* 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.
*/
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <unistd.h>
#include <dirent.h>
#include <sys/select.h>
#include <cutils/log.h>
#include "GyroSensor.h"
#define FETCH_FULL_EVENT_BEFORE_RETURN 1
#define IGNORE_EVENT_TIME 350000000
/*****************************************************************************/
GyroSensor::GyroSensor()
: SensorBase(NULL, "gyro_sensor"),
mEnabled(0),
mInputReader(4),
mHasPendingEvent(false),
mEnabledTime(0)
{
mPendingEvent.version = sizeof(sensors_event_t);
mPendingEvent.sensor = ID_GY;
mPendingEvent.type = SENSOR_TYPE_GYROSCOPE;
memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
if (data_fd) {
strcpy(input_sysfs_path, "/sys/class/input/");
strcat(input_sysfs_path, input_name);
strcat(input_sysfs_path, "/device/");
input_sysfs_path_len = strlen(input_sysfs_path);
enable(0, 1);
}
}
GyroSensor::~GyroSensor() {
if (mEnabled) {
enable(0, 0);
}
}
int GyroSensor::setInitialState() {
struct input_absinfo absinfo_x;
struct input_absinfo absinfo_y;
struct input_absinfo absinfo_z;
float value;
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_x) &&
!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_y) &&
!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_GYRO_X), &absinfo_z)) {
value = absinfo_x.value;
mPendingEvent.data[0] = value * CONVERT_GYRO_X;
value = absinfo_x.value;
mPendingEvent.data[1] = value * CONVERT_GYRO_Y;
value = absinfo_x.value;
mPendingEvent.data[2] = value * CONVERT_GYRO_Z;
mHasPendingEvent = true;
}
return 0;
}
int GyroSensor::enable(int32_t, int en) {
int flags = en ? 1 : 0;
if (flags != mEnabled) {
int fd;
strcpy(&input_sysfs_path[input_sysfs_path_len], "enable");
fd = open(input_sysfs_path, O_RDWR);
if (fd >= 0) {
char buf[2];
int err;
buf[1] = 0;
if (flags) {
buf[0] = '1';
mEnabledTime = getTimestamp() + IGNORE_EVENT_TIME;
} else {
buf[0] = '0';
}
err = write(fd, buf, sizeof(buf));
close(fd);
mEnabled = flags;
setInitialState();
return 0;
}
return -1;
}
return 0;
}
bool GyroSensor::hasPendingEvents() const {
return mHasPendingEvent;
}
int GyroSensor::setDelay(int32_t handle, int64_t delay_ns)
{
int fd;
strcpy(&input_sysfs_path[input_sysfs_path_len], "poll_delay");
fd = open(input_sysfs_path, O_RDWR);
if (fd >= 0) {
char buf[80];
sprintf(buf, "%lld", delay_ns);
write(fd, buf, strlen(buf)+1);
close(fd);
return 0;
}
return -1;
}
int GyroSensor::readEvents(sensors_event_t* data, int count)
{
if (count < 1)
return -EINVAL;
if (mHasPendingEvent) {
mHasPendingEvent = false;
mPendingEvent.timestamp = getTimestamp();
*data = mPendingEvent;
return mEnabled ? 1 : 0;
}
ssize_t n = mInputReader.fill(data_fd);
if (n < 0)
return n;
int numEventReceived = 0;
input_event const* event;
#if FETCH_FULL_EVENT_BEFORE_RETURN
again:
#endif
while (count && mInputReader.readEvent(&event)) {
int type = event->type;
if (type == EV_REL) {
float value = event->value;
if (event->code == EVENT_TYPE_GYRO_X) {
mPendingEvent.data[0] = value * CONVERT_GYRO_X;
} else if (event->code == EVENT_TYPE_GYRO_Y) {
mPendingEvent.data[1] = value * CONVERT_GYRO_Y;
} else if (event->code == EVENT_TYPE_GYRO_Z) {
mPendingEvent.data[2] = value * CONVERT_GYRO_Z;
}
} else if (type == EV_SYN) {
mPendingEvent.timestamp = timevalToNano(event->time);
if (mEnabled) {
if (mPendingEvent.timestamp >= mEnabledTime) {
*data++ = mPendingEvent;
numEventReceived++;
}
count--;
}
} else {
LOGE("GyroSensor: unknown event (type=%d, code=%d)",
type, event->code);
}
mInputReader.next();
}
#if FETCH_FULL_EVENT_BEFORE_RETURN
/* if we didn't read a complete event, see if we can fill and
try again instead of returning with nothing and redoing poll. */
if (numEventReceived == 0 && mEnabled == 1) {
n = mInputReader.fill(data_fd);
if (n)
goto again;
}
#endif
return numEventReceived;
}

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libsensors/GyroSensor.h Normal file
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/*
* 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.
*/
#ifndef ANDROID_GYRO_SENSOR_H
#define ANDROID_GYRO_SENSOR_H
#include <stdint.h>
#include <errno.h>
#include <sys/cdefs.h>
#include <sys/types.h>
#include "sensors.h"
#include "SensorBase.h"
#include "InputEventReader.h"
/*****************************************************************************/
struct input_event;
class GyroSensor : public SensorBase {
int mEnabled;
InputEventCircularReader mInputReader;
sensors_event_t mPendingEvent;
bool mHasPendingEvent;
char input_sysfs_path[PATH_MAX];
int input_sysfs_path_len;
int64_t mEnabledTime;
int setInitialState();
public:
GyroSensor();
virtual ~GyroSensor();
virtual int readEvents(sensors_event_t* data, int count);
virtual bool hasPendingEvents() const;
virtual int setDelay(int32_t handle, int64_t ns);
virtual int enable(int32_t handle, int enabled);
};
/*****************************************************************************/
#endif // ANDROID_GYRO_SENSOR_H

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libsensors/InputEventReader.cpp Normal file
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/*
* 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.
*/
#include <stdint.h>
#include <errno.h>
#include <unistd.h>
#include <poll.h>
#include <sys/cdefs.h>
#include <sys/types.h>
#include <linux/input.h>
#include <cutils/log.h>
#include "InputEventReader.h"
/*****************************************************************************/
struct input_event;
InputEventCircularReader::InputEventCircularReader(size_t numEvents)
: mBuffer(new input_event[numEvents * 2]),
mBufferEnd(mBuffer + numEvents),
mHead(mBuffer),
mCurr(mBuffer),
mFreeSpace(numEvents)
{
}
InputEventCircularReader::~InputEventCircularReader()
{
delete [] mBuffer;
}
ssize_t InputEventCircularReader::fill(int fd)
{
size_t numEventsRead = 0;
if (mFreeSpace) {
const ssize_t nread = read(fd, mHead, mFreeSpace * sizeof(input_event));
if (nread<0 || nread % sizeof(input_event)) {
// we got a partial event!!
return nread<0 ? -errno : -EINVAL;
}
numEventsRead = nread / sizeof(input_event);
if (numEventsRead) {
mHead += numEventsRead;
mFreeSpace -= numEventsRead;
if (mHead > mBufferEnd) {
size_t s = mHead - mBufferEnd;
memcpy(mBuffer, mBufferEnd, s * sizeof(input_event));
mHead = mBuffer + s;
}
}
}
return numEventsRead;
}
ssize_t InputEventCircularReader::readEvent(input_event const** events)
{
*events = mCurr;
ssize_t available = (mBufferEnd - mBuffer) - mFreeSpace;
return available ? 1 : 0;
}
void InputEventCircularReader::next()
{
mCurr++;
mFreeSpace++;
if (mCurr >= mBufferEnd) {
mCurr = mBuffer;
}
}

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/*
* 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.
*/
#ifndef ANDROID_INPUT_EVENT_READER_H
#define ANDROID_INPUT_EVENT_READER_H
#include <stdint.h>
#include <errno.h>
#include <sys/cdefs.h>
#include <sys/types.h>
/*****************************************************************************/
struct input_event;
class InputEventCircularReader
{
struct input_event* const mBuffer;
struct input_event* const mBufferEnd;
struct input_event* mHead;
struct input_event* mCurr;
ssize_t mFreeSpace;
public:
InputEventCircularReader(size_t numEvents);
~InputEventCircularReader();
ssize_t fill(int fd);
ssize_t readEvent(input_event const** events);
void next();
};
/*****************************************************************************/
#endif // ANDROID_INPUT_EVENT_READER_H

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/*
* 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.
*/
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <unistd.h>
#include <dirent.h>
#include <sys/select.h>
#include <linux/lightsensor.h>
#include <cutils/log.h>
#include "LightSensor.h"
/*****************************************************************************/
LightSensor::LightSensor()
: SensorBase(NULL, "light_sensor"),
mEnabled(0),
mInputReader(4),
mHasPendingEvent(false)
{
mPendingEvent.version = sizeof(sensors_event_t);
mPendingEvent.sensor = ID_L;
mPendingEvent.type = SENSOR_TYPE_LIGHT;
memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
if (data_fd) {
strcpy(input_sysfs_path, "/sys/class/input/");
strcat(input_sysfs_path, input_name);
strcat(input_sysfs_path, "/device/");
input_sysfs_path_len = strlen(input_sysfs_path);
enable(0, 1);
}
}
LightSensor::~LightSensor() {
if (mEnabled) {
enable(0, 0);
}
}
int LightSensor::setInitialState() {
struct input_absinfo absinfo;
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_LIGHT), &absinfo)) {
// make sure to report an event immediately
mHasPendingEvent = true;
mPendingEvent.light = indexToValue(absinfo.value);
}
return 0;
}
int LightSensor::setDelay(int32_t handle, int64_t ns)
{
int fd;
strcpy(&input_sysfs_path[input_sysfs_path_len], "poll_delay");
fd = open(input_sysfs_path, O_RDWR);
if (fd >= 0) {
char buf[80];
sprintf(buf, "%lld", ns);
write(fd, buf, strlen(buf)+1);
close(fd);
return 0;
}
return -1;
}
int LightSensor::enable(int32_t handle, int en)
{
int flags = en ? 1 : 0;
if (flags != mEnabled) {
int fd;
strcpy(&input_sysfs_path[input_sysfs_path_len], "enable");
fd = open(input_sysfs_path, O_RDWR);
if (fd >= 0) {
char buf[2];
int err;
buf[1] = 0;
if (flags) {
buf[0] = '1';
} else {
buf[0] = '0';
}
err = write(fd, buf, sizeof(buf));
close(fd);
mEnabled = flags;
return 0;
}
return -1;
}
return 0;
}
bool LightSensor::hasPendingEvents() const {
return mHasPendingEvent;
}
int LightSensor::readEvents(sensors_event_t* data, int count)
{
if (count < 1)
return -EINVAL;
if (mHasPendingEvent) {
mHasPendingEvent = false;
mPendingEvent.timestamp = getTimestamp();
*data = mPendingEvent;
return mEnabled ? 1 : 0;
}
ssize_t n = mInputReader.fill(data_fd);
if (n < 0)
return n;
int numEventReceived = 0;
input_event const* event;
while (count && mInputReader.readEvent(&event)) {
int type = event->type;
if (type == EV_ABS) {
if (event->code == EVENT_TYPE_LIGHT) {
if (event->value != -1) {
// FIXME: not sure why we're getting -1 sometimes
mPendingEvent.light = indexToValue(event->value);
}
}
} else if (type == EV_SYN) {
mPendingEvent.timestamp = timevalToNano(event->time);
if (mEnabled) {
*data++ = mPendingEvent;
count--;
numEventReceived++;
}
} else {
LOGE("LightSensor: unknown event (type=%d, code=%d)",
type, event->code);
}
mInputReader.next();
}
return numEventReceived;
}
float LightSensor::indexToValue(size_t index) const
{
static const float luxValues[10] = {
10.0, 160.0, 225.0, 320.0, 640.0,
1280.0, 2600.0, 5800.0, 8000.0, 10240.0
};
const size_t maxIndex = sizeof(luxValues)/sizeof(*luxValues) - 1;
if (index > maxIndex)
index = maxIndex;
return luxValues[index];
}

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/*
* 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.
*/
#ifndef ANDROID_LIGHT_SENSOR_H
#define ANDROID_LIGHT_SENSOR_H
#include <stdint.h>
#include <errno.h>
#include <sys/cdefs.h>
#include <sys/types.h>
#include "sensors.h"
#include "SensorBase.h"
#include "InputEventReader.h"
/*****************************************************************************/
struct input_event;
class LightSensor : public SensorBase {
int mEnabled;
InputEventCircularReader mInputReader;
sensors_event_t mPendingEvent;
bool mHasPendingEvent;
char input_sysfs_path[PATH_MAX];
int input_sysfs_path_len;
float indexToValue(size_t index) const;
int setInitialState();
public:
LightSensor();
virtual ~LightSensor();
virtual int readEvents(sensors_event_t* data, int count);
virtual bool hasPendingEvents() const;
virtual int setDelay(int32_t handle, int64_t ns);
virtual int enable(int32_t handle, int enabled);
};
/*****************************************************************************/
#endif // ANDROID_LIGHT_SENSOR_H

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/*
* 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.
*/
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <unistd.h>
#include <dirent.h>
#include <sys/select.h>
#include <linux/capella_cm3602.h>
#include <cutils/log.h>
#include "ProximitySensor.h"
/*****************************************************************************/
ProximitySensor::ProximitySensor()
: SensorBase(CM_DEVICE_NAME, "proximity_sensor"),
mEnabled(0),
mInputReader(4),
mHasPendingEvent(false)
{
mPendingEvent.version = sizeof(sensors_event_t);
mPendingEvent.sensor = ID_P;
mPendingEvent.type = SENSOR_TYPE_PROXIMITY;
memset(mPendingEvent.data, 0, sizeof(mPendingEvent.data));
if (data_fd) {
strcpy(input_sysfs_path, "/sys/class/input/");
strcat(input_sysfs_path, input_name);
strcat(input_sysfs_path, "/device/");
input_sysfs_path_len = strlen(input_sysfs_path);
enable(0, 1);
}
}
ProximitySensor::~ProximitySensor() {
if (mEnabled) {
enable(0, 0);
}
}
int ProximitySensor::setInitialState() {
struct input_absinfo absinfo;
if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_PROXIMITY), &absinfo)) {
// make sure to report an event immediately
mHasPendingEvent = true;
mPendingEvent.distance = indexToValue(absinfo.value);
}
return 0;
}
int ProximitySensor::enable(int32_t, int en) {
int flags = en ? 1 : 0;
if (flags != mEnabled) {
int fd;
strcpy(&input_sysfs_path[input_sysfs_path_len], "enable");
fd = open(input_sysfs_path, O_RDWR);
if (fd >= 0) {
char buf[2];
buf[1] = 0;
if (flags) {
buf[0] = '1';
} else {
buf[0] = '0';
}
write(fd, buf, sizeof(buf));
close(fd);
mEnabled = flags;
setInitialState();
return 0;
}
return -1;
}
return 0;
}
bool ProximitySensor::hasPendingEvents() const {
return mHasPendingEvent;
}
int ProximitySensor::readEvents(sensors_event_t* data, int count)
{
if (count < 1)
return -EINVAL;
if (mHasPendingEvent) {
mHasPendingEvent = false;
mPendingEvent.timestamp = getTimestamp();
*data = mPendingEvent;
return mEnabled ? 1 : 0;
}
ssize_t n = mInputReader.fill(data_fd);
if (n < 0)
return n;
int numEventReceived = 0;
input_event const* event;
while (count && mInputReader.readEvent(&event)) {
int type = event->type;
if (type == EV_ABS) {
if (event->code == EVENT_TYPE_PROXIMITY) {
mPendingEvent.distance = indexToValue(event->value);
}
} else if (type == EV_SYN) {
mPendingEvent.timestamp = timevalToNano(event->time);
if (mEnabled) {
*data++ = mPendingEvent;
count--;
numEventReceived++;
}
} else {
LOGE("ProximitySensor: unknown event (type=%d, code=%d)",
type, event->code);
}
mInputReader.next();
}
return numEventReceived;
}
float ProximitySensor::indexToValue(size_t index) const
{
return index * PROXIMITY_THRESHOLD_CM;
}

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/*
* 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.
*/
#ifndef ANDROID_PROXIMITY_SENSOR_H
#define ANDROID_PROXIMITY_SENSOR_H
#include <stdint.h>
#include <errno.h>
#include <sys/cdefs.h>
#include <sys/types.h>
#include "sensors.h"
#include "SensorBase.h"
#include "InputEventReader.h"
/*****************************************************************************/
struct input_event;
class ProximitySensor : public SensorBase {
int mEnabled;
InputEventCircularReader mInputReader;
sensors_event_t mPendingEvent;
bool mHasPendingEvent;
char input_sysfs_path[PATH_MAX];
int input_sysfs_path_len;
int setInitialState();
float indexToValue(size_t index) const;
public:
ProximitySensor();
virtual ~ProximitySensor();
virtual int readEvents(sensors_event_t* data, int count);
virtual bool hasPendingEvents() const;
virtual int enable(int32_t handle, int enabled);
};
/*****************************************************************************/
#endif // ANDROID_PROXIMITY_SENSOR_H

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/*
* 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.
*/
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <unistd.h>
#include <dirent.h>
#include <sys/select.h>
#include <cutils/log.h>
#include <linux/input.h>
#include "SensorBase.h"
/*****************************************************************************/
SensorBase::SensorBase(
const char* dev_name,
const char* data_name)
: dev_name(dev_name), data_name(data_name),
dev_fd(-1), data_fd(-1)
{
if (data_name) {
data_fd = openInput(data_name);
}
}
SensorBase::~SensorBase() {
if (data_fd >= 0) {
close(data_fd);
}
if (dev_fd >= 0) {
close(dev_fd);
}
}
int SensorBase::open_device() {
if (dev_fd<0 && dev_name) {
dev_fd = open(dev_name, O_RDONLY);
LOGE_IF(dev_fd<0, "Couldn't open %s (%s)", dev_name, strerror(errno));
}
return 0;
}
int SensorBase::close_device() {
if (dev_fd >= 0) {
close(dev_fd);
dev_fd = -1;
}
return 0;
}
int SensorBase::getFd() const {
if (!data_name) {
return dev_fd;
}
return data_fd;
}
int SensorBase::setDelay(int32_t handle, int64_t ns) {
return 0;
}
bool SensorBase::hasPendingEvents() const {
return false;
}
int64_t SensorBase::getTimestamp() {
struct timespec t;
t.tv_sec = t.tv_nsec = 0;
clock_gettime(CLOCK_MONOTONIC, &t);
return int64_t(t.tv_sec)*1000000000LL + t.tv_nsec;
}
int SensorBase::openInput(const char* inputName) {
int fd = -1;
const char *dirname = "/dev/input";
char devname[PATH_MAX];
char *filename;
DIR *dir;
struct dirent *de;
dir = opendir(dirname);
if(dir == NULL)
return -1;
strcpy(devname, dirname);
filename = devname + strlen(devname);
*filename++ = '/';
while((de = readdir(dir))) {
if(de->d_name[0] == '.' &&
(de->d_name[1] == '\0' ||
(de->d_name[1] == '.' && de->d_name[2] == '\0')))
continue;
strcpy(filename, de->d_name);
fd = open(devname, O_RDONLY);
if (fd>=0) {
char name[80];
if (ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name) < 1) {
name[0] = '\0';
}
if (!strcmp(name, inputName)) {
strcpy(input_name, filename);
break;
} else {
close(fd);
fd = -1;
}
}
}
closedir(dir);
LOGE_IF(fd<0, "couldn't find '%s' input device", inputName);
return fd;
}

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/*
* 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.
*/
#ifndef ANDROID_SENSOR_BASE_H
#define ANDROID_SENSOR_BASE_H
#include <stdint.h>
#include <errno.h>
#include <sys/cdefs.h>
#include <sys/types.h>
/*****************************************************************************/
struct sensors_event_t;
class SensorBase {
protected:
const char* dev_name;
const char* data_name;
char input_name[PATH_MAX];
int dev_fd;
int data_fd;
int openInput(const char* inputName);
static int64_t getTimestamp();
static int64_t timevalToNano(timeval const& t) {
return t.tv_sec*1000000000LL + t.tv_usec*1000;
}
int open_device();
int close_device();
public:
SensorBase(
const char* dev_name,
const char* data_name);
virtual ~SensorBase();
virtual int readEvents(sensors_event_t* data, int count) = 0;
virtual bool hasPendingEvents() const;
virtual int getFd() const;
virtual int setDelay(int32_t handle, int64_t ns);
virtual int enable(int32_t handle, int enabled) = 0;
};
/*****************************************************************************/
#endif // ANDROID_SENSOR_BASE_H

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/*
* Definitions for akm8973 compass chip.
*/
#ifndef AKM8973_H
#define AKM8973_H
#include <linux/ioctl.h>
#define AKM8973_I2C_NAME "ak8973b"
#define AKMIO 0xA1
/* IOCTLs for AKM library */
#define ECS_IOCTL_WRITE _IOW(AKMIO, 0x01, char*)
#define ECS_IOCTL_READ _IOWR(AKMIO, 0x02, char*)
#define ECS_IOCTL_RESET _IO(AKMIO, 0x03)
#define ECS_IOCTL_SET_MODE _IOW(AKMIO, 0x04, short)
#define ECS_IOCTL_GETDATA _IOR(AKMIO, 0x05, char[SENSOR_DATA_SIZE])
#define ECS_IOCTL_SET_YPR _IOW(AKMIO, 0x06, short[12])
#define ECS_IOCTL_GET_OPEN_STATUS _IOR(AKMIO, 0x07, int)
#define ECS_IOCTL_GET_CLOSE_STATUS _IOR(AKMIO, 0x08, int)
#define ECS_IOCTL_GET_DELAY _IOR(AKMIO, 0x30, int64_t)
#define ECS_IOCTL_GET_PROJECT_NAME _IOR(AKMIO, 0x0D, char[64])
#define ECS_IOCTL_GET_MATRIX _IOR(AKMIO, 0x0E, short [4][3][3])
/* IOCTLs for APPs */
#define ECS_IOCTL_APP_SET_MODE _IOW(AKMIO, 0x10, short)
#define ECS_IOCTL_APP_SET_MFLAG _IOW(AKMIO, 0x11, short)
#define ECS_IOCTL_APP_GET_MFLAG _IOW(AKMIO, 0x12, short)
#define ECS_IOCTL_APP_SET_AFLAG _IOW(AKMIO, 0x13, short)
#define ECS_IOCTL_APP_GET_AFLAG _IOR(AKMIO, 0x14, short)
#define ECS_IOCTL_APP_SET_TFLAG _IOR(AKMIO, 0x15, short)
#define ECS_IOCTL_APP_GET_TFLAG _IOR(AKMIO, 0x16, short)
#define ECS_IOCTL_APP_RESET_PEDOMETER _IO(AKMIO, 0x17)
#define ECS_IOCTL_APP_SET_DELAY _IOW(AKMIO, 0x18, int64_t)
#define ECS_IOCTL_APP_GET_DELAY ECS_IOCTL_GET_DELAY
/* Set raw magnetic vector flag */
#define ECS_IOCTL_APP_SET_MVFLAG _IOW(AKMIO, 0x19, short)
/* Get raw magnetic vector flag */
#define ECS_IOCTL_APP_GET_MVFLAG _IOR(AKMIO, 0x1A, short)
struct akm8973_platform_data {
short layouts[4][3][3];
char project_name[64];
int gpio_RST;
int gpio_INT;
};
#endif

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/*
* 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 <linux/input.h>
#include <utils/Atomic.h>
#include <utils/Log.h>
#include "sensors.h"
#include "LightSensor.h"
#include "ProximitySensor.h"
#include "AkmSensor.h"
#include "GyroSensor.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_LIGHT (1<<ID_L)
#define SENSORS_PROXIMITY (1<<ID_P)
#define SENSORS_GYROSCOPE (1<<ID_GY)
#define SENSORS_ACCELERATION_HANDLE 0
#define SENSORS_MAGNETIC_FIELD_HANDLE 1
#define SENSORS_ORIENTATION_HANDLE 2
#define SENSORS_LIGHT_HANDLE 3
#define SENSORS_PROXIMITY_HANDLE 4
#define SENSORS_GYROSCOPE_HANDLE 5
#define AKM_FTRACE 0
#define AKM_DEBUG 0
#define AKM_DATA 0
/*****************************************************************************/
/* The SENSORS Module */
static const struct sensor_t sSensorList[] = {
{ "KR3DM 3-axis Accelerometer",
"STMicroelectronics",
1, SENSORS_ACCELERATION_HANDLE,
SENSOR_TYPE_ACCELEROMETER, RANGE_A, CONVERT_A, 0.23f, 20000, { } },
{ "AK8975 3-axis Magnetic field sensor",
"Asahi Kasei Microdevices",
1, SENSORS_MAGNETIC_FIELD_HANDLE,
SENSOR_TYPE_MAGNETIC_FIELD, 2000.0f, CONVERT_M, 6.8f, 16667, { } },
{ "AK8973 Orientation sensor",
"Asahi Kasei Microdevices",
1, SENSORS_ORIENTATION_HANDLE,
SENSOR_TYPE_ORIENTATION, 360.0f, CONVERT_O, 7.8f, 16667, { } },
{ "CM3663 Light sensor",
"Capella Microsystems",
1, SENSORS_LIGHT_HANDLE,
SENSOR_TYPE_LIGHT, 10240.0f, 1.0f, 0.75f, 0, { } },
{ "CM3663 Proximity sensor",
"Capella Microsystems",
1, SENSORS_PROXIMITY_HANDLE,
SENSOR_TYPE_PROXIMITY, 5.0f, 5.0f, 0.75f, 0, { } },
{ "K3G Gyroscope sensor",
"STMicroelectronics",
1, SENSORS_GYROSCOPE_HANDLE,
SENSOR_TYPE_GYROSCOPE, RANGE_GYRO, CONVERT_GYRO, 6.1f, 1190, { } },
};
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: "Samsung Sensor module",
author: "Samsung Electronic Company",
methods: &sensors_module_methods,
},
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 pollEvents(sensors_event_t* data, int count);
private:
enum {
light = 0,
proximity = 1,
akm = 2,
gyro = 3,
numSensorDrivers,
numFds,
};
static const size_t wake = numFds - 1;
static const char WAKE_MESSAGE = 'W';
struct pollfd mPollFds[numFds];
int mWritePipeFd;
SensorBase* mSensors[numSensorDrivers];
int handleToDriver(int handle) const {
switch (handle) {
case ID_A:
case ID_M:
case ID_O:
return akm;
case ID_P:
return proximity;
case ID_L:
return light;
case ID_GY:
return gyro;
}
return -EINVAL;
}
};
/*****************************************************************************/
sensors_poll_context_t::sensors_poll_context_t()
{
mSensors[light] = new LightSensor();
mPollFds[light].fd = mSensors[light]->getFd();
mPollFds[light].events = POLLIN;
mPollFds[light].revents = 0;
mSensors[proximity] = new ProximitySensor();
mPollFds[proximity].fd = mSensors[proximity]->getFd();
mPollFds[proximity].events = POLLIN;
mPollFds[proximity].revents = 0;
mSensors[akm] = new AkmSensor();
mPollFds[akm].fd = mSensors[akm]->getFd();
mPollFds[akm].events = POLLIN;
mPollFds[akm].revents = 0;
mSensors[gyro] = new GyroSensor();
mPollFds[gyro].fd = mSensors[gyro]->getFd();
mPollFds[gyro].events = POLLIN;
mPollFds[gyro].revents = 0;
int wakeFds[2];
int result = pipe(wakeFds);
LOGE_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::activate(int handle, int enabled) {
int index = handleToDriver(handle);
if (index < 0) return index;
int err = mSensors[index]->enable(handle, enabled);
if (enabled && !err) {
const char wakeMessage(WAKE_MESSAGE);
int result = write(mWritePipeFd, &wakeMessage, 1);
LOGE_IF(result<0, "error sending wake message (%s)", strerror(errno));
}
return err;
}
int sensors_poll_context_t::setDelay(int handle, int64_t ns) {
int index = handleToDriver(handle);
if (index < 0) return index;
return mSensors[index]->setDelay(handle, ns);
}
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;
}
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) {
LOGE("poll() failed (%s)", strerror(errno));
return -errno;
}
if (mPollFds[wake].revents & POLLIN) {
char msg;
int result = read(mPollFds[wake].fd, &msg, 1);
LOGE_IF(result<0, "error reading from wake pipe (%s)", strerror(errno));
LOGE_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;
}

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/*
* 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.
*/
#ifndef ANDROID_SENSORS_H
#define ANDROID_SENSORS_H
#include <stdint.h>
#include <errno.h>
#include <sys/cdefs.h>
#include <sys/types.h>
#include <linux/input.h>
#include <hardware/hardware.h>
#include <hardware/sensors.h>
__BEGIN_DECLS
/*****************************************************************************/
#define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0]))
#define ID_A (0)
#define ID_M (1)
#define ID_O (2)
#define ID_L (3)
#define ID_P (4)
#define ID_GY (5)
/*****************************************************************************/
/*
* The SENSORS Module
*/
/* the CM3663 is a binary proximity sensor that triggers around 9 cm on
* this hardware */
#define PROXIMITY_THRESHOLD_CM 9.0f
/*****************************************************************************/
#define AKM_DEVICE_NAME "/dev/akm8975"
#define CM_DEVICE_NAME "/dev/i2c11" // FIXME Proximity
#define LS_DEVICE_NAME "/dev/i2c11" // FIXME Lig
/*
E/Sensors ( 2656): AkmSensor: processing event (type=0, code=0)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=8)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=3)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=4)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=5)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=0)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=1)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=2)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=6)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=7)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=9)
E/Sensors ( 2656): AkmSensor: processing event (type=0, code=0)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=8)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=3)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=4)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=5)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=0)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=1)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=2)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=6)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=7)
E/Sensors ( 2656): AkmSensor: processing event (type=2, code=9)
*/
// for akm8975
#define EVENT_TYPE_ACCEL_X ABS_Y //1
#define EVENT_TYPE_ACCEL_Y ABS_X //0
#define EVENT_TYPE_ACCEL_Z ABS_Z //2
//#define EVENT_TYPE_ACCEL_STATUS ABS_WHEEL //8
#define EVENT_TYPE_YAW ABS_RX //3
#define EVENT_TYPE_PITCH ABS_RY //4
#define EVENT_TYPE_ROLL ABS_RZ //5
#define EVENT_TYPE_ORIENT_STATUS ABS_WHEEL //8
#define EVENT_TYPE_MAGV_X ABS_RUDDER // 6
#define EVENT_TYPE_MAGV_Y ABS_THROTTLE // 7
#define EVENT_TYPE_MAGV_Z ABS_GAS // 9
#define EVENT_TYPE_TEMPERATURE ABS_THROTTLE
#define EVENT_TYPE_STEP_COUNT ABS_GAS
#define EVENT_TYPE_PROXIMITY ABS_DISTANCE
#define EVENT_TYPE_LIGHT ABS_MISC
#define EVENT_TYPE_GYRO_X REL_RY
#define EVENT_TYPE_GYRO_Y REL_RX
#define EVENT_TYPE_GYRO_Z REL_RZ
// 90 LSB = 1G for KR3DM
#define LSB (90.0f)
#define NUMOFACCDATA (8.0f)
// conversion of acceleration data to SI units (m/s^2)
#define RANGE_A (2*GRAVITY_EARTH)
#define CONVERT_A (GRAVITY_EARTH / LSB / NUMOFACCDATA)
#define CONVERT_A_X (CONVERT_A)
#define CONVERT_A_Y (-CONVERT_A)
#define CONVERT_A_Z (-CONVERT_A)
// conversion of magnetic data to uT units
#define CONVERT_M (1.0f/16.0f)
#define CONVERT_M_X (-CONVERT_M)
#define CONVERT_M_Y (-CONVERT_M)
#define CONVERT_M_Z (-CONVERT_M)
/* conversion of orientation data to degree units */
#define CONVERT_O (1.0f/64.0f)
#define CONVERT_O_A (CONVERT_O)
#define CONVERT_O_P (CONVERT_O)
#define CONVERT_O_R (-CONVERT_O)
// conversion of gyro data to SI units (radian/sec)
#define RANGE_GYRO (2000.0f*(float)M_PI/180.0f)
#define CONVERT_GYRO ((70.0f / 1000.0f) * ((float)M_PI / 180.0f))
#define CONVERT_GYRO_X (CONVERT_GYRO)
#define CONVERT_GYRO_Y (-CONVERT_GYRO)
#define CONVERT_GYRO_Z (CONVERT_GYRO)
#define SENSOR_STATE_MASK (0x7FFF)
/*****************************************************************************/
__END_DECLS
#endif // ANDROID_SENSORS_H