| /* |
| * Copyright (C) 2017 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 "Vibrator.h" |
| |
| #include <cutils/properties.h> |
| #include <hardware/hardware.h> |
| #include <hardware/vibrator.h> |
| #include <log/log.h> |
| #include <utils/Trace.h> |
| |
| #include <cinttypes> |
| #include <cmath> |
| #include <fstream> |
| #include <iostream> |
| |
| #include "utils.h" |
| |
| namespace android { |
| namespace hardware { |
| namespace vibrator { |
| namespace V1_3 { |
| namespace implementation { |
| |
| static constexpr int8_t MAX_RTP_INPUT = 127; |
| static constexpr int8_t MIN_RTP_INPUT = 0; |
| |
| static constexpr char RTP_MODE[] = "rtp"; |
| static constexpr char WAVEFORM_MODE[] = "waveform"; |
| |
| // Use effect #1 in the waveform library for CLICK effect |
| static constexpr char WAVEFORM_CLICK_EFFECT_SEQ[] = "1 0"; |
| |
| // Use effect #2 in the waveform library for TICK effect |
| static constexpr char WAVEFORM_TICK_EFFECT_SEQ[] = "2 0"; |
| |
| // Use effect #3 in the waveform library for DOUBLE_CLICK effect |
| static constexpr char WAVEFORM_DOUBLE_CLICK_EFFECT_SEQ[] = "3 0"; |
| |
| // Use effect #4 in the waveform library for HEAVY_CLICK effect |
| static constexpr char WAVEFORM_HEAVY_CLICK_EFFECT_SEQ[] = "4 0"; |
| |
| // UT team design those target G values |
| static constexpr std::array<float, 5> EFFECT_TARGET_G = {0.15, 0.15, 0.27, 0.43, 0.57}; |
| static constexpr std::array<float, 3> STEADY_TARGET_G = {1.2, 1.145, 0.905}; |
| |
| #define FLOAT_EPS 1e-6 |
| |
| // Temperature protection upper bound 10°C and lower bound 5°C |
| static constexpr int32_t TEMP_UPPER_BOUND = 10000; |
| static constexpr int32_t TEMP_LOWER_BOUND = 5000; |
| // Steady vibration's voltage in lower bound guarantee |
| static uint32_t STEADY_VOLTAGE_LOWER_BOUND = 90; // 1.8 Vpeak |
| |
| static std::uint32_t freqPeriodFormula(std::uint32_t in) { |
| return 1000000000 / (24615 * in); |
| } |
| |
| static std::uint32_t convertLevelsToOdClamp(float voltageLevel, uint32_t lraPeriod) { |
| float odClamp; |
| |
| odClamp = voltageLevel / |
| ((21.32 / 1000.0) * |
| sqrt(1.0 - (static_cast<float>(freqPeriodFormula(lraPeriod)) * 8.0 / 10000.0))); |
| |
| return round(odClamp); |
| } |
| |
| static float targetGToVlevelsUnderLinearEquation(std::array<float, 4> inputCoeffs, float targetG) { |
| // Implement linear equation to get voltage levels, f(x) = ax + b |
| // 0 to 3.2 is our valid output |
| float outPutVal = 0.0f; |
| outPutVal = (targetG - inputCoeffs[1]) / inputCoeffs[0]; |
| if ((outPutVal > FLOAT_EPS) && (outPutVal <= 3.2)) { |
| return outPutVal; |
| } else { |
| return 0.0f; |
| } |
| } |
| |
| static float targetGToVlevelsUnderCubicEquation(std::array<float, 4> inputCoeffs, float targetG) { |
| // Implement cubic equation to get voltage levels, f(x) = ax^3 + bx^2 + cx + d |
| // 0 to 3.2 is our valid output |
| float AA = 0.0f, BB = 0.0f, CC = 0.0f, Delta = 0.0f; |
| float Y1 = 0.0f, Y2 = 0.0f, K = 0.0f, T = 0.0f, sita = 0.0f; |
| float outPutVal = 0.0f; |
| float oneHalf = 1.0 / 2.0, oneThird = 1.0 / 3.0; |
| float cosSita = 0.0f, sinSitaSqrt3 = 0.0f, sqrtA = 0.0f; |
| |
| AA = inputCoeffs[1] * inputCoeffs[1] - 3.0 * inputCoeffs[0] * inputCoeffs[2]; |
| BB = inputCoeffs[1] * inputCoeffs[2] - 9.0 * inputCoeffs[0] * (inputCoeffs[3] - targetG); |
| CC = inputCoeffs[2] * inputCoeffs[2] - 3.0 * inputCoeffs[1] * (inputCoeffs[3] - targetG); |
| |
| Delta = BB * BB - 4.0 * AA * CC; |
| |
| // There are four discriminants in Shengjin formula. |
| // https://zh.wikipedia.org/wiki/%E4%B8%89%E6%AC%A1%E6%96%B9%E7%A8%8B#%E7%9B%9B%E9%87%91%E5%85%AC%E5%BC%8F%E6%B3%95 |
| if ((fabs(AA) <= FLOAT_EPS) && (fabs(BB) <= FLOAT_EPS)) { |
| // Case 1: A = B = 0 |
| outPutVal = -inputCoeffs[1] / (3 * inputCoeffs[0]); |
| if ((outPutVal > FLOAT_EPS) && (outPutVal <= 3.2)) { |
| return outPutVal; |
| } |
| return 0.0f; |
| } else if (Delta > FLOAT_EPS) { |
| // Case 2: Delta > 0 |
| Y1 = AA * inputCoeffs[1] + 3.0 * inputCoeffs[0] * (-BB + pow(Delta, oneHalf)) / 2.0; |
| Y2 = AA * inputCoeffs[1] + 3.0 * inputCoeffs[0] * (-BB - pow(Delta, oneHalf)) / 2.0; |
| |
| if ((Y1 < -FLOAT_EPS) && (Y2 > FLOAT_EPS)) { |
| return (-inputCoeffs[1] + pow(-Y1, oneThird) - pow(Y2, oneThird)) / |
| (3.0 * inputCoeffs[0]); |
| } else if ((Y1 > FLOAT_EPS) && (Y2 < -FLOAT_EPS)) { |
| return (-inputCoeffs[1] - pow(Y1, oneThird) + pow(-Y2, oneThird)) / |
| (3.0 * inputCoeffs[0]); |
| } else if ((Y1 < -FLOAT_EPS) && (Y2 < -FLOAT_EPS)) { |
| return (-inputCoeffs[1] + pow(-Y1, oneThird) + pow(-Y2, oneThird)) / |
| (3.0 * inputCoeffs[0]); |
| } else { |
| return (-inputCoeffs[1] - pow(Y1, oneThird) - pow(Y2, oneThird)) / |
| (3.0 * inputCoeffs[0]); |
| } |
| return 0.0f; |
| } else if (Delta < -FLOAT_EPS) { |
| // Case 3: Delta < 0 |
| T = (2 * AA * inputCoeffs[1] - 3 * inputCoeffs[0] * BB) / (2 * AA * sqrt(AA)); |
| sita = acos(T); |
| cosSita = cos(sita / 3); |
| sinSitaSqrt3 = sqrt(3.0) * sin(sita / 3); |
| sqrtA = sqrt(AA); |
| |
| outPutVal = (-inputCoeffs[1] - 2 * sqrtA * cosSita) / (3 * inputCoeffs[0]); |
| if ((outPutVal > FLOAT_EPS) && (outPutVal <= 3.2)) { |
| return outPutVal; |
| } |
| outPutVal = (-inputCoeffs[1] + sqrtA * (cosSita + sinSitaSqrt3)) / (3 * inputCoeffs[0]); |
| if ((outPutVal > FLOAT_EPS) && (outPutVal <= 3.2)) { |
| return outPutVal; |
| } |
| outPutVal = (-inputCoeffs[1] + sqrtA * (cosSita - sinSitaSqrt3)) / (3 * inputCoeffs[0]); |
| if ((outPutVal > FLOAT_EPS) && (outPutVal <= 3.2)) { |
| return outPutVal; |
| } |
| return 0.0f; |
| } else if (Delta <= FLOAT_EPS) { |
| // Case 4: Delta = 0 |
| K = BB / AA; |
| outPutVal = (-inputCoeffs[1] / inputCoeffs[0] + K); |
| if ((outPutVal > FLOAT_EPS) && (outPutVal <= 3.2)) { |
| return outPutVal; |
| } |
| outPutVal = (-K / 2); |
| if ((outPutVal > FLOAT_EPS) && (outPutVal <= 3.2)) { |
| return outPutVal; |
| } |
| return 0.0f; |
| } else { |
| // Exception handling |
| return 0.0f; |
| } |
| } |
| |
| using utils::toUnderlying; |
| |
| using Status = ::android::hardware::vibrator::V1_0::Status; |
| using EffectStrength = ::android::hardware::vibrator::V1_0::EffectStrength; |
| |
| Vibrator::Vibrator(std::unique_ptr<HwApi> hwapi, std::unique_ptr<HwCal> hwcal) |
| : mHwApi(std::move(hwapi)), mHwCal(std::move(hwcal)) { |
| std::string autocal; |
| uint32_t lraPeriod = 0, lpTrigSupport = 0; |
| bool hasEffectCoeffs = false; |
| std::array<float, 4> effectCoeffs = {0}; |
| |
| if (!mHwApi->setState(true)) { |
| ALOGE("Failed to set state (%d): %s", errno, strerror(errno)); |
| } |
| |
| if (mHwCal->getAutocal(&autocal)) { |
| mHwApi->setAutocal(autocal); |
| } |
| mHwCal->getLraPeriod(&lraPeriod); |
| |
| mHwCal->getCloseLoopThreshold(&mCloseLoopThreshold); |
| mHwCal->getDynamicConfig(&mDynamicConfig); |
| |
| if (mDynamicConfig) { |
| uint8_t i = 0; |
| float tempVolLevel = 0.0f; |
| float tempAmpMax = 0.0f; |
| uint32_t longFreqencyShift = 0; |
| uint32_t shortVoltageMax = 0, longVoltageMax = 0; |
| uint32_t shape = 0; |
| |
| mHwCal->getLongFrequencyShift(&longFreqencyShift); |
| mHwCal->getShortVoltageMax(&shortVoltageMax); |
| mHwCal->getLongVoltageMax(&longVoltageMax); |
| |
| hasEffectCoeffs = mHwCal->getEffectCoeffs(&effectCoeffs); |
| for (i = 0; i < 5; i++) { |
| if (hasEffectCoeffs) { |
| // Use linear approach to get the target voltage levels |
| if ((effectCoeffs[2] == 0) && (effectCoeffs[3] == 0)) { |
| tempVolLevel = |
| targetGToVlevelsUnderLinearEquation(effectCoeffs, EFFECT_TARGET_G[i]); |
| mEffectTargetOdClamp[i] = convertLevelsToOdClamp(tempVolLevel, lraPeriod); |
| } else { |
| // Use cubic approach to get the target voltage levels |
| tempVolLevel = |
| targetGToVlevelsUnderCubicEquation(effectCoeffs, EFFECT_TARGET_G[i]); |
| mEffectTargetOdClamp[i] = convertLevelsToOdClamp(tempVolLevel, lraPeriod); |
| } |
| } else { |
| mEffectTargetOdClamp[i] = shortVoltageMax; |
| } |
| } |
| // Add a boundary protection for level 5 only, since |
| // some devices might not be able to reach the maximum target G |
| if ((mEffectTargetOdClamp[4] <= 0) || (mEffectTargetOdClamp[4] > 161)) { |
| mEffectTargetOdClamp[4] = shortVoltageMax; |
| } |
| |
| mHwCal->getEffectShape(&shape); |
| mEffectConfig.reset(new VibrationConfig({ |
| .shape = (shape == UINT32_MAX) ? WaveShape::SINE : static_cast<WaveShape>(shape), |
| .odClamp = &mEffectTargetOdClamp[0], |
| .olLraPeriod = lraPeriod, |
| })); |
| |
| mSteadyTargetOdClamp = longVoltageMax; |
| if ((mHwCal->getSteadyAmpMax(&tempAmpMax)) && (tempAmpMax > STEADY_TARGET_G[0])) { |
| tempVolLevel = round((STEADY_TARGET_G[0] / tempAmpMax) * longVoltageMax); |
| mSteadyTargetOdClamp = (tempVolLevel < STEADY_VOLTAGE_LOWER_BOUND) |
| ? STEADY_VOLTAGE_LOWER_BOUND |
| : tempVolLevel; |
| } |
| mHwCal->getSteadyShape(&shape); |
| mSteadyConfig.reset(new VibrationConfig({ |
| .shape = (shape == UINT32_MAX) ? WaveShape::SQUARE : static_cast<WaveShape>(shape), |
| .odClamp = &mSteadyTargetOdClamp, |
| .olLraPeriod = lraPeriod, |
| })); |
| mSteadyOlLraPeriod = lraPeriod; |
| // 1. Change long lra period to frequency |
| // 2. Get frequency': subtract the frequency shift from the frequency |
| // 3. Get final long lra period after put the frequency' to formula |
| mSteadyOlLraPeriodShift = |
| freqPeriodFormula(freqPeriodFormula(lraPeriod) - longFreqencyShift); |
| } else { |
| mHwApi->setOlLraPeriod(lraPeriod); |
| } |
| |
| mHwCal->getClickDuration(&mClickDuration); |
| mHwCal->getTickDuration(&mTickDuration); |
| mHwCal->getDoubleClickDuration(&mDoubleClickDuration); |
| mHwCal->getHeavyClickDuration(&mHeavyClickDuration); |
| |
| // This enables effect #1 from the waveform library to be triggered by SLPI |
| // while the AP is in suspend mode |
| // For default setting, we will enable this feature if that project did not |
| // set the lptrigger config |
| mHwCal->getTriggerEffectSupport(&lpTrigSupport); |
| if (!mHwApi->setLpTriggerEffect(lpTrigSupport)) { |
| ALOGW("Failed to set LP trigger mode (%d): %s", errno, strerror(errno)); |
| } |
| } |
| |
| Return<Status> Vibrator::on(uint32_t timeoutMs, const char mode[], |
| const std::unique_ptr<VibrationConfig> &config, |
| const int8_t volOffset) { |
| LoopControl loopMode = LoopControl::OPEN; |
| |
| // Open-loop mode is used for short click for over-drive |
| // Close-loop mode is used for long notification for stability |
| if (mode == RTP_MODE && timeoutMs > mCloseLoopThreshold) { |
| loopMode = LoopControl::CLOSE; |
| } |
| |
| mHwApi->setCtrlLoop(toUnderlying(loopMode)); |
| if (!mHwApi->setDuration(timeoutMs)) { |
| ALOGE("Failed to set duration (%d): %s", errno, strerror(errno)); |
| return Status::UNKNOWN_ERROR; |
| } |
| |
| mHwApi->setMode(mode); |
| if (config != nullptr) { |
| mHwApi->setLraWaveShape(toUnderlying(config->shape)); |
| mHwApi->setOdClamp(config->odClamp[volOffset]); |
| mHwApi->setOlLraPeriod(config->olLraPeriod); |
| } |
| |
| if (!mHwApi->setActivate(1)) { |
| ALOGE("Failed to activate (%d): %s", errno, strerror(errno)); |
| return Status::UNKNOWN_ERROR; |
| } |
| |
| return Status::OK; |
| } |
| |
| // Methods from ::android::hardware::vibrator::V1_2::IVibrator follow. |
| Return<Status> Vibrator::on(uint32_t timeoutMs) { |
| ATRACE_NAME("Vibrator::on"); |
| if (mDynamicConfig) { |
| int usbTemp = 0; |
| mHwApi->getUsbTemp(&usbTemp); |
| if (usbTemp > TEMP_UPPER_BOUND) { |
| mSteadyConfig->odClamp = &mSteadyTargetOdClamp; |
| mSteadyConfig->olLraPeriod = mSteadyOlLraPeriod; |
| } else if (usbTemp < TEMP_LOWER_BOUND) { |
| mSteadyConfig->odClamp = &STEADY_VOLTAGE_LOWER_BOUND; |
| mSteadyConfig->olLraPeriod = mSteadyOlLraPeriodShift; |
| } |
| } |
| |
| return on(timeoutMs, RTP_MODE, mSteadyConfig, 0); |
| } |
| |
| Return<Status> Vibrator::off() { |
| ATRACE_NAME("Vibrator::off"); |
| if (!mHwApi->setActivate(0)) { |
| ALOGE("Failed to turn vibrator off (%d): %s", errno, strerror(errno)); |
| return Status::UNKNOWN_ERROR; |
| } |
| return Status::OK; |
| } |
| |
| Return<bool> Vibrator::supportsAmplitudeControl() { |
| ATRACE_NAME("Vibrator::supportsAmplitudeControl"); |
| return (mHwApi->hasRtpInput() ? true : false); |
| } |
| |
| Return<Status> Vibrator::setAmplitude(uint8_t amplitude) { |
| ATRACE_NAME("Vibrator::setAmplitude"); |
| if (amplitude == 0) { |
| return Status::BAD_VALUE; |
| } |
| |
| int32_t rtp_input = |
| std::round((amplitude - 1) / 254.0 * (MAX_RTP_INPUT - MIN_RTP_INPUT) + MIN_RTP_INPUT); |
| |
| if (!mHwApi->setRtpInput(rtp_input)) { |
| ALOGE("Failed to set amplitude (%d): %s", errno, strerror(errno)); |
| return Status::UNKNOWN_ERROR; |
| } |
| |
| return Status::OK; |
| } |
| |
| // Methods from ::android::hardware::vibrator::V1_3::IVibrator follow. |
| |
| Return<bool> Vibrator::supportsExternalControl() { |
| ATRACE_NAME("Vibrator::supportsExternalControl"); |
| return false; |
| } |
| |
| Return<Status> Vibrator::setExternalControl(bool enabled) { |
| ATRACE_NAME("Vibrator::setExternalControl"); |
| ALOGE("Not support in DRV2624 solution, %d", enabled); |
| return Status::UNSUPPORTED_OPERATION; |
| } |
| |
| // Methods from ::android.hidl.base::V1_0::IBase follow. |
| |
| Return<void> Vibrator::debug(const hidl_handle &handle, |
| const hidl_vec<hidl_string> & /* options */) { |
| if (handle == nullptr || handle->numFds < 1 || handle->data[0] < 0) { |
| ALOGE("Called debug() with invalid fd."); |
| return Void(); |
| } |
| |
| int fd = handle->data[0]; |
| |
| dprintf(fd, "HIDL:\n"); |
| |
| dprintf(fd, " Close Loop Thresh: %" PRIu32 "\n", mCloseLoopThreshold); |
| if (mSteadyConfig) { |
| dprintf(fd, " Steady Shape: %" PRIu32 "\n", mSteadyConfig->shape); |
| dprintf(fd, " Steady OD Clamp: %" PRIu32 "\n", mSteadyConfig->odClamp[0]); |
| dprintf(fd, " Steady OL LRA Period: %" PRIu32 "\n", mSteadyConfig->olLraPeriod); |
| } |
| if (mEffectConfig) { |
| dprintf(fd, " Effect Shape: %" PRIu32 "\n", mEffectConfig->shape); |
| dprintf(fd, |
| " Effect OD Clamp: %" PRIu32 " %" PRIu32 " %" PRIu32 " %" PRIu32 " %" PRIu32 "\n", |
| mEffectConfig->odClamp[0], mEffectConfig->odClamp[1], mEffectConfig->odClamp[2], |
| mEffectConfig->odClamp[3], mEffectConfig->odClamp[4]); |
| dprintf(fd, " Effect OL LRA Period: %" PRIu32 "\n", mEffectConfig->olLraPeriod); |
| } |
| dprintf(fd, " Click Duration: %" PRIu32 "\n", mClickDuration); |
| dprintf(fd, " Tick Duration: %" PRIu32 "\n", mTickDuration); |
| dprintf(fd, " Double Click Duration: %" PRIu32 "\n", mDoubleClickDuration); |
| dprintf(fd, " Heavy Click Duration: %" PRIu32 "\n", mHeavyClickDuration); |
| |
| dprintf(fd, "\n"); |
| |
| mHwApi->debug(fd); |
| |
| dprintf(fd, "\n"); |
| |
| mHwCal->debug(fd); |
| |
| fsync(fd); |
| return Void(); |
| } |
| |
| Return<void> Vibrator::perform(V1_0::Effect effect, EffectStrength strength, perform_cb _hidl_cb) { |
| return performWrapper(effect, strength, _hidl_cb); |
| } |
| |
| Return<void> Vibrator::perform_1_1(V1_1::Effect_1_1 effect, EffectStrength strength, |
| perform_cb _hidl_cb) { |
| return performWrapper(effect, strength, _hidl_cb); |
| } |
| |
| Return<void> Vibrator::perform_1_2(V1_2::Effect effect, EffectStrength strength, |
| perform_cb _hidl_cb) { |
| return performWrapper(effect, strength, _hidl_cb); |
| } |
| |
| Return<void> Vibrator::perform_1_3(Effect effect, EffectStrength strength, perform_cb _hidl_cb) { |
| return performWrapper(effect, strength, _hidl_cb); |
| } |
| |
| template <typename T> |
| Return<void> Vibrator::performWrapper(T effect, EffectStrength strength, perform_cb _hidl_cb) { |
| ATRACE_NAME("Vibrator::performWrapper"); |
| auto validEffectRange = hidl_enum_range<T>(); |
| if (effect < *validEffectRange.begin() || effect > *std::prev(validEffectRange.end())) { |
| _hidl_cb(Status::UNSUPPORTED_OPERATION, 0); |
| return Void(); |
| } |
| auto validStrengthRange = hidl_enum_range<EffectStrength>(); |
| if (strength < *validStrengthRange.begin() || strength > *std::prev(validStrengthRange.end())) { |
| _hidl_cb(Status::UNSUPPORTED_OPERATION, 0); |
| return Void(); |
| } |
| return performEffect(static_cast<Effect>(effect), strength, _hidl_cb); |
| } |
| |
| Return<void> Vibrator::performEffect(Effect effect, EffectStrength strength, perform_cb _hidl_cb) { |
| Status status = Status::OK; |
| uint32_t timeMS; |
| int8_t volOffset; |
| |
| switch (strength) { |
| case EffectStrength::LIGHT: |
| volOffset = 0; |
| break; |
| case EffectStrength::MEDIUM: |
| volOffset = 1; |
| break; |
| case EffectStrength::STRONG: |
| volOffset = 1; |
| break; |
| default: |
| status = Status::UNSUPPORTED_OPERATION; |
| break; |
| } |
| |
| switch (effect) { |
| case Effect::TEXTURE_TICK: |
| mHwApi->setSequencer(WAVEFORM_TICK_EFFECT_SEQ); |
| timeMS = mTickDuration; |
| volOffset = TEXTURE_TICK; |
| break; |
| case Effect::CLICK: |
| mHwApi->setSequencer(WAVEFORM_CLICK_EFFECT_SEQ); |
| timeMS = mClickDuration; |
| volOffset += CLICK; |
| break; |
| case Effect::DOUBLE_CLICK: |
| mHwApi->setSequencer(WAVEFORM_DOUBLE_CLICK_EFFECT_SEQ); |
| timeMS = mDoubleClickDuration; |
| volOffset += CLICK; |
| break; |
| case Effect::TICK: |
| mHwApi->setSequencer(WAVEFORM_TICK_EFFECT_SEQ); |
| timeMS = mTickDuration; |
| volOffset += TICK; |
| break; |
| case Effect::HEAVY_CLICK: |
| mHwApi->setSequencer(WAVEFORM_HEAVY_CLICK_EFFECT_SEQ); |
| timeMS = mHeavyClickDuration; |
| volOffset += HEAVY_CLICK; |
| break; |
| default: |
| _hidl_cb(Status::UNSUPPORTED_OPERATION, 0); |
| return Void(); |
| } |
| on(timeMS, WAVEFORM_MODE, mEffectConfig, volOffset); |
| _hidl_cb(status, timeMS); |
| return Void(); |
| } |
| |
| } // namespace implementation |
| } // namespace V1_3 |
| } // namespace vibrator |
| } // namespace hardware |
| } // namespace android |
