| /* |
| * 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/akm8973.h> |
| |
| #include <cutils/log.h> |
| |
| #include "AkmSensor.h" |
| |
| /*****************************************************************************/ |
| |
| AkmSensor::AkmSensor() |
| : SensorBase(AKM_DEVICE_NAME, "compass"), |
| mEnabled(0), |
| mInputReader(32), |
| mPendingMask(0), |
| mLastEventIndex(0) |
| { |
| 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; |
| |
| mPendingEvents[Temperature ].version = sizeof(sensors_event_t); |
| mPendingEvents[Temperature ].sensor = ID_T; |
| mPendingEvents[Temperature ].type = SENSOR_TYPE_TEMPERATURE; |
| |
| // read the actual value of all sensors if they're enabled already |
| struct input_absinfo absinfo; |
| short flags; |
| if (!ioctl(dev_fd, ECS_IOCTL_APP_GET_AFLAG, &flags)) { |
| if (flags) { |
| 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 (!ioctl(dev_fd, ECS_IOCTL_APP_GET_MVFLAG, &flags)) { |
| if (flags) { |
| 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 (!ioctl(dev_fd, ECS_IOCTL_APP_GET_MFLAG, &flags)) { |
| if (flags) { |
| 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); |
| } |
| } |
| } |
| if (!ioctl(dev_fd, ECS_IOCTL_APP_GET_TFLAG, &flags)) { |
| if (flags) { |
| mEnabled |= 1<<Temperature; |
| if (!ioctl(data_fd, EVIOCGABS(EVENT_TYPE_TEMPERATURE), &absinfo)) { |
| mPendingEvents[Orientation].temperature = absinfo.value; |
| } |
| } |
| } |
| } |
| |
| AkmSensor::~AkmSensor() { |
| } |
| |
| int AkmSensor::enable(int what, int en) |
| { |
| if (uint32_t(what) >= numSensors) |
| return -EINVAL; |
| |
| int flags = en ? 1 : 0; |
| int err = 0; |
| |
| if ((uint32_t(flags)<<what) != (mEnabled & (1<<what))) { |
| int cmd; |
| switch (what) { |
| case Accelerometer: cmd = ECS_IOCTL_APP_SET_AFLAG; break; |
| case MagneticField: cmd = ECS_IOCTL_APP_SET_MVFLAG; break; |
| case Orientation: cmd = ECS_IOCTL_APP_SET_MFLAG; break; |
| case Temperature: cmd = ECS_IOCTL_APP_SET_TFLAG; break; |
| } |
| err = ioctl(dev_fd, cmd, &flags); |
| err = err<0 ? -errno : 0; |
| LOGE_IF(err, "ECS_IOCTL_APP_SET_XXX failed (%s)", strerror(-err)); |
| if (!err) { |
| mEnabled &= ~(1<<what); |
| mEnabled |= (uint32_t(flags)<<what); |
| } |
| } |
| return err; |
| } |
| |
| int AkmSensor::setDelay(int64_t ns) |
| { |
| if (ns < 0) |
| return -EINVAL; |
| |
| #ifdef ECS_IOCTL_APP_SET_DELAY |
| short delay = ns / 1000000; |
| if (!ioctl(dev_fd, ECS_IOCTL_APP_SET_DELAY, &delay)) { |
| return -errno; |
| } |
| return 0; |
| #else |
| return -1; |
| #endif |
| } |
| |
| 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) { |
| if (mPendingMask) { |
| 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; |
| *data++ = mPendingEvents[j]; |
| count--; |
| numEventReceived++; |
| } |
| } |
| if (!mPendingMask) { |
| 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: |
| mPendingMask |= 1<<MagneticField; |
| mPendingEvents[MagneticField].magnetic.x = value * CONVERT_M_X; |
| break; |
| case EVENT_TYPE_MAGV_Y: |
| mPendingMask |= 1<<MagneticField; |
| mPendingEvents[MagneticField].magnetic.y = value * CONVERT_M_Y; |
| break; |
| case EVENT_TYPE_MAGV_Z: |
| mPendingMask |= 1<<MagneticField; |
| mPendingEvents[MagneticField].magnetic.z = value * CONVERT_M_Z; |
| break; |
| |
| case EVENT_TYPE_YAW: |
| mPendingMask |= 1<<Orientation; |
| mPendingEvents[Orientation].orientation.azimuth = value; |
| break; |
| case EVENT_TYPE_PITCH: |
| mPendingMask |= 1<<Orientation; |
| mPendingEvents[Orientation].orientation.pitch = value; |
| break; |
| case EVENT_TYPE_ROLL: |
| mPendingMask |= 1<<Orientation; |
| mPendingEvents[Orientation].orientation.roll = -value; |
| break; |
| case EVENT_TYPE_ORIENT_STATUS: |
| mPendingMask |= 1<<Orientation; |
| mPendingEvents[Orientation].orientation.status = |
| uint8_t(value & SENSOR_STATE_MASK); |
| break; |
| |
| case EVENT_TYPE_TEMPERATURE: |
| mPendingMask |= 1<<Temperature; |
| mPendingEvents[Temperature].temperature = value; |
| break; |
| } |
| } |
