| /* |
| * 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 <cutils/log.h> |
| |
| #include "AkmSensor.h" |
| |
| #define AKMD_DEFAULT_INTERVAL 200000000 |
| |
| /*****************************************************************************/ |
| |
| AkmSensor::AkmSensor() |
| : SensorBase(NULL, "compass"), |
| mPendingMask(0), |
| mInputReader(32) |
| { |
| for (int i=0; i<numSensors; i++) { |
| mEnabled[i] = 0; |
| mDelay[i] = -1; |
| } |
| 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; |
| |
| if (data_fd) { |
| strcpy(input_sysfs_path, "/sys/class/compass/akm8975/"); |
| input_sysfs_path_len = strlen(input_sysfs_path); |
| } else { |
| input_sysfs_path[0] = '\0'; |
| input_sysfs_path_len = 0; |
| } |
| } |
| |
| AkmSensor::~AkmSensor() |
| { |
| for (int i=0; i<numSensors; i++) { |
| setEnable(i, 0); |
| } |
| } |
| |
| int AkmSensor::setEnable(int32_t handle, int enabled) |
| { |
| int id = handle2id(handle); |
| int err = 0; |
| char buffer[2]; |
| |
| switch (id) { |
| case Accelerometer: |
| strcpy(&input_sysfs_path[input_sysfs_path_len], "enable_acc"); |
| break; |
| case MagneticField: |
| strcpy(&input_sysfs_path[input_sysfs_path_len], "enable_mag"); |
| break; |
| case Orientation: |
| strcpy(&input_sysfs_path[input_sysfs_path_len], "enable_ori"); |
| break; |
| default: |
| ALOGE("AkmSensor: unknown handle (%d)", handle); |
| return -EINVAL; |
| } |
| |
| buffer[0] = '\0'; |
| buffer[1] = '\0'; |
| |
| if (mEnabled[id] <= 0) { |
| if(enabled) buffer[0] = '1'; |
| } else if (mEnabled[id] == 1) { |
| if(!enabled) buffer[0] = '0'; |
| } |
| |
| if (buffer[0] != '\0') { |
| err = write_sys_attribute(input_sysfs_path, buffer, 1); |
| if (err != 0) { |
| return err; |
| } |
| ALOGD("AkmSensor: set %s to %s", |
| &input_sysfs_path[input_sysfs_path_len], buffer); |
| |
| /* for AKMD specification */ |
| if (buffer[0] == '1') { |
| setDelay(handle, AKMD_DEFAULT_INTERVAL); |
| } else { |
| setDelay(handle, -1); |
| } |
| } |
| |
| if (enabled) { |
| (mEnabled[id])++; |
| if (mEnabled[id] > 32767) mEnabled[id] = 32767; |
| } else { |
| (mEnabled[id])--; |
| if (mEnabled[id] < 0) mEnabled[id] = 0; |
| } |
| ALOGD("AkmSensor: mEnabled[%d] = %d", id, mEnabled[id]); |
| |
| return err; |
| } |
| |
| int AkmSensor::setDelay(int32_t handle, int64_t ns) |
| { |
| int id = handle2id(handle); |
| int err = 0; |
| char buffer[32]; |
| int bytes; |
| |
| if (ns < -1 || 2147483647 < ns) { |
| ALOGE("AkmSensor: invalid delay (%lld)", ns); |
| return -EINVAL; |
| } |
| |
| switch (id) { |
| case Accelerometer: |
| strcpy(&input_sysfs_path[input_sysfs_path_len], "delay_acc"); |
| break; |
| case MagneticField: |
| strcpy(&input_sysfs_path[input_sysfs_path_len], "delay_mag"); |
| break; |
| case Orientation: |
| strcpy(&input_sysfs_path[input_sysfs_path_len], "delay_ori"); |
| break; |
| default: |
| ALOGE("AkmSensor: unknown handle (%d)", handle); |
| return -EINVAL; |
| } |
| |
| if (ns != mDelay[id]) { |
| bytes = sprintf(buffer, "%lld", ns); |
| err = write_sys_attribute(input_sysfs_path, buffer, bytes); |
| if (err == 0) { |
| mDelay[id] = ns; |
| ALOGD("AkmSensor: set %s to %f ms.", |
| &input_sysfs_path[input_sysfs_path_len], ns/1000000.0f); |
| } |
| } |
| |
| return err; |
| } |
| |
| int64_t AkmSensor::getDelay(int32_t handle) |
| { |
| int id = handle2id(handle); |
| if (id > 0) { |
| return mDelay[id]; |
| } else { |
| return 0; |
| } |
| } |
| |
| int AkmSensor::getEnable(int32_t handle) |
| { |
| int id = handle2id(handle); |
| if (id >= 0) { |
| return mEnabled[id]; |
| } else { |
| 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_ABS) { |
| 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; |
| //ALOGD("data=%8.5f,%8.5f,%8.5f", |
| //mPendingEvents[j].data[0], |
| //mPendingEvents[j].data[1], |
| //mPendingEvents[j].data[2]); |
| if (mEnabled[j]) { |
| *data++ = mPendingEvents[j]; |
| count--; |
| numEventReceived++; |
| } |
| } |
| } |
| if (!mPendingMask) { |
| mInputReader.next(); |
| } |
| } else { |
| ALOGE("AkmSensor: unknown event (type=%d, code=%d)", |
| type, event->code); |
| mInputReader.next(); |
| } |
| } |
| return numEventReceived; |
| } |
| |
| int AkmSensor::setAccel(sensors_event_t* data) |
| { |
| int err; |
| int16_t acc[3]; |
| |
| acc[0] = (int16_t)(data->acceleration.x / GRAVITY_EARTH * AKSC_LSG); |
| acc[1] = (int16_t)(data->acceleration.y / GRAVITY_EARTH * AKSC_LSG); |
| acc[2] = (int16_t)(data->acceleration.z / GRAVITY_EARTH * AKSC_LSG); |
| |
| strcpy(&input_sysfs_path[input_sysfs_path_len], "accel"); |
| err = write_sys_attribute(input_sysfs_path, (char*)acc, 6); |
| if (err < 0) { |
| ALOGD("AkmSensor: %s write failed.", |
| &input_sysfs_path[input_sysfs_path_len]); |
| } |
| return err; |
| } |
| |
| int AkmSensor::handle2id(int32_t handle) |
| { |
| switch (handle) { |
| case ID_A: |
| return Accelerometer; |
| case ID_M: |
| return MagneticField; |
| case ID_O: |
| return Orientation; |
| default: |
| ALOGE("AkmSensor: unknown handle (%d)", handle); |
| return -EINVAL; |
| } |
| } |
| |
| void AkmSensor::processEvent(int code, int value) |
| { |
| switch (code) { |
| case EVENT_TYPE_ACCEL_X: |
| mPendingMask |= 1<<Accelerometer; |
| mPendingEvents[Accelerometer].acceleration.x = value * CONVERT_A; |
| break; |
| case EVENT_TYPE_ACCEL_Y: |
| mPendingMask |= 1<<Accelerometer; |
| mPendingEvents[Accelerometer].acceleration.y = value * CONVERT_A; |
| break; |
| case EVENT_TYPE_ACCEL_Z: |
| mPendingMask |= 1<<Accelerometer; |
| mPendingEvents[Accelerometer].acceleration.z = value * CONVERT_A; |
| break; |
| |
| case EVENT_TYPE_MAGV_X: |
| mPendingMask |= 1<<MagneticField; |
| mPendingEvents[MagneticField].magnetic.x = value * CONVERT_M; |
| break; |
| case EVENT_TYPE_MAGV_Y: |
| mPendingMask |= 1<<MagneticField; |
| mPendingEvents[MagneticField].magnetic.y = value * CONVERT_M; |
| break; |
| case EVENT_TYPE_MAGV_Z: |
| mPendingMask |= 1<<MagneticField; |
| mPendingEvents[MagneticField].magnetic.z = value * CONVERT_M; |
| break; |
| case EVENT_TYPE_MAGV_STATUS: |
| mPendingMask |= 1<<MagneticField; |
| mPendingEvents[MagneticField].magnetic.status = value; |
| break; |
| |
| case EVENT_TYPE_YAW: |
| mPendingMask |= 1<<Orientation; |
| mPendingEvents[Orientation].orientation.azimuth = value * CONVERT_O; |
| break; |
| case EVENT_TYPE_PITCH: |
| mPendingMask |= 1<<Orientation; |
| mPendingEvents[Orientation].orientation.pitch = value * CONVERT_O; |
| break; |
| case EVENT_TYPE_ROLL: |
| mPendingMask |= 1<<Orientation; |
| mPendingEvents[Orientation].orientation.roll = value * CONVERT_O; |
| break; |
| case EVENT_TYPE_ORIENT_STATUS: |
| mPendingMask |= 1<<Orientation; |
| mPendingEvents[Orientation].orientation.status = value; |
| break; |
| } |
| } |