327 lines
10 KiB
C++
327 lines
10 KiB
C++
/*
|
|
* 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;
|
|
}
|
|
|