| /* |
| * 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 |
| |
| /*****************************************************************************/ |
| |
| GyroSensor::GyroSensor() |
| : SensorBase(NULL, "gyro"), |
| mEnabled(0), |
| mInputReader(4), |
| mHasPendingEvent(false) |
| { |
| 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'; |
| } 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) { |
| *data++ = mPendingEvent; |
| count--; |
| numEventReceived++; |
| } |
| } 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; |
| } |
| |